Created
January 28, 2020 17:07
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ATV Frame URDF
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<?xml version="1.0"?> | |
<robot name="basic_frame_pig"> | |
<!-- Base Link / Tube Chasis--> | |
<link name="base_link"> | |
<inertial> | |
<origin rpy="0 0 0" xyz="-0.005632841369081588 0.2917022138225285 -0.004107516953549188"/> | |
<mass value="61.719091558990335"/> | |
<inertia ixx="23.451972" ixy="-0.091403" ixz="-0.110297" iyy="6.432858" iyz="1.415813" izz="26.484945"/> | |
</inertial> | |
<visual> | |
<origin rpy="0 0 0" xyz="0 0 0"/> | |
<geometry> | |
<mesh filename="package://little_pig_atv/urdf/bin_stl/base_link_m-binary.stl"/> | |
</geometry> | |
<material name="silver"> | |
<color rgba="1 0 0 1"/> | |
</material> | |
</visual> | |
<collision> | |
<origin rpy="0 0 0" xyz="0 0 0"/> | |
<geometry> | |
<mesh filename="package://little_pig_atv/urdf/bin_stl/base_link_m-binary.stl"/> | |
</geometry> | |
</collision> | |
</link> | |
<!-- Left Steering Knuckle --> | |
<link name="left_steering_knuckle"> | |
<inertial> | |
<origin rpy="0 0 0" xyz="0.04626374762862234 0.005213062909487198 0.06475119586205944"/> | |
<mass value="2.3221244569381487"/> | |
<inertia ixx="0.004736" ixy="0.000171" ixz="6.1e-05" iyy="0.003675" iyz="6e-06" izz="0.003101"/> | |
</inertial> | |
<visual> | |
<origin rpy="0 0 0" xyz="-0.447222 0.622377 0.163596"/> | |
<geometry> | |
<mesh filename="package://little_pig_atv/urdf/bin_stl/left_steering_knuckle_m-binary.stl"/> | |
</geometry> | |
<material name="silver"> | |
<color rgba="1 0 0 1"/> | |
</material> | |
</visual> | |
<collision> | |
<origin rpy="0 0 0" xyz="-0.447222 0.622377 0.163596"/> | |
<geometry> | |
<mesh filename="package://little_pig_atv/urdf/bin_stl/left_steering_knuckle_m-binary.stl"/> | |
</geometry> | |
</collision> | |
</link> | |
<!-- Base Link - Left Steering Knuckle Joint --> | |
<joint name="base_link_to_left_steering_knuckle" type="revolute"> | |
<origin rpy="0 0 0" xyz="0.447222 -0.622377 -0.163596"/> | |
<parent link="base_link"/> | |
<child link="left_steering_knuckle"/> | |
<axis xyz="-0.000375 -0.0 0.009993"/> | |
<limit lower="-0.5" upper="0.5" effort="1.0" velocity="2.0"/> | |
</joint> | |
<!-- Base Link - Left Steering Knuckle Transmission --> | |
<transmission name="base_link_to_left_steering_knuckle_tran"> | |
<type>transmission_interface/SimpleTransmission</type> | |
<joint name="base_link_to_left_steering_knuckle"> | |
<hardwareInterface>PositionJointInterface</hardwareInterface> | |
</joint> | |
<actuator name="base_link_to_left_steering_knuckle_actr"> | |
<hardwareInterface>PositionJointInterface</hardwareInterface> | |
<mechanicalReduction>1</mechanicalReduction> | |
</actuator> | |
</transmission> | |
<!-- Front Left Wheel Hub --> | |
<link name="front_left_wheel_hub"> | |
<inertial> | |
<origin rpy="0 0 0" xyz="0.027160820485626624 1.743857634961543e-07 0.0010195880848413164"/> | |
<mass value="1.118795265201953"/> | |
<inertia ixx="0.001287" ixy="-0.0" ixz="1.1e-05" iyy="0.000986" iyz="0.0" izz="0.000987"/> | |
