Advertisement
Guest User

robot3.urdf.xacro

a guest
Apr 11th, 2012
271
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" rpy="0 0 0" />
  25. <geometry>
  26. <box size="0 0 0" />
  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 0 0" 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 1.570795" />
  511. <geometry>
  512. <mesh filename="package://nxt_description/meshes/parts/32498.dae" scale=" 0.0004 0.0004 0.0004"/>
  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. <transmission type="pr2_mechanism_model/SimpleTransmission" name="right_wheel_trans">
  981. <actuator name="right_wheel_motor" />
  982. <joint name="right_wheel_joint" />
  983. <mechanicalReduction>1.0</mechanicalReduction>
  984. </transmission>
  985.  
  986.  
  987.  
  988. <link name="ref_38_link">
  989. <inertial>
  990. <mass value="0.010000" />
  991. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  992. <origin xyz="0.0 0.0 0" />
  993. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  994. </inertial>
  995. <visual>
  996. <!-- visual origin is defined w.r.t. link local coordinate system -->
  997. <origin xyz="0 0 0" rpy="0 0 0" />
  998. <geometry>
  999. <mesh filename="package://nxt_description/meshes/parts/3749.dae" scale=" 0.0004 0.0004 0.0004"/>
  1000. </geometry>
  1001. </visual>
  1002. <collision>
  1003. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1004. <origin xyz="0 0 0" rpy="0 0 0" />
  1005. <geometry>
  1006. <box size="0 0 0"/>
  1007. </geometry>
  1008. </collision>
  1009. </link>
  1010.  
  1011.  
  1012. <link name="ref_39_link">
  1013. <inertial>
  1014. <mass value="0.010000" />
  1015. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1016. <origin xyz="0.0 0.0 0" />
  1017. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1018. </inertial>
  1019. <visual>
  1020. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1021. <origin xyz="0 0 0" rpy="0 3.14159 0" />
  1022. <geometry>
  1023. <mesh filename="package://nxt_description/meshes/parts/6629.dae" scale=" 0.0004 0.0004 0.0004"/>
  1024. </geometry>
  1025. </visual>
  1026. <collision>
  1027. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1028. <origin xyz="0 0 0" rpy="0 0 0" />
  1029. <geometry>
  1030. <box size="0 0 0"/>
  1031. </geometry>
  1032. </collision>
  1033. </link>
  1034.  
  1035.  
  1036. <link name="ref_40_link">
  1037. <inertial>
  1038. <mass value="0.010000" />
  1039. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1040. <origin xyz="0.0 0.0 0" />
  1041. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1042. </inertial>
  1043. <visual>
  1044. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1045. <origin xyz="0 0 0" rpy="0 0 0" />
  1046. <geometry>
  1047. <mesh filename="package://nxt_description/meshes/parts/3749.dae" scale=" 0.0004 0.0004 0.0004"/>
  1048. </geometry>
  1049. </visual>
  1050. <collision>
  1051. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1052. <origin xyz="0 0 0" rpy="0 0 0" />
  1053. <geometry>
  1054. <box size="0 0 0"/>
  1055. </geometry>
  1056. </collision>
  1057. </link>
  1058.  
  1059.  
  1060. <link name="ref_41_link">
  1061. <inertial>
  1062. <mass value="0.010000" />
  1063. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1064. <origin xyz="0.0 0.0 0" />
  1065. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1066. </inertial>
  1067. <visual>
  1068. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1069. <origin xyz="0 0 0" rpy="0 0 0" />
  1070. <geometry>
  1071. <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004 0.0004 0.0004"/>
  1072. </geometry>
  1073. </visual>
  1074. <collision>
  1075. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1076. <origin xyz="0 0 0" rpy="0 0 0" />
  1077. <geometry>
  1078. <box size="0 0 0"/>
  1079. </geometry>
  1080. </collision>
  1081. </link>
  1082.  
  1083.  
  1084. <link name="ref_42_link">
  1085. <inertial>
  1086. <mass value="0.010000" />
  1087. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1088. <origin xyz="0.0 0.0 0" />
  1089. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1090. </inertial>
  1091. <visual>
  1092. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1093. <origin xyz="0 0 0" rpy="0 0 0" />
  1094. <geometry>
  1095. <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004 0.0004 0.0004"/>
  1096. </geometry>
  1097. </visual>
  1098. <collision>
  1099. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1100. <origin xyz="0 0 0" rpy="0 0 0" />
  1101. <geometry>
  1102. <box size="0 0 0"/>
  1103. </geometry>
  1104. </collision>
  1105. </link>
  1106.  
  1107.  
  1108. <link name="ref_43_link">
  1109. <inertial>
  1110. <mass value="0.010000" />
  1111. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1112. <origin xyz="0.0 0.0 0" />
  1113. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1114. </inertial>
  1115. <visual>
  1116. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1117. <origin xyz="0 0 0" rpy="0 0 0" />
  1118. <geometry>
  1119. <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004 0.0004 0.0004"/>
  1120. </geometry>
  1121. </visual>
  1122. <collision>
  1123. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1124. <origin xyz="0 0 0" rpy="0 0 0" />
  1125. <geometry>
  1126. <box size="0 0 0"/>
  1127. </geometry>
  1128. </collision>
  1129. </link>
  1130.  
  1131.  
  1132. <link name="ref_44_link">
  1133. <inertial>
  1134. <mass value="0.010000" />
  1135. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1136. <origin xyz="0.0 0.0 0" />
  1137. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1138. </inertial>
  1139. <visual>
  1140. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1141. <origin xyz="0 0 0" rpy="0 0 0" />
  1142. <geometry>
  1143. <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004 0.0004 0.0004"/>
  1144. </geometry>
  1145. </visual>
  1146. <collision>
  1147. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1148. <origin xyz="0 0 0" rpy="0 0 0" />
  1149. <geometry>
  1150. <box size="0 0 0"/>
  1151. </geometry>
  1152. </collision>
  1153. </link>
  1154.  
  1155.  
  1156. <link name="ref_45_link">
  1157. <inertial>
  1158. <mass value="0.010000" />
  1159. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1160. <origin xyz="0.0 0.0 0" />
  1161. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1162. </inertial>
  1163. <visual>
  1164. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1165. <origin xyz="0 0 0" rpy="0 3.14159 0" />
  1166. <geometry>
  1167. <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale=" 0.0004 0.0004 0.0004"/>
  1168. </geometry>
  1169. </visual>
  1170. <collision>
  1171. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1172. <origin xyz="0 0 0" rpy="0 0 0" />
  1173. <geometry>
  1174. <box size="0 0 0"/>
  1175. </geometry>
  1176. </collision>
  1177. </link>
  1178.  
  1179.  
  1180. <link name="ref_46_link">
  1181. <inertial>
  1182. <mass value="0.010000" />
  1183. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1184. <origin xyz="0.0 0.0 0" />
  1185. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1186. </inertial>
  1187. <visual>
  1188. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1189. <origin xyz="0 0 0" rpy="0 0 0" />
  1190. <geometry>
  1191. <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004 0.0004 0.0004"/>
  1192. </geometry>
  1193. </visual>
  1194. <collision>
  1195. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1196. <origin xyz="0 0 0" rpy="0 0 0" />
  1197. <geometry>
  1198. <box size="0 0 0"/>
  1199. </geometry>
  1200. </collision>
  1201. </link>
  1202.  
  1203.  
  1204. <link name="ref_47_link">
  1205. <inertial>
  1206. <mass value="0.010000" />
  1207. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1208. <origin xyz="0.0 0.0 0" />
  1209. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1210. </inertial>
  1211. <visual>
  1212. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1213. <origin xyz="0 0 0" rpy="0 0 0" />
  1214. <geometry>
  1215. <mesh filename="package://nxt_description/meshes/parts/53788.dae" scale=" 0.0004 0.0004 0.0004"/>
  1216. </geometry>
  1217. </visual>
  1218. <collision>
  1219. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1220. <origin xyz="0 0 0" rpy="0 0 0" />
  1221. <geometry>
  1222. <box size="0 0 0"/>
  1223. </geometry>
  1224. </collision>
  1225. </link>
  1226.  
  1227.  
  1228. <link name="ref_48_link">
  1229. <inertial>
  1230. <mass value="0.010000" />
  1231. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1232. <origin xyz="0.0 0.0 0" />
  1233. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1234. </inertial>
  1235. <visual>
  1236. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1237. <origin xyz="0 0 0" rpy="0 0 0" />
  1238. <geometry>
  1239. <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004 0.0004 0.0004"/>
  1240. </geometry>
  1241. </visual>
  1242. <collision>
  1243. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1244. <origin xyz="0 0 0" rpy="0 0 0" />
  1245. <geometry>
  1246. <box size="0 0 0"/>
  1247. </geometry>
  1248. </collision>
  1249. </link>
  1250.  
  1251.  
  1252. <link name="ref_49_link">
  1253. <inertial>
  1254. <mass value="0.010000" />
  1255. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1256. <origin xyz="0.0 0.0 0" />
  1257. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1258. </inertial>
  1259. <visual>
  1260. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1261. <origin xyz="0 0 0" rpy="0 3.14159 0" />
  1262. <geometry>
  1263. <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale=" 0.0004 0.0004 0.0004"/>
  1264. </geometry>
  1265. </visual>
  1266. <collision>
  1267. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1268. <origin xyz="0 0 0" rpy="0 0 0" />
  1269. <geometry>
  1270. <box size="0 0 0"/>
  1271. </geometry>
  1272. </collision>
  1273. </link>
  1274.  
  1275.  
  1276. <link name="ref_50_link">
  1277. <inertial>
  1278. <mass value="0.010000" />
  1279. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1280. <origin xyz="0.0 0.0 0" />
  1281. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1282. </inertial>
  1283. <visual>
  1284. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1285. <origin xyz="0 0 0" rpy="0 0 0" />
  1286. <geometry>
  1287. <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004 0.0004 0.0004"/>
  1288. </geometry>
  1289. </visual>
  1290. <collision>
  1291. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1292. <origin xyz="0 0 0" rpy="0 0 0" />
  1293. <geometry>
  1294. <box size="0 0 0"/>
  1295. </geometry>
  1296. </collision>
  1297. </link>
  1298.  
