Advertisement
Guest User

robot1.urdf.xacro

a guest
Apr 11th, 2012
399
Never
Not a member of Pastebin yet? Sign Up, it unlocks many cool features!
  1. <!--this file was autogenerated from simple_car.lxf -->
  2. <robot name="simple_car"
  3. xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
  4. xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
  5. xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
  6.  
  7. <link name="base_link">
  8. <inertial>
  9. <mass value="0.0001" />
  10. <origin xyz="0 0 0" />
  11. <inertia ixx="0.0001" ixy="0.0" ixz="0.0"
  12. iyy="0.0001" iyz="0.0"
  13. izz="0.0001" />
  14. </inertial>
  15.  
  16. <visual>
  17. <origin xyz="0 0 0" rpy="0 0 0" />
  18. <geometry>
  19. <box size="0.001 0.001 0.001" />
  20. </geometry>
  21. </visual>
  22.  
  23. <collision>
  24. <origin xyz="0 0 0.001" rpy="0 0 0" />
  25. <geometry>
  26. <box size="0.001 0.001 0.001" />
  27. </geometry>
  28. </collision>
  29. </link>
  30. <joint name="base_joint" type="fixed">
  31. <parent link="base_link"/>
  32. <child link="ref_0_link"/>
  33. <origin xyz="0.024 0 0.016" rpy="0 0 -1.57079632679" />
  34. <axis xyz="0 0 1" />
  35. </joint>
  36.  
  37.  
  38. <link name="ref_0_link">
  39. <inertial>
  40. <mass value="0.010000" />
  41. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  42. <origin xyz="0.0 0.0 0" />
  43. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  44. </inertial>
  45. <visual>
  46. <!-- visual origin is defined w.r.t. link local coordinate system -->
  47. <origin xyz="0 0 0" rpy="0 0 0" />
  48. <geometry>
  49. <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004 0.0004 0.0004"/>
  50. </geometry>
  51. </visual>
  52. <collision>
  53. <!-- collision origin is defined w.r.t. link local coordinate system -->
  54. <origin xyz="0 0 0" rpy="0 0 0" />
  55. <geometry>
  56. <box size="0 0 0"/>
  57. </geometry>
  58. </collision>
  59. </link>
  60.  
  61.  
  62. <link name="ref_1_link">
  63. <inertial>
  64. <mass value="0.010000" />
  65. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  66. <origin xyz="0.0 0.0 0" />
  67. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  68. </inertial>
  69. <visual>
  70. <!-- visual origin is defined w.r.t. link local coordinate system -->
  71. <origin xyz="0 0 0" rpy="0 3.14159 0" />
  72. <geometry>
  73. <mesh filename="package://nxt_description/meshes/parts/32140.dae" scale=" 0.0004 0.0004 0.0004"/>
  74. </geometry>
  75. </visual>
  76. <collision>
  77. <!-- collision origin is defined w.r.t. link local coordinate system -->
  78. <origin xyz="0 0 0" rpy="0 0 0" />
  79. <geometry>
  80. <box size="0 0 0"/>
  81. </geometry>
  82. </collision>
  83. </link>
  84.  
  85.  
  86. <link name="ref_2_link">
  87. <inertial>
  88. <mass value="0.010000" />
  89. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  90. <origin xyz="0.0 0.0 0" />
  91. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  92. </inertial>
  93. <visual>
  94. <!-- visual origin is defined w.r.t. link local coordinate system -->
  95. <origin xyz="0 0 0" rpy="0 0 0" />
  96. <geometry>
  97. <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004 0.0004 0.0004"/>
  98. </geometry>
  99. </visual>
  100. <collision>
  101. <!-- collision origin is defined w.r.t. link local coordinate system -->
  102. <origin xyz="0 0 0" rpy="0 0 0" />
  103. <geometry>
  104. <box size="0 0 0"/>
  105. </geometry>
  106. </collision>
  107. </link>
  108.  
  109.  
  110. <link name="ref_3_link">
  111. <inertial>
  112. <mass value="0.010000" />
  113. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  114. <origin xyz="0.0 0.0 0" />
  115. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  116. </inertial>
  117. <visual>
  118. <!-- visual origin is defined w.r.t. link local coordinate system -->
  119. <origin xyz="0 0 0" rpy="0 0 0" />
  120. <geometry>
  121. <mesh filename="package://nxt_description/meshes/parts/3705.dae" scale=" 0.0004 0.0004 0.0004"/>
  122. </geometry>
  123. </visual>
  124. <collision>
  125. <!-- collision origin is defined w.r.t. link local coordinate system -->
  126. <origin xyz="0 0 0" rpy="0 0 0" />
  127. <geometry>
  128. <box size="0 0 0"/>
  129. </geometry>
  130. </collision>
  131. </link>
  132.  
  133.  
  134. <link name="ref_4_link">
  135. <inertial>
  136. <mass value="0.010000" />
  137. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  138. <origin xyz="0.0 0.0 0" />
  139. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  140. </inertial>
  141. <visual>
  142. <!-- visual origin is defined w.r.t. link local coordinate system -->
  143. <origin xyz="0 0 0" rpy="0 0 0" />
  144. <geometry>
  145. <mesh filename="package://nxt_description/meshes/parts/3713.dae" scale=" 0.0004 0.0004 0.0004"/>
  146. </geometry>
  147. </visual>
  148. <collision>
  149. <!-- collision origin is defined w.r.t. link local coordinate system -->
  150. <origin xyz="0 0 0" rpy="0 0 0" />
  151. <geometry>
  152. <box size="0 0 0"/>
  153. </geometry>
  154. </collision>
  155. </link>
  156.  
  157.  
  158. <link name="ref_5_link">
  159. <inertial>
  160. <mass value="0.010000" />
  161. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  162. <origin xyz="0.0 0.0 0" />
  163. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  164. </inertial>
  165. <visual>
  166. <!-- visual origin is defined w.r.t. link local coordinate system -->
  167. <origin xyz="0 0 0" rpy="0 0 0" />
  168. <geometry>
  169. <mesh filename="package://nxt_description/meshes/parts/32498.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. <origin xyz="0 0 0" rpy="0 0 0" />
  175. <geometry>
  176. <box size="0 0 0"/>
  177. </geometry>
  178. </collision>
  179. </link>
  180.  
  181.  
  182. <link name="ref_6_link">
  183. <inertial>
  184. <mass value="0.010000" />
  185. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  186. <origin xyz="0.0 0.0 0" />
  187. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  188. </inertial>
  189. <visual>
  190. <!-- visual origin is defined w.r.t. link local coordinate system -->
  191. <origin xyz="0 0 0" rpy="0 0 0" />
  192. <geometry>
  193. <mesh filename="package://nxt_description/meshes/parts/32136.dae" scale=" 0.0004 0.0004 0.0004"/>
  194. </geometry>
  195. </visual>
  196. <collision>
  197. <!-- collision origin is defined w.r.t. link local coordinate system -->
  198. <origin xyz="0 0 0" rpy="0 0 0" />
  199. <geometry>
  200. <box size="0 0 0"/>
  201. </geometry>
  202. </collision>
  203. </link>
  204.  
  205.  
  206. <link name="ref_7_link">
  207. <inertial>
  208. <mass value="0.010000" />
  209. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  210. <origin xyz="0.0 0.0 0" />
  211. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  212. </inertial>
  213. <visual>
  214. <!-- visual origin is defined w.r.t. link local coordinate system -->
  215. <origin xyz="0 0 0" rpy="0 0 0" />
  216. <geometry>
  217. <mesh filename="package://nxt_description/meshes/parts/32525.dae" scale=" 0.0004 0.0004 0.0004"/>
  218. </geometry>
  219. </visual>
  220. <collision>
  221. <!-- collision origin is defined w.r.t. link local coordinate system -->
  222. <origin xyz="0 0 0" rpy="0 0 0" />
  223. <geometry>
  224. <box size="0 0 0"/>
  225. </geometry>
  226. </collision>
  227. </link>
  228.  
  229.  
  230. <link name="ref_8_link">
  231. <inertial>
  232. <mass value="0.010000" />
  233. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  234. <origin xyz="0.0 0.0 0" />
  235. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  236. </inertial>
  237. <visual>
  238. <!-- visual origin is defined w.r.t. link local coordinate system -->
  239. <origin xyz="0 0 0" rpy="0 0 0" />
  240. <geometry>
  241. <mesh filename="package://nxt_description/meshes/parts/32525.dae" scale=" 0.0004 0.0004 0.0004"/>
  242. </geometry>
  243. </visual>
  244. <collision>
  245. <!-- collision origin is defined w.r.t. link local coordinate system -->
  246. <origin xyz="0 0 0" rpy="0 0 0" />
  247. <geometry>
  248. <box size="0 0 0"/>
  249. </geometry>
  250. </collision>
  251. </link>
  252.  
  253.  
  254. <link name="ref_9_link">
  255. <inertial>
  256. <mass value="0.010000" />
  257. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  258. <origin xyz="0.0 0.0 0" />
  259. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  260. </inertial>
  261. <visual>
  262. <!-- visual origin is defined w.r.t. link local coordinate system -->
  263. <origin xyz="0 0 0" rpy="0 3.14159 0" />
  264. <geometry>
  265. <mesh filename="package://nxt_description/meshes/parts/32348.dae" scale=" 0.0004 0.0004 0.0004"/>
  266. </geometry>
  267. </visual>
  268. <collision>
  269. <!-- collision origin is defined w.r.t. link local coordinate system -->
  270. <origin xyz="0 0 0" rpy="0 0 0" />
  271. <geometry>
  272. <box size="0 0 0"/>
  273. </geometry>
  274. </collision>
  275. </link>
  276.  
  277.  
  278. <link name="ref_10_link">
  279. <inertial>
  280. <mass value="0.010000" />
  281. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  282. <origin xyz="0.0 0.0 0" />
  283. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  284. </inertial>
  285. <visual>
  286. <!-- visual origin is defined w.r.t. link local coordinate system -->
  287. <origin xyz="0 0 0" rpy="0 0 0" />
  288. <geometry>
  289. <mesh filename="package://nxt_description/meshes/parts/32062.dae" scale=" 0.0004 0.0004 0.0004"/>
  290. </geometry>
  291. </visual>
  292. <collision>
  293. <!-- collision origin is defined w.r.t. link local coordinate system -->
  294. <origin xyz="0 0 0" rpy="0 0 0" />
  295. <geometry>
  296. <box size="0 0 0"/>
  297. </geometry>
  298. </collision>
  299. </link>
  300.  
  301.  
  302. <link name="ref_11_link">
  303. <inertial>
  304. <mass value="0.010000" />
  305. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  306. <origin xyz="0.0 0.0 0" />
  307. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  308. </inertial>
  309. <visual>
  310. <!-- visual origin is defined w.r.t. link local coordinate system -->
  311. <origin xyz="0 0 0" rpy="0 0 0" />
  312. <geometry>
  313. <mesh filename="package://nxt_description/meshes/parts/60483.dae" scale=" 0.0004 0.0004 0.0004"/>
  314. </geometry>
  315. </visual>
  316. <collision>
  317. <!-- collision origin is defined w.r.t. link local coordinate system -->
  318. <origin xyz="0 0 0" rpy="0 0 0" />
  319. <geometry>
  320. <box size="0 0 0"/>
  321. </geometry>
  322. </collision>
  323. </link>
  324.  
  325.  
  326. <link name="ref_12_link">
  327. <inertial>
  328. <mass value="0.010000" />
  329. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  330. <origin xyz="0.0 0.0 0" />
  331. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  332. </inertial>
  333. <visual>
  334. <!-- visual origin is defined w.r.t. link local coordinate system -->
  335. <origin xyz="0 0 0" rpy="0 0 0" />
  336. <geometry>
  337. <mesh filename="package://nxt_description/meshes/parts/48989.dae" scale=" 0.0004 0.0004 0.0004"/>
  338. </geometry>
  339. </visual>
  340. <collision>
  341. <!-- collision origin is defined w.r.t. link local coordinate system -->
  342. <origin xyz="0 0 0" rpy="0 0 0" />
  343. <geometry>
  344. <box size="0 0 0"/>
  345. </geometry>
  346. </collision>
  347. </link>
  348.  
  349.  
  350. <link name="ref_13_link">
  351. <inertial>
  352. <mass value="0.010000" />
  353. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  354. <origin xyz="0.0 0.0 0" />
  355. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  356. </inertial>
  357. <visual>
  358. <!-- visual origin is defined w.r.t. link local coordinate system -->
  359. <origin xyz="0 0 0" rpy="0 3.14159 0" />
  360. <geometry>
  361. <mesh filename="package://nxt_description/meshes/parts/32348.dae" scale=" 0.0004 0.0004 0.0004"/>
  362. </geometry>
  363. </visual>
  364. <collision>
  365. <!-- collision origin is defined w.r.t. link local coordinate system -->
  366. <origin xyz="0 0 0" rpy="0 0 0" />
  367. <geometry>
  368. <box size="0 0 0"/>
  369. </geometry>
  370. </collision>
  371. </link>
  372.  
  373.  
  374. <link name="ref_14_link">
  375. <inertial>
  376. <mass value="0.010000" />
  377. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  378. <origin xyz="0.0 0.0 0" />
  379. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  380. </inertial>
  381. <visual>
  382. <!-- visual origin is defined w.r.t. link local coordinate system -->
  383. <origin xyz="0 0 0" rpy="0 0 0" />
  384. <geometry>
  385. <mesh filename="package://nxt_description/meshes/parts/32062.dae" scale=" 0.0004 0.0004 0.0004"/>
  386. </geometry>
  387. </visual>
  388. <collision>
  389. <!-- collision origin is defined w.r.t. link local coordinate system -->
  390. <origin xyz="0 0 0" rpy="0 0 0" />
  391. <geometry>
  392. <box size="0 0 0"/>
  393. </geometry>
  394. </collision>
  395. </link>
  396.  
  397.  
  398. <link name="ref_15_link">
  399. <inertial>
  400. <mass value="0.010000" />
  401. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  402. <origin xyz="0.0 0.0 0" />
  403. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  404. </inertial>
  405. <visual>
  406. <!-- visual origin is defined w.r.t. link local coordinate system -->
  407. <origin xyz="0 0 0" rpy="0 0 0" />
  408. <geometry>
  409. <mesh filename="package://nxt_description/meshes/parts/60483.dae" scale=" 0.0004 0.0004 0.0004"/>
  410. </geometry>
  411. </visual>
  412. <collision>
  413. <!-- collision origin is defined w.r.t. link local coordinate system -->
  414. <origin xyz="0 0 0" rpy="0 0 0" />
  415. <geometry>
  416. <box size="0 0 0"/>
  417. </geometry>
  418. </collision>
  419. </link>
  420.  
