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cjds/freight.urdf

Created December 27, 2020 23:10
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freight.urdf
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freight.urdf
<robot name="fetch"> [95/1300]
<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="package://fetch_description/meshes/base_link.dae" />
</geometry>
<material name="">
<color rgba="0.356 0.361 0.376 1" />
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="package://fetch_description/meshes/base_link_collision.obj" />
</geometry>
</collision>
</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="package://fetch_description/meshes/r_wheel_link.obj" />
</geometry>
<material name="">
<color rgba="0.086 0.506 0.767 1" />
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="package://fetch_description/meshes/r_wheel_link_collision.obj" />
</geometry>
</collision>
</link>
<joint name="r_wheel_joint" type="continuous">
<origin rpy="-6.123E-17 0 0" xyz="0.0012914 -0.18738 0.055325" />
<parent link="base_link" />
<child link="r_wheel_link" />
<axis xyz="0 1 0" />
<limit effort="8.85" velocity="17.4" /></joint>
<transmission name="r_wheel_transmission" type="SimpleTransmission">
<actuator name="r_wheel_motor"/>
<joint name="r_wheel_joint"/>
<mechanicalReduction>1.0</mechanicalReduction>
</transmission>
<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="package://fetch_description/meshes/l_wheel_link.obj" />
</geometry>
<material name="">
<color rgba="0.086 0.506 0.767 1" />
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="package://fetch_description/meshes/l_wheel_link_collision.obj" />
</geometry>
</collision>
</link>
<joint name="l_wheel_joint" type="continuous">
<origin rpy="-6.123E-17 0 0" xyz="0.0012914 0.18738 0.055325" />
<parent link="base_link" />
<child link="l_wheel_link" />
<axis xyz="0 1 0" />
<limit effort="8.85" velocity="17.4" /></joint>
<transmission name="l_wheel_transmission" type="SimpleTransmission">
<actuator name="l_wheel_motor"/>
<joint name="l_wheel_joint"/>
<mechanicalReduction>1.0</mechanicalReduction>
</transmission>
<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="package://fetch_description/meshes/estop_link.dae" />
</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="package://fetch_description/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="package://fetch_description/meshes/laser_link.obj" />
</geometry>
<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="package://fetch_description/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>
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