744 lines
22 KiB
XML
744 lines
22 KiB
XML
<?xml version="1.0" ?>
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<!-- =================================================================================== -->
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<!-- | This document was autogenerated by xacro from racecar.xacro | -->
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<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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<!-- =================================================================================== -->
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<robot name="racecar" xmlns:xacro="http://www.ros.org/wiki/xacro">
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<!-- inertial parameter macros -->
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<!-- geometry macros -->
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<!-- transmission macros -->
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<!-- Add chassis and it's inertia link -->
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<link name="chassis">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh scale="1 1 1 1" filename="meshes/chassis_differential.STL"/>
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</geometry>
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<material name="blue"/>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh scale="1 1 1 1" filename="meshes/chassis_differential.STL"/>
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</geometry>
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<material name="blue"/>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0.2 0 0."/>
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<mass value="4.0"/>
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<inertia ixx="0.010609" ixy="0" ixz="0" iyy="0.050409" iyz="0" izz="0.05865"/>
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</inertial>
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</link>
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<!-- Add the left rear wheel with its joints and tranmissions -->
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<link name="left_rear_wheel">
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<contact>
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<lateral_friction value=".5"/>
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<rolling_friction value="0.0"/>
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<stiffness value="30000"/>
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<damping value="1000"/>
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</contact>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 -0.0225"/>
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<mass value="0.34055"/>
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<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="meshes/left_rear_wheel.obj"/>
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</geometry>
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<material name="white"/>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 -0.0225"/>
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<geometry>
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<cylinder length="0.045" radius="0.05"/>
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</geometry>
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</collision>
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</link>
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<joint name="left_rear_wheel_joint" type="fixed">
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<origin rpy="1.5708 0 0" xyz="0 0.1 0"/>
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<parent link="diff_sideA"/>
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<child link="left_rear_wheel"/>
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</joint>
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<!-- Add the right rear wheel with its joints and tranmissions -->
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<link name="right_rear_wheel">
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<contact>
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<lateral_friction value=".5"/>
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<rolling_friction value="0.0"/>
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<stiffness value="30000"/>
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<damping value="1000"/>
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</contact>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0.0225"/>
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<mass value="0.34055"/>
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<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="meshes/right_rear_wheel.obj"/>
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</geometry>
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<material name="white"/>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0.0225"/>
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<geometry>
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<cylinder length="0.045" radius="0.05"/>
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</geometry>
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</collision>
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</link>
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<joint name="right_rear_wheel_joint" type="fixed">
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<origin rpy="1.5708 0 0" xyz="0 -0.1 0"/>
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<parent link="diff_sideB"/>
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<child link="right_rear_wheel"/>
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</joint>
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<!-- Add the left steering hinge with its joints and tranmissions -->
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<link name="left_steering_hinge">
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mass value="0.100"/>
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<inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="meshes/left_steering_hinge.STL"/>
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</geometry>
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<material name="grey"/>
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</visual>
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</link>
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<joint name="left_steering_hinge_joint" type="revolute">
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<origin rpy="0 1.5708 0" xyz="0.325 0.1 0"/>
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<parent link="chassis"/>
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<child link="left_steering_hinge"/>
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<axis xyz="-1 0 0"/>
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<limit effort="10" lower="-1.0" upper="1.0" velocity="100"/>
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</joint>
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<transmission name="left_steering_hinge_transmission" type="SimpleTransmission">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="left_steering_hinge_joint">
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<hardwareInterface>EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="left_steering_hinge_motor">
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<hardwareInterface>EffortJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<!-- Add the right steering hinge with its joints and tranmissions -->
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<link name="right_steering_hinge">
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mass value="0.100"/>
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<inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="meshes/right_steering_hinge.STL"/>
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</geometry>
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<material name="grey"/>
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</visual>
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</link>
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<joint name="right_steering_hinge_joint" type="continuous">
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<origin rpy="0 1.5708 0" xyz="0.325 -0.1 0"/>
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<parent link="chassis"/>
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<child link="right_steering_hinge"/>
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<axis xyz="-1 0 0"/>
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<limit effort="10" lower="-1.0" upper="1.0" velocity="100"/>
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</joint>
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<transmission name="right_steering_hinge_transmission" type="SimpleTransmission">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="right_steering_hinge_joint">
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<hardwareInterface>EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="right_steering_hinge_motor">
