URDF Model

From Georg No, 1 Year ago, written in XML.

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<?xml version="1.0" encoding="utf-8"?>











<robot name="Last_Mile_Robot">

<material name="black">

<color rgba="0.0 0.0 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="gray">

<color rgba="0.7 0.7 0.7 1.0"/>

</material>

<material name="darkgray">

<color rgba="0.3 0.3 0.3 1.0"/>

</material>

<material name="red">

<color rgba="0.8 0.0 0.0 1.0"/>

</material>

<material name="brown">

<color rgba="0.59 0.29 0 1.0"/>

</material>

<material name="white">

<color rgba="1.0 1.0 1.0 1.0"/>

</material>

<material name="yellow">

<color rgba="0.8 0.8 0.0 1.0"/>

</material>



<gazebo reference="chassis">

<material>Gazebo/Wood</material>

</gazebo>

<gazebo reference="front_right">

<material>Gazebo/Grey</material>

</gazebo>

<gazebo reference="front_left">

<material>Gazebo/Grey</material>

</gazebo>

<gazebo reference="rear_right">

<material>Gazebo/Grey</material>

</gazebo>

<gazebo reference="rear_left">

<material>Gazebo/Grey</material>

</gazebo>

<gazebo reference="front_right_ext">

<material>Gazebo/Grey</material>

</gazebo>

<gazebo reference="front_left_ext">

<material>Gazebo/Grey</material>

</gazebo>

<gazebo reference="rear_right_ext">

<material>Gazebo/Grey</material>

</gazebo>

<gazebo reference="rear_left_ext">

<material>Gazebo/Grey</material>

</gazebo>

<gazebo reference="front_right_ext2">

<material>Gazebo/Yellow</material>

</gazebo>

<gazebo reference="front_left_ext2">

<material>Gazebo/Yellow</material>

</gazebo>

<gazebo reference="rear_right_ext2">

<material>Gazebo/Yellow</material>

</gazebo>

<gazebo reference="rear_left_ext2">

<material>Gazebo/Yellow</material>

</gazebo>

<gazebo reference="front_right_wheel">

<material>Gazebo/FlatBlack</material>

</gazebo>

<gazebo reference="front_left_wheel">

<material>Gazebo/FlatBlack</material>

</gazebo>

<gazebo reference="rear_right_wheel">

<material>Gazebo/FlatBlack</material>

</gazebo>

<gazebo reference="rear_left_wheel">

<material>Gazebo/FlatBlack</material>

</gazebo>



<gazebo>

<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control"/>

</gazebo>

<gazebo>

<plugin filename="libgazebo_ros_synchronous_drive.so" name="synchronous_drive_controller">

