40 lines
1.4 KiB
XML
40 lines
1.4 KiB
XML
<?xml version="1.0" ?>
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<robot name="pr2">
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<joint name="fl_caster_rotation_joint" type="revolute">
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<axis xyz="0 0 1"/>
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<limit effort="100" k_velocity="10" velocity="100"/>
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<calibration reference_position="0.0" values="1.5 -1"/>
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<joint_properties damping="0.0" friction="0.0"/>
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<origin rpy="0 0 1" xyz="0.2225 0.2225 0.0282"/>
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<parent link="base_link"/>
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<child link="fl_caster_rotation_link"/>
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</joint>
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<link name="fl_caster_rotation_link">
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<inertial>
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<mass value="3.473082"/>
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<origin xyz="0 0 0.07"/>
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<inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
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</inertial>
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</link>
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<joint name="fr_caster_rotation_joint" type="revolute">
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<axis xyz="0 0 1"/>
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<limit effort="100" k_velocity="10" velocity="100"/>
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<calibration reference_position="0.0" values="1.5 -1"/>
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<joint_properties damping="0.0" friction="0.0"/>
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<origin rpy="0 0 1" xyz="0.2225 0.2225 0.0282"/>
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<parent link="fl_caster_rotation_link"/>
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<child link="base_link"/>
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</joint>
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<link name="base_link">
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<inertial>
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<mass value="3.473082"/>
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<origin xyz="0 0 0.07"/>
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<inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
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</inertial>
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</link>
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</robot>
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