Robot Description

The package quori_description provides URDFs for Quori and the RAMSIS base, as well as a URDF for the combination of the two.

Quori Standalone URDF (urdf/quori_standalone.xacro)

This URDF file allows one to use the Quori robot without the RAMSIS base attached.

Joints

  • waist_pitch (revolute) - The waist joint.
  • r_shoulder_pitch (revolute) - The first joint of the right arm.
  • r_shoulder_roll (revolute) - The second joint of the right arm.
  • l_shoulder_pitch (revolute) - The first joint of the left arm.
  • l_shoulder_roll (revolute) - The second joint of the left arm.
  • quori/base_link - The root of the Quori kinematic tree (Note: This is not the root when using the RAMSIS base with Quori)
  • quori/head_camera - The frame for the Orbbec Astra Mini.
  • quori/head_mic - The frame for the head-mounted ReSpeaker microphone array.

RAMSIS Standalone URDF (urdf/ramsis_standalone.xacro)

This URDF file allows one to use the RAMSIS holonomic base without Quori attached.

Joints

  • l_wheel (continuous) - The left wheel joint.
  • r_wheel (continuous) - The right wheel joint.
  • turret (continuous) - The rotational joint for the mounting plate on top of the RAMSIS base (typically occupied by Quori).
  • ramsis/base_link - The root of the RAMSIS kinematic tree (Note: This is the root when using both Quori and the RAMSIS base).
  • ramsis/base_laser_scanner - The frame for the RAMSIS-mounted 2D LIDAR.

Quori + RAMSIS URDF (urdf/quori.xacro)

This URDF contains all joints and links from both quori_standalone.xacro and ramsis_standalone.xacro. This URDF file should be used in the default configuration where Quori is mounted on top of the RAMSIS base.