double_robotics.urdf

<?xml version="1.0"?>
<robot name="double_robotics">
  <link name="base_link">
    <visual>
      <geometry>
        <cylinder length="0.154" radius="0.0915"/>
      </geometry>
      <origin rpy="0 1.57075 0" xyz="0 0 0.005"/>
    </visual>
  </link>
  
  <link name="right_wheel">
    <visual>
      <geometry>
        <cylinder length="0.051" radius="0.1115"/>
      </geometry>
      <origin rpy="0 1.57075 0" xyz="0 0 0"/>
    </visual>
  </link>

  <joint name="base_to_right_wheel" type="fixed">
    <parent link="base_link"/>
    <child link="right_wheel"/>
    <origin xyz="0.1 0 0"/>
  </joint>
  
  <link name="left_wheel">
    <visual>
      <geometry>
        <cylinder length="0.051" radius="0.1115"/>
      </geometry>
      <origin rpy="0 1.57075 0" xyz="0 0 0"/>
    </visual>
  </link>

  <joint name="base_to_left_wheel" type="fixed">
    <parent link="base_link"/>
    <child link="left_wheel"/>
    <origin xyz="-0.1 0 0"/>
  </joint>
  
  <link name="stick">
    <visual>
      <geometry>
        <cylinder length="0.86" radius="0.025"/>
      </geometry>
    </visual>
  </link>

  <joint name="base_to_stick" type="fixed">
    <parent link="base_link"/>
    <child link="stick"/>
    <origin xyz="0 0 0.52"/>
  </joint>
  
  <link name="ipad">
    <visual>
      <geometry>
        <box size="0.204 0.01 0.2476"/>
      </geometry>
    </visual>
  </link>

  <joint name="stick_to_ipad" type="fixed">
    <parent link="stick"/>
    <child link="ipad"/>
    <origin xyz="0 0.03 0.45"/>
  </joint>
  
  <link name="audio">
    <visual>
      <geometry>
        <cylinder length="0.03" radius="0.025"/>
      </geometry>
      <origin rpy="1.57075 1.57075 0" xyz="0 0 0"/>
    </visual>
  </link>

  <joint name="stick_to_audio" type="fixed">
    <parent link="stick"/>
    <child link="audio"/>
    <origin xyz="0 0.04 0.29"/>
  </joint>
  
  <link name="camera">
    <visual>
      <geometry>
        <box size="0.08 0.01 0.022"/>
      </geometry>
    </visual>
  </link>

  <joint name="ipad_to_camera" type="fixed">
    <parent link="ipad"/>
    <child link="camera"/>
    <origin xyz="0 0 0.133"/>
  </joint>
</robot>