  421.  
  422. <link name="ref_16_link">
  423. <inertial>
  424. <mass value="0.010000" />
  425. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  426. <origin xyz="0.0 0.0 0" />
  427. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  428. </inertial>
  429. <visual>
  430. <!-- visual origin is defined w.r.t. link local coordinate system -->
  431. <origin xyz="0 0 0" rpy="0 0 0" />
  432. <geometry>
  433. <mesh filename="package://nxt_description/meshes/parts/3713.dae" scale=" 0.0004 0.0004 0.0004"/>
  434. </geometry>
  435. </visual>
  436. <collision>
  437. <!-- collision origin is defined w.r.t. link local coordinate system -->
  438. <origin xyz="0 0 0" rpy="0 0 0" />
  439. <geometry>
  440. <box size="0 0 0"/>
  441. </geometry>
  442. </collision>
  443. </link>
  444.  
  445.  
  446. <link name="ref_17_link">
  447. <inertial>
  448. <mass value="0.010000" />
  449. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  450. <origin xyz="0.0 0.0 0" />
  451. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  452. </inertial>
  453. <visual>
  454. <!-- visual origin is defined w.r.t. link local coordinate system -->
  455. <origin xyz="0 0 0" rpy="0 0 0" />
  456. <geometry>
  457. <mesh filename="package://nxt_description/meshes/parts/32073.dae" scale=" 0.0004 0.0004 0.0004"/>
  458. </geometry>
  459. </visual>
  460. <collision>
  461. <!-- collision origin is defined w.r.t. link local coordinate system -->
  462. <origin xyz="0 0 0" rpy="0 0 0" />
  463. <geometry>
  464. <box size="0 0 0"/>
  465. </geometry>
  466. </collision>
  467. </link>
  468.  
  469.  
  470. <link name="ref_18_link">
  471. <inertial>
  472. <mass value="0.010000" />
  473. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  474. <origin xyz="0.0 0.0 0" />
  475. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  476. </inertial>
  477. <visual>
  478. <!-- visual origin is defined w.r.t. link local coordinate system -->
  479. <origin xyz="0 0 0" rpy="0 0 0" />
  480. <geometry>
  481. <mesh filename="package://nxt_description/meshes/parts/3713.dae" scale=" 0.0004 0.0004 0.0004"/>
  482. </geometry>
  483. </visual>
  484. <collision>
  485. <!-- collision origin is defined w.r.t. link local coordinate system -->
  486. <origin xyz="0 0 0" rpy="0 0 0" />
  487. <geometry>
  488. <box size="0 0 0"/>
  489. </geometry>
  490. </collision>
  491. </link>
  492.  
  493.  
  494. <link name="caster_wheel_link">
  495. <inertial>
  496. <mass value="0.010000" />
  497. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  498. <origin xyz="0.0 0.0 0" />
  499. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  500. </inertial>
  501. <visual>
  502. <!-- visual origin is defined w.r.t. link local coordinate system -->
  503. <origin xyz="0 0 0" rpy="0 0 0" />
  504. <geometry>
  505. <mesh filename="package://nxt_description/meshes/parts/32498.dae" scale=" 0.0004 0.0004 0.0004"/>
  506. </geometry>
  507. </visual>
  508. <collision>
  509. <!-- collision origin is defined w.r.t. link local coordinate system -->
  510. <origin xyz="0 0 0" rpy="0 0 0" />
  511. <geometry>
  512. <box size="0 0 0"/>
  513. </geometry>
  514. </collision>
  515. </link>
  516.  
  517.  
  518. <link name="ref_20_link">
  519. <inertial>
  520. <mass value="0.010000" />
  521. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  522. <origin xyz="0.0 0.0 0" />
  523. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  524. </inertial>
  525. <visual>
  526. <!-- visual origin is defined w.r.t. link local coordinate system -->
  527. <origin xyz="0 0 0" rpy="0 0 0" />
  528. <geometry>
  529. <mesh filename="package://nxt_description/meshes/parts/32073.dae" scale=" 0.0004 0.0004 0.0004"/>
  530. </geometry>
  531. </visual>
  532. <collision>
  533. <!-- collision origin is defined w.r.t. link local coordinate system -->
  534. <origin xyz="0 0 0" rpy="0 0 0" />
  535. <geometry>
  536. <box size="0 0 0"/>
  537. </geometry>
  538. </collision>
  539. </link>
  540.  
  541.  
  542. <link name="ref_21_link">
  543. <inertial>
  544. <mass value="0.010000" />
  545. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  546. <origin xyz="0.0 0.0 0" />
  547. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  548. </inertial>
  549. <visual>
  550. <!-- visual origin is defined w.r.t. link local coordinate system -->
  551. <origin xyz="0 0 0" rpy="0 0 0" />
  552. <geometry>
  553. <mesh filename="package://nxt_description/meshes/parts/3713.dae" scale=" 0.0004 0.0004 0.0004"/>
  554. </geometry>
  555. </visual>
  556. <collision>
  557. <!-- collision origin is defined w.r.t. link local coordinate system -->
  558. <origin xyz="0 0 0" rpy="0 0 0" />
  559. <geometry>
  560. <box size="0 0 0"/>
  561. </geometry>
  562. </collision>
  563. </link>
  564.  
  565.  
  566. <link name="ref_22_link">
  567. <inertial>
  568. <mass value="0.010000" />
  569. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  570. <origin xyz="0.0 0.0 0" />
  571. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  572. </inertial>
  573. <visual>
  574. <!-- visual origin is defined w.r.t. link local coordinate system -->
  575. <origin xyz="0 0 0" rpy="0 0 0" />
  576. <geometry>
  577. <mesh filename="package://nxt_description/meshes/parts/42003.dae" scale=" 0.0004 0.0004 0.0004"/>
  578. </geometry>
  579. </visual>
  580. <collision>
  581. <!-- collision origin is defined w.r.t. link local coordinate system -->
  582. <origin xyz="0 0 0" rpy="0 0 0" />
  583. <geometry>
  584. <box size="0 0 0"/>
  585. </geometry>
  586. </collision>
  587. </link>
  588.  
  589.  
  590. <link name="ref_23_link">
  591. <inertial>
  592. <mass value="0.010000" />
  593. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  594. <origin xyz="0.0 0.0 0" />
  595. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  596. </inertial>
  597. <visual>
  598. <!-- visual origin is defined w.r.t. link local coordinate system -->
  599. <origin xyz="0 0 0" rpy="0 0 0" />
  600. <geometry>
  601. <mesh filename="package://nxt_description/meshes/parts/42003.dae" scale=" 0.0004 0.0004 0.0004"/>
  602. </geometry>
  603. </visual>
  604. <collision>
  605. <!-- collision origin is defined w.r.t. link local coordinate system -->
  606. <origin xyz="0 0 0" rpy="0 0 0" />
  607. <geometry>
  608. <box size="0 0 0"/>
  609. </geometry>
  610. </collision>
  611. </link>
  612.  
  613.  
  614. <link name="ref_24_link">
  615. <inertial>
  616. <mass value="0.010000" />
  617. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  618. <origin xyz="0.0 0.0 0" />
  619. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  620. </inertial>
  621. <visual>
  622. <!-- visual origin is defined w.r.t. link local coordinate system -->
  623. <origin xyz="0 0 0" rpy="0 0 0" />
  624. <geometry>
  625. <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004 0.0004 0.0004"/>
  626. </geometry>
  627. </visual>
  628. <collision>
  629. <!-- collision origin is defined w.r.t. link local coordinate system -->
  630. <origin xyz="0 0 0" rpy="0 0 0" />
  631. <geometry>
  632. <box size="0 0 0"/>
  633. </geometry>
  634. </collision>
  635. </link>
  636.  
  637.  
  638. <link name="ref_25_link">
  639. <inertial>
  640. <mass value="0.010000" />
  641. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  642. <origin xyz="0.0 0.0 0" />
  643. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  644. </inertial>
  645. <visual>
  646. <!-- visual origin is defined w.r.t. link local coordinate system -->
  647. <origin xyz="0 0 0" rpy="0 3.14159 0" />
  648. <geometry>
  649. <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale=" 0.0004 0.0004 0.0004"/>
  650. </geometry>
  651. </visual>
  652. <collision>
  653. <!-- collision origin is defined w.r.t. link local coordinate system -->
  654. <origin xyz="0 0 0" rpy="0 0 0" />
  655. <geometry>
  656. <box size="0 0 0"/>
  657. </geometry>
  658. </collision>
  659. </link>
  660.  
  661.  
  662. <link name="ref_26_link">
  663. <inertial>
  664. <mass value="0.010000" />
  665. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  666. <origin xyz="0.0 0.0 0" />
  667. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  668. </inertial>
  669. <visual>
  670. <!-- visual origin is defined w.r.t. link local coordinate system -->
  671. <origin xyz="0 0 0" rpy="0 0 0" />
  672. <geometry>
  673. <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004 0.0004 0.0004"/>
  674. </geometry>
  675. </visual>
  676. <collision>
  677. <!-- collision origin is defined w.r.t. link local coordinate system -->
  678. <origin xyz="0 0 0" rpy="0 0 0" />
  679. <geometry>
  680. <box size="0 0 0"/>
  681. </geometry>
  682. </collision>
  683. </link>
  684.  
  685.  
  686. <link name="ref_27_link">
  687. <inertial>
  688. <mass value="0.010000" />
  689. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  690. <origin xyz="0.0 0.0 0" />
  691. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  692. </inertial>
  693. <visual>
  694. <!-- visual origin is defined w.r.t. link local coordinate system -->
  695. <origin xyz="0 0 0" rpy="0 0 0" />
  696. <geometry>
  697. <mesh filename="package://nxt_description/meshes/parts/32525.dae" scale=" 0.0004 0.0004 0.0004"/>
  698. </geometry>
  699. </visual>
  700. <collision>
  701. <!-- collision origin is defined w.r.t. link local coordinate system -->
  702. <origin xyz="0 0 0" rpy="0 0 0" />
  703. <geometry>
  704. <box size="0 0 0"/>
  705. </geometry>
  706. </collision>
  707. </link>
  708.  
  709.  
  710. <link name="ref_28_link">
  711. <inertial>
  712. <mass value="0.010000" />
  713. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  714. <origin xyz="0.0 0.0 0" />
  715. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  716. </inertial>
  717. <visual>
  718. <!-- visual origin is defined w.r.t. link local coordinate system -->
  719. <origin xyz="0 0 0" rpy="0 0 0" />
  720. <geometry>
  721. <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004 0.0004 0.0004"/>
  722. </geometry>
  723. </visual>
  724. <collision>
  725. <!-- collision origin is defined w.r.t. link local coordinate system -->
  726. <origin xyz="0 0 0" rpy="0 0 0" />
  727. <geometry>
  728. <box size="0 0 0"/>
  729. </geometry>
  730. </collision>
  731. </link>
  732.  
  733.  
  734. <link name="ref_29_link">
  735. <inertial>
  736. <mass value="0.010000" />
  737. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  738. <origin xyz="0.0 0.0 0" />
  739. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  740. </inertial>
  741. <visual>
  742. <!-- visual origin is defined w.r.t. link local coordinate system -->
  743. <origin xyz="0 0 0" rpy="0 3.14159 0" />
  744. <geometry>
  745. <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale=" 0.0004 0.0004 0.0004"/>
  746. </geometry>
  747. </visual>
  748. <collision>
  749. <!-- collision origin is defined w.r.t. link local coordinate system -->
  750. <origin xyz="0 0 0" rpy="0 0 0" />
  751. <geometry>
  752. <box size="0 0 0"/>
  753. </geometry>
  754. </collision>
  755. </link>
  756.  
  757.  
  758. <link name="ref_30_link">
  759. <inertial>
  760. <mass value="0.010000" />
  761. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  762. <origin xyz="0.0 0.0 0" />
  763. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  764. </inertial>
  765. <visual>
  766. <!-- visual origin is defined w.r.t. link local coordinate system -->
  767. <origin xyz="0 0 0" rpy="0 0 0" />
  768. <geometry>
  769. <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004 0.0004 0.0004"/>
  770. </geometry>
  771. </visual>
  772. <collision>
  773. <!-- collision origin is defined w.r.t. link local coordinate system -->
  774. <origin xyz="0 0 0" rpy="0 0 0" />
  775. <geometry>
  776. <box size="0 0 0"/>
  777. </geometry>
  778. </collision>
  779. </link>
  780.  
  781.  
  782. <link name="ref_31_link">
  783. <inertial>
  784. <mass value="0.010000" />
  785. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  786. <origin xyz="0.0 0.0 0" />
  787. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  788. </inertial>
  789. <visual>
  790. <!-- visual origin is defined w.r.t. link local coordinate system -->
  791. <origin xyz="0 0 0" rpy="0 0 0" />
  792. <geometry>
  793. <mesh filename="package://nxt_description/meshes/parts/6536.dae" scale=" 0.0004 0.0004 0.0004"/>
  794. </geometry>
  795. </visual>
  796. <collision>
  797. <!-- collision origin is defined w.r.t. link local coordinate system -->
  798. <origin xyz="0 0 0" rpy="0 0 0" />
  799. <geometry>
  800. <box size="0 0 0"/>
  801. </geometry>
  802. </collision>
  803. </link>
  804.  
  805.  
  806. <link name="ref_32_link">
  807. <inertial>
  808. <mass value="0.010000" />
  809. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  810. <origin xyz="0.0 0.0 0" />
  811. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  812. </inertial>
  813. <visual>
  814. <!-- visual origin is defined w.r.t. link local coordinate system -->
  815. <origin xyz="0 0 0" rpy="0 0 0" />
  816. <geometry>
  817. <mesh filename="package://nxt_description/meshes/parts/32073.dae" scale=" 0.0004 0.0004 0.0004"/>
  818. </geometry>
  819. </visual>
  820. <collision>
  821. <!-- collision origin is defined w.r.t. link local coordinate system -->
  822. <origin xyz="0 0 0" rpy="0 0 0" />
  823. <geometry>
  824. <box size="0 0 0"/>
  825. </geometry>
  826. </collision>
  827. </link>
  828.  
  829.  
