342 lines
9.1 KiB
XML
342 lines
9.1 KiB
XML
<?xml version='1.0'?>
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<sdf version="1.4">
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<model name="husky">
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<pose>0 0 .5 0 0 0</pose>
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<!-- Main Chassis -->
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<link name="base_link">
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<!-- Physics -->
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<collision name='collision'>
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<!-- <pose>0 0 -0.3 0 0 0</pose> -->
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<pose>0 0 0.1 0 0 0</pose>
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<geometry>
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<box>
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<size>1.0074 0.5709 0.2675</size>
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</box>
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</geometry>
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</collision>
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<inertial>
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<mass>33.855</mass>
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<pose>-0.0856132 -0.000839955 0.238145 0 0 0</pose>
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<inertia>
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<ixx>2.2343</ixx>
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<ixy>-0.023642</ixy>
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<ixz>0.275174</ixz>
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<iyy>3.42518</iyy>
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<iyz>0.00239624</iyz>
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<izz>2.1241</izz>
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</inertia>
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</inertial>
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<!-- Visual -->
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<!-- Base frame -->
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<visual name='base'>
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<pose>0 0 0 0 0 0</pose>
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<geometry>
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<mesh><uri>model://husky/meshes/base_link.stl</uri></mesh>
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</geometry>
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<material>
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<script>
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<name>Gazebo/FlatBlack</name>
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</script>
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</material>
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</visual>
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<!-- Top Plate -->
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<visual name='top_plate'>
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<pose>0 0 0 0 0 0</pose>
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<geometry>
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<mesh><uri>model://husky/meshes/top_plate.stl</uri></mesh>
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</geometry>
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<material>
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<script>
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<name>Gazebo/Yellow</name>
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</script>
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</material>
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</visual>
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<!-- Front Bumper -->
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<visual name='front_bumper'>
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<pose>0.47 0 0.091 0 0 0</pose>
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<geometry>
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<mesh><uri>model://husky/meshes/bumper.stl</uri></mesh>
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</geometry>
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<material>
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<script>
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<name>Gazebo/FlatBlack</name>
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</script>
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</material>
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</visual>
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<!-- Rear Bumper -->
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<visual name='rear_bumper'>
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<pose>-0.47 0 0.091 0 0 3.141</pose>
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<geometry>
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<mesh><uri>model://husky/meshes/bumper.stl</uri></mesh>
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</geometry>
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<material>
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<script>
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<name>Gazebo/FlatBlack</name>
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</script>
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</material>
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</visual>
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<!-- User Rail -->
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<visual name='user_rail'>
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<pose>0.272 0 0.245 0 0 0</pose>
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<geometry>
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<mesh><uri>model://husky/meshes/user_rail.stl</uri></mesh>
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</geometry>
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<material>
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<script>
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<name>Gazebo/Grey</name>
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</script>
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</material>
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</visual>
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</link>
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<!-- Back Left Wheel -->
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<link name='back_left_wheel'>
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<pose>-0.256 0.285475 0.035 0 0 0</pose>
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<inertial>
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<mass>2.6357</mass>
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<pose>0 0 0 0 0 0</pose>
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<inertia>
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<ixx>0.0246688</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.0246688</iyy>
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<iyz>0</iyz>
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<izz>0.0441058</izz>
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</inertia>
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</inertial>
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<collision name='back_left_wheel_collision'>
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<pose>0 0 0 -1.5707 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.17775</radius>
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<length>0.1143</length>
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</cylinder>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>100000.0</mu>
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<mu2>100000.0</mu2>
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<slip1>0.0</slip1>
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<slip2>0.0</slip2>
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</ode>
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</friction>
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</surface>
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</collision>
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<visual name='back_left_wheel'>
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<pose>0 0 0 -3.14159 0 0</pose>
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<geometry>
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<mesh><uri>model://husky/meshes/wheel.stl</uri></mesh>
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</geometry>
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<material>
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<script>
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<name>Gazebo/Grey</name>
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</script>
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</material>
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</visual>
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</link>
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<joint name='back_left_joint' type='revolute'>
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<parent>base_link</parent>
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<child>back_left_wheel</child>
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<axis>
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<xyz>0 1 0</xyz>
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</axis>
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<physics><ode><limit>
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<cfm>0.000000</cfm>
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<erp>0.900000</erp>
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</limit></ode></physics>
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</joint>
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<!-- Back Right Wheel -->
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<link name='back_right_wheel'>
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<pose>-0.256 -0.285475 0.035 0 0 0</pose>
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<inertial>
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<mass>2.6357</mass>
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<pose>0 0 0 0 0 0</pose>
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<inertia>
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<ixx>0.0246688</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.0246688</iyy>
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<iyz>0</iyz>
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<izz>0.0441058</izz>
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</inertia>
