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unitree_model / generated /a2_description /a2 /input.urdf
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<?xml version='1.0' encoding='UTF-8'?>
<robot name="a2">
<!-- [CAUTION] uncomment when convert to mujoco -->
<!-- <mujoco>
<compiler meshdir="../meshes" discardvisual="false" />
</mujoco>
<link name="world"></link>
<joint name="floating_base_joint" type="floating">
<parent link="world" />
<child link="base_link" />
</joint> -->
<link name="base_link">
<inertial>
<origin xyz="6.982591E-03 -0.712858E-03 12.889523E-03" rpy="0 0 0"/>
<mass value="19.651"/>
<inertia ixx="141775328.248061E-09" ixy="400505.020171E-09" ixz="-6996487.718114E-09" iyy="407724601.564754E-09" iyz="-361858.857563E-09" izz="472247985.516800E-09"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="../../../sources/unitree_ros/robots/a2_description/meshes/base_link.STL"/>
</geometry>
<material name="unnamed_material_0">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0.007" rpy="0 0 0"/>
<geometry>
<box size="0.24 0.28 0.17"/>
</geometry>
</collision>
<collision>
<origin xyz="0.25 0 0.119" rpy="0.0 0 0.0"/>
<geometry>
<box size="0.08 0.05 0.02"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.22 0 0.119" rpy="-0.0 -0.03 0.0"/>
<geometry>
<box size="0.05 0.03 0.016"/>
</geometry>
</collision>
<collision>
<origin xyz="0.365 0 0.1" rpy="0 -0.7 0"/>
<geometry>
<box size="0.06 0.1 0.01"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.31 0 0.112" rpy="0 0.7 0"/>
<geometry>
<box size="0.045 0.1 0.01"/>
</geometry>
</collision>
</link>
<link name="FL_hip">
<inertial>
<origin xyz="-2.408E-03 -16.220E-03 0.239E-03" rpy="0 0 0"/>
<mass value="1.620"/>
<inertia ixx="1476.261E-06" ixy="53.160E-06" ixz="-7.425E-06" iyy="1633.309E-06" iyz="-21.032E-06" izz="1630.804E-06"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="../../../sources/unitree_ros/robots/a2_description/meshes/left_front_Link1.STL"/>
</geometry>
<material name="unnamed_material_1">
<color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1"/>
</material>
</visual>
</link>
<joint name="FL_hip_joint" type="revolute">
<origin xyz="0.25944 0.075113 0" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="FL_hip"/>
<axis xyz="1 0 0"/>
<limit lower="-1.01" upper="1.01" effort="120.0" velocity="22.0"/>
</joint>
<link name="FL_thigh">
<inertial>
<origin xyz="-3.268E-03 -31.110E-03 -53.896E-03" rpy="0 0 0"/>
<mass value="3.079"/>
<inertia ixx="29271.794E-06" ixy="337.285E-06" ixz="-1251.409E-06" iyy="26828.777E-06" iyz="5283.783E-06" izz="5121.720E-06"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="../../../sources/unitree_ros/robots/a2_description/meshes/left_front_Link2.STL"/>
</geometry>
<material name="unnamed_material_2">
<color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1"/>
</material>
</visual>
<collision>
<origin xyz="0.0 -0.04 0" rpy="1.571 0 0"/>
<geometry>
<cylinder radius="0.048" length="0.12"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.025 0.00 -0.09" rpy="0 0.01 0"/>
<geometry>
<box size="0.055 0.036 0.17"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.022 0.00 -0.27" rpy="0 -0.75 0"/>
<geometry>
<box size="0.017 0.05 0.05"/>
</geometry>
</collision>
</link>
<joint name="FL_thigh_joint" type="revolute">
<origin xyz="0 0.12779 0" rpy="0 0 0"/>
<parent link="FL_hip"/>
<child link="FL_thigh"/>
<axis xyz="0 1 0"/>
<limit lower="-2.34" upper="3.15" effort="120.0" velocity="22.0"/>
</joint>
<link name="FL_calf">
<inertial>
<origin xyz="12.515E-03 -0.024E-03 -117.649E-03" rpy="0 0 0"/>
<mass value="0.361"/>
