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TBSC_visualizer.urdf
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TBSC_visualizer.urdf
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<?xml version="1.0"?>
<robot xmlns="http://drake.mit.edu"
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:schemaLocation="http://drake.mit.edu ../../doc/drakeURDF.xsd" name="TBSC_visualizer">
<link name="fuselage">
<inertial>
<mass value="1" />
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0.083" />
</inertial>
<visual>
<geometry>
<box size="0.2097 0.8636 0.01" />
</geometry>
</visual>
</link>
<link name="left_winglet">
<parent link="fuselage" />
<inertial>
<mass value="1" />
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0.083" />
</inertial>
<visual>
<geometry>
<origin xyz="-0.08 0.4318 0.081954" rpy="1.57079632679489661923 0 0" />
<box size="0.1303 0.1492 0.01" />
</geometry>
</visual>
</link>
<link name="prop">
<inertial>
<mass value="1" />
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0.083" />
</inertial>
<visual>
<geometry>
<origin xyz="-0.15 0 0" rpy="0 1.57079632679489661923 0" />
<cylinder length="0.05" radius="0.1016" />
</geometry>
</visual>
</link>
<link name="right_winglet">
<inertial>
<mass value="1" />
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0.083" />
</inertial>
<visual>
<geometry>
<origin xyz="-0.08 -0.4318 0.081954" rpy="1.57079632679489661923 0 0" />
<box size="0.1303 0.1492 0.01" />
</geometry>
</visual>
</link>
<link name="left_elevon">
<inertial>
<mass value="1" />
<origin xyz="-0.0201 0.276225 0" rpy="0 0 0" />
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0.083" />
</inertial>
<visual>
<origin xyz="-0.0201 0.276225 0" rpy="0 0 0" />
<geometry>
<box size="0.0402 0.31115 0.01" />
</geometry>
<material name="red">
<color rgba="1 .949 .211 1" />
</material>
</visual>
</link>
<link name="right_elevon">
<inertial>
<mass value="1" />
<origin xyz="-0.0201 -0.276225 0" rpy="0 0 0" />
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="0.083" />
</inertial>
<visual>
<origin xyz="-0.0201 -0.276225 0" rpy="0 0 0" />
<geometry>
<box size="0.0402 0.31115 0.01" />
</geometry>
<material name="red">
<color rgba="1 .949 .211 1" />
</material>
</visual>
</link>
<joint name="left_elevon_joint" type="continuous">
<parent link="fuselage" />
<child link="left_elevon" />
<origin xyz="-0.10485 0 0" />
<axis xyz="0 1 0" />
</joint>
<joint name="right_elevon_joint" type="continuous">
<parent link="fuselage" />
<child link="right_elevon" />
<origin xyz="-0.10485 0 0" />
<axis xyz="0 1 0" />
</joint>
<joint name="left_winglet_joint" type="fixed">
<parent link="fuselage" />
<child link="left_winglet" />
<origin xyz="0 0 0" />
<axis xyz="0 1 0" />
</joint>
<joint name="right_winglet_joint" type="fixed">
<parent link="fuselage" />
<child link="right_winglet" />
<origin xyz="0 0 0" />
<axis xyz="0 1 0" />
</joint>
<joint name="prop_joint" type="continuous">
<parent link="fuselage" />
<child link="prop" />
<origin xyz="0 0 0" />
<axis xyz="1 0 0" />
</joint>
</robot>