  830. <link name="ref_33_link">
  831. <inertial>
  832. <mass value="0.010000" />
  833. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  834. <origin xyz="0.0 0.0 0" />
  835. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  836. </inertial>
  837. <visual>
  838. <!-- visual origin is defined w.r.t. link local coordinate system -->
  839. <origin xyz="0 0 0" rpy="0 0 0" />
  840. <geometry>
  841. <mesh filename="package://nxt_description/meshes/parts/3713.dae" scale=" 0.0004 0.0004 0.0004"/>
  842. </geometry>
  843. </visual>
  844. <collision>
  845. <!-- collision origin is defined w.r.t. link local coordinate system -->
  846. <origin xyz="0 0 0" rpy="0 0 0" />
  847. <geometry>
  848. <box size="0 0 0"/>
  849. </geometry>
  850. </collision>
  851. </link>
  852.  
  853.  
  854. <link name="ref_34_link">
  855. <inertial>
  856. <mass value="0.010000" />
  857. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  858. <origin xyz="0.0 0.0 0" />
  859. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  860. </inertial>
  861. <visual>
  862. <!-- visual origin is defined w.r.t. link local coordinate system -->
  863. <origin xyz="0 0 0" rpy="0 0 0" />
  864. <geometry>
  865. <mesh filename="package://nxt_description/meshes/parts/6536.dae" scale=" 0.0004 0.0004 0.0004"/>
  866. </geometry>
  867. </visual>
  868. <collision>
  869. <!-- collision origin is defined w.r.t. link local coordinate system -->
  870. <origin xyz="0 0 0" rpy="0 0 0" />
  871. <geometry>
  872. <box size="0 0 0"/>
  873. </geometry>
  874. </collision>
  875. </link>
  876.  
  877.  
  878. <link name="ref_35_link">
  879. <inertial>
  880. <mass value="0.010000" />
  881. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  882. <origin xyz="0.0 0.0 0" />
  883. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  884. </inertial>
  885. <visual>
  886. <!-- visual origin is defined w.r.t. link local coordinate system -->
  887. <origin xyz="0 0 0" rpy="0 0 0" />
  888. <geometry>
  889. <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004 0.0004 0.0004"/>
  890. </geometry>
  891. </visual>
  892. <collision>
  893. <!-- collision origin is defined w.r.t. link local coordinate system -->
  894. <origin xyz="0 0 0" rpy="0 0 0" />
  895. <geometry>
  896. <box size="0 0 0"/>
  897. </geometry>
  898. </collision>
  899. </link>
  900.  
  901.  
  902. <link name="ref_36_link">
  903. <inertial>
  904. <mass value="0.010000" />
  905. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  906. <origin xyz="0.0 0.0 0" />
  907. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  908. </inertial>
  909. <visual>
  910. <!-- visual origin is defined w.r.t. link local coordinate system -->
  911. <origin xyz="0 0 0" rpy="0 0 0" />
  912. <geometry>
  913. <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004 0.0004 0.0004"/>
  914. </geometry>
  915. </visual>
  916. <collision>
  917. <!-- collision origin is defined w.r.t. link local coordinate system -->
  918. <origin xyz="0 0 0" rpy="0 0 0" />
  919. <geometry>
  920. <box size="0 0 0"/>
  921. </geometry>
  922. </collision>
  923. </link>
  924.  
  925.  
  926. <link name="ref_37_link">
  927. <inertial>
  928. <mass value="0.010000" />
  929. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  930. <origin xyz="0.0 0.0 0" />
  931. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  932. </inertial>
  933. <visual>
  934. <!-- visual origin is defined w.r.t. link local coordinate system -->
  935. <origin xyz="0 0 0" rpy="0 0 0" />
  936. <geometry>
  937. <mesh filename="package://nxt_description/meshes/parts/53787.dae" scale=" 0.0004 0.0004 0.0004"/>
  938. </geometry>
  939. </visual>
  940. <collision>
  941. <!-- collision origin is defined w.r.t. link local coordinate system -->
  942. <origin xyz="0 0 0" rpy="0 0 0" />
  943. <geometry>
  944. <box size="0 0 0"/>
  945. </geometry>
  946. </collision>
  947. </link>
  948.  
  949. <link name="ref_37_link_hub">
  950. <inertial>
  951. <mass value="0.010000" />
  952. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  953. <origin xyz="0.0 0.0 0" />
  954. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  955. </inertial>
  956. <visual>
  957. <!-- visual origin is defined w.r.t. link local coordinate system -->
  958. <origin xyz="0 0 0" rpy="0 0 0" />
  959. <geometry>
  960. <mesh filename="package://nxt_description/meshes/parts/servo_hubs.dae" scale=" 0.0004 0.0004 0.0004"/>
  961. </geometry>
  962. </visual>
  963. <collision>
  964. <!-- collision origin is defined w.r.t. link local coordinate system -->
  965. <origin xyz="0 0 0" rpy="0 0 0" />
  966. <geometry>
  967. <box size="0 0 0"/>
  968. </geometry>
  969. </collision>
  970. </link>
  971.  
  972. <!--THIS IS THE MOTOR JOINT RENAME AND FIX BY 180 WHEN NEEDED-->
  973. <joint name="right_wheel_joint" type="continuous">
  974. <parent link="ref_37_link"/>
  975. <child link="ref_37_link_hub"/>
  976. <origin xyz="0 0 0" rpy="0 0 0" />
  977. <axis xyz="1 0 0" />
  978. </joint>
  979.  
  980.  
  981.  
  982. <link name="ref_38_link">
  983. <inertial>
  984. <mass value="0.010000" />
  985. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  986. <origin xyz="0.0 0.0 0" />
  987. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  988. </inertial>
  989. <visual>
  990. <!-- visual origin is defined w.r.t. link local coordinate system -->
  991. <origin xyz="0 0 0" rpy="0 0 0" />
  992. <geometry>
  993. <mesh filename="package://nxt_description/meshes/parts/3749.dae" scale=" 0.0004 0.0004 0.0004"/>
  994. </geometry>
  995. </visual>
  996. <collision>
  997. <!-- collision origin is defined w.r.t. link local coordinate system -->
  998. <origin xyz="0 0 0" rpy="0 0 0" />
  999. <geometry>
  1000. <box size="0 0 0"/>
  1001.  
  1002. <link name="ref_36_link">
  1003. <inertial>
  1004. <mass value="0.010000" />
  1005. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1006. <origin xyz="0.0 0.0 0" />
  1007. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1008. </inertial>
  1009. <visual>
  1010. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1011. <origin xyz="0 0 0" rpy="0 0 0" />
  1012. <geometry>
  1013. <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004 0.0004 0.0004"/>
  1014. </geometry>
  1015. </visual>
  1016. <collision>
  1017. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1018. <origin xyz="0 0 0" rpy="0 0 0" />
  1019. <geometry>
  1020. <box size="0 0 0"/>
  1021. </geometry>
  1022. </collision>
  1023. </link>
  1024.  
  1025.  
  1026. <link name="ref_37_link">
  1027. <inertial>
  1028. <mass value="0.010000" />
  1029. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1030. <origin xyz="0.0 0.0 0" />
  1031. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1032. </inertial>
  1033. <visual>
  1034. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1035. <origin xyz="0 0 0" rpy="0 0 0" />
  1036. <geometry>
  1037. <mesh filename="package://nxt_description/meshes/parts/53787.dae" scale=" 0.0004 0.0004 0.0004"/>
  1038. </geometry>
  1039. </visual>
  1040. <collision>
  1041. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1042. <origin xyz="0 0 0" rpy="0 0 0" />
  1043. <geometry>
  1044. <box size="0 0 0"/>
  1045. </geometry>
  1046. </collision>
  1047. </link>
  1048.  
  1049. <link name="ref_37_link_hub">
  1050. <inertial>
  1051. <mass value="0.010000" />
  1052. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1053. <origin xyz="0.0 0.0 0" />
  1054. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1055. </inertial>
  1056. <visual>
  1057. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1058. <origin xyz="0 0 0" rpy="0 0 0" />
  1059. <geometry>
  1060. <mesh filename="package://nxt_description/meshes/parts/servo_hubs.dae" scale=" 0.0004 0.0004 0.0004"/>
  1061. </geometry>
  1062. </visual>
  1063. <collision>
  1064. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1065. <origin xyz="0 0 0" rpy="0 0 0" />
  1066. <geometry>
  1067. <box size="0 0 0"/>
  1068. </geometry>
  1069. </collision>
  1070. </link>
  1071.  
  1072. <!--THIS IS THE MOTOR JOINT RENAME AND FIX BY 180 WHEN NEEDED-->
  1073. <joint name="right_wheel_joint" type="continuous">
  1074. <parent link="ref_37_link"/>
  1075. <child link="ref_37_link_hub"/>
  1076. <origin xyz="0 0 0" rpy="0 0 0" />
  1077. <axis xyz="1 0 0" />
  1078. </joint>
  1079.  
  1080.  
  1081.  
  1082. <link name="ref_38_link">
  1083. <inertial>
  1084. <mass value="0.010000" />
  1085. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1086. <origin xyz="0.0 0.0 0" />
  1087. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1088. </inertial>
  1089. <visual>
  1090. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1091. <origin xyz="0 0 0" rpy="0 0 0" />
  1092. <geometry>
  1093. <mesh filename="package://nxt_description/meshes/parts/3749.dae" scale=" 0.0004 0.0004 0.0004"/>
  1094. </geometry>
  1095. </visual>
  1096. <collision>
  1097. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1098. <origin xyz="0 0 0" rpy="0 0 0" />
  1099. <geometry>
  1100. <box size="0 0 0"/>
  1101. </geometry>
  1102. </collision>
  1103. </link>
  1104.  
  1105.  
  1106. <link name="ref_39_link">
  1107. <inertial>
  1108. <mass value="0.010000" />
  1109. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1110. <origin xyz="0.0 0.0 0" />
  1111. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1112. </inertial>
  1113. <visual>
  1114. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1115. <origin xyz="0 0 0" rpy="0 3.14159 0" />
  1116. <geometry>
  1117. <mesh filename="package://nxt_description/meshes/parts/6629.dae" scale=" 0.0004 0.0004 0.0004"/>
  1118. </geometry>
  1119. </visual>
  1120. <collision>
  1121. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1122. <origin xyz="0 0 0" rpy="0 0 0" />
  1123. <geometry>
  1124. <box size="0 0 0"/>
  1125. </geometry>
  1126. </collision>
  1127. </link>
  1128.  
  1129.  
  1130. <link name="ref_40_link">
  1131. <inertial>
  1132. <mass value="0.010000" />
  1133. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1134. <origin xyz="0.0 0.0 0" />
  1135. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1136. </inertial>
  1137. <visual>
  1138. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1139. <origin xyz="0 0 0" rpy="0 0 0" />
  1140. <geometry>
  1141. <mesh filename="package://nxt_description/meshes/parts/3749.dae" scale=" 0.0004 0.0004 0.0004"/>
  1142. </geometry>
  1143. </visual>
  1144. <collision>
  1145. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1146. <origin xyz="0 0 0" rpy="0 0 0" />
  1147. <geometry>
  1148. <box size="0 0 0"/>
  1149. </geometry>
  1150. </collision>
  1151. </link>
  1152.  
  1153.  
  1154. <link name="ref_41_link">
  1155. <inertial>
  1156. <mass value="0.010000" />
  1157. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1158. <origin xyz="0.0 0.0 0" />
  1159. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1160. </inertial>
  1161. <visual>
  1162. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1163. <origin xyz="0 0 0" rpy="0 0 0" />
  1164. <geometry>
  1165. <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004 0.0004 0.0004"/>
  1166. </geometry>
  1167. </visual>
  1168. <collision>
  1169. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1170. <origin xyz="0 0 0" rpy="0 0 0" />
  1171. <geometry>
  1172. <box size="0 0 0"/>
  1173. </geometry>
  1174. </collision>
  1175. </link>
  1176.  
  1177.  
  1178. <link name="ref_42_link">
  1179. <inertial>
  1180. <mass value="0.010000" />
  1181. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1182. <origin xyz="0.0 0.0 0" />
  1183. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1184. </inertial>
  1185. <visual>
  1186. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1187. <origin xyz="0 0 0" rpy="0 0 0" />
  1188. <geometry>
  1189. <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004 0.0004 0.0004"/>
  1190. </geometry>
  1191. </visual>
  1192. <collision>
  1193. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1194. <origin xyz="0 0 0" rpy="0 0 0" />
  1195. <geometry>
  1196. <box size="0 0 0"/>
  1197. </geometry>
  1198. </collision>
  1199. </link>
  1200.  
  1201.  
  1202. <link name="ref_43_link">
  1203. <inertial>
  1204. <mass value="0.010000" />
  1205. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1206. <origin xyz="0.0 0.0 0" />
  1207. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1208. </inertial>
  1209. <visual>
  1210. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1211. <origin xyz="0 0 0" rpy="0 0 0" />
  1212. <geometry>
  1213. <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004 0.0004 0.0004"/>
  1214. </geometry>
  1215. </visual>
  1216. <collision>
  1217. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1218. <origin xyz="0 0 0" rpy="0 0 0" />
  1219. <geometry>
  1220. <box size="0 0 0"/>
  1221. </geometry>
  1222. </collision>
  1223. </link>
  1224.  
  1225.  
  1226. <link name="ref_44_link">
  1227. <inertial>
  1228. <mass value="0.010000" />
  1229. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1230. <origin xyz="0.0 0.0 0" />
  1231. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1232. </inertial>
  1233. <visual>
  1234. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1235. <origin xyz="0 0 0" rpy="0 0 0" />
  1236. <geometry>
  1237. <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004 0.0004 0.0004"/>
  1238. </geometry>
  1239. </visual>
  1240. <collision>
  1241. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1242. <origin xyz="0 0 0" rpy="0 0 0" />
  1243. <geometry>
  1244. <box size="0 0 0"/>
  1245. </geometry>
  1246. </collision>
  1247. </link>
  1248.  
  1249.  
  1250. <link name="ref_45_link">
  1251. <inertial>
  1252. <mass value="0.010000" />
  1253. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1254. <origin xyz="0.0 0.0 0" />
  1255. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1256. </inertial>
  1257. <visual>
  1258. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1259. <origin xyz="0 0 0" rpy="0 3.14159 0" />
  1260. <geometry>
  1261. <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale=" 0.0004 0.0004 0.0004"/>
  1262. </geometry>
  1263. </visual>
  1264. <collision>
  1265. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1266. <origin xyz="0 0 0" rpy="0 0 0" />
  1267. <geometry>
  1268. <box size="0 0 0"/>
  1269. </geometry>
  1270. </collision>
  1271. </link>
  1272.  
