569 lines
17 KiB
XML
569 lines
17 KiB
XML
<?xml version="1.0" ?>
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<!-- =================================================================================== -->
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<!-- | This document was autogenerated by xacro from vision60.urdf.xacro | -->
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<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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<!-- =================================================================================== -->
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<!--
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MIT License (modified)
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Copyright (c) 2018 Ghost Robotics
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Authors:
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Avik De <avik@ghostrobotics.io>
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Tom Jacobs <tom.jacobs@ghostrobotics.io>
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this **file** (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in all
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copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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SOFTWARE.
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-->
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<robot name="ngr" xmlns:xacro="http://www.ros.org/wiki/xacro">
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<!-- Define parameters -->
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<!-- Define materials -->
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<material name="gray">
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<color rgba="0.5 0.5 0.5 0.7"/>
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</material>
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<material name="darkgray">
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<color rgba="0.3 0.3 0.3 1.0"/>
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</material>
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<material name="blue">
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<color rgba="0 0 0.8 1"/>
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</material>
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<material name="black">
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<color rgba="0 0 0 1"/>
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</material>
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<material name="purple">
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<color rgba="0.5 0.0 0.5 1.0"/>
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</material>
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<material name="red">
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<color rgba="0.8 0.0 0.2 1.0"/>
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</material>
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<!-- Body -->
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<link name="body">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size="0.88 0.25 0.19"/>
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</geometry>
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<material name="gray"/>
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</visual>
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<inertial>
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<mass value="12"/>
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<!-- Uniform box -->
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<inertia ixx="0.0986" ixy="0" ixz="0" iyy="0.8105" iyz="0" izz="0.8369"/>
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</inertial>
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<!-- Just copy geometry for collision -->
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<collision>
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<geometry>
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<box size="0.05 0.25 0.19"/>
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</geometry>
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</collision>
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</link>
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<!-- Define our leg macro -->
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<!-- red new legs -->
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<!-- TODO: clean this, it should be part of main leg macro -->
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<!-- Define our leg macro -->
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<!-- Our four legs -->
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<!-- Hip motor -->
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<link name="hip0">
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<visual>
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<origin rpy="1.5707963268 0 0" xyz="0.0 -0.039 0"/>
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<geometry>
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<box size="0.195 0.1 0.17"/>
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</geometry>
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<material name="red"/>
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</visual>
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<collision>
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<origin rpy="1.5707963268 0 0" xyz="0.0 -0.039 0"/>
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<geometry>
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<box size="0.195 0.1 0.17"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="2.75"/>
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<inertia ixx="0.00891458" ixy="0" ixz="0" iyy="0.0100573" iyz="0" izz="0.01533698"/>
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</inertial>
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</link>
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<!-- Abduction joint. Joint names are: 8 9 10 11 -->
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<joint name="8" type="revolute">
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<parent link="body"/>
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<child link="hip0"/>
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<axis xyz="1 0 0"/>
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<origin xyz="0.325 0.1575 0"/>
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<limit effort="375" lower="-0.43" upper="0.43" velocity="8.6"/>
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<dynamics damping="0.0" friction="0.0"/>
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</joint>
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<!-- Upper leg -->
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<link name="upper0">
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<visual>
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<origin rpy="0 0 0" xyz="-0.125 0.0 0"/>
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<geometry>
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<box size="0.25 0.044 0.06"/>
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</geometry>
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<material name="blue"/>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="-0.125 0 0"/>
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<geometry>
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<box size="0.25 0.044 0.06"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.625"/>
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<inertia ixx="0.0003125" ixy="0" ixz="0" iyy="0.0040625" iyz="0" izz="0.0040625"/>
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</inertial>
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</link>
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<!-- Hip joint. (Motor to upper leg). Joint names are: 0 2 4 6 -->
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<joint name="0" type="revolute">
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<parent link="hip0"/>
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<child link="upper0"/>
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<axis xyz="0 -1 0"/>
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<origin xyz="0 0.068 0"/>
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<!-- rpy="0 -0.3 0" -->
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<limit effort="87.5" lower="-3.14159265359" upper="3.14159265359" velocity="30"/>
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<dynamics damping="0.0" friction="0.0"/>
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</joint>
