mirror of
https://github.com/westonrobot/scout_ros.git
synced 2026-01-12 11:20:02 +08:00
138 lines
4.4 KiB
XML
138 lines
4.4 KiB
XML
<?xml version="1.0" encoding="utf-8"?>
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<!-- =================================================================================== -->
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<!-- | This document was autogenerated by xacro from scout_description/urdf/scout_v2_webots.xacro | -->
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<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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<!-- =================================================================================== -->
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<robot name="scout_v2">
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<!-- Base link -->
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<link name="base_link">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://scout_description/meshes/base_link.dae"/>
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</geometry>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0.008"/>
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<geometry>
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<box size="0.925 0.38 0.21"/>
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</geometry>
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</collision>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0.035"/>
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<geometry>
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<box size="0.154166666667 0.627 0.07"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="40"/>
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<origin xyz="0.0 0.0 0.0"/>
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<inertia ixx="2.288641" ixy="0" ixz="0" iyy="5.103976" iyz="0" izz="3.431465"/>
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</inertial>
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</link>
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<link name="front_right_wheel_link">
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<inertial>
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<mass value="3"/>
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<origin xyz="0 0 0"/>
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<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://scout_description/meshes/wheel_type1.dae"/>
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</geometry>
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</visual>
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<collision>
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<origin rpy="1.570795 0 0" xyz="0 0 0"/>
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<geometry>
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<cylinder length="0.11653" radius="0.16459"/>
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</geometry>
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</collision>
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</link>
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<joint name="front_right_wheel" type="continuous">
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<parent link="base_link"/>
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<child link="front_right_wheel_link"/>
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<origin rpy="3.14 0 0" xyz="0.249 -0.29153 -0.0702"/>
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<axis rpy="0 0 0" xyz="0 -1 0"/>
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</joint>
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<link name="front_left_wheel_link">
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<inertial>
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<mass value="3"/>
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<origin xyz="0 0 0"/>
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<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://scout_description/meshes/wheel_type2.dae"/>
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</geometry>
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</visual>
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<collision>
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<origin rpy="1.570795 0 0" xyz="0 0 0"/>
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<geometry>
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<cylinder length="0.11653" radius="0.16459"/>
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</geometry>
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</collision>
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</link>
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<joint name="front_left_wheel" type="continuous">
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<parent link="base_link"/>
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<child link="front_left_wheel_link"/>
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<origin rpy="0 0 0" xyz="0.249 0.29153 -0.0702"/>
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<axis rpy="0 0 0" xyz="0 -1 0"/>
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</joint>
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<link name="rear_left_wheel_link">
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<inertial>
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<mass value="3"/>
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<origin xyz="0 0 0"/>
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<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://scout_description/meshes/wheel_type1.dae"/>
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</geometry>
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</visual>
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<collision>
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<origin rpy="1.570795 0 0" xyz="0 0 0"/>
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<geometry>
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<cylinder length="0.11653" radius="0.16459"/>
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</geometry>
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</collision>
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</link>
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<joint name="rear_left_wheel" type="continuous">
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<parent link="base_link"/>
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<child link="rear_left_wheel_link"/>
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<origin rpy="0 0 0" xyz="-0.249 0.29153 -0.0702"/>
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<axis rpy="0 0 0" xyz="0 -1 0"/>
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</joint>
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<link name="rear_right_wheel_link">
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<inertial>
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<mass value="3"/>
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<origin xyz="0 0 0"/>
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<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://scout_description/meshes/wheel_type2.dae"/>
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</geometry>
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</visual>
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<collision>
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<origin rpy="1.570795 0 0" xyz="0 0 0"/>
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<geometry>
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<cylinder length="0.11653" radius="0.16459"/>
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</geometry>
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</collision>
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</link>
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<joint name="rear_right_wheel" type="continuous">
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<parent link="base_link"/>
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<child link="rear_right_wheel_link"/>
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<origin rpy="3.14 0 0" xyz="-0.249 -0.29153 -0.0702"/>
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<axis rpy="0 0 0" xyz="0 -1 0"/>
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</joint>
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<!-- Additional definitions -->
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<!-- <xacro:include filename="$(arg urdf_extras)" /> -->
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<!-- Gazebo definitions -->
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<!-- <xacro:include filename="$(find scout_description)/urdf/scout_v2.gazebo" /> -->
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</robot>
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