From 9319d6cde4e6f55183bd8b7e1c61660458b8fdc1 Mon Sep 17 00:00:00 2001 From: Stone Tao <stonezt2019@gmail.com> Date: Mon, 29 Jul 2024 16:07:36 -0700 Subject: [PATCH] Add files via upload --- go2_description_simplified_locomotion.urdf | 1132 ++++++++++++++++++++ 1 file changed, 1132 insertions(+) create mode 100644 go2_description_simplified_locomotion.urdf diff --git a/go2_description_simplified_locomotion.urdf b/go2_description_simplified_locomotion.urdf new file mode 100644 index 0000000..be2d5f3 --- /dev/null +++ b/go2_description_simplified_locomotion.urdf @@ -0,0 +1,1132 @@ +<?xml version="1.0" encoding="utf-8"?> +<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by +Stephen Brawner (brawner@gmail.com) + Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578 + For more information, please see http://wiki.ros.org/sw_urdf_exporter --> +<robot + name="go2_description"> + <link + name="base"> + <inertial> + <origin + xyz="0.021112 0 -0.005366" + rpy="0 0 0" /> + <mass + value="6.921" /> + <inertia + ixx="0.02448" + ixy="0.00012166" + ixz="0.0014849" + iyy="0.098077" + iyz="-3.12E-05" + izz="0.107" /> + </inertial> + <visual> + <origin + xyz="0 0 0" + rpy="0 0 0" /> + <geometry> + <mesh + filename="../dae/base.dae" /> + </geometry> + </visual> + <collision> + <origin rpy="0 0 0" xyz="0 0 0" /> + <geometry> + <box size="0.3762 0.0935 0.114" /> + </geometry> + </collision> + </link> + <link + name="Head_upper"> + <inertial> + <origin + xyz="0 0 0" + rpy="0 0 0" /> + <mass + value="0.001" /> + <inertia + ixx="9.6e-06" + ixy="0" + ixz="0" + iyy="9.6e-06" + iyz="0" + izz="9.6e-06" /> + </inertial> + <collision> + <origin + xyz="0 0 0" + rpy="0 0 0" /> + <geometry> + <cylinder radius="0.05" length="0.09" /> + </geometry> + </collision> + </link> + <joint + name="Head_upper_joint" + type="fixed" dont_collapse="true"> + <origin + xyz="0.285 0 0.01" + rpy="0 0 0" /> + <parent + link="base" /> + <child + link="Head_upper" /> + <axis + xyz="0 0 0" /> + </joint> + <link + name="Head_lower"> + <inertial> + <origin + xyz="0 0 0" + rpy="0 0 0" /> + <mass + value="0.001" /> + <inertia + ixx="9.6e-06" + ixy="0" + ixz="0" + iyy="9.6e-06" + iyz="0" + izz="9.6e-06" /> + </inertial> + <collision> + <origin + xyz="0 0 0" + rpy="0 0 0" /> + <geometry> + <sphere radius="0.047" /> + </geometry> + </collision> + </link> + <joint + name="Head_lower_joint" + type="fixed" dont_collapse="true"> + <origin + xyz="0.008 0 -0.07" + rpy="0 0 0" /> + <parent + link="Head_upper" /> + <child + link="Head_lower" /> + <axis + xyz="0 0 0" /> + </joint> + <link + name="FL_hip"> + <inertial> + <origin + xyz="-0.0054 0.00194 -0.000105" + rpy="0 0 0" /> + <mass + value="0.678" /> + <inertia + ixx="0.00048" + ixy="-3.01E-06" + ixz="1.11E-06" + iyy="0.000884" + iyz="-1.42E-06" + izz="0.000596" /> + </inertial> + <visual> + <origin + xyz="0 0 0" + rpy="0 0 0" /> + <geometry> + <mesh + filename="../dae/hip.dae" /> + </geometry> + </visual> + <!