144 lines
4.0 KiB
XML
144 lines
4.0 KiB
XML
<?xml version="0.0" ?>
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<robot name="frame">
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<link name="frameLink">
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<inertial>
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<origin rpy="1.57 0 0" xyz="0 0 0"/>
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<mass value="5.0"/>
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<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
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</inertial>
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<visual>
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<origin rpy="1.57 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="files/frame_scaled_right.stl"/>
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</geometry>
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<material name="framemat0">
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<color rgba="0.9 0.4 0. 1" />
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</material>
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</visual>
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<visual>
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<origin rpy="1.57 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="files/frame_scaled_left.stl"/>
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</geometry>
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<material name="framemat0">
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<color rgba="0.9 0.4 0. 1" />
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</material>
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</visual>
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<collision>
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<origin rpy="1.57 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="files/frame_scaled_right.stl"/>
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</geometry>
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</collision>
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<collision>
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<origin rpy="1.57 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="files/frame_scaled_left.stl"/>
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</geometry>
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</collision>
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</link>
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<link name="handlebarLink">
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mass value=".5"/>
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<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
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</inertial>
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<visual>
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<origin rpy=" -1.5089523943366046 0.017064611667450248 -1.57454489647697 " xyz=" -0.03313875198364258 0.0 -0.23958677053451538"/>
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<geometry>
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<mesh filename="files/handlebar_scaled.stl"/>
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</geometry>
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<material name="framemat0">
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<color rgba="0.9 0.4 0. 1" />
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</material>
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</visual>
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<collision>
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<origin rpy=" -1.5089523943366046 0.017064611667450248 -1.57454489647697 " xyz=" -0.03313875198364258 0.0 -0.23958677053451538"/>
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<geometry>
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<mesh filename="files/handlebar_scaled.stl"/>
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</geometry>
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</collision>
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</link>
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<joint name="frame_to_handlebar" type="continuous">
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<axis xyz="0 0 1"/>
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<parent link="frameLink"/>
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<child link="handlebarLink"/>
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<origin rpy="0 -0.261799387799149 0" xyz="0.70 0 0.22"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping="0.0" friction="0.0"/>
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</joint>
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<link name="frontWheelLink">
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<inertial>
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<origin rpy="1.57 0 0" xyz="0 0 0"/>
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<mass value="1.0"/>
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<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
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</inertial>
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<visual>
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<origin rpy="1.57 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="files/wheel_scaled.stl"/>
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</geometry>
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<material name="framemat0">
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<color rgba="0.9 0.4 0. 1" />
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</material>
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</visual>
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<collision>
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<origin rpy="1.57 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="files/wheel_scaled.stl"/>
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</geometry>
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</collision>
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</link>
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<joint name="handlebar_to_frontwheel" type="continuous">
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<axis xyz="0 1 0"/>
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<parent link="handlebarLink"/>
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<child link="frontWheelLink"/>
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<origin rpy="0 0 0" xyz="0.07, 0, -0.69"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping="0.0" friction="0.0"/>
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</joint>
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<link name="backWheelLink">
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<inertial>
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<origin rpy="1.57 0 0" xyz="0 0 0"/>
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<mass value="1.0"/>
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<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
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</inertial>
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<visual>
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<origin rpy="1.57 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="files/wheel_scaled.stl"/>
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</geometry>
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<material name="framemat0">
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<color rgba="0.9 0.4 0. 1" />
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</material>
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</visual>
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<collision>
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<origin rpy="1.57 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="files/wheel_scaled.stl"/>
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</geometry>
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</collision>
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</link>
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<joint name="frame_to_backwheel" type="continuous">
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<axis xyz="0 1 0"/>
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<parent link="frameLink"/>
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<child link="backWheelLink"/>
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<origin rpy="0 0 0" xyz="-0.69, 0, -0.42"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping="0.0" friction="0.0"/>
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</joint>
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</robot>
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