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houyongdi
2026-07-27 13:51:19 +08:00
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sensors/hunter_se_description/urdf/hunter_se_description.csv
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Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity
base_link,0.0374140021041951,-0.000373005187591258,-0.0771282894414029,0,0,0,14.7373774918344,0.123215829336501,-2.51201031615063E-06,0.00480100638469038,0.219144715482931,-1.0329581476775E-05,0.313606030126045,0,0,0,0,0,0,package://hunter_se_description_2/meshes/base_link.STL,0.752941176470588,0.752941176470588,0.752941176470588,1,0,0,0,0,0,0,package://hunter_se_description_2/meshes/base_link.STL,,M-HUTM-010014-A-1;M-HUTM-010001-A-2;电池外盖_20211022_B(3)-1;LP20-4PSX座子_3_V21_V22_V3_1-2;电池盖插销-2;内装式电量显示-1;LANBOO蓝波钥匙开关-开孔19-1;航插充电头-1;电池盖插销-1;平行四边形减震模组-1/减震连接小件-4;尾部侧板-1;平行四边形减震模组-1/减震竖直板-1;平行四边形减震模组-1/减震连接小件-2;平行四边形减震模组-1/减震连接小件-6;平行四边形减震模组-1/减速器车架连接件-1;平行四边形减震模组-1/减震连接小件-3;镜向尾部侧板-2;平行四边形减震模组-2/减速器车架连接件-1;平行四边形减震模组-2/减震连接小件-3;平行四边形减震模组-2/-孔距100初始150磅电动车弹簧-1/避震杆01-1;平行四边形减震模组-2/-孔距100初始150磅电动车弹簧-1/避震杆02-1;平行四边形减震模组-2/减震连接小件-6;平行四边形减震模组-2/减震竖直板-1;平行四边形减震模组-2/减震连接小件-2;平行四边形减震模组-2/减震连接小件-4;平行四边形减震模组-1/-孔距100初始150磅电动车弹簧-1/避震杆02-1;平行四边形减震模组-1/-孔距100初始150磅电动车弹簧-1/避震杆01-1;平行四边形减震模组-1/-孔距100初始150磅电动车弹簧-1/避震弹簧-1;M-HUTM-010011-A-1;M-HUTM-010012-A-1;M-HUTM-010008-A-1;前桥模组2-2/M-HUTM-010204-A-1;前桥模组2-2/M-HUTM-010206-A-1;灯带-1;前桥模组2-2/AKM-001-00-1/RTLBL10R-2/RTLBL10R_2-1;前桥模组2-2/AKM-001-00-1/RTLBL10R-2/RTLBL10R_3-1;前桥模组2-2/AKM-001-00-1/球头1-2;前桥模组2-2/AKM-001-00-1/RTLBL10R-1/RTLBL10R_2-1;前桥模组2-2/AKM-001-00-1/RTLBL10R-1/RTLBL10R_3-1;前桥模组2-2/M-HUTM-010201-B-2;前桥模组2-2/塞打螺钉16_ghx_11_1_3_V20_V21_V22_V3_1-2;前桥模组2-2/M-HUTM-010203-A-2;前桥模组2-2/M-HUTM-010203-A-4;前桥模组2-2/M-HUTM-010201-B-4;M-HUTM-010013-A-1,坐标系base,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
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fr_left_link,-3.5837499634539E-10,4.97346158701006E-09,-0.016356334080185,0,0,0,3.14923108719031,0.0175968687768806,4.88978895069836E-08,2.59363668202492E-09,0.0175968940276803,1.33582951478864E-09,0.0326694024703669,0,0,0,0,0,0,package://hunter_se_description_2/meshes/fr_left_link.STL,0.223529411764706,0.223529411764706,0.223529411764706,1,0,0,0,0,0,0,package://hunter_se_description_2/meshes/fr_left_link.STL,,前车轮-1;前车轮外壳2-2,坐标系1,基准轴1,fr_left_joint,continuous,0,0,0,1.5708,0,0.016976,fr_steer_left_link,0,0,-1,,,,,,,,,,,,
fr_steer_right_link,0.000274981985673328,-0.0163540222836661,-3.24802407192237E-11,0,0,0,3.14923106523906,0.0176011208398464,-0.000253357559513646,8.00593138443467E-09,0.0326650290732704,5.65898650063874E-11,0.0175967847225325,0,0,0,0,0,0,package://hunter_se_description_2/meshes/fr_steer_right_link.STL,1,1,1,1,0,0,0,0,0,0,package://hunter_se_description_2/meshes/fr_steer_right_link.STL,,前车轮外壳2-1;前车轮-2,坐标系6,,fr_steer_right_link,fixed,0.34219,-0.24619,-0.1535,0,0,0,base_link,0,0,0,,,,,,,,,,,,
fr_right_link,0.00027498198567355,3.24801296969213E-11,-0.0163540222836661,0,0,0,3.14923106523906,0.0176011208398464,-8.00593138518773E-09,-0.000253357559513648,0.0175967847225325,-5.65898177386586E-11,0.0326650290732703,0,0,0,0,0,0,package://hunter_se_description_2/meshes/fr_right_link.STL,0.223529411764706,0.223529411764706,0.223529411764706,1,0,0,0,0,0,0,package://hunter_se_description_2/meshes/fr_right_link.STL,,前车轮-2;前车轮外壳2-1,坐标系2,基准轴2,fr_right_joint,continuous,0,0,0,-1.5708,0,0,fr_steer_right_link,0.016812,0,-0.99986,,,,,,,,,,,,
re_left_link,1.245E-09,1.7252E-06,-0.010284,0,0,0,3.7665,0.018208,-1.1815E-10,-4.2619E-10,0.018208,-5.0277E-07,0.03306,0,0,0,0,0,0,package://hunter_se_description_2/meshes/re_left_link.STL,0.37647,0.37647,0.37647,1,0,0,0,0,0,0,package://hunter_se_description_2/meshes/re_left_link.STL,,后车轮-1;后车轮外壳-1,坐标系3,基准轴3,re_left_jiont,continuous,-0.2078,0.252,-0.158,1.5708,0,0,base_link,0,0,-1,,,,,,,,,,,,
