scout_ros/scout_robot/urdf/scout.urdf

<?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: 1.5.1-0-g916b5db  Build Version: 1.5.7152.31018
     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
  name="scout">
  <link
    name="base_link">
    <inertial>
      <origin
        xyz="0.00040316 0.00018112 0.054777"
        rpy="0 0 0" />
      <mass
        value="50.594" />
      <inertia
        ixx="3.1632"
        ixy="0.0095354"
        ixz="-0.0052362"
        iyy="3.4936"
        iyz="0.00027654"
        izz="5.9359" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://scout_robot/meshes/base_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://scout_robot/meshes/base_link.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="front left_Link">
    <inertial>
      <origin
        xyz="-2.6549E-09 -3.2717E-05 -1.1121E-07"
        rpy="0 0 0" />
      <mass
        value="6.2792" />
      <inertia
        ixx="0.048957"
        ixy="-1.6382E-09"
        ixz="-8.6738E-09"
        iyy="0.087434"
        iyz="6.3603E-10"
        izz="0.048957" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://scout_robot/meshes/front left_Link.STL" />
      </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>
        <mesh
          filename="package://scout_robot/meshes/front left_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="front left_joint"
    type="revolute">
    <origin
      xyz="0.249 0.29153 0.024097"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="front left_Link" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-180"
      upper="180"
      effort="0"
      velocity="0" />
  </joint>
  <link
    name="back left_Link">
    <inertial>
      <origin
        xyz="1.087E-07 3.2717E-05 -2.3629E-08"
        rpy="0 0 0" />
      <mass
        value="6.2792" />
      <inertia
        ixx="0.048957"
        ixy="8.5452E-10"
        ixz="1.5173E-09"
        iyy="0.087434"
        iyz="-2.6266E-09"
        izz="0.048957" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://scout_robot/meshes/back left_Link.STL" />
      </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>
        <mesh
          filename="package://scout_robot/meshes/back left_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="back left_joint"
    type="revolute">
    <origin
      xyz="-0.249 0.29153 0.024097"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="back left_Link" />
    <axis
      xyz="0 -1 0" />
    <limit
      lower="-180"
      upper="180"
      effort="0"
      velocity="0" />
  </joint>
  <link
    name="front right_Link">
    <inertial>
      <origin
        xyz="-3.3128E-07 -3.2716E-05 2.169E-08"
        rpy="0 0 0" />
      <mass
        value="6.2792" />
      <inertia
        ixx="0.048958"
        ixy="0.00026119"
        ixz="-1.925E-08"
        iyy="0.087432"
        iyz="3.2348E-09"
        izz="0.048957" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://scout_robot/meshes/front right_Link.STL" />
      </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>
        <mesh
          filename="package://scout_robot/meshes/front right_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="front right_joint"
    type="revolute">
    <origin
      xyz="0.24702 -0.29093 0.024097"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="front right_Link" />
    <axis
      xyz="0.0067885 0.99998 0" />
    <limit
      lower="-180"
      upper="180"
      effort="0"
      velocity="0" />
  </joint>
  <link
    name="back right_Link">
    <inertial>
      <origin
        xyz="-1.135E-07 3.2717E-05 -2.3624E-08"
        rpy="0 0 0" />
      <mass
        value="6.2792" />
      <inertia
        ixx="0.048958"
        ixy="-0.0002612"
        ixz="1.5517E-09"
        iyy="0.087432"
        iyz="-2.626E-09"
        izz="0.048957" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://scout_robot/meshes/back right_Link.STL" />
      </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>
        <mesh
          filename="package://scout_robot/meshes/back right_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="back right_joint"
    type="revolute">
    <origin
      xyz="-0.24702 -0.29093 0.024097"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="back right_Link" />
    <axis
      xyz="0.0067885 -0.99998 0" />
    <limit
      lower="-180"
      upper="180"
      effort="0"
      velocity="0" />
  </joint>
</robot>