<?xml version="1.0"?>
<!-- Simulation assumptions, not a measured hardware model. ENU world; base x forward, y left, z up. -->
<robot name="wolf_e" version="1.2"><link name="base_link"><inertial><mass value="12"/><inertia ixx="0.29" ixy="0" ixz="0" iyy="0.71" iyz="0" izz="0.92"/></inertial><visual><origin xyz="0 0 0" rpy="0 0 1.57079632679"/><geometry><mesh filename="package://netos_description/models/wolf-e.stl" scale="0.0023160025184420685 0.0023160025184420685 0.0023160025184420685"/></geometry><material name="olive"><color rgba=".23 .32 .13 1"/></material></visual><collision><origin xyz="0 0 .28"/><geometry><box size=".70 .50 .18"/></geometry></collision></link><link name="front_left"><inertial><mass value="2"/><inertia ixx="0.009" ixy="0" ixz="0" iyy="0.017" iyz="0" izz="0.009"/></inertial><collision><origin rpy="1.57079632679 0 0"/><geometry><cylinder radius="0.13" length=".08"/></geometry></collision></link><joint name="front_left_joint" type="continuous"><parent link="base_link"/><child link="front_left"/><origin xyz="0.27 0.26 0.13"/><axis xyz="0 1 0"/><limit effort="20" velocity="8" acceleration="6" deceleration="8" jerk="40"/><dynamics damping=".03"/></joint><link name="rear_left"><inertial><mass value="2"/><inertia ixx="0.009" ixy="0" ixz="0" iyy="0.017" iyz="0" izz="0.009"/></inertial><collision><origin rpy="1.57079632679 0 0"/><geometry><cylinder radius="0.13" length=".08"/></geometry></collision></link><joint name="rear_left_joint" type="continuous"><parent link="base_link"/><child link="rear_left"/><origin xyz="-0.27 0.26 0.13"/><axis xyz="0 1 0"/><limit effort="20" velocity="8" acceleration="6" deceleration="8" jerk="40"/><dynamics damping=".03"/></joint><link name="front_right"><inertial><mass value="2"/><inertia ixx="0.009" ixy="0" ixz="0" iyy="0.017" iyz="0" izz="0.009"/></inertial><collision><origin rpy="1.57079632679 0 0"/><geometry><cylinder radius="0.13" length=".08"/></geometry></collision></link><joint name="front_right_joint" type="continuous"><parent link="base_link"/><child link="front_right"/><origin xyz="0.27 -0.26 0.13"/><axis xyz="0 1 0"/><limit effort="20" velocity="8" acceleration="6" deceleration="8" jerk="40"/><dynamics damping=".03"/></joint><link name="rear_right"><inertial><mass value="2"/><inertia ixx="0.009" ixy="0" ixz="0" iyy="0.017" iyz="0" izz="0.009"/></inertial><collision><origin rpy="1.57079632679 0 0"/><geometry><cylinder radius="0.13" length=".08"/></geometry></collision></link><joint name="rear_right_joint" type="continuous"><parent link="base_link"/><child link="rear_right"/><origin xyz="-0.27 -0.26 0.13"/><axis xyz="0 1 0"/><limit effort="20" velocity="8" acceleration="6" deceleration="8" jerk="40"/><dynamics damping=".03"/></joint><link name="imu_link"/><joint name="imu_link_fixed" type="fixed"><parent link="base_link"/><child link="imu_link"/><origin xyz="0 0 .35" rpy="0 0 0"/></joint><link name="camera_link"/><joint name="camera_link_fixed" type="fixed"><parent link="base_link"/><child link="camera_link"/><origin xyz=".32 0 .62" rpy="0 0 0"/></joint><link name="lrf_link"/><joint name="lrf_link_fixed" type="fixed"><parent link="base_link"/><child link="lrf_link"/><origin xyz=".41 0 .58" rpy="0 0 0"/></joint><link name="camera_optical_frame"/><joint name="camera_optical_frame_fixed" type="fixed"><parent link="camera_link"/><child link="camera_optical_frame"/><origin xyz="0 0 0" rpy="-1.57079632679 0 -1.57079632679"/></joint></robot>