  1299.  
  1300. <link name="ref_51_link">
  1301. <inertial>
  1302. <mass value="0.010000" />
  1303. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1304. <origin xyz="0.0 0.0 0" />
  1305. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1306. </inertial>
  1307. <visual>
  1308. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1309. <origin xyz="0 0 0" rpy="0 3.14159 0" />
  1310. <geometry>
  1311. <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale=" 0.0004 0.0004 0.0004"/>
  1312. </geometry>
  1313. </visual>
  1314. <collision>
  1315. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1316. <origin xyz="0 0 0" rpy="0 0 0" />
  1317. <geometry>
  1318. <box size="0 0 0"/>
  1319. </geometry>
  1320. </collision>
  1321. </link>
  1322.  
  1323.  
  1324. <link name="ref_52_link">
  1325. <inertial>
  1326. <mass value="0.010000" />
  1327. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1328. <origin xyz="0.0 0.0 0" />
  1329. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1330. </inertial>
  1331. <visual>
  1332. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1333. <origin xyz="0 0 0" rpy="0 0 0" />
  1334. <geometry>
  1335. <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004 0.0004 0.0004"/>
  1336. </geometry>
  1337. </visual>
  1338. <collision>
  1339. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1340. <origin xyz="0 0 0" rpy="0 0 0" />
  1341. <geometry>
  1342. <box size="0 0 0"/>
  1343. </geometry>
  1344. </collision>
  1345. </link>
  1346.  
  1347.  
  1348. <link name="ref_53_link">
  1349. <inertial>
  1350. <mass value="0.010000" />
  1351. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1352. <origin xyz="0.0 0.0 0" />
  1353. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1354. </inertial>
  1355. <visual>
  1356. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1357. <origin xyz="0 0 0" rpy="0 3.14159 0" />
  1358. <geometry>
  1359. <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale=" 0.0004 0.0004 0.0004"/>
  1360. </geometry>
  1361. </visual>
  1362. <collision>
  1363. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1364. <origin xyz="0 0 0" rpy="0 0 0" />
  1365. <geometry>
  1366. <box size="0 0 0"/>
  1367. </geometry>
  1368. </collision>
  1369. </link>
  1370.  
  1371.  
  1372. <link name="ref_54_link">
  1373. <inertial>
  1374. <mass value="0.010000" />
  1375. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1376. <origin xyz="0.0 0.0 0" />
  1377. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1378. </inertial>
  1379. <visual>
  1380. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1381. <origin xyz="0 0 0" rpy="0 0 0" />
  1382. <geometry>
  1383. <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004 0.0004 0.0004"/>
  1384. </geometry>
  1385. </visual>
  1386. <collision>
  1387. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1388. <origin xyz="0 0 0" rpy="0 0 0" />
  1389. <geometry>
  1390. <box size="0 0 0"/>
  1391. </geometry>
  1392. </collision>
  1393. </link>
  1394.  
  1395.  
  1396. <link name="ref_55_link">
  1397. <inertial>
  1398. <mass value="0.010000" />
  1399. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1400. <origin xyz="0.0 0.0 0" />
  1401. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1402. </inertial>
  1403. <visual>
  1404. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1405. <origin xyz="0 0 0" rpy="0 3.14159 0" />
  1406. <geometry>
  1407. <mesh filename="package://nxt_description/meshes/parts/6629.dae" scale=" 0.0004 0.0004 0.0004"/>
  1408. </geometry>
  1409. </visual>
  1410. <collision>
  1411. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1412. <origin xyz="0 0 0" rpy="0 0 0" />
  1413. <geometry>
  1414. <box size="0 0 0"/>
  1415. </geometry>
  1416. </collision>
  1417. </link>
  1418.  
  1419.  
  1420. <link name="ref_56_link">
  1421. <inertial>
  1422. <mass value="0.010000" />
  1423. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1424. <origin xyz="0.0 0.0 0" />
  1425. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1426. </inertial>
  1427. <visual>
  1428. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1429. <origin xyz="0 0 0" rpy="0 0 0" />
  1430. <geometry>
  1431. <mesh filename="package://nxt_description/meshes/parts/3749.dae" scale=" 0.0004 0.0004 0.0004"/>
  1432. </geometry>
  1433. </visual>
  1434. <collision>
  1435. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1436. <origin xyz="0 0 0" rpy="0 0 0" />
  1437. <geometry>
  1438. <box size="0 0 0"/>
  1439. </geometry>
  1440. </collision>
  1441. </link>
  1442.  
  1443.  
  1444. <link name="ref_57_link">
  1445. <inertial>
  1446. <mass value="0.010000" />
  1447. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1448. <origin xyz="0.0 0.0 0" />
  1449. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1450. </inertial>
  1451. <visual>
  1452. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1453. <origin xyz="0 0 0" rpy="0 0 0" />
  1454. <geometry>
  1455. <mesh filename="package://nxt_description/meshes/parts/3749.dae" scale=" 0.0004 0.0004 0.0004"/>
  1456. </geometry>
  1457. </visual>
  1458. <collision>
  1459. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1460. <origin xyz="0 0 0" rpy="0 0 0" />
  1461. <geometry>
  1462. <box size="0 0 0"/>
  1463. </geometry>
  1464. </collision>
  1465. </link>
  1466.  
  1467.  
  1468. <link name="ref_58_link">
  1469. <inertial>
  1470. <mass value="0.010000" />
  1471. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1472. <origin xyz="0.0 0.0 0" />
  1473. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1474. </inertial>
  1475. <visual>
  1476. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1477. <origin xyz="0 0 0" rpy="0 0 0" />
  1478. <geometry>
  1479. <mesh filename="package://nxt_description/meshes/parts/53787.dae" scale=" 0.0004 0.0004 0.0004"/>
  1480. </geometry>
  1481. </visual>
  1482. <collision>
  1483. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1484. <origin xyz="0 0 0" rpy="0 0 0" />
  1485. <geometry>
  1486. <box size="0 0 0"/>
  1487. </geometry>
  1488. </collision>
  1489. </link>
  1490.  
  1491. <link name="ref_58_link_hub">
  1492. <inertial>
  1493. <mass value="0.010000" />
  1494. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1495. <origin xyz="0.0 0.0 0" />
  1496. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1497. </inertial>
  1498. <visual>
  1499. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1500. <origin xyz="0 0 0" rpy="0 0 0" />
  1501. <geometry>
  1502. <mesh filename="package://nxt_description/meshes/parts/servo_hubs.dae" scale=" 0.0004 0.0004 0.0004"/>
  1503. </geometry>
  1504. </visual>
  1505. <collision>
  1506. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1507. <origin xyz="0 0 0" rpy="0 0 0" />
  1508. <geometry>
  1509. <box size="0 0 0"/>
  1510. </geometry>
  1511. </collision>
  1512. </link>
  1513.  
  1514. <!--THIS IS THE MOTOR JOINT RENAME AND FIX BY 180 WHEN NEEDED-->
  1515. <joint name="left_wheel_joint" type="continuous">
  1516. <parent link="ref_58_link"/>
  1517. <child link="ref_58_link_hub"/>
  1518. <origin xyz="0 0 0" rpy="0 3.14159 0" />
  1519. <axis xyz="-1 0 0" />
  1520. </joint>
  1521.  
  1522. <transmission type="pr2_mechanism_model/SimpleTransmission" name="left_wheel_trans">
  1523. <actuator name="left_wheel_motor" />
  1524. <joint name="left_wheel_joint" />
  1525. <mechanicalReduction>1.0</mechanicalReduction>
  1526. </transmission>
  1527.  
  1528.  
  1529.  
  1530. <link name="ref_59_link">
  1531. <inertial>
  1532. <mass value="0.010000" />
  1533. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1534. <origin xyz="0.0 0.0 0" />
  1535. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1536. </inertial>
  1537. <visual>
  1538. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1539. <origin xyz="0 0 0" rpy="0 0 0" />
  1540. <geometry>
  1541. <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004 0.0004 0.0004"/>
  1542. </geometry>
  1543. </visual>
  1544. <collision>
  1545. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1546. <origin xyz="0 0 0" rpy="0 0 0" />
  1547. <geometry>
  1548. <box size="0 0 0"/>
  1549. </geometry>
  1550. </collision>
  1551. </link>
  1552.  
  1553.  
  1554. <link name="ref_60_link">
  1555. <inertial>
  1556. <mass value="0.010000" />
  1557. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1558. <origin xyz="0.0 0.0 0" />
  1559. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1560. </inertial>
  1561. <visual>
  1562. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1563. <origin xyz="0 0 0" rpy="0 0 0" />
  1564. <geometry>
  1565. <mesh filename="package://nxt_description/meshes/parts/3705.dae" scale=" 0.0004 0.0004 0.0004"/>
  1566. </geometry>
  1567. </visual>
  1568. <collision>
  1569. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1570. <origin xyz="0 0 0" rpy="0 0 0" />
  1571. <geometry>
  1572. <box size="0 0 0"/>
  1573. </geometry>
  1574. </collision>
  1575. </link>
  1576.  
  1577.  
  1578. <link name="ref_61_link">
  1579. <inertial>
  1580. <mass value="0.010000" />
  1581. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1582. <origin xyz="0.0 0.0 0" />
  1583. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1584. </inertial>
  1585. <visual>
  1586. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1587. <origin xyz="0 0 0" rpy="0 0 0" />
  1588. <geometry>
  1589. <mesh filename="package://nxt_description/meshes/parts/32123.dae" scale=" 0.0004 0.0004 0.0004"/>
  1590. </geometry>
  1591. </visual>
  1592. <collision>
  1593. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1594. <origin xyz="0 0 0" rpy="0 0 0" />
  1595. <geometry>
  1596. <box size="0 0 0"/>
  1597. </geometry>
  1598. </collision>
  1599. </link>
  1600.  
  1601.  
