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Fix the hardware measurements and add visuals for simulation #12

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Fix the hardware measurements and add visuals for simulation #12

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22de689
Fix sensors positions and add mast and sensor boards
VitezGabriela Apr 15, 2026
c04db59
Fix sensor chassis and collisoin meshes for Joe
VitezGabriela Apr 15, 2026
b10aad5
Add visual structure fo Cornelius for the sensors
VitezGabriela Apr 15, 2026
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180 changes: 134 additions & 46 deletions cororos2_description/urdf/allie/allie_macro.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -12,18 +12,39 @@
<mass value="26.6" />
<inertia ixx="0.387" ixy="0" ixz="0" iyy="0.790" iyz="0" izz="0.962" />
</inertial>
<collision name="chassis_collision">

<!-- collisions -->
<collision name="chassis_main_collision">
<origin xyz="0 0 0.05" rpy="0 0 0" />
<geometry>
<box size="0.555 0.355 0.13" />
</geometry>
</collision>
<collision name="tower_collision">
<origin xyz="0.13 0 0.27" rpy="0 0 0" />
<collision name="emergency_stop_bottom_collision">
<origin xyz="0.2 0.15 0.125" rpy="0 0 0" />
<geometry>
<box size="0.2 0.2 0.34" />
<cylinder radius="0.015" length="0.015" />
</geometry>
</collision>
<collision name="emergency_stop_top_collision">
<origin xyz="0.2 0.15 0.135" rpy="0 0 0" />
<geometry>
<cylinder radius="0.02" length="0.005" />
</geometry>
</collision>
<collision name="wheel_mount_front_collision">
<origin xyz="0.249 0 0.011" rpy="0 0 0" />
<geometry>
<box size="0.05 0.52 0.05" />
</geometry>
</collision>
<collision name="wheel_mount_rear_collision">
<origin xyz="-0.249 0 0.011" rpy="0 0 0" />
<geometry>
<box size="0.05 0.52 0.05" />
</geometry>
</collision>
<!-- visuals -->
<visual name="chassis_main_visual">
<origin xyz="0 0 0.05" rpy="0 0 0" />
<geometry>
Expand Down Expand Up @@ -54,7 +75,7 @@
<visual name="wheel_mount_front_visual">
<origin xyz="0.249 0 0.011" rpy="0 0 0" />
<geometry>
<box size="0.05 0.5 0.05" />
<box size="0.05 0.52 0.05" />
</geometry>
<material name="wheel_mount_front_visual_mat">
<color rgba="0.6 0.6 0.6 1.0" />
Expand All @@ -63,72 +84,75 @@
<visual name="wheel_mount_rear_visual">
<origin xyz="-0.249 0 0.011" rpy="0 0 0" />
<geometry>
<box size="0.05 0.5 0.05" />
<box size="0.05 0.52 0.05" />
</geometry>
<material name="wheel_mount_rear_visual_mat">
<color rgba="0.6 0.6 0.6 1.0" />
</material>
</visual>
<visual name="plate1_visual">
<origin xyz="0.13 0 0.42" rpy="0 0 0" />
<visual name="ouster_deck_visual">
<origin xyz="0.175 0.01 0.3625" rpy="0 0 0" />
<geometry>
<box size="0.2 0.2 0.005" />
<box size="0.24 0.18 0.012" />
</geometry>
<material name="plate1_visual_mat">
<material name="ouster_deck_visual_mat">
<color rgba="0.7843 0.7843 0.7843 1.0" />
</material>
</visual>
<visual name="plate2_visual">
<origin xyz="0.13 0 0.31" rpy="0 0 0" />
<visual name="beam1_visual">
<origin xyz="0.255 0.07 0.24375" rpy="0 0 0" />
<geometry>
<box size="0.2 0.2 0.005" />
<box size="0.018 0.018 0.2375" />
</geometry>
<material name="plate2_visual_mat">
<material name="beam_visual_mat">
<color rgba="0.7843 0.7843 0.7843 1.0" />
</material>
</visual>
<visual name="plate3_visual">
<origin xyz="0.13 0 0.12" rpy="0 0 0" />
<visual name="beam2_visual">
<origin xyz="0.255 -0.05 0.24375" rpy="0 0 0" />
<geometry>
<box size="0.2 0.2 0.005" />
<box size="0.018 0.018 0.2375" />
</geometry>
<material name="plate3_visual_mat">