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1 Link Name Center of Mass X Center of Mass Y Center of Mass Z Center of Mass Roll Center of Mass Pitch Center of Mass Yaw Mass Moment Ixx Moment Ixy Moment Ixz Moment Iyy Moment Iyz Moment Izz Visual X Visual Y Visual Z Visual Roll Visual Pitch Visual Yaw Mesh Filename Color Red Color Green Color Blue Color Alpha Collision X Collision Y Collision Z Collision Roll Collision Pitch Collision Yaw Collision Mesh Filename Material Name SW Components Coordinate System Axis Name Joint Name Joint Type Joint Origin X Joint Origin Y Joint Origin Z Joint Origin Roll Joint Origin Pitch Joint Origin Yaw Parent Joint Axis X Joint Axis Y Joint Axis Z Limit Effort Limit Velocity Limit Lower Limit Upper Calibration rising Calibration falling Dynamics Damping Dynamics Friction Safety Soft Upper Safety Soft Lower Safety K Position Safety K Velocity
2 base_link 0.0374140021041951 -0.000373005187591258 -0.0771282894414029 0 0 0 14.7373774918344 0.123215829336501 -2.51201031615063E-06 0.00480100638469038 0.219144715482931 -1.0329581476775E-05 0.313606030126045 0 0 0 0 0 0 package://hunter_se_description_2/meshes/base_link.STL 0.752941176470588 0.752941176470588 0.752941176470588 1 0 0 0 0 0 0 package://hunter_se_description_2/meshes/base_link.STL M-HUTM-010014-A-1;M-HUTM-010001-A-2;电池外盖_20211022_B(3)-1;LP20-4PSX座子_3_V21_V22_V3_1-2;电池盖插销-2;内装式电量显示-1;LANBOO蓝波钥匙开关-开孔19-1;航插充电头-1;电池盖插销-1;平行四边形减震模组-1/减震连接小件-4;尾部侧板-1;平行四边形减震模组-1/减震竖直板-1;平行四边形减震模组-1/减震连接小件-2;平行四边形减震模组-1/减震连接小件-6;平行四边形减震模组-1/减速器车架连接件-1;平行四边形减震模组-1/减震连接小件-3;镜向尾部侧板-2;平行四边形减震模组-2/减速器车架连接件-1;平行四边形减震模组-2/减震连接小件-3;平行四边形减震模组-2/-孔距100初始150磅电动车弹簧-1/避震杆01-1;平行四边形减震模组-2/-孔距100初始150磅电动车弹簧-1/避震杆02-1;平行四边形减震模组-2/减震连接小件-6;平行四边形减震模组-2/减震竖直板-1;平行四边形减震模组-2/减震连接小件-2;平行四边形减震模组-2/减震连接小件-4;平行四边形减震模组-1/-孔距100初始150磅电动车弹簧-1/避震杆02-1;平行四边形减震模组-1/-孔距100初始150磅电动车弹簧-1/避震杆01-1;平行四边形减震模组-1/-孔距100初始150磅电动车弹簧-1/避震弹簧-1;M-HUTM-010011-A-1;M-HUTM-010012-A-1;M-HUTM-010008-A-1;前桥模组2-2/M-HUTM-010204-A-1;前桥模组2-2/M-HUTM-010206-A-1;灯带-1;前桥模组2-2/AKM-001-00-1/RTLBL10R-2/RTLBL10R_2-1;前桥模组2-2/AKM-001-00-1/RTLBL10R-2/RTLBL10R_3-1;前桥模组2-2/AKM-001-00-1/球头1-2;前桥模组2-2/AKM-001-00-1/RTLBL10R-1/RTLBL10R_2-1;前桥模组2-2/AKM-001-00-1/RTLBL10R-1/RTLBL10R_3-1;前桥模组2-2/M-HUTM-010201-B-2;前桥模组2-2/塞打螺钉16_ghx_11_1_3_V20_V21_V22_V3_1-2;前桥模组2-2/M-HUTM-010203-A-2;前桥模组2-2/M-HUTM-010203-A-4;前桥模组2-2/M-HUTM-010201-B-4;M-HUTM-010013-A-1 坐标系base 0 0 0 0 0 0 0 0 0
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4 fr_left_link -3.5837499634539E-10 4.97346158701006E-09 -0.016356334080185 0 0 0 3.14923108719031 0.0175968687768806 4.88978895069836E-08 2.59363668202492E-09 0.0175968940276803 1.33582951478864E-09 0.0326694024703669 0 0 0 0 0 0 package://hunter_se_description_2/meshes/fr_left_link.STL 0.223529411764706 0.223529411764706 0.223529411764706 1 0 0 0 0 0 0 package://hunter_se_description_2/meshes/fr_left_link.STL 前车轮-1;前车轮外壳2-2 坐标系1 基准轴1 fr_left_joint continuous 0 0 0 1.5708 0 0.016976 fr_steer_left_link 0 0 -1
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7 re_left_link 1.245E-09 1.7252E-06 -0.010284 0 0 0 3.7665 0.018208 -1.1815E-10 -4.2619E-10 0.018208 -5.0277E-07 0.03306 0 0 0 0 0 0 package://hunter_se_description_2/meshes/re_left_link.STL 0.37647 0.37647 0.37647 1 0 0 0 0 0 0 package://hunter_se_description_2/meshes/re_left_link.STL 后车轮-1;后车轮外壳-1 坐标系3 基准轴3 re_left_jiont continuous -0.2078 0.252 -0.158 1.5708 0 0 base_link 0 0 -1
8 re_right_link 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 package://hunter_se_description_2/meshes/re_right_link.STL 1 1 1 1 0 0 0 0 0 0 package://hunter_se_description_2/meshes/re_right_link.STL 后车轮-2;后车轮外壳-2 坐标系4 基准轴4 re_right_jiont continuous -0.2078 -0.252 -0.158 -1.5708 0 0 base_link 0 0 -1
