<?xml version="1.0" ?>
<robot name="qykj_ackm">
  <link name="base_link">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.0174221592416108 0 0.0010674027636553"/>
      <mass value="2.0946205"/>
      <inertia ixx="0.00725227532564324" ixy="1.826574180869E-05" ixz="1.74522061015835E-05" iyy="0.0112392911749803" iyz="-1.16120716894918E-06" izz="0.0572118967643173"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/base_link.stl"/>
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      <material name="base_material">
        <color rgba="1 0 0 1"/>
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    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/base_link.stl"/>
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  </link>

  <link name="base_footprint">
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <mass value="0.01"/>
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
    </inertial>
    <visual>
      <geometry>
        <sphere radius="0.001"/>
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    </visual>
  </link>
  <joint name="base_link2base_footprint" type="fixed">
    <parent link="base_footprint"/>
    <child link="base_link"/>
    <origin rpy="0 0 0" xyz="0 0 0.055"/>
  </joint>

  <link name="left_steering_hinge">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.085506993927856"/>
      <inertia ixx="0.00342027975711424" ixy="-1.72810689862337E-03" ixz="2.68361824483564E-03" iyy="0.00342027975711424" iyz="1.65092622583439E-04" izz="0.00342027975711424"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="-0.17831 -0.10435 -0.0070129"/>
      <geometry>
        <mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/left_front_steer_link.stl"/>
      </geometry>
      <material name="steering_hinge_material">
        <color rgba="0 0 0 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.17831 -0.10435 -0.0070129"/>
      <geometry>
        <mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/left_front_steer_link.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_steering_hinge_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0.17831 0.10435 0.0070129"/>
    <parent link="base_link"/>
    <child link="left_steering_hinge"/>
    <axis xyz="0 0 1"/>
    <limit effort="8" lower="-0.5" upper="0.5" velocity="800"/>
    <dynamics damping="0.5"/>
  </joint>

  <link name="right_steering_hinge">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.085506993927856"/>
      <inertia ixx="0.00342027975711424" ixy="-1.72810689862337E-03" ixz="2.68361824483564E-03" iyy="0.00342027975711424" iyz="1.65092622583439E-04" izz="0.00342027975711424"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="-0.17831 0.10435 -0.0070129"/>
      <geometry>
        <mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/right_front_steer_link.stl"/>
      </geometry>
      <material name="steering_hinge_material">
        <color rgba="0 0 0 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.17831 0.10435 -0.0070129"/>
      <geometry>
        <mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/right_front_steer_link.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_steering_hinge_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0.17831 -0.10435 0.0070129"/>
    <parent link="base_link"/>
    <child link="right_steering_hinge"/>
    <axis xyz="0 0 1"/>
    <limit effort="8" lower="-0.5" upper="0.5" velocity="800"/>
    <dynamics damping="0.5"/>
  </joint>

  <link name="left_wheel">
    <inertial>
      <origin rpy="0 0 0" xyz="0 -0.01 0"/>
      <mass value="0.083615304385799"/>
      <inertia ixx="0.00010451913048224875" ixy="-1.02836030755788E-5" ixz="1.03858733509779E-10" iyy="0.000261297820954496875" iyz="-3.52038618447715E-09" izz="0.00010451913048224875"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="-0.17831 -0.17835 -0.0070129"/>
      <geometry>
        <mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/left_front_wheel_link.stl"/>
      </geometry>
      <material name="wheel_material">
        <color rgba="0 0 0 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.17831 -0.17835 -0.0070129"/>
      <geometry>
        <mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/left_front_wheel_link.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_wheel_joint" type="continuous">
    <origin rpy="0 0 0" xyz="0 0.074 0"/>
    <parent link="left_steering_hinge"/>
    <child link="left_wheel"/>
    <axis xyz="0 1 0"/>
    <limit effort="6" velocity="800"/>
  </joint>

  <link name="right_wheel">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0.01 0"/>
      <mass value="0.083615304385799"/>
      <inertia ixx="0.00010451913048224875" ixy="-1.02836030755788E-5" ixz="1.03858733509779E-10" iyy="0.000261297820954496875" iyz="-3.52038618447715E-09" izz="0.00010451913048224875"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="-0.17831 0.17835 -0.0070129"/>
      <geometry>
        <mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/right_front_wheel_link.stl"/>
      </geometry>
      <material name="wheel_material">
        <color rgba="0 0 0 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.17831 0.17835 -0.0070129"/>
      <geometry>
        <mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/right_front_wheel_link.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_wheel_joint" type="continuous">
    <origin rpy="0 0 0" xyz="0 -0.074 0"/>
    <parent link="right_steering_hinge"/>
    <child link="right_wheel"/>
    <axis xyz="0 1 0"/>
    <limit effort="6" velocity="800"/>
  </joint>