-- <collision> + <origin rpy="1.5707963267948966 0 0" xyz="0 0.08 0" /> + <geometry> + <cylinder length="0.04" radius="0.046" /> + </geometry> + </collision> --> + </link> + <joint + name="FL_hip_joint" + type="revolute"> + <origin + xyz="0.1934 0.0465 0" + rpy="0 0 0" /> + <parent + link="base" /> + <child + link="FL_hip" /> + <axis + xyz="1 0 0" /> + <limit + lower="-0.4" + upper="0.4" + effort="23.7" + velocity="30.1" /> + </joint> + <link + name="FL_thigh"> + <inertial> + <origin + xyz="-0.00374 -0.0223 -0.0327" + rpy="0 0 0" /> + <mass + value="1.152" /> + <inertia + ixx="0.00584" + ixy="8.72E-05" + ixz="-0.000289" + iyy="0.0058" + iyz="0.000808" + izz="0.00103" /> + </inertial> + <visual> + <origin + xyz="0 0 0" + rpy="0 0 0" /> + <geometry> + <mesh + filename="../dae/thigh.dae" /> + </geometry> + </visual> + <collision> + <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065" /> + <geometry> + <box size="0.213 0.0245 0.034" /> + </geometry> + </collision> + </link> + <joint + name="FL_thigh_joint" + type="revolute"> + <origin + xyz="0 0.0955 0" + rpy="0 0 0" /> + <parent + link="FL_hip" /> + <child + link="FL_thigh" /> + <axis + xyz="0 1 0" /> + <limit + lower="0.3" + upper="1.9" + effort="23.7" + velocity="30.1" /> + </joint> + <link + name="FL_calf"> + <inertial> + <origin + xyz="0.00548 -0.000975 -0.115" + rpy="0 0 0" /> + <mass + value="0.154" /> + <inertia + ixx="0.00108" + ixy="3.4E-07" + ixz="1.72E-05" + iyy="0.0011" + iyz="8.28E-06" + izz="3.29E-05" /> + </inertial> + <visual> + <origin + xyz="0 0 0" + rpy="0 0 0" /> + <geometry> + <mesh + filename="../dae/calf.dae" /> + </geometry> + </visual> + <!-- <collision> + <origin rpy="0 -0.21 0" xyz="0.008 0 -0.06" /> + <geometry> + <cylinder length="0.12" radius="0.012" /> + </geometry> + </collision> --> + </link> + <joint + name="FL_calf_joint" + type="revolute"> + <origin + xyz="0 0 -0.213" + rpy="0 0 0" /> + <parent + link="FL_thigh" /> + <child + link="FL_calf" /> + <axis + xyz="0 1 0" /> + <limit + lower="-2.4" + upper="-1.4" + effort="45.43" + velocity="15.70" /> + </joint> + <link + name="FL_calflower"> + <!-- <collision> + <origin rpy="0 0 0" xyz="0 0 0" /> + <geometry> + <cylinder length="0.065" radius="0.011" /> + </geometry> + </collision> --> + </link> + <joint + name="FL_calflower_joint" + type="fixed"> + <origin + xyz="0.020 0 -0.148" + rpy="0 0.05 0" /> + <parent + link="FL_calf" /> + <child + link="FL_calflower" /> + <axis + xyz="0 0 0" /> + </joint> + <link + name="FL_calflower1"> + <!-- <collision> + <origin rpy="0 0 0" xyz="0 0 0" /> + <geometry> + <cylinder length="0.03" radius="0.0155" /> + </geometry> + </collision> --> + </link> + <joint + name="FL_calflower1_joint" + type="fixed"> + <origin + xyz="-0.01 0 -0.04" + rpy="0 0.48 0" /> + <parent + link="FL_calflower" /> + <child + link="FL_calflower1" /> + <axis + xyz="0 0 0" /> + </joint> + <link + name="FL_foot"> + <inertial> + <origin + xyz="0 0 0" + rpy="0 0 0" /> + <mass + value="0.04" /> + <inertia + ixx="9.6e-06" + ixy="0" + ixz="0" + iyy="9.6e-06" + iyz="0" + izz="9.6e-06" /> + </inertial> + <visual> + <origin + xyz="0 0 0" + rpy="0 0 0" /> + <geometry> + <mesh + filename="../dae/foot.dae" /> + </geometry> + </visual> + <collision> + <origin rpy="0 0 0" xyz="-0.002 0 0" /> + <geometry> + <sphere radius="0.022" /> + </geometry> + </collision> + </link> + <joint + name="FL_foot_joint" + type="fixed" dont_collapse="true"> + <origin + xyz="0 0 -0.213" + rpy="0 0 