sensors/hunter_se_description/urdf/hunter_se_description.urdf
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For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
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xyz="0.34219 -0.24619 -0.1535"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="fr_steer_right_link" />
<axis
xyz="0 0 1" />
<limit
lower="-0.69"
upper="0.69"
effort="0"
velocity="0" />
</joint>
<link
name="fr_right_link">
<inertial>
<origin
xyz="0.00027498198567355 3.24801296969213E-11 -0.0163540222836661"
rpy="0 0 0" />
<mass
value="3.149" />
<inertia
ixx="0.0222"
ixy="0.0"
ixz="0.0"
iyy="0.0222"
iyz="0.0"
izz="0.0378075" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hunter_se_description/meshes/fr_right_link.STL" />
</geometry>
<material
name="">
<color
rgba="0.223529411764706 0.223529411764706 0.223529411764706 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hunter_se_description/meshes/fr_right_link.STL" />
</geometry>
</collision>
</link>
<joint
name="fr_right_joint"
type="continuous">
<origin
xyz="0 0 0"
rpy="-1.5708 0 0" />
<parent
link="fr_steer_right_link" />
<child
link="fr_right_link" />
<axis
xyz="0 0 1" />
<dynamics damping="0.0" friction="15"/>
</joint>
<link
name="re_left_link">
<inertial>
<origin
xyz="1.245E-09 1.7252E-06 -0.010284"
rpy="0 0 0" />
<mass
value="3.149" />
<inertia
ixx="0.0222"
ixy="0.0"
ixz="0.0"
iyy="0.0222"
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izz="0.0378075" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hunter_se_description/meshes/re_left_link.STL" />
</geometry>
<material
name="">
<color
rgba="0.37647 0.37647 0.37647 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hunter_se_description/meshes/re_left_link.STL" />
</geometry>
</collision>
</link>
<joint
name="re_left_joint"
type="continuous">
<origin
xyz="-0.2078 0.252 -0.158"
rpy="1.5708 0 0" />
<parent
link="base_link" />
<child
link="re_left_link" />
<axis
xyz="0 0 -1" />
<dynamics damping="0.0" friction="15"/>
</joint>
<link
name="re_right_link">
<inertial>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<mass
value="3.149" />
<inertia
ixx="0.0222"
ixy="0.0"
ixz="0.0"
iyy="0.0222"
iyz="0.0"
izz="0.0378075" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hunter_se_description/meshes/re_right_link.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hunter_se_description/meshes/re_right_link.STL" />
</geometry>
</collision>
</link>
<joint
name="re_right_joint"
type="continuous">
<origin
xyz="-0.2078 -0.252 -0.158"
rpy="-1.5708 0 0" />
<parent
link="base_link" />
<child
link="re_right_link" />
<axis
xyz="0 0 1" />
<dynamics damping="0.0" friction="15"/>
</joint>
<link
name="front_steer_link">
<inertial>
<origin
xyz="0.049836 8.1046E-15 0.017912"
rpy="0 0 0" />
<mass
value="0.0049179" />
<inertia
ixx="1.6846E-07"
ixy="7.6396E-23"
ixz="-1.0974E-08"
iyy="7.549E-07"
iyz="-1.8957E-22"
izz="7.334E-07" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<cylinder length="0.001" radius="0.005"/>
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<cylinder length="0.001" radius="0.005"/>
</geometry>
</collision>
</link>
<joint
name="front_steer_joint"
type="revolute">
<origin
xyz="0.40792 -1.1431E-05 -0.085581"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="front_steer_link" />
<axis
xyz="0 0 1" />
<limit
lower="-0.72"
upper="0.72"
effort="0"
velocity="0" />
</joint>
<link
name="rear_wheel_link">
<inertial>
<origin
xyz="-0.02 0.0031269 -0.12735"
rpy="0 0 0" />
<mass
value="0.0049179" />
<inertia
ixx="1.1821E-06"
ixy="9.6965E-13"
ixz="-3.1553E-12"
iyy="9.5276E-07"
iyz="1.2428E-08"
izz="1.0913E-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<cylinder length="0.001" radius="0.005"/>