  1602. <link name="ref_62_link">
  1603. <inertial>
  1604. <mass value="0.010000" />
  1605. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1606. <origin xyz="0.0 0.0 0" />
  1607. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1608. </inertial>
  1609. <visual>
  1610. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1611. <origin xyz="0 0 0" rpy="0 0 0" />
  1612. <geometry>
  1613. <mesh filename="package://nxt_description/meshes/parts/56145.dae" scale=" 0.0004 0.0004 0.0004"/>
  1614. </geometry>
  1615. </visual>
  1616. <collision>
  1617. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1618. <origin xyz="0 0 0" rpy="0 0 0" />
  1619. <geometry>
  1620. <box size="0 0 0"/>
  1621. </geometry>
  1622. </collision>
  1623. </link>
  1624.  
  1625.  
  1626. <link name="ref_63_link">
  1627. <inertial>
  1628. <mass value="0.010000" />
  1629. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1630. <origin xyz="0.0 0.0 0" />
  1631. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1632. </inertial>
  1633. <visual>
  1634. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1635. <origin xyz="0 0 0" rpy="0 0 0" />
  1636. <geometry>
  1637. <mesh filename="package://nxt_description/meshes/parts/44309.dae" scale=" 0.0004 0.0004 0.0004"/>
  1638. </geometry>
  1639. </visual>
  1640. <collision>
  1641. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1642. <origin xyz="0 0 0" rpy="0 0 1.570795" />
  1643. <geometry>
  1644. <mesh filename="package://nxt_description/meshes/parts/44309.dae"/>
  1645. </geometry>
  1646. </collision>
  1647. </link>
  1648.  
  1649.  
  1650. <link name="ref_64_link">
  1651. <inertial>
  1652. <mass value="0.010000" />
  1653. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1654. <origin xyz="0.0 0.0 0" />
  1655. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1656. </inertial>
  1657. <visual>
  1658. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1659. <origin xyz="0 0 0" rpy="0 0 0" />
  1660. <geometry>
  1661. <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004 0.0004 0.0004"/>
  1662. </geometry>
  1663. </visual>
  1664. <collision>
  1665. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1666. <origin xyz="0 0 0" rpy="0 0 0" />
  1667. <geometry>
  1668. <box size="0 0 0"/>
  1669. </geometry>
  1670. </collision>
  1671. </link>
  1672.  
  1673.  
  1674. <link name="ref_65_link">
  1675. <inertial>
  1676. <mass value="0.010000" />
  1677. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1678. <origin xyz="0.0 0.0 0" />
  1679. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1680. </inertial>
  1681. <visual>
  1682. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1683. <origin xyz="0 0 0" rpy="0 0 0" />
  1684. <geometry>
  1685. <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004 0.0004 0.0004"/>
  1686. </geometry>
  1687. </visual>
  1688. <collision>
  1689. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1690. <origin xyz="0 0 0" rpy="0 0 0" />
  1691. <geometry>
  1692. <box size="0 0 0"/>
  1693. </geometry>
  1694. </collision>
  1695. </link>
  1696.  
  1697.  
  1698. <link name="ref_66_link">
  1699. <inertial>
  1700. <mass value="0.010000" />
  1701. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1702. <origin xyz="0.0 0.0 0" />
  1703. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1704. </inertial>
  1705. <visual>
  1706. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1707. <origin xyz="0 0 0" rpy="0 0 0" />
  1708. <geometry>
  1709. <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004 0.0004 0.0004"/>
  1710. </geometry>
  1711. </visual>
  1712. <collision>
  1713. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1714. <origin xyz="0 0 0" rpy="0 0 0" />
  1715. <geometry>
  1716. <box size="0 0 0"/>
  1717. </geometry>
  1718. </collision>
  1719. </link>
  1720.  
  1721.  
  1722. <link name="ref_67_link">
  1723. <inertial>
  1724. <mass value="0.010000" />
  1725. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1726. <origin xyz="0.0 0.0 0" />
  1727. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1728. </inertial>
  1729. <visual>
  1730. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1731. <origin xyz="0 0 0" rpy="0 0 0" />
  1732. <geometry>
  1733. <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004 0.0004 0.0004"/>
  1734. </geometry>
  1735. </visual>
  1736. <collision>
  1737. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1738. <origin xyz="0 0 0" rpy="0 0 0" />
  1739. <geometry>
  1740. <box size="0 0 0"/>
  1741. </geometry>
  1742. </collision>
  1743. </link>
  1744.  
  1745.  
  1746. <link name="ref_68_link">
  1747. <inertial>
  1748. <mass value="0.010000" />
  1749. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1750. <origin xyz="0.0 0.0 0" />
  1751. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1752. </inertial>
  1753. <visual>
  1754. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1755. <origin xyz="0 0 0" rpy="0 3.14159 0" />
  1756. <geometry>
  1757. <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale=" 0.0004 0.0004 0.0004"/>
  1758. </geometry>
  1759. </visual>
  1760. <collision>
  1761. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1762. <origin xyz="0 0 0" rpy="0 0 0" />
  1763. <geometry>
  1764. <box size="0 0 0"/>
  1765. </geometry>
  1766. </collision>
  1767. </link>
  1768.  
  1769.  
  1770. <link name="ref_69_link">
  1771. <inertial>
  1772. <mass value="0.010000" />
  1773. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1774. <origin xyz="0.0 0.0 0" />
  1775. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1776. </inertial>
  1777. <visual>
  1778. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1779. <origin xyz="0 0 0" rpy="0 0 0" />
  1780. <geometry>
  1781. <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004 0.0004 0.0004"/>
  1782. </geometry>
  1783. </visual>
  1784. <collision>
  1785. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1786. <origin xyz="0 0 0" rpy="0 0 0" />
  1787. <geometry>
  1788. <box size="0 0 0"/>
  1789. </geometry>
  1790. </collision>
  1791. </link>
  1792.  
  1793.  
  1794. <link name="ref_70_link">
  1795. <inertial>
  1796. <mass value="0.010000" />
  1797. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1798. <origin xyz="0.0 0.0 0" />
  1799. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1800. </inertial>
  1801. <visual>
  1802. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1803. <origin xyz="0 0 0" rpy="0 3.14159 0" />
  1804. <geometry>
  1805. <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale=" 0.0004 0.0004 0.0004"/>
  1806. </geometry>
  1807. </visual>
  1808. <collision>
  1809. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1810. <origin xyz="0 0 0" rpy="0 0 0" />
  1811. <geometry>
  1812. <box size="0 0 0"/>
  1813. </geometry>
  1814. </collision>
  1815. </link>
  1816.  
  1817.  
  1818. <link name="ref_71_link">
  1819. <inertial>
  1820. <mass value="0.010000" />
  1821. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1822. <origin xyz="0.0 0.0 0" />
  1823. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1824. </inertial>
  1825. <visual>
  1826. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1827. <origin xyz="0 0 0" rpy="0 0 0" />
  1828. <geometry>
  1829. <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004 0.0004 0.0004"/>
  1830. </geometry>
  1831. </visual>
  1832. <collision>
  1833. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1834. <origin xyz="0 0 0" rpy="0 0 0" />
  1835. <geometry>
  1836. <box size="0 0 0"/>
  1837. </geometry>
  1838. </collision>
  1839. </link>
  1840.  
  1841.  
  1842. <link name="ref_72_link">
  1843. <inertial>
  1844. <mass value="0.010000" />
  1845. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1846. <origin xyz="0.0 0.0 0" />
  1847. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1848. </inertial>
  1849. <visual>
  1850. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1851. <origin xyz="0 0 0" rpy="0 0 0" />
  1852. <geometry>
  1853. <mesh filename="package://nxt_description/meshes/parts/3705.dae" scale=" 0.0004 0.0004 0.0004"/>
  1854. </geometry>
  1855. </visual>
  1856. <collision>
  1857. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1858. <origin xyz="0 0 0" rpy="0 0 0" />
  1859. <geometry>
  1860. <box size="0 0 0"/>
  1861. </geometry>
  1862. </collision>
  1863. </link>
  1864.  
  1865.  
  1866. <link name="ref_73_link">
  1867. <inertial>
  1868. <mass value="0.010000" />
  1869. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1870. <origin xyz="0.0 0.0 0" />
  1871. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1872. </inertial>
  1873. <visual>
  1874. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1875. <origin xyz="0 0 0" rpy="0 0 0" />
  1876. <geometry>
  1877. <mesh filename="package://nxt_description/meshes/parts/56145.dae" scale=" 0.0004 0.0004 0.0004"/>
  1878. </geometry>
  1879. </visual>
  1880. <collision>
  1881. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1882. <origin xyz="0 0 0" rpy="0 0 0" />
  1883. <geometry>
  1884. <box size="0 0 0"/>
  1885. </geometry>
  1886. </collision>
  1887. </link>
  1888.  
  1889.  
  1890. <link name="ref_74_link">
  1891. <inertial>
  1892. <mass value="0.010000" />
  1893. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1894. <origin xyz="0.0 0.0 0" />
  1895. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1896. </inertial>
  1897. <visual>
  1898. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1899. <origin xyz="0 0 0" rpy="0 0 0" />
  1900. <geometry>
  1901. <mesh filename="package://nxt_description/meshes/parts/44309.dae" scale=" 0.0004 0.0004 0.0004"/>
  1902. </geometry>
  1903. </visual>
  1904. <collision>
  1905. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1906. <origin xyz="0 0 0" rpy="0 0 1.570795" />
  1907. <geometry>
  1908. <mesh filename="package://nxt_description/meshes/parts/44309.dae"/>
  1909. </geometry>
  1910. </collision>
  1911. </link>
  1912.  
  1913.  
  1914. <link name="ref_75_link">
  1915. <inertial>
  1916. <mass value="0.010000" />
  1917. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1918. <origin xyz="0.0 0.0 0" />
  1919. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1920. </inertial>
  1921. <visual>
  1922. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1923. <origin xyz="0 0 0" rpy="0 0 0" />
  1924. <geometry>
  1925. <mesh filename="package://nxt_description/meshes/parts/32123.dae" scale=" 0.0004 0.0004 0.0004"/>
  1926. </geometry>
  1927. </visual>
  1928. <collision>
  1929. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1930. <origin xyz="0 0 0" rpy="0 0 0" />
  1931. <geometry>
  1932. <box size="0 0 0"/>
  1933. </geometry>
  1934. </collision>
  1935. </link>
  1936.  