  1273.  
  1274. <link name="ref_46_link">
  1275. <inertial>
  1276. <mass value="0.010000" />
  1277. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1278. <origin xyz="0.0 0.0 0" />
  1279. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1280. </inertial>
  1281. <visual>
  1282. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1283. <origin xyz="0 0 0" rpy="0 0 0" />
  1284. <geometry>
  1285. <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004 0.0004 0.0004"/>
  1286. </geometry>
  1287. </visual>
  1288. <collision>
  1289. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1290. <origin xyz="0 0 0" rpy="0 0 0" />
  1291. <geometry>
  1292. <box size="0 0 0"/>
  1293. </geometry>
  1294. </collision>
  1295. </link>
  1296.  
  1297.  
  1298. <link name="ref_47_link">
  1299. <inertial>
  1300. <mass value="0.010000" />
  1301. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1302. <origin xyz="0.0 0.0 0" />
  1303. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1304. </inertial>
  1305. <visual>
  1306. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1307. <origin xyz="0 0 0" rpy="0 0 0" />
  1308. <geometry>
  1309. <mesh filename="package://nxt_description/meshes/parts/53788.dae" scale=" 0.0004 0.0004 0.0004"/>
  1310. </geometry>
  1311. </visual>
  1312. <collision>
  1313. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1314. <origin xyz="0 0 0" rpy="0 0 0" />
  1315. <geometry>
  1316. <box size="0 0 0"/>
  1317. </geometry>
  1318. </collision>
  1319. </link>
  1320.  
  1321.  
  1322. <link name="ref_48_link">
  1323. <inertial>
  1324. <mass value="0.010000" />
  1325. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1326. <origin xyz="0.0 0.0 0" />
  1327. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1328. </inertial>
  1329. <visual>
  1330. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1331. <origin xyz="0 0 0" rpy="0 0 0" />
  1332. <geometry>
  1333. <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004 0.0004 0.0004"/>
  1334. </geometry>
  1335. </visual>
  1336. <collision>
  1337. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1338. <origin xyz="0 0 0" rpy="0 0 0" />
  1339. <geometry>
  1340. <box size="0 0 0"/>
  1341. </geometry>
  1342. </collision>
  1343. </link>
  1344.  
  1345.  
  1346. <link name="ref_49_link">
  1347. <inertial>
  1348. <mass value="0.010000" />
  1349. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1350. <origin xyz="0.0 0.0 0" />
  1351. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1352. </inertial>
  1353. <visual>
  1354. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1355. <origin xyz="0 0 0" rpy="0 3.14159 0" />
  1356. <geometry>
  1357. <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale=" 0.0004 0.0004 0.0004"/>
  1358. </geometry>
  1359. </visual>
  1360. <collision>
  1361. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1362. <origin xyz="0 0 0" rpy="0 0 0" />
  1363. <geometry>
  1364. <box size="0 0 0"/>
  1365. </geometry>
  1366. </collision>
  1367. </link>
  1368.  
  1369.  
  1370. <link name="ref_50_link">
  1371. <inertial>
  1372. <mass value="0.010000" />
  1373. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1374. <origin xyz="0.0 0.0 0" />
  1375. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1376. </inertial>
  1377. <visual>
  1378. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1379. <origin xyz="0 0 0" rpy="0 0 0" />
  1380. <geometry>
  1381. <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004 0.0004 0.0004"/>
  1382. </geometry>
  1383. </visual>
  1384. <collision>
  1385. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1386. <origin xyz="0 0 0" rpy="0 0 0" />
  1387. <geometry>
  1388. <box size="0 0 0"/>
  1389. </geometry>
  1390. </collision>
  1391. </link>
  1392.  
  1393.  
  1394. <link name="ref_51_link">
  1395. <inertial>
  1396. <mass value="0.010000" />
  1397. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1398. <origin xyz="0.0 0.0 0" />
  1399. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1400. </inertial>
  1401. <visual>
  1402. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1403. <origin xyz="0 0 0" rpy="0 3.14159 0" />
  1404. <geometry>
  1405. <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale=" 0.0004 0.0004 0.0004"/>
  1406. </geometry>
  1407. </visual>
  1408. <collision>
  1409. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1410. <origin xyz="0 0 0" rpy="0 0 0" />
  1411. <geometry>
  1412. <box size="0 0 0"/>
  1413. </geometry>
  1414. </collision>
  1415. </link>
  1416.  
  1417.  
  1418. <link name="ref_52_link">
  1419. <inertial>
  1420. <mass value="0.010000" />
  1421. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1422. <origin xyz="0.0 0.0 0" />
  1423. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1424. </inertial>
  1425. <visual>
  1426. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1427. <origin xyz="0 0 0" rpy="0 0 0" />
  1428. <geometry>
  1429. <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004 0.0004 0.0004"/>
  1430. </geometry>
  1431. </visual>
  1432. <collision>
  1433. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1434. <origin xyz="0 0 0" rpy="0 0 0" />
  1435. <geometry>
  1436. <box size="0 0 0"/>
  1437. </geometry>
  1438. </collision>
  1439. </link>
  1440.  
  1441.  
  1442. <link name="ref_53_link">
  1443. <inertial>
  1444. <mass value="0.010000" />
  1445. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1446. <origin xyz="0.0 0.0 0" />
  1447. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1448. </inertial>
  1449. <visual>
  1450. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1451. <origin xyz="0 0 0" rpy="0 3.14159 0" />
  1452. <geometry>
  1453. <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale=" 0.0004 0.0004 0.0004"/>
  1454. </geometry>
  1455. </visual>
  1456. <collision>
  1457. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1458. <origin xyz="0 0 0" rpy="0 0 0" />
  1459. <geometry>
  1460. <box size="0 0 0"/>
  1461. </geometry>
  1462. </collision>
  1463. </link>
  1464.  
  1465.  
  1466. <link name="ref_54_link">
  1467. <inertial>
  1468. <mass value="0.010000" />
  1469. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1470. <origin xyz="0.0 0.0 0" />
  1471. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1472. </inertial>
  1473. <visual>
  1474. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1475. <origin xyz="0 0 0" rpy="0 0 0" />
  1476. <geometry>
  1477. <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004 0.0004 0.0004"/>
  1478. </geometry>
  1479. </visual>
  1480. <collision>
  1481. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1482. <origin xyz="0 0 0" rpy="0 0 0" />
  1483. <geometry>
  1484. <box size="0 0 0"/>
  1485. </geometry>
  1486. </collision>
  1487. </link>
  1488.  
  1489.  
  1490. <link name="ref_55_link">
  1491. <inertial>
  1492. <mass value="0.010000" />
  1493. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1494. <origin xyz="0.0 0.0 0" />
  1495. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1496. </inertial>
  1497. <visual>
  1498. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1499. <origin xyz="0 0 0" rpy="0 3.14159 0" />
  1500. <geometry>
  1501. <mesh filename="package://nxt_description/meshes/parts/6629.dae" scale=" 0.0004 0.0004 0.0004"/>
  1502. </geometry>
  1503. </visual>
  1504. <collision>
  1505. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1506. <origin xyz="0 0 0" rpy="0 0 0" />
  1507. <geometry>
  1508. <box size="0 0 0"/>
  1509. </geometry>
  1510. </collision>
  1511. </link>
  1512.  
  1513.  
  1514. <link name="ref_56_link">
  1515. <inertial>
  1516. <mass value="0.010000" />
  1517. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1518. <origin xyz="0.0 0.0 0" />
  1519. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1520. </inertial>
  1521. <visual>
  1522. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1523. <origin xyz="0 0 0" rpy="0 0 0" />
  1524. <geometry>
  1525. <mesh filename="package://nxt_description/meshes/parts/3749.dae" scale=" 0.0004 0.0004 0.0004"/>
  1526. </geometry>
  1527. </visual>
  1528. <collision>
  1529. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1530. <origin xyz="0 0 0" rpy="0 0 0" />
  1531. <geometry>
  1532. <box size="0 0 0"/>
  1533. </geometry>
  1534. </collision>
  1535. </link>
  1536.  
  1537.  
  1538. <link name="ref_57_link">
  1539. <inertial>
  1540. <mass value="0.010000" />
  1541. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1542. <origin xyz="0.0 0.0 0" />
  1543. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1544. </inertial>
  1545. <visual>
  1546. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1547. <origin xyz="0 0 0" rpy="0 0 0" />
  1548. <geometry>
  1549. <mesh filename="package://nxt_description/meshes/parts/3749.dae" scale=" 0.0004 0.0004 0.0004"/>
  1550. </geometry>
  1551. </visual>
  1552. <collision>
  1553. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1554. <origin xyz="0 0 0" rpy="0 0 0" />
  1555. <geometry>
  1556. <box size="0 0 0"/>
  1557. </geometry>
  1558. </collision>
  1559. </link>
  1560.  
  1561.  
  1562. <link name="ref_58_link">
  1563. <inertial>
  1564. <mass value="0.010000" />
  1565. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1566. <origin xyz="0.0 0.0 0" />
  1567. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1568. </inertial>
  1569. <visual>
  1570. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1571. <origin xyz="0 0 0" rpy="0 0 0" />
  1572. <geometry>
  1573. <mesh filename="package://nxt_description/meshes/parts/53787.dae" scale=" 0.0004 0.0004 0.0004"/>
  1574. </geometry>
  1575. </visual>
  1576. <collision>
  1577. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1578. <origin xyz="0 0 0" rpy="0 0 0" />
  1579. <geometry>
  1580. <box size="0 0 0"/>
  1581. </geometry>
  1582. </collision>
  1583. </link>
  1584.  
  1585. <link name="ref_58_link_hub">
  1586. <inertial>
  1587. <mass value="0.010000" />
  1588. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1589. <origin xyz="0.0 0.0 0" />
  1590. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1591. </inertial>
  1592. <visual>
  1593. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1594. <origin xyz="0 0 0" rpy="0 0 0" />
  1595. <geometry>
  1596. <mesh filename="package://nxt_description/meshes/parts/servo_hubs.dae" scale=" 0.0004 0.0004 0.0004"/>
  1597. </geometry>
  1598. </visual>
  1599. <collision>
  1600. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1601. <origin xyz="0 0 0" rpy="0 0 0" />
  1602. <geometry>
  1603. <box size="0 0 0"/>
  1604. </geometry>
  1605. </collision>
  1606. </link>
  1607.  
  1608. <!--THIS IS THE MOTOR JOINT RENAME AND FIX BY 180 WHEN NEEDED-->
  1609. <joint name="left_wheel_joint" type="continuous">
  1610. <parent link="ref_58_link"/>
  1611. <child link="ref_58_link_hub"/>
  1612. <origin xyz="0 0 0" rpy="0 3.14159 0" />
  1613. <axis xyz="-1 0 0" />
  1614. </joint>
  1615.  
  1616.  
  1617.  
  1618. <link name="ref_59_link">
  1619. <inertial>
  1620. <mass value="0.010000" />
  1621. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1622. <origin xyz="0.0 0.0 0" />
  1623. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1624. </inertial>
  1625. <visual>
  1626. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1627. <origin xyz="0 0 0" rpy="0 0 0" />
  1628. <geometry>
  1629. <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004 0.0004 0.0004"/>
  1630. </geometry>
  1631. </visual>
  1632. <collision>
  1633. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1634. <origin xyz="0 0 0" rpy="0 0 0" />
  1635. <geometry>
  1636. <box size="0 0 0"/>
  1637. </geometry>
  1638. </collision>
  1639. </link>
  1640.  
  1641.  
  1642. <link name="ref_60_link">
  1643. <inertial>
  1644. <mass value="0.010000" />
  1645. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1646. <origin xyz="0.0 0.0 0" />
  1647. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1648. </inertial>
  1649. <visual>
  1650. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1651. <origin xyz="0 0 0" rpy="0 0 0" />
  1652. <geometry>
  1653. <mesh filename="package://nxt_description/meshes/parts/3705.dae" scale=" 0.0004 0.0004 0.0004"/>
  1654. </geometry>
  1655. </visual>
  1656. <collision>
  1657. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1658. <origin xyz="0 0 0" rpy="0 0 0" />
  1659. <geometry>
  1660. <box size="0 0 0"/>
  1661. </geometry>
  1662. </collision>
  1663. </link>
  1664.  
  1665.  
  1666. <link name="ref_61_link">
  1667. <inertial>
  1668. <mass value="0.010000" />
  1669. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1670. <origin xyz="0.0 0.0 0" />
  1671. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1672. </inertial>
  1673. <visual>
  1674. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1675. <origin xyz="0 0 0" rpy="0 0 0" />
  1676. <geometry>
  1677. <mesh filename="package://nxt_description/meshes/parts/32123.dae" scale=" 0.0004 0.0004 0.0004"/>
  1678. </geometry>
  1679. </visual>
  1680. <collision>
  1681. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1682. <origin xyz="0 0 0" rpy="0 0 0" />
  1683. <geometry>
  1684. <box size="0 0 0"/>
  1685. </geometry>
  1686. </collision>
  1687. </link>
  1688.  
  1689.  
  1690. <link name="ref_62_link">
  1691. <inertial>
  1692. <mass value="0.010000" />
  1693. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1694. <origin xyz="0.0 0.0 0" />
  1695. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1696. </inertial>
  1697. <visual>
  1698. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1699. <origin xyz="0 0 0" rpy="0 0 0" />
  1700. <geometry>
  1701. <mesh filename="package://nxt_description/meshes/parts/56145.dae" scale=" 0.0004 0.0004 0.0004"/>
  1702. </geometry>
  1703. </visual>
  1704. <collision>
  1705. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1706. <origin xyz="0 0 0" rpy="0 0 0" />
  1707. <geometry>
  1708. <box size="0 0 0"/>
  1709. </geometry>
  1710. </collision>
  1711. </link>
  1712.  
  1713.  
  1714. <link name="ref_63_link">
  1715. <inertial>
  1716. <mass value="0.010000" />
  1717. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1718. <origin xyz="0.0 0.0 0" />
  1719. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1720. </inertial>
  1721. <visual>
  1722. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1723. <origin xyz="0 0 0" rpy="0 0 0" />
  1724. <geometry>
  1725. <mesh filename="package://nxt_description/meshes/parts/44309.dae" scale=" 0.0004 0.0004 0.0004"/>
  1726. </geometry>
  1727. </visual>
  1728. <collision>
  1729. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1730. <origin xyz="0 0 0" rpy="0 0 0" />
  1731. <geometry>
  1732. <box size="0 0 0"/>
  1733. </geometry>
  1734. </collision>
  1735. </link>
  1736.  
