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pybullet a bit more refactoring, moving around files.

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pybullet: move data to pybullet_data package, with getDataPath() method
This commit is contained in:
Erwin Coumans
2017-08-27 18:08:46 -07:00
parent 97cb6df00c
commit 659e869b86
185 changed files with 149 additions and 68 deletions
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<vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
<p>3 0 0 0 1 0 7 1 2 1 3 1 5 2 6 2 7 2 1 3 4 3 5 3 2 4 4 4 0 4 7 5 1 5 5 5 3 0 2 0 0 0 7 1 6 1 2 1 5 2 4 2 6 2 1 3 0 3 4 3 2 4 6 4 4 4 7 5 3 5 1 5</p>
</polylist>
</mesh>
</geometry>
<geometry id="Cube_002-mesh" name="Cube.002">
<mesh>
<source id="Cube_002-mesh-positions">
<float_array id="Cube_002-mesh-positions-array" count="24">-1 -1 -1 -1 -1 1 -1 1 -1 -1 1 1 1 -1 -1 1 -1 1 1 1 -1 1 1 1</float_array>
<technique_common>
<accessor source="#Cube_002-mesh-positions-array" count="8" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<source id="Cube_002-mesh-normals">
<float_array id="Cube_002-mesh-normals-array" count="18">-1 0 0 0 1 0 1 0 0 0 -1 0 0 0 -1 0 0 1</float_array>
<technique_common>
<accessor source="#Cube_002-mesh-normals-array" count="6" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<vertices id="Cube_002-mesh-vertices">
<input semantic="POSITION" source="#Cube_002-mesh-positions"/>
</vertices>
<polylist count="12">
<input semantic="VERTEX" source="#Cube_002-mesh-vertices" offset="0"/>
<input semantic="NORMAL" source="#Cube_002-mesh-normals" offset="1"/>
<vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
<p>3 0 0 0 1 0 7 1 2 1 3 1 5 2 6 2 7 2 1 3 4 3 5 3 2 4 4 4 0 4 7 5 1 5 5 5 3 0 2 0 0 0 7 1 6 1 2 1 5 2 4 2 6 2 1 3 0 3 4 3 2 4 6 4 4 4 7 5 3 5 1 5</p>
</polylist>
</mesh>
</geometry>
<geometry id="Cube_003-mesh" name="Cube.003">
<mesh>
<source id="Cube_003-mesh-positions">
<float_array id="Cube_003-mesh-positions-array" count="24">-1 -1 -1 -1 -1 1 -1 1 -1 -1 1 1 1 -1 -1 1 -1 1 1 1 -1 1 1 1</float_array>
<technique_common>
<accessor source="#Cube_003-mesh-positions-array" count="8" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<source id="Cube_003-mesh-normals">
<float_array id="Cube_003-mesh-normals-array" count="18">-1 0 0 0 1 0 1 0 0 0 -1 0 0 0 -1 0 0 1</float_array>
<technique_common>
<accessor source="#Cube_003-mesh-normals-array" count="6" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<vertices id="Cube_003-mesh-vertices">
<input semantic="POSITION" source="#Cube_003-mesh-positions"/>
</vertices>
<polylist count="12">
<input semantic="VERTEX" source="#Cube_003-mesh-vertices" offset="0"/>
<input semantic="NORMAL" source="#Cube_003-mesh-normals" offset="1"/>
<vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
<p>3 0 0 0 1 0 7 1 2 1 3 1 5 2 6 2 7 2 1 3 4 3 5 3 2 4 4 4 0 4 7 5 1 5 5 5 3 0 2 0 0 0 7 1 6 1 2 1 5 2 4 2 6 2 1 3 0 3 4 3 2 4 6 4 4 4 7 5 3 5 1 5</p>
</polylist>
</mesh>
</geometry>
<geometry id="Cube-mesh" name="Cube">
<mesh>
<source id="Cube-mesh-positions">
<float_array id="Cube-mesh-positions-array" count="24">-1 -1 -1 -1 -1 1 -1 1 -1 -1 1 1 1 -1 -1 1 -1 1 1 1 -1 1 1 1</float_array>
<technique_common>
<accessor source="#Cube-mesh-positions-array" count="8" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<source id="Cube-mesh-normals">
<float_array id="Cube-mesh-normals-array" count="18">-1 0 0 0 1 0 1 0 0 0 -1 0 0 0 -1 0 0 1</float_array>
<technique_common>
<accessor source="#Cube-mesh-normals-array" count="6" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<vertices id="Cube-mesh-vertices">
<input semantic="POSITION" source="#Cube-mesh-positions"/>
</vertices>
<polylist material="Material_001-material" count="12">
<input semantic="VERTEX" source="#Cube-mesh-vertices" offset="0"/>
<input semantic="NORMAL" source="#Cube-mesh-normals" offset="1"/>
<vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
<p>1 0 2 0 0 0 3 1 6 1 2 1 7 2 4 2 6 2 5 3 0 3 4 3 6 4 0 4 2 4 3 5 5 5 7 5 1 0 3 0 2 0 3 1 7 1 6 1 7 2 5 2 4 2 5 3 1 3 0 3 6 4 4 4 0 4 3 5 1 5 5 5</p>
</polylist>
</mesh>
</geometry>
</library_geometries>
<library_controllers/>
<library_visual_scenes>
<visual_scene id="Scene" name="Scene">
<node id="Cube_002" name="Cube_002" type="NODE">