  1937.  
  1938. <link name="ref_76_link">
  1939. <inertial>
  1940. <mass value="0.010000" />
  1941. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1942. <origin xyz="0.0 0.0 0" />
  1943. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1944. </inertial>
  1945. <visual>
  1946. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1947. <origin xyz="0 0 0" rpy="0 0 0" />
  1948. <geometry>
  1949. <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004 0.0004 0.0004"/>
  1950. </geometry>
  1951. </visual>
  1952. <collision>
  1953. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1954. <origin xyz="0 0 0" rpy="0 0 0" />
  1955. <geometry>
  1956. <box size="0 0 0"/>
  1957. </geometry>
  1958. </collision>
  1959. </link>
  1960.  
  1961.  
  1962. <link name="ref_77_link">
  1963. <inertial>
  1964. <mass value="0.010000" />
  1965. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1966. <origin xyz="0.0 0.0 0" />
  1967. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1968. </inertial>
  1969. <visual>
  1970. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1971. <origin xyz="0 0 0" rpy="0 0 0" />
  1972. <geometry>
  1973. <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004 0.0004 0.0004"/>
  1974. </geometry>
  1975. </visual>
  1976. <collision>
  1977. <!-- collision origin is defined w.r.t. link local coordinate system -->
  1978. <origin xyz="0 0 0" rpy="0 0 0" />
  1979. <geometry>
  1980. <box size="0 0 0"/>
  1981. </geometry>
  1982. </collision>
  1983. </link>
  1984.  
  1985.  
  1986. <link name="ref_78_link">
  1987. <inertial>
  1988. <mass value="0.010000" />
  1989. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  1990. <origin xyz="0.0 0.0 0" />
  1991. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  1992. </inertial>
  1993. <visual>
  1994. <!-- visual origin is defined w.r.t. link local coordinate system -->
  1995. <origin xyz="0 0 0" rpy="0 0 0" />
  1996. <geometry>
  1997. <mesh filename="package://nxt_description/meshes/parts/2780.dae" scale=" 0.0004 0.0004 0.0004"/>
  1998. </geometry>
  1999. </visual>
  2000. <collision>
  2001. <!-- collision origin is defined w.r.t. link local coordinate system -->
  2002. <origin xyz="0 0 0" rpy="0 0 0" />
  2003. <geometry>
  2004. <box size="0 0 0"/>
  2005. </geometry>
  2006. </collision>
  2007. </link>
  2008.  
  2009.  
  2010. <link name="ref_79_link">
  2011. <inertial>
  2012. <mass value="0.010000" />
  2013. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  2014. <origin xyz="0.0 0.0 0" />
  2015. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  2016. </inertial>
  2017. <visual>
  2018. <!-- visual origin is defined w.r.t. link local coordinate system -->
  2019. <origin xyz="0 0 0" rpy="0 0 0" />
  2020. <geometry>
  2021. <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004 0.0004 0.0004"/>
  2022. </geometry>
  2023. </visual>
  2024. <collision>
  2025. <!-- collision origin is defined w.r.t. link local coordinate system -->
  2026. <origin xyz="0 0 0" rpy="0 0 0" />
  2027. <geometry>
  2028. <box size="0 0 0"/>
  2029. </geometry>
  2030. </collision>
  2031. </link>
  2032.  
  2033.  
  2034. <link name="ref_80_link">
  2035. <inertial>
  2036. <mass value="0.010000" />
  2037. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  2038. <origin xyz="0.0 0.0 0" />
  2039. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  2040. </inertial>
  2041. <visual>
  2042. <!-- visual origin is defined w.r.t. link local coordinate system -->
  2043. <origin xyz="0 0 0" rpy="0 3.14159 0" />
  2044. <geometry>
  2045. <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale=" 0.0004 0.0004 0.0004"/>
  2046. </geometry>
  2047. </visual>
  2048. <collision>
  2049. <!-- collision origin is defined w.r.t. link local coordinate system -->
  2050. <origin xyz="0 0 0" rpy="0 0 0" />
  2051. <geometry>
  2052. <box size="0 0 0"/>
  2053. </geometry>
  2054. </collision>
  2055. </link>
  2056.  
  2057.  
  2058. <link name="ref_81_link">
  2059. <inertial>
  2060. <mass value="0.010000" />
  2061. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  2062. <origin xyz="0.0 0.0 0" />
  2063. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  2064. </inertial>
  2065. <visual>
  2066. <!-- visual origin is defined w.r.t. link local coordinate system -->
  2067. <origin xyz="0 0 0" rpy="0 0 0" />
  2068. <geometry>
  2069. <mesh filename="package://nxt_description/meshes/parts/4519.dae" scale=" 0.0004 0.0004 0.0004"/>
  2070. </geometry>
  2071. </visual>
  2072. <collision>
  2073. <!-- collision origin is defined w.r.t. link local coordinate system -->
  2074. <origin xyz="0 0 0" rpy="0 0 0" />
  2075. <geometry>
  2076. <box size="0 0 0"/>
  2077. </geometry>
  2078. </collision>
  2079. </link>
  2080.  
  2081.  
  2082. <link name="ref_82_link">
  2083. <inertial>
  2084. <mass value="0.010000" />
  2085. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  2086. <origin xyz="0.0 0.0 0" />
  2087. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  2088. </inertial>
  2089. <visual>
  2090. <!-- visual origin is defined w.r.t. link local coordinate system -->
  2091. <origin xyz="0 0 0" rpy="0 3.14159 0" />
  2092. <geometry>
  2093. <mesh filename="package://nxt_description/meshes/parts/32526.dae" scale=" 0.0004 0.0004 0.0004"/>
  2094. </geometry>
  2095. </visual>
  2096. <collision>
  2097. <!-- collision origin is defined w.r.t. link local coordinate system -->
  2098. <origin xyz="0 0 0" rpy="0 0 0" />
  2099. <geometry>
  2100. <box size="0 0 0"/>
  2101. </geometry>
  2102. </collision>
  2103. </link>
  2104.  
  2105.  
  2106. <link name="ref_83_link">
  2107. <inertial>
  2108. <mass value="0.010000" />
  2109. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  2110. <origin xyz="0.0 0.0 0" />
  2111. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  2112. </inertial>
  2113. <visual>
  2114. <!-- visual origin is defined w.r.t. link local coordinate system -->
  2115. <origin xyz="0 0 0" rpy="0 0 0" />
  2116. <geometry>
  2117. <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004 0.0004 0.0004"/>
  2118. </geometry>
  2119. </visual>
  2120. <collision>
  2121. <!-- collision origin is defined w.r.t. link local coordinate system -->
  2122. <origin xyz="0 0 0" rpy="0 0 0" />
  2123. <geometry>
  2124. <box size="0 0 0"/>
  2125. </geometry>
  2126. </collision>
  2127. </link>
  2128.  
  2129.  
  2130. <link name="ref_84_link">
  2131. <inertial>
  2132. <mass value="0.010000" />
  2133. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  2134. <origin xyz="0.0 0.0 0" />
  2135. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  2136. </inertial>
  2137. <visual>
  2138. <!-- visual origin is defined w.r.t. link local coordinate system -->
  2139. <origin xyz="0 0 0" rpy="0 0 0" />
  2140. <geometry>
  2141. <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004 0.0004 0.0004"/>
  2142. </geometry>
  2143. </visual>
  2144. <collision>
  2145. <!-- collision origin is defined w.r.t. link local coordinate system -->
  2146. <origin xyz="0 0 0" rpy="0 0 0" />
  2147. <geometry>
  2148. <box size="0 0 0"/>
  2149. </geometry>
  2150. </collision>
  2151. </link>
  2152.  
  2153.  
  2154. <link name="ref_85_link">
  2155. <inertial>
  2156. <mass value="0.010000" />
  2157. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  2158. <origin xyz="0.0 0.0 0" />
  2159. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  2160. </inertial>
  2161. <visual>
  2162. <!-- visual origin is defined w.r.t. link local coordinate system -->
  2163. <origin xyz="0 0 0" rpy="0 0 0" />
  2164. <geometry>
  2165. <mesh filename="package://nxt_description/meshes/parts/40490.dae" scale=" 0.0004 0.0004 0.0004"/>
  2166. </geometry>
  2167. </visual>
  2168. <collision>
  2169. <!-- collision origin is defined w.r.t. link local coordinate system -->
  2170. <origin xyz="0 0 0" rpy="0 0 0" />
  2171. <geometry>
  2172. <box size="0 0 0"/>
  2173. </geometry>
  2174. </collision>
  2175. </link>
  2176.  
  2177.  
  2178. <link name="ref_86_link">
  2179. <inertial>
  2180. <mass value="0.010000" />
  2181. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  2182. <origin xyz="0.0 0.0 0" />
  2183. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  2184. </inertial>
  2185. <visual>
  2186. <!-- visual origin is defined w.r.t. link local coordinate system -->
  2187. <origin xyz="0 0 0" rpy="0 0 0" />
  2188. <geometry>
  2189. <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004 0.0004 0.0004"/>
  2190. </geometry>
  2191. </visual>
  2192. <collision>
  2193. <!-- collision origin is defined w.r.t. link local coordinate system -->
  2194. <origin xyz="0 0 0" rpy="0 0 0" />
  2195. <geometry>
  2196. <box size="0 0 0"/>
  2197. </geometry>
  2198. </collision>
  2199. </link>
  2200.  
  2201.  