  1737.  
  1738. <link name="ref_64_link">
  1739. <inertial>
  1740. <mass value="0.010000" />
  1741. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1742. <origin xyz="0.0 0.0 0" />
  1743. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1744. </inertial>
  1745. <visual>
  1746. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1747. <origin xyz="0 0 0" rpy="0 0 0" />
  1748. <geometry>
  1749. <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004 0.0004 0.0004"/>
  1750. </geometry>
  1751. </visual>
  1752. <collision>
  1753. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1754. <origin xyz="0 0 0" rpy="0 0 0" />
  1755. <geometry>
  1756. <box size="0 0 0"/>
  1757. </geometry>
  1758. </collision>
  1759. </link>
  1760.  
  1761.  
  1762. <link name="ref_65_link">
  1763. <inertial>
  1764. <mass value="0.010000" />
  1765. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1766. <origin xyz="0.0 0.0 0" />
  1767. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1768. </inertial>
  1769. <visual>
  1770. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1771. <origin xyz="0 0 0" rpy="0 0 0" />
  1772. <geometry>
  1773. <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004 0.0004 0.0004"/>
  1774. </geometry>
  1775. </visual>
  1776. <collision>
  1777. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1778. <origin xyz="0 0 0" rpy="0 0 0" />
  1779. <geometry>
  1780. <box size="0 0 0"/>
  1781. </geometry>
  1782. </collision>
  1783. </link>
  1784.  
  1785.  
  1786. <link name="ref_66_link">
  1787. <inertial>
  1788. <mass value="0.010000" />
  1789. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1790. <origin xyz="0.0 0.0 0" />
  1791. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1792. </inertial>
  1793. <visual>
  1794. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1795. <origin xyz="0 0 0" rpy="0 0 0" />
  1796. <geometry>
  1797. <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004 0.0004 0.0004"/>
  1798. </geometry>
  1799. </visual>
  1800. <collision>
  1801. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1802. <origin xyz="0 0 0" rpy="0 0 0" />
  1803. <geometry>
  1804. <box size="0 0 0"/>
  1805. </geometry>
  1806. </collision>
  1807. </link>
  1808.  
  1809.  
  1810. <link name="ref_67_link">
  1811. <inertial>
  1812. <mass value="0.010000" />
  1813. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1814. <origin xyz="0.0 0.0 0" />
  1815. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1816. </inertial>
  1817. <visual>
  1818. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1819. <origin xyz="0 0 0" rpy="0 0 0" />
  1820. <geometry>
  1821. <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004 0.0004 0.0004"/>
  1822. </geometry>
  1823. </visual>
  1824. <collision>
  1825. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1826. <origin xyz="0 0 0" rpy="0 0 0" />
  1827. <geometry>
  1828. <box size="0 0 0"/>
  1829. </geometry>
  1830. </collision>
  1831. </link>
  1832.  
  1833.  
  1834. <link name="ref_68_link">
  1835. <inertial>
  1836. <mass value="0.010000" />
  1837. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1838. <origin xyz="0.0 0.0 0" />
  1839. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1840. </inertial>
  1841. <visual>
  1842. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1843. <origin xyz="0 0 0" rpy="0 3.14159 0" />
  1844. <geometry>
  1845. <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale=" 0.0004 0.0004 0.0004"/>
  1846. </geometry>
  1847. </visual>
  1848. <collision>
  1849. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1850. <origin xyz="0 0 0" rpy="0 0 0" />
  1851. <geometry>
  1852. <box size="0 0 0"/>
  1853. </geometry>
  1854. </collision>
  1855. </link>
  1856.  
  1857.  
  1858. <link name="ref_69_link">
  1859. <inertial>
  1860. <mass value="0.010000" />
  1861. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1862. <origin xyz="0.0 0.0 0" />
  1863. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1864. </inertial>
  1865. <visual>
  1866. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1867. <origin xyz="0 0 0" rpy="0 0 0" />
  1868. <geometry>
  1869. <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004 0.0004 0.0004"/>
  1870. </geometry>
  1871. </visual>
  1872. <collision>
  1873. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1874. <origin xyz="0 0 0" rpy="0 0 0" />
  1875. <geometry>
  1876. <box size="0 0 0"/>
  1877. </geometry>
  1878. </collision>
  1879. </link>
  1880.  
  1881.  
  1882. <link name="ref_70_link">
  1883. <inertial>
  1884. <mass value="0.010000" />
  1885. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1886. <origin xyz="0.0 0.0 0" />
  1887. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1888. </inertial>
  1889. <visual>
  1890. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1891. <origin xyz="0 0 0" rpy="0 3.14159 0" />
  1892. <geometry>
  1893. <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale=" 0.0004 0.0004 0.0004"/>
  1894. </geometry>
  1895. </visual>
  1896. <collision>
  1897. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1898. <origin xyz="0 0 0" rpy="0 0 0" />
  1899. <geometry>
  1900. <box size="0 0 0"/>
  1901. </geometry>
  1902. </collision>
  1903. </link>
  1904.  
  1905.  
  1906. <link name="ref_71_link">
  1907. <inertial>
  1908. <mass value="0.010000" />
  1909. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1910. <origin xyz="0.0 0.0 0" />
  1911. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1912. </inertial>
  1913. <visual>
  1914. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1915. <origin xyz="0 0 0" rpy="0 0 0" />
  1916. <geometry>
  1917. <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004 0.0004 0.0004"/>
  1918. </geometry>
  1919. </visual>
  1920. <collision>
  1921. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1922. <origin xyz="0 0 0" rpy="0 0 0" />
  1923. <geometry>
  1924. <box size="0 0 0"/>
  1925. </geometry>
  1926. </collision>
  1927. </link>
  1928.  
  1929.  
  1930. <link name="ref_72_link">
  1931. <inertial>
  1932. <mass value="0.010000" />
  1933. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1934. <origin xyz="0.0 0.0 0" />
  1935. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1936. </inertial>
  1937. <visual>
  1938. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1939. <origin xyz="0 0 0" rpy="0 0 0" />
  1940. <geometry>
  1941. <mesh filename="package://nxt_description/meshes/parts/3705.dae" scale=" 0.0004 0.0004 0.0004"/>
  1942. </geometry>
  1943. </visual>
  1944. <collision>
  1945. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1946. <origin xyz="0 0 0" rpy="0 0 0" />
  1947. <geometry>
  1948. <box size="0 0 0"/>
  1949. </geometry>
  1950. </collision>
  1951. </link>
  1952.  
  1953.  
  1954. <link name="ref_73_link">
  1955. <inertial>
  1956. <mass value="0.010000" />
  1957. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1958. <origin xyz="0.0 0.0 0" />
  1959. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1960. </inertial>
  1961. <visual>
  1962. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1963. <origin xyz="0 0 0" rpy="0 0 0" />
  1964. <geometry>
  1965. <mesh filename="package://nxt_description/meshes/parts/56145.dae" scale=" 0.0004 0.0004 0.0004"/>
  1966. </geometry>
  1967. </visual>
  1968. <collision>
  1969. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1970. <origin xyz="0 0 0" rpy="0 0 0" />
  1971. <geometry>
  1972. <box size="0 0 0"/>
  1973. </geometry>
  1974. </collision>
  1975. </link>
  1976.  
  1977.  
  1978. <link name="ref_74_link">
  1979. <inertial>
  1980. <mass value="0.010000" />
  1981. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1982. <origin xyz="0.0 0.0 0" />
  1983. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1984. </inertial>
  1985. <visual>
  1986. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1987. <origin xyz="0 0 0" rpy="0 0 0" />
  1988. <geometry>
  1989. <mesh filename="package://nxt_description/meshes/parts/44309.dae" scale=" 0.0004 0.0004 0.0004"/>
  1990. </geometry>
  1991. </visual>
  1992. <collision>
  1993. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1994. <origin xyz="0 0 0" rpy="0 0 0" />
  1995. <geometry>
  1996. <box size="0 0 0"/>
  1997. </geometry>
  1998. </collision>
  1999. </link>
  2000.  
  2001.  
  2002. <link name="ref_75_link">
  2003. <inertial>
  2004. <mass value="0.010000" />
  2005. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  2006. <origin xyz="0.0 0.0 0" />
  2007. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  2008. </inertial>
  2009. <visual>
  2010. <!-- visual origin is defined w.r.t. link local coordinate system -->
  2011. <origin xyz="0 0 0" rpy="0 0 0" />
  2012. <geometry>
  2013. <mesh filename="package://nxt_description/meshes/parts/32123.dae" scale=" 0.0004 0.0004 0.0004"/>
  2014. </geometry>
  2015. </visual>
  2016. <collision>
  2017. <!-- collision origin is defined w.r.t. link local coordinate system -->
  2018. <origin xyz="0 0 0" rpy="0 0 0" />
  2019. <geometry>
  2020. <box size="0 0 0"/>
  2021. </geometry>
  2022. </collision>
  2023. </link>
  2024.  
  2025.  
  2026. <link name="ref_76_link">
  2027. <inertial>
  2028. <mass value="0.010000" />
  2029. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  2030. <origin xyz="0.0 0.0 0" />
  2031. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  2032. </inertial>
  2033. <visual>
  2034. <!-- visual origin is defined w.r.t. link local coordinate system -->
  2035. <origin xyz="0 0 0" rpy="0 0 0" />
  2036. <geometry>
  2037. <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004 0.0004 0.0004"/>
  2038. </geometry>
  2039. </visual>
  2040. <collision>
  2041. <!-- collision origin is defined w.r.t. link local coordinate system -->
  2042. <origin xyz="0 0 0" rpy="0 0 0" />
  2043. <geometry>
  2044. <box size="0 0 0"/>
  2045. </geometry>
  2046. </collision>
  2047. </link>
  2048.  
  2049.  
  2050. <link name="ref_77_link">
  2051. <inertial>
  2052. <mass value="0.010000" />
  2053. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  2054. <origin xyz="0.0 0.0 0" />
  2055. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  2056. </inertial>
  2057. <visual>
  2058. <!-- visual origin is defined w.r.t. link local coordinate system -->
  2059. <origin xyz="0 0 0" rpy="0 0 0" />
  2060. <geometry>
  2061. <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004 0.0004 0.0004"/>
  2062. </geometry>
  2063. </visual>
  2064. <collision>
  2065. <!-- collision origin is defined w.r.t. link local coordinate system -->
  2066. <origin xyz="0 0 0" rpy="0 0 0" />
  2067. <geometry>
  2068. <box size="0 0 0"/>
  2069. </geometry>
  2070. </collision>
  2071. </link>
  2072.  
  2073.  
  2074. <link name="ref_78_link">
  2075. <inertial>
  2076. <mass value="0.010000" />
  2077. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  2078. <origin xyz="0.0 0.0 0" />
  2079. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  2080. </inertial>
  2081. <visual>
  2082. <!-- visual origin is defined w.r.t. link local coordinate system -->
  2083. <origin xyz="0 0 0" rpy="0 0 0" />
  2084. <geometry>
  2085. <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004 0.0004 0.0004"/>
  2086. </geometry>
  2087. </visual>
  2088. <collision>
  2089. <!-- collision origin is defined w.r.t. link local coordinate system -->
  2090. <origin xyz="0 0 0" rpy="0 0 0" />
  2091. <geometry>
  2092. <box size="0 0 0"/>
  2093. </geometry>
  2094. </collision>
  2095. </link>
  2096.  
  2097.  
  2098. <link name="ref_79_link">
  2099. <inertial>
  2100. <mass value="0.010000" />
  2101. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  2102. <origin xyz="0.0 0.0 0" />
  2103. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  2104. </inertial>
  2105. <visual>
  2106. <!-- visual origin is defined w.r.t. link local coordinate system -->
  2107. <origin xyz="0 0 0" rpy="0 0 0" />
  2108. <geometry>
  2109. <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004 0.0004 0.0004"/>
  2110. </geometry>
  2111. </visual>
  2112. <collision>
  2113. <!-- collision origin is defined w.r.t. link local coordinate system -->
  2114. <origin xyz="0 0 0" rpy="0 0 0" />
  2115. <geometry>
  2116. <box size="0 0 0"/>
  2117. </geometry>
  2118. </collision>
  2119. </link>
  2120.  
  2121.  
  2122. <link name="ref_80_link">
  2123. <inertial>
  2124. <mass value="0.010000" />
  2125. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  2126. <origin xyz="0.0 0.0 0" />
  2127. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  2128. </inertial>
  2129. <visual>
  2130. <!-- visual origin is defined w.r.t. link local coordinate system -->
  2131. <origin xyz="0 0 0" rpy="0 3.14159 0" />
  2132. <geometry>
  2133. <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale=" 0.0004 0.0004 0.0004"/>
  2134. </geometry>
  2135. </visual>
  2136. <collision>
  2137. <!-- collision origin is defined w.r.t. link local coordinate system -->
  2138. <origin xyz="0 0 0" rpy="0 0 0" />
  2139. <geometry>
  2140. <box size="0 0 0"/>
  2141. </geometry>
  2142. </collision>
  2143. </link>
  2144.  
  2145.  
  2146. <link name="ref_81_link">
  2147. <inertial>
  2148. <mass value="0.010000" />
  2149. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  2150. <origin xyz="0.0 0.0 0" />
  2151. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  2152. </inertial>
  2153. <visual>
  2154. <!-- visual origin is defined w.r.t. link local coordinate system -->
  2155. <origin xyz="0 0 0" rpy="0 0 0" />
  2156. <geometry>
  2157. <mesh filename="package://nxt_description/meshes/parts/4519.dae" scale=" 0.0004 0.0004 0.0004"/>
  2158. </geometry>
  2159. </visual>
  2160. <collision>
  2161. <!-- collision origin is defined w.r.t. link local coordinate system -->
  2162. <origin xyz="0 0 0" rpy="0 0 0" />
  2163. <geometry>
  2164. <box size="0 0 0"/>
  2165. </geometry>
  2166. </collision>
  2167. </link>
  2168.  
  2169.  