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</inertial>
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<collision name='back_right_wheel_collision'>
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<pose>0 0 0 -1.5707 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.17775</radius>
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<length>0.1143</length>
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</cylinder>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>100000.0</mu>
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<mu2>100000.0</mu2>
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<slip1>0.0</slip1>
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<slip2>0.0</slip2>
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</ode>
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</friction>
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</surface>
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</collision>
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<visual name='back_right_wheel'>
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<pose>0 0 0 -3.14159 0 0</pose>
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<geometry>
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<mesh><uri>model://husky/meshes/wheel.stl</uri></mesh>
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</geometry>
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<material>
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<script>
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<name>Gazebo/Grey</name>
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</script>
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</material>
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</visual>
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</link>
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<joint name='back_right_joint' type='revolute'>
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<parent>base_link</parent>
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<child>back_right_wheel</child>
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<axis>
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<xyz>0 1 0</xyz>
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</axis>
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<physics><ode><limit>
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<cfm>0.000000</cfm>
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<erp>0.900000</erp>
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</limit></ode></physics>
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</joint>
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<!-- Front Left Wheel -->
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<link name='front_left_wheel'>
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<pose>0.256 0.285475 0.035 0 0 0</pose>
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<inertial>
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<mass>2.6357</mass>
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<pose>0 0 0 0 0 0</pose>
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<inertia>
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<ixx>0.0246688</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.0246688</iyy>
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<iyz>0</iyz>
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<izz>0.0441058</izz>
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</inertia>
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</inertial>
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<collision name='front_left_wheel_collision'>
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<pose>0 0 0 -1.5707 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.17775</radius>
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<length>0.1143</length>
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</cylinder>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>100000.0</mu>
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<mu2>100000.0</mu2>
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<slip1>0.0</slip1>
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<slip2>0.0</slip2>
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</ode>
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</friction>
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</surface>
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</collision>
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<visual name='front_left_wheel'>
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<pose>0 0 0 -3.14159 0 0</pose>
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<geometry>
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<mesh><uri>model://husky/meshes/wheel.stl</uri></mesh>
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</geometry>
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<material>
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<script>
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<name>Gazebo/Grey</name>
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</script>
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</material>
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</visual>
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</link>
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<joint name='front_left_joint' type='revolute'>
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<parent>base_link</parent>
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<child>front_left_wheel</child>
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<axis>
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<xyz>0 1 0</xyz>
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</axis>
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<physics><ode><limit>
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<cfm>0.000000</cfm>
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<erp>0.900000</erp>
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</limit></ode></physics>
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</joint>
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<!-- Front Right Wheel -->
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<link name='front_right_wheel'>
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<pose>0.256 -0.285475 0.035 0 0 0</pose>
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<inertial>
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<mass>2.6357</mass>
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<pose>0 0 0 0 0 0</pose>
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<inertia>
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<ixx>0.0246688</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.0246688</iyy>
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<iyz>0</iyz>
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<izz>0.0441058</izz>
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</inertia>
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</inertial>
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<collision name='front_right_wheel_collision'>
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<pose>0 0 0 -1.5707 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.17775</radius>
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<length>0.1143</length>
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</cylinder>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>100000.0</mu>
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<mu2>100000.0</mu2>
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<slip1>0.0</slip1>
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<slip2>0.0</slip2>
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</ode>
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</friction>
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</surface>
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</collision>
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<visual name='front_right_wheel'>
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<pose>0 0 0 -3.14159 0 0</pose>
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<geometry>
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<mesh><uri>model://husky/meshes/wheel.stl</uri></mesh>
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</geometry>
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<material>
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<script>
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<name>Gazebo/Grey</name>
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</script>
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</material>
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</visual>
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</link>
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<joint name='front_right_joint' type='revolute'>
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<parent>base_link</parent>
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<child>front_right_wheel</child>
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<axis>
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<xyz>0 1 0</xyz>
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</axis>
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<physics><ode><limit>
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<cfm>0.000000</cfm>
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<erp>0.900000</erp>
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</limit></ode></physics>
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</joint>
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<plugin name="husky_diff_controller" filename="libhusky_gazebo_plugins.so">
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<alwaysOn>true</alwaysOn>
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<updateRate>100.0</updateRate>
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<backLeftJoint>back_left_joint</backLeftJoint>
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<backRightJoint>back_right_joint</backRightJoint>
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<frontLeftJoint>front_left_joint</frontLeftJoint>
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<frontRightJoint>front_right_joint</frontRightJoint>
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<wheelSeparation>0.5709</wheelSeparation>
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<wheelDiameter>0.3555</wheelDiameter>
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<torque>35</torque>
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</plugin>
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</model>
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</sdf>
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