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<cylinder length="0.001" radius="0.005"/>
</geometry>
</collision>
</link>
<joint
name="rear_wheel_joint"
type="continuous">
<origin
xyz="-0.30408 -1.1431E-05 -0.085581"
rpy="0.0032313 0 0" />
<parent
link="base_link" />
<child
link="rear_wheel_link" />
<axis
xyz="0 0 1" />
</joint>
<gazebo reference="fr_left_link">
<mu1>0.8</mu1>
<mu2>0.8</mu2>
<kp>500000.0</kp>
<kd>10.0</kd>
<minDepth>0.001</minDepth>
<maxVel>0.1</maxVel>
<fdir1>1 0 0</fdir1>
<material>Gazebo/Grey </material>
</gazebo>
<gazebo reference="fr_right_link">
<mu1>0.8</mu1>
<mu2>0.8</mu2>
<kp>500000.0</kp>
<kd>10.0</kd>
<minDepth>0.001</minDepth>
<maxVel>0.1</maxVel>
<fdir1>1 0 0</fdir1>
<material>Gazebo/Grey </material>
</gazebo>
<gazebo reference="re_left_link">
<mu1>0.8</mu1>
<mu2>10</mu2>
<kp>500000.0</kp>
<kd>10.0</kd>
<minDepth>0.001</minDepth>
<maxVel>0.1</maxVel>
<fdir1>1 0 0</fdir1>
<material>Gazebo/Grey </material>
</gazebo>
<gazebo reference="re_right_link">
<mu1>0.8</mu1>
<mu2>10</mu2>
<kp>500000.0</kp>
<kd>10.0</kd>
<minDepth>0.001</minDepth>
<maxVel>0.1</maxVel>
<fdir1>1 0 0</fdir1>
<material>Gazebo/Grey </material>
</gazebo>
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotSimType>steer_bot_hardware_gazebo/SteerBotHardwareGazebo</robotSimType>
<legacyModeNS>false</legacyModeNS>
</plugin>
</gazebo>
</robot>
sensors/hunter_se_description/urdf/hunter_se_description.xacro
+372
View File
@@ -0,0 +1,372 @@
<?xml version="1.0" encoding="utf-8"?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
Commit Version: 1.6.0-1-g15f4949 Build Version: 1.6.7594.29634
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
name="hunter_se_description_2">
<link
name="base_link">
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<origin
xyz="0.0374140021041951 -0.000373005187591258 -0.0771282894414029"
rpy="0 0 0" />
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value="0.01" />
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ixx="0.123215829336501"
ixy="-2.51201031615063E-06"
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iyy="0.219144715482931"
iyz="-1.0329581476775E-05"
izz="0.313606030126045" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hunter_se_description_2/meshes/base_link.STL" />
</geometry>
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name="">
<color
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
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</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hunter_se_description_2/meshes/base_link.STL" />
</geometry>
</collision>
</link>
<link
name="fr_steer_left_link">
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<origin
xyz="-0.0002776492198312 0.0163539773588368 4.97346169803237E-09"
rpy="0 0 0" />
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value="0.01" />
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xyz="0 0 0"
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name="">
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rgba="0.223529411764706 0.223529411764706 0.223529411764706 1" />
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xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<box size="0.001 0.001 0.001"/>
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</collision>
</link>
<joint
name="fr_steer_left_jiont"
type="revolute">
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xyz="0.34058 0.24619 -0.1535"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="fr_steer_left_link" />
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xyz="0 0 1" />
<limit
lower="-0.69"
upper="0.69"
effort="0"
velocity="0" />
</joint>
<link
name="fr_left_link">
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<origin
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rpy="0 0 0" />