</inertial> | |
<visual> | |
<origin rpy="0 0 0" xyz="-0.526843 0.622377 0.097593"/> | |
<geometry> | |
<mesh filename="package://little_pig_atv/urdf/bin_stl/front_left_wheel_hub_m-binary.stl"/> | |
</geometry> | |
<material name="silver"> | |
<color rgba="1 0 0 1"/> | |
</material> | |
</visual> | |
<collision> | |
<origin rpy="0 0 0" xyz="-0.526843 0.622377 0.097593"/> | |
<geometry> | |
<mesh filename="package://little_pig_atv/urdf/bin_stl/front_left_wheel_hub_m-binary.stl"/> | |
</geometry> | |
</collision> | |
</link> | |
<!-- Front Left Steering Knuckle to Front Left Wheel Hub Joint --> | |
<joint name="front_left_steering_knuckle_front_left_wheel_hub" type="continuous"> | |
<origin rpy="0 0 0" xyz="0.079621 0.0 0.066003"/> | |
<parent link="left_steering_knuckle"/> | |
<child link="front_left_wheel_hub"/> | |
<axis xyz="-0.009993 -0.0 -0.000375"/> | |
</joint> | |
<!-- Front Left Steering Knuckle to Front Left Wheel Hub Transmission --> | |
<transmission name="front_left_steering_knuckle_front_left_wheel_hub_tran"> | |
<type>transmission_interface/SimpleTransmission</type> | |
<joint name="front_left_steering_knuckle_front_left_wheel_hub"> | |
<hardwareInterface>EffortJointInterface</hardwareInterface> | |
</joint> | |
<actuator name="front_left_steering_knuckle_front_left_wheel_hub_actr"> | |
<hardwareInterface>EffortJointInterface</hardwareInterface> | |
<mechanicalReduction>1</mechanicalReduction> | |
</actuator> | |
</transmission> | |
<!-- Front Left Wheel --> | |
<link name="front_left_wheel"> | |
<inertial> | |
<origin rpy="0 0 0" xyz="0.0011488911139707625 2.510309293879409e-06 3.8079092190917985e-05"/> | |
<mass value="77.98350831979032"/> | |
<inertia ixx="4.69787" ixy="-9e-06" ixz="0.077554" iyy="2.63247" iyz="-3e-05" izz="2.635399"/> | |
</inertial> | |
<visual> | |
<origin rpy="0 0 0" xyz="-0.563887 0.622377 0.096202"/> | |
<geometry> | |
<mesh filename="package://little_pig_atv/urdf/bin_stl/front_left_wheel_m-binary.stl"/> | |
</geometry> | |
<material name="silver"> | |
<color rgba="1 0 0 1"/> | |
</material> | |
</visual> | |
<collision> | |
<origin rpy="0 0 0" xyz="-0.563887 0.622377 0.096202"/> | |
<geometry> | |
<mesh filename="package://little_pig_atv/urdf/bin_stl/front_left_wheel_m-binary.stl"/> | |
</geometry> | |
</collision> | |
</link> | |
<!-- Front Left Wheel Hub to Front Left Wheel Joint--> | |
<joint name="front_left_wheel_hub_front_left_wheel" type="fixed"> | |
<origin rpy="0 0 0" xyz="0.037044 0.0 0.001391"/> | |
<parent link="front_left_wheel_hub"/> | |
<child link="front_left_wheel"/> | |
</joint> | |
<!-- Front Left Wheel Hub to Front Left Wheel Joint--> | |
<transmission name="front_left_wheel_hub_front_left_wheel_tran"> | |
<type>transmission_interface/SimpleTransmission</type> | |
<joint name="front_left_wheel_hub_front_left_wheel"> | |
<hardwareInterface>PositionJointInterface</hardwareInterface> | |
</joint> | |
<actuator name="front_left_wheel_hub_front_left_wheel_actr"> | |