  2202. <link name="ref_87_link">
  2203. <inertial>
  2204. <mass value="0.010000" />
  2205. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  2206. <origin xyz="0.0 0.0 0" />
  2207. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  2208. </inertial>
  2209. <visual>
  2210. <!-- visual origin is defined w.r.t. link local coordinate system -->
  2211. <origin xyz="0 0 0" rpy="0 0 0" />
  2212. <geometry>
  2213. <mesh filename="package://nxt_description/meshes/parts/6558.dae" scale=" 0.0004 0.0004 0.0004"/>
  2214. </geometry>
  2215. </visual>
  2216. <collision>
  2217. <!-- collision origin is defined w.r.t. link local coordinate system -->
  2218. <origin xyz="0 0 0" rpy="0 0 0" />
  2219. <geometry>
  2220. <box size="0 0 0"/>
  2221. </geometry>
  2222. </collision>
  2223. </link>
  2224.  
  2225.  
  2226. <link name="ref_88_link">
  2227. <inertial>
  2228. <mass value="0.010000" />
  2229. <!-- center of mass (com) is defined w.r.t. link local coordinate system -->
  2230. <origin xyz="0.0 0.0 0" />
  2231. <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
  2232. </inertial>
  2233. <visual>
  2234. <!-- visual origin is defined w.r.t. link local coordinate system -->
  2235. <origin xyz="0 0 0" rpy="0 0 0" />
  2236. <geometry>
  2237. <mesh filename="package://nxt_description/meshes/parts/40490.dae" scale=" 0.0004 0.0004 0.0004"/>
  2238. </geometry>
  2239. </visual>
  2240. <collision>
  2241. <!-- collision origin is defined w.r.t. link local coordinate system -->
  2242. <origin xyz="0 0 0" rpy="0 0 0" />
  2243. <geometry>
  2244. <box size="0 0 0"/>
  2245. </geometry>
  2246. </collision>
  2247. </link>
  2248.  
  2249.  
  2250. <joint name="ref_0_joint" type="fixed">
  2251. <parent link="ref_0_link"/>
  2252. <child link="ref_1_link"/>
  2253. <origin xyz="1.63269042969e-07 -0.00819995422363 -0.0238001464844" rpy="1.57079632679 -0.0 -1.57079632679" />
  2254. <axis xyz="0 0 0" />
  2255. </joint>
  2256.  
  2257.  
  2258. <joint name="ref_1_joint" type="fixed">
  2259. <parent link="ref_1_link"/>
  2260. <child link="ref_2_link"/>
  2261. <origin xyz="-0.000199963355069 0.0238001741648 1.72424295852e-07" rpy="-1.57079632679 1.57079632679 -0.0" />
  2262. <axis xyz="0 0 0" />
  2263. </joint>
  2264.  
  2265.  
  2266. <joint name="ref_2_joint" type="fixed">
  2267. <parent link="ref_2_link"/>
  2268. <child link="ref_3_link"/>
  2269. <origin xyz="1.35803222656e-07 0.0762002075195 -0.0118024108887" rpy="2.56617217953 1.57077648957 0.994078913433" />
  2270. <axis xyz="0 0 0" />
  2271. </joint>
  2272.  
  2273.  
  2274. <joint name="ref_3_joint" type="fixed">
  2275. <parent link="ref_2_link"/>
  2276. <child link="ref_4_link"/>
  2277. <origin xyz="2.82287597656e-07 0.0762003540039 -0.0238024047852" rpy="1.57079632679 -1.13256307865e-05 -0.0" />
  2278. <axis xyz="0 0 0" />
  2279. </joint>
  2280.  
  2281.  
  2282. <joint name="ref_4_joint" type="fixed">
  2283. <parent link="ref_2_link"/>
  2284. <child link="ref_5_link"/>
  2285. <origin xyz="1.06811523438e-07 0.0758001831055 -0.00780240478516" rpy="1.57078624575 1.1010007255e-05 -3.14158176733" />
  2286. <axis xyz="0 0 0" />
  2287. </joint>
  2288.  
  2289.  
  2290. <joint name="ref_5_joint" type="fixed">
  2291. <parent link="ref_2_link"/>
  2292. <child link="ref_6_link"/>
  2293. <origin xyz="2.13623046875e-08 0.0759999633789 0.000197589111328" rpy="-1.57080748776 -0.0 -3.14159265359" />
  2294. <axis xyz="0 0 0" />
  2295. </joint>
  2296.  
  2297.  
  2298. <joint name="ref_6_joint" type="fixed">
  2299. <parent link="ref_2_link"/>
  2300. <child link="ref_7_link"/>
  2301. <origin xyz="0.00800002441406 0.039999987793 -1.05590820312e-06" rpy="1.57079632679 1.57075457489 -1.57079632679" />
  2302. <axis xyz="0 0 0" />
  2303. </joint>
  2304.  
  2305.  
  2306. <joint name="ref_7_joint" type="fixed">
  2307. <parent link="ref_2_link"/>
  2308. <child link="ref_8_link"/>
  2309. <origin xyz="-0.00799996032715 0.04 -2.25830078125e-07" rpy="3.14159265359 1.57079632679 -0.0" />
  2310. <axis xyz="0 0 0" />
  2311. </joint>
  2312.  
  2313.  
  2314. <joint name="ref_8_joint" type="fixed">
  2315. <parent link="ref_12_link"/>
  2316. <child link="ref_9_link"/>
  2317. <origin xyz="7.828350350163135e-05 0.007999992248306359 -0.01599574888085893" rpy="1.5707963267992335 -0.016041211646452877 -2.019495777038321e-07" />
  2318. <axis xyz="0 0 0" />
  2319. </joint>
  2320.  
  2321.  
  2322. <joint name="ref_9_joint" type="fixed">
  2323. <parent link="ref_12_link"/>
  2324. <child link="ref_10_link"/>
  2325. <origin xyz="-0.019773283015216105 0.011200000837567045 0.021970711426472916" rpy="0.9433347502433465 -1.6022588811281935e-10 -1.5707857975195862" />
  2326. <axis xyz="0 0 0" />
  2327. </joint>
  2328.  
  2329.  
  2330. <joint name="ref_10_joint" type="fixed">
  2331. <parent link="ref_12_link"/>
  2332. <child link="ref_11_link"/>
  2333. <origin xyz="-0.02628444588433196 0.016399937195003385 0.02695496452268098" rpy="-1.5707963270591478 -0.9290985650975533 1.0616525449825763e-05" />
  2334. <axis xyz="0 0 0" />
  2335. </joint>
  2336.  
  2337.  
  2338. <joint name="caster_wheel_support_joint" type="continuous">
  2339. <parent link="ref_3_link"/>
  2340. <child link="ref_12_link"/>
  2341. <origin xyz="0.00374998598337 -25.46744743986e-09 0.00820001255175" rpy="3.14159265359 1.74727644705e-06 3.14159245339" />
  2342. <axis xyz="1 0 0" />
  2343. </joint>
  2344.  
  2345. <transmission type="pr2_mechanism_model/SimpleTransmission" name="caster_wheel_support_trans">
  2346. <actuator name="caster_wheel_support_motor" />
  2347. <joint name="caster_wheel_support_joint" />
  2348. <mechanicalReduction>1.0</mechanicalReduction>
  2349. </transmission>
  2350.  
  2351.  
  2352. <joint name="ref_12_joint" type="fixed">
  2353. <parent link="ref_12_link"/>
  2354. <child link="ref_13_link"/>
  2355. <origin xyz="7.829938401379206e-05 -0.00800001347353713 -0.015995748880583402" rpy="1.5707963267992342 -0.016041213508852844 -2.0193957728630123e-07" />
  2356. <axis xyz="0 0 0" />
  2357. </joint>
  2358.  
  2359.  
  2360. <joint name="ref_13_joint" type="fixed">
  2361. <parent link="ref_12_link"/>
  2362. <child link="ref_14_link"/>
  2363. <origin xyz="-0.01977346292677751 -0.011999997161597383 0.02197046728329209" rpy="-0.941811082803346 -1.728376066570402e-05 1.570806856319801" />
  2364. <axis xyz="0 0 0" />
  2365. </joint>
  2366.  
  2367.  
  2368. <joint name="ref_14_joint" type="fixed">
  2369. <parent link="ref_12_link"/>
  2370. <child link="ref_15_link"/>
  2371. <origin xyz="-0.026286521322119564 -0.017200052622681747 0.0269564659566143" rpy="-1.5707963270686134 -0.9418140056795524 1.0616524787663322e-05" />
  2372. <axis xyz="0 0 0" />
  2373. </joint>
  2374.  
  2375.  
  2376. <joint name="ref_15_joint" type="fixed">
  2377. <parent link="ref_12_link"/>
  2378. <child link="ref_16_link"/>
  2379. <origin xyz="-0.026243944356444993 -0.007999989275855626 0.026675070139318233" rpy="2.6220488780330158e-05 -0.9290942257425536 -1.735704872123971e-05" />
  2380. <axis xyz="0 0 0" />
  2381. </joint>
  2382.  
  2383.  
  2384. <joint name="ref_16_joint" type="fixed">
  2385. <parent link="ref_12_link"/>
  2386. <child link="ref_17_link"/>
  2387. <origin xyz="-0.026243932522783314 0.001600015683362162 0.026675094553595582" rpy="0.9290945321833465 -1.6022594362397058e-10 -1.5707857975195865" />
  2388. <axis xyz="0 0 0" />
  2389. </joint>
  2390.  
  2391.  
  2392. <joint name="ref_17_joint" type="fixed">
  2393. <parent link="ref_12_link"/>
  2394. <child link="ref_18_link"/>
  2395. <origin xyz="-0.0262439228843456 0.008800011773380374 0.026675094553677253" rpy="2.615907860083846e-05 -0.9290937131215536 -1.7418418577385377e-05" />
  2396. <axis xyz="0 0 0" />
  2397. </joint>
  2398.  
  2399.  
  2400. <joint name="caster_wheel_joint" type="continuous">
  2401. <parent link="ref_17_link"/>
  2402. <child link="caster_wheel_link"/>
  2403. <origin xyz="0.0016000165885911716 0.00010165476252702033 6.535601406038039e-07" rpy="-2.449351583277901e-06 5.070225466826798e-06 -1.5708138408730377" />
  2404. <axis xyz="0 -1 0" />
  2405. </joint>
  2406.  