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<hardwareInterface>EffortJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<!-- Add the left front wheel with its joints and tranmissions -->
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<link name="left_front_wheel">
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<contact>
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<lateral_friction value=".8"/>
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<rolling_friction value="0.0"/>
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<stiffness value="30000"/>
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<damping value="1000"/>
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</contact>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 -0.0225"/>
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<mass value="0.34055"/>
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<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="meshes/left_front_wheel.obj"/>
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</geometry>
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<material name="white"/>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 -0.0225"/>
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<geometry>
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<cylinder length="0.045" radius="0.05"/>
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</geometry>
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</collision>
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</link>
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<joint name="left_front_wheel_joint" type="continuous">
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<origin rpy="1.5708 0 0" xyz="0 0 0"/>
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<parent link="left_steering_hinge"/>
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<child link="left_front_wheel"/>
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<axis xyz="0 0 -1"/>
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<limit effort="10" velocity="100"/>
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</joint>
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<transmission name="left_front_wheel_transmission" type="SimpleTransmission">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="left_front_wheel_joint">
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<hardwareInterface>EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="left_front_wheel_motor">
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<hardwareInterface>EffortJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<!-- Add the left front wheel with its joints and tranmissions -->
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<link name="right_front_wheel">
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<contact>
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<lateral_friction value="0.8"/>
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<rolling_friction value="0.0"/>
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<stiffness value="30000"/>
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<damping value="1000"/>
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</contact>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0.0225"/>
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<mass value="0.34055"/>
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<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="meshes/right_front_wheel.obj"/>
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</geometry>
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<material name="white"/>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0.0225"/>
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<geometry>
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<cylinder length="0.045" radius="0.05"/>
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</geometry>
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</collision>
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</link>
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<joint name="right_front_wheel_joint" type="continuous">
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<origin rpy="1.5708 0 0" xyz="0 0 0"/>
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<parent link="right_steering_hinge"/>
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<child link="right_front_wheel"/>
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<axis xyz="0 0 -1"/>
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<limit effort="10" velocity="100"/>
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</joint>
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<transmission name="right_front_wheel_transmission" type="SimpleTransmission">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="right_front_wheel_joint">
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<hardwareInterface>EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="right_front_wheel_motor">
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<hardwareInterface>EffortJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<!-- Add Hokuyo laser scanner -->
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<link name="laser">
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mass value="0.130"/>
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<inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06"/>
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</inertial>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size="0.1 0.1 0.1"/>
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</geometry>
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</collision>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="meshes/hokuyo.obj"/>
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<material name="grey"/>
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</geometry>
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</visual>
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</link>
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<joint name="hokuyo_joint" type="fixed">
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<origin rpy="0 0 0" xyz="0.265 0.0 0.075"/>
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<parent link="chassis"/>
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<child link="laser"/>
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<axis xyz="0 0 1"/>
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</joint>
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<!-- zed camera -->
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<link name="zed_camera_link">
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<inertial>
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<mass value="0.1"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
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</inertial>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size="0.033 0.175 0.030"/>
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</geometry>
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</collision>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size="0.033 0.175 0.030"/>
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</geometry>
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<material name="red"/>
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</visual>
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</link>
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<joint name="zed_camera_joint" type="fixed">
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<origin rpy="0 0 0" xyz="0.390 0 0.04"/>
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<parent link="chassis"/>
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<child link="zed_camera_link"/>
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<axis xyz="0 0 1"/>
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<!-- <limit lower="0.0" upper="0.0" effort="0.0" velocity="0.0" /> -->
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</joint>
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<!-- zed camera lenses -->
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<!-- It seems these have to have a non-zero mass to have a camera attached? -->
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<link name="camera_link">
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<!-- this needs to match the name in zed_wrapper/zed_tf.launch -->
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<inertial>
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<mass value="0.01"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
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</inertial>
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</link>
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<link name="zed_camera_right_link">
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<inertial>
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<mass value="0.01"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
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</inertial>
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</link>
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<joint name="zed_camera_left_joint" type="fixed">
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<origin rpy="0 0 0" xyz="0 0.06 0"/>
