urdf/explorer.urdf

   1 <?xml version="1.0"?>
   2 <robot name="explorer">
   3         <link name="base_link">
   4                 <visual>
   5                         <geometry>
   6                                 <box size="0.14 0.155 0.085"/>
   7                         </geometry>
   8                         <origin xyz="0.0 0 0.0525" rpy="0 0 0"/>
   9                         <material name="white_transparent">
  10                                 <color rgba="1 1 1 0.8"/>
  11                         </material>
  12                 </visual>
  13         </link>
  14
  15         <link name="tail">
  16                 <visual>
  17                         <geometry>
  18                                 <box size="0.06 0.09 0.075"/>
  19                         </geometry>
  20                         <material name="red">
  21                                 <color rgba="1 0 0 1"/>
  22                         </material>
  23                 </visual>
  24         </link>
  25
  26         <link name="left_wheel">
  27                 <visual>
  28                         <geometry>
  29                                 <cylinder radius="0.026" length="0.02"/>
  30                         </geometry>
  31                         <material name="black">
  32                                 <color rgba="0 0 0 1"/>
  33                         </material>
  34                 </visual>
  35         </link>
  36
  37         <link name="right_wheel">
  38                 <visual>
  39                         <geometry>
  40                                 <cylinder radius="0.026" length="0.02"/>
  41                         </geometry>
  42                         <material name="black">
  43                                 <color rgba="0 0 0 1"/>
  44                         </material>
  45                 </visual>
  46         </link>
  47
  48         <link name="aft_wheel">
  49                 <visual>
  50                         <geometry>
  51                                 <cylinder radius="0.01" length="0.02"/>
  52                         </geometry>
  53                         <material name="black">
  54                                 <color rgba="0 0 0 1"/>
  55                         </material>
  56                 </visual>
  57         </link>
  58
  59         <link name="forward_sensor">
  60                 <visual>
  61                         <geometry>
  62                                 <box size="0.015 0.045 0.03"/>
  63                         </geometry>
  64                         <origin xyz="0 0 0" rpy="0 0 0"/>
  65                         <material name="black">
  66                                 <color rgba="0 0 0 1"/>
  67                         </material>
  68                 </visual>
  69         </link>
  70
  71         <joint name="tail_joint" type="fixed">
  72                 <parent link="base_link"/>
  73                 <child link="tail"/>
  74                 <origin xyz="-0.1 0 0.0575" rpy="0 0 0"/>
  75         </joint>
  76
  77         <joint name="left_wheel_joint" type="fixed">
  78                 <parent link="base_link"/>
  79                 <child link="left_wheel"/>
  80                 <origin xyz="0 -0.08 0.026" rpy="1.57 0 0"/>
  81         </joint>
  82
  83         <joint name="right_wheel_joint" type="fixed">
  84                 <parent link="base_link"/>
  85                 <child link="right_wheel"/>
  86                 <origin xyz="0 0.08 0.026" rpy="1.57 0 0"/>
  87         </joint>
  88
  89         <joint name="aft_wheel_joint" type="fixed">
  90                 <parent link="tail"/>
  91                 <child link="aft_wheel"/>
  92                 <origin xyz="0 0 -0.0475" rpy="1.57 0 0"/>
  93         </joint>
  94
  95         <joint name="forward_sensor_joint" type="fixed">
  96                 <parent link="base_link"/>
  97                 <child link="forward_sensor"/>
  98                 <origin xyz="0.07 0 0.06" rpy="0 0 0"/>
  99         </joint>
 100 </robot>