<inertia ixx="3869.035E-06" ixy="-0.093E-06" ixz="298.636E-06" iyy="3945.295E-06" iyz="0.826E-06" izz="150.991E-06"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="../../../sources/unitree_ros/robots/a2_description/meshes/left_front_Link3.STL"/>
</geometry>
<material name="unnamed_material_3">
<color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1"/>
</material>
</visual>
<collision>
<origin xyz="0.018 -0.00 -0.08" rpy="0 -0.24 0"/>
<geometry>
<box size="0.024 0.03 0.1"/>
</geometry>
</collision>
<collision>
<origin xyz="0.033 -0.00 -0.17" rpy="0 -0.03 0"/>
<geometry>
<box size="0.022 0.03 0.08"/>
</geometry>
</collision>
<collision>
<origin xyz="0.029 -0.00 -0.236" rpy="0 0.2 0"/>
<geometry>
<box size="0.02 0.036 0.06"/>
</geometry>
</collision>
<collision>
<origin xyz="0.008 -0.00 -0.23" rpy="0 0.68 0"/>
<geometry>
<box size="0.01 0.036 0.06"/>
</geometry>
</collision>
</link>
<joint name="FL_calf_joint" type="revolute">
<origin xyz="0 0 -0.275" rpy="0 0 0"/>
<parent link="FL_thigh"/>
<child link="FL_calf"/>
<axis xyz="0 1 0"/>
<limit lower="-2.77" upper="-0.54" effort="180.0" velocity="14.6667"/>
</joint>
<link name="FL_foot">
<inertial>
<origin xyz="-7.846E-03 0.012E-03 -9.403E-03" rpy="0 0 0"/>
<mass value="0.046"/>
<inertia ixx="13.994E-06" ixy="-0.003E-06" ixz="3.992E-06" iyy="14.434E-06" iyz="-0.004E-06" izz="15.404E-06"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="../../../sources/unitree_ros/robots/a2_description/meshes/left_front_Link4.STL"/>
</geometry>
<material name="unnamed_material_4">
<color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1"/>
</material>
</visual>
<collision>
<origin xyz="0.0 -0.00 -0.0" rpy="0 0 0"/>
<geometry>
<sphere radius="0.032"/>
</geometry>
</collision>
</link>
<joint name="FL_foot_joint" type="fixed" dont_collapse="true">
<origin xyz="0 0 -0.275" rpy="0 0 0"/>
<parent link="FL_calf"/>
<child link="FL_foot"/>
<axis xyz="0 0 0"/>
</joint>
<link name="RL_hip">
<inertial>
<origin xyz="3.270E-03 -16.220E-03 -0.097E-03" rpy="0 0 0"/>
<mass value="1.620"/>
<inertia ixx="1468.092E-06" ixy="-105.396E-06" ixz="-7.294E-06" iyy="1625.457E-06" iyz="-0.444E-06" izz="1631.122E-06"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="../../../sources/unitree_ros/robots/a2_description/meshes/left_hind_Link1.STL"/>
</geometry>
<material name="unnamed_material_5">
<color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1"/>
</material>
</visual>
</link>
<joint name="RL_hip_joint" type="revolute">
<origin xyz="-0.25944 0.075113 0" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="RL_hip"/>
<axis xyz="1 0 0"/>
<limit lower="-1.01" upper="1.01" effort="120.0" velocity="22.0"/>
</joint>
<link name="RL_thigh">
<inertial>
<origin xyz="-3.268E-03 -31.110E-03 -53.896E-03" rpy="0 0 0"/>
<mass value="3.079"/>
<inertia ixx="29271.794E-06" ixy="337.285E-06" ixz="-1251.409E-06" iyy="26828.777E-06" iyz="5283.783E-06" izz="5121.720E-06"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="../../../sources/unitree_ros/robots/a2_description/meshes/left_hind_Link2.STL"/>
</geometry>
<material name="unnamed_material_6">
<color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1"/>
</material>
</visual>
<collision>
<origin xyz="0.0 -0.04 0" rpy="1.571 0 0"/>
<geometry>
<cylinder radius="0.048" length="0.12"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.025 0.00 -0.09" rpy="0 0.01 0"/>
<geometry>
<box size="0.055 0.036 0.17"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.022 0.00 -0.27" rpy="0 -0.75 0"/>
<geometry>
<box size="0.017 0.05 0.05"/>
</geometry>
</collision>
</link>
<joint name="RL_thigh_joint" type="revolute">