<color rgba="0.9412 0.9412 0.9412 1.0" />
</material>
<material name="beam_visual_mat" />
</visual>
<visual name="beam1_visual">
<origin xyz="0.221 0.091 0.27" rpy="0 0 0" />
<visual name="beam3_visual">
<origin xyz="0.095 0.07 0.24375" rpy="0 0 0" />
<geometry>
<box size="0.02 0.02 0.3" />
<box size="0.018 0.018 0.2375" />
</geometry>
<material name="beam1_visual_mat">
<color rgba="0.7843 0.7843 0.7843 1.0" />
</material>
<material name="beam_visual_mat" />
</visual>
<visual name="beam2_visual">
<origin xyz="0.221 -0.091 0.27" rpy="0 0 0" />
<visual name="beam4_visual">
<origin xyz="0.095 -0.05 0.24375" rpy="0 0 0" />
<geometry>
<box size="0.018 0.018 0.2375" />
</geometry>
<material name="beam_visual_mat" />
</visual>
<visual name="sensor_mast_visual">
<origin xyz="0.255 0.07 1.01625" rpy="0 0 0" />
<geometry>
<box size="0.02 0.02 0.3" />
<box size="0.025 0.025 1.3175" />
</geometry>
<material name="beam2_visual_mat">
<material name="sensor_mast_visual_mat">
<color rgba="0.7843 0.7843 0.7843 1.0" />
</material>
</visual>
<visual name="beam3_visual">
<origin xyz="0.039 0.091 0.27" rpy="0 0 0" />
<visual name="camera_plate_visual">
<origin xyz="0.2745 0.01 1.548" rpy="0 0 0" />
<geometry>
<box size="0.02 0.02 0.3" />
<box size="0.095 0.16 0.012" />
</geometry>
<material name="beam3_visual_mat">
<material name="camera_plate_visual_mat">
<color rgba="0.7843 0.7843 0.7843 1.0" />
</material>
</visual>
<visual name="beam4_visual">
<origin xyz="0.039 -0.091 0.27" rpy="0 0 0" />
<visual name="gps_board_visual">
<origin xyz="0.27 0.09 1.675" rpy="0 0 0" />
<geometry>
<box size="0.02 0.02 0.3" />
<box size="0.12 0.08 0.012" />
</geometry>
<material name="beam4_visual_mat">
<material name="gps_board_visual_mat">
<color rgba="0.7843 0.7843 0.7843 1.0" />
</material>
</visual>
Expand All @@ -141,7 +165,7 @@
<mass value="5.124" />
<inertia ixx="0.0576" ixy="0" ixz="0" iyy="0.105" iyz="0" izz="0.0576" />
</inertial>
<collision name="front_left_wheel_collision">
<collision name="front_left_wheel_tire_collision">
<origin xyz="0 0 0" rpy="-1.5708 0 0" />
<geometry>
<cylinder radius="0.205" length="0.11" />
Expand All @@ -161,7 +185,7 @@
<mass value="5.124" />
<inertia ixx="0.0576" ixy="0" ixz="0" iyy="0.105" iyz="0" izz="0.0576" />
</inertial>
<collision name="front_right_wheel_collision">
<collision name="front_right_wheel_tire_collision">
<origin xyz="0 0 0" rpy="1.5708 0 0" />
<geometry>
<cylinder radius="0.205" length="0.11" />
Expand All @@ -181,7 +205,7 @@
<mass value="5.124" />
<inertia ixx="0.0576" ixy="0" ixz="0" iyy="0.105" iyz="0" izz="0.0576" />
</inertial>
<collision name="rear_left_wheel_collision">
<collision name="rear_left_wheel_tire_collision">
<origin xyz="0 0 0" rpy="-1.5708 0 0" />
<geometry>
<cylinder radius="0.205" length="0.11" />
Expand All @@ -201,7 +225,7 @@
<mass value="5.124" />
<inertia ixx="0.0576" ixy="0" ixz="0" iyy="0.105" iyz="0" izz="0.0576" />
</inertial>
<collision name="rear_right_wheel_collision">
<collision name="rear_right_wheel_tire_collision">
<origin xyz="0 0 0" rpy="1.5708 0 0" />
<geometry>
<cylinder radius="0.205" length="0.11" />
Expand Down Expand Up @@ -230,6 +254,51 @@
<mass value="1e-6" />
<inertia ixx="1e-9" ixy="0" ixz="0" iyy="1e-9" iyz="0" izz="1e-9" />
</inertial>
<collision name="gps_base_collision">
<origin xyz="0 0 0.012" rpy="0 0 0" />
<geometry>
<cylinder radius="0.028" length="0.024" />
</geometry>
</collision>
<collision name="gps_cap_collision">
<origin xyz="0 0 0.028" rpy="0 0 0" />
<geometry>
<sphere radius="0.016" />
