Initial commit of duru_urdf package
Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
This commit is contained in:
Yoo Hee Sung
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<?xml version="1.0" ?>
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<robot name="duru_urdf" xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:include filename="$(find duru_urdf_description)/urdf/materials.xacro" />
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<xacro:include filename="$(find duru_urdf_description)/urdf/duru_urdf.trans" />
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<xacro:include filename="$(find duru_urdf_description)/urdf/duru_urdf.gazebo" />
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<link name="base_link">
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<inertial>
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<origin xyz="0.0025063996888676993 6.18864581074269e-17 0.144708365482515" rpy="0 0 0"/>
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<mass value="203.16003115712493"/>
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<inertia ixx="4.307522" iyy="8.227537" izz="9.633563" ixy="-0.0" iyz="0.0" ixz="-0.093878"/>
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="file://$(find duru_urdf_description)/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="silver"/>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="file://$(find duru_urdf_description)/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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</collision>
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</link>
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<link name="fwl_1_1">
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<inertial>
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<origin xyz="2.7755575615628914e-17 0.03249999999999997 6.938893903907228e-18" rpy="0 0 0"/>
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<mass value="3.2845580573678106"/>
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<inertia ixx="0.015358" iyy="0.028404" izz="0.015358" ixy="-0.0" iyz="-0.0" ixz="0.0"/>
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</inertial>
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<visual>
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<origin xyz="-0.184 -0.255 -0.0615" rpy="0 0 0"/>
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<geometry>
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<mesh filename="file://$(find duru_urdf_description)/meshes/fwl_1_1.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="silver"/>
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</visual>
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<collision>
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<origin xyz="-0.184 -0.255 -0.0615" rpy="0 0 0"/>
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<geometry>
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<mesh filename="file://$(find duru_urdf_description)/meshes/fwl_1_1.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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</collision>
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</link>
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<link name="fwr_1_1">
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<inertial>
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<origin xyz="-5.551115123125783e-17 -0.03249999999999997 -2.0816681711721685e-17" rpy="0 0 0"/>
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<mass value="3.2845580573678106"/>
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<inertia ixx="0.015358" iyy="0.028404" izz="0.015358" ixy="0.0" iyz="0.0" ixz="-0.0"/>
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</inertial>
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<visual>
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<origin xyz="-0.184 0.255 -0.0615" rpy="0 0 0"/>
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<geometry>
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<mesh filename="file://$(find duru_urdf_description)/meshes/fwr_1_1.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="silver"/>
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</visual>
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<collision>
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<origin xyz="-0.184 0.255 -0.0615" rpy="0 0 0"/>
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<geometry>
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<mesh filename="file://$(find duru_urdf_description)/meshes/fwr_1_1.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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</collision>
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</link>
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<link name="rwr_1_1">
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<inertial>
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<origin xyz="-2.7755575615628914e-17 -0.03249999999999997 -1.3877787807814457e-17" rpy="0 0 0"/>
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<mass value="3.2845580573678084"/>
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<inertia ixx="0.015358" iyy="0.028404" izz="0.015358" ixy="-0.0" iyz="-0.0" ixz="0.0"/>
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</inertial>
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<visual>
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<origin xyz="0.184 0.255 -0.0615" rpy="0 0 0"/>
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<geometry>
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<mesh filename="file://$(find duru_urdf_description)/meshes/rwr_1_1.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="silver"/>
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</visual>
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<collision>
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<origin xyz="0.184 0.255 -0.0615" rpy="0 0 0"/>
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<geometry>
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<mesh filename="file://$(find duru_urdf_description)/meshes/rwr_1_1.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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</collision>
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</link>
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<link name="rwl_1_1">
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<inertial>
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<origin xyz="0.0 0.03249999999999997 -6.938893903907228e-18" rpy="0 0 0"/>
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<mass value="3.2845580573678084"/>
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<inertia ixx="0.015358" iyy="0.028404" izz="0.015358" ixy="0.0" iyz="0.0" ixz="-0.0"/>
