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add ladar and camera links/joints in H1 urdf
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
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@@ -1143,4 +1143,123 @@ Stephen Brawner ([email protected]) | |
| <axis | ||
| xyz="0 0 0" /> | ||
| </joint> | ||
|
|
||
|
|
||
| <link | ||
| name="d435_left_imager_link"> | ||
| <visual> | ||
| <origin | ||
| xyz="0 0 0" | ||
| rpy="0 0 0" /> | ||
| <geometry> | ||
| <sphere | ||
| radius="0.001" /> | ||
| </geometry> | ||
| <material | ||
| name=""> | ||
| <color | ||
| rgba="1 1 1 1" /> | ||
| </material> | ||
| </visual> | ||
| <collision> | ||
| <origin | ||
| xyz="0 0 0" | ||
| rpy="0 0 0" /> | ||
| <geometry> | ||
| <sphere | ||
| radius="0.001" /> | ||
| </geometry> | ||
| </collision> | ||
| </link> | ||
| <joint | ||
| name="d435_left_imager_joint" | ||
| type="fixed"> | ||
| <origin | ||
| xyz="0.10848474394 0.0175 0.69317107367" | ||
| rpy="-2.45735 0 -1.57080" /> | ||
| <parent | ||
| link="torso_link" /> | ||
| <child | ||
| link="d435_left_imager_link" /> | ||
| <axis | ||
| xyz="0 0 0" /> | ||
| </joint> | ||
| <link | ||
| name="d435_rgb_module_link"> | ||
| <visual> | ||
| <origin | ||
| xyz="0 0 0" | ||
| rpy="0 0 0" /> | ||
| <geometry> | ||
| <sphere | ||
| radius="0.001" /> | ||
| </geometry> | ||
| <material | ||
| name=""> | ||
| <color | ||
| rgba="1 1 1 1" /> | ||
| </material> | ||
| </visual> | ||
| <collision> | ||
| <origin | ||
| xyz="0 0 0" | ||
| rpy="0 0 0" /> | ||
| <geometry> | ||
| <sphere | ||
| radius="0.001" /> | ||
| </geometry> | ||
| </collision> | ||
| </link> | ||
| <joint | ||
| name="d435_rgb_module_joint" | ||
| type="fixed"> | ||
| <origin | ||
| xyz="0.10848474394 0.0325 0.69317107367" | ||
| rpy="-2.45735 0 -1.57080" /> | ||
| <parent | ||
| link="torso_link" /> | ||
| <child | ||
| link="d435_rgb_module_link" /> | ||
| <axis | ||
| xyz="0 0 0" /> | ||
| </joint> | ||
| <link | ||
| name="mid360_link"> | ||
| <visual> | ||
| <origin | ||
| xyz="0 0 0" | ||
| rpy="0 0 0" /> | ||
| <geometry> | ||
| <sphere | ||
| radius="0.001" /> | ||
| </geometry> | ||
| <material | ||
| name=""> | ||
| <color | ||
| rgba="1 1 1 1" /> | ||
| </material> | ||
| </visual> | ||
| <collision> | ||
| <origin | ||
| xyz="0 0 0" | ||
| rpy="0 0 0" /> | ||
| <geometry> | ||
| <sphere | ||
| radius="0.001" /> | ||
| </geometry> | ||
| </collision> | ||
| </link> | ||
| <joint | ||
| name="mid360_joint" | ||
| type="fixed"> | ||
| <origin | ||
| xyz="0.04729990180 0 0.67492878653" | ||
| rpy="0 0.243124 0" /> | ||
| <parent | ||
| link="torso_link" /> | ||
| <child | ||
| link="mid360_link" /> | ||
| <axis | ||
| xyz="0 0 0" /> | ||
| </joint> | ||
| </robot> | ||