0" /> + <parent + link="FL_calf" /> + <child + link="FL_foot" /> + <axis + xyz="0 0 0" /> + </joint> + <link + name="FR_hip"> + <inertial> + <origin + xyz="-0.0054 -0.00194 -0.000105" + rpy="0 0 0" /> + <mass + value="0.678" /> + <inertia + ixx="0.00048" + ixy="3.01E-06" + ixz="1.11E-06" + iyy="0.000884" + iyz="1.42E-06" + izz="0.000596" /> + </inertial> + <visual> + <origin + xyz="0 0 0" + rpy="3.1415 0 0" /> + <geometry> + <mesh + filename="../dae/hip.dae" /> + </geometry> + </visual> + <!-- <collision> + <origin rpy="1.5707963267948966 0 0" xyz="0 -0.08 0" /> + <geometry> + <cylinder length="0.04" radius="0.046" /> + </geometry> + </collision> --> + </link> + <joint + name="FR_hip_joint" + type="revolute"> + <origin + xyz="0.1934 -0.0465 0" + rpy="0 0 0" /> + <parent + link="base" /> + <child + link="FR_hip" /> + <axis + xyz="1 0 0" /> + <limit + lower="-0.4" + upper="0.4" + effort="23.7" + velocity="30.1" /> + </joint> + <link + name="FR_thigh"> + <inertial> + <origin + xyz="-0.00374 0.0223 -0.0327" + rpy="0 0 0" /> + <mass + value="1.152" /> + <inertia + ixx="0.00584" + ixy="-8.72E-05" + ixz="-0.000289" + iyy="0.0058" + iyz="-0.000808" + izz="0.00103" /> + </inertial> + <visual> + <origin + xyz="0 0 0" + rpy="0 0 0" /> + <geometry> + <mesh + filename="../dae/thigh_mirror.dae" /> + </geometry> + </visual> + <collision> + <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065" /> + <geometry> + <box size="0.213 0.0245 0.034" /> + </geometry> + </collision> + </link> + <joint + name="FR_thigh_joint" + type="revolute"> + <origin + xyz="0 -0.0955 0" + rpy="0 0 0" /> + <parent + link="FR_hip" /> + <child + link="FR_thigh" /> + <axis + xyz="0 1 0" /> + <limit + lower="0.3" + upper="1.9" + effort="23.7" + velocity="30.1" /> + </joint> + <link + name="FR_calf"> + <inertial> + <origin + xyz="0.00548 0.000975 -0.115" + rpy="0 0 0" /> + <mass + value="0.154" /> + <inertia + ixx="0.00108" + ixy="-3.4E-07" + ixz="1.72E-05" + iyy="0.0011" + iyz="-8.28E-06" + izz="3.29E-05" /> + </inertial> + <visual> + <origin + xyz="0 0 0" + rpy="0 0 0" /> + <geometry> + <mesh + filename="../dae/calf_mirror.dae" /> + </geometry> + </visual> + <!-- <collision> + <origin rpy="0 -0.2 0" xyz="0.01 0 -0.06" /> + <geometry> + <cylinder length="0.12" radius="0.013" /> + </geometry> + </collision> --> + </link> + <joint + name="FR_calf_joint" + type="revolute"> + <origin + xyz="0 0 -0.213" + rpy="0 0 0" /> + <parent + link="FR_thigh" /> + <child + link="FR_calf" /> + <axis + xyz="0 1 0" /> + <limit + lower="-2.4" + upper="-1.4" + effort="45.43" + velocity="15.70" /> + </joint> + <link + name="FR_calflower"> + <!-- <collision> + <origin rpy="0 0 0" xyz="0 0 0" /> + <geometry> + <cylinder length="0.065" radius="0.011" /> + </geometry> + </collision> --> + </link> + <joint + name="FR_calflower_joint" + type="fixed"> + <origin + xyz="0.020 0 -0.148" + rpy="0 0.05 0" /> + <parent + link="FR_calf" /> + <child + link="FR_calflower" /> + <axis + xyz="0 0 0" /> + </joint> + <link + name="FR_calflower1"> + <!