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<?xml version="1.0" ?>
<robot name="fetch">
<link name="base_link">
<inertial>
<origin rpy="0 0 0" xyz="-0.0036 0.0 0.0014" />
<mass value="70.1294" />
<inertia ixx="1.225" ixy="0.0099" ixz="0.0062" iyy="1.2853" iyz="-0.0034" izz="0.987" />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="../meshes/base_link.dae" />
</geometry>
<material name="mat0">
<color rgba="0.356 0.361 0.376 1" />
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.4" />
<geometry>
<!--<mesh filename="../meshes/base_link_collision.STL" />-->
<cylinder length="0.8" radius="0.3"/>
</geometry>
</collision>
</link>
<link name="r_wheel_link">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0" />
<mass value="4.3542" />
<inertia ixx="0.0045" ixy="0" ixz="0" iyy="0.005" iyz="0" izz="0.0045" />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="../meshes/r_wheel_link.STL" />
</geometry>
<material name="mat1">
<color rgba="0.086 0.506 0.767 1" />
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="../meshes/r_wheel_link_collision.STL" />
</geometry>
</collision>
</link>
<joint name="r_wheel_joint" type="continuous">
<origin rpy="-6.123E-17 0 0" xyz="0.0012914 -0.18738 0.055325" />
<parent link="base_link" />
<child link="r_wheel_link" />
<axis xyz="0 1 0" />
<limit effort="8.85" velocity="17.4" /></joint>
<link name="l_wheel_link">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0" />
<mass value="4.3542" />
<inertia ixx="0.0045" ixy="0" ixz="0" iyy="0.005" iyz="0" izz="0.0045" />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="../meshes/l_wheel_link.STL" />
</geometry>
<material name="mat2">
<color rgba="0.086 0.506 0.767 1" />
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="../meshes/l_wheel_link_collision.STL" />
</geometry>
</collision>
</link>
<joint name="l_wheel_joint" type="continuous">
<origin rpy="-6.123E-17 0 0" xyz="0.0012914 0.18738 0.055325" />
<parent link="base_link" />
<child link="l_wheel_link" />
<axis xyz="0 1 0" />
<limit effort="8.85" velocity="17.4" /></joint>
</robot>
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