urdf/arm.urdf

   1 <?xml version="1.0"?>
   2 <robot name="arm">
   3         <link name="base_link">
   4                 <visual>
   5                         <geometry>
   6                                 <box size="0.23 0.17 0.20"/>
   7                         </geometry>
   8                         <origin xyz="0.0 0 0.12" rpy="0 0 0"/>
   9                         <material name="grey">
  10                                 <color rgba="0.5 0.5 0.5 1"/>
  11                         </material>
  12                 </visual>
  13         </link>
  14
  15         <link name="front_left_wheel">
  16                 <visual>
  17                         <geometry>
  18                                 <cylinder radius="0.03" length="0.005"/>
  19                         </geometry>
  20                         <origin xyz="0 0 0" rpy="1.57 0 0"/>
  21                         <material name="black">
  22                                 <color rgba="0 0 0 1"/>
  23                         </material>
  24                 </visual>
  25         </link>
  26
  27         <link name="front_right_wheel">
  28                 <visual>
  29                         <geometry>
  30                                 <cylinder radius="0.03" length="0.005"/>
  31                         </geometry>
  32                         <origin xyz="0 0 0" rpy="1.57 0 0"/>
  33                         <material name="black">
  34                                 <color rgba="0 0 0 1"/>
  35                         </material>
  36                 </visual>
  37         </link>
  38
  39         <link name="aft_left_wheel">
  40                 <visual>
  41                         <geometry>
  42                                 <cylinder radius="0.03" length="0.005"/>
  43                         </geometry>
  44                         <origin xyz="0 0 0" rpy="1.57 0 0"/>
  45                         <material name="black">
  46                                 <color rgba="0 0 0 1"/>
  47                         </material>
  48                 </visual>
  49         </link>
  50
  51         <link name="aft_right_wheel">
  52                 <visual>
  53                         <geometry>
  54                                 <cylinder radius="0.03" length="0.005"/>
  55                         </geometry>
  56                         <origin xyz="0 0 0" rpy="1.57 0 0"/>
  57                         <material name="black">
  58                                 <color rgba="0 0 0 1"/>
  59                         </material>
  60                 </visual>
  61         </link>
  62
  63         <link name="platform">
  64                 <visual>
  65                         <geometry>
  66                                 <box size="0.08 0.065 0.075"/>
  67                         </geometry>
  68                         <material name="red">
  69                                 <color rgba="1 0 0 1"/>
  70                         </material>
  71                 </visual>
  72         </link>
  73
  74         <link name="scan">
  75                 <visual>
  76                         <geometry>
  77                                 <box size="0.01 0.045 0.015"/>
  78                         </geometry>
  79                 </visual>
  80         </link>
  81
  82         <link name="front_left_eye">
  83                 <visual>
  84                         <geometry>
  85                                 <cylinder radius="0.0075" length="0.01"/>
  86                         </geometry>
  87                         <origin xyz="0 0 0" rpy="0 1.57 0"/>
  88                         <material name="black">
  89                                 <color rgba="0 0 0 1"/>
  90                         </material>
  91                 </visual>
  92         </link>
  93
  94         <link name="front_right_eye">
  95                 <visual>
  96                         <geometry>
  97                                 <cylinder radius="0.0075" length="0.01"/>
  98                         </geometry>
  99                         <origin xyz="0 0 0" rpy="0 1.57 0"/>
 100                         <material name="black">
 101                                 <color rgba="0 0 0 1"/>
 102                         </material>
 103                 </visual>
 104         </link>
 105
 106         <link name="sonar_forward_lower">
 107                 <visual>
 108                         <geometry>
 109                                 <box size="0.01 0.045 0.03"/>
 110                         </geometry>
 111                 </visual>
 112         </link>
 113