<matrix sid="transform">0.1354637 0 0 -3.735135 0 0.3 0 3.623344 0 0 0.15 0.1530263 0 0 0 1</matrix>
<instance_geometry url="#Cube_004-mesh" name="Cube_002"/>
</node>
<node id="Camera" name="Camera" type="NODE">
<matrix sid="transform">0.6858805 -0.3173701 0.6548619 7.481132 0.7276338 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953432 0.4452454 5.343665 0 0 0 1</matrix>
<instance_camera url="#Camera-camera"/>
</node>
<node id="Lamp" name="Lamp" type="NODE">
<matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
<instance_light url="#Lamp-light"/>
</node>
<node id="Cube" name="Cube" type="NODE">
<matrix sid="transform">0.173696 0 0 -4.197643 0 5.482737 0 4.50726 0 0 1 1.015023 0 0 0 1</matrix>
<instance_geometry url="#Cube_002-mesh" name="Cube"/>
</node>
<node id="Cube_001" name="Cube_001" type="NODE">
<matrix sid="transform">0.1354637 0 0 -3.735135 0 0.3 0 5.201571 0 0 0.15 0.1727542 0 0 0 1</matrix>
<instance_geometry url="#Cube_003-mesh" name="Cube_001"/>
</node>
<node id="Cube_003" name="Cube_003" type="NODE">
<matrix sid="transform">0.225 0 0 -3.795233 0 0.38 0 4.425851 0 0 0.005 0.01 0 0 0 1</matrix>
<instance_geometry url="#Cube-mesh" name="Cube_003">
<bind_material>
<technique_common>
<instance_material symbol="Material_001-material" target="#Material_001-material"/>
</technique_common>
</bind_material>
</instance_geometry>
</node>
</visual_scene>
</library_visual_scenes>
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
</COLLADA>

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# Blender MTL File: 'None'
# Material Count: 1
newmtl None
Ns 0
Ka 0.000000 0.000000 0.000000
Kd 0.8 0.8 0.8
Ks 0.8 0.8 0.8
d 1
illum 2
map_Kd wheel.jpg

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# Blender MTL File: 'None'
# Material Count: 1
newmtl None
Ns 0
Ka 0.000000 0.000000 0.000000
Kd 0.8 0.8 0.8
Ks 0.8 0.8 0.8
d 1
illum 2
map_Kd wheel.jpg

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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from racecar.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="racecar" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- inertial parameter macros -->
<!-- geometry macros -->
<!-- transmission macros -->
<!-- Add chassis and it's inertia link -->
<link name="base_link">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value=".1"/>
<inertia ixx="0.010609" ixy="0" ixz="0" iyy="0.050409" iyz="0" izz="0.05865"/>
</inertial>
</link>
<link name="chassis">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value=".1"/>
<inertia ixx="0.010609" ixy="0" ixz="0" iyy="0.050409" iyz="0" izz="0.05865"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/chassis.STL"/>
</geometry>
<material name="blue"/>
</visual>
</link>
<joint name="base_link_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.05"/>
<parent link="base_link"/>
<child link="chassis"/>
</joint>
<link name="chassis_inertia">
<inertial>
<origin rpy="0 0 0" xyz="0.1477 0 0"/>
<mass value="4.0"/>
<inertia ixx="0.010609" ixy="0" ixz="0" iyy="0.050409" iyz="0" izz="0.05865"/>
</inertial>
</link>
<joint name="chassis_inertia_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="chassis"/>
<child link="chassis_inertia"/>
</joint>
<!-- Add the left rear wheel with its joints and tranmissions -->
<link name="left_rear_wheel">
<inertial>
<origin rpy="0 0 0" xyz="0 0 -0.0225"/>
<mass value="0.34055"/>
<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/left_rear_wheel.obj"/>
</geometry>
<material name="white"/>
</visual>
<collision>
robot
<origin rpy="0 0 0" xyz="0 0 -0.0225"/>
<geometry>
<cylinder length="0.045" radius="0.05"/>
</geometry>
</collision>
</link>
<joint name="left_rear_wheel_joint" type="continuous">
<origin rpy="1.5708 0 0" xyz="0 0.1 0"/>
<parent link="chassis"/>
<child link="left_rear_wheel"/>
<axis xyz="0 0 -1"/>
<limit effort="10" velocity="100"/>
</joint>
<transmission name="left_rear_wheel_transmission" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="left_rear_wheel_joint">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="left_rear_wheel_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Add the right rear wheel with its joints and tranmissions -->
<link name="right_rear_wheel">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.0225"/>
<mass value="0.34055"/>