  2170. <link name="ref_82_link">
  2171. <inertial>
  2172. <mass value="0.010000" />
  2173. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  2174. <origin xyz="0.0 0.0 0" />
  2175. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  2176. </inertial>
  2177. <visual>
  2178. <!-- visual origin is defined w.r.t. link local coordinate system -->
  2179. <origin xyz="0 0 0" rpy="0 3.14159 0" />
  2180. <geometry>
  2181. <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale=" 0.0004 0.0004 0.0004"/>
  2182. </geometry>
  2183. </visual>
  2184. <collision>
  2185. <!-- collision origin is defined w.r.t. link local coordinate system -->
  2186. <origin xyz="0 0 0" rpy="0 0 0" />
  2187. <geometry>
  2188. <box size="0 0 0"/>
  2189. </geometry>
  2190. </collision>
  2191. </link>
  2192.  
  2193.  
  2194. <link name="ref_83_link">
  2195. <inertial>
  2196. <mass value="0.010000" />
  2197. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  2198. <origin xyz="0.0 0.0 0" />
  2199. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  2200. </inertial>
  2201. <visual>
  2202. <!-- visual origin is defined w.r.t. link local coordinate system -->
  2203. <origin xyz="0 0 0" rpy="0 0 0" />
  2204. <geometry>
  2205. <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004 0.0004 0.0004"/>
  2206. </geometry>
  2207. </visual>
  2208. <collision>
  2209. <!-- collision origin is defined w.r.t. link local coordinate system -->
  2210. <origin xyz="0 0 0" rpy="0 0 0" />
  2211. <geometry>
  2212. <box size="0 0 0"/>
  2213. </geometry>
  2214. </collision>
  2215. </link>
  2216.  
  2217.  
  2218. <link name="ref_84_link">
  2219. <inertial>
  2220. <mass value="0.010000" />
  2221. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  2222. <origin xyz="0.0 0.0 0" />
  2223. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  2224. </inertial>
  2225. <visual>
  2226. <!-- visual origin is defined w.r.t. link local coordinate system -->
  2227. <origin xyz="0 0 0" rpy="0 0 0" />
  2228. <geometry>
  2229. <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004 0.0004 0.0004"/>
  2230. </geometry>
  2231. </visual>
  2232. <collision>
  2233. <!-- collision origin is defined w.r.t. link local coordinate system -->
  2234. <origin xyz="0 0 0" rpy="0 0 0" />
  2235. <geometry>
  2236. <box size="0 0 0"/>
  2237. </geometry>
  2238. </collision>
  2239. </link>
  2240.  
  2241.  
  2242. <link name="ref_85_link">
  2243. <inertial>
  2244. <mass value="0.010000" />
  2245. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  2246. <origin xyz="0.0 0.0 0" />
  2247. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  2248. </inertial>
  2249. <visual>
  2250. <!-- visual origin is defined w.r.t. link local coordinate system -->
  2251. <origin xyz="0 0 0" rpy="0 0 0" />
  2252. <geometry>
  2253. <mesh filename="package://nxt_description/meshes/parts/40490.dae" scale=" 0.0004 0.0004 0.0004"/>
  2254. </geometry>
  2255. </visual>
  2256. <collision>
  2257. <!-- collision origin is defined w.r.t. link local coordinate system -->
  2258. <origin xyz="0 0 0" rpy="0 0 0" />
  2259. <geometry>
  2260. <box size="0 0 0"/>
  2261. </geometry>
  2262. </collision>
  2263. </link>
  2264.  
  2265.  
  2266. <link name="ref_86_link">
  2267. <inertial>
  2268. <mass value="0.010000" />
  2269. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  2270. <origin xyz="0.0 0.0 0" />
  2271. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  2272. </inertial>
  2273. <visual>
  2274. <!-- visual origin is defined w.r.t. link local coordinate system -->
  2275. <origin xyz="0 0 0" rpy="0 0 0" />
  2276. <geometry>
  2277. <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004 0.0004 0.0004"/>
  2278. </geometry>
  2279. </visual>
  2280. <collision>
  2281. <!-- collision origin is defined w.r.t. link local coordinate system -->
  2282. <origin xyz="0 0 0" rpy="0 0 0" />
  2283. <geometry>
  2284. <box size="0 0 0"/>
  2285. </geometry>
  2286. </collision>
  2287. </link>
  2288.  
  2289.  
  2290. <link name="ref_87_link">
  2291. <inertial>
  2292. <mass value="0.010000" />
  2293. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  2294. <origin xyz="0.0 0.0 0" />
  2295. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  2296. </inertial>
  2297. <visual>
  2298. <!-- visual origin is defined w.r.t. link local coordinate system -->
  2299. <origin xyz="0 0 0" rpy="0 0 0" />
  2300. <geometry>
  2301. <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004 0.0004 0.0004"/>
  2302. </geometry>
  2303. </visual>
  2304. <collision>
  2305. <!-- collision origin is defined w.r.t. link local coordinate system -->
  2306. <origin xyz="0 0 0" rpy="0 0 0" />
  2307. <geometry>
  2308. <box size="0 0 0"/>
  2309. </geometry>
  2310. </collision>
  2311. </link>
  2312.  
  2313.  
  2314. <link name="ref_88_link">
  2315. <inertial>
  2316. <mass value="0.010000" />
  2317. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  2318. <origin xyz="0.0 0.0 0" />
  2319. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  2320. </inertial>
  2321. <visual>
  2322. <!-- visual origin is defined w.r.t. link local coordinate system -->
  2323. <origin xyz="0 0 0" rpy="0 0 0" />
  2324. <geometry>
  2325. <mesh filename="package://nxt_description/meshes/parts/40490.dae" scale=" 0.0004 0.0004 0.0004"/>
  2326. </geometry>
  2327. </visual>
  2328. <collision>
  2329. <!-- collision origin is defined w.r.t. link local coordinate system -->
  2330. <origin xyz="0 0 0" rpy="0 0 0" />
  2331. <geometry>
  2332. <box size="0 0 0"/>
  2333. </geometry>
  2334. </collision>
  2335. </link>
  2336.  
  2337.  
  2338. <joint name="ref_0_joint" type="fixed">
  2339. <parent link="ref_0_link"/>
  2340. <child link="ref_1_link"/>
  2341. <origin xyz="1.63269042969e-07 -0.00819995422363 -0.0238001464844" rpy="1.57079632679 -0.0 -1.57079632679" />
  2342. <axis xyz="0 0 0" />
  2343. </joint>
  2344.  
  2345.  
  2346. <joint name="ref_1_joint" type="fixed">
  2347. <parent link="ref_1_link"/>
  2348. <child link="ref_2_link"/>
  2349. <origin xyz="-0.000199963355069 0.0238001741648 1.72424295852e-07" rpy="-1.57079632679 1.57079632679 -0.0" />
  2350. <axis xyz="0 0 0" />
  2351. </joint>
  2352.  
  2353.  
  2354. <joint name="ref_2_joint" type="fixed">
  2355. <parent link="ref_2_link"/>
  2356. <child link="ref_3_link"/>
  2357. <origin xyz="1.35803222656e-07 0.0762002075195 -0.0118024108887" rpy="2.56617217953 1.57077648957 0.994078913433" />
  2358. <axis xyz="0 0 0" />
  2359. </joint>
  2360.  
  2361.  
  2362. <joint name="ref_3_joint" type="fixed">
  2363. <parent link="ref_2_link"/>
  2364. <child link="ref_4_link"/>
  2365. <origin xyz="2.82287597656e-07 0.0762003540039 -0.0238024047852" rpy="1.57079632679 -1.13256307865e-05 -0.0" />
  2366. <axis xyz="0 0 0" />
  2367. </joint>
  2368.  
  2369.  
  2370. <joint name="ref_4_joint" type="fixed">
  2371. <parent link="ref_2_link"/>
  2372. <child link="ref_5_link"/>
  2373. <origin xyz="1.06811523438e-07 0.0758001831055 -0.00780240478516" rpy="1.57078624575 1.1010007255e-05 -3.14158176733" />
  2374. <axis xyz="0 0 0" />
  2375. </joint>
  2376.  
  2377.  
  2378. <joint name="ref_5_joint" type="fixed">
  2379. <parent link="ref_2_link"/>
  2380. <child link="ref_6_link"/>
  2381. <origin xyz="2.13623046875e-08 0.0759999633789 0.000197589111328" rpy="-1.57080748776 -0.0 -3.14159265359" />
  2382. <axis xyz="0 0 0" />
  2383. </joint>
  2384.  
  2385.  
  2386. <joint name="ref_6_joint" type="fixed">
  2387. <parent link="ref_2_link"/>
  2388. <child link="ref_7_link"/>
  2389. <origin xyz="0.00800002441406 0.039999987793 -1.05590820312e-06" rpy="1.57079632679 1.57075457489 -1.57079632679" />
  2390. <axis xyz="0 0 0" />
  2391. </joint>
  2392.  
  2393.  
  2394. <joint name="ref_7_joint" type="fixed">
  2395. <parent link="ref_2_link"/>
  2396. <child link="ref_8_link"/>
  2397. <origin xyz="-0.00799996032715 0.04 -2.25830078125e-07" rpy="3.14159265359 1.57079632679 -0.0" />
  2398. <axis xyz="0 0 0" />
  2399. </joint>
  2400.  
  2401.  
  2402. <joint name="ref_8_joint" type="fixed">
  2403. <parent link="ref_12_link"/>
  2404. <child link="ref_9_link"/>
  2405. <origin xyz="7.828350350163135e-05 0.007999992248306359 -0.01599574888085893" rpy="1.5707963267992335 -0.016041211646452877 -2.019495777038321e-07" />
  2406. <axis xyz="0 0 0" />
  2407. </joint>
  2408.  
  2409.  
  2410. <joint name="ref_9_joint" type="fixed">
  2411. <parent link="ref_12_link"/>
  2412. <child link="ref_10_link"/>
  2413. <origin xyz="-0.019773283015216105 0.011200000837567045 0.021970711426472916" rpy="0.9433347502433465 -1.6022588811281935e-10 -1.5707857975195862" />
  2414. <axis xyz="0 0 0" />
  2415. </joint>
  2416.  
  2417.  
  2418. <joint name="ref_10_joint" type="fixed">
  2419. <parent link="ref_12_link"/>
  2420. <child link="ref_11_link"/>
  2421. <origin xyz="-0.02628444588433196 0.016399937195003385 0.02695496452268098" rpy="-1.5707963270591478 -0.9290985650975533 1.0616525449825763e-05" />
  2422. <axis xyz="0 0 0" />
  2423. </joint>
  2424.  
  2425.  
  2426. <joint name="caster_wheel_orientation_joint" type="continuous">
  2427. <parent link="ref_3_link"/>
  2428. <child link="ref_12_link"/>
  2429. <origin xyz="0.00374998598337 -5.46744743986e-09 0.00820001255175" rpy="3.14159265359 1.74727644705e-06 3.14159245339" />
  2430. <axis xyz="1 0 0" />
  2431. </joint>
  2432.  
  2433.  
  2434. <joint name="ref_12_joint" type="fixed">
  2435. <parent link="ref_12_link"/>
  2436. <child link="ref_13_link"/>
  2437. <origin xyz="7.829938401379206e-05 -0.00800001347353713 -0.015995748880583402" rpy="1.5707963267992342 -0.016041213508852844 -2.0193957728630123e-07" />
  2438. <axis xyz="0 0 0" />
  2439. </joint>
  2440.  
  2441.  
  2442. <joint name="ref_13_joint" type="fixed">
  2443. <parent link="ref_12_link"/>
  2444. <child link="ref_14_link"/>
  2445. <origin xyz="-0.01977346292677751 -0.011999997161597383 0.02197046728329209" rpy="-0.941811082803346 -1.728376066570402e-05 1.570806856319801" />
  2446. <axis xyz="0 0 0" />
  2447. </joint>
  2448.  
  2449.  
  2450. <joint name="ref_14_joint" type="fixed">
  2451. <parent link="ref_12_link"/>
  2452. <child link="ref_15_link"/>
  2453. <origin xyz="-0.026286521322119564 -0.017200052622681747 0.0269564659566143" rpy="-1.5707963270686134 -0.9418140056795524 1.0616524787663322e-05" />
  2454. <axis xyz="0 0 0" />
  2455. </joint>
  2456.  
  2457.  
  2458. <joint name="ref_15_joint" type="fixed">
  2459. <parent link="ref_12_link"/>
  2460. <child link="ref_16_link"/>
  2461. <origin xyz="-0.026243944356444993 -0.007999989275855626 0.026675070139318233" rpy="2.6220488780330158e-05 -0.9290942257425536 -1.735704872123971e-05" />
  2462. <axis xyz="0 0 0" />
  2463. </joint>
  2464.  
  2465.  
  2466. <joint name="ref_16_joint" type="fixed">
  2467. <parent link="ref_12_link"/>
  2468. <child link="ref_17_link"/>
  2469. <origin xyz="-0.026243932522783314 0.001600015683362162 0.026675094553595582" rpy="0.9290945321833465 -1.6022594362397058e-10 -1.5707857975195865" />
  2470. <axis xyz="0 0 0" />
  2471. </joint>
  2472.  
  2473.  
  2474. <joint name="ref_17_joint" type="fixed">
  2475. <parent link="ref_12_link"/>
  2476. <child link="ref_18_link"/>
  2477. <origin xyz="-0.0262439228843456 0.008800011773380374 0.026675094553677253" rpy="2.615907860083846e-05 -0.9290937131215536 -1.7418418577385377e-05" />
  2478. <axis xyz="0 0 0" />
  2479. </joint>
  2480.  
  2481.  
  2482. <joint name="caster_wheel_joint" type="continuous">
  2483. <parent link="ref_17_link"/>
  2484. <child link="caster_wheel_link"/>
  2485. <origin xyz="0.0016000165885911716 0.00010165476252702033 6.535601406038039e-07" rpy="-2.449351583277901e-06 5.070225466826798e-06 -1.5708138408730377" />
  2486. <axis xyz="0 -1 0" />
  2487. </joint>
  2488.  
  2489.  
  2490. <joint name="ref_19_joint" type="fixed">
  2491. <parent link="ref_3_link"/>
  2492. <child link="ref_20_link"/>
  2493. <origin xyz="-0.0118030471135 1.78073329351e-08 0.052199998924" rpy="-1.57081295549 -1.78417115258e-10 1.57078559732" />
  2494. <axis xyz="0 0 0" />
  2495. </joint>
  2496.  
  2497.  
  2498. <joint name="ref_20_joint" type="fixed">
  2499. <parent link="ref_3_link"/>
  2500. <child link="ref_21_link"/>
  2501. <origin xyz="-0.0118030532172 2.23850351318e-08 0.0522000111309" rpy="-3.14158192412 1.57077978538 -1.0816749256e-05" />
  2502. <axis xyz="0 0 0" />
  2503. </joint>
  2504.  
