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<?xml version="1.0"?>
<robot name="bluevolta">
<material name="green">
<color rgba="0.235 0.702 0.443 1"/>
</material>
<material name="blue">
<color rgba="0.263 0.733 0.984 1"/>
</material>
<material name="red">
<color rgba="1 0 0 1"/>
</material>
<material name="black">
<color rgba="0.8 0.8 0.8 1"/>
</material>
<material name="orange">
<color rgba="1 0.369 0.047 1"/>
</material>
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<link name="bluevolta_base_link"/>
<joint name="bluevolta_fixed_joint" type="fixed">
<origin xyz="0 0 0" rpy="-3.141592654 0 3.141592654"/>
<parent link="bluevolta_base_link"/>
<child link="bluevolta_rov"/>
</joint>
<link name="bluevolta_rov">
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<!--Inertial parameters are not correct-->
<inertial>
<mass value="200.0"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.01152" ixy="0.0" ixz="0.0" iyy="0.01152" iyz="0.0" izz="0.0218"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://example-robot-data/robots/bluevolta_description/meshes/bluevolta.stl"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://example-robot-data/robots/bluevolta_description/meshes/bluevolta_convex_hull.stl"/>
</geometry>
</collision>
</link>
<!--THRUSTERS-->
<link name="Thruster_TOP_FL">
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/bluevolta_description/meshes/bluevolta_propeller.stl"/>
</geometry>
<material name="red"/>
</visual>
</link>
<link name="Thruster_TOP_FR">
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/bluevolta_description/meshes/bluevolta_propeller.stl"/>
</geometry>
<material name="red"/>
</visual>
</link>
<link name="Thruster_TOP_B">
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/bluevolta_description/meshes/bluevolta_propeller.stl"/>
</geometry>
<material name="red"/>
</visual>
</link>
<link name="Thruster_BOTTOM_FL">
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/bluevolta_description/meshes/bluevolta_propeller.stl"/>
</geometry>
<material name="red"/>
</visual>
</link>
<link name="Thruster_BOTTOM_FR">
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/bluevolta_description/meshes/bluevolta_propeller.stl"/>
</geometry>
<material name="red"/>
</visual>
</link>
<link name="Thruster_BOTTOM_BL">
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/bluevolta_description/meshes/bluevolta_propeller.stl"/>
</geometry>
<material name="red"/>
</visual>
</link>
<link name="Thruster_BOTTOM_BR">
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/bluevolta_description/meshes/bluevolta_propeller.stl"/>
</geometry>
<material name="red"/>
</visual>
</link>
<joint name="Thruster_TOP_FL_joint" type="fixed">
<parent link="bluevolta_rov"/>
<child link="Thruster_TOP_FL"/>
<origin rpy="0.0 1.8 0.0" xyz="0.34 0.25 -0.28"/>
</joint>
<joint name="Thruster_TOP_FR_joint" type="fixed">
<parent link="bluevolta_rov"/>
<child link="Thruster_TOP_FR"/>
<origin rpy="0.0 1.34 0.0" xyz="-0.34 0.25 -0.28"/>
</joint>
<joint name="Thruster_TOP_B_joint" type="fixed">
<parent link="bluevolta_rov"/>
<child link="Thruster_TOP_B"/>
<origin rpy="0.0 1.8 -1.57" xyz="0.0 -0.6 -0.3"/>
</joint>
<joint name="Thruster_BOTTOM_FR_joint" type="fixed">
<parent link="bluevolta_rov"/>
<child link="Thruster_BOTTOM_FR"/>
<origin rpy="0.0 0.0 -2.24" xyz="-0.31 0.52 -0.1"/>
</joint>
<joint name="Thruster_BOTTOM_BL_joint" type="fixed">
<parent link="bluevolta_rov"/>
<child link="Thruster_BOTTOM_BL"/>
<origin rpy="0.0 0.0 -2.24" xyz="0.27 -0.6 -0.11"/>
</joint>
<joint name="Thruster_BOTTOM_FL_joint" type="fixed">
<parent link="bluevolta_rov"/>
<child link="Thruster_BOTTOM_FL"/>
<origin rpy="0.0 0.0 -0.9" xyz="0.31 0.52 -0.1"/>
</joint>
<joint name="Thruster_BOTTOM_BR_joint" type="fixed">
<parent link="bluevolta_rov"/>
<child link="Thruster_BOTTOM_BR"/>
<origin rpy="0.0 0.0 -0.9" xyz="-0.27 -0.6 -0.11"/>
</joint>
<!--Arm attaching link-->
<link name="box_base_bravo">
<visual>
<geometry>
<box size="0.1 0.1 0.1"/>
</geometry>
<material name="orange"/>
</visual>
</link>
<joint name="box_base_bravo_joint" type="fixed">
<origin xyz="-0.25 0.835 0.17" rpy="0 0 0"/>
<parent link="bluevolta_rov"/>
<child link="box_base_bravo"/>
</joint>
</robot>