<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/right_rear_wheel.obj"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.0225"/>
<geometry>
<cylinder length="0.045" radius="0.05"/>
</geometry>
</collision>
</link>
<joint name="right_rear_wheel_joint" type="continuous">
<origin rpy="1.5708 0 0" xyz="0 -0.1 0"/>
<parent link="chassis"/>
<child link="right_rear_wheel"/>
<axis xyz="0 0 -1"/>
<limit effort="10" velocity="100"/>
</joint>
<transmission name="right_rear_wheel_transmission" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="right_rear_wheel_joint">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="right_rear_wheel_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Add the left steering hinge with its joints and tranmissions -->
<link name="left_steering_hinge">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.100"/>
<inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/left_steering_hinge.STL"/>
</geometry>
<material name="grey"/>
</visual>
</link>
<joint name="left_steering_hinge_joint" type="revolute">
<origin rpy="0 1.5708 0" xyz="0.325 0.1 0"/>
<parent link="chassis"/>
<child link="left_steering_hinge"/>
<axis xyz="-1 0 0"/>
<limit effort="10" lower="-1.0" upper="1.0" velocity="100"/>
</joint>
<transmission name="left_steering_hinge_transmission" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="left_steering_hinge_joint">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="left_steering_hinge_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Add the right steering hinge with its joints and tranmissions -->
<link name="right_steering_hinge">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.100"/>
<inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/right_steering_hinge.STL"/>
</geometry>
<material name="grey"/>
</visual>
</link>
<joint name="right_steering_hinge_joint" type="continuous">
<origin rpy="0 1.5708 0" xyz="0.325 -0.1 0"/>
<parent link="chassis"/>
<child link="right_steering_hinge"/>
<axis xyz="-1 0 0"/>
<limit effort="10" lower="-1.0" upper="1.0" velocity="100"/>
</joint>
<transmission name="right_steering_hinge_transmission" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="right_steering_hinge_joint">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="right_steering_hinge_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Add the left front wheel with its joints and tranmissions -->
<link name="left_front_wheel">
<inertial>
<origin rpy="0 0 0" xyz="0 0 -0.0225"/>
<mass value="0.34055"/>
<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/left_front_wheel.obj"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.0225"/>
<geometry>
<cylinder length="0.045" radius="0.05"/>
</geometry>
</collision>
</link>
<joint name="left_front_wheel_joint" type="continuous">
<origin rpy="1.5708 0 0" xyz="0 0 0"/>
<parent link="left_steering_hinge"/>
<child link="left_front_wheel"/>
<axis xyz="0 0 -1"/>
<limit effort="10" velocity="100"/>
</joint>
<transmission name="left_front_wheel_transmission" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="left_front_wheel_joint">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="left_front_wheel_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Add the left front wheel with its joints and tranmissions -->
<link name="right_front_wheel">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.0225"/>
<mass value="0.34055"/>
<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/right_front_wheel.obj"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.0225"/>
<geometry>
<cylinder length="0.045" radius="0.05"/>
</geometry>
</collision>
</link>
<joint name="right_front_wheel_joint" type="continuous">
<origin rpy="1.5708 0 0" xyz="0 0 0"/>
<parent link="right_steering_hinge"/>
<child link="right_front_wheel"/>
<axis xyz="0 0 -1"/>
<limit effort="10" velocity="100"/>
</joint>
<transmission name="right_front_wheel_transmission" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="right_front_wheel_joint">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="right_front_wheel_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Add Hokuyo laser scanner -->
<link name="laser">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.130"/>
<inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06"/>