<hardwareInterface>PositionJointInterface</hardwareInterface> | |
<mechanicalReduction>1</mechanicalReduction> | |
</actuator> | |
</transmission> | |
<!-- Right Steering Knuckle --> | |
<link name="right_steering_knuckle"> | |
<inertial> | |
<origin rpy="0 0 0" xyz="-0.04602703865184993 0.00521305901325253 0.06491864444227143"/> | |
<mass value="2.322126893861874"/> | |
<inertia ixx="0.004736" ixy="-0.000171" ixz="-6.7e-05" iyy="0.003675" iyz="7e-06" izz="0.003102"/> | |
</inertial> | |
<visual> | |
<origin rpy="0 0 0" xyz="0.457954 0.622377 0.162568"/> | |
<geometry> | |
<mesh filename="package://little_pig_atv/urdf/bin_stl/right_steering_knuckle_m-binary.stl"/> | |
</geometry> | |
<material name="silver"> | |
<color rgba="1 0 0 1"/> | |
</material> | |
</visual> | |
<collision> | |
<origin rpy="0 0 0" xyz="0.457954 0.622377 0.162568"/> | |
<geometry> | |
<mesh filename="package://little_pig_atv/urdf/bin_stl/right_steering_knuckle_m-binary.stl"/> | |
</geometry> | |
</collision> | |
</link> | |
<!-- Base Link - Right Steering Knuckle Joint --> | |
<joint name="base_link_to_right_steering_knuckle" type="continuous"> | |
<origin rpy="0 0 0" xyz="-0.457954 -0.622377 -0.162568"/> | |
<parent link="base_link"/> | |
<child link="right_steering_knuckle"/> | |
<axis xyz="0.000412 -0.0 0.009992"/> | |
<limit lower="-0.5" upper="0.5" effort="1.0" velocity="2.0"/> | |
</joint> | |
<!-- Base Link - Right Steering Knuckle Transmission --> | |
<transmission name="base_link_to_right_steering_knuckle_tran"> | |
<type>transmission_interface/SimpleTransmission</type> | |
<joint name="base_link_to_right_steering_knuckle"> | |
<hardwareInterface>EffortJointInterface</hardwareInterface> | |
</joint> | |
<actuator name="base_link_to_right_steering_knuckle_actr"> | |
<hardwareInterface>EffortJointInterface</hardwareInterface> | |
<mechanicalReduction>1</mechanicalReduction> | |
</actuator> | |
</transmission> | |
<!-- Front Right Wheel Hub --> | |
<link name="front_right_wheel_hub"> | |
<inertial> | |
<origin rpy="0 0 0" xyz="-0.03807755669639501 2.229040352297318e-07 0.0015684173363760129"/> | |
<mass value="1.1187951842239643"/> | |
<inertia ixx="0.001286" ixy="0.0" ixz="-1.2e-05" iyy="0.000986" iyz="-0.0" izz="0.000987"/> | |
</inertial> | |
<visual> | |
<origin rpy="0 0 0" xyz="0.526428 0.622377 0.096724"/> | |
<geometry> | |
<mesh filename="package://little_pig_atv/urdf/bin_stl/front_right_wheel_hub_m-binary.stl"/> | |
</geometry> | |
<material name="silver"> | |
<color rgba="1 0 0 1"/> | |
</material> | |
</visual> | |
<collision> | |
<origin rpy="0 0 0" xyz="0.526428 0.622377 0.096724"/> | |
<geometry> | |
<mesh filename="package://little_pig_atv/urdf/bin_stl/front_right_wheel_hub_m-binary.stl"/> | |
</geometry> | |
</collision> | |
</link> | |
<!-- Right Steering Knuckle - Front Right Wheel Hub Joint --> | |
<joint name="right_steering_knuckle_front_right_hub" type="continuous"> | |
<origin rpy="0 0 0" xyz="-0.068474 0.0 0.065844"/> | |
<parent link="right_steering_knuckle"/> | |
<child link="front_right_wheel_hub"/> | |
