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cylinder_test.xml
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cylinder_test.xml
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<?xml version=\"1.0\"?>
<robot name=\"glados\" xmlns:xacro=\"http://ros.org/wiki/xacro\">
<link name=\"base_link\">
<visual>
<origin xyz=\"0 0 0\" rpy=\"3.141592 0 0\"/>
<geometry>
<cylinder radius=\"0.025\" length=\"0.03\"/>
</geometry>
</visual>
<collision>
<origin xyz=\"0 0 0\" rpy=\"3.141592 0 0\"/>
<geometry>
<cylinder radius=\"0.025\" length=\"0.03\"/>
</geometry>
</collision>
</link>
<joint name=\"jointR\" type=\"continuous\">
<parent link=\"base_link\"/>
<child link=\"wheelR\"/>
<axis xyz=\"0 0 1\"/>
<limit effort=\"10000\" velocity=\"10\"/>
<origin xyz=\"0 -0.03 0\" rpy=\"-1.570796 0 0\"/>
</joint>
<link name=\"wheelR\">
<visual>
<origin xyz=\"0 0 0\" rpy=\"3.141592 0 0\"/>
<geometry>
<cylinder radius=\"0.034\" length=\"0.01\"/>
</geometry>
</visual>
<collision>
<origin xyz=\"0 0 0\" rpy=\"3.141592 0 0\"/>
<geometry>
<cylinder radius=\"0.034\" length=\"0.01\"/>
</geometry>
</collision>
</link>
<joint name=\"jointL\" type=\"continuous\">
<parent link=\"base_link\"/>
<child link=\"wheelL\"/>
<axis xyz=\"0 0 1\"/>
<limit effort=\"10000\" velocity=\"10\"/>
<origin xyz=\"0 0.03 0\" rpy=\"-1.570796 0 0\"/>
</joint>
<link name=\"wheelL\">
<visual>
<origin xyz=\"0 0 0\" rpy=\"3.141592 0 0\"/>
<geometry>
<cylinder radius=\"0.034\" length=\"0.01\"/>
</geometry>
</visual>
<collision>
<origin xyz=\"0 0 0\" rpy=\"3.141592 0 0\"/>
<geometry>
<cylinder radius=\"0.034\" length=\"0.01\"/>
</geometry>
</collision>
</link>
</robot>