 114         <link name="front_lower_left_eye">
 115                 <visual>
 116                         <geometry>
 117                                 <cylinder radius="0.0075" length="0.01"/>
 118                         </geometry>
 119                         <origin xyz="0 0 0.0" rpy="0 1.57 0"/>
 120                         <material name="black">
 121                                 <color rgba="0 0 0 1"/>
 122                         </material>
 123                 </visual>
 124         </link>
 125
 126         <link name="front_lower_right_eye">
 127                 <visual>
 128                         <geometry>
 129                                 <cylinder radius="0.0075" length="0.01"/>
 130                         </geometry>
 131                         <origin xyz="0 0 0.0" rpy="0 1.57 0"/>
 132                         <material name="black">
 133                                 <color rgba="0 0 0 1"/>
 134                         </material>
 135                 </visual>
 136         </link>
 137
 138         <link name="antenna">
 139                 <visual>
 140                         <geometry>
 141                                 <cylinder radius="0.005" length="0.20"/>
 142                         </geometry>
 143                         <origin xyz="0 0 0.1" rpy="0 0 0"/>
 144                         <material name="black">
 145                                 <color rgba="0 0 0 1"/>
 146                         </material>
 147                 </visual>
 148         </link>
 149
 150         <joint name="front_left_wheel_joint" type="fixed">
 151                 <parent link="base_link"/>
 152                 <child link="front_left_wheel"/>
 153                 <origin xyz="0.065 0.05 0.03" rpy="0 0 0"/>
 154         </joint>
 155
 156         <joint name="front_right_wheel_joint" type="fixed">
 157                 <parent link="base_link"/>
 158                 <child link="front_right_wheel"/>
 159                 <origin xyz="0.065 -0.05 0.03" rpy="0 0 0"/>
 160         </joint>
 161
 162         <joint name="aft_left_wheel_joint" type="fixed">
 163                 <parent link="base_link"/>
 164                 <child link="aft_left_wheel"/>
 165                 <origin xyz="-0.08 0.05 0.03" rpy="0 0 0"/>
 166         </joint>
 167
 168         <joint name="aft_right_wheel_joint" type="fixed">
 169                 <parent link="base_link"/>
 170                 <child link="aft_right_wheel"/>
 171                 <origin xyz="-0.08 -0.05 0.03" rpy="0 0 0"/>
 172         </joint>
 173
 174         <joint name="platform_joint" type="continuous">
 175                 <parent link="base_link"/>
 176                 <child link="platform"/>
 177                 <origin xyz="-0.04 0 0.26" rpy="0 0 0"/>
 178                 <axis xyz="0 0 1"/>
 179         </joint>
 180
 181         <joint name="scan_joint" type="fixed">
 182                 <parent link="platform"/>
 183                 <child link="scan"/>
 184                 <origin xyz="0.035 0 0" rpy="0 0 0"/>
 185         </joint>
 186
 187         <joint name="front_left_eye_joint" type="fixed">
 188                 <parent link="scan"/>
 189                 <child link="front_left_eye"/>
 190                 <origin xyz="0.01 -0.0125 0" rpy="0 0 0"/>
 191         </joint>
 192
 193         <joint name="front_right_eye_joint" type="fixed">
 194                 <parent link="scan"/>
 195                 <child link="front_right_eye"/>
 196                 <origin xyz="0.01 0.0125 0" rpy="0 0 0"/>
 197         </joint>
 198
 199         <joint name="sonar_forward_lower_join" type="fixed">
 200                 <parent link="base_link"/>
 201                 <child link="sonar_forward_lower"/>
 202                 <origin xyz="0.105 0.0 0.035" rpy="0 -0.1309 0"/>
 203         </joint>
 204
 205         <joint name="front_lower_left_eye_joint" type="fixed">
 206                 <parent link="sonar_forward_lower"/>
 207                 <child link="front_lower_left_eye"/>
 208                 <origin xyz="0.01 -0.01 0.0" rpy="0 0 0"/>
 209         </joint>
 210
 211         <joint name="front_lower_right_eye_joint" type="fixed">
 212                 <parent link="sonar_forward_lower"/>
 213                 <child link="front_lower_right_eye"/>
 214                 <origin xyz="0.01 0.01 0.0" rpy="0 0 0"/>
 215         </joint>
 216
 217         <joint name="antenna_joint" type="fixed">
 218                 <parent link="base_link"/>
 219                 <child link="antenna"/>
 220                 <origin xyz="-0.12 0.08 0.14" rpy="0 0 0"/>
 221         </joint>
 222 </robot>