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javizqhjavizqh
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Merge pull request #583 from JdeRobot/urdf-models
Urdf models to visualization
2 parents ff5b46e + 2fdeb84 commit 2762405

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77 files changed

+3581
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‎CustomRobots/3d_reconstruction/models/blocks/blocks.urdf‎

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<?xml version="1.0" ?>
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<robot name="blocks">
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<link name="blocks_body">
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<visual>
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<geometry>
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<mesh filename="package://3d_reconstruction/models/blocks/models/blocks.dae" scale="10 10 10"/>
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</geometry>
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</visual>
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</link>
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</robot>

‎CustomRobots/3d_reconstruction/models/cereales/cereales.urdf‎

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<?xml version="1.0" ?>
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<robot name="cereales">
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<link name="cereales_body">
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<visual>
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<geometry>
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<mesh filename="package://3d_reconstruction/models/cereales/meshes/cereales.dae" scale="10 10 10"/>
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</geometry>
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</visual>
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</link>
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</robot>

‎CustomRobots/3d_reconstruction/models/charactersMario/characters.urdf‎

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<?xml version="1.0" ?>
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<robot name="characters">
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<link name="characters_body">
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<visual>
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<geometry>
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<mesh filename="package://3d_reconstruction/models/charactersMario/models/characters.dae" scale="0.01 0.01 0.01"/>
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</geometry>
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</visual>
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</link>
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</robot>

‎CustomRobots/3d_reconstruction/models/duck/duck.urdf‎

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<?xml version="1.0" ?>
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<robot name="duck">
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<link name="duck_body">
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<visual>
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<geometry>
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<mesh filename="package://3d_reconstruction/models/duck/meshes/duck.dae"/>
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</geometry>
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</visual>
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</link>
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</robot>

‎CustomRobots/3d_reconstruction/models/hokuyo/hokuyo.urdf‎

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<?xml version="1.0" ?>
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<robot name="hokuyo">
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<link name="link">
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<inertial>
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<mass value="0.1"/>
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</inertial>
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<visual>
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<geometry>
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<mesh filename="package://3d_reconstruction/models/hokuyo/meshes/hokuyo.dae"/>
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</geometry>
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</visual>
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</link>
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</robot>

‎CustomRobots/Turtlebot2/turtlebot2_simulated/turtlebot2/urdf/turtlebot2.urdf‎

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<visual>
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<geometry>
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<!-- new mesh -->
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<mesh filename="package://custom_robots/meshes/main_body.dae"/>
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<mesh filename="package://Turtlebot2/turtlebot2_simulated/kobuki_description/meshes/main_body.dae"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0.001 0 0.05199"/>
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</visual>
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<link name="wheel_left_link">
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<visual>
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<geometry>
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<mesh filename="package://custom_robots/meshes/wheel.dae"/>
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<mesh filename="package://Turtlebot2/turtlebot2_simulated/kobuki_description/meshes/wheel.dae"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</visual>
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<link name="wheel_right_link">
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<visual>
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<geometry>
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<mesh filename="package://custom_robots/meshes/wheel.dae"/>
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<mesh filename="package://Turtlebot2/turtlebot2_simulated/kobuki_description/meshes/wheel.dae"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</visual>