<rosDebugLevel>Debug</rosDebugLevel>

<tfPrefix/>

<velocityTopic>cmd_vel</velocityTopic>

<odometryTopic>odom</odometryTopic>

<odometryFrame>odom</odometryFrame>

<robotBaseFrame>base_link</robotBaseFrame>

<updateRate>20.0</updateRate>

<wheelSeparation>1.237</wheelSeparation>

<wheelDiameter>0.42</wheelDiameter>

<wheelTorque>200</wheelTorque>

<wheelAcceleration>200</wheelAcceleration>

<publishWheelTF>true</publishWheelTF>

<publishOdomTF>true</publishOdomTF>

<publishWheelJointState>true</publishWheelJointState>

<odometrySource>world</odometrySource>



<leftFrontJoint>front_left_wheel_hinge</leftFrontJoint>

<rightFrontJoint>front_right_wheel_hinge</rightFrontJoint>

<leftRearJoint>rear_left_wheel_hinge</leftRearJoint>

<rightRearJoint>rear_right_wheel_hinge</rightRearJoint>

<turnTorque>200</turnTorque>

<leftFrontTurnJoint>front_left_hinge</leftFrontTurnJoint>

<rightFrontTurnJoint>front_right_hinge</rightFrontTurnJoint>

<leftRearTurnJoint>rear_left_hinge</leftRearTurnJoint>

<rightRearTurnJoint>rear_right_hinge</rightRearTurnJoint>

<publishTf>1</publishTf>

</plugin>

</gazebo>

<link name="base_link"/>

<link name="chassis">

<collision>

<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>

<geometry>

<box size=".65 .65 .05"/>

</geometry>

</collision>

<visual>

<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>

<geometry>

<box size=".65 .65 .05"/>

</geometry>

<material name="brown"/>

</visual>

<inertial>

<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>

<mass value="150"/>

<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>

</inertial>

</link>

<joint name="chassis_joint" type="fixed">

<origin xyz="0.0 0.0 0.75"/>

<parent link="base_link"/>

<child link="chassis"/>

</joint>



<link name="front_right">

<collision>

<geometry>

<cylinder length="0.55" radius="0.05"/>

</geometry>

</collision>

<visual>

<geometry>

<cylinder length="0.55" radius="0.05"/>

</geometry>

<material name="gray"/>

</visual>

<inertial>

<mass value="1"/>

<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>

</inertial>

</link>

<joint name="front_right_hinge" type="continuous">



<parent link="chassis"/>

<child link="front_right"/>

<axis xyz="0 0 1"/>

<origin rpy="0.0 0.0 0.0" xyz="0.325 -0.325 -0.30"/>

<limit effort="0.1" velocity="0.1"/>

</joint>

<link name="front_left">

<collision>

<geometry>

<cylinder length="0.55" radius="0.05"/>

</geometry>

</collision>

<visual>

<geometry>

<cylinder length="0.55" radius="0.05"/>

</geometry>

<material name="gray"/>

</visual>

<inertial>

<mass value="1"/>

<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>

</inertial>

</link>

<joint name="front_left_hinge" type="continuous">



<parent link="chassis"/>

<child link="front_left"/>

<axis xyz="0 0 1"/>

<origin xyz="0.325 0.325 -0.30"/>

<limit effort="0.1" velocity="0.1"/>

</joint>

<link name="rear_right">

<collision>

<geometry>

<cylinder length="0.55" radius="0.05"/>

</geometry>

</collision>

<visual>

<geometry>

<cylinder length="0.55" radius="0.05"/>

</geometry>

<material name="gray"/>

</visual>

<inertial>

<mass value="1"/>

<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>

</inertial>

</link>

<joint name="rear_right_hinge" type="fixed">



<parent link="chassis"/>

<child link="rear_right"/>

<axis xyz="0 0 1"/>

<origin xyz="-0.325 -0.325 -0.30"/>

</joint>

<link name="rear_left">

<collision>

<geometry>

<cylinder length="0.55" radius="0.05"/>

</geometry>

</collision>

<visual>

<geometry>

<cylinder length="0.55" radius="0.05"/>

</geometry>

<material name="gray"/>

</visual>

<inertial>

<mass value="1"/>

<inertia ixx="10.0" ixy="0.0" ixz="0.0" iyy="10.0" iyz="0.0" izz="10.0"/>

</inertial>

</link>

<joint name="rear_left_hinge" type="fixed">



<parent link="chassis"/>

<child link="rear_left"/>

<axis xyz="0 0 1"/>

<origin xyz="-0.325 0.325 -0.30"/>

</joint>

<link name="front_right_tilt"/>

<joint name="front_right_tilt_joint" type="fixed">

<origin rpy="0.785398163397 1.57079632679 0.0" xyz="0.0 0.0 0.0"/>

<parent link="front_right"/>

<child link="front_right_tilt"/>

</joint>

<link name="front_right_ext">

<collision name="front_right_ext_collision">

<geometry>

<cylinder length="0.4" radius="0.05"/>

