urdf modifications

[arm_ros_conn.git] / urdf / arm.urdf

diff --git a/urdf/arm.urdf b/urdf/arm.urdf
deleted file mode 100644 (file)
index 99e6dac..0000000
--- a/urdf/arm.urdf
+++ /dev/null
@@ -1,68 +0,0 @@
-<?xml version="1.0"?>
-<robot name="arm">
-       <link name="base_link">
-               <visual>
-                       <geometry>
-                               <box size="0.30 0.22 0.015"/>
-                       </geometry>
-                       <origin xyz="0.08 0 0.095" rpy="0 0 0"/>
-                       <material name="black">
-                               <color rgba="0.0 0.0 0.0 1"/>
-                       </material>
-               </visual>
-       </link>
-
-       <link name="front_wheel">
-               <visual>
-                       <geometry>
-                               <cylinder radius="0.025" length="0.002"/>
-                       </geometry>
-                       <origin xyz="0 0 0" rpy="1.57 0 0"/>
-                       <material name="black">
-                               <color rgba="0 0 0 1"/>
-                       </material>
-               </visual>
-       </link>
-
-       <link name="aft_left_wheel">
-               <visual>
-                       <geometry>
-                               <cylinder radius="0.025" length="0.002"/>
-                       </geometry>
-                       <origin xyz="0 0 0" rpy="1.57 0 0"/>
-                       <material name="black">
-                               <color rgba="0 0 0 1"/>
-                       </material>
-               </visual>
-       </link>
-
-       <link name="aft_right_wheel">
-               <visual>
-                       <geometry>
-                               <cylinder radius="0.025" length="0.002"/>
-                       </geometry>
-                       <origin xyz="0 0 0" rpy="1.57 0 0"/>
-                       <material name="black">
-                               <color rgba="0 0 0 1"/>
-                       </material>
-               </visual>
-       </link>
-
-       <joint name="front_wheel_joint" type="fixed">
-               <parent link="base_link"/>
-               <child link="front_wheel"/>
-               <origin xyz="0.17 0.0 0.025" rpy="0 0 0"/>
-       </joint>
-
-       <joint name="aft_left_wheel_joint" type="fixed">
-               <parent link="base_link"/>
-               <child link="aft_left_wheel"/>
-               <origin xyz="0.0 0.05 0.025" rpy="0 0 0"/>
-       </joint>
-
-       <joint name="aft_right_wheel_joint" type="fixed">
-               <parent link="base_link"/>
-               <child link="aft_right_wheel"/>
-               <origin xyz="0.0 -0.05 0.025" rpy="0 0 0"/>
-       </joint>
-</robot>