robots/fetch_base.urdf

<?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>