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a guest Sep 14th, 2018 59 Never
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  1. <?xml version="0.0" ?>
  2. <robot name="frame">
  3. <link name="frontWheelLink">
  4.     <inertial>
  5.       <origin rpy="1.57 0 0" xyz="0 0 0"/>
  6.        <mass value=".01"/>
  7.        <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
  8.     </inertial>
  9.     <visual>
  10.       <origin rpy="1.57 0 0" xyz="0 0 0"/>
  11.       <geometry>
  12.       <mesh filename="env/design/wheel.stl" scale="0.001 0.001 0.001"/>
  13.       </geometry>
  14.         <material name="framemat0">
  15.                 <color rgba="0.9 0.4 0.3 1" />
  16.         </material>
  17.     </visual>
  18.     <collision>
  19.       <origin rpy="1.57 0 0" xyz="0 0 0"/>
  20.       <geometry>
  21.        <mesh filename="env/design/wheel.stl" scale="0.001 0.001 0.001"/>
  22.       </geometry>
  23.     </collision>
  24.   </link>
  25.  
  26. </robot>
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