feat: add urdf example

1 files changed, 132 insertions, 0 deletions

diff --git a/assets/3d/sample.urdf b/assets/3d/sample.urdf
new file mode 100644
index 0000000..c07d330
--- /dev/null
+++ b/assets/3d/sample.urdf
@@ -0,0 +1,132 @@
+<robot name="robot">
+  <link name="root">
+    <inertial>
+      <origin xyz="0 0 0.5" rpy="0 0 0"/>
+      <mass value="1"/>
+      <inertia ixx="100"  ixy="0"  ixz="0" iyy="100" iyz="0" izz="100" />
+    </inertial>
+    <visual>
+      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
+      <geometry>
+        <box size="0.2 0.2 0.4" />
+      </geometry>
+      <material name="Cyan">
+        <color rgba="1.0 1.0 1.0 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <cylinder radius="1" length="0.5"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="shoulder1">
+    <visual>
+      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
+      <geometry>
+        <box size="0.1 0.1 0.1" />
+      </geometry>
+      <material name="Cyan">
+        <color rgba="0 1.0 1.0 1.0"/>
+      </material>
+    </visual>
+  </link>
+  <link name="shoulder2">
+    <visual>
+      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
+      <geometry>
+        <box size="0.1 0.1 0.1" />
+      </geometry>
+      <material name="Cyan">
+        <color rgba="1.0 1.0 0.0 1.0"/>
+      </material>
+    </visual>
+  </link>
+  <link name="shoulder3">
+    <visual>
+      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
+      <geometry>
+        <box size="0.1 0.1 0.2" />
+      </geometry>
+      <material name="Cyan">
+        <color rgba="0.5 0.5 0.2 1.0"/>
+      </material>
+    </visual>
+  </link>
+  <link name="elbow1">
+    <visual>
+      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
+      <geometry>
+        <box size="0.1 0.1 0.2" />
+      </geometry>
+      <material name="Cyan">
+        <color rgba="0.8 0.2 0.2 1.0"/>
+      </material>
+    </visual>
+  </link>
+  <link name="wrist1">
+    <visual>
+      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
+      <geometry>
+        <box size="0.1 0.15 0.1" />
+      </geometry>
+      <material name="Cyan">
+        <color rgba="1.0 0.0 0.0 1.0"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="shoulder_yaw" type="revolute">
+    <origin xyz="0.0 0.2 0.2" />
+    <parent link="root" />
+    <child link="shoulder1" />
+    <axis xyz="0 0 1" />
+    <limit lower="-1" upper="1.0" effort="0" velocity="1.0"/>
+  </joint>
+  <link name="wrist2">
+    <visual>
+      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
+      <geometry>
+        <box size="0.05 0.08 0.15" />
+      </geometry>
+      <material name="Cyan">
+        <color rgba="0.0 0.0 1.0 1.0"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="shoulder_pitch" type="revolute">
+    <origin xyz="0.0 0.1 0.0" />
+    <parent link="shoulder1" />
+    <child link="shoulder2" />
+    <axis xyz="0 1 0" />
+    <limit lower="-1" upper="1.0" effort="0" velocity="1.0"/>
+  </joint>
+  <joint name="shoulder_roll" type="revolute">
+    <origin xyz="0.0 0.1 0.0" />
+    <parent link="shoulder2" />
+    <child link="shoulder3" />
+    <axis xyz="1 0 0" />
+    <limit lower="-2" upper="1.0" effort="0" velocity="1.0"/>
+  </joint>
+  <joint name="elbow_pitch" type="revolute">
+    <origin xyz="0.0 0.0 -0.2" />
+    <parent link="shoulder3" />
+    <child link="elbow1" />
+    <axis xyz="0 1 0" />
+    <limit lower="-2" upper="1.0" effort="0" velocity="1.0"/>
+  </joint>
+  <joint name="wrist_yaw" type="revolute">
+    <origin xyz="0.0 0.0 -0.2" />
+    <parent link="elbow1" />
+    <child link="wrist1" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2" upper="1.0" effort="0" velocity="1.0"/>
+  </joint>
+  <joint name="wrist_pitch" type="revolute">
+    <origin xyz="0.0 0.0 -0.2" />
+    <parent link="wrist1" />
+    <child link="wrist2" />
+    <axis xyz="0 1 0" />
+    <limit lower="-2" upper="1.0" effort="0" velocity="1.0"/>
+  </joint>
+</robot>