<axis xyz="0.009992 0.0 -0.000412"/> | |
</joint> | |
<!-- Right Steering Knuckle - Front Right Wheel Hub Transmission --> | |
<transmission name="right_steering_knuckle_front_right_hub_tran"> | |
<type>transmission_interface/SimpleTransmission</type> | |
<joint name="right_steering_knuckle_front_right_hub"> | |
<hardwareInterface>PositionJointInterface</hardwareInterface> | |
</joint> | |
<actuator name="right_steering_knuckle_front_right_hub_actr"> | |
<hardwareInterface>PositionJointInterface</hardwareInterface> | |
<mechanicalReduction>1</mechanicalReduction> | |
</actuator> | |
</transmission> | |
<!-- Front Right Wheel --> | |
<link name="front_right_wheel"> | |
<inertial> | |
<origin rpy="0 0 0" xyz="-0.001292276290758898 2.291232137796584e-06 5.7530997634336334e-05"/> | |
<mass value="77.98348447888712"/> | |
<inertia ixx="4.697279" ixy="1.1e-05" ixz="-0.085043" iyy="2.632396" iyz="2.9e-05" izz="2.635914"/> | |
</inertial> | |
<visual> | |
<origin rpy="0 0 0" xyz="0.574387 0.622377 0.094748"/> | |
<geometry> | |
<mesh filename="package://little_pig_atv/urdf/bin_stl/front_right_wheel_m-binary.stl"/> | |
</geometry> | |
<material name="silver"> | |
<color rgba="1 0 0 1"/> | |
</material> | |
</visual> | |
<collision> | |
<origin rpy="0 0 0" xyz="0.574387 0.622377 0.094748"/> | |
<geometry> | |
<mesh filename="package://little_pig_atv/urdf/bin_stl/front_right_wheel_m-binary.stl"/> | |
</geometry> | |
</collision> | |
</link> | |
<!-- Front Right Wheel Hub to Front Right Wheel Joint --> | |
<joint name="front_right_wheel_hub_front_right_wheel" type="fixed"> | |
<origin rpy="0 0 0" xyz="-0.047959 0.0 0.001976"/> | |
<parent link="front_right_wheel_hub"/> | |
<child link="front_right_wheel"/> | |
</joint> | |
<!-- Front Right Wheel Hub to Front Right Wheel Transmission --> | |
<transmission name="front_right_wheel_hub_front_right_wheel_tran"> | |
<type>transmission_interface/SimpleTransmission</type> | |
<joint name="front_right_wheel_hub_front_right_wheel"> | |
<hardwareInterface>PositionJointInterface</hardwareInterface> | |
</joint> | |
<actuator name="front_right_wheel_hub_front_right_wheel_actr"> | |
<hardwareInterface>PositionJointInterface</hardwareInterface> | |
<mechanicalReduction>1</mechanicalReduction> | |
</actuator> | |
</transmission> | |
<!-- Rear Left Wheel Hub --> | |
<link name="rear_left_hub"> | |
<inertial> | |
<origin rpy="0 0 0" xyz="0.027291669153874487 1.9676759810405287e-07 -0.0001474093893083922"/> | |
<mass value="1.1187963911881649"/> | |
<inertia ixx="0.001287" ixy="0.0" ixz="-2e-06" iyy="0.000986" iyz="0.0" izz="0.000986"/> | |
</inertial> | |
<visual> | |
<origin rpy="0 0 0" xyz="-0.547664 -0.788123 0.102833"/> | |
<geometry> | |
<mesh filename="package://little_pig_atv/urdf/bin_stl/rear_left_hub_m-binary.stl"/> | |
</geometry> | |
<material name="silver"> | |
<color rgba="1 0 0 1"/> | |
</material> | |
</visual> | |
<collision> | |
<origin rpy="0 0 0" xyz="-0.547664 -0.788123 0.102833"/> | |
<geometry> | |
<mesh filename="package://little_pig_atv/urdf/bin_stl/rear_left_hub_m-binary.stl"/> | |
