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agent.urdf
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<?xml version="1.0" encoding="UTF-8"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="agent.urdf">
<link name="base_link">
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0" />
<mass value="1" />
<inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1" />
</inertial>
</link>
<link name="world" />
<joint name="world_room_joint" type="fixed">
<parent link="world" />
<child link="base_link" />
</joint>
<link name="head">
<sphere_inertia mass="0" radius="0" />
<!-- <visual>-->
<!-- <origin rpy="0 0 0" xyz="0 0 0" />-->
<!-- <geometry>-->
<!--<!– <mesh filename="package://h_neem/meshes/agent/controller.dae" />–>-->
<!-- </geometry>-->
<!-- </visual>-->
</link>
<joint name="head_joint" type="fixed">
<child link="head" />
<parent link="base_link" />
<axis xyz="0 0 0" />
<origin rpy="12.5 262.5 355.8999938964844" xyz="-11.0 4.0 3.799999952316284" />
<limit effort="300" lower="0" upper="0" velocity="10" />
</joint>
<link name="arm_l">
<sphere_inertia mass="0" radius="0" />
<visual>
<origin rpy="0.0 270.0 0.0" xyz="-12.5 2.0999999046325685 2.799999952316284" />
<geometry>
<mesh filename="package://h_neem/meshes/agent/controller.dae" />
</geometry>
</visual>
</link>
<joint name="arm_l_joint" type="fixed">
<child link="arm_l" />
<parent link="base_link" />
<axis xyz="0 0 0" />
<limit effort="300" lower="0" upper="0" velocity="10" />
</joint>
<link name="arm_r">
<sphere_inertia mass="0" radius="0" />
<origin rpy="0.0 270.0 0.0" xyz="-12.5 2.0999999046325685 4.300000190734863" />
<visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="package://h_neem/meshes/agent/controller.dae" />
</geometry>
</visual>
</link>
<joint name="arm_r_joint" type="fixed">
<child link="arm_r" />
<parent link="base_link" />
<axis xyz="0 0 0" />
<limit effort="300" lower="0" upper="0" velocity="10" />
</joint>
<link name="player">
<sphere_inertia mass="0" radius="0" />
<!-- <visual>-->
<!-- <origin rpy="0 0 0" xyz="0 0 0" />-->
<!-- <geometry>-->
<!--<!– <mesh filename="package://h_neem/meshes/agent/" />–>-->
<!-- </geometry>-->
<!-- </visual>-->
</link>
<joint name="player_joint" type="fixed">
<child link="player" />
<parent link="base_link" />
<axis xyz="0 0 0" />
<origin rpy="0.0 270.0 0.0" xyz="-12.5 -0.8999999761581421 3.5" />
<limit effort="300" lower="0" upper="0" velocity="10" />
</joint>
</robot>