‎CustomRobots/ackermann_cars/models/autocar/autocar.urdf‎

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<?xml version="1.0" ?>
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<robot name="autocar">
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<link name="base_link"/>
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<joint name="chassis_link_joint" type="fixed">
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<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
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<parent link="base_link"/>
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<child link="chassis_link"/>
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</joint>
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<joint name="hokuyo_joint" type="fixed">
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<parent link="base_link"/>
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<child link="hokuyo_link"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<axis xyz="0 0 1"/>
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</joint>
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<link name="hokuyo_link"/>
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<link name="chassis_link">
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<inertial>
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<origin rpy="0 -0 0" xyz="1e-06 0.07307 0.65096"/>
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<mass value="1580"/>
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<inertia ixx="1997.86" ixy="-3e-05" ixz="-1e-06" iyy="442.769" iyz="62.5206" izz="2238.05"/>
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</inertial>
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<visual>
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<origin rpy="0 -0 0" xyz="0 0 0.46936"/>
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<geometry>
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<mesh filename="package://ackermann_cars/models/autocar/meshes/chassis_link.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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</visual>
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<visual>
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<origin rpy="1.5708 -0 3.14159" xyz="0 0.05 0.41936"/>
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<geometry>
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<mesh filename="package://ackermann_cars/models/autocar/meshes/spoiler.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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</visual>
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</link>
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<joint name="bl_axle" type="revolute">
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<origin rpy="0 -0 0" xyz="-0.875 -1.01364 0.324997"/>
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<parent link="chassis_link"/>
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<child link="bl_1"/>
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<axis xyz="-1 0 0"/>
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<dynamics friction="12.031606150200002"/>
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</joint>
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<link name="bl_1">
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<origin rpy="0 -0 0" xyz="0 0 0"/>
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<inertial>
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<origin rpy="0 -0 0" xyz="-0.0377 0 -0"/>
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<mass value="24.5"/>
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<inertia ixx="1.84514" ixy="0" ixz="0" iyy="1.04961" iyz="0" izz="1.04961"/>
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</inertial>
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<visual>
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<origin rpy="0 -0 0" xyz="0.875 1.0136 0.1444"/>
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<geometry>
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<mesh filename="package://ackermann_cars/models/autocar/meshes/bl_1.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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</visual>
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</link>
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<joint name="br_axle" type="revolute">
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<origin rpy="0 -0 0" xyz="0.875 -1.01364 0.324997"/>
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<parent link="chassis_link"/>
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<child link="br_1"/>
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<axis xyz="-1 0 0"/>
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<dynamics friction="12.031606150200002"/>
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</joint>
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<link name="br_1">
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<origin rpy="0 -0 0" xyz="0 0 0"/>
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<inertial>
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<origin rpy="0 -0 0" xyz="-0.0377 0 -0"/>
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<mass value="24.5"/>
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<inertia ixx="1.84514" ixy="0" ixz="0" iyy="1.04961" iyz="0" izz="1.04961"/>
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</inertial>
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<visual>
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<origin rpy="0 -0 0" xyz="-0.875 1.0136 0.1444"/>
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<geometry>
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<mesh filename="package://ackermann_cars/models/autocar/meshes/br_1.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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</visual>
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</link>
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<joint name="l_steer" type="revolute">
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<origin rpy="0 -0 0" xyz="-0.825 1.51736 0.324997"/>
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<parent link="chassis_link"/>
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<child link="l_steer_1"/>
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<axis xyz="0 0 1"/>
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<limit lower="-0.95" upper="0.95"/>
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<dynamics friction="18.0474092253"/>
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</joint>
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<link name="l_steer_1">
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<origin rpy="0 -0 0" xyz="0 0 0"/>
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<inertial>
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<origin rpy="0 -0 0" xyz="0.003381 0 0.02162"/>
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<mass value="1"/>
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<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
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</inertial>
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</link>
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<joint name="fl_axle" type="revolute">
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<origin rpy="0 -0 0" xyz="-0.05 0 0"/>
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<parent link="l_steer_1"/>
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<child link="fl_1"/>
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<axis xyz="-1 0 0"/>
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<dynamics friction="12.031606150200002"/>
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</joint>
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<link name="fl_1">
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<origin rpy="0 -0 0" xyz="0 0 0"/>
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<inertial>
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<origin rpy="0 -0 0" xyz="-0.0377 0 -0"/>
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<mass value="24.5"/>
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<inertia ixx="1.84514" ixy="0" ixz="0" iyy="1.04961" iyz="0" izz="1.04961"/>
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</inertial>
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<visual>
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<origin rpy="0 -0 0" xyz="0.875 -1.5174 0.1444"/>
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<geometry>
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<mesh filename="package://ackermann_cars/models/autocar/meshes/fl_1.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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</visual>
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</link>
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<joint name="r_steer" type="revolute">
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<origin rpy="0 -0 0" xyz="0.825 1.51736 0.324997"/>
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<parent link="chassis_link"/>
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<child link="r_steer_1"/>
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<axis xyz="0 0 1"/>
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<limit lower="-0.95" upper="0.95"/>
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<dynamics damping="0.01" friction="18.0474092253"/>
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</joint>
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<link name="r_steer_1">
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<origin rpy="0 -0 0" xyz="0 0 0"/>
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<inertial>
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<origin rpy="0 -0 0" xyz="0.003381 0 0.02162"/>
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<mass value="1"/>
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<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
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</inertial>
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</link>
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<joint name="fr_axle" type="revolute">
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<origin rpy="0 -0 0" xyz="0.05 0 0"/>
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<parent link="r_steer_1"/>
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<child link="fr_1"/>
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<axis xyz="-1 0 0"/>
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<dynamics friction="12.031606150200002"/>
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</joint>
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<link name="fr_1">
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<origin rpy="0 -0 0" xyz="0 0 0"/>
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<inertial>
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<origin rpy="0 -0 0" xyz="-0.0377 0 -0"/>
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<mass value="24.5"/>
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<inertia ixx="1.84514" ixy="0" ixz="0" iyy="1.04961" iyz="0" izz="1.04961"/>
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</inertial>
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<visual>
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<origin rpy="0 -0 0" xyz="-0.875 -1.5174 0.1444"/>
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<geometry>
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<mesh filename="package://ackermann_cars/models/autocar/meshes/fr_1.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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</visual>
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</link>
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<link name="steering_wheel"/>
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<joint name="steering_joint" type="revolute">
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<origin rpy="0 0 0" xyz="-0.002 0 0"/>
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<parent link="chassis_link"/>
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<child link="steering_wheel"/>
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<axis xyz="-0.964118 0.000768 0.265556"/>
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<limit lower="-100" upper="100"/>
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<dynamics damping="1.0"/>
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</joint>
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</robot>