</inertial>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.1 0.1 0.1"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/hokuyo.obj"/>
<material name="grey"/>
</geometry>
</visual>
</link>
<joint name="hokuyo_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.265 0.0 0.075"/>
<parent link="chassis"/>
<child link="laser"/>
<axis xyz="0 0 1"/>
</joint>
<!-- zed camera -->
<link name="zed_camera_link">
<inertial>
<mass value="1e-5"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
</inertial>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.033 0.175 0.030"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.033 0.175 0.030"/>
</geometry>
<material name="red"/>
</visual>
</link>
<joint name="zed_camera_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.390 0 0.04"/>
<parent link="chassis"/>
<child link="zed_camera_link"/>
<axis xyz="0 0 1"/>
<!-- <limit lower="0.0" upper="0.0" effort="0.0" velocity="0.0" /> -->
</joint>
<!-- zed camera lenses -->
<!-- It seems these have to have a non-zero mass to have a camera attached? -->
<link name="camera_link">
<!-- this needs to match the name in zed_wrapper/zed_tf.launch -->
<inertial>
<mass value="1e-5"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
</inertial>
</link>
<link name="zed_camera_right_link">
<inertial>
<mass value="1e-5"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
</inertial>
</link>
<joint name="zed_camera_left_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0.06 0"/>
<parent link="zed_camera_link"/>
<child link="camera_link"/>
<axis xyz="0 0 1"/>
</joint>
<joint name="zed_camera_right_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 -0.06 0"/>
<parent link="zed_camera_link"/>
<child link="zed_camera_right_link"/>
<axis xyz="0 0 1"/>
</joint>
<!-- Add the remaining xacros -->
<!-- Gazebo references -->
<gazebo reference="chassis">
<mu1 value="0.0"/>
<mu2 value="0.0"/>
<kp value="10000000.0"/>
<kd value="1.0"/>
<material>Gazebo/Blue</material>
</gazebo>
<gazebo reference="left_rear_wheel">
<mu1 value="1.0"/>
<mu2 value="1.0"/>
<kp value="10000000.0"/>
<kd value="1.0"/>
<fdir1 value="1 0 0"/>
<material>Gazebo/Black</material>
</gazebo>
<gazebo reference="right_rear_wheel">
<mu1 value="1.0"/>
<mu2 value="1.0"/>
<kp value="10000000.0"/>
<kd value="1.0"/>
<fdir1 value="1 0 0"/>
<material>Gazebo/Black</material>
</gazebo>
<gazebo reference="left_front_wheel">
<mu1 value="1.0"/>
<mu2 value="1.0"/>
<kp value="10000000.0"/>
<kd value="1.0"/>
<fdir1 value="0 0 1"/>
<material>Gazebo/Black</material>
</gazebo>
<gazebo reference="right_front_wheel">
<mu1 value="1.0"/>
<mu2 value="1.0"/>
<kp value="10000000.0"/>
<kd value="1.0"/>
<fdir1 value="0 0 1"/>
<material>Gazebo/Black</material>
</gazebo>
<!-- Gazebo plugins -->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<robotNamespace>/racecar</robotNamespace>
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
</plugin>
</gazebo>
<gazebo reference="laser">
<material>Gazebo/Grey</material>
<sensor name="hokuyo_sensor" type="ray">
<pose>0 0 0.0124 0 0 0</pose>
<visualize>true</visualize>
<update_rate>40</update_rate>
<ray>
<scan>
<horizontal>
<samples>1081</samples>
<resolution>1</resolution>
<min_angle>-2.3561944902</min_angle>
<max_angle>2.3561944902</max_angle>
</horizontal>
</scan>
<range>
<min>0.1</min>
<max>10.0</max>
<resolution>0.01</resolution>
</range>
<noise>
<mean>0.0</mean>
<stddev>0.01</stddev>
</noise>
</ray>
<plugin filename="libgazebo_ros_laser.so" name="gazebo_ros_hokuyo_controller">
<topicName>/scan</topicName>
<frameName>laser</frameName>
</plugin>
</sensor>
</gazebo>
<gazebo reference="camera_link">
<sensor name="zed_camera_left_sensor" type="camera">
<update_rate>30.0</update_rate>
<!-- math.atan(320 / 687.8065795898438) * 2 -->
<camera name="zed_camera_left_camera">
<horizontal_fov>0.8709216071359963</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>B8G8R8</format>
</image>
<clip>
<near>0.02</near>
<far>300</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<plugin filename="libgazebo_ros_camera.so" name="camera_controller">
<alwaysOn>true</alwaysOn>
<updateRate>30.0</updateRate>
<cameraName>/camera/zed</cameraName>
<imageTopicName>rgb/image_rect_color</imageTopicName>
<cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
<frameName>camera_link</frameName>
<hackBaseline>0</hackBaseline>
