CSDS-473-LAB-02/robot_des.urdf at main · abhijelly/CSDS-473-LAB-02 · GitHub

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<robot name="navvis">
    <link name="base">
        <visual>
            <origin xyz="0.0 0.0 0.96" rpy="0.0 0.0 0.0"/>
            <geometry>
                <box size="0.45 0.78 1.98"/>
            </geometry>
        </visual>
        <collision>
            <origin xyz="0.0 0.0 0.96" rpy="0.0 0.0 0.0"/>
            <geometry>
                <box size="0.45 0.78 1.98"/>
            </geometry>
        </collision>
    </link>

    <link name="laser_vert_bottom">
        <visual>
            <origin xyz="0.3158 -0.0021 -0.4500" rpy="3.1355 -1.3045 0.0025"/>
            <geometry>
                <box size="0.062 0.062 0.087"/>
            </geometry>
        </visual>
        <collision>
            <origin xyz="0.3158 -0.0021 -0.4500" rpy="3.1355 -1.3045 0.0025"/>
            <geometry>
                <box size="0.062 0.062 0.087"/>
            </geometry>
        </collision>
    </link>

    <link name="laser_vert_top_right">
        <visual>
           <origin xyz="0.2978 -0.1450 1.8451" rpy="-1.1760 0.6313 -1.9377"/>
           <geometry>
               <box size="0.062 0.062 0.087"/>
           </geometry>
        </visual>
        <collision>
            <origin xyz="0.2978 -0.1450 1.8451" rpy="-1.1760 0.6313 -1.9377"/>
            <geometry>
                <box size="0.062 0.062 0.087"/>
            </geometry>
        </collision>
    </link>

    <link name="laser_vert_top_left">
    <visual>
       <origin xyz="0.2997 0.1531 0.18451" rpy="1.1780 0.6198 1.9560"/>
       <geometry>
            <box size="0.062 0.062 0.087"/>
        </geometry>
    </visual>
    <collision>

       <origin xyz="0.2997 0.1531 0.18451" rpy="1.1780 0.6198 1.9560"/>
       <geometry>
            <box size="0.062 0.062 0.087"/>
        </geometry>
    </collision>
    </link>

    <link name="laser_horiz">
        <visual>
            <origin xyz="0.2325 0.0001 1.9201" rpy="-0.0012 0.1146 -0.0015"/>
            <geometry>
               <cylinder radius="0.052" length="0.072"/>
            </geometry>
        </visual>
       <collision>

            <origin xyz="0.2325 0.0001 1.9201" rpy="-0.0012 0.1146 -0.0015"/>
            <geometry>
               <cylinder radius="0.052" length="0.072"/>
            </geometry>
       </collision>
    </link>

    <joint name="base_laser_vert_bottom_joint" type="fixed">
        <parent link="base"/>
        <child link="laser_vert_bottom"/>
        <origin xyz="0.3158 -0.0021 0.5100" rpy="3.1355 -1.3045 0.0025"/>
    </joint>

    <joint name="base_laser_vert_top_right_joint" type="fixed">
        <parent link="base"/>
        <child link="laser_vert_top_right"/>
        <origin xyz="0.2978 -0.1450 1.8451" rpy="-1.1760 0.6313 -1.9377"/>
    </joint>

    <joint name="base_laser_vert_top_left_joint" type="fixed">
        <parent link="base"/>
        <child link="laser_vert_top_left"/>
        <origin xyz="0.2997 0.1531 0.18451" rpy="1.1780 0.6198 1.9560"/>
    </joint>

    <joint name="base_laser_horiz_joint" type="fixed">
        <parent link="base"/>
        <child link="laser_horiz"/>
        <origin xyz="0.2325 0.0001 1.9201" rpy="-0.0012 0.1146 -0.0015"/>
    </joint>

</robot>