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</inertial>
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<visual>
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<origin xyz="0.184 -0.255 -0.0615" rpy="0 0 0"/>
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<geometry>
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<mesh filename="file://$(find duru_urdf_description)/meshes/rwl_1_1.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="silver"/>
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</visual>
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<collision>
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<origin xyz="0.184 -0.255 -0.0615" rpy="0 0 0"/>
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<geometry>
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<mesh filename="file://$(find duru_urdf_description)/meshes/rwl_1_1.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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</collision>
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</link>
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<link name="imu_1">
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<inertial>
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<origin xyz="0.0 0.0 0.010000000000000064" rpy="0 0 0"/>
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<mass value="0.32813000000000003"/>
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<inertia ixx="9.4e-05" iyy="5e-05" izz="0.000122" ixy="-0.0" iyz="-0.0" ixz="-0.0"/>
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</inertial>
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<visual>
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<origin xyz="-0.0 -0.0 -0.286" rpy="0 0 0"/>
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<geometry>
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<mesh filename="file://$(find duru_urdf_description)/meshes/imu_1.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="silver"/>
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</visual>
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<collision>
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<origin xyz="-0.0 -0.0 -0.286" rpy="0 0 0"/>
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<geometry>
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<mesh filename="file://$(find duru_urdf_description)/meshes/imu_1.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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</collision>
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</link>
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<link name="lidar_1">
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<inertial>
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<origin xyz="0.007899963334043858 -5.87501579063704e-17 0.021704966301194728" rpy="0 0 0"/>
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<mass value="1.4388945419522388"/>
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<inertia ixx="0.000754" iyy="0.00074" izz="0.000846" ixy="-0.0" iyz="-0.0" ixz="3.9e-05"/>
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</inertial>
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<visual>
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<origin xyz="-0.227349 0.0 -0.37207" rpy="0 0 0"/>
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<geometry>
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<mesh filename="file://$(find duru_urdf_description)/meshes/lidar_1.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="silver"/>
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</visual>
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<collision>
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<origin xyz="-0.227349 0.0 -0.37207" rpy="0 0 0"/>
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<geometry>
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<mesh filename="file://$(find duru_urdf_description)/meshes/lidar_1.stl" scale="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 name="fwl_joint" type="continuous">
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<origin xyz="0.184 0.255 0.0615" rpy="0 0 0"/>
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<parent link="base_link"/>
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<child link="fwl_1_1"/>
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<axis xyz="0.0 1.0 0.0"/>
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</joint>
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<joint name="fwr_joint" type="continuous">
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<origin xyz="0.184 -0.255 0.0615" rpy="0 0 0"/>
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<parent link="base_link"/>
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<child link="fwr_1_1"/>
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<axis xyz="0.0 -1.0 0.0"/>
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</joint>
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<joint name="rwr_joint" type="continuous">
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<origin xyz="-0.184 -0.255 0.0615" rpy="0 0 0"/>
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<parent link="base_link"/>
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<child link="rwr_1_1"/>
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<axis xyz="0.0 -1.0 0.0"/>
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</joint>
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<joint name="rwl_joint" type="continuous">
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<origin xyz="-0.184 0.255 0.0615" rpy="0 0 0"/>
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<parent link="base_link"/>
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<child link="rwl_1_1"/>
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<axis xyz="0.0 1.0 0.0"/>
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</joint>
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<joint name="imu_joint" type="fixed">
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<origin xyz="0.0 0.0 0.286" rpy="0 0 0"/>
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<parent link="base_link"/>
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<child link="imu_1"/>
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</joint>
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<joint name="lidar_joint" type="fixed">
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<origin xyz="0.227349 0.0 0.37207" rpy="0 0 0"/>
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<parent link="base_link"/>
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<child link="lidar_1"/>
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</joint>
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</robot>
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