372 lines
8.9 KiB
XML
372 lines
8.9 KiB
XML
<?xml version="1.0" encoding="utf-8"?>
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<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
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Commit Version: 1.6.0-1-g15f4949 Build Version: 1.6.7594.29634
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For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
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<robot
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name="hunter_se_description_2">
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<link
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name="base_link">
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<inertial>
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<origin
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xyz="0.0374140021041951 -0.000373005187591258 -0.0771282894414029"
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rpy="0 0 0" />
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<mass
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value="0.01" />
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<inertia
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ixx="0.123215829336501"
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ixy="-2.51201031615063E-06"
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ixz="0.00480100638469038"
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iyy="0.219144715482931"
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iyz="-1.0329581476775E-05"
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izz="0.313606030126045" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://hunter_se_description_2/meshes/base_link.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://hunter_se_description_2/meshes/base_link.STL" />
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</geometry>
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</collision>
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</link>
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<link
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name="fr_steer_left_link">
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<inertial>
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<origin
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xyz="-0.0002776492198312 0.0163539773588368 4.97346169803237E-09"
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rpy="0 0 0" />
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<mass
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value="0.01" />
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<inertia
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ixx="0.0176012120277572"
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ixy="-0.000255822069720042"
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ixz="4.89135197289253E-08"
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iyy="0.0326650592194903"
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iyz="-5.05595058544686E-10"
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<box size="0.001 0.001 0.001"/>
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</geometry>
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<material
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name="">
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<color
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rgba="0.223529411764706 0.223529411764706 0.223529411764706 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<box size="0.001 0.001 0.001"/>
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</geometry>
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</collision>
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</link>
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<joint
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name="fr_steer_left_jiont"
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type="revolute">
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<origin
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xyz="0.34058 0.24619 -0.1535"
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rpy="0 0 0" />
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<parent
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link="base_link" />
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<child
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link="fr_steer_left_link" />
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<axis
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xyz="0 0 1" />
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<limit
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lower="-0.69"
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upper="0.69"
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effort="0"
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velocity="0" />
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</joint>
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<link
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name="fr_left_link">
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<inertial>
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<origin
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xyz="-3.5837499634539E-10 4.97346158701006E-09 -0.016356334080185"
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rpy="0 0 0" />
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<mass
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value="0.01" />
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<inertia
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ixx="0.0175968687768806"
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ixy="4.88978895069836E-08"
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ixz="2.59363668202492E-09"
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iyy="0.0175968940276803"
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iyz="1.33582951478864E-09"
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izz="0.0326694024703669" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://hunter_se_description_2/meshes/fr_left_link.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.223529411764706 0.223529411764706 0.223529411764706 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://hunter_se_description_2/meshes/fr_left_link.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="fr_left_joint"
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type="continuous">
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<origin
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xyz="0 0 0"
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rpy="1.5708 0 0.016976" />
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<parent
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link="fr_steer_left_link" />
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<child
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link="fr_left_link" />
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<axis
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xyz="0 0 -1" />
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</joint>
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<link
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name="fr_steer_right_link">
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<inertial>
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<origin
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xyz="0.000274981985673328 -0.0163540222836661 -3.24802407192237E-11"
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rpy="0 0 0" />
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<mass
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value="0.01" />
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<inertia
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ixx="0.0176011208398464"
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ixy="-0.000253357559513646"
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ixz="8.00593138443467E-09"
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iyy="0.0326650290732704"
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iyz="5.65898650063874E-11"
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izz="0.0175967847225325" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<box size="0.001 0.001 0.001"/>
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</geometry>
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<material
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name="">
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<color
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rgba="1 1 1 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<box size="0.001 0.001 0.001"/>
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</geometry>
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</collision>
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</link>
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<joint
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name="fr_steer_right_link"
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type="revolute">
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<origin
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xyz="0.34219 -0.24619 -0.1535"
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rpy="0 0 0" />
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<parent
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link="base_link" />
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<child
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link="fr_steer_right_link" />
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<axis
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xyz="0 0 1" />
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<limit
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lower="-0.69"
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upper="0.69"
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effort="0"
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velocity="0" />
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</joint>
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<link
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name="fr_right_link">
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<inertial>
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<origin
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xyz="0.00027498198567355 3.24801296969213E-11 -0.0163540222836661"
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rpy="0 0 0" />
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<mass
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value="0.01" />
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<inertia
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ixx="0.0176011208398464"
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ixy="-8.00593138518773E-09"
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ixz="-0.000253357559513648"
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iyy="0.0175967847225325"
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iyz="-5.65898177386586E-11"
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izz="0.0326650290732703" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://hunter_se_description_2/meshes/fr_right_link.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.223529411764706 0.223529411764706 0.223529411764706 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://hunter_se_description_2/meshes/fr_right_link.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="fr_right_joint"
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type="continuous">
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<origin
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xyz="0 0 0"
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rpy="-1.5708 0 0" />
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<parent
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link="fr_steer_right_link" />
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<child
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link="fr_right_link" />
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<axis
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xyz="0 0 1" />
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</joint>
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<link
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name="re_left_link">
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<inertial>
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<origin
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xyz="1.245E-09 1.7252E-06 -0.010284"
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rpy="0 0 0" />
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<mass
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value="0.01" />
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<inertia
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ixx="0.018208"
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ixy="-1.1815E-10"
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ixz="-4.2619E-10"
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iyy="0.018208"
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iyz="-5.0277E-07"
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izz="0.03306" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://hunter_se_description_2/meshes/re_left_link.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.37647 0.37647 0.37647 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://hunter_se_description_2/meshes/re_left_link.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="re_left_jiont"
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type="continuous">
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<origin
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xyz="-0.2078 0.252 -0.158"
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rpy="1.5708 0 0" />
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<parent
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link="base_link" />
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<child
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link="re_left_link" />
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<axis
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xyz="0 0 -1" />
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</joint>
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<link
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name="re_right_link">
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<inertial>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<mass
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value="0.01" />
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<inertia
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ixx="0.0176011208398464"
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ixy="-8.00593138518773E-09"
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ixz="-0.000253357559513648"
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iyy="0.0175967847225325"
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iyz="-5.65898177386586E-11"
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://hunter_se_description_2/meshes/re_right_link.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="1 1 1 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://hunter_se_description_2/meshes/re_right_link.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="re_right_jiont"
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type="continuous">
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<origin
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xyz="-0.2078 -0.252 -0.158"
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rpy="-1.5708 0 0" />
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<parent
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link="base_link" />
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<child
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link="re_right_link" />
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<axis
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xyz="0 0 1" />
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</joint>
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</robot> |