-- <collision> + <origin rpy="0 0 0" xyz="0 0 0" /> + <geometry> + <cylinder length="0.03" radius="0.0155" /> + </geometry> + </collision> --> + </link> + <joint + name="FR_calflower1_joint" + type="fixed"> + <origin + xyz="-0.01 0 -0.04" + rpy="0 0.48 0" /> + <parent + link="FR_calflower" /> + <child + link="FR_calflower1" /> + <axis + xyz="0 0 0" /> + </joint> + <link + name="FR_foot"> + <inertial> + <origin + xyz="0 0 0" + rpy="0 0 0" /> + <mass + value="0.04" /> + <inertia + ixx="9.6e-06" + ixy="0" + ixz="0" + iyy="9.6e-06" + iyz="0" + izz="9.6e-06" /> + </inertial> + <visual> + <origin + xyz="0 0 0" + rpy="0 0 0" /> + <geometry> + <mesh + filename="../dae/foot.dae" /> + </geometry> + </visual> + <collision> + <origin rpy="0 0 0" xyz="-0.002 0 0" /> + <geometry> + <sphere radius="0.022" /> + </geometry> + </collision> + </link> + <joint + name="FR_foot_joint" + type="fixed" dont_collapse="true"> + <origin + xyz="0 0 -0.213" + rpy="0 0 0" /> + <parent + link="FR_calf" /> + <child + link="FR_foot" /> + <axis + xyz="0 0 0" /> + </joint> + <link + name="RL_hip"> + <inertial> + <origin + xyz="0.0054 0.00194 -0.000105" + rpy="0 0 0" /> + <mass + value="0.678" /> + <inertia + ixx="0.00048" + ixy="3.01E-06" + ixz="-1.11E-06" + iyy="0.000884" + iyz="-1.42E-06" + izz="0.000596" /> + </inertial> + <visual> + <origin + xyz="0 0 0" + rpy="0 3.1415 0" /> + <geometry> + <mesh + filename="../dae/hip.dae" /> + </geometry> + </visual> + <!-- <collision> + <origin rpy="1.5707963267948966 0 0" xyz="0 0.08 0" /> + <geometry> + <cylinder length="0.04" radius="0.046" /> + </geometry> + </collision> --> + </link> + <joint + name="RL_hip_joint" + type="revolute"> + <origin + xyz="-0.1934 0.0465 0" + rpy="0 0 0" /> + <parent + link="base" /> + <child + link="RL_hip" /> + <axis + xyz="1 0 0" /> + <limit + lower="-0.4" + upper="0.4" + effort="23.7" + velocity="30.1" /> + </joint> + <link + name="RL_thigh"> + <inertial> + <origin + xyz="-0.00374 -0.0223 -0.0327" + rpy="0 0 0" /> + <mass + value="1.152" /> + <inertia + ixx="0.00584" + ixy="8.72E-05" + ixz="-0.000289" + iyy="0.0058" + iyz="0.000808" + izz="0.00103" /> + </inertial> + <visual> + <origin + xyz="0 0 0" + rpy="0 0 0" /> + <geometry> + <mesh + filename="../dae/thigh.dae" /> + </geometry> + </visual> + <collision> + <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065" /> + <geometry> + <box size="0.213 0.0245 0.034" /> + </geometry> + </collision> + </link> + <joint + name="RL_thigh_joint" + type="revolute"> + <origin + xyz="0 0.0955 0" + rpy="0 0 0" /> + <parent + link="RL_hip" /> + <child + link="RL_thigh" /> + <axis + xyz="0 1 0" /> + <limit + lower="0.3" + upper="1.9" + effort="23.7" + velocity="30.1" /> + </joint> + <link + name="RL_calf"> + <inertial> + <origin + xyz="0.00548 -0.000975 -0.115" + rpy="0 0 0" /> + <mass + value="0.154" /> + <inertia + ixx="0.00108" + ixy="3.4E-07" + ixz="1.72E-05" + iyy="0.0011" + iyz="8.28E-06" + izz="3.29E-05" /> + </inertial> + <visual> + <origin + xyz="0 0 0" + rpy="0 0 0" /> + <geometry> + <mesh + filename="../dae/calf.dae" /> + </geometry> + </visual> + <!-- <collision> + <origin rpy="0 -0.2 0" xyz="0.01 0 -0.06" /> + <geometry> + <cylinder length="0.12" radius="0.013" /> + </geometry> + </collision> --> + </link> + <joint + name="RL_calf_joint" + type="revolute"> + <origin + xyz="0 0 -0.213" + rpy="0 0 0" /> + <parent + link="RL_thigh" /> + <child + link="RL_calf" /> + <axis + xyz="0 1 0" /> + <limit + lower="-2.4" + upper="-1.4" + effort="45.43" + velocity="15.70" /> + </joint> + <link + name="RL_calflower"> + <!