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robot1.urdf
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robot1.urdf
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<?xml version="1.0"?>
<robot name="robot1">
<!--Each physical component of the robot is described as a link, with its kinematic and dynamic properties-->
<link name="base_link">
<visual>
<geometry>
<box size="0.2 .3 .1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.05"/>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<geometry>
<box size="0.2 .3 0.1"/>
</geometry>
</collision>
<inertial>
<mass value="100"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<link name="wheel_1">
<visual>
<geometry>
<cylinder length="0.05" radius="0.05"/>
</geometry>
<origin rpy="0 1.5 0" xyz="0.1 0.1 0"/>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length="0.05" radius="0.05"/>
</geometry>
</collision>
<inertial>
<mass value="10"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<link name="wheel_2">
<visual>
<geometry>
<cylinder length="0.05" radius="0.05"/>
</geometry>
<origin rpy="0 1.5 0" xyz="-0.1 0.1 0"/>
<material name="black"/>
</visual>
<collision>
<geometry>
<cylinder length="0.05" radius="0.05"/>
</geometry>
</collision>
<inertial>
<mass value="10"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<link name="wheel_3">
<visual>
<geometry>
<cylinder length="0.05" radius="0.05"/>
</geometry>
<origin rpy="0 1.5 0" xyz="0.1 -0.1 0"/>
<material name="black"/>
</visual>
<collision>
<geometry>
<cylinder length="0.05" radius="0.05"/>
</geometry>
</collision>
<inertial>
<mass value="10"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<link name="wheel_4">
<visual>
<geometry>
<cylinder length="0.05" radius="0.05"/>
</geometry>
<origin rpy="0 1.5 0" xyz="-0.1 -0.1 0"/>
<material name="black"/>
</visual>
<collision>
<geometry>
<cylinder length="0.05" radius="0.05"/>
</geometry>
</collision>
<inertial>
<mass value="10"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<!--Describes how two links are attached-->
<!--Attachment type could be one among fixed, continuous, floating, planar, revolute-->
<joint name="base_to_wheel1" type="fixed">
<parent link="base_link"/>
<child link="wheel_1"/>
<origin xyz="0 0 0"/>
</joint>
<joint name="base_to_wheel2" type="fixed">
<parent link="base_link"/>
<child link="wheel_2"/>
<origin xyz="0 0 0"/>
</joint>
<joint name="base_to_wheel3" type="fixed">
<parent link="base_link"/>
<child link="wheel_3"/>
<origin xyz="0 0 0"/>
</joint>
<joint name="base_to_wheel4" type="fixed">
<parent link="base_link"/>
<child link="wheel_4"/>
<origin xyz="0 0 0"/>
</joint>
</robot>