
<?xml version="1.0" ?>
<robot name="husky_robot" xmlns:xacro="http://ros.org/wiki/xacro">
  <material name="White">
    <color rgba="1.0 1.0 1.0 1.0"/>
  </material>
  <link name="world"/>
	<link name="front_left_wheel_link">
  	<contact>
      <lateral_friction value="1.0"/>
      <rolling_friction value="0.0"/>
      <stiffness value="30000"/>
      <damping value="1000"/>
    </contact>
    
    <inertial>
      <mass value="2.637"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="husky/meshes/wheel.stl"/>
      </geometry>
      <material name="DarkGrey"/>
    </visual>
    <collision>
      <origin rpy="1.570795 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.1143" radius="0.17775"/>
      </geometry>
    </collision>
  </link>
  
  <joint name="front_left_wheel" type="continuous">
    <parent link="world"/>
    <child link="front_left_wheel_link"/>
    <origin rpy="0 0 0" xyz="0.256 0.2854 0.03282"/>
    <axis rpy="0 0 0" xyz="0 1 0"/>
  </joint>
</robot>