</geometry>

</collision>

<visual>

<geometry>

<cylinder length="0.4" radius="0.05"/>

</geometry>

<material name="gray"/>

</visual>

<inertial>

<mass value="1"/>

<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>

</inertial>

</link>

<joint name="front_right_ext_hinge" type="fixed">

<origin rpy="0 -0.314159265359 0" xyz="0.0 0.0 0.225 "/>

<parent link="front_right_tilt"/>

<child link="front_right_ext"/>

<axis xyz="0 0 0"/>

</joint>

<link name="front_right_tilt2"/>

<joint name="front_right_tilt2_joint" type="fixed">

<origin rpy="0 -1.25663706144 0.0" xyz="0.0 0.0 0.2"/>

<parent link="front_right_ext"/>

<child link="front_right_tilt2"/>

</joint>

<link name="front_right_ext2">

<collision name="front_right_ext2_collision">

<geometry>

<cylinder length="0.4" radius="0.05"/>

</geometry>

</collision>

<visual>

<geometry>

<cylinder length="0.4" radius="0.05"/>

</geometry>

<material name="yellow"/>

</visual>

<inertial>

<mass value="1"/>

<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>

</inertial>

</link>

<joint name="front_right_ext2_joint" type="fixed">

<origin rpy="0 0 0.785398163397" xyz="0.0 0.0 -0.16"/>

<parent link="front_right_tilt2"/>

<child link="front_right_ext2"/>

<axis xyz="0 0 1"/>

</joint>

<link name="front_right_wheel">

<collision name="front_right_wheel_collision">

<geometry>

<cylinder length="0.15" radius="0.21"/>

</geometry>

</collision>

<visual>

<geometry>

<cylinder length="0.15" radius="0.21"/>

</geometry>

<material name="black"/>

</visual>

<inertial>

<mass value="1"/>

<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>

</inertial>

</link>

<joint name="front_right_wheel_hinge" type="continuous">

<origin rpy="1.57079632679 0 0" xyz="0 0.1 -0.2"/>

<parent link="front_right_ext2"/>

<child link="front_right_wheel"/>

<axis xyz="0 0 1"/>

</joint>

<link name="front_left_tilt"/>

<joint name="front_left_tilt_joint" type="fixed">

<origin rpy="-0.785398163397 1.57079632679 0.0" xyz="0.0 0.0 0.0"/>

<parent link="front_left"/>

<child link="front_left_tilt"/>

</joint>

<link name="front_left_ext">

<collision name="front_left_ext_collision">

<geometry>

<cylinder length="0.4" radius="0.05"/>

</geometry>

</collision>

<visual>

<geometry>

<cylinder length="0.4" radius="0.05"/>

</geometry>

<material name="gray"/>

</visual>

<inertial>

<mass value="1"/>

<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>

</inertial>

</link>

<joint name="front_left_ext_hinge" type="fixed">

<origin rpy="0 -0.314159265359 0" xyz="0.0 0.0 0.225"/>

<parent link="front_left_tilt"/>

<child link="front_left_ext"/>

<axis xyz="0 0 0"/>

</joint>

<link name="front_left_tilt2"/>

<joint name="front_left_tilt2_joint" type="fixed">

<origin rpy="0 -1.25663706144 0.0" xyz="0.0 0.0 0.2"/>

<parent link="front_left_ext"/>

<child link="front_left_tilt2"/>

</joint>

<link name="front_left_ext2">

<collision name="front_left_ext2_collision">

<geometry>

<cylinder length="0.4" radius="0.05"/>

</geometry>

</collision>

<visual>

<geometry>

<cylinder length="0.4" radius="0.05"/>

</geometry>

<material name="yellow"/>

</visual>

<inertial>

<mass value="1"/>

<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>

</inertial>

</link>

<joint name="front_left_ext2_joint" type="fixed">

<origin rpy="0 0 -0.785398163397" xyz="0.0 0.0 -0.16"/>

<parent link="front_left_tilt2"/>

<child link="front_left_ext2"/>

<axis xyz="0 0 1"/>

</joint>

<link name="front_left_wheel">

<collision name="front_left_wheel_collision">

<geometry>

<cylinder length="0.15" radius="0.21"/>

</geometry>

</collision>

<visual>

<geometry>

<cylinder length="0.15" radius="0.21"/>

</geometry>

<material name="black"/>

</visual>

<inertial>

<mass value="1"/>

<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>

</inertial>

</link>

<joint name="front_left_wheel_hinge" type="continuous">

<origin rpy="1.57079632679 0 0" xyz="0 0.1 -0.2"/>

<parent link="front_left_ext2"/>

<child link="front_left_wheel"/>

<axis xyz="0 0 1"/>

</joint>

<link name="rear_right_tilt"/>

<joint name="rear_right_tilt_joint" type="fixed">

<origin rpy="2.35619449019 1.57079632679 0.0" xyz="0.0 0.0 0.0"/>

<parent link="rear_right"/>

<child link="rear_right_tilt"/>

