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bicopter.gv
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digraph G {
node [shape=box];
"base_link" [label="base_link"];
"base_link_inertial" [label="base_link_inertial"];
"left_leg" [label="left_leg"];
"left_mancal" [label="left_mancal"];
"left_tube_arm" [label="left_tube_arm"];
"left_arm" [label="left_arm"];
"left_tilt" [label="left_tilt"];
"left_0_stator" [label="left_0_stator"];
"left_arm2" [label="left_arm2"];
"right_leg" [label="right_leg"];
"right_mancal" [label="right_mancal"];
"right_tube_arm" [label="right_tube_arm"];
"right_arm" [label="right_arm"];
"right_tilt" [label="right_tilt"];
"right_0_stator" [label="right_0_stator"];
"right_rotor" [label="right_rotor"];
"right_arm2" [label="right_arm2"];
node [shape=ellipse, color=blue, fontcolor=blue];
"base_link" -> "base_joint" [label="xyz: 0 0 0 \nrpy: 0 -0 0"]
"base_joint" -> "base_link_inertial"
"base_link" -> "base_to_left_leg" [label="xyz: 0.035 0.0075 -0.0025 \nrpy: 0 -0 0"]
"base_to_left_leg" -> "left_leg"
"base_link" -> "base_to_left_mancal" [label="xyz: 0.07 0 0.0142 \nrpy: 0 -0 0"]
"base_to_left_mancal" -> "left_mancal"
"base_link" -> "base_to_left_tube_arm" [label="xyz: 0.115 0 0.0142 \nrpy: 0 -0 0"]
"base_to_left_tube_arm" -> "left_tube_arm"
"left_tube_arm" -> "base_to_left_arm" [label="xyz: 0.1 -0.022 0 \nrpy: 0 -0 0"]
"base_to_left_arm" -> "left_arm"
"left_arm" -> "arm_to_left_tilt" [label="xyz: 0 0.02 0 \nrpy: 0 -0 0"]
"arm_to_left_tilt" -> "left_tilt"
"left_tilt" -> "tilt_to_left_0_stator" [label="xyz: 0 0 0 \nrpy: 0 -0 0"]
"tilt_to_left_0_stator" -> "left_0_stator"
"left_tube_arm" -> "base_to_left_arm2" [label="xyz: 0.1 0.03 0 \nrpy: 0 -0 0"]
"base_to_left_arm2" -> "left_arm2"
"base_link" -> "base_to_right_leg" [label="xyz: -0.035 0.0075 -0.0025 \nrpy: 0 -0 0"]
"base_to_right_leg" -> "right_leg"
"base_link" -> "base_to_right_mancal" [label="xyz: -0.07 0 0.0142 \nrpy: 0 -0 0"]
"base_to_right_mancal" -> "right_mancal"
"base_link" -> "base_to_right_tube_arm" [label="xyz: -0.115 0 0.0142 \nrpy: 0 -0 0"]
"base_to_right_tube_arm" -> "right_tube_arm"
"right_tube_arm" -> "base_to_right_arm" [label="xyz: -0.1 0.022 0 \nrpy: 0 -0 0"]
"base_to_right_arm" -> "right_arm"
"right_arm" -> "arm_to_right_tilt" [label="xyz: 0 -0.02 0 \nrpy: 0 -0 0"]
"arm_to_right_tilt" -> "right_tilt"
"right_tilt" -> "tilt_to_right_0_stator" [label="xyz: 0 0 0 \nrpy: 0 -0 0"]
"tilt_to_right_0_stator" -> "right_0_stator"
"right_0_stator" -> "right_rotor_joint" [label="xyz: 0 0 0.033 \nrpy: 0 -0 0"]
"right_rotor_joint" -> "right_rotor"
"right_tube_arm" -> "base_to_right_arm2" [label="xyz: -0.1 -0.03 0 \nrpy: 0 -0 0"]
"base_to_right_arm2" -> "right_arm2"
}