adipu/guadaloop_lev_control
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built environment

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pulipakaa24
2025-12-10 15:50:20 -06:00
parent f2ae33db8c
commit c74c086ef7
11 changed files with 1433 additions and 6 deletions
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68
RL Testing/pod.xml Normal file
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<?xml version="1.0"?>
<robot name="lev_pod">
<link name="base_link">
<inertial>
<mass value="5.8"/>
<inertia ixx="0.0192942414" ixy="0.0" ixz="0.0" iyy="0.130582305" iyz="0.0" izz="0.13760599326"/>
</inertial>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.009525"/>
<geometry> <box size="0.6096 0.0862 0.01905"/> </geometry>
</collision>
<!-- Bolts -->
<collision>
<origin rpy="0 0 0" xyz="0.285 0.03 0.09585"/>
<geometry><box size="0.01 0.01 0.01"/></geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0.285 -0.03 0.09585"/>
<geometry><box size="0.01 0.01 0.01"/></geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="-0.285 0.03 0.09585"/>
<geometry><box size="0.01 0.01 0.01"/></geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="-0.285 -0.03 0.09585"/>
<geometry><box size="0.01 0.01 0.01"/></geometry>
</collision>
<!-- Yoke Tops -->
<collision>
<origin rpy="0 0 0" xyz="0.1259 0.0508 0.08585"/>
<geometry><box size="0.0254 0.0254 0.01"/></geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0.1259 -0.0508 0.08585"/>
<geometry><box size="0.0254 0.0254 0.01"/></geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="-0.1259 0.0508 0.08585"/>
<geometry><box size="0.0254 0.0254 0.01"/></geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="-0.1259 -0.0508 0.08585"/>
<geometry><box size="0.0254 0.0254 0.01"/></geometry>
</collision>
<!-- Sensor Tops -->
<collision>
<origin rpy="0 0 0" xyz="0 0.0508 0.08585"/>
<geometry><cylinder length="0.01" radius="0.015"/></geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 -0.0508 0.08585"/>
<geometry><cylinder length="0.01" radius="0.015"/></geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0.2366 0 0.08585"/>
<geometry><cylinder length="0.01" radius="0.015"/></geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="-0.2366 0 0.08585"/>
<geometry><cylinder length="0.01" radius="0.015"/></geometry>
</collision>
</link>
</robot>