<origin xyz="0 0.12779 0" rpy="0 0 0"/>
<parent link="RL_hip"/>
<child link="RL_thigh"/>
<axis xyz="0 1 0"/>
<limit lower="-1.56" upper="3.94" effort="120.0" velocity="22.0"/>
</joint>
<link name="RL_calf">
<inertial>
<origin xyz="12.515E-03 -0.024E-03 -117.649E-03" rpy="0 0 0"/>
<mass value="0.361"/>
<inertia ixx="3869.035E-06" ixy="-0.093E-06" ixz="298.636E-06" iyy="3945.295E-06" iyz="0.826E-06" izz="150.991E-06"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="../../../sources/unitree_ros/robots/a2_description/meshes/left_hind_Link3.STL"/>
</geometry>
<material name="unnamed_material_7">
<color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1"/>
</material>
</visual>
<collision>
<origin xyz="0.018 -0.00 -0.08" rpy="0 -0.24 0"/>
<geometry>
<box size="0.024 0.03 0.1"/>
</geometry>
</collision>
<collision>
<origin xyz="0.033 -0.00 -0.17" rpy="0 -0.03 0"/>
<geometry>
<box size="0.022 0.03 0.08"/>
</geometry>
</collision>
<collision>
<origin xyz="0.029 -0.00 -0.236" rpy="0 0.2 0"/>
<geometry>
<box size="0.02 0.036 0.06"/>
</geometry>
</collision>
<collision>
<origin xyz="0.008 -0.00 -0.23" rpy="0 0.68 0"/>
<geometry>
<box size="0.01 0.036 0.06"/>
</geometry>
</collision>
</link>
<joint name="RL_calf_joint" type="revolute">
<origin xyz="0 0 -0.275" rpy="0 0 0"/>
<parent link="RL_thigh"/>
<child link="RL_calf"/>
<axis xyz="0 1 0"/>
<limit lower="-2.77" upper="-0.54" effort="180.0" velocity="14.6667"/>
</joint>
<link name="RL_foot">
<inertial>
<origin xyz="-7.846E-03 0.012E-03 -9.403E-03" rpy="0 0 0"/>
<mass value="0.046"/>
<inertia ixx="13.994E-06" ixy="-0.003E-06" ixz="3.992E-06" iyy="14.434E-06" iyz="-0.004E-06" izz="15.404E-06"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="../../../sources/unitree_ros/robots/a2_description/meshes/left_hind_Link4.STL"/>
</geometry>
<material name="unnamed_material_8">
<color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1"/>
</material>
</visual>
<collision>
<origin xyz="0.0 -0.00 -0.0" rpy="0 0 0"/>
<geometry>
<sphere radius="0.032"/>
</geometry>
</collision>
</link>
<joint name="RL_foot_joint" type="fixed" dont_collapse="true">
<origin xyz="0 0 -0.275" rpy="0 0 0"/>
<parent link="RL_calf"/>
<child link="RL_foot"/>
<axis xyz="0 0 0"/>
</joint>
<link name="FR_hip">
<inertial>
<origin xyz="-2.465E-03 16.220E-03 0.318E-03" rpy="0 0 0"/>
<mass value="1.620"/>
<inertia ixx="1483.677E-06" ixy="-56.616E-06" ixz="-5.890E-06" iyy="1632.784E-06" iyz="25.536E-06" izz="1622.864E-06"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="../../../sources/unitree_ros/robots/a2_description/meshes/right_front_Link1.STL"/>
</geometry>
<material name="unnamed_material_9">
<color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1"/>
</material>
</visual>
</link>
<joint name="FR_hip_joint" type="revolute">
<origin xyz="0.25944 -0.075113 0" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="FR_hip"/>
<axis xyz="1 0 0"/>
<limit lower="-1.01" upper="1.01" effort="120.0" velocity="22.0"/>
</joint>
<link name="FR_thigh">
<inertial>
<origin xyz="-3.256E-03 31.125E-03 -53.921E-03" rpy="0 0 0"/>
<mass value="3.077"/>
<inertia ixx="29255.209E-06" ixy="-334.771E-06" ixz="-1255.239E-06" iyy="26819.094E-06" iyz="-5288.175E-06" izz="5125.147E-06"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="../../../sources/unitree_ros/robots/a2_description/meshes/right_front_Link2.STL"/>
</geometry>
<material name="unnamed_material_10">
<color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1"/>
</material>
</visual>
<collision>
<origin xyz="0.0 0.04 0" rpy="1.571 0 0"/>
<geometry>
