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ddrobot5.urdf
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<?xml version='1.0'?>
<robot name="dd_robot">
<!-- Base Link -->
<link name="base_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box size="0.5 0.5 0.25"/>
</geometry>
<material name="blue">
<color rgba="0 0.5 1 1"/>
</material>
</visual>
<!-- Base collision, mass and inertia -->
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box size="0.5 0.5 0.25"/>
</geometry>
</collision>
</link>
<!-- Caster -->
<link name="caster">
<visual>
<origin xyz="0.0 0 0" rpy="0 0 0" />
<geometry>
<sphere radius="0.05" />
</geometry>
<material name="darkgray">
<color rgba=".2 .2 .2 1"/>
</material>
</visual>
<!-- Caster collision, mass and inertia -->
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<sphere radius="0.05" />
</geometry>
</collision>
</link>
<!-- Caster joint -->
<joint name="joint_caster" type="fixed">
<parent link="base_link"/>
<child link="caster"/>
<origin xyz="0.2 0 -0.125" rpy="0 0 0" />
</joint>
<!-- Right Wheel -->
<link name="right_wheel">
<visual>
<origin xyz="0 0 0" rpy="1.570795 0 0" />
<geometry>
<cylinder length="0.1" radius="0.2" />
</geometry>
<material name="darkgray">
<color rgba=".2 .2 .2 1"/>
</material>
</visual>
<!-- Right Wheel collision, mass and inertia -->
<collision>
<origin xyz="0 0 0" rpy="1.570795 0 0" />
<geometry>
<cylinder length="0.1" radius="0.2" />
</geometry>
</collision>
</link>
<joint name="joint_right_wheel" type="continuous">
<parent link="base_link"/>
<child link="right_wheel"/>
<origin xyz="0 -0.30 0" rpy="0 0 0" />
<axis xyz="0 1 0" />
</joint>
<!-- Left Wheel -->
<link name="left_wheel">
<visual>
<origin xyz="0 0 0" rpy="1.570795 0 0" />
<geometry>
<cylinder length="0.1" radius="0.2" />
</geometry>
<material name="darkgray">
<color rgba=".2 .2 .2 1"/>
</material>
</visual>
<!-- Left Wheel collision, mass and inertia -->
<collision>
<origin xyz="0 0 0" rpy="1.570795 0 0" />
<geometry>
<cylinder length="0.1" radius="0.2" />
</geometry>
</collision>
</link>
<!-- Left Wheel joint -->
<joint name="joint_left_wheel" type="continuous">
<parent link="base_link"/>
<child link="left_wheel"/>
<origin xyz="0 0.30 0" rpy="0 0 0" />
<axis xyz="0 1 0" />
</joint>
</robot>