  2505.  
  2506. <joint name="ref_21_joint" type="fixed">
  2507. <parent link="ref_3_link"/>
  2508. <child link="ref_22_link"/>
  2509. <origin xyz="-0.00400337113741 -0.0160000524454 0.0521295048515" rpy="-1.57081295549 -1.78417115258e-10 1.57078559732" />
  2510. <axis xyz="0 0 0" />
  2511. </joint>
  2512.  
  2513.  
  2514. <joint name="ref_22_joint" type="fixed">
  2515. <parent link="ref_3_link"/>
  2516. <child link="ref_23_link"/>
  2517. <origin xyz="-0.00400303389778 0.0159999559433 0.0521295048572" rpy="-1.57081295549 -1.78417115258e-10 1.57078559732" />
  2518. <axis xyz="0 0 0" />
  2519. </joint>
  2520.  
  2521.  
  2522. <joint name="ref_23_joint" type="fixed">
  2523. <parent link="ref_20_link"/>
  2524. <child link="ref_24_link"/>
  2525. <origin xyz="0.0160000305176 0.00807067871094 -0.00799987182617" rpy="-0.0 -0.0 -1.57079632679" />
  2526. <axis xyz="0 0 0" />
  2527. </joint>
  2528.  
  2529.  
  2530. <joint name="ref_24_joint" type="fixed">
  2531. <parent link="ref_24_link"/>
  2532. <child link="ref_25_link"/>
  2533. <origin xyz="5.4931640625e-08 -0.000200152587891 0.00820003100634" rpy="-1.57079632679 -0.0 -1.57079632679" />
  2534. <axis xyz="0 0 0" />
  2535. </joint>
  2536.  
  2537.  
  2538. <joint name="ref_25_joint" type="fixed">
  2539. <parent link="ref_25_link"/>
  2540. <child link="ref_26_link"/>
  2541. <origin xyz="-0.0162005126953 0.0321997733832 0.00799990139009" rpy="1.57080961926 -1.57079632679 -0.0" />
  2542. <axis xyz="0 0 0" />
  2543. </joint>
  2544.  
  2545.  
  2546. <joint name="ref_26_joint" type="fixed">
  2547. <parent link="ref_26_link"/>
  2548. <child link="ref_27_link"/>
  2549. <origin xyz="-3.662109375e-08 -0.0320000457698 4.92498194592e-07" rpy="-1.57079632679 1.57078303433 -1.57079632679" />
  2550. <axis xyz="0 0 0" />
  2551. </joint>
  2552.  
  2553.  
  2554. <joint name="ref_27_joint" type="fixed">
  2555. <parent link="ref_27_link"/>
  2556. <child link="ref_28_link"/>
  2557. <origin xyz="3.81469681088e-07 -0.0320000221252 -0.0039997675896" rpy="3.1415822842 1.57079632679 -0.0" />
  2558. <axis xyz="0 0 0" />
  2559. </joint>
  2560.  
  2561.  
  2562. <joint name="ref_28_joint" type="fixed">
  2563. <parent link="ref_28_link"/>
  2564. <child link="ref_29_link"/>
  2565. <origin xyz="0.00399999389648 -0.0162000273831 0.0321999601894" rpy="-1.57079632679 2.88219179572e-07 -1.57079632679" />
  2566. <axis xyz="0 0 0" />
  2567. </joint>
  2568.  
  2569.  
  2570. <joint name="ref_29_joint" type="fixed">
  2571. <parent link="ref_29_link"/>
  2572. <child link="ref_30_link"/>
  2573. <origin xyz="-0.000200082868306 0.00820000408645 4.2724609375e-08" rpy="1.57078624562 1.57079632679 -0.0" />
  2574. <axis xyz="0 0 0" />
  2575. </joint>
  2576.  
  2577.  
  2578. <joint name="ref_30_joint" type="fixed">
  2579. <parent link="ref_30_link"/>
  2580. <child link="ref_31_link"/>
  2581. <origin xyz="-0.00800045776367 0.0 0.0084499394685" rpy="-0.0 -0.0 1.57079632679" />
  2582. <axis xyz="0 0 0" />
  2583. </joint>
  2584.  
  2585.  
  2586. <joint name="ref_31_joint" type="fixed">
  2587. <parent link="ref_30_link"/>
  2588. <child link="ref_32_link"/>
  2589. <origin xyz="-0.00792937011719 0.015999987793 0.00799981126784" rpy="-0.0 -0.0 1.57079632679" />
  2590. <axis xyz="0 0 0" />
  2591. </joint>
  2592.  
  2593.  
  2594. <joint name="ref_32_joint" type="fixed">
  2595. <parent link="ref_30_link"/>
  2596. <child link="ref_33_link"/>
  2597. <origin xyz="-0.0079294128418 0.0159999908447 0.00799978685378" rpy="-0.0 -0.0 -3.14159265359" />
  2598. <axis xyz="0 0 0" />
  2599. </joint>
  2600.  
  2601.  
  2602. <joint name="ref_33_joint" type="fixed">
  2603. <parent link="ref_30_link"/>
  2604. <child link="ref_34_link"/>
  2605. <origin xyz="-0.00800055541992 0.0319999969482 0.00844989064037" rpy="-0.0 -0.0 1.57079632679" />
  2606. <axis xyz="0 0 0" />
  2607. </joint>
  2608.  
  2609.  
  2610. <joint name="ref_34_joint" type="fixed">
  2611. <parent link="ref_29_link"/>
  2612. <child link="ref_35_link"/>
  2613. <origin xyz="-0.000200025464902 0.0162000101905 -0.00399995117188" rpy="1.57079627251 -1.57079632679 -0.0" />
  2614. <axis xyz="0 0 0" />
  2615. </joint>
  2616.  
  2617.  
  2618. <joint name="ref_35_joint" type="fixed">
  2619. <parent link="ref_29_link"/>
  2620. <child link="ref_36_link"/>
  2621. <origin xyz="-0.008199993415 0.0322000455083 -0.00799998779297" rpy="1.57078624562 1.57079632679 -0.0" />
  2622. <axis xyz="0 0 0" />
  2623. </joint>
  2624.  
  2625.  
  2626. <joint name="ref_36_joint" type="fixed">
  2627. <parent link="ref_36_link"/>
  2628. <child link="ref_37_link"/>
  2629. <origin xyz="0.0879999206543 -0.00800107192993 0.000200061047081" rpy="-3.14159265359 1.53965438647e-05 1.57078588092" />
  2630. <axis xyz="0 0 0" />
  2631. </joint>
  2632.  
  2633.  
  2634. <joint name="ref_37_joint" type="fixed">
  2635. <parent link="ref_36_link"/>
  2636. <child link="ref_38_link"/>
  2637. <origin xyz="0.0799999633789 -0.012000756073 0.0159998971939" rpy="-0.0 -0.0 1.57079632679" />
  2638. <axis xyz="0 0 0" />
  2639. </joint>
  2640.  
  2641.  
  2642. <joint name="ref_38_joint" type="fixed">
  2643. <parent link="ref_36_link"/>
  2644. <child link="ref_39_link"/>
  2645. <origin xyz="0.0317944290161 -0.0159997779846 0.0479908903117" rpy="-1.5707765211 0.645743883264 -3.14159265359" />
  2646. <axis xyz="0 0 0" />
  2647. </joint>
  2648.  
  2649.  
  2650. <joint name="ref_39_joint" type="fixed">
  2651. <parent link="ref_36_link"/>
  2652. <child link="ref_40_link"/>
  2653. <origin xyz="0.0320746704102 -0.0199997795105 0.0479514554948" rpy="0.645744701081 -0.0 -1.57079632679" />
  2654. <axis xyz="0 0 0" />
  2655. </joint>
  2656.  
  2657.  
  2658. <joint name="ref_40_joint" type="fixed">
  2659. <parent link="ref_37_link"/>
  2660. <child link="ref_86_link"/>
  2661. <origin xyz="0.0159999791856 -0.064000075581 0.00819996727868" rpy="-3.14159265343 -1.47538228815e-07 3.14158220772" />
  2662. <axis xyz="0 0 0" />
  2663. </joint>
  2664.  
  2665.  
  2666. <joint name="ref_41_joint" type="fixed">
  2667. <parent link="ref_86_link"/>
  2668. <child link="ref_80_link"/>
  2669. <origin xyz="-0.00799979240847 -0.000200119018555 0.0322002379557" rpy="-1.5708115758 -0.0 -1.57079632679" />
  2670. <axis xyz="0 0 0" />
  2671. </joint>
  2672.  
  2673.  
  2674. <joint name="ref_42_joint" type="fixed">
  2675. <parent link="ref_80_link"/>
  2676. <child link="ref_79_link"/>
  2677. <origin xyz="-0.000270645109338 0.000200073218337 -0.00799995098115" rpy="1.57079632679 -1.57079632679 -0.0" />
  2678. <axis xyz="0 0 0" />
  2679. </joint>
  2680.  
  2681.  
  2682. <joint name="ref_43_joint" type="fixed">
  2683. <parent link="ref_79_link"/>
  2684. <child link="ref_82_link"/>
  2685. <origin xyz="-0.00799999389648 -0.000199884033203 0.000200073242188" rpy="-1.57080997953 -0.0 -1.57079632679" />
  2686. <axis xyz="0 0 0" />
  2687. </joint>
  2688.  
  2689.  
  2690. <joint name="ref_44_joint" type="fixed">
  2691. <parent link="ref_82_link"/>
  2692. <child link="ref_81_link"/>
  2693. <origin xyz="-0.000234326171875 0.00820007388318 0.0080000285206" rpy="-3.14159265359 1.57078267406 1.57079632679" />
  2694. <axis xyz="0 0 0" />
  2695. </joint>
  2696.  
  2697.  
  2698. <joint name="ref_45_joint" type="fixed">
  2699. <parent link="ref_82_link"/>
  2700. <child link="ref_84_link"/>
  2701. <origin xyz="-0.00812908935547 0.0322000054624 -0.00800002079704" rpy="-3.14159265359 1.57078267406 1.57079632679" />
  2702. <axis xyz="0 0 0" />
  2703. </joint>
  2704.  
  2705.  
  2706. <joint name="ref_46_joint" type="fixed">
  2707. <parent link="ref_84_link"/>
  2708. <child link="ref_55_link"/>
  2709. <origin xyz="0.0239994293213 0.000205404663086 0.0559909912109" rpy="-1.57079632679 0.645750255898 1.57079632679" />
  2710. <axis xyz="0 0 0" />
  2711. </joint>
  2712.  
  2713.  
  2714. <joint name="ref_47_joint" type="fixed">
  2715. <parent link="ref_84_link"/>
  2716. <child link="ref_56_link"/>
  2717. <origin xyz="0.0199997039795 -0.0480001373291 0.0239999389648" rpy="-0.0 1.16712662924e-05 -3.14159265359" />
  2718. <axis xyz="0 0 0" />
  2719. </joint>
  2720.  
  2721.  
  2722. <joint name="ref_48_joint" type="fixed">
  2723. <parent link="ref_84_link"/>
  2724. <child link="ref_57_link"/>
  2725. <origin xyz="0.0279994354248 -7.46917724609e-05 0.055951550293" rpy="-0.64574372354 -0.0 -0.0" />
  2726. <axis xyz="0 0 0" />
  2727. </joint>
  2728.  
  2729.  
  2730. <joint name="ref_49_joint" type="fixed">
  2731. <parent link="ref_84_link"/>
  2732. <child link="ref_58_link"/>
  2733. <origin xyz="0.0160000396729 -0.056 0.00820018310547" rpy="-3.14159265359 -1.19016694947e-05 -0.0" />
  2734. <axis xyz="0 0 0" />
  2735. </joint>
  2736.  
  2737.  
  2738. <joint name="ref_50_joint" type="fixed">
  2739. <parent link="ref_55_link"/>
  2740. <child link="ref_49_link"/>
  2741. <origin xyz="-0.0321207294213 -0.0162226647643 -0.00800070095054" rpy="-0.0 -0.0 -1.5618187294" />
  2742. <axis xyz="0 0 0" />
  2743. </joint>
  2744.  
  2745.  
  2746. <joint name="ref_51_joint" type="fixed">
  2747. <parent link="ref_49_link"/>
  2748. <child link="ref_48_link"/>
  2749. <origin xyz="-0.000197813530455 0.000199982612403 0.00799999904633" rpy="1.55989796654 -1.57079632679 -0.0" />
  2750. <axis xyz="0 0 0" />
  2751. </joint>
  2752.  
  2753.  
  2754. <joint name="ref_52_joint" type="fixed">
  2755. <parent link="ref_48_link"/>
  2756. <child link="ref_47_link"/>
  2757. <origin xyz="0.0399999710083 -0.0160599979793 -0.0356678243088" rpy="8.34504132549e-08 -0.0 -3.14159265359" />
  2758. <axis xyz="0 0 0" />
  2759. </joint>
  2760.  
  2761.  
  2762. <joint name="ref_53_joint" type="fixed">
  2763. <parent link="ref_47_link"/>
  2764. <child link="ref_46_link"/>
  2765. <origin xyz="-0.040000012207 -0.0322199594552 0.0357477529354" rpy="-0.926967010974 -0.0 -0.0" />
  2766. <axis xyz="0 0 0" />
  2767. </joint>
  2768.  
  2769.  
  2770. <joint name="ref_54_joint" type="fixed">
  2771. <parent link="ref_46_link"/>
  2772. <child link="ref_45_link"/>
  2773. <origin xyz="-0.00800017242432 0.0205206375122 -0.025558807373" rpy="1.57079632679 0.917467732414 -1.57079632679" />
  2774. <axis xyz="0 0 0" />
  2775. </joint>
  2776.  
  2777.  
  2778. <joint name="ref_55_joint" type="fixed">
  2779. <parent link="ref_45_link"/>
  2780. <child link="ref_44_link"/>
  2781. <origin xyz="-4.11856549127e-05 -0.000121564017677 -0.00399998474121" rpy="-2.48826405921 1.57079632679 -0.0" />
  2782. <axis xyz="0 0 0" />
  2783. </joint>
  2784.  
  2785.  
  2786. <joint name="ref_56_joint" type="fixed">
  2787. <parent link="ref_46_link"/>
  2788. <child link="ref_68_link"/>
  2789. <origin xyz="1.67846679688e-08 0.0353007843018 -0.00604174194336" rpy="1.57079632679 -0.926784656568 1.57079632679" />
  2790. <axis xyz="0 0 0" />
  2791. </joint>
  2792.  