</joint>

<link name="rear_right_ext">

<collision name="rear_right_ext_collision">

<geometry>

<cylinder length="0.4" radius="0.05"/>

</geometry>

</collision>

<visual>

<geometry>

<cylinder length="0.4" radius="0.05"/>

</geometry>

<material name="gray"/>

</visual>

<inertial>

<mass value="1"/>

<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>

</inertial>

</link>

<joint name="rear_right_ext_hinge" type="fixed">

<origin rpy="0 -0.314159265359 0" xyz="0.0 0.0 0.225"/>

<parent link="rear_right_tilt"/>

<child link="rear_right_ext"/>

<axis xyz="0 0 0"/>

</joint>

<link name="rear_right_tilt2"/>

<joint name="rear_right_tilt2_joint" type="fixed">

<origin rpy="0 -1.25663706144 0.0" xyz="0.0 0.0 0.2"/>

<parent link="rear_right_ext"/>

<child link="rear_right_tilt2"/>

</joint>

<link name="rear_right_ext2">

<collision name="rear_right_ext2_collision">

<geometry>

<cylinder length="0.4" radius="0.05"/>

</geometry>

</collision>

<visual>

<geometry>

<cylinder length="0.4" radius="0.05"/>

</geometry>

<material name="yellow"/>

</visual>

<inertial>

<mass value="1"/>

<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>

</inertial>

</link>

<joint name="rear_right_ext2_joint" type="fixed">

<origin rpy="0 0 2.35619449019" xyz="0.0 0.0 -0.16"/>

<parent link="rear_right_tilt2"/>

<child link="rear_right_ext2"/>

<axis xyz="0 0 1"/>

</joint>

<link name="rear_right_wheel">

<collision name="rear_right_wheel_collision">

<geometry>

<cylinder length="0.15" radius="0.21"/>

</geometry>

</collision>

<visual>

<geometry>

<cylinder length="0.15" radius="0.21"/>

</geometry>

<material name="black"/>

</visual>

<inertial>

<mass value="1"/>

<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>

</inertial>

</link>

<joint name="rear_right_wheel_hinge" type="continuous">

<origin rpy="1.57079632679 0 0" xyz="0 0.1 -0.2"/>

<parent link="rear_right_ext2"/>

<child link="rear_right_wheel"/>

<axis xyz="0 0 1"/>

</joint>

<link name="rear_left_tilt"/>

<joint name="rear_left_tilt_joint" type="fixed">

<origin rpy="-2.35619449019 1.57079632679 0.0" xyz="0.0 0.0 0.0"/>

<parent link="rear_left"/>

<child link="rear_left_tilt"/>

</joint>

<link name="rear_left_ext">

<collision name="rear_left_ext_collision">

<geometry>

<cylinder length="0.4" radius="0.05"/>

</geometry>

</collision>

<visual>

<geometry>

<cylinder length="0.4" radius="0.05"/>

</geometry>

<material name="gray"/>

</visual>

<inertial>

<mass value="1"/>

<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>

</inertial>

</link>

<joint name="rear_left_ext_hinge" type="fixed">

<origin rpy="0 -0.314159265359 0" xyz="0.0 0.0 0.225"/>

<parent link="rear_left_tilt"/>

<child link="rear_left_ext"/>

<axis xyz="0 0 0"/>

</joint>

<link name="rear_left_tilt2"/>

<joint name="rear_left_tilt2_joint" type="fixed">

<origin rpy="0 -1.25663706144 0.0" xyz="0.0 0.0 0.2"/>

<parent link="rear_left_ext"/>

<child link="rear_left_tilt2"/>

</joint>

<link name="rear_left_ext2">

<collision name="rear_left_ext2_collision">

<geometry>

<cylinder length="0.4" radius="0.05"/>

</geometry>

</collision>

<visual>

<geometry>

<cylinder length="0.4" radius="0.05"/>

</geometry>

<material name="yellow"/>

</visual>

<inertial>

<mass value="1"/>

<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>

</inertial>

</link>

<joint name="rear_left_ext2_joint" type="fixed">

<origin rpy="0 0 -2.35619449019" xyz="0.0 0.0 -0.16"/>

<parent link="rear_left_tilt2"/>

<child link="rear_left_ext2"/>

<axis xyz="0 0 1"/>

</joint>

<link name="rear_left_wheel">

<collision name="rear_left_wheel_collision">

<geometry>

<cylinder length="0.15" radius="0.21"/>

</geometry>

</collision>

<visual>

<geometry>

<cylinder length="0.15" radius="0.21"/>

</geometry>

<material name="black"/>

</visual>

<inertial>

<mass value="1"/>

<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>

</inertial>

</link>

<joint name="rear_left_wheel_hinge" type="continuous">

<origin rpy="1.57079632679 0 0" xyz="0 0.1 -0.2"/>

<parent link="rear_left_ext2"/>

<child link="rear_left_wheel"/>

<axis xyz="0 0 1"/>

</joint>

</robot>

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<?xml version="1.0" encoding="utf-8"?>