‎CustomRobots/ackermann_cars/models/big_montmelo_line/bigMontmelo.urdf‎

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<?xml version="1.0" ?>
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<robot name="big_montmelo_line">
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<link name="big_montmelo_line">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<visual>
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<geometry>
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<mesh filename="package://ackermann_cars/models/big_montmelo_line/meshes/montmelo.dae" scale="5 5 5"/>
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</geometry>
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</visual>
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</link>
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<link name="pared">
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<visual>
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<geometry>
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<mesh filename="package://ackermann_cars/models/big_montmelo_line/meshes/montmelo_pared.dae" scale="5 5 5"/>
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</geometry>
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</visual>
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</link>
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</robot>

‎CustomRobots/ackermann_cars/models/big_montreal_line/bigMontreal.urdf‎

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<?xml version="1.0" ?>
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<robot name="big_montreal_line">
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<link name="big_montreal_line">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<visual>
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<geometry>
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<mesh filename="package://ackermann_cars/models/big_montreal_line/meshes/montreal.dae" scale="5 5 5"/>
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</geometry>
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</visual>
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</link>
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<link name="pared">
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<visual>
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<geometry>
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<mesh filename="package://ackermann_cars/models/big_montreal_line/meshes/montreal_pared.dae" scale="5 5 5"/>
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</geometry>
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</visual>
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</link>
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</robot>

‎CustomRobots/ackermann_cars/models/big_nurburgring_line/bigNurburgring.urdf‎

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<?xml version="1.0" ?>
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<robot name="big_nurburgrin">
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<link name="big_nurburgrin">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<visual>
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<geometry>
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<mesh filename="package://ackermann_cars/models/big_nurburgring_line/meshes/Circuito_Nurburgrin.dae" scale="5 5 5"/>
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</geometry>
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</visual>
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</link>
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<link name="pared">
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<visual>
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<geometry>
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<mesh filename="package://ackermann_cars/models/big_nurburgring_line/meshes/Nurburgrin_Pared.dae" scale="5 5 5"/>
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</geometry>
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</visual>
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</link>
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</robot>

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