File size: 4,546 Bytes
393dd2a | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 | <robot name="fetch">
<link name="base_link">
<inertial>
<origin rpy="0 0 0" xyz="-0.0036 0.0 0.0014" />
<mass value="70.1294" />
<inertia ixx="1.225" ixy="0.0099" ixz="0.0062" iyy="1.2853" iyz="-0.0034" izz="0.987" />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="meshes/base_link.obj" />
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.0" />
<geometry>
<mesh filename="meshes/base_link_collision.STL" />
</geometry>
</collision>
<contact>
<lateral_friction value="0.0"/>
<rolling_friction value="0.0"/>
<stiffness value="300000"/>
<damping value="30000"/>
</contact>
</link>
<link name="r_wheel_link">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0" />
<mass value="4.3542" />
<inertia ixx="0.0045" ixy="0" ixz="0" iyy="0.005" iyz="0" izz="0.0045" />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="meshes/r_wheel_link.obj" />
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<sphere radius="0.0613"/>
</geometry>
</collision>
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<stiffness value="300000"/>
<damping value="30000"/>
</contact>
</link>
<joint name="r_wheel_joint" type="continuous">
<origin rpy="-6.123E-17 0 0" xyz="0.0012914 -0.18738 0.06" />
<parent link="base_link" />
<child link="r_wheel_link" />
<axis xyz="0 1 0" />
<limit effort="8.85" velocity="17.4" /></joint>
<link name="l_wheel_link">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0" />
<mass value="4.3542" />
<inertia ixx="0.0045" ixy="0" ixz="0" iyy="0.005" iyz="0" izz="0.0045" />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="meshes/l_wheel_link.obj" />
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<sphere radius="0.0613"/>
</geometry>
</collision>
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<stiffness value="300000"/>
<damping value="30000"/>
</contact>
</link>
<joint name="l_wheel_joint" type="continuous">
<origin rpy="-6.123E-17 0 0" xyz="0.0012914 0.18738 0.06" />
<parent link="base_link" />
<child link="l_wheel_link" />
<axis xyz="0 1 0" />
<limit effort="8.85" velocity="17.4" /></joint>
<link name="estop_link">
<inertial>
<origin rpy="0 0 0" xyz="0.002434512737072 -0.00330608315239905 0.00665139196650039" />
<mass value="0.00196130439134723" />
<inertia ixx="3.02810026604417E-07" ixy="-1.5862023118056E-08" ixz="3.16561396557437E-08" iyy="2.93322917127605E-07" iyz="-4.28833522751273E-08" izz="2.28513272627183E-07" />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="meshes/estop_link.obj" />
</geometry>
<material name="">
<color rgba="0.8 0 0 1" />
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="meshes/estop_link.obj" />
</geometry>
</collision>
</link>
<joint name="estop_joint" type="fixed">
<origin rpy="1.5708 0 0" xyz="-0.12465 0.23892 0.31127" />
<parent link="base_link" />
<child link="estop_link" />
<axis xyz="0 0 0" />
</joint>
<link name="laser_link">
<inertial>
<origin rpy="0 0 0" xyz="-0.0306228970175641 0.0007091682908278 0.0551974119471302" />
<mass value="0.00833634573995571" />
<inertia ixx="1.01866461240801E-06" ixy="-5.88447626567756E-08" ixz="7.83857244757914E-08" iyy="5.10039589974707E-07" iyz="-7.12664289617235E-09" izz="1.28270671527309E-06" />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="meshes/laser_link.obj" />
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="meshes/laser_link.obj" />
</geometry>
</collision>
</link>
<joint name="laser_joint" type="fixed">
<origin rpy="3.14159265359 0 0" xyz="0.235 0 0.2878" />
<parent link="base_link" />
<child link="laser_link" />
<axis xyz="0 0 0" />
</joint>
</robot> |