<?xml version="1.0"?>
<robot name="mycar">
  <!-- 基础底盘 -->
  <link name="base_link">
    <visual>
      <geometry>
        <box size="0.276 0.164 0.08"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.07"/>
      <material name="rgba(102,10,10,1)">
        <color rgba="0.4 0.0392156862745098 0.0392156862745098 1"/>
      </material>
    </visual>
  </link>

  <!-- 激光雷达 -->
  <link name="laser">
    <visual>
      <geometry>
        <cylinder radius="0.03" length="0.05"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.025"/>
      <material name="black">
        <color rgba="0.1 0.1 0.1 1"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <cylinder radius="0.025" length="0.05"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.1"/>
      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
    </inertial>
  </link>

  <joint name="lidar_joint" type="continuous">
    <parent link="base_link"/>
    <child link="laser"/>
    <origin rpy="0 0 0" xyz="0.1 0 0.14"/>
    <axis xyz="0 0 1"/> 
  </joint>

  <!-- 其他现有部件 -->
  <link name="board_link">
    <visual>
      <geometry>
        <box size="0.200 0.164 0.06999999999999999"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.034999999999999996"/>
      <material name="rgba(246,152,152,1)">
        <color rgba="0.9647058823529412 0.596078431372549 0.596078431372549 1"/>
      </material>
    </visual>
  </link>

  <joint name="board_joint" type="continuous">
    <parent link="base_link"/>
    <child link="board_link"/>
    <origin rpy="0 0 0" xyz="-0.038000000000000006 0 0.11"/>
    <axis xyz="0 1 0"/>
  </joint>

  <!-- 车轮部分保持不变 -->
  <link name="down_left_Link">
    <visual>
      <origin rpy="-1.5707963 0 0" xyz="0 0.0 0"/>
      <geometry>
        <cylinder length="0.025" radius="0.03"/>
      </geometry>
      <material name="">
        <color rgba="0.7450980392156863 0.12941176470588237 0.12941176470588237 1"/>
      </material>
    </visual>
  </link>

  <joint name="down_left_joint" type="continuous">
    <parent link="base_link"/>
    <child link="down_left_Link"/>
    <origin rpy="0 0 0" xyz="-0.0841 0.0945 0.03"/>
    <axis xyz="0 1 0"/>
  </joint>

  <link name="down_right_Link">
    <visual>
      <origin rpy="1.5707963 0 0" xyz="0 0.0 0"/>
      <geometry>
        <cylinder length="0.025" radius="0.03"/>
      </geometry>
      <material name="">
        <color rgba="0.7450980392156863 0.12941176470588237 0.12941176470588237 1"/>
      </material>
    </visual>
  </link>

  <joint name="down_right_joint" type="continuous">
    <parent link="base_link"/>
    <child link="down_right_Link"/>
    <origin rpy="0 0 0" xyz="-0.0841 -0.0945 0.03"/>
    <axis xyz="0 -1 0"/>
  </joint>

  <link name="up_left_Link">
    <visual>
      <origin rpy="-1.5707963 0 0" xyz="0 0.0 0"/>
      <geometry>
        <cylinder length="0.025" radius="0.03"/>
      </geometry>
      <material name="">
        <color rgba="0.7450980392156863 0.12941176470588237 0.12941176470588237 1"/>
      </material>
    </visual>
  </link>

  <joint name="up_left_joint" type="continuous">
    <parent link="base_link"/>
    <child link="up_left_Link"/>
    <origin rpy="0 0 0" xyz="0.0841 0.0945 0.03"/>
    <axis xyz="0 1 0"/>
  </joint>

  <link name="up_right_Link">
    <visual>
      <origin rpy="1.5707963 0 0" xyz="0 0.0 0"/>
      <geometry>
        <cylinder length="0.025" radius="0.03"/>
      </geometry>
      <material name="">
        <color rgba="0.7450980392156863 0.12941176470588237 0.12941176470588237 1"/>
      </material>
    </visual>
  </link>

  <joint name="up_right_joint" type="continuous">
    <parent link="base_link"/>
    <child link="up_right_Link"/>
    <origin rpy="0 0 0" xyz="0.0841 -0.0945 0.03"/>
    <axis xyz="0 -1 0"/>
  </joint>
</robot>