  2407. <transmission type="pr2_mechanism_model/SimpleTransmission" name="caster_wheel_trans">
  2408. <actuator name="caster_wheel_motor" />
  2409. <joint name="caster_wheel_joint" />
  2410. <mechanicalReduction>1.0</mechanicalReduction>
  2411. </transmission>
  2412.  
  2413.  
  2414. <joint name="ref_19_joint" type="fixed">
  2415. <parent link="ref_3_link"/>
  2416. <child link="ref_20_link"/>
  2417. <origin xyz="-0.0118030471135 1.78073329351e-08 0.052199998924" rpy="-1.57081295549 -1.78417115258e-10 1.57078559732" />
  2418. <axis xyz="0 0 0" />
  2419. </joint>
  2420.  
  2421.  
  2422. <joint name="ref_20_joint" type="fixed">
  2423. <parent link="ref_3_link"/>
  2424. <child link="ref_21_link"/>
  2425. <origin xyz="-0.0118030532172 2.23850351318e-08 0.0522000111309" rpy="-3.14158192412 1.57077978538 -1.0816749256e-05" />
  2426. <axis xyz="0 0 0" />
  2427. </joint>
  2428.  
  2429.  
  2430. <joint name="ref_21_joint" type="fixed">
  2431. <parent link="ref_3_link"/>
  2432. <child link="ref_22_link"/>
  2433. <origin xyz="-0.00400337113741 -0.0160000524454 0.0521295048515" rpy="-1.57081295549 -1.78417115258e-10 1.57078559732" />
  2434. <axis xyz="0 0 0" />
  2435. </joint>
  2436.  
  2437.  
  2438. <joint name="ref_22_joint" type="fixed">
  2439. <parent link="ref_3_link"/>
  2440. <child link="ref_23_link"/>
  2441. <origin xyz="-0.00400303389778 0.0159999559433 0.0521295048572" rpy="-1.57081295549 -1.78417115258e-10 1.57078559732" />
  2442. <axis xyz="0 0 0" />
  2443. </joint>
  2444.  
  2445.  
  2446. <joint name="ref_23_joint" type="fixed">
  2447. <parent link="ref_20_link"/>
  2448. <child link="ref_24_link"/>
  2449. <origin xyz="0.0160000305176 0.00807067871094 -0.00799987182617" rpy="-0.0 -0.0 -1.57079632679" />
  2450. <axis xyz="0 0 0" />
  2451. </joint>
  2452.  
  2453.  
  2454. <joint name="ref_24_joint" type="fixed">
  2455. <parent link="ref_24_link"/>
  2456. <child link="ref_25_link"/>
  2457. <origin xyz="5.4931640625e-08 -0.000200152587891 0.00820003100634" rpy="-1.57079632679 -0.0 -1.57079632679" />
  2458. <axis xyz="0 0 0" />
  2459. </joint>
  2460.  
  2461.  
  2462. <joint name="ref_25_joint" type="fixed">
  2463. <parent link="ref_25_link"/>
  2464. <child link="ref_26_link"/>
  2465. <origin xyz="-0.0162005126953 0.0321997733832 0.00799990139009" rpy="1.57080961926 -1.57079632679 -0.0" />
  2466. <axis xyz="0 0 0" />
  2467. </joint>
  2468.  
  2469.  
  2470. <joint name="ref_26_joint" type="fixed">
  2471. <parent link="ref_26_link"/>
  2472. <child link="ref_27_link"/>
  2473. <origin xyz="-3.662109375e-08 -0.0320000457698 4.92498194592e-07" rpy="-1.57079632679 1.57078303433 -1.57079632679" />
  2474. <axis xyz="0 0 0" />
  2475. </joint>
  2476.  
  2477.  
  2478. <joint name="ref_27_joint" type="fixed">
  2479. <parent link="ref_27_link"/>
  2480. <child link="ref_28_link"/>
  2481. <origin xyz="3.81469681088e-07 -0.0320000221252 -0.0039997675896" rpy="3.1415822842 1.57079632679 -0.0" />
  2482. <axis xyz="0 0 0" />
  2483. </joint>
  2484.  
  2485.  
  2486. <joint name="ref_28_joint" type="fixed">
  2487. <parent link="ref_28_link"/>
  2488. <child link="ref_29_link"/>
  2489. <origin xyz="0.00399999389648 -0.0162000273831 0.0321999601894" rpy="-1.57079632679 2.88219179572e-07 -1.57079632679" />
  2490. <axis xyz="0 0 0" />
  2491. </joint>
  2492.  
  2493.  
  2494. <joint name="ref_29_joint" type="fixed">
  2495. <parent link="ref_29_link"/>
  2496. <child link="ref_30_link"/>
  2497. <origin xyz="-0.000200082868306 0.00820000408645 4.2724609375e-08" rpy="1.57078624562 1.57079632679 -0.0" />
  2498. <axis xyz="0 0 0" />
  2499. </joint>
  2500.  
  2501.  
  2502. <joint name="ref_30_joint" type="fixed">
  2503. <parent link="ref_30_link"/>
  2504. <child link="ref_31_link"/>
  2505. <origin xyz="-0.00800045776367 0.0 0.0084499394685" rpy="-0.0 -0.0 1.57079632679" />
  2506. <axis xyz="0 0 0" />
  2507. </joint>
  2508.  
  2509.  
  2510. <joint name="ref_31_joint" type="fixed">
  2511. <parent link="ref_30_link"/>
  2512. <child link="ref_32_link"/>
  2513. <origin xyz="-0.00792937011719 0.015999987793 0.00799981126784" rpy="-0.0 -0.0 1.57079632679" />
  2514. <axis xyz="0 0 0" />
  2515. </joint>
  2516.  
  2517.  
  2518. <joint name="ref_32_joint" type="fixed">
  2519. <parent link="ref_30_link"/>
  2520. <child link="ref_33_link"/>
  2521. <origin xyz="-0.0079294128418 0.0159999908447 0.00799978685378" rpy="-0.0 -0.0 -3.14159265359" />
  2522. <axis xyz="0 0 0" />
  2523. </joint>
  2524.  
  2525.  
  2526. <joint name="ref_33_joint" type="fixed">
  2527. <parent link="ref_30_link"/>
  2528. <child link="ref_34_link"/>
  2529. <origin xyz="-0.00800055541992 0.0319999969482 0.00844989064037" rpy="-0.0 -0.0 1.57079632679" />
  2530. <axis xyz="0 0 0" />
  2531. </joint>
  2532.  
  2533.  
  2534. <joint name="ref_34_joint" type="fixed">
  2535. <parent link="ref_29_link"/>
  2536. <child link="ref_35_link"/>
  2537. <origin xyz="-0.000200025464902 0.0162000101905 -0.00399995117188" rpy="1.57079627251 -1.57079632679 -0.0" />
  2538. <axis xyz="0 0 0" />
  2539. </joint>
  2540.  
  2541.  
  2542. <joint name="ref_35_joint" type="fixed">
  2543. <parent link="ref_29_link"/>
  2544. <child link="ref_36_link"/>
  2545. <origin xyz="-0.008199993415 0.0322000455083 -0.00799998779297" rpy="1.57078624562 1.57079632679 -0.0" />
  2546. <axis xyz="0 0 0" />
  2547. </joint>
  2548.  
  2549.  
  2550. <joint name="ref_36_joint" type="fixed">
  2551. <parent link="ref_36_link"/>
  2552. <child link="ref_37_link"/>
  2553. <origin xyz="0.0879999206543 -0.00800107192993 0.000200061047081" rpy="-3.14159265359 1.53965438647e-05 1.57078588092" />
  2554. <axis xyz="0 0 0" />
  2555. </joint>
  2556.  
  2557.  
  2558. <joint name="ref_37_joint" type="fixed">
  2559. <parent link="ref_36_link"/>
  2560. <child link="ref_38_link"/>
  2561. <origin xyz="0.0799999633789 -0.012000756073 0.0159998971939" rpy="-0.0 -0.0 1.57079632679" />
  2562. <axis xyz="0 0 0" />
  2563. </joint>
  2564.  
  2565.  
  2566. <joint name="ref_38_joint" type="fixed">
  2567. <parent link="ref_36_link"/>
  2568. <child link="ref_39_link"/>
  2569. <origin xyz="0.0317944290161 -0.0159997779846 0.0479908903117" rpy="-1.5707765211 0.645743883264 -3.14159265359" />
  2570. <axis xyz="0 0 0" />
  2571. </joint>
  2572.  
  2573.  
  2574. <joint name="ref_39_joint" type="fixed">
  2575. <parent link="ref_36_link"/>
  2576. <child link="ref_40_link"/>
  2577. <origin xyz="0.0320746704102 -0.0199997795105 0.0479514554948" rpy="0.645744701081 -0.0 -1.57079632679" />
  2578. <axis xyz="0 0 0" />
  2579. </joint>
  2580.  
  2581.  
  2582. <joint name="ref_40_joint" type="fixed">
  2583. <parent link="ref_37_link"/>
  2584. <child link="ref_86_link"/>
  2585. <origin xyz="0.0159999791856 -0.064000075581 0.00819996727868" rpy="-3.14159265343 -1.47538228815e-07 3.14158220772" />
  2586. <axis xyz="0 0 0" />
  2587. </joint>
  2588.  
  2589.  
  2590. <joint name="ref_41_joint" type="fixed">
  2591. <parent link="ref_86_link"/>
  2592. <child link="ref_80_link"/>
  2593. <origin xyz="-0.00799979240847 -0.000200119018555 0.0322002379557" rpy="-1.5708115758 -0.0 -1.57079632679" />
  2594. <axis xyz="0 0 0" />
  2595. </joint>
  2596.  
  2597.  
  2598. <joint name="ref_42_joint" type="fixed">
  2599. <parent link="ref_80_link"/>
  2600. <child link="ref_79_link"/>
  2601. <origin xyz="-0.000270645109338 0.000200073218337 -0.00799995098115" rpy="1.57079632679 -1.57079632679 -0.0" />
  2602. <axis xyz="0 0 0" />
  2603. </joint>
  2604.  
  2605.  