<!-- set this to 0.12 for the second camera -->
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
</plugin>
</sensor>
</gazebo>
<material name="white">
<color rgba="1. 1. 1. 1.0"/>
</material>
<material name="black">
<color rgba="0. 0. 0. 1.0"/>
</material>
<material name="blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<material name="green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>
<material name="grey">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
<material name="orange">
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
</material>
<material name="brown">
<color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
</material>
<material name="red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
</robot>

740
examples/pybullet/gym/pybullet_data/racecar/racecar_differential.urdf Normal file
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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from racecar.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="racecar" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- inertial parameter macros -->
<!-- geometry macros -->
<!-- transmission macros -->
<!-- Add chassis and it's inertia link -->
<link name="chassis">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh scale="1 1 1 1" filename="meshes/chassis_differential.STL"/>
</geometry>
<material name="blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh scale="1 1 1 1" filename="meshes/chassis_differential.STL"/>
</geometry>
<material name="blue"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.2 0 0."/>
<mass value="4.0"/>
<inertia ixx="0.010609" ixy="0" ixz="0" iyy="0.050409" iyz="0" izz="0.05865"/>
</inertial>
</link>
<!-- Add the left rear wheel with its joints and tranmissions -->
<link name="left_rear_wheel">
<contact>
<lateral_friction value=".5"/>
<rolling_friction value="0.0"/>
<stiffness value="300000"/>
<damping value="1000"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 -0.0225"/>
<mass value="0.34055"/>
<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/left_rear_wheel.obj"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.0225"/>
<geometry>
<cylinder length="0.045" radius="0.05"/>
</geometry>
</collision>
</link>
<joint name="left_rear_wheel_joint" type="fixed">
<origin rpy="1.5708 0 0" xyz="0 0.1 0"/>
<parent link="diff_sideA"/>
<child link="left_rear_wheel"/>
</joint>
<!-- Add the right rear wheel with its joints and tranmissions -->
<link name="right_rear_wheel">
<contact>
<lateral_friction value=".5"/>
<rolling_friction value="0.0"/>
<stiffness value="300000"/>
<damping value="1000"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.0225"/>
<mass value="0.34055"/>
<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/right_rear_wheel.obj"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.0225"/>
<geometry>
<cylinder length="0.045" radius="0.05"/>
</geometry>
</collision>
</link>
<joint name="right_rear_wheel_joint" type="fixed">
<origin rpy="1.5708 0 0" xyz="0 -0.1 0"/>
<parent link="diff_sideB"/>
<child link="right_rear_wheel"/>
</joint>
<!-- Add the left steering hinge with its joints and tranmissions -->
<link name="left_steering_hinge">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.100"/>
<inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/left_steering_hinge.STL"/>
</geometry>
<material name="grey"/>
</visual>
</link>
<joint name="left_steering_hinge_joint" type="revolute">
<origin rpy="0 1.5708 0" xyz="0.325 0.1 0"/>
<parent link="chassis"/>
<child link="left_steering_hinge"/>
<axis xyz="-1 0 0"/>
<limit effort="10" lower="-1.0" upper="1.0" velocity="100"/>
</joint>
<transmission name="left_steering_hinge_transmission" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="left_steering_hinge_joint">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="left_steering_hinge_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Add the right steering hinge with its joints and tranmissions -->
<link name="right_steering_hinge">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.100"/>
<inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/right_steering_hinge.STL"/>
</geometry>
<material name="grey"/>
</visual>
</link>
<joint name="right_steering_hinge_joint" type="continuous">
<origin rpy="0 1.5708 0" xyz="0.325 -0.1 0"/>