<robot name="Last_Mile_Robot">
  <material name="black">
    <color rgba="0.0 0.0 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="gray">
    <color rgba="0.7 0.7 0.7 1.0"/>
  </material>
  <material name="darkgray">
    <color rgba="0.3 0.3 0.3 1.0"/>
  </material>
  <material name="red">
    <color rgba="0.8 0.0 0.0 1.0"/>
  </material>
  <material name="brown">
    <color rgba="0.59 0.29 0 1.0"/>
  </material>
  <material name="white">
    <color rgba="1.0 1.0 1.0 1.0"/>
  </material>
  <material name="yellow">
    <color rgba="0.8 0.8 0.0 1.0"/>
  </material>
  
  <gazebo reference="chassis">
    <material>Gazebo/Wood</material>
  </gazebo>
  <gazebo reference="front_right">
    <material>Gazebo/Grey</material>
  </gazebo>
  <gazebo reference="front_left">
    <material>Gazebo/Grey</material>
  </gazebo>
  <gazebo reference="rear_right">
    <material>Gazebo/Grey</material>
  </gazebo>
  <gazebo reference="rear_left">
    <material>Gazebo/Grey</material>
  </gazebo>
  <gazebo reference="front_right_ext">
    <material>Gazebo/Grey</material>
  </gazebo>
  <gazebo reference="front_left_ext">
    <material>Gazebo/Grey</material>
  </gazebo>
  <gazebo reference="rear_right_ext">
    <material>Gazebo/Grey</material>
  </gazebo>
  <gazebo reference="rear_left_ext">
    <material>Gazebo/Grey</material>
  </gazebo>
  <gazebo reference="front_right_ext2">
    <material>Gazebo/Yellow</material>
  </gazebo>
  <gazebo reference="front_left_ext2">
    <material>Gazebo/Yellow</material>
  </gazebo>
  <gazebo reference="rear_right_ext2">
    <material>Gazebo/Yellow</material>
  </gazebo>
  <gazebo reference="rear_left_ext2">
    <material>Gazebo/Yellow</material>
  </gazebo>
  <gazebo reference="front_right_wheel">
    <material>Gazebo/FlatBlack</material>
  </gazebo>
  <gazebo reference="front_left_wheel">
    <material>Gazebo/FlatBlack</material>
  </gazebo>
  <gazebo reference="rear_right_wheel">
    <material>Gazebo/FlatBlack</material>
  </gazebo>
  <gazebo reference="rear_left_wheel">
    <material>Gazebo/FlatBlack</material>
  </gazebo>
  
  <gazebo>
    <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control"/>
  </gazebo>
  <gazebo>
    <plugin filename="libgazebo_ros_synchronous_drive.so" name="synchronous_drive_controller">
      <rosDebugLevel>Debug</rosDebugLevel>
      <tfPrefix/>
      <velocityTopic>cmd_vel</velocityTopic>
      <odometryTopic>odom</odometryTopic>
      <odometryFrame>odom</odometryFrame>
      <robotBaseFrame>base_link</robotBaseFrame>
      <updateRate>20.0</updateRate>
      <wheelSeparation>1.237</wheelSeparation>
      <wheelDiameter>0.42</wheelDiameter>
      <wheelTorque>200</wheelTorque>
      <wheelAcceleration>200</wheelAcceleration>
      <publishWheelTF>true</publishWheelTF>
      <publishOdomTF>true</publishOdomTF>
      <publishWheelJointState>true</publishWheelJointState>
      <odometrySource>world</odometrySource>
      
