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template.urdf
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<?xml version="1.0" ?>
<robot name="block">
<link name="base_link">
<visual>
<origin rpy="0.0 0.0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="static.obj"/>
</geometry>
</visual>
<collision>
<origin rpy="0.0 0.0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="static.obj"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
</inertial>
</link>
<link name="1">
<visual>
<origin rpy="0.0 0.0 0.0" xyz="joint_position_r"/>
<geometry>
<mesh filename="mobile.obj"/>
</geometry>
</visual>
<collision>
<origin rpy="0.0 0.0 0.0" xyz="joint_position_r"/>
<geometry>
<mesh filename="mobile.obj"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="3.0"/>
<inertia ixx="100" ixy="100" ixz="100" iyy="100" iyz="100" izz="100"/>
</inertial>
</link>
<joint name="0_j_1" type="joint_type">
<parent link="base_link"/>
<child link="1"/>
<origin rpy="0 0 0" xyz="joint_position"/>
<axis xyz="joint_axis"/>
<limit effort="1.0" lower="joint_state_lower" upper="joint_state_upper" velocity="1000"/>
</joint>
</robot>