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Create simple_ddbot.urdf #79

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5f66209
Create simple_ddbot.urdf
JAnthem9606 Jul 14, 2025
18b0313
[pre-commit.ci] auto fixes from pre-commit.com hooks
pre-commit-ci[bot] Jul 14, 2025
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71 changes: 71 additions & 0 deletions urdf/simple_ddbot.urdf
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Original file line number Diff line number Diff line change
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<?xml version="1.0"?>
<robot name="your_robot">


<!-- Reusable green material -->
<material name="green">
<color rgba="0.2 1 0.2 1"/>
</material>

<!-- Base link -->
<link name="base_link">
<visual>
<origin xyz="0 0 0.25"/>
<geometry>
<box size="1.5 1 0.25"/>
</geometry>
<material name="green"/>
</visual>
</link>

<!-- Right wheel link -->
<link name="right_wheel_link">
<visual>
<origin xyz="0 0 0"/>
<geometry>
<cylinder length="0.2" radius="0.2"/>
</geometry>
<material name="green"/>
</visual>
</link>

<!-- Right wheel joint -->
<joint name="right_wheel_joint" type="continuous">
<origin xyz="-0.5 -0.6 0.2" rpy="1.57 0 0"/>
<parent link="base_link"/>
<child link="right_wheel_link"/>
</joint>

<!-- Left wheel link -->
<link name="left_wheel_link">
<visual>
<origin xyz="0 0 0"/>
<geometry>
<cylinder length="0.2" radius="0.2"/>
</geometry>
<material name="green"/>
</visual>
</link>

<!-- Left wheel joint -->
<joint name="left_wheel_joint" type="continuous">
<origin xyz="-0.5 0.6 0.2" rpy="1.57 0 0"/>
<parent link="base_link"/>
<child link="left_wheel_link"/>
</joint>

<link name="caster_link">
<visual>
<geometry>
<sphere radius="0.08"/>
</geometry>
</visual>
</link>

<joint name="caster_joint" type='fixed'>
<origin xyz="0.6 0 0.075"/>
<parent link="base_link"/>
<child link="caster_link"/>
</joint>

</robot>