  2606. <joint name="ref_43_joint" type="fixed">
  2607. <parent link="ref_79_link"/>
  2608. <child link="ref_82_link"/>
  2609. <origin xyz="-0.00799999389648 -0.000199884033203 0.000200073242188" rpy="-1.57080997953 -0.0 -1.57079632679" />
  2610. <axis xyz="0 0 0" />
  2611. </joint>
  2612.  
  2613.  
  2614. <joint name="ref_44_joint" type="fixed">
  2615. <parent link="ref_82_link"/>
  2616. <child link="ref_81_link"/>
  2617. <origin xyz="-0.000234326171875 0.00820007388318 0.0080000285206" rpy="-3.14159265359 1.57078267406 1.57079632679" />
  2618. <axis xyz="0 0 0" />
  2619. </joint>
  2620.  
  2621.  
  2622. <joint name="ref_45_joint" type="fixed">
  2623. <parent link="ref_82_link"/>
  2624. <child link="ref_84_link"/>
  2625. <origin xyz="-0.00812908935547 0.0322000054624 -0.00800002079704" rpy="-3.14159265359 1.57078267406 1.57079632679" />
  2626. <axis xyz="0 0 0" />
  2627. </joint>
  2628.  
  2629.  
  2630. <joint name="ref_46_joint" type="fixed">
  2631. <parent link="ref_84_link"/>
  2632. <child link="ref_55_link"/>
  2633. <origin xyz="0.0239994293213 0.000205404663086 0.0559909912109" rpy="-1.57079632679 0.645750255898 1.57079632679" />
  2634. <axis xyz="0 0 0" />
  2635. </joint>
  2636.  
  2637.  
  2638. <joint name="ref_47_joint" type="fixed">
  2639. <parent link="ref_84_link"/>
  2640. <child link="ref_56_link"/>
  2641. <origin xyz="0.0199997039795 -0.0480001373291 0.0239999389648" rpy="-0.0 1.16712662924e-05 -3.14159265359" />
  2642. <axis xyz="0 0 0" />
  2643. </joint>
  2644.  
  2645.  
  2646. <joint name="ref_48_joint" type="fixed">
  2647. <parent link="ref_84_link"/>
  2648. <child link="ref_57_link"/>
  2649. <origin xyz="0.0279994354248 -7.46917724609e-05 0.055951550293" rpy="-0.64574372354 -0.0 -0.0" />
  2650. <axis xyz="0 0 0" />
  2651. </joint>
  2652.  
  2653.  
  2654. <joint name="ref_49_joint" type="fixed">
  2655. <parent link="ref_84_link"/>
  2656. <child link="ref_58_link"/>
  2657. <origin xyz="0.0160000396729 -0.056 0.00820018310547" rpy="-3.14159265359 -1.19016694947e-05 -0.0" />
  2658. <axis xyz="0 0 0" />
  2659. </joint>
  2660.  
  2661.  
  2662. <joint name="ref_50_joint" type="fixed">
  2663. <parent link="ref_55_link"/>
  2664. <child link="ref_49_link"/>
  2665. <origin xyz="-0.0321207294213 -0.0162226647643 -0.00800070095054" rpy="-0.0 -0.0 -1.5618187294" />
  2666. <axis xyz="0 0 0" />
  2667. </joint>
  2668.  
  2669.  
  2670. <joint name="ref_51_joint" type="fixed">
  2671. <parent link="ref_49_link"/>
  2672. <child link="ref_48_link"/>
  2673. <origin xyz="-0.000197813530455 0.000199982612403 0.00799999904633" rpy="1.55989796654 -1.57079632679 -0.0" />
  2674. <axis xyz="0 0 0" />
  2675. </joint>
  2676.  
  2677.  
  2678. <joint name="ref_52_joint" type="fixed">
  2679. <parent link="ref_48_link"/>
  2680. <child link="ref_47_link"/>
  2681. <origin xyz="0.0399999710083 -0.0160599979793 -0.0356678243088" rpy="8.34504132549e-08 -0.0 -3.14159265359" />
  2682. <axis xyz="0 0 0" />
  2683. </joint>
  2684.  
  2685.  
  2686. <joint name="ref_53_joint" type="fixed">
  2687. <parent link="ref_47_link"/>
  2688. <child link="ref_46_link"/>
  2689. <origin xyz="-0.040000012207 -0.0322199594552 0.0357477529354" rpy="-0.926967010974 -0.0 -0.0" />
  2690. <axis xyz="0 0 0" />
  2691. </joint>
  2692.  
  2693.  
  2694. <joint name="ref_54_joint" type="fixed">
  2695. <parent link="ref_46_link"/>
  2696. <child link="ref_45_link"/>
  2697. <origin xyz="-0.00800017242432 0.0205206375122 -0.025558807373" rpy="1.57079632679 0.917467732414 -1.57079632679" />
  2698. <axis xyz="0 0 0" />
  2699. </joint>
  2700.  
  2701.  
  2702. <joint name="ref_55_joint" type="fixed">
  2703. <parent link="ref_45_link"/>
  2704. <child link="ref_44_link"/>
  2705. <origin xyz="-4.11856549127e-05 -0.000121564017677 -0.00399998474121" rpy="-2.48826405921 1.57079632679 -0.0" />
  2706. <axis xyz="0 0 0" />
  2707. </joint>
  2708.  
  2709.  
  2710. <joint name="ref_56_joint" type="fixed">
  2711. <parent link="ref_46_link"/>
  2712. <child link="ref_68_link"/>
  2713. <origin xyz="1.67846679688e-08 0.0353007843018 -0.00604174194336" rpy="1.57079632679 -0.926784656568 1.57079632679" />
  2714. <axis xyz="0 0 0" />
  2715. </joint>
  2716.  
  2717.  
  2718. <joint name="ref_57_joint" type="fixed">
  2719. <parent link="ref_68_link"/>
  2720. <child link="ref_67_link"/>
  2721. <origin xyz="-0.0002001798191 0.0317793000828 -1.32751449019e-07" rpy="-1.57061380549 -1.57079632679 -0.0" />
  2722. <axis xyz="0 0 0" />
  2723. </joint>
  2724.  
  2725.  
  2726. <joint name="ref_58_joint" type="fixed">
  2727. <parent link="ref_67_link"/>
  2728. <child link="ref_70_link"/>
  2729. <origin xyz="-0.00799990386963 0.000286003943273 0.00022101454664" rpy="-1.57079632679 0.00542830955959 1.57079632679" />
  2730. <axis xyz="0 0 0" />
  2731. </joint>
  2732.  
  2733.  
  2734. <joint name="ref_59_joint" type="fixed">
  2735. <parent link="ref_70_link"/>
  2736. <child link="ref_69_link"/>
  2737. <origin xyz="-0.000359299519883 0.0321209404656 -0.00399998426438" rpy="0.64925745848 1.57079632679 -0.0" />
  2738. <axis xyz="0 0 0" />
  2739. </joint>
  2740.  
  2741.  
  2742. <joint name="ref_60_joint" type="fixed">
  2743. <parent link="ref_70_link"/>
  2744. <child link="ref_71_link"/>
  2745. <origin xyz="-0.000198846009448 0.0161999033932 -0.0079999792099" rpy="1.57600879599 1.57079632679 -0.0" />
  2746. <axis xyz="0 0 0" />
  2747. </joint>
  2748.  
  2749.  
  2750. <joint name="ref_61_joint" type="fixed">
  2751. <parent link="ref_47_link"/>
  2752. <child link="ref_50_link"/>
  2753. <origin xyz="0.0399999710083 -0.0160599922268 0.0196897999863" rpy="8.34504192624e-08 -0.0 -3.14159265359" />
  2754. <axis xyz="0 0 0" />
  2755. </joint>
  2756.  
  2757.  
  2758. <joint name="ref_62_joint" type="fixed">
  2759. <parent link="ref_50_link"/>
  2760. <child link="ref_51_link"/>
  2761. <origin xyz="6.103515625e-09 -0.000199983161326 -0.0157999807413" rpy="1.57079632679 1.31122394478e-07 -1.57079632679" />
  2762. <axis xyz="0 0 0" />
  2763. </joint>
  2764.  
  2765.  
  2766. <joint name="ref_63_joint" type="fixed">
  2767. <parent link="ref_51_link"/>
  2768. <child link="ref_52_link"/>
  2769. <origin xyz="-0.0163599669782 0.0318579211688 1.8310546875e-08" rpy="-0.643829530394 1.57079632679 -0.0" />
  2770. <axis xyz="0 0 0" />
  2771. </joint>
  2772.  
  2773.  
  2774. <joint name="ref_64_joint" type="fixed">
  2775. <parent link="ref_52_link"/>
  2776. <child link="ref_53_link"/>
  2777. <origin xyz="-0.00799927978516 -0.0205224685669 -0.0255599243164" rpy="1.57079632679 0.928236065379 1.57079632679" />
  2778. <axis xyz="0 0 0" />
  2779. </joint>
  2780.  
  2781.  
  2782. <joint name="ref_65_joint" type="fixed">
  2783. <parent link="ref_53_link"/>
  2784. <child link="ref_54_link"/>
  2785. <origin xyz="-3.98863461097e-05 -0.000119847141567 0.00399999341965" rpy="-2.49903239217 1.57079632679 -0.0" />
  2786. <axis xyz="0 0 0" />
  2787. </joint>
  2788.  
  2789.  
  2790. <joint name="ref_66_joint" type="fixed">
  2791. <parent link="ref_55_link"/>
  2792. <child link="ref_83_link"/>
  2793. <origin xyz="0.0399203762584 0.0400263221671 0.0239993227006" rpy="2.21654658269 1.57079632679 -0.0" />
  2794. <axis xyz="0 0 0" />
  2795. </joint>
  2796.  
  2797.  
  2798. <joint name="ref_67_joint" type="fixed">
  2799. <parent link="ref_83_link"/>
  2800. <child link="ref_85_link"/>
  2801. <origin xyz="-2.01416015625e-07 -0.0160000419617 -4.2724609375e-08" rpy="3.14159265359 1.57079632679 -0.0" />
  2802. <axis xyz="0 0 0" />
  2803. </joint>
  2804.  
  2805.  