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<parent link="zed_camera_link"/>
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<child link="camera_link"/>
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<axis xyz="0 0 1"/>
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</joint>
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<joint name="zed_camera_right_joint" type="fixed">
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<origin rpy="0 0 0" xyz="0 -0.06 0"/>
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<parent link="zed_camera_link"/>
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<child link="zed_camera_right_link"/>
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<axis xyz="0 0 1"/>
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</joint>
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<!-- Add the remaining xacros -->
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<link name="diff_ring">
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<contact>
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<lateral_friction value="1.0"/>
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<rolling_friction value="0.0"/>
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<stiffness value="30000"/>
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<damping value="1000"/>
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</contact>
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<inertial>
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<mass value="0.0637"/>
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<origin xyz="0 0 0"/>
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<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
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</inertial>
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<visual>
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<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh scale="0.0005 0.0005 0.001" filename="differential/diff_ring.stl"/>
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</geometry>
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<material name="green"/>
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</visual>
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<visual>
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<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh scale="0.001 0.001 0.001" filename="differential/diff_carrier.stl"/>
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</geometry>
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<material name="green"/>
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</visual>
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<collision>
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<origin rpy="1.570795 0 0" xyz="0 0.025 0"/>
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<geometry>
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<cylinder length="0.01" radius="0.025"/>
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</geometry>
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</collision>
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</link>
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<joint name="diff_ring_chassis" type="continuous">
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<parent link="chassis"/>
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<child link="diff_ring"/>
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<origin rpy="0 0 0" xyz="0.0 0.0 0."/>
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<axis rpy="0 0 0" xyz="0 1 0"/>
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</joint>
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<link name="diff_spiderA">
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<contact>
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<lateral_friction value="1.0"/>
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<rolling_friction value="0.0"/>
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<stiffness value="30000"/>
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<damping value="1000"/>
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</contact>
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<inertial>
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<mass value="0.056"/>
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<origin xyz="0 0 0"/>
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<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
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</inertial>
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<visual>
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<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh scale="0.001 0.001 0.001" filename="differential/diff_spider.stl"/>
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</geometry>
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<material name="red"/>
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</visual>
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<collision>
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<origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
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<geometry>
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<cylinder length="0.01" radius="0.015"/>
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</geometry>
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</collision>
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</link>
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<joint name="diff_spiderA_ring" type="continuous">
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<parent link="diff_ring"/>
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<child link="diff_spiderA"/>
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<origin rpy="0 0 1.570795" xyz="0.0 0.0 0.0"/>
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<axis rpy="0 0 0" xyz="0 1 0"/>
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</joint>
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<link name="diff_spiderB">
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<contact>
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<lateral_friction value="1.0"/>
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<rolling_friction value="0.0"/>
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<stiffness value="30000"/>
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<damping value="1000"/>
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</contact>
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<inertial>
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<mass value="0.056"/>
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<origin xyz="0 0 0"/>
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<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
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</inertial>
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<visual>
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<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh scale="0.001 0.001 0.001" filename="differential/diff_spider.stl"/>
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</geometry>
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<material name="brown"/>
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</visual>
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<collision>
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<origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
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<geometry>
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<cylinder length="0.01" radius="0.015"/>
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</geometry>
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</collision>
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</link>
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<joint name="diff_spiderB_ring" type="continuous">
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<parent link="diff_ring"/>
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<child link="diff_spiderB"/>
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<origin rpy="0 0 -1.570795" xyz="0.0 0.0 0.0"/>
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<axis rpy="0 0 0" xyz="0 1 0"/>
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</joint>
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<link name="diff_sideA">
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<contact>
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<lateral_friction value="1.0"/>
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|
<rolling_friction value="0.0"/>
|
|
<stiffness value="30000"/>
|
|
<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="30000"/>
|
|
<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="30000"/>
|
|
<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="30000"/>
|
|
<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="30000"/>
|
|
<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="30000"/>
|
|
<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="30000"/>
|
|
<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>
|
|
<material name="white">
|
|
<color rgba="1.0 1.0 1.0 1.0"/>
|
|
</material>
|
|
</robot>
|
|
|