Yoo Hee Sung
29 lines
1.0 KiB
XML
29 lines
1.0 KiB
XML
<?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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</robot>
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