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bullet3/data/racecar/racecar_differential.urdf

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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="30000"/>
<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="30000"/>
<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="30000"/>
<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="30000"/>
<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="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="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="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="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="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="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="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>
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