<cylinder radius="0.048" length="0.12"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.025 0.00 -0.09" rpy="0 0.01 0"/>
<geometry>
<box size="0.055 0.036 0.17"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.022 0.00 -0.27" rpy="0 -0.75 0"/>
<geometry>
<box size="0.017 0.05 0.05"/>
</geometry>
</collision>
</link>
<joint name="FR_thigh_joint" type="revolute">
<origin xyz="0 -0.12779 0" rpy="0 0 0"/>
<parent link="FR_hip"/>
<child link="FR_thigh"/>
<axis xyz="0 1 0"/>
<limit lower="-2.34" upper="3.15" effort="120.0" velocity="22.0"/>
</joint>
<link name="FR_calf">
<inertial>
<origin xyz="12.515E-03 0.016E-03 -117.649E-03" rpy="0 0 0"/>
<mass value="0.361"/>
<inertia ixx="3869.035E-06" ixy="0.087E-06" ixz="298.636E-06" iyy="3945.295E-06" iyz="-1.285E-06" izz="150.991E-06"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="../../../sources/unitree_ros/robots/a2_description/meshes/right_front_Link3.STL"/>
</geometry>
<material name="unnamed_material_11">
<color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1"/>
</material>
</visual>
<collision>
<origin xyz="0.018 -0.00 -0.08" rpy="0 -0.24 0"/>
<geometry>
<box size="0.024 0.03 0.1"/>
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<collision>
<origin xyz="0.033 -0.00 -0.17" rpy="0 -0.03 0"/>
<geometry>
<box size="0.022 0.03 0.08"/>
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</collision>
<collision>
<origin xyz="0.029 -0.00 -0.236" rpy="0 0.2 0"/>
<geometry>
<box size="0.02 0.036 0.06"/>
</geometry>
</collision>
<collision>
<origin xyz="0.008 -0.00 -0.23" rpy="0 0.68 0"/>
<geometry>
<box size="0.01 0.036 0.06"/>
</geometry>
</collision>
</link>
<joint name="FR_calf_joint" type="revolute">
<origin xyz="0 0 -0.275" rpy="0 0 0"/>
<parent link="FR_thigh"/>
<child link="FR_calf"/>
<axis xyz="0 1 0"/>
<limit lower="-2.77" upper="-0.54" effort="180.0" velocity="14.6667"/>
</joint>
<link name="FR_foot">
<inertial>
<origin xyz="-7.846E-03 0.012E-03 -9.403E-03" rpy="0 0 0"/>
<mass value="0.046"/>
<inertia ixx="13.994E-06" ixy="-0.003E-06" ixz="3.992E-06" iyy="14.434E-06" iyz="-0.004E-06" izz="15.404E-06"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="../../../sources/unitree_ros/robots/a2_description/meshes/right_front_Link4.STL"/>
</geometry>
<material name="unnamed_material_12">
<color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1"/>
</material>
</visual>
<collision>
<origin xyz="0.0 -0.00 -0.0" rpy="0 0 0"/>
<geometry>
<sphere radius="0.032"/>
</geometry>
</collision>
</link>
<joint name="FR_foot_joint" type="fixed" dont_collapse="true">
<origin xyz="0 0 -0.275" rpy="0 0 0"/>
<parent link="FR_calf"/>
<child link="FR_foot"/>
<axis xyz="0 0 0"/>
</joint>
<link name="RR_hip">
<inertial>
<origin xyz="3.270E-03 16.220E-03 -0.037E-03" rpy="0 0 0"/>
<mass value="1.620"/>
<inertia ixx="1464.949E-06" ixy="105.396E-06" ixz="-9.437E-06" iyy="1625.469E-06" iyz="4.282E-06" izz="1634.276E-06"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="../../../sources/unitree_ros/robots/a2_description/meshes/right_hind_Link1.STL"/>
</geometry>
<material name="unnamed_material_13">
<color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1"/>
</material>
</visual>
</link>
<joint name="RR_hip_joint" type="revolute">
<origin xyz="-0.25944 -0.075113 0" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="RR_hip"/>
<axis xyz="1 0 0"/>
<limit lower="-1.01" upper="1.01" effort="120.0" velocity="22.0"/>
</joint>
<link name="RR_thigh">
<inertial>
<origin xyz="-3.256E-03 31.125E-03 -53.921E-03" rpy="0 0 0"/>
<mass value="3.077"/>
