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birdlaser.urdf
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<?xml version="1.0"?>
<robot name="birdlaser">
<material name="blue">
<color rgba="0 0 1 1"/>
</material>
<material name="red">
<color rgba="1 0 0 1"/>
</material>
<material name="green">
<color rgba="0 1 0 1"/>
</material>
<link name="base_link">
</link>
<link name="board">
<visual>
<geometry>
<box size="0.27305 .01905 0.18415"/>
</geometry>
<material name="blue"/>
</visual>
</link>
<link name="rotation_servo">
<visual>
<geometry>
<box size="0.0254 0.03175 0.05715"/>
</geometry>
<material name="red"/>
</visual>
</link>
<link name="rotation_servo_arm">
<visual>
<geometry>
<box size="0.0508 0.0635 0.0254"/>
</geometry>
<material name="green"/>
<origin xyz="0 -0.03175 0"/>
</visual>
</link>
<link name="tilt_servo">
<visual>
<geometry>
<box size="0.0254 0.03175 0.05715"/>
</geometry>
<material name="red"/>
<origin xyz="0 0 .0127"/>
</visual>
</link>
<link name="tilt_servo_arm">
<visual>
<geometry>
<box size="0.0508 0.0635 0.0254"/>
</geometry>
<material name="green"/>
<origin xyz="0 0.01905 0"/>
</visual>
</link>
<link name="pointer">
<visual>
<geometry>
<cylinder radius=".0127" length="0.1016"/>
</geometry>
<material name="red"/>
</visual>
</link>
<link name="laser">
<visual>
<geometry>
<cylinder radius=".00254" length="0.254"/>
</geometry>
<material name="green"/>
</visual>
</link>
<joint name="base_link_to_board" type="fixed">
<parent link="base_link"/>
<child link="board"/>
<origin rpy="-1.57079632679 0 3.14159265359" xyz="-.116525 -.06525 -.03"/>
</joint>
<joint name="board_to_rotation_servo" type="fixed">
<parent link="board"/>
<child link="rotation_servo"/>
<origin xyz="0.104775 -0.0254 0"/>
</joint>
<joint name="rotation_servo_to_arm" type="revolute">
<axis xyz="0 1 0"/>
<limit lower="-1.57079632679" upper="1.57079632679"/>
<parent link="rotation_servo"/>
<child link="rotation_servo_arm"/>
<origin xyz="0 -.015875 -.009525"/>
</joint>
<joint name="rotation_arm_to_tilt_servo" type="fixed">
<parent link="rotation_servo_arm"/>
<child link="tilt_servo"/>
<origin rpy="1.57079632679 0 0" xyz="-.0127 -0.0508 0"/>
</joint>
<joint name="tilt_servo_to_arm" type="revolute">
<axis xyz="1 0 0"/>
<limit lower="-1.57079632679" upper="1.57079632679"/>
<parent link="tilt_servo"/>
<child link="tilt_servo_arm"/>
<origin rpy="1.57079632679 0 1.57079632679" xyz="0 0 0"/>
</joint>
<joint name="tilt_arm_to_pointer" type="fixed">
<parent link="tilt_servo_arm"/>
<child link="pointer"/>
<origin xyz="0 0.0635 0"/>
</joint>
<joint name="pointer_to_laser" type="prismatic">
<axis xyz="0 0 1"/>
<limit lower="-999" upper="999"/>
<parent link="pointer"/>
<child link="laser"/>
<origin xyz="0 0 -0.127"/>
</joint>
</robot>