</geometry> | |
</collision> | |
</link> | |
<!-- Base Link to Rear Left Wheel Hub Joint --> | |
<joint name="base_link_rear_left_wheel_hub" type="continuous"> | |
<origin rpy="0 0 0" xyz="0.547664 0.788123 -0.102833"/> | |
<parent link="base_link"/> | |
<child link="rear_left_hub"/> | |
<axis xyz="0.01 -0.0 -5.4e-05"/> | |
</joint> | |
<!-- Base Link to Rear Left Wheel Hub Transmission --> | |
<transmission name="base_link_rear_left_wheel_hub_tran"> | |
<type>transmission_interface/SimpleTransmission</type> | |
<joint name="base_link_rear_left_wheel_hub"> | |
<hardwareInterface>PositionJointInterface</hardwareInterface> | |
</joint> | |
<actuator name="base_link_rear_left_wheel_hub_actr"> | |
<hardwareInterface>PositionJointInterface</hardwareInterface> | |
<mechanicalReduction>1</mechanicalReduction> | |
</actuator> | |
</transmission> | |
<!-- Rear Left Wheel --> | |
<link name="rear_left_wheel"> | |
<inertial> | |
<origin rpy="0 0 0" xyz="-0.024998897547842458 3.7973710019789664e-06 0.0001368244068725294"/> | |
<mass value="88.28370410127773"/> | |
<inertia ixx="5.402188" ixy="-3e-05" ixz="-0.011694" iyy="3.237533" iyz="2.6e-05" izz="3.237567"/> | |
</inertial> | |
<visual> | |
<origin rpy="0 0 0" xyz="-0.584846 -0.788123 0.103034"/> | |
<geometry> | |
<mesh filename="package://little_pig_atv/urdf/bin_stl/rear_left_wheel_m-binary.stl"/> | |
</geometry> | |
<material name="silver"> | |
<color rgba="1 0 0 1"/> | |
</material> | |
</visual> | |
<collision> | |
<origin rpy="0 0 0" xyz="-0.584846 -0.788123 0.103034"/> | |
<geometry> | |
<mesh filename="package://little_pig_atv/urdf/bin_stl/rear_left_wheel_m-binary.stl"/> | |
</geometry> | |
</collision> | |
</link> | |
<!-- Rear Left Wheel Hub to Rear Left Wheel Joint --> | |
<joint name="rear_left_wheel_hub_rear_left_wheel" type="fixed"> | |
<origin rpy="0 0 0" xyz="0.037182 0.0 -0.000201"/> | |
<parent link="rear_left_hub"/> | |
<child link="rear_left_wheel"/> | |
</joint> | |
<!-- Rear Left Wheel Hub to Rear Left Wheel Transmission --> | |
<transmission name="rear_left_wheel_hub_rear_left_wheel_tran"> | |
<type>transmission_interface/SimpleTransmission</type> | |
<joint name="rear_left_wheel_hub_rear_left_wheel"> | |
<hardwareInterface>PositionJointInterface</hardwareInterface> | |
</joint> | |
<actuator name="rear_left_wheel_hub_rear_left_wheel_actr"> | |
<hardwareInterface>PositionJointInterface</hardwareInterface> | |
<mechanicalReduction>1</mechanicalReduction> | |
</actuator> | |
</transmission> | |
<!-- Rear Right Wheel Hub --> | |
<link name="rear_right_hub"> | |
<inertial> | |
<origin rpy="0 0 0" xyz="-0.027291096145922622 2.0521091637082378e-07 3.286601153970614e-05"/> | |
<mass value="1.1187959967121328"/> | |
<inertia ixx="0.001287" ixy="-0.0" ixz="-0.0" iyy="0.000986" iyz="-0.0" izz="0.000986"/> | |
</inertial> | |
<visual> | |
<origin rpy="0 0 0" xyz="0.547263 -0.788123 0.13233"/> | |
<geometry> | |
<mesh filename="package://little_pig_atv/urdf/bin_stl/rear_right_hub_m-binary.stl"/> | |
</geometry> | |
