-
Notifications
You must be signed in to change notification settings - Fork 0
/
knex.urdf
106 lines (92 loc) · 2.41 KB
/
knex.urdf
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
<robot name="test_robot">
<link name="base_link">
<visual>
<geometry>
<box size="0.16 0.16 0.12"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.085"/>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
</link>
<link name="lwheel">
<visual>
<geometry>
<cylinder length="0.008" radius="0.046"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
</link>
<joint name="base_to_lwheel" type="fixed">
<parent link="base_link"/>
<child link="lwheel"/>
<origin xyz="0 0.115 0.046" rpy="1.5708 0 0"/>
</joint>
<link name="rwheel">
<visual>
<geometry>
<cylinder length="0.008" radius="0.046"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
</link>
<joint name="base_to_rwheel" type="fixed">
<parent link="base_link"/>
<child link="rwheel"/>
<origin xyz="0 -0.115 0.046" rpy="-1.5708 0 0"/>
</joint>
<link name="fwheel_attach">
<visual>
<geometry>
<cylinder length="0.060" radius="0.023"/>
</geometry>
<origin rpy="0 0 0" xyz="0.13 0 0.08"/>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
</link>
<joint name="base_to_fattach" type="fixed">
<parent link="base_link"/>
<child link="fwheel_attach"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
</joint>
<link name="fwheel">
<visual>
<geometry>
<cylinder length="0.005" radius="0.020"/>
</geometry>
<origin rpy="1.578 0 0" xyz="0 0 0"/>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
</link>
<joint name="base_to_fwheel" type="fixed">
<parent link="base_link"/>
<child link="fwheel"/>
<origin xyz="0.13 0 0.02" rpy="0 0 0"/>
</joint>
<link name="scanner">
<visual>
<geometry>
<box size="0.015 0.045 0.015"/>
</geometry>
<origin rpy="0 0 0" xyz="0.022 0 0.015"/>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
</link>
<joint name="base_to_scanner" type="fixed">
<parent link="base_link"/>
<child link="scanner"/>
<origin xyz="0.105 0 0.22" rpy="0 0 0"/>
</robot>