mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-13 13:20:07 +00:00
42 lines
1.1 KiB
Plaintext
42 lines
1.1 KiB
Plaintext
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<?xml version="1.0" ?>
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<robot name="husky_robot" xmlns:xacro="http://ros.org/wiki/xacro">
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<material name="White">
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<color rgba="1.0 1.0 1.0 1.0"/>
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</material>
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<link name="world"/>
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<link name="front_left_wheel_link">
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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="2.637"/>
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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="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="husky/meshes/wheel.stl"/>
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</geometry>
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<material name="DarkGrey"/>
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</visual>
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<collision>
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<origin rpy="1.570795 0 0" xyz="0 0 0"/>
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<geometry>
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<cylinder length="0.1143" radius="0.17775"/>
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</geometry>
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</collision>
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</link>
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<joint name="front_left_wheel" type="continuous">
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<parent link="world"/>
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<child link="front_left_wheel_link"/>
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<origin rpy="0 0 0" xyz="0.256 0.2854 0.03282"/>
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<axis rpy="0 0 0" xyz="0 1 0"/>
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</joint>
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</robot>
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