      <leftFrontJoint>front_left_wheel_hinge</leftFrontJoint>
      <rightFrontJoint>front_right_wheel_hinge</rightFrontJoint>
      <leftRearJoint>rear_left_wheel_hinge</leftRearJoint>
      <rightRearJoint>rear_right_wheel_hinge</rightRearJoint>
      <turnTorque>200</turnTorque>
      <leftFrontTurnJoint>front_left_hinge</leftFrontTurnJoint>
      <rightFrontTurnJoint>front_right_hinge</rightFrontTurnJoint>
      <leftRearTurnJoint>rear_left_hinge</leftRearTurnJoint>
      <rightRearTurnJoint>rear_right_hinge</rightRearTurnJoint>
      <publishTf>1</publishTf>
    </plugin>
  </gazebo>
  <link name="base_link"/>
  <link name="chassis">
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <box size=".65 .65 .05"/>
      </geometry>
    </collision>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <box size=".65 .65 .05"/>
      </geometry>
      <material name="brown"/>
    </visual>
    <inertial>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <mass value="150"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <joint name="chassis_joint" type="fixed">
    <origin xyz="0.0 0.0 0.75"/>
    <parent link="base_link"/>
    <child link="chassis"/>
  </joint>
  
  <link name="front_right">
    <collision>
      <geometry>
        <cylinder length="0.55" radius="0.05"/>
      </geometry>
    </collision>
    <visual>
      <geometry>
        <cylinder length="0.55" radius="0.05"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <inertial>
      <mass value="1"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <joint name="front_right_hinge" type="continuous">
    
    <parent link="chassis"/>
    <child link="front_right"/>
    <axis xyz="0 0 1"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.325 -0.325 -0.30"/>
    <limit effort="0.1" velocity="0.1"/>
  </joint>
  <link name="front_left">
    <collision>
      <geometry>
        <cylinder length="0.55" radius="0.05"/>
      </geometry>
    </collision>
    <visual>
      <geometry>
        <cylinder length="0.55" radius="0.05"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <inertial>
      <mass value="1"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <joint name="front_left_hinge" type="continuous">
    
    <parent link="chassis"/>
    <child link="front_left"/>
    <axis xyz="0 0 1"/>
    <origin xyz="0.325 0.325 -0.30"/>
    <limit effort="0.1" velocity="0.1"/>
  </joint>
  <link name="rear_right">
    <collision>
      <geometry>
        <cylinder length="0.55" radius="0.05"/>
      </geometry>
    </collision>
    <visual>
      <geometry>
        <cylinder length="0.55" radius="0.05"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <inertial>
      <mass value="1"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <joint name="rear_right_hinge" type="fixed">
    
    <parent link="chassis"/>
    <child link="rear_right"/>
    <axis xyz="0 0 1"/>
    <origin xyz="-0.325 -0.325 -0.30"/>
  </joint>
  <link name="rear_left">
    <collision>
      <geometry>
        <cylinder length="0.55" radius="0.05"/>
      </geometry>
    </collision>
    <visual>
      <geometry>
        <cylinder length="0.55" radius="0.05"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <inertial>
      <mass value="1"/>
      <inertia ixx="10.0" ixy="0.0" ixz="0.0" iyy="10.0" iyz="0.0" izz="10.0"/>
    </inertial>
  </link>
  <joint name="rear_left_hinge" type="fixed">
    