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filename="package://hunter_se_description_2/meshes/fr_left_link.STL" />
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name="">
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</link>
<joint
name="fr_left_joint"
type="continuous">
<origin
xyz="0 0 0"
rpy="1.5708 0 0.016976" />
<parent
link="fr_steer_left_link" />
<child
link="fr_left_link" />
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xyz="0 0 -1" />
</joint>
<link
name="fr_steer_right_link">
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<origin
xyz="0.000274981985673328 -0.0163540222836661 -3.24802407192237E-11"
rpy="0 0 0" />
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name="">
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rgba="1 1 1 1" />
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xyz="0 0 0"
rpy="0 0 0" />
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<box size="0.001 0.001 0.001"/>
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</collision>
</link>
<joint
name="fr_steer_right_link"
type="revolute">
<origin
xyz="0.34219 -0.24619 -0.1535"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="fr_steer_right_link" />
<axis
xyz="0 0 1" />
<limit
lower="-0.69"
upper="0.69"
effort="0"
velocity="0" />
</joint>
<link
name="fr_right_link">
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<origin
xyz="0.00027498198567355 3.24801296969213E-11 -0.0163540222836661"
rpy="0 0 0" />
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<visual>
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filename="package://hunter_se_description_2/meshes/fr_right_link.STL" />
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name="">
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rgba="0.223529411764706 0.223529411764706 0.223529411764706 1" />
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</visual>
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xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hunter_se_description_2/meshes/fr_right_link.STL" />
</geometry>
</collision>
</link>
<joint
name="fr_right_joint"
type="continuous">
<origin
xyz="0 0 0"
rpy="-1.5708 0 0" />
<parent
link="fr_steer_right_link" />
<child
link="fr_right_link" />
<axis
xyz="0 0 1" />
</joint>
<link
name="re_left_link">
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<origin
xyz="1.245E-09 1.7252E-06 -0.010284"
rpy="0 0 0" />
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<visual>
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xyz="0 0 0"
rpy="0 0 0" />
<geometry>
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filename="package://hunter_se_description_2/meshes/re_left_link.STL" />
</geometry>
<material
name="">
<color
rgba="0.37647 0.37647 0.37647 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hunter_se_description_2/meshes/re_left_link.STL" />
</geometry>
</collision>
</link>
<joint
name="re_left_jiont"
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xyz="-0.2078 0.252 -0.158"
rpy="1.5708 0 0" />
<parent
link="base_link" />
<child
link="re_left_link" />
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xyz="0 0 -1" />
</joint>
<link
name="re_right_link">
<inertial>
<origin
xyz="0 0 0"
rpy="0 0 0" />
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<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hunter_se_description_2/meshes/re_right_link.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hunter_se_description_2/meshes/re_right_link.STL" />
</geometry>
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</link>
<joint
name="re_right_jiont"
type="continuous">
<origin
xyz="-0.2078 -0.252 -0.158"
rpy="-1.5708 0 0" />
<parent
link="base_link" />
<child
link="re_right_link" />
<axis
xyz="0 0 1" />
</joint>
</robot>