  2793.  
  2794. <joint name="ref_57_joint" type="fixed">
  2795. <parent link="ref_68_link"/>
  2796. <child link="ref_67_link"/>
  2797. <origin xyz="-0.0002001798191 0.0317793000828 -1.32751449019e-07" rpy="-1.57061380549 -1.57079632679 -0.0" />
  2798. <axis xyz="0 0 0" />
  2799. </joint>
  2800.  
  2801.  
  2802. <joint name="ref_58_joint" type="fixed">
  2803. <parent link="ref_67_link"/>
  2804. <child link="ref_70_link"/>
  2805. <origin xyz="-0.00799990386963 0.000286003943273 0.00022101454664" rpy="-1.57079632679 0.00542830955959 1.57079632679" />
  2806. <axis xyz="0 0 0" />
  2807. </joint>
  2808.  
  2809.  
  2810. <joint name="ref_59_joint" type="fixed">
  2811. <parent link="ref_70_link"/>
  2812. <child link="ref_69_link"/>
  2813. <origin xyz="-0.000359299519883 0.0321209404656 -0.00399998426438" rpy="0.64925745848 1.57079632679 -0.0" />
  2814. <axis xyz="0 0 0" />
  2815. </joint>
  2816.  
  2817.  
  2818. <joint name="ref_60_joint" type="fixed">
  2819. <parent link="ref_70_link"/>
  2820. <child link="ref_71_link"/>
  2821. <origin xyz="-0.000198846009448 0.0161999033932 -0.0079999792099" rpy="1.57600879599 1.57079632679 -0.0" />
  2822. <axis xyz="0 0 0" />
  2823. </joint>
  2824.  
  2825.  
  2826. <joint name="ref_61_joint" type="fixed">
  2827. <parent link="ref_47_link"/>
  2828. <child link="ref_50_link"/>
  2829. <origin xyz="0.0399999710083 -0.0160599922268 0.0196897999863" rpy="8.34504192624e-08 -0.0 -3.14159265359" />
  2830. <axis xyz="0 0 0" />
  2831. </joint>
  2832.  
  2833.  
  2834. <joint name="ref_62_joint" type="fixed">
  2835. <parent link="ref_50_link"/>
  2836. <child link="ref_51_link"/>
  2837. <origin xyz="6.103515625e-09 -0.000199983161326 -0.0157999807413" rpy="1.57079632679 1.31122394478e-07 -1.57079632679" />
  2838. <axis xyz="0 0 0" />
  2839. </joint>
  2840.  
  2841.  
  2842. <joint name="ref_63_joint" type="fixed">
  2843. <parent link="ref_51_link"/>
  2844. <child link="ref_52_link"/>
  2845. <origin xyz="-0.0163599669782 0.0318579211688 1.8310546875e-08" rpy="-0.643829530394 1.57079632679 -0.0" />
  2846. <axis xyz="0 0 0" />
  2847. </joint>
  2848.  
  2849.  
  2850. <joint name="ref_64_joint" type="fixed">
  2851. <parent link="ref_52_link"/>
  2852. <child link="ref_53_link"/>
  2853. <origin xyz="-0.00799927978516 -0.0205224685669 -0.0255599243164" rpy="1.57079632679 0.928236065379 1.57079632679" />
  2854. <axis xyz="0 0 0" />
  2855. </joint>
  2856.  
  2857.  
  2858. <joint name="ref_65_joint" type="fixed">
  2859. <parent link="ref_53_link"/>
  2860. <child link="ref_54_link"/>
  2861. <origin xyz="-3.98863461097e-05 -0.000119847141567 0.00399999341965" rpy="-2.49903239217 1.57079632679 -0.0" />
  2862. <axis xyz="0 0 0" />
  2863. </joint>
  2864.  
  2865.  
  2866. <joint name="ref_66_joint" type="fixed">
  2867. <parent link="ref_55_link"/>
  2868. <child link="ref_83_link"/>
  2869. <origin xyz="0.0399203762584 0.0400263221671 0.0239993227006" rpy="2.21654658269 1.57079632679 -0.0" />
  2870. <axis xyz="0 0 0" />
  2871. </joint>
  2872.  
  2873.  
  2874. <joint name="ref_67_joint" type="fixed">
  2875. <parent link="ref_83_link"/>
  2876. <child link="ref_85_link"/>
  2877. <origin xyz="-2.01416015625e-07 -0.0160000419617 -4.2724609375e-08" rpy="3.14159265359 1.57079632679 -0.0" />
  2878. <axis xyz="0 0 0" />
  2879. </joint>
  2880.  
  2881.  
  2882. <joint name="ref_68_joint" type="fixed">
  2883. <parent link="ref_85_link"/>
  2884. <child link="ref_64_link"/>
  2885. <origin xyz="-5.4931640625e-08 -0.0240000694275 -0.00400024719238" rpy="3.14159265359 1.57079632679 -0.0" />
  2886. <axis xyz="0 0 0" />
  2887. </joint>
  2888.  
  2889.  
  2890. <joint name="ref_69_joint" type="fixed">
  2891. <parent link="ref_55_link"/>
  2892. <child link="ref_59_link"/>
  2893. <origin xyz="0.0510787816103 0.0216009881725 -5.43212825869e-07" rpy="1.57079632679 -0.0 -0.645750255898" />
  2894. <axis xyz="0 0 0" />
  2895. </joint>
  2896.  
  2897. <!-- CAMBIADO A MANO CALCANDO LA OTRA RUEDA -->
  2898. <joint name="ref_70_joint" type="fixed">
  2899. <parent link="ref_58_link_hub"/>
  2900. <child link="ref_60_link"/>
  2901. <origin xyz="-0.0135999953902 6.27180865763e-08 0.00020025516928" rpy="3.14159265343 1.5396542947e-05 -1.04458704296e-05" />
  2902. <axis xyz="0 0 0" />
  2903. </joint>
  2904.  
  2905.  
  2906. <joint name="ref_71_joint" type="fixed">
  2907. <parent link="ref_58_link_hub"/>
  2908. <child link="ref_61_link"/>
  2909. <origin xyz="-0.0139999923388 3.3327066933e-08 0.000200252172577" rpy="3.14159242312 2.3129157772e-12 1.57079617657" />
  2910. <axis xyz="0 0 0" />
  2911. </joint>
  2912.  
  2913.  
  2914. <joint name="ref_72_joint" type="fixed">
  2915. <parent link="ref_58_link_hub"/>
  2916. <child link="ref_62_link"/>
  2917. <origin xyz="-0.0248000045457 4.84863450879e-08 0.000200250608749" rpy="-1.57050969656 -1.57079580134 3.14158220772" />
  2918. <axis xyz="0 0 0" />
  2919. </joint>
  2920.  
  2921.  
  2922. <joint name="ref_73_joint" type="fixed">
  2923. <parent link="ref_58_link_hub"/>
  2924. <child link="ref_63_link"/>
  2925. <origin xyz="-0.0248000045455 6.06933763379e-08 0.000200253660507" rpy="3.14159242312 2.3129157772e-12 1.57079617657" />
  2926. <axis xyz="0 0 0" />
  2927. </joint>
  2928.  
  2929.  
  2930. <joint name="ref_74_joint" type="fixed">
  2931. <parent link="ref_55_link"/>
  2932. <child link="ref_65_link"/>
  2933. <origin xyz="-0.00646877793183 0.0449307060853 0.00399969434742" rpy="2.21654658269 1.57079632679 -0.0" />
  2934. <axis xyz="0 0 0" />
  2935. </joint>
  2936.  
  2937.  
  2938. <joint name="ref_75_joint" type="fixed">
  2939. <parent link="ref_55_link"/>
  2940. <child link="ref_66_link"/>
  2941. <origin xyz="-0.012857941605 0.0497451084184 0.00399971265796" rpy="2.21654658269 1.57079632679 -0.0" />
  2942. <axis xyz="0 0 0" />
  2943. </joint>
  2944.  
  2945.  
  2946. <joint name="ref_76_joint" type="fixed">
  2947. <parent link="ref_80_link"/>
  2948. <child link="ref_87_link"/>
  2949. <origin xyz="-0.00820010430812 0.0321999442816 0.00800022220609" rpy="1.57079632679 -1.57079632679 -0.0" />
  2950. <axis xyz="0 0 0" />
  2951. </joint>
  2952.  
  2953.  
  2954. <joint name="ref_77_joint" type="fixed">
  2955. <parent link="ref_87_link"/>
  2956. <child link="ref_88_link"/>
  2957. <origin xyz="-8.7559223175e-08 0.00800003890991 1.55639648438e-07" rpy="0.0 1.57079632679 -0.0" />
  2958. <axis xyz="0 0 0" />
  2959. </joint>
  2960.  
  2961.  
  2962. <joint name="ref_78_joint" type="fixed">
  2963. <parent link="ref_88_link"/>
  2964. <child link="ref_76_link"/>
  2965. <origin xyz="3.08227539063e-07 -0.02400001297 0.00400005322695" rpy="3.14159265359 1.57079632679 -0.0" />
  2966. <axis xyz="0 0 0" />
  2967. </joint>
  2968.  
  2969.  
  2970. <joint name="ref_79_joint" type="fixed">
  2971. <parent link="ref_37_link"/>
  2972. <child link="ref_41_link"/>
  2973. <origin xyz="-0.00799978489107 -0.0839998401413 0.000200239135829" rpy="3.14157725705 -1.60830320674e-10 -1.57080677267" />
  2974. <axis xyz="0 0 0" />
  2975. </joint>
  2976.  
  2977.  
  2978. <joint name="ref_80_joint" type="fixed">
  2979. <parent link="ref_37_link"/>
  2980. <child link="ref_42_link"/>
  2981. <origin xyz="-0.00399999652623 -0.023999902522 -0.0157998346541" rpy="3.14159265343 1.5396542947e-05 -1.04458704296e-05" />
  2982. <axis xyz="0 0 0" />
  2983. </joint>
  2984.  
  2985.  
  2986. <joint name="ref_81_joint" type="fixed">
  2987. <parent link="ref_37_link"/>
  2988. <child link="ref_43_link"/>
  2989. <origin xyz="-0.00400000908922 -0.0159999093883 -0.0157998041363" rpy="3.14159265343 1.5396542947e-05 -1.04458704296e-05" />
  2990. <axis xyz="0 0 0" />
  2991. </joint>
  2992.  
  2993.  
  2994. <joint name="ref_82_joint" type="fixed">
  2995. <parent link="ref_37_link_hub"/>
  2996. <child link="ref_72_link"/>
  2997. <origin xyz="-0.0135999953902 6.27180865763e-08 0.00020025516928" rpy="3.14159265343 1.5396542947e-05 -1.04458704296e-05" />
  2998. <axis xyz="0 0 0" />
  2999. </joint>
  3000.  
  3001.  
  3002. <joint name="ref_83_joint" type="fixed">
  3003. <parent link="ref_37_link_hub"/>
  3004. <child link="ref_73_link"/>
  3005. <origin xyz="-0.0248000045457 4.84863450879e-08 0.000200250608749" rpy="-1.57050969656 -1.57079580134 3.14158220772" />
  3006. <axis xyz="0 0 0" />
  3007. </joint>
  3008.  
  3009.  
  3010. <joint name="ref_84_joint" type="fixed">
  3011. <parent link="ref_37_link_hub"/>
  3012. <child link="ref_74_link"/>
  3013. <origin xyz="-0.0248000045455 6.06933763379e-08 0.000200253660507" rpy="3.14159242312 2.3129157772e-12 1.57079617657" />
  3014. <axis xyz="0 0 0" />
  3015. </joint>
  3016.  
  3017.  
  3018. <joint name="ref_85_joint" type="fixed">
  3019. <parent link="ref_37_link_hub"/>
  3020. <child link="ref_75_link"/>
  3021. <origin xyz="-0.0139999923388 3.3327066933e-08 0.000200252172577" rpy="3.14159242312 2.3129157772e-12 1.57079617657" />
  3022. <axis xyz="0 0 0" />
  3023. </joint>
  3024.  
  3025.  
  3026. <joint name="ref_86_joint" type="fixed">
  3027. <parent link="ref_27_link"/>
  3028. <child link="ref_77_link"/>
  3029. <origin xyz="1.61743144781e-07 0.024000021553 -0.00399992017747" rpy="3.14159265359 1.57079632679 -0.0" />
  3030. <axis xyz="0 0 0" />
  3031. </joint>
  3032.  
  3033.  
  3034. <joint name="ref_87_joint" type="fixed">
  3035. <parent link="ref_25_link"/>
  3036. <child link="ref_78_link"/>
  3037. <origin xyz="-0.00020022277832 0.0161999919653 0.00399998121262" rpy="1.57078310252 1.57079632679 -0.0" />
  3038. <axis xyz="0 0 0" />
  3039. </joint>
  3040.  
  3041. <!-- GAZEBO STUFF -->
  3042. <gazebo reference="caster_wheel_link">
  3043. <mu1 value="100.0" />
  3044. <mu2 value="100.0" />
  3045. <kp value="1000000.0" />
  3046. <kd value="1.0" />
  3047. </gazebo>
  3048.  
  3049. <gazebo>
  3050. <controller:nxt_diff_plugin name="differential_drive_controller" plugin="libnxt_diff_plugin.so">
  3051. <alwaysOn>true</alwaysOn>
  3052. <update>100</update>
  3053. <updateRate>100.0</updateRate>
  3054. <leftJoint>left_wheel_joint</leftJoint>
  3055. <rightJoint>right_wheel_joint</rightJoint>
  3056. <wheelSeparation>0.34</wheelSeparation>
  3057. <wheelDiameter>0.1492</wheelDiameter>
  3058. <torque>5</torque>
  3059. <interface:position name="position_iface_0"/>
  3060. <robotNamespace>/</robotNamespace>
  3061. <topicName>cmd_vel</topicName>
  3062. </controller:nxt_diff_plugin>
  3063.  
  3064. <canonicalBody>base_link</canonicalBody>
  3065.  
  3066. <controller:gazebo_ros_controller_manager name="gazebo_ros_controller_manager" plugin="libgazebo_ros_controller_manager.so">
  3067. <alwaysOn>true</alwaysOn>
  3068. <updateRate>100.0</updateRate>
  3069. <interface:audio name="gazebo_ros_controller_manager_dummy_iface" />
  3070. </controller:gazebo_ros_controller_manager>
  3071. </gazebo>
  3072.  
  3073. </robot>
Advertisement
RAW Paste Data Copied
Advertisement