nichkara/rapier
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

feat: add urdf example

Browse Source
This commit is contained in:
Sébastien Crozet
2024-05-25 23:17:15 +02:00
committed by Sébastien Crozet
parent 0446d4457f
commit 5c44d936f7
6 changed files with 281 additions and 43 deletions
Download Patch File Download Diff File Expand all files Collapse all files

132
assets/3d/sample.urdf Normal file
View File

@@ -0,0 +1,132 @@
<robot name="robot">
<link name="root">
<inertial>
<origin xyz="0 0 0.5" rpy="0 0 0"/>
<mass value="1"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.2 0.2 0.4" />
</geometry>
<material name="Cyan">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<cylinder radius="1" length="0.5"/>
</geometry>
</collision>
</link>
<link name="shoulder1">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.1 0.1 0.1" />
</geometry>
<material name="Cyan">
<color rgba="0 1.0 1.0 1.0"/>
</material>
</visual>
</link>
<link name="shoulder2">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.1 0.1 0.1" />
</geometry>
<material name="Cyan">
<color rgba="1.0 1.0 0.0 1.0"/>
</material>
</visual>
</link>
<link name="shoulder3">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.1 0.1 0.2" />
</geometry>
<material name="Cyan">
<color rgba="0.5 0.5 0.2 1.0"/>
</material>
</visual>
</link>
<link name="elbow1">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.1 0.1 0.2" />
</geometry>
<material name="Cyan">
<color rgba="0.8 0.2 0.2 1.0"/>
</material>
</visual>
</link>
<link name="wrist1">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.1 0.15 0.1" />
</geometry>
<material name="Cyan">
<color rgba="1.0 0.0 0.0 1.0"/>
</material>
</visual>
</link>
<joint name="shoulder_yaw" type="revolute">
<origin xyz="0.0 0.2 0.2" />
<parent link="root" />
<child link="shoulder1" />
<axis xyz="0 0 1" />
<limit lower="-1" upper="1.0" effort="0" velocity="1.0"/>
</joint>
<link name="wrist2">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.05 0.08 0.15" />
</geometry>
<material name="Cyan">
<color rgba="0.0 0.0 1.0 1.0"/>
</material>
</visual>
</link>
<joint name="shoulder_pitch" type="revolute">
<origin xyz="0.0 0.1 0.0" />
<parent link="shoulder1" />
<child link="shoulder2" />
<axis xyz="0 1 0" />
<limit lower="-1" upper="1.0" effort="0" velocity="1.0"/>
</joint>
<joint name="shoulder_roll" type="revolute">
<origin xyz="0.0 0.1 0.0" />
<parent link="shoulder2" />
<child link="shoulder3" />
<axis xyz="1 0 0" />
<limit lower="-2" upper="1.0" effort="0" velocity="1.0"/>
</joint>
<joint name="elbow_pitch" type="revolute">
<origin xyz="0.0 0.0 -0.2" />
<parent link="shoulder3" />
<child link="elbow1" />
<axis xyz="0 1 0" />
<limit lower="-2" upper="1.0" effort="0" velocity="1.0"/>
</joint>
<joint name="wrist_yaw" type="revolute">
<origin xyz="0.0 0.0 -0.2" />
<parent link="elbow1" />
<child link="wrist1" />
<axis xyz="0 0 1" />
<limit lower="-2" upper="1.0" effort="0" velocity="1.0"/>
</joint>
<joint name="wrist_pitch" type="revolute">
<origin xyz="0.0 0.0 -0.2" />
<parent link="wrist1" />
<child link="wrist2" />
<axis xyz="0 1 0" />
<limit lower="-2" upper="1.0" effort="0" velocity="1.0"/>
</joint>
</robot>