urdf/arm.urdf

   1 <?xml version="1.0"?>
   2 <robot name="arm">
   3         <link name="base_link">
   4                 <visual>
   5                         <geometry>
   6                                 <box size="0.30 0.22 0.015"/>
   7                         </geometry>
   8                         <origin xyz="0.08 0 0.095" rpy="0 0 0"/>
   9                         <material name="black">
  10                                 <color rgba="0.0 0.0 0.0 1"/>
  11                         </material>
  12                 </visual>
  13         </link>
  14
  15         <link name="front_wheel">
  16                 <visual>
  17                         <geometry>
  18                                 <cylinder radius="0.025" length="0.002"/>
  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="aft_left_wheel">
  28                 <visual>
  29                         <geometry>
  30                                 <cylinder radius="0.025" length="0.002"/>
  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_right_wheel">
  40                 <visual>
  41                         <geometry>
  42                                 <cylinder radius="0.025" length="0.002"/>
  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         <joint name="front_wheel_joint" type="fixed">
  52                 <parent link="base_link"/>
  53                 <child link="front_wheel"/>
  54                 <origin xyz="0.17 0.0 0.025" rpy="0 0 0"/>
  55         </joint>
  56
  57         <joint name="aft_left_wheel_joint" type="fixed">
  58                 <parent link="base_link"/>
  59                 <child link="aft_left_wheel"/>
  60                 <origin xyz="0.0 0.05 0.025" rpy="0 0 0"/>
  61         </joint>
  62
  63         <joint name="aft_right_wheel_joint" type="fixed">
  64                 <parent link="base_link"/>
  65                 <child link="aft_right_wheel"/>
  66                 <origin xyz="0.0 -0.05 0.025" rpy="0 0 0"/>
  67         </joint>
  68 </robot>