<parent link="chassis"/>
<child link="right_steering_hinge"/>
<axis xyz="-1 0 0"/>
<limit effort="10" lower="-1.0" upper="1.0" velocity="100"/>
</joint>
<transmission name="right_steering_hinge_transmission" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="right_steering_hinge_joint">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="right_steering_hinge_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Add the left front wheel with its joints and tranmissions -->
<link name="left_front_wheel">
<contact>
<lateral_friction value=".8"/>
<rolling_friction value="0.0"/>
<stiffness value="300000"/>
<damping value="1000"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 -0.0225"/>
<mass value="0.34055"/>
<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/left_front_wheel.obj"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.0225"/>
<geometry>
<cylinder length="0.045" radius="0.05"/>
</geometry>
</collision>
</link>
<joint name="left_front_wheel_joint" type="continuous">
<origin rpy="1.5708 0 0" xyz="0 0 0"/>
<parent link="left_steering_hinge"/>
<child link="left_front_wheel"/>
<axis xyz="0 0 -1"/>
<limit effort="10" velocity="100"/>
</joint>
<transmission name="left_front_wheel_transmission" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="left_front_wheel_joint">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="left_front_wheel_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Add the left front wheel with its joints and tranmissions -->
<link name="right_front_wheel">
<contact>
<lateral_friction value="0.8"/>
<rolling_friction value="0.0"/>
<stiffness value="300000"/>
<damping value="1000"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.0225"/>
<mass value="0.34055"/>
<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/right_front_wheel.obj"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.0225"/>
<geometry>
<cylinder length="0.045" radius="0.05"/>
</geometry>
</collision>
</link>
<joint name="right_front_wheel_joint" type="continuous">
<origin rpy="1.5708 0 0" xyz="0 0 0"/>
<parent link="right_steering_hinge"/>
<child link="right_front_wheel"/>
<axis xyz="0 0 -1"/>
<limit effort="10" velocity="100"/>
</joint>
<transmission name="right_front_wheel_transmission" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="right_front_wheel_joint">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="right_front_wheel_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Add Hokuyo laser scanner -->
<link name="laser">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.130"/>
<inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06"/>
</inertial>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.1 0.1 0.1"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/hokuyo.obj"/>
<material name="grey"/>
</geometry>
</visual>
</link>
<joint name="hokuyo_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.265 0.0 0.075"/>
<parent link="chassis"/>
<child link="laser"/>
<axis xyz="0 0 1"/>
</joint>
<!-- zed camera -->
<link name="zed_camera_link">
<inertial>
<mass value="0.1"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
</inertial>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.033 0.175 0.030"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.033 0.175 0.030"/>
</geometry>
<material name="red"/>
</visual>
</link>
<joint name="zed_camera_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.390 0 0.04"/>
<parent link="chassis"/>
<child link="zed_camera_link"/>
<axis xyz="0 0 1"/>
<!-- <limit lower="0.0" upper="0.0" effort="0.0" velocity="0.0" /> -->
</joint>
<!-- zed camera lenses -->
<!-- It seems these have to have a non-zero mass to have a camera attached? -->
<link name="camera_link">
<!-- this needs to match the name in zed_wrapper/zed_tf.launch -->
<inertial>
<mass value="0.01"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
</inertial>
</link>
<link name="zed_camera_right_link">
<inertial>
<mass value="0.01"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
</inertial>
</link>
<joint name="zed_camera_left_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0.06 0"/>
<parent link="zed_camera_link"/>
<child link="camera_link"/>
<axis xyz="0 0 1"/>
</joint>
<joint name="zed_camera_right_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 -0.06 0"/>
