286 lines
6.5 KiB
XML
Executable File
286 lines
6.5 KiB
XML
Executable File
<?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="rm_urdf_ff">
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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="0.0070402 -0.0046035 0.032982"
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rpy="0 0 0" />
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<mass
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value="9.1966" />
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<inertia
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ixx="0.024645"
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ixy="6.9322E-07"
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ixz="1.5236E-07"
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iyy="0.028901"
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iyz="-4.7002E-05"
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izz="0.049888" />
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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://rm_urdf_ff/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="0.75294 0.75294 0.75294 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://rm_urdf_ff/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="yaw_link">
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<inertial>
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<origin
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xyz="0.043935 -0.037671 0.15402"
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rpy="0 0 0" />
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<mass
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value="0.91059" />
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<inertia
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ixx="0.0024154"
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ixy="-1.4237E-05"
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ixz="-7.1292E-05"
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iyy="0.0019981"
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iyz="-1.0283E-05"
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izz="0.0024657" />
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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://rm_urdf_ff/meshes/yaw_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="0.75294 0.75294 0.75294 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://rm_urdf_ff/meshes/yaw_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="yaw_joint"
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type="continuous">
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<origin
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xyz="0 0 0.1245"
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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="yaw_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="pitch_link">
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<inertial>
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<origin
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xyz="-0.00030478 0.061449 -0.0008877"
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rpy="0 0 0" />
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<mass
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value="0.99446" />
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<inertia
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ixx="0.0016756"
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ixy="-1.0588E-06"
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ixz="3.3265E-08"
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iyy="0.00055773"
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iyz="-3.9108E-06"
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izz="0.0012579" />
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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://rm_urdf_ff/meshes/pitch_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="0.75294 0.75294 0.75294 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://rm_urdf_ff/meshes/pitch_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="pitch_joint"
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type="continuous">
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<origin
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xyz="-0.022511 0 0.20965"
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rpy="0 0 0" />
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<parent
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link="yaw_link" />
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<child
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link="pitch_link" />
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<axis
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xyz="-1 0 0" />
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</joint>
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<link name="shooter_link" />
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<joint name="shooter_joint" type="fixed">
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<origin xyz="0 0 0.33415" rpy="0 0 0" />
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<parent link="base_link" />
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<child link="shooter_link" />
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</joint>
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<link name="body_link" />
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<joint name="body_joint" type="continuous">
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<origin xyz="0 0 0.4" rpy="0 0 0" />
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<parent link="base_link" />
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<child link="body_link" />
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<axis xyz="0 0 1" />
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</joint>
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<link
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name="camera_base_link">
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<inertial>
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<origin
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xyz="-1.6944E-05 -0.02258 0.0010833"
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rpy="0 0 0" />
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<mass
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value="0.03311" />
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<inertia
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ixx="1.1155E-05"
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ixy="-6.6506E-09"
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ixz="-4.853E-09"
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iyy="4.112E-06"
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iyz="1.0516E-06"
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izz="1.1054E-05" />
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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://rm_urdf_ff/meshes/camera_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="0.75294 0.75294 0.75294 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://rm_urdf_ff/meshes/camera_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="camera_base_joint"
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type="fixed">
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<origin
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xyz="-0.031 0.12283 0.06306"
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rpy="0 0 0" />
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<parent
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link="pitch_link" />
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<child
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link="camera_base_link" />
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<axis
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xyz="0 0 0" />
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</joint>
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<link name="camera_optical_frame" />
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<joint name="camera_optical_joint" type="fixed">
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<origin xyz="0 0 0" rpy="-1.5708 0 0" />
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<parent link="camera_base_link" />
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<child link="camera_optical_frame" />
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</joint>
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<link
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name="imu_link">
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<inertial>
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<origin
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xyz="5.9397E-15 0.0015 1.5765E-14"
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rpy="0 0 0" />
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<mass
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value="0.0055829" />
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<inertia
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ixx="7.608E-07"
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ixy="-1.0074E-20"
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ixz="2.8577E-21"
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iyy="1.7127E-06"
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iyz="2.5037E-21"
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izz="9.6027E-07" />
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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://rm_urdf_ff/meshes/imu_ink.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="0.75294 0.75294 0.75294 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://rm_urdf_ff/meshes/imu_ink.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="imu_joint"
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type="fixed">
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<origin
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xyz="0.012182 -0.167 0"
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rpy="0 0 0" />
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<parent
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link="pitch_link" />
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<child
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link="imu_link" />
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<axis
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xyz="0 0 0" />
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</joint>
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</robot>
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