aquanaute.urdf
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<?xml version="1.0"?>
<robot name="aquanaute">
<material name="blue">
<color rgba="0 0 0.8 1"/>
</material>
<material name="red">
<color rgba="0.8 0 0 1"/>
</material>
<material name="green">
<color rgba="0 0.8 0 1"/>
</material>
<material name="cyan">
<color rgba="0 0.6 0.6 1"/>
</material>
<material name="yellow">
<color rgba="0.8 0.8 0 1"/>
</material>
<material name="purple">
<color rgba="0.5 0 0.5 1"/>
</material>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
<material name="gray">
<color rgba="0.35 0.35 0.35 1"/>
</material>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
<!-- * * * Link Definitions * * * -->
<link name="base_link">
<visual>
<origin rpy="0.0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.001"/>
</geometry>
<material name="blue"/>
</visual>
</link>
<link name="platform_link">
<inertial>
<origin xyz="-0.024 0 -0007" rpy="0 0 0"/>
<mass value="16"/>
<inertia ixx="4.206" ixy="0.0" ixz="-0.031" iyy="4.588" iyz="0.0" izz="8.785"/>
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://aquanaute_description/models/meshes/Platform.stl"/>
</geometry>
</collision>
<visual>
<origin rpy="0.0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://aquanaute_description/models/meshes/Platform.stl"/>
</geometry>
<material name="yellow"/>
</visual>
</link>
<link name="right_hull_link">
<inertial>
<origin xyz="-0.124 0 -0.168" rpy="0 0 0"/>
<mass value="10.45"/>
<inertia ixx="0.244" ixy="3.346" ixz="0.009" iyy="4.974" iyz="-8.274" izz="4.965"/>
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://aquanaute_description/models/meshes/Hull.stl"/>
</geometry>
</collision>
<visual>
<origin rpy="0.0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://aquanaute_description/models/meshes/Hull.stl"/>
</geometry>
<material name="red"/>
</visual>
</link>
<link name="left_hull_link">
<inertial>
<origin xyz="-0.124 0 -0.168" rpy="0 0 0"/>
<mass value="10.45"/>
<inertia ixx="0.244" ixy="3.346" ixz="0.009" iyy="4.974" iyz="-8.274" izz="4.965"/>
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://aquanaute_description/models/meshes/Hull.stl"/>
</geometry>
</collision>
<visual>
<origin rpy="0.0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://aquanaute_description/models/meshes/Hull.stl"/>
</geometry>
<material name="red"/>
</visual>
</link>
<link name="motor_link">
<inertial>
<origin xyz="-0.133 0 -0.391" rpy="0 0 0"/>
<mass value="6.6"/>
<inertia ixx="0.072" ixy="3.604" ixz="-0.011" iyy="0.111" iyz="5.484" izz="0.042"/>
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://aquanaute_description/models/meshes/Motor.stl"/>
</geometry>
</collision>
<visual>
<origin rpy="0.0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://aquanaute_description/models/meshes/Motor.stl"/>
</geometry>
<material name="purple"/>
</visual>
</link>
<link name="sensor_frame_link">
<inertial>
<origin xyz="-0.007 0 0.379" rpy="0 0 0"/>
<mass value="1.8"/>
<inertia ixx="0.308" ixy="0.00" ixz="0.007" iyy="0.297" iyz="0.00" izz="0.022"/>
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://aquanaute_description/models/meshes/sensor_frame.stl"/>
</geometry>
</collision>
<visual>
<origin rpy="0.0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://aquanaute_description/models/meshes/sensor_frame.stl"/>
</geometry>
<material name="cyan"/>
</visual>
</link>
<!-- * * * Joint Definitions * * * -->
<joint name="platform_base_joint" type="fixed">
<parent link="base_link"/>
<child link="platform_link"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
</joint>
<joint name="right_hull_platform_joint" type="fixed">
<parent link="platform_link"/>
<child link="right_hull_link"/>
<origin xyz="-0.05 -0.7 -0.036" rpy="0 0 0"/>
</joint>
<joint name="left_hull_platform_joint" type="fixed">
<parent link="platform_link"/>
<child link="left_hull_link"/>
<origin xyz="-0.05 0.7 -0.036" rpy="0 0 0"/>
</joint>
<joint name="motor_platform_joint" type="fixed">
<parent link="base_link"/>
<child link="motor_link"/>
<origin xyz="-0.91 0.0 -0.09" rpy="0 0 0"/>
</joint>
<joint name="sensor_frame_platform_joint" type="fixed">
<parent link="base_link"/>
<child link="sensor_frame_link"/>
<origin xyz="-0.55 0.0 0.0" rpy="0 0 0"/>
</joint>
<!--
<joint name="pitch_joint" type="revolute">
<parent link="roll_M1_link"/>
<child link="pitch_M2_link"/>
<origin xyz="0 0 0" rpy="0 -1.5708 0"/>
<limit lower="0" upper="0.44" effort="0.1" velocity="0.005"/>
<axis xyz="0 1 0"/>
</joint>
<joint name="yaw_joint" type="continuous">
<parent link="pitch_M2_link"/>
<child link="yaw_M3_link"/>
<origin xyz="0.01 0 0" rpy="0 1.5708 0"/>
<limit effort="0.1" velocity="0.01"/>
<axis xyz="0 0 1"/>
</joint>
-->
<!-- This is for color and physical properties in Gazebo, color won't work with the material tag in gazebo
only for URDF coloring
<gazebo reference="roll_M1_link">
<kp>1000.0</kp>
<kd>10.0</kd>
<mu1>10.0</mu1>
<mu2>10.0</mu2>
<material>Gazebo/Red</material>
</gazebo>
-->
</robot>