scout_ros/scout_robot/urdf/scout copy.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>