From d59e34a6446adf996f7a7e3f00fbc72d113b548f Mon Sep 17 00:00:00 2001
From: Fabien Grzeskowiak <fabien.grzeskowiak@inria.fr>
Date: Fri, 26 Apr 2019 16:56:33 +0200
Subject: [PATCH] urdf
---
crowdbotsim/urdf/Body.urdf | 49 ++++++++++++++++++++++++++++++++++++
crowdbotsim/urdf/Cuybot.urdf | 19 +++++++++-----
2 files changed, 62 insertions(+), 6 deletions(-)
create mode 100644 crowdbotsim/urdf/Body.urdf
diff --git a/crowdbotsim/urdf/Body.urdf b/crowdbotsim/urdf/Body.urdf
new file mode 100644
index 0000000..107e99e
--- /dev/null
+++ b/crowdbotsim/urdf/Body.urdf
@@ -0,0 +1,49 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="Body">
+ <material name="Default-Material">
+ <color rgba="1 1 1 1" />
+ </material>
+ <link name="base_link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0" />
+ <mass value="1" />
+ <inertia ixx="0.00812011864036322" ixy="-1.98765254255662E-10" ixz="0" iyy="0.00812011864036322" iyz="0" izz="0.0134958978742361" />
+ </inertial>
+ <visual>
+ <geometry>
+ <cylinder length="0.12832" radius="0.164893" />
+ </geometry>
+ <material name="Default-Material" />
+ </visual>
+ <collision>
+ <geometry>
+ <cylinder length="0.12832" radius="0.164893" />
+ </geometry>
+ </collision>
+ </link>
+ <link name="link">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 -0.194457" />
+ <mass value="1" />
+ <inertia ixx="0.0112345023080707" ixy="0" ixz="0" iyy="0.0112345023080707" iyz="0" izz="0.00251521426253021" />
+ </inertial>
+ <visual>
+ <origin xyz="0 0 -0.562" />
+ <geometry>
+ <box size="1 1 1" />
+ </geometry>
+ <material name="Default-Material" />
+ </visual>
+ <collision>
+ <origin xyz="0 0 -0.562" />
+ <geometry>
+ <box size="1 1 1" />
+ </geometry>
+ </collision>
+ </link>
+ <joint name="" type="floating">
+ <origin xyz="0 0.098 -0.076" />
+ <parent link="base_link" />
+ <child link="link" />
+ </joint>
+</robot>
diff --git a/crowdbotsim/urdf/Cuybot.urdf b/crowdbotsim/urdf/Cuybot.urdf
index 2a74013..a633c94 100644
--- a/crowdbotsim/urdf/Cuybot.urdf
+++ b/crowdbotsim/urdf/Cuybot.urdf
@@ -1,19 +1,26 @@
-<?xml version='1.0' encoding='utf-8'?>
-<robot name="Cuybot">
+<?xml version='1.0' encoding='utf-8'?>\n<robot name="Cuybot">
+ <material name="Default-Material">
+ <color rgba="1 1 1 1" />
+ </material>
<material name="Default-Diffuse">
<color rgba="1 1 1 0.5" />
</material>
<link name="base_link">
<inertial>
- <origin rpy="0 0 0" xyz="0 0 0" />
+ <origin rpy="0 0 0" xyz="0.001882 -0.025814 0.308298" />
<mass value="1" />
- <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
+ <inertia ixx="0.0837742984294891" ixy="-8.47628398332745E-05" ixz="9.22621329664253E-05" iyy="0.0773460119962692" iyz="0.0108890077099204" izz="0.0405166447162628" />
</inertial>
<visual>
<geometry>
- <mesh filename="package://crowdbotsim/meshes/Narko2.stl" scale="1 1 1" />
+ <mesh filename="package://crowdbotsim/urdf/meshes/Narko2.STL" scale="1 1 1" />
</geometry>
<material name="Default-Diffuse" />
</visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://crowdbotsim/urdf/meshes/Narko2.STL" scale="1 1 1" />
+ </geometry>
+ </collision>
</link>
-</robot>
+</robot>
\ No newline at end of file
--
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