Skip to content

Fix broken urdfs #710

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
javizqh merged 1 commit into from
Apr 15, 2026
Merged

Fix broken urdfs #710

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
7 changes: 4 additions & 3 deletions CustomRobots/f1/models/monaco/meshes/monaco.dae
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,5 +1,6 @@
<?xml version="1.0" encoding="utf-8"?>
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1"
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<asset>
<contributor>
<author>Blender User</author>
Expand All @@ -16,7 +17,7 @@
<technique sid="common">
<lambert>
<emission>
<color sid="emission">0 0 0 1</color>
<color sid="emission">0.01648708 0.05820287 0.162636 1</color>
</emission>
<diffuse>
<color sid="diffuse">0.01648708 0.05820287 0.162636 1</color>
Expand All @@ -36,7 +37,7 @@
<color sid="emission">0 0 0 1</color>
</emission>
<diffuse>
<color sid="diffuse">0.03057528 0.08001038 0.02631276 1</color>
<color sid="diffuse">0.12057528 0.32001038 0.10431276 1</color>
</diffuse>
<index_of_refraction>
<float sid="ior">1.45</float>
Expand Down
106 changes: 9 additions & 97 deletions Universes/monaco_circuit.urdf
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,108 +1,20 @@
<?xml version="1.0" ?>
<robot name="monaco_circuit">

<link name="color">
<visual>
<geometry>
<mesh filename="6.0,intensity"/>
</geometry>
<geometry>
<mesh filename="0xffffff,color"/>
</geometry>
</visual>
</link>

<link name="base_footprint"/>

<joint name="base_footprint_robot" type="fixed">
<parent link="base_footprint"/>
<child link="base_link"/>
<origin xyz="1 -1.5 10" rpy="0 -0 0"/>
</joint>

<link name="base_link">
<robot name="circuito">
<link name="link">
<visual>
<origin xyz="-0.064 0 -0.0" rpy="0 0 0"/>
<origin rpy="0 0 0" xyz="0 0 3"/>
<geometry>
<mesh filename="package://turtlebot3/models/turtlebot3_common/meshes/waffle_base.dae" scale="0.001 0.001 0.001"/>
<mesh filename="package://f1/models/monaco/meshes/monaco.dae" scale="0.2 0.2 0.2"/>
</geometry>
<material name="light_black"/>
<material name="green">
<color rgba="0.2 1 0.2 1"/>
</material>
</visual>
</link>

<joint name="wheel_left_joint" type="continuous">
<parent link="base_link"/>
<child link="wheel_left_link"/>
<origin xyz="0.0 0.144 0.023" rpy="-1.57 0 0"/>
<axis xyz="0 0 1"/>
</joint>

<link name="wheel_left_link">
<visual>
<origin xyz="0 0 0" rpy="1.57 0 0"/>
<geometry>
<mesh filename="package://turtlebot3/models/turtlebot3_common/meshes/tire.dae" scale="0.001 0.001 0.001"/>
</geometry>
<material name="dark"/>
</visual>
</link>

<joint name="wheel_right_joint" type="continuous">
<parent link="base_link"/>
<child link="wheel_right_link"/>
<origin xyz="0.0 -0.144 0.023" rpy="-1.57 0 0"/>
<axis xyz="0 0 1"/>
</joint>

<link name="wheel_right_link">
<visual>
<origin xyz="0 0 0" rpy="1.57 0 0"/>
<geometry>
<mesh filename="package://turtlebot3/models/turtlebot3_common/meshes/tire.dae" scale="0.001 0.001 0.001"/>
</geometry>
<material name="dark"/>
</visual>
</link>

<joint name="scan_joint" type="fixed">
<parent link="base_link"/>
<child link="base_scan"/>
<origin xyz="-0.064 0 0.122" rpy="0 0 0"/>
</joint>

<link name="base_scan">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://turtlebot3/models/turtlebot3_common/meshes/lds.dae" scale="0.001 0.001 0.001"/>
</geometry>
<material name="dark"/>
</visual>
</link>

<joint name="camera_joint" type="fixed">
<origin xyz="0.064 -0.065 0.094" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="camera_link"/>
</joint>

<link name="camera_link">
<visual>
<origin xyz="0 0 0" rpy="1.57 0 1.57"/>
<geometry>
<mesh filename="package://turtlebot3/models/turtlebot3_common/meshes/r200.dae" />
</geometry>
</visual>
</link>

<link name="monaco_track">
<visual>
<origin xyz="0 0 2" rpy="0 0 0"/>
<origin rpy="0 0 0" xyz="0 0 3"/>
<geometry>
<mesh filename="package://f1/models/monaco/meshes/monaco.dae" scale="0.1 0.1 0.1"/>
<mesh filename="package://f1/models/monaco/meshes/monaco_track.dae" scale="0.2 0.2 0.2"/>
</geometry>
</visual>
</link>


</robot>
Loading
Loading