    <parent link="chassis"/>
    <child link="rear_left"/>
    <axis xyz="0 0 1"/>
    <origin xyz="-0.325 0.325 -0.30"/>
  </joint>
  <link name="front_right_tilt"/>
  <joint name="front_right_tilt_joint" type="fixed">
    <origin rpy="0.785398163397 1.57079632679 0.0" xyz="0.0 0.0 0.0"/>
    <parent link="front_right"/>
    <child link="front_right_tilt"/>
  </joint>
  <link name="front_right_ext">
    <collision name="front_right_ext_collision">
      <geometry>
        <cylinder length="0.4" radius="0.05"/>
      </geometry>
    </collision>
    <visual>
      <geometry>
        <cylinder length="0.4" radius="0.05"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <inertial>
      <mass value="1"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <joint name="front_right_ext_hinge" type="fixed">
    <origin rpy="0 -0.314159265359 0" xyz="0.0 0.0 0.225 "/>
    <parent link="front_right_tilt"/>
    <child link="front_right_ext"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="front_right_tilt2"/>
  <joint name="front_right_tilt2_joint" type="fixed">
    <origin rpy="0 -1.25663706144 0.0" xyz="0.0 0.0 0.2"/>
    <parent link="front_right_ext"/>
    <child link="front_right_tilt2"/>
  </joint>
  <link name="front_right_ext2">
    <collision name="front_right_ext2_collision">
      <geometry>
        <cylinder length="0.4" radius="0.05"/>
      </geometry>
    </collision>
    <visual>
      <geometry>
        <cylinder length="0.4" radius="0.05"/>
      </geometry>
      <material name="yellow"/>
    </visual>
    <inertial>
      <mass value="1"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <joint name="front_right_ext2_joint" type="fixed">
    <origin rpy="0 0 0.785398163397" xyz="0.0 0.0 -0.16"/>
    <parent link="front_right_tilt2"/>
    <child link="front_right_ext2"/>
    <axis xyz="0 0 1"/>
  </joint>
  <link name="front_right_wheel">
    <collision name="front_right_wheel_collision">
      <geometry>
        <cylinder length="0.15" radius="0.21"/>
      </geometry>
    </collision>
    <visual>
      <geometry>
        <cylinder length="0.15" radius="0.21"/>
      </geometry>
      <material name="black"/>
    </visual>
    <inertial>
      <mass value="1"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <joint name="front_right_wheel_hinge" type="continuous">
    <origin rpy="1.57079632679 0 0" xyz="0 0.1 -0.2"/>
    <parent link="front_right_ext2"/>
    <child link="front_right_wheel"/>
    <axis xyz="0 0 1"/>
  </joint>
  <link name="front_left_tilt"/>
  <joint name="front_left_tilt_joint" type="fixed">
    <origin rpy="-0.785398163397 1.57079632679 0.0" xyz="0.0 0.0 0.0"/>
    <parent link="front_left"/>
    <child link="front_left_tilt"/>
  </joint>
  <link name="front_left_ext">
    <collision name="front_left_ext_collision">
      <geometry>
        <cylinder length="0.4" radius="0.05"/>
      </geometry>
    </collision>
    <visual>
      <geometry>
        <cylinder length="0.4" radius="0.05"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <inertial>
      <mass value="1"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <joint name="front_left_ext_hinge" type="fixed">
    <origin rpy="0 -0.314159265359 0" xyz="0.0 0.0 0.225"/>
    <parent link="front_left_tilt"/>
    <child link="front_left_ext"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="front_left_tilt2"/>
  <joint name="front_left_tilt2_joint" type="fixed">
    <origin rpy="0 -1.25663706144 0.0" xyz="0.0 0.0 0.2"/>
    <parent link="front_left_ext"/>
    <child link="front_left_tilt2"/>
  </joint>
  <link name="front_left_ext2">
    <collision name="front_left_ext2_collision">
      <geometry>
        <cylinder length="0.4" radius="0.05"/>
      </geometry>
    </collision>
    <visual>
      <geometry>
        <cylinder length="0.4" radius="0.05"/>
      </geometry>
      <material name="yellow"/>
    </visual>
    <inertial>
      <mass value="1"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <joint name="front_left_ext2_joint" type="fixed">
    <origin rpy="0 0 -0.785398163397" xyz="0.0 0.0 -0.16"/>
    <parent link="front_left_tilt2"/>
    <child link="front_left_ext2"/>
    <axis xyz="0 0 1"/>
  </joint>
  <link name="front_left_wheel">
    <collision name="front_left_wheel_collision">
      <geometry>
        <cylinder length="0.15" radius="0.21"/>
      </geometry>
    </collision>
    <visual>
      <geometry>
        <cylinder length="0.15" radius="0.21"/>
      </geometry>
      <material name="black"/>
    </visual>
    <inertial>
      <mass value="1"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <joint name="front_left_wheel_hinge" type="continuous">
    <origin rpy="1.57079632679 0 0" xyz="0 0.1 -0.2"/>
    <parent link="front_left_ext2"/>