-- <collision> + <origin rpy="0 0 0" xyz="0 0 0" /> + <geometry> + <cylinder length="0.065" radius="0.011" /> + </geometry> + </collision> --> + </link> + <joint + name="RL_calflower_joint" + type="fixed"> + <origin + xyz="0.020 0 -0.148" + rpy="0 0.05 0" /> + <parent + link="RL_calf" /> + <child + link="RL_calflower" /> + <axis + xyz="0 0 0" /> + </joint> + <link + name="RL_calflower1"> + <!-- <collision> + <origin rpy="0 0 0" xyz="0 0 0" /> + <geometry> + <cylinder length="0.03" radius="0.0155" /> + </geometry> + </collision> --> + </link> + <joint + name="RL_calflower1_joint" + type="fixed"> + <origin + xyz="-0.01 0 -0.04" + rpy="0 0.48 0" /> + <parent + link="RL_calflower" /> + <child + link="RL_calflower1" /> + <axis + xyz="0 0 0" /> + </joint> + <link + name="RL_foot"> + <inertial> + <origin + xyz="0 0 0" + rpy="0 0 0" /> + <mass + value="0.04" /> + <inertia + ixx="9.6e-06" + ixy="0" + ixz="0" + iyy="9.6e-06" + iyz="0" + izz="9.6e-06" /> + </inertial> + <visual> + <origin + xyz="0 0 0" + rpy="0 0 0" /> + <geometry> + <mesh + filename="../dae/foot.dae" /> + </geometry> + </visual> + <collision> + <origin rpy="0 0 0" xyz="-0.002 0 0" /> + <geometry> + <sphere radius="0.022" /> + </geometry> + </collision> + </link> + <joint + name="RL_foot_joint" + type="fixed" dont_collapse="true"> + <origin + xyz="0 0 -0.213" + rpy="0 0 0" /> + <parent + link="RL_calf" /> + <child + link="RL_foot" /> + <axis + xyz="0 0 0" /> + </joint> + <link + name="RR_hip"> + <inertial> + <origin + xyz="0.0054 -0.00194 -0.000105" + rpy="0 0 0" /> + <mass + value="0.678" /> + <inertia + ixx="0.00048" + ixy="-3.01E-06" + ixz="-1.11E-06" + iyy="0.000884" + iyz="1.42E-06" + izz="0.000596" /> + </inertial> + <visual> + <origin + xyz="0 0 0" + rpy="3.1415 3.1415 0" /> + <geometry> + <mesh + filename="../dae/hip.dae" /> + </geometry> + </visual> + <!-- <collision> + <origin rpy="1.5707963267948966 0 0" xyz="0 -0.08 0" /> + <geometry> + <cylinder length="0.04" radius="0.046" /> + </geometry> + </collision> --> + </link> + <joint + name="RR_hip_joint" + type="revolute"> + <origin + xyz="-0.1934 -0.0465 0" + rpy="0 0 0" /> + <parent + link="base" /> + <child + link="RR_hip" /> + <axis + xyz="1 0 0" /> + <limit + lower="-0.4" + upper="0.4" + effort="23.7" + velocity="30.1" /> + </joint> + <link + name="RR_thigh"> + <inertial> + <origin + xyz="-0.00374 0.0223 -0.0327" + rpy="0 0 0" /> + <mass + value="1.152" /> + <inertia + ixx="0.00584" + ixy="-8.72E-05" + ixz="-0.000289" + iyy="0.0058" + iyz="-0.000808" + izz="0.00103" /> + </inertial> + <visual> + <origin + xyz="0 0 0" + rpy="0 0 0" /> + <geometry> + <mesh + filename="../dae/thigh_mirror.dae" /> + </geometry> + </visual> + <collision> + <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065" /> + <geometry> + <box size="0.213 0.0245 0.034" /> + </geometry> + </collision> + </link> + <joint + name="RR_thigh_joint" + type="revolute"> + <origin + xyz="0 -0.0955 0" + rpy="0 0 0" /> + <parent + link="RR_hip" /> + <child + link="RR_thigh" /> + <axis + xyz="0 1 0" /> + <limit + lower="0.3" + upper="1.9" + effort="23.7" + velocity="30.1" /> + </joint> + <link + name="RR_calf"> + <inertial> + <origin + xyz="0.00548 0.000975 -0.115" + rpy="0 0 0" /> + <mass + value="0.154" /> + <inertia + ixx="0.00108" + ixy="-3.4E-07" + ixz="1.72E-05" + iyy="0.0011" + iyz="-8.28E-06" + izz="3.29E-05" /> + </inertial> + <visual> + <origin + xyz="0 0 0" + rpy="0 0 0" /> + <geometry> + <mesh + filename="../dae/calf_mirror.dae" /> + </geometry> + </visual> + <!