<parent link="zed_camera_link"/>
<child link="zed_camera_right_link"/>
<axis xyz="0 0 1"/>
</joint>
<!-- Add the remaining xacros -->
<link name="diff_ring">
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<stiffness value="300000"/>
<damping value="1000"/>
</contact>
<inertial>
<mass value="0.0637"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
</inertial>
<visual>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<mesh scale="0.0005 0.0005 0.001" filename="differential/diff_ring.stl"/>
</geometry>
<material name="green"/>
</visual>
<visual>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<mesh scale="0.001 0.001 0.001" filename="differential/diff_carrier.stl"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="1.570795 0 0" xyz="0 0.025 0"/>
<geometry>
<cylinder length="0.01" radius="0.025"/>
</geometry>
</collision>
</link>
<joint name="diff_ring_chassis" type="continuous">
<parent link="chassis"/>
<child link="diff_ring"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0."/>
<axis rpy="0 0 0" xyz="0 1 0"/>
</joint>
<link name="diff_spiderA">
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<stiffness value="300000"/>
<damping value="1000"/>
</contact>
<inertial>
<mass value="0.056"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
</inertial>
<visual>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<mesh scale="0.001 0.001 0.001" filename="differential/diff_spider.stl"/>
</geometry>
<material name="red"/>
</visual>
<collision>
<origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
<geometry>
<cylinder length="0.01" radius="0.015"/>
</geometry>
</collision>
</link>
<joint name="diff_spiderA_ring" type="continuous">
<parent link="diff_ring"/>
<child link="diff_spiderA"/>
<origin rpy="0 0 1.570795" xyz="0.0 0.0 0.0"/>
<axis rpy="0 0 0" xyz="0 1 0"/>
</joint>
<link name="diff_spiderB">
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<stiffness value="300000"/>
<damping value="1000"/>
</contact>
<inertial>
<mass value="0.056"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
</inertial>
<visual>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<mesh scale="0.001 0.001 0.001" filename="differential/diff_spider.stl"/>
</geometry>
<material name="brown"/>
</visual>
<collision>
<origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
<geometry>
<cylinder length="0.01" radius="0.015"/>
</geometry>
</collision>
</link>
<joint name="diff_spiderB_ring" type="continuous">
<parent link="diff_ring"/>
<child link="diff_spiderB"/>
<origin rpy="0 0 -1.570795" xyz="0.0 0.0 0.0"/>
<axis rpy="0 0 0" xyz="0 1 0"/>
</joint>
<link name="diff_sideA">
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<stiffness value="300000"/>
<damping value="1000"/>
</contact>
<inertial>
<mass value="0.056"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
</inertial>
<visual>
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
<geometry>
<mesh scale="0.001 0.001 0.001" filename="differential/diff_side.stl"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
<geometry>
<cylinder length="0.01" radius="0.015"/>
</geometry>
</collision>
</link>
<joint name="diff_sideA_ring" type="continuous">
<parent link="diff_ring"/>
<child link="diff_sideA"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<axis rpy="0 0 0" xyz="0 1 0"/>
</joint>
<link name="diff_sideB">
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<stiffness value="300000"/>
<damping value="1000"/>
</contact>
<inertial>
<mass value="0.056"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
</inertial>
<visual>
<origin rpy="-1.570795 0 0" xyz="0 0 0"/>
<geometry>
<mesh scale="0.001 0.001 0.001" filename="differential/diff_side.stl"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="-1.570795 0 0" xyz="0 -0.01 0"/>
<geometry>
<cylinder length="0.01" radius="0.015"/>
</geometry>
</collision>
</link>
<joint name="diff_sideB_ring" type="continuous">
<parent link="diff_ring"/>
<child link="diff_sideB"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<axis rpy="0 0 0" xyz="0 1 0"/>
</joint>
<link name="diff2_ring">
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<stiffness value="300000"/>
<damping value="1000"/>
</contact>
<inertial>
<mass value="0.0637"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
</inertial>