  2806. <joint name="ref_68_joint" type="fixed">
  2807. <parent link="ref_85_link"/>
  2808. <child link="ref_64_link"/>
  2809. <origin xyz="-5.4931640625e-08 -0.0240000694275 -0.00400024719238" rpy="3.14159265359 1.57079632679 -0.0" />
  2810. <axis xyz="0 0 0" />
  2811. </joint>
  2812.  
  2813.  
  2814. <joint name="ref_69_joint" type="fixed">
  2815. <parent link="ref_55_link"/>
  2816. <child link="ref_59_link"/>
  2817. <origin xyz="0.0510787816103 0.0216009881725 -5.43212825869e-07" rpy="1.57079632679 -0.0 -0.645750255898" />
  2818. <axis xyz="0 0 0" />
  2819. </joint>
  2820.  
  2821. <!-- CAMBIADO A MANO CALCANDO LA OTRA RUEDA -->
  2822. <joint name="ref_70_joint" type="fixed">
  2823. <parent link="ref_58_link_hub"/>
  2824. <child link="ref_60_link"/>
  2825. <origin xyz="-0.0135999953902 6.27180865763e-08 0.00020025516928" rpy="3.14159265343 1.5396542947e-05 -1.04458704296e-05" />
  2826. <axis xyz="0 0 0" />
  2827. </joint>
  2828.  
  2829.  
  2830. <joint name="ref_71_joint" type="fixed">
  2831. <parent link="ref_58_link_hub"/>
  2832. <child link="ref_61_link"/>
  2833. <origin xyz="-0.0139999923388 3.3327066933e-08 0.000200252172577" rpy="3.14159242312 2.3129157772e-12 1.57079617657" />
  2834. <axis xyz="0 0 0" />
  2835. </joint>
  2836.  
  2837.  
  2838. <joint name="ref_72_joint" type="fixed">
  2839. <parent link="ref_58_link_hub"/>
  2840. <child link="ref_62_link"/>
  2841. <origin xyz="-0.0248000045457 4.84863450879e-08 0.000200250608749" rpy="-1.57050969656 -1.57079580134 3.14158220772" />
  2842. <axis xyz="0 0 0" />
  2843. </joint>
  2844.  
  2845.  
  2846. <joint name="ref_73_joint" type="fixed">
  2847. <parent link="ref_58_link_hub"/>
  2848. <child link="ref_63_link"/>
  2849. <origin xyz="-0.0248000045455 6.06933763379e-08 0.000200253660507" rpy="3.14159242312 2.3129157772e-12 1.57079617657" />
  2850. <axis xyz="0 0 0" />
  2851. </joint>
  2852.  
  2853.  
  2854. <joint name="ref_74_joint" type="fixed">
  2855. <parent link="ref_55_link"/>
  2856. <child link="ref_65_link"/>
  2857. <origin xyz="-0.00646877793183 0.0449307060853 0.00399969434742" rpy="2.21654658269 1.57079632679 -0.0" />
  2858. <axis xyz="0 0 0" />
  2859. </joint>
  2860.  
  2861.  
  2862. <joint name="ref_75_joint" type="fixed">
  2863. <parent link="ref_55_link"/>
  2864. <child link="ref_66_link"/>
  2865. <origin xyz="-0.012857941605 0.0497451084184 0.00399971265796" rpy="2.21654658269 1.57079632679 -0.0" />
  2866. <axis xyz="0 0 0" />
  2867. </joint>
  2868.  
  2869.  
  2870. <joint name="ref_76_joint" type="fixed">
  2871. <parent link="ref_80_link"/>
  2872. <child link="ref_87_link"/>
  2873. <origin xyz="-0.00820010430812 0.0321999442816 0.00800022220609" rpy="1.57079632679 -1.57079632679 -0.0" />
  2874. <axis xyz="0 0 0" />
  2875. </joint>
  2876.  
  2877.  
  2878. <joint name="ref_77_joint" type="fixed">
  2879. <parent link="ref_87_link"/>
  2880. <child link="ref_88_link"/>
  2881. <origin xyz="-8.7559223175e-08 0.00800003890991 1.55639648438e-07" rpy="0.0 1.57079632679 -0.0" />
  2882. <axis xyz="0 0 0" />
  2883. </joint>
  2884.  
  2885.  
  2886. <joint name="ref_78_joint" type="fixed">
  2887. <parent link="ref_88_link"/>
  2888. <child link="ref_76_link"/>
  2889. <origin xyz="3.08227539063e-07 -0.02400001297 0.00400005322695" rpy="3.14159265359 1.57079632679 -0.0" />
  2890. <axis xyz="0 0 0" />
  2891. </joint>
  2892.  
  2893.  
  2894. <joint name="ref_79_joint" type="fixed">
  2895. <parent link="ref_37_link"/>
  2896. <child link="ref_41_link"/>
  2897. <origin xyz="-0.00799978489107 -0.0839998401413 0.000200239135829" rpy="3.14157725705 -1.60830320674e-10 -1.57080677267" />
  2898. <axis xyz="0 0 0" />
  2899. </joint>
  2900.  
  2901.  
  2902. <joint name="ref_80_joint" type="fixed">
  2903. <parent link="ref_37_link"/>
  2904. <child link="ref_42_link"/>
  2905. <origin xyz="-0.00399999652623 -0.023999902522 -0.0157998346541" rpy="3.14159265343 1.5396542947e-05 -1.04458704296e-05" />
  2906. <axis xyz="0 0 0" />
  2907. </joint>
  2908.  
  2909.  
  2910. <joint name="ref_81_joint" type="fixed">
  2911. <parent link="ref_37_link"/>
  2912. <child link="ref_43_link"/>
  2913. <origin xyz="-0.00400000908922 -0.0159999093883 -0.0157998041363" rpy="3.14159265343 1.5396542947e-05 -1.04458704296e-05" />
  2914. <axis xyz="0 0 0" />
  2915. </joint>
  2916.  
  2917.  
  2918. <joint name="ref_82_joint" type="fixed">
  2919. <parent link="ref_37_link_hub"/>
  2920. <child link="ref_72_link"/>
  2921. <origin xyz="-0.0135999953902 6.27180865763e-08 0.00020025516928" rpy="3.14159265343 1.5396542947e-05 -1.04458704296e-05" />
  2922. <axis xyz="0 0 0" />
  2923. </joint>
  2924.  
  2925.  
  2926. <joint name="ref_83_joint" type="fixed">
  2927. <parent link="ref_37_link_hub"/>
  2928. <child link="ref_73_link"/>
  2929. <origin xyz="-0.0248000045457 4.84863450879e-08 0.000200250608749" rpy="-1.57050969656 -1.57079580134 3.14158220772" />
  2930. <axis xyz="0 0 0" />
  2931. </joint>
  2932.  
  2933.  
  2934. <joint name="ref_84_joint" type="fixed">
  2935. <parent link="ref_37_link_hub"/>
  2936. <child link="ref_74_link"/>
  2937. <origin xyz="-0.0248000045455 6.06933763379e-08 0.000200253660507" rpy="3.14159242312 2.3129157772e-12 1.57079617657" />
  2938. <axis xyz="0 0 0" />
  2939. </joint>
  2940.  
  2941.  
  2942. <joint name="ref_85_joint" type="fixed">
  2943. <parent link="ref_37_link_hub"/>
  2944. <child link="ref_75_link"/>
  2945. <origin xyz="-0.0139999923388 3.3327066933e-08 0.000200252172577" rpy="3.14159242312 2.3129157772e-12 1.57079617657" />
  2946. <axis xyz="0 0 0" />
  2947. </joint>
  2948.  
  2949.  
  2950. <joint name="ref_86_joint" type="fixed">
  2951. <parent link="ref_27_link"/>
  2952. <child link="ref_77_link"/>
  2953. <origin xyz="1.61743144781e-07 0.024000021553 -0.00399992017747" rpy="3.14159265359 1.57079632679 -0.0" />
  2954. <axis xyz="0 0 0" />
  2955. </joint>
  2956.  
  2957.  
  2958. <joint name="ref_87_joint" type="fixed">
  2959. <parent link="ref_25_link"/>
  2960. <child link="ref_78_link"/>
  2961. <origin xyz="-0.00020022277832 0.0161999919653 0.00399998121262" rpy="1.57078310252 1.57079632679 -0.0" />
  2962. <axis xyz="0 0 0" />
  2963. </joint>
  2964.  
  2965. <!-- GAZEBO STUFF -->
  2966. <gazebo reference="caster_wheel_link">
  2967. <mu1 value="100.0" />
  2968. <mu2 value="100.0" />
  2969. <kp value="1000000.0" />
  2970. <kd value="1.0" />
  2971. </gazebo>
  2972.  
  2973. <gazebo>
  2974. <controller:nxt_diff_plugin name="differential_drive_controller" plugin="libnxt_diff_plugin.so">
  2975. <alwaysOn>true</alwaysOn>
  2976. <update>100</update>
  2977. <updateRate>100.0</updateRate>
  2978. <leftJoint>left_wheel_joint</leftJoint>
  2979. <rightJoint>right_wheel_joint</rightJoint>
  2980. <wheelSeparation>0.34</wheelSeparation>
  2981. <wheelDiameter>0.1492</wheelDiameter>
  2982. <torque>5</torque>
  2983. <interface:position name="position_iface_0"/>
  2984. <robotNamespace>/</robotNamespace>
  2985. <topicName>cmd_vel</topicName>
  2986. </controller:nxt_diff_plugin>
  2987.  
  2988. <canonicalBody>base_link</canonicalBody>
  2989.  
  2990. <controller:gazebo_ros_controller_manager name="gazebo_ros_controller_manager" plugin="libgazebo_ros_controller_manager.so">
  2991. <alwaysOn>true</alwaysOn>
  2992. <updateRate>100.0</updateRate>
  2993. <interface:audio name="gazebo_ros_controller_manager_dummy_iface" />
  2994. </controller:gazebo_ros_controller_manager>
  2995. </gazebo>
  2996.  
  2997. </robot>
Advertisement
RAW Paste Data Copied
Advertisement