</geometry>
</collision>
<collision name="gps_antenna_tip_collision">
<origin xyz="0 0 0.060" rpy="0 0 0" />
<geometry>
<cylinder radius="0.0035" length="0.024" />
</geometry>
</collision>
<visual name="gps_base_visual">
<origin xyz="0 0 0.012" rpy="0 0 0" />
<geometry>
<cylinder radius="0.028" length="0.024" />
</geometry>
<material name="gps_base_visual_mat">
<color rgba="0.92 0.92 0.92 1.0" />
</material>
</visual>
<visual name="gps_cap_visual">
<origin xyz="0 0 0.028" rpy="0 0 0" />
<geometry>
<sphere radius="0.016" />
</geometry>
<material name="gps_cap_visual_mat">
<color rgba="0.96 0.96 0.96 1.0" />
</material>
</visual>
<visual name="gps_antenna_tip_visual">
<origin xyz="0 0 0.060" rpy="0 0 0" />
<geometry>
<cylinder radius="0.0035" length="0.024" />
</geometry>
<material name="gps_antenna_tip_visual_mat">
<color rgba="0.2 0.2 0.2 1.0" />
</material>
</visual>
</link>
<!-- front RGB-D camera frame -->
<link name="${prefix}rgbd_front_link">
Expand All @@ -238,6 +307,12 @@
<mass value="1e-6" />
<inertia ixx="1e-9" ixy="0" ixz="0" iyy="1e-9" iyz="0" izz="1e-9" />
</inertial>
<collision name="d435i_realsense_camera_collision">
<origin xyz="-0.017356 0 -0.009938" rpy="0 0 0" />
<geometry>
<mesh filename="package://cororos2_description/meshes/allie/visual/realsense_d435.dae" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<visual name="d435i_realsense_camera_visual">
<origin xyz="-0.017356 0 -0.009938" rpy="0 0 0" />
<geometry>
Expand All @@ -252,6 +327,18 @@
<mass value="1e-6" />
<inertia ixx="1e-9" ixy="0" ixz="0" iyy="1e-9" iyz="0" izz="1e-9" />
</inertial>
<collision name="ouster_body_collision">
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<cylinder radius="0.055" length="0.075" />
</geometry>
</collision>
<collision name="ouster_window_collision">
<origin xyz="0.042 0 0" rpy="0 0 0" />
<geometry>
<box size="0.008 0.09 0.035" />
</geometry>
</collision>
<visual name="ouster_body_visual">
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
Expand Down Expand Up @@ -333,32 +420,33 @@
<joint name="${prefix}base_link_to_imu_sensor_link_joint" type="fixed">
<parent link="${prefix}base_link" />
<child link="${prefix}imu_sensor_link" />
<origin xyz="0 0 0" rpy="0 0 0" />
<origin xyz="0 0 -0.025" rpy="0 0 0" />
</joint>
<!-- base link to GPS frame -->
<joint name="${prefix}base_link_to_gps_link_joint" type="fixed">
<parent link="${prefix}base_link" />
<child link="${prefix}gps_link" />
<origin xyz="0.13 0 1.58" rpy="0 0 0" />
<origin xyz="0.27 0.09 1.681" rpy="0 0 0" />
</joint>
<!-- base link to front RGB-D camera frame -->
<joint name="${prefix}base_link_to_rgbd_front_link_joint" type="fixed">
<parent link="${prefix}base_link" />
<child link="${prefix}rgbd_front_link" />
<origin xyz="0.21 0 1.5" rpy="0 0.5236 0" />
<origin xyz="0.34 0.01 1.545" rpy="0 0.5236 0" />
</joint>
<!-- base link to Ouster sensor frame -->
<joint name="${prefix}base_link_to_ouster_link_joint" type="fixed">
<parent link="${prefix}base_link" />
<child link="${prefix}ouster_link" />
<origin xyz="0.13 0 0.35" rpy="0 -0 0" />
<origin xyz="0.16 0 0.405" rpy="0 0 0" />
</joint>
<!-- Ouster sensor frame to Ouster IMU frame -->
<joint name="${prefix}ouster_link_to_ouster_imu_link_joint" type="fixed">
<parent link="${prefix}ouster_link" />
<child link="${prefix}ouster_imu_link" />
<origin xyz="0 0 0" rpy="0 0 0" />
</joint>

<!-- GAZEBO EXTENSIONS -->
<!-- sensor definitions -->
<gazebo reference="${prefix}imu_sensor_link">
Expand Down
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