<material name="silver"> | |
<color rgba="1 0 0 1"/> | |
</material> | |
</visual> | |
<collision> | |
<origin rpy="0 0 0" xyz="0.547263 -0.788123 0.13233"/> | |
<geometry> | |
<mesh filename="package://little_pig_atv/urdf/bin_stl/rear_right_hub_m-binary.stl"/> | |
</geometry> | |
</collision> | |
</link> | |
<!-- Base Link to Rear Right Wheel Hub Joint --> | |
<joint name="base_link_rear_right_wheel_hub" type="continuous"> | |
<origin rpy="0 0 0" xyz="-0.547263 0.788123 -0.13233"/> | |
<parent link="base_link"/> | |
<child link="rear_right_hub"/> | |
<axis xyz="-0.01 0.0 1.2e-05"/> | |
</joint> | |
<!-- Base Link to Rear Right Wheel Hub Transmission --> | |
<transmission name="base_link_rear_right_wheel_hub_tran"> | |
<type>transmission_interface/SimpleTransmission</type> | |
<joint name="base_link_rear_right_wheel_hub"> | |
<hardwareInterface>PositionJointInterface</hardwareInterface> | |
</joint> | |
<actuator name="base_link_rear_right_wheel_hub_actr"> | |
<hardwareInterface>PositionJointInterface</hardwareInterface> | |
<mechanicalReduction>1</mechanicalReduction> | |
</actuator> | |
</transmission> | |
<!-- Rear Right Wheel --> | |
<link name="rear_right_wheel"> | |
<inertial> | |
<origin rpy="0 0 0" xyz="0.022815265177914767 2.0103108817615123e-06 -2.4107454217187074e-05"/> | |
<mass value="88.28370095669479"/> | |
<inertia ixx="5.402246" ixy="1.2e-05" ixz="-0.002585" iyy="3.234966" iyz="2.6e-05" izz="3.235"/> | |
</inertial> | |
<visual> | |
<origin rpy="0 0 0" xyz="0.584444 -0.788123 0.132285"/> | |
<geometry> | |
<mesh filename="package://little_pig_atv/urdf/bin_stl/rear_right_wheel_m-binary.stl"/> | |
</geometry> | |
<material name="silver"> | |
<color rgba="1 0 0 1"/> | |
</material> | |
</visual> | |
<collision> | |
<origin rpy="0 0 0" xyz="0.584444 -0.788123 0.132285"/> | |
<geometry> | |
<mesh filename="package://little_pig_atv/urdf/bin_stl/rear_right_wheel_m-binary.stl"/> | |
</geometry> | |
</collision> | |
</link> | |
<!-- Rear Right Wheel Hub to Rear Right Wheel Joint --> | |
<joint name="rear_right_wheel_hub_rear_right_wheel" type="fixed"> | |
<origin rpy="0 0 0" xyz="-0.037181 0.0 4.5e-05"/> | |
<parent link="rear_right_hub"/> | |
<child link="rear_right_wheel"/> | |
</joint> | |
<!-- Rear Right Wheel Hub to Rear Right Wheel Trainsmission --> | |
<transmission name="rear_right_wheel_hub_rear_right_wheel_tran"> | |
<type>transmission_interface/SimpleTransmission</type> | |
<joint name="rear_right_wheel_hub_rear_right_wheel"> | |
<hardwareInterface>PositionJointInterface</hardwareInterface> | |
</joint> | |
<actuator name="rear_right_wheel_hub_rear_right_wheel_actr"> | |
<hardwareInterface>PositionJointInterface</hardwareInterface> | |
<mechanicalReduction>1</mechanicalReduction> | |
</actuator> | |
</transmission> | |
<!-- Gazebo plugin for ROS Control --> | |
<gazebo> | |
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so"> | |
<robotNamespace>/</robotNamespace> | |
</plugin> | |
</gazebo> | |
</robot> |
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