-- <collision> + <origin rpy="0 -0.2 0" xyz="0.01 0 -0.06" /> + <geometry> + <cylinder length="0.12" radius="0.013" /> + </geometry> + </collision> --> + </link> + <joint + name="RR_calf_joint" + type="revolute"> + <origin + xyz="0 0 -0.213" + rpy="0 0 0" /> + <parent + link="RR_thigh" /> + <child + link="RR_calf" /> + <axis + xyz="0 1 0" /> + <limit + lower="-2.4" + upper="-1.4" + effort="45.43" + velocity="15.70" /> + </joint> + <link + name="RR_calflower"> + <!-- <collision> + <origin rpy="0 0 0" xyz="0 0 0" /> + <geometry> + <cylinder length="0.065" radius="0.011" /> + </geometry> + </collision> --> + </link> + <joint + name="RR_calflower_joint" + type="fixed"> + <origin + xyz="0.020 0 -0.148" + rpy="0 0.05 0" /> + <parent + link="RR_calf" /> + <child + link="RR_calflower" /> + <axis + xyz="0 0 0" /> + </joint> + <link + name="RR_calflower1"> + <!-- <collision> + <origin rpy="0 0 0" xyz="0 0 0" /> + <geometry> + <cylinder length="0.03" radius="0.0155" /> + </geometry> + </collision> --> + </link> + <joint + name="RR_calflower1_joint" + type="fixed"> + <origin + xyz="-0.01 0 -0.04" + rpy="0 0.48 0" /> + <parent + link="RR_calflower" /> + <child + link="RR_calflower1" /> + <axis + xyz="0 0 0" /> + </joint> + <link + name="RR_foot"> + <inertial> + <origin + xyz="0 0 0" + rpy="0 0 0" /> + <mass + value="0.04" /> + <inertia + ixx="9.6e-06" + ixy="0" + ixz="0" + iyy="9.6e-06" + iyz="0" + izz="9.6e-06" /> + </inertial> + <visual> + <origin + xyz="0 0 0" + rpy="0 0 0" /> + <geometry> + <mesh + filename="../dae/foot.dae" /> + </geometry> + </visual> + <collision> + <origin rpy="0 0 0" xyz="-0.002 0 0" /> + <geometry> + <sphere radius="0.022" /> + </geometry> + </collision> + </link> + <joint + name="RR_foot_joint" + type="fixed" dont_collapse="true"> + <origin + xyz="0 0 -0.213" + rpy="0 0 0" /> + <parent + link="RR_calf" /> + <child + link="RR_foot" /> + <axis + xyz="0 0 0" /> + </joint> + <link + name="imu"> + <inertial> + <origin + xyz="0 0 0" + rpy="0 0 0" /> + <mass + value="0" /> + <inertia + ixx="0" + ixy="0" + ixz="0" + iyy="0" + iyz="0" + izz="0" /> + </inertial> + </link> + <joint + name="imu_joint" + type="fixed"> + <origin + xyz="-0.02557 0 0.04232" + rpy="0 0 0" /> + <parent + link="base" /> + <child + link="imu" /> + <axis + xyz="0 0 0" /> + </joint> + <link + name="radar"> + <inertial> + <origin + xyz="0 0 0" + rpy="0 0 0" /> + <mass + value="0" /> + <inertia + ixx="0" + ixy="0" + ixz="0" + iyy="0" + iyz="0" + izz="0" /> + </inertial> + </link> + <joint + name="radar_joint" + type="fixed"> + <origin + xyz="0.28945 0 -0.046825" + rpy="0 2.8782 0" /> + <parent + link="base" /> + <child + link="radar" /> + <axis + xyz="0 0 0" /> + </joint> +</robot> \ No newline at end of file