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quadmodel.xml
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quadmodel.xml
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<robot name="quad">
<link name="quadz">
</link>
<link name="quad">
<visual>
<origin xyz="0 0 -0.0005" rpy="0 0 0" />
<geometry>
<box size="0.04 0.04 0.012" />
</geometry>
<material name="green">
<color rgba="0 .2 0 1" />
</material>
</visual>
</link>
<link name="link1">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box size=".23 .01 .01" />
</geometry>
<material name="blue">
<color rgba="0 0 .4 1" />
</material>
</visual>
</link>
<link name="link2">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box size="0.01 0.23 0.01" />
</geometry>
<material name="blue" />
</visual>
</link>
<link name="mot1">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<cylinder radius="0.01" length="0.02" />
</geometry>
<material name="purple">
<color rgba=".3 0 .3 1" />
</material>
</visual>
</link>
<link name="mot2">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<cylinder radius="0.01" length="0.02" />
</geometry>
<material name="purple"/>
</visual>
</link>
<link name="mot3">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<cylinder radius="0.01" length="0.02" />
</geometry>
<material name="purple"/>
</visual>
</link>
<link name="mot4">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<cylinder radius="0.01" length="0.02" />
</geometry>
<material name="purple"/>
</visual>
</link>
<joint name="quad" type="fixed">
<origin xyz="0 0 0" rpy="0 1.570796 0" />
<parent link="quadz" />
<child link="quad" />
</joint>
<joint name="joint1" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0.785398" />
<parent link="quad" />
<child link="link1" />
</joint>
<joint name="joint2" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0.785398" />
<parent link="quad" />
<child link="link2" />
</joint>
<joint name="joint3" type="fixed">
<origin xyz="0.081317 0.081317 0.0049" rpy="0 0 0" />
<parent link="quad" />
<child link="mot1" />
</joint>
<joint name="joint4" type="fixed">
<origin xyz="-0.081317 0.081317 0.0049" rpy="0 0 0" />
<parent link="quad" />
<child link="mot2" />
</joint>
<joint name="joint5" type="fixed">
<origin xyz="0.081317 -0.081317 0.0049" rpy="0 0 0" />
<parent link="quad" />
<child link="mot3" />
</joint>
<joint name="joint6" type="fixed">
<origin xyz="-0.081317 -0.081317 0.0049" rpy="0 0 0" />
<parent link="quad" />
<child link="mot4" />
</joint>
</robot>