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mini_ar_drone.urdf
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mini_ar_drone.urdf
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<?xml version="1.0"?>
<robot name="ar_drone">
<link name="shadow">
</link>
<link name="air_column">
</link>
<link name="landing_gear">
<visual>
<geometry>
<cylinder length="0.05" radius="0.15"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="blue">
<color rgba="0 0 .8 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length="0.05" radius="0.15"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="10"/>
<inertia ixx="1.0" ixy="1.0" ixz="1.0" iyy="1.0" iyz="1.0" izz="1.0"/>
</inertial>
</link>
<link name="arm2">
<visual>
<geometry>
<box size=".18 .02 .02"/>
</geometry>
<origin rpy="0 0 0.7854" xyz="0.063639 0.063639 0"/>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".18 .02 .02"/>
</geometry>
<origin rpy="0 0 0.7854" xyz="0.063639 0.063639 0"/>
</collision>
<inertial>
<mass value="10"/>
<inertia ixx="1.0" ixy="1.0" ixz="1.0" iyy="1.0" iyz="1.0" izz="1.0"/>
</inertial>
</link>
<link name="arm1">
<visual>
<geometry>
<box size=".18 .02 .02"/>
</geometry>
<origin rpy="0 0 -0.7854" xyz="0.063639 -0.063639 0"/>
<material name="black"/>
</visual>
<collision>
<geometry>
<box size=".18 .02 .02"/>
</geometry>
<origin rpy="0 0 -0.7854" xyz="0.063639 -0.063639 0"/>
</collision>
<inertial>
<mass value="10"/>
<inertia ixx="1.0" ixy="1.0" ixz="1.0" iyy="1.0" iyz="1.0" izz="1.0"/>
</inertial>
</link>
<link name="arm4">
<visual>
<geometry>
<box size=".18 .02 .02"/>
</geometry>
<origin rpy="0 0 2.3562" xyz="-0.063639 0.063639 0"/>
<material name="black"/>
</visual>
<collision>
<geometry>
<box size=".18 .02 .02"/>
</geometry>
<origin rpy="0 0 2.3562" xyz="-0.063639 0.063639 0"/>
</collision>
<inertial>
<mass value="10"/>
<inertia ixx="1.0" ixy="1.0" ixz="1.0" iyy="1.0" iyz="1.0" izz="1.0"/>
</inertial>
</link>
<link name="arm3">
<visual>
<geometry>
<box size=".18 .02 .02"/>
</geometry>
<origin rpy="0 0 -2.3562" xyz="-0.063639 -0.063639 0"/>
<material name="black"/>
</visual>
<collision>
<geometry>
<box size=".018 .02 .02"/>
</geometry>
<origin rpy="0 0 -2.3562" xyz="-0.063639 -0.063639 0"/>
</collision>
<inertial>
<mass value="10"/>
<inertia ixx="1.0" ixy="1.0" ixz="1.0" iyy="1.0" iyz="1.0" izz="1.0"/>
</inertial>
</link>
<link name="blade1">
<visual>
<geometry>
<cylinder length="0.02" radius="0.13"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="front">
<color rgba="1 1 1 0.6"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length="0.02" radius="0.13"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="10"/>
<inertia ixx="1.0" ixy="1.0" ixz="1.0" iyy="1.0" iyz="1.0" izz="1.0"/>
</inertial>
</link>
<link name="blade2">
<visual>
<geometry>
<cylinder length="0.02" radius="0.13"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="front">
<color rgba="1 1 1 0.6"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length="0.02" radius="0.13"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="10"/>
<inertia ixx="1.0" ixy="1.0" ixz="1.0" iyy="1.0" iyz="1.0" izz="1.0"/>
</inertial>
</link>
<link name="blade3">
<visual>
<geometry>
<cylinder length="0.02" radius="0.13"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="back">
<color rgba="1 0 0 0.6"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length="0.02" radius="0.13"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="10"/>
<inertia ixx="1.0" ixy="1.0" ixz="1.0" iyy="1.0" iyz="1.0" izz="1.0"/>
</inertial>
</link>
<link name="blade4">
<visual>
<geometry>
<cylinder length="0.02" radius="0.13"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="back">
<color rgba="1 0 0 0.6"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length="0.02" radius="0.13"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="10"/>
<inertia ixx="1.0" ixy="1.0" ixz="1.0" iyy="1.0" iyz="1.0" izz="1.0"/>
</inertial>
</link>
<joint name="Z_joint" type="prismatic">
<parent link="air_column"/>
<child link="landing_gear"/>
<limit effort="1000.0" lower="-10" upper="10" velocity="100"/>
<axis xyz="0 0 1"/>
<origin xyz="0 0 0"/>
</joint>
<joint name="yaw_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="shadow"/>
<child link="air_column"/>
<origin xyz="0 0 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<joint name="base_to_arm1" type="fixed">
<parent link="landing_gear"/>
<child link="arm1"/>
<origin xyz="0 0 0.06"/>
</joint>
<joint name="base_to_arm2" type="fixed">
<parent link="landing_gear"/>
<child link="arm2"/>
<origin xyz="0 0 0.06"/>
</joint>
<joint name="base_to_arm3" type="fixed">
<parent link="landing_gear"/>
<child link="arm3"/>
<origin xyz="0 0 0.06"/>
</joint>
<joint name="base_to_arm4" type="fixed">
<parent link="landing_gear"/>
<child link="arm4"/>
<origin xyz="0 0 0.06"/>
</joint>
<joint name="motor1" type="fixed">
<parent link="arm1"/>
<child link="blade1"/>
<origin xyz="0.12728 -0.12728 .02"/>
</joint>
<joint name="motor2" type="fixed">
<parent link="arm2"/>
<child link="blade2"/>
<origin xyz="0.12728 0.12728 .02"/>
</joint>
<joint name="motor3" type="fixed">
<parent link="arm3"/>
<child link="blade3"/>
<origin xyz="-0.12728 -0.12728 .02"/>
</joint>
<joint name="motor4" type="fixed">
<parent link="arm4"/>
<child link="blade4"/>
<origin xyz="-0.12728 0.12728 .02"/>
</joint>
</robot>