<inertia ixx="29255.209E-06" ixy="-334.771E-06" ixz="-1255.239E-06" iyy="26819.094E-06" iyz="-5288.175E-06" izz="5125.147E-06"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="../../../sources/unitree_ros/robots/a2_description/meshes/right_hind_Link2.STL"/>
</geometry>
<material name="unnamed_material_14">
<color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1"/>
</material>
</visual>
<collision>
<origin xyz="0.0 0.04 0" rpy="1.571 0 0"/>
<geometry>
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</geometry>
</collision>
<collision>
<origin xyz="-0.025 0.00 -0.09" rpy="0 0.01 0"/>
<geometry>
<box size="0.055 0.036 0.17"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.022 0.00 -0.27" rpy="0 -0.75 0"/>
<geometry>
<box size="0.017 0.05 0.05"/>
</geometry>
</collision>
</link>
<joint name="RR_thigh_joint" type="revolute">
<origin xyz="0 -0.12779 0" rpy="0 0 0"/>
<parent link="RR_hip"/>
<child link="RR_thigh"/>
<axis xyz="0 1 0"/>
<limit lower="-1.56" upper="3.94" effort="120.0" velocity="22.0"/>
</joint>
<link name="RR_calf">
<inertial>
<origin xyz="12.515E-03 0.016E-03 -117.649E-03" rpy="0 0 0"/>
<mass value="0.361"/>
<inertia ixx="3869.035E-06" ixy="0.087E-06" ixz="298.636E-06" iyy="3945.295E-06" iyz="-1.285E-06" izz="150.991E-06"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="../../../sources/unitree_ros/robots/a2_description/meshes/right_hind_Link3.STL"/>
</geometry>
<material name="unnamed_material_15">
<color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1"/>
</material>
</visual>
<collision>
<origin xyz="0.018 -0.00 -0.08" rpy="0 -0.24 0"/>
<geometry>
<box size="0.024 0.03 0.1"/>
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<collision>
<origin xyz="0.033 -0.00 -0.17" rpy="0 -0.03 0"/>
<geometry>
<box size="0.022 0.03 0.08"/>
</geometry>
</collision>
<collision>
<origin xyz="0.029 -0.00 -0.236" rpy="0 0.2 0"/>
<geometry>
<box size="0.02 0.036 0.06"/>
</geometry>
</collision>
<collision>
<origin xyz="0.008 -0.00 -0.23" rpy="0 0.68 0"/>
<geometry>
<box size="0.01 0.036 0.06"/>
</geometry>
</collision>
</link>
<joint name="RR_calf_joint" type="revolute">
<origin xyz="0 0 -0.275" rpy="0 0 0"/>
<parent link="RR_thigh"/>
<child link="RR_calf"/>
<axis xyz="0 1 0"/>
<limit lower="-2.77" upper="-0.54" effort="180.0" velocity="14.6667"/>
</joint>
<link name="RR_foot">
<inertial>
<origin xyz="-7.846E-03 0.012E-03 -9.403E-03" rpy="0 0 0"/>
<mass value="0.046"/>
<inertia ixx="13.994E-06" ixy="-0.003E-06" ixz="3.992E-06" iyy="14.434E-06" iyz="-0.004E-06" izz="15.404E-06"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="../../../sources/unitree_ros/robots/a2_description/meshes/right_hind_Link4.STL"/>
</geometry>
<material name="unnamed_material_16">
<color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1"/>
</material>
</visual>
<collision>
<origin xyz="0.0 -0.00 -0.0" rpy="0 0 0"/>
<geometry>
<sphere radius="0.032"/>
</geometry>
</collision>
</link>
<joint name="RR_foot_joint" type="fixed" dont_collapse="true">
<origin xyz="0 0 -0.275" rpy="0 0 0"/>
<parent link="RR_calf"/>
<child link="RR_foot"/>
<axis xyz="0 0 0"/>
</joint>
<link name="camera_link"/>
<joint name="camera_joint" type="fixed">
<origin xyz="0.3381 0.0336 0.0525" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="camera_link"/>
</joint>
<link name="front_lidar_link"/>
<joint name="front_lidar_joint" type="fixed">
<origin xyz="0.33767 0.0 0.08134" rpy="1.5708 0 1.5708"/>
<parent link="base_link"/>
<child link="front_lidar_link"/>
</joint>
<link name="rear_lidar_link"/>
<joint name="rear_lidar_joint" type="fixed">
<origin xyz="0.0 0.005997 -0.617643765" rpy="0 3.14159 0"/>
<parent link="front_lidar_link"/>
<child link="rear_lidar_link"/>
</joint>
</robot>