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vention.urdf
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<?xml version="1.0" ?>
<robot name="vention">
<link name="world"/>
<joint name="world_joint" type="fixed">
<parent link="world"/>
<child link="fixed_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
</joint>
<link name="fixed_link">
<visual>
<geometry>
<mesh filename="vention_meshes/vention_fixed.obj" scale="0.001 0.001 0.001"/>
</geometry>
<material name="blue">
<color rgba="0.337 0.529 0.757 1.0"/>
</material>
</visual>
</link>
<joint name="left_pillar_joint" type="prismatic">
<parent link="fixed_link"/>
<child link="left_pillar_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<axis xyz="1 0 0"/>
<limit lower="-1" upper="1" velocity="1"/>
</joint>
<link name="left_pillar_link">
<visual>
<geometry>
<mesh filename="vention_meshes/vention_pillar.obj" scale="0.001 0.001 0.001"/>
</geometry>
<material name="blue">
<color rgba="0.337 0.529 0.757 1.0"/>
</material>
</visual>
</link>
<joint name="right_pillar_joint" type="prismatic">
<parent link="fixed_link"/>
<child link="right_pillar_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<axis xyz="1 0 0"/>
<limit lower="-1" upper="1" velocity="0.1"/>
</joint>
<link name="right_pillar_link">
<visual>
<geometry>
<mesh filename="vention_meshes/vention_pillar.obj" scale="0.001 0.001 0.001"/>
</geometry>
<material name="blue">
<color rgba="0.337 0.529 0.757 1.0"/>
</material>
</visual>
</link>
<joint name="h_cam_joint" type="prismatic">
<parent link="fixed_link"/>
<child link="invisible_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<axis xyz="1 0 0"/>
<limit lower="-1" upper="1" velocity="0.1"/>
</joint>
<link name="invisible_link">
<!-- <visual>
<geometry>
<mesh filename="vention_meshes/vention_camera.obj" scale="0.001 0.001 0.001"/>
</geometry>
<material name="blue">
<color rgba="0.337 0.529 0.757 1.0"/>
</material>
</visual> -->
</link>
<joint name="v_cam_joint" type="prismatic">
<parent link="invisible_link"/>
<child link="cam_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<axis xyz="0 1 0"/>
<limit lower="-1" upper="1" velocity="0.1"/>
</joint>
<link name="cam_link">
<visual>
<geometry>
<mesh filename="vention_meshes/vention_camera.obj" scale="0.001 0.001 0.001"/>
</geometry>
<material name="blue">
<color rgba="0.337 0.529 0.757 1.0"/>
</material>
</visual>
</link>
</robot>