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azmo/duru_urdf:main
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azmo/duru_urdf:main

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Author SHA1 Message Date
Yoo Hee Sung b67998cb1e Update URDF assets and regenerate mesh files 
Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
 2026-08-27 12:45:45 +09:00
11 changed files with 0 additions and 254 deletions
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README.md
-2
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@@ -1,2 +0,0 @@
# duru_urdf
meshes/fwl_1_1.stl → meshes/fwl_1_1_1.stl
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meshes/fwr_1_1.stl → meshes/fwr_1_1_1.stl
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meshes/imu_1.stl → meshes/imu_1_1.stl
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meshes/lidar_1.stl
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meshes/lidar_1_1.stl
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meshes/rwl_1_1.stl → meshes/rwl_1_1_1.stl
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meshes/rwr_1_1.stl → meshes/rwr_1_1_1.stl
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urdf/duru_urdf.gazebo
-42
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@@ -14,46 +14,4 @@
<gravity>true</gravity> <gravity>true</gravity>
</gazebo> </gazebo>
<gazebo reference="fwl_1_1">
<material>${body_color}</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>true</self_collide>
</gazebo>
<gazebo reference="fwr_1_1">
<material>${body_color}</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>true</self_collide>
</gazebo>
<gazebo reference="rwr_1_1">
<material>${body_color}</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>true</self_collide>
</gazebo>
<gazebo reference="rwl_1_1">
<material>${body_color}</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>true</self_collide>
</gazebo>
<gazebo reference="imu_1">
<material>${body_color}</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>true</self_collide>
</gazebo>
<gazebo reference="lidar_1">
<material>${body_color}</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>true</self_collide>
</gazebo>
</robot> </robot>
urdf/duru_urdf.trans
-44
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@@ -1,48 +1,4 @@
<?xml version="1.0" ?> <?xml version="1.0" ?>
<robot name="duru_urdf" xmlns:xacro="http://www.ros.org/wiki/xacro" > <robot name="duru_urdf" xmlns:xacro="http://www.ros.org/wiki/xacro" >
<transmission name="fwl_joint_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="fwl_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="fwl_joint_actr">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="fwr_joint_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="fwr_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="fwr_joint_actr">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="rwr_joint_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="rwr_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="rwr_joint_actr">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="rwl_joint_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="rwl_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="rwl_joint_actr">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</robot> </robot>
urdf/duru_urdf.xacro
-166
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@@ -25,170 +25,4 @@
</collision> </collision>
</link> </link>
<link name="fwl_1_1">
<inertial>
<origin xyz="2.7755575615628914e-17 0.03249999999999997 6.938893903907228e-18" rpy="0 0 0"/>
<mass value="3.2845580573678106"/>
<inertia ixx="0.015358" iyy="0.028404" izz="0.015358" ixy="-0.0" iyz="-0.0" ixz="0.0"/>
</inertial>
<visual>
<origin xyz="-0.184 -0.255 -0.0615" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find duru_urdf_description)/meshes/fwl_1_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="-0.184 -0.255 -0.0615" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find duru_urdf_description)/meshes/fwl_1_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="fwr_1_1">
<inertial>
<origin xyz="-5.551115123125783e-17 -0.03249999999999997 -2.0816681711721685e-17" rpy="0 0 0"/>
<mass value="3.2845580573678106"/>
<inertia ixx="0.015358" iyy="0.028404" izz="0.015358" ixy="0.0" iyz="0.0" ixz="-0.0"/>
</inertial>
<visual>
<origin xyz="-0.184 0.255 -0.0615" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find duru_urdf_description)/meshes/fwr_1_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="-0.184 0.255 -0.0615" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find duru_urdf_description)/meshes/fwr_1_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="rwr_1_1">
<inertial>
<origin xyz="-2.7755575615628914e-17 -0.03249999999999997 -1.3877787807814457e-17" rpy="0 0 0"/>
<mass value="3.2845580573678084"/>
<inertia ixx="0.015358" iyy="0.028404" izz="0.015358" ixy="-0.0" iyz="-0.0" ixz="0.0"/>
</inertial>
<visual>
<origin xyz="0.184 0.255 -0.0615" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find duru_urdf_description)/meshes/rwr_1_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="0.184 0.255 -0.0615" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find duru_urdf_description)/meshes/rwr_1_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="rwl_1_1">
<inertial>
<origin xyz="0.0 0.03249999999999997 -6.938893903907228e-18" rpy="0 0 0"/>
<mass value="3.2845580573678084"/>
<inertia ixx="0.015358" iyy="0.028404" izz="0.015358" ixy="0.0" iyz="0.0" ixz="-0.0"/>
</inertial>
<visual>
<origin xyz="0.184 -0.255 -0.0615" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find duru_urdf_description)/meshes/rwl_1_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="0.184 -0.255 -0.0615" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find duru_urdf_description)/meshes/rwl_1_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="imu_1">
<inertial>
<origin xyz="0.0 0.0 0.010000000000000064" rpy="0 0 0"/>
<mass value="0.32813000000000003"/>
<inertia ixx="9.4e-05" iyy="5e-05" izz="0.000122" ixy="-0.0" iyz="-0.0" ixz="-0.0"/>
</inertial>
<visual>
<origin xyz="-0.0 -0.0 -0.286" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find duru_urdf_description)/meshes/imu_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="-0.0 -0.0 -0.286" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find duru_urdf_description)/meshes/imu_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="lidar_1">
<inertial>
<origin xyz="0.007899963334043858 -5.87501579063704e-17 0.021704966301194728" rpy="0 0 0"/>
<mass value="1.4388945419522388"/>
<inertia ixx="0.000754" iyy="0.00074" izz="0.000846" ixy="-0.0" iyz="-0.0" ixz="3.9e-05"/>
</inertial>
<visual>
<origin xyz="-0.227349 0.0 -0.37207" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find duru_urdf_description)/meshes/lidar_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="-0.227349 0.0 -0.37207" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find duru_urdf_description)/meshes/lidar_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<joint name="fwl_joint" type="continuous">
<origin xyz="0.184 0.255 0.0615" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="fwl_1_1"/>
<axis xyz="0.0 1.0 0.0"/>
</joint>
<joint name="fwr_joint" type="continuous">
<origin xyz="0.184 -0.255 0.0615" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="fwr_1_1"/>
<axis xyz="0.0 -1.0 0.0"/>
</joint>
<joint name="rwr_joint" type="continuous">
<origin xyz="-0.184 -0.255 0.0615" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="rwr_1_1"/>
<axis xyz="0.0 -1.0 0.0"/>
</joint>
<joint name="rwl_joint" type="continuous">
<origin xyz="-0.184 0.255 0.0615" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="rwl_1_1"/>
<axis xyz="0.0 1.0 0.0"/>
</joint>
<joint name="imu_joint" type="fixed">
<origin xyz="0.0 0.0 0.286" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="imu_1"/>
</joint>
<joint name="lidar_joint" type="fixed">
<origin xyz="0.227349 0.0 0.37207" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="lidar_1"/>
</joint>
</robot> </robot>