  <link name="left_rear_wheel">
    <inertial>
      <origin rpy="0 0 0" xyz="0 -0.01 0"/>
      <mass value="0.083615304385799"/>
      <inertia ixx="0.000645041181644452" ixy="-1.02836030755788E-5" ixz="-1.03858733509779E-10" iyy="0.00617238444547154" iyz="3.52038618447715E-09" izz="0.00064504895313491"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0.11072 -0.18046 -0.0099082"/>
      <geometry>
        <mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/left_back_wheel_link.stl"/>
      </geometry>
      <material name="wheel_material">
        <color rgba="0 0 0 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.11072 -0.18046 -0.0099082"/>
      <geometry>
        <mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/left_back_wheel_link.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_rear_wheel_joint" type="continuous">
    <origin rpy="0 0 0" xyz="-0.11072 0.18046 0.0099082"/>
    <parent link="base_link"/>
    <child link="left_rear_wheel"/>
    <axis xyz="0 1 0"/>
    <limit effort="10" lower="-3.14159" upper="3.14159" velocity="800"/>
  </joint>
  
  <link name="right_rear_wheel">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0.01 0"/>
      <mass value="0.083615304385799"/>
      <inertia ixx="0.000645041181644452" ixy="-1.02836030755788E-5" ixz="-1.03858733509779E-10" iyy="0.00617238444547154" iyz="3.52038618447715E-09" izz="0.00064504895313491"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0.11072 0.18046 -0.0099082"/>
      <geometry>
        <mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/right_back_wheel_link.stl"/>
      </geometry>
      <material name="wheel_material">
        <color rgba="0 0 0 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.11072 0.18046 -0.0099082"/>
      <geometry>
        <mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/right_back_wheel_link.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_rear_wheel_joint" type="continuous">
    <origin rpy="0 0 0" xyz="-0.11072 -0.18046 0.0099082"/>
    <parent link="base_link"/>
    <child link="right_rear_wheel"/>
    <axis xyz="0 1 0"/>
    <limit effort="10" lower="-3.14159" upper="3.14159" velocity="800"/>
  </joint>

  <link name="camera">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.128875262431144"/>
      <inertia ixx="0.000226098241375409" ixy="-7.63151331329159E-09" ixz="-6.02732800767945E-07" iyy="1.50549325275966E-05" iyz="-7.62743002721805E-10" izz="0.000225285047549157"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="-0.21669 0.00063349 -0.142"/>
      <geometry>
        <mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/camera.stl"/>
      </geometry>
      <material name="camera_material">
        <color rgba="0 0 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.21669 0.00063349 -0.142"/>
      <geometry>
        <mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/camera.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="camera_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.21669 -0.00063349 0.142"/>
    <parent link="base_link"/>
    <child link="camera"/>
    <axis xyz="0 0 0"/>
  </joint>

  <link name="laser">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.136175408631878"/>
      <inertia ixx="5.05126026373552E-05" ixy="1.31150574294136E-08" ixz="1.65013289478E-06" iyy="7.08926003407945E-05" iyz="2.49898507713873E-09" izz="0.00010333009695655"/>
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    <visual>
      <origin rpy="0 0 0" xyz="-0.092303 -5.3876E-05 -0.2031"/>
      <geometry>
        <mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/laser_link.stl"/>
      </geometry>
      <material name="sensor_material">
        <color rgba="0 0 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.092303 -5.3876E-05 -0.2031"/>
      <geometry>
        <mesh filename="/home/nvidia/study/AutoCalib-Workshop/models/meshes/laser_link.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="laser_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.092303 5.3876E-05 0.2031"/>
    <parent link="base_link"/>
    <child link="laser"/>
    <axis xyz="0 0 0"/>
  </joint>

  <link name="imu">
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <mass value="0.005"/>
      <inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001"/>
    </inertial>
    <visual>
      <geometry>
        <box size="0.005 0.005 0.007"/>
      </geometry>
    </visual>
  </link>
  <joint name="imu_joints" type="fixed">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0035"/>
    <parent link="base_link"/>
    <child link="imu"/>
  </joint>
</robot>