<visual>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<mesh scale="0.0005 0.0005 0.001" filename="differential/diff_ring.stl"/>
</geometry>
<material name="green"/>
</visual>
<visual>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<mesh scale="0.001 0.001 0.001" filename="differential/diff_carrier.stl"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="1.570795 0 0" xyz="0 0.025 0"/>
<geometry>
<cylinder length="0.01" radius="0.025"/>
</geometry>
</collision>
</link>
<joint name="diff2_ring_chassis" type="continuous">
<parent link="chassis"/>
<child link="diff2_ring"/>
<origin rpy="0 0 0" xyz="0.32 0.0 0.0"/>
<axis rpy="0 0 0" xyz="0 1 0"/>
</joint>
<link name="diff2_spiderA">
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<stiffness value="300000"/>
<damping value="1000"/>
</contact>
<inertial>
<mass value="0.056"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
</inertial>
<visual>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<mesh scale="0.001 0.001 0.001" filename="differential/diff_spider.stl"/>
</geometry>
<material name="red"/>
</visual>
<collision>
<origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
<geometry>
<cylinder length="0.01" radius="0.015"/>
</geometry>
</collision>
</link>
<joint name="diff2_spiderA_ring" type="continuous">
<parent link="diff2_ring"/>
<child link="diff2_spiderA"/>
<origin rpy="0 0 1.570795" xyz="0.0 0.0 0.0"/>
<axis rpy="0 0 0" xyz="0 1 0"/>
</joint>
<link name="diff2_spiderB">
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<stiffness value="300000"/>
<damping value="1000"/>
</contact>
<inertial>
<mass value="0.056"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
</inertial>
<visual>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<mesh scale="0.001 0.001 0.001" filename="differential/diff_spider.stl"/>
</geometry>
<material name="brown"/>
</visual>
<collision>
<origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
<geometry>
<cylinder length="0.01" radius="0.015"/>
</geometry>
</collision>
</link>
<joint name="diff2_spiderB_ring" type="continuous">
<parent link="diff2_ring"/>
<child link="diff2_spiderB"/>
<origin rpy="0 0 -1.570795" xyz="0.0 0.0 0.0"/>
<axis rpy="0 0 0" xyz="0 1 0"/>
</joint>
<link name="diff2_sideA">
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<stiffness value="300000"/>
<damping value="1000"/>
</contact>
<inertial>
<mass value="0.056"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
</inertial>
<visual>
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
<geometry>
<mesh scale="0.001 0.001 0.001" filename="differential/diff_side.stl"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
<geometry>
<cylinder length="0.01" radius="0.015"/>
</geometry>
</collision>
</link>
<joint name="diff2_sideA_ring" type="continuous">
<parent link="diff2_ring"/>
<child link="diff2_sideA"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<axis rpy="0 0 0" xyz="0 1 0"/>
</joint>
<link name="diff2_sideB">
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<stiffness value="300000"/>
<damping value="1000"/>
</contact>
<inertial>
<mass value="0.056"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
</inertial>
<visual>
<origin rpy="-1.570795 0 0" xyz="0 0 0"/>
<geometry>
<mesh scale="0.001 0.001 0.001" filename="differential/diff_side.stl"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="-1.570795 0 0" xyz="0 -0.01 0"/>
<geometry>
<cylinder length="0.01" radius="0.015"/>
</geometry>
</collision>
</link>
<joint name="diff2_sideB_ring" type="continuous">
<parent link="diff2_ring"/>
<child link="diff2_sideB"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<axis rpy="0 0 0" xyz="0 1 0"/>
</joint>
<material name="white">
<color rgba="1. 1. 1. 1.0"/>
</material>
<material name="black">
<color rgba="0. 0. 0. 1.0"/>
</material>
<material name="blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<material name="green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>
<material name="grey">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
<material name="orange">
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
</material>
<material name="brown">
<color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
</material>
<material name="red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
</robot>