    <child link="front_left_wheel"/>
    <axis xyz="0 0 1"/>
  </joint>
  <link name="rear_right_tilt"/>
  <joint name="rear_right_tilt_joint" type="fixed">
    <origin rpy="2.35619449019 1.57079632679 0.0" xyz="0.0 0.0 0.0"/>
    <parent link="rear_right"/>
    <child link="rear_right_tilt"/>
  </joint>
  <link name="rear_right_ext">
    <collision name="rear_right_ext_collision">
      <geometry>
        <cylinder length="0.4" radius="0.05"/>
      </geometry>
    </collision>
    <visual>
      <geometry>
        <cylinder length="0.4" radius="0.05"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <inertial>
      <mass value="1"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <joint name="rear_right_ext_hinge" type="fixed">
    <origin rpy="0 -0.314159265359 0" xyz="0.0 0.0 0.225"/>
    <parent link="rear_right_tilt"/>
    <child link="rear_right_ext"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="rear_right_tilt2"/>
  <joint name="rear_right_tilt2_joint" type="fixed">
    <origin rpy="0 -1.25663706144 0.0" xyz="0.0 0.0 0.2"/>
    <parent link="rear_right_ext"/>
    <child link="rear_right_tilt2"/>
  </joint>
  <link name="rear_right_ext2">
    <collision name="rear_right_ext2_collision">
      <geometry>
        <cylinder length="0.4" radius="0.05"/>
      </geometry>
    </collision>
    <visual>
      <geometry>
        <cylinder length="0.4" radius="0.05"/>
      </geometry>
      <material name="yellow"/>
    </visual>
    <inertial>
      <mass value="1"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <joint name="rear_right_ext2_joint" type="fixed">
    <origin rpy="0 0 2.35619449019" xyz="0.0 0.0 -0.16"/>
    <parent link="rear_right_tilt2"/>
    <child link="rear_right_ext2"/>
    <axis xyz="0 0 1"/>
  </joint>
  <link name="rear_right_wheel">
    <collision name="rear_right_wheel_collision">
      <geometry>
        <cylinder length="0.15" radius="0.21"/>
      </geometry>
    </collision>
    <visual>
      <geometry>
        <cylinder length="0.15" radius="0.21"/>
      </geometry>
      <material name="black"/>
    </visual>
    <inertial>
      <mass value="1"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <joint name="rear_right_wheel_hinge" type="continuous">
    <origin rpy="1.57079632679 0 0" xyz="0 0.1 -0.2"/>
    <parent link="rear_right_ext2"/>
    <child link="rear_right_wheel"/>
    <axis xyz="0 0 1"/>
  </joint>
  <link name="rear_left_tilt"/>
  <joint name="rear_left_tilt_joint" type="fixed">
    <origin rpy="-2.35619449019 1.57079632679 0.0" xyz="0.0 0.0 0.0"/>
    <parent link="rear_left"/>
    <child link="rear_left_tilt"/>
  </joint>
  <link name="rear_left_ext">
    <collision name="rear_left_ext_collision">
      <geometry>
        <cylinder length="0.4" radius="0.05"/>
      </geometry>
    </collision>
    <visual>
      <geometry>
        <cylinder length="0.4" radius="0.05"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <inertial>
      <mass value="1"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <joint name="rear_left_ext_hinge" type="fixed">
    <origin rpy="0 -0.314159265359 0" xyz="0.0 0.0 0.225"/>
    <parent link="rear_left_tilt"/>
    <child link="rear_left_ext"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="rear_left_tilt2"/>
  <joint name="rear_left_tilt2_joint" type="fixed">
    <origin rpy="0 -1.25663706144 0.0" xyz="0.0 0.0 0.2"/>
    <parent link="rear_left_ext"/>
    <child link="rear_left_tilt2"/>
  </joint>
  <link name="rear_left_ext2">
    <collision name="rear_left_ext2_collision">
      <geometry>
        <cylinder length="0.4" radius="0.05"/>
      </geometry>
    </collision>
    <visual>
      <geometry>
        <cylinder length="0.4" radius="0.05"/>
      </geometry>
      <material name="yellow"/>
    </visual>
    <inertial>
      <mass value="1"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <joint name="rear_left_ext2_joint" type="fixed">
    <origin rpy="0 0 -2.35619449019" xyz="0.0 0.0 -0.16"/>
    <parent link="rear_left_tilt2"/>
    <child link="rear_left_ext2"/>
    <axis xyz="0 0 1"/>
  </joint>
  <link name="rear_left_wheel">
    <collision name="rear_left_wheel_collision">
      <geometry>
        <cylinder length="0.15" radius="0.21"/>
      </geometry>
    </collision>
    <visual>
      <geometry>
        <cylinder length="0.15" radius="0.21"/>
      </geometry>
      <material name="black"/>
    </visual>
    <inertial>
      <mass value="1"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <joint name="rear_left_wheel_hinge" type="continuous">
    <origin rpy="1.57079632679 0 0" xyz="0 0.1 -0.2"/>
    <parent link="rear_left_ext2"/>
    <child link="rear_left_wheel"/>
    <axis xyz="0 0 1"/>
  </joint>
</robot>

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