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<!-- Lower leg -->
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<link name="lower0">
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<visual>
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<origin rpy="0 1.5707963268 0" xyz="0.14 0 -0.0355"/>
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<geometry>
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<cylinder length="0.28" radius="0.011"/>
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</geometry>
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<material name="black"/>
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</visual>
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<collision>
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<origin rpy="0 1.5707963268 0" xyz="0.14 0 -0.0355"/>
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<geometry>
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<cylinder length="0.28" radius="0.011"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.2"/>
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<inertia ixx="0.00131075" ixy="0" ixz="0" iyy="0.00131075" iyz="0" izz="0.0001"/>
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</inertial>
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</link>
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<!-- Knee joint. Joint names are: 1 3 5 7 -->
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<joint name="1" type="revolute">
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<parent link="upper0"/>
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<child link="lower0"/>
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<axis xyz="0 1 0"/>
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<origin xyz="-0.25 0 0"/>
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<!--rpy="0 0.5 0"-->
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<limit effort="87.5" lower="0" upper="3.14159265359" velocity="30"/>
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<dynamics damping="0.0" friction="0.0"/>
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</joint>
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<!-- Toe -->
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<link name="toe0">
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<contact>
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<friction_anchor/>
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<stiffness value="30000.0"/>
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<damping value="1000.0"/>
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<spinning_friction value="0.3"/>
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<lateral_friction value="3.0"/>
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</contact>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<sphere radius="0.03"/>
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</geometry>
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<material name="darkgray"/>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<sphere radius="0.03"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.15"/>
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<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
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</inertial>
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</link>
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<joint name="jtoe0" type="fixed">
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<parent link="lower0"/>
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<child link="toe0"/>
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<origin xyz="0.28 0 -0.0461"/>
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<dynamics damping="0.0" friction="0.0"/>
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</joint>
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<!-- Hip motor -->
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<link name="hip1">
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<visual>
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<origin rpy="1.5707963268 0 0" xyz="0.0 -0.039 0"/>
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<geometry>
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<box size="0.195 0.1 0.17"/>
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</geometry>
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<material name="purple"/>
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</visual>
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<collision>
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<origin rpy="1.5707963268 0 0" xyz="0.0 -0.039 0"/>
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<geometry>
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<box size="0.195 0.1 0.17"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="2.75"/>
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<inertia ixx="0.00891458" ixy="0" ixz="0" iyy="0.0100573" iyz="0" izz="0.01533698"/>
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</inertial>
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</link>
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<!-- Abduction joint. Joint names are: 8 9 10 11 -->
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<joint name="9" type="revolute">
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<parent link="body"/>
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<child link="hip1"/>
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<axis xyz="1 0 0"/>
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<origin xyz="-0.325 0.1575 0"/>
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<limit effort="375" lower="-0.43" upper="0.43" velocity="8.6"/>
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<dynamics damping="0.0" friction="0.0"/>
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</joint>
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<!-- Upper leg -->
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<link name="upper1">
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<visual>
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<origin rpy="0 0 0" xyz="-0.125 0.0 0"/>
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<geometry>
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<box size="0.25 0.044 0.06"/>
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</geometry>
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<material name="blue"/>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="-0.125 0 0"/>
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<geometry>
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<box size="0.25 0.044 0.06"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.625"/>
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<inertia ixx="0.0003125" ixy="0" ixz="0" iyy="0.0040625" iyz="0" izz="0.0040625"/>
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</inertial>
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</link>
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<!-- Hip joint. (Motor to upper leg). Joint names are: 0 2 4 6 -->
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<joint name="2" type="revolute">
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<parent link="hip1"/>
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<child link="upper1"/>
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<axis xyz="0 -1 0"/>
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<origin xyz="0 0.068 0"/>
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<!-- rpy="0 -0.3 0" -->
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<limit effort="87.5" lower="-3.14159265359" upper="3.14159265359" velocity="30"/>
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<dynamics damping="0.0" friction="0.0"/>
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</joint>
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<!-- Lower leg -->
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<link name="lower1">
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<visual>
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<origin rpy="0 1.5707963268 0" xyz="0.14 0 -0.0355"/>
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<geometry>
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<cylinder length="0.28" radius="0.011"/>
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</geometry>
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<material name="black"/>
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</visual>
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<collision>
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<origin rpy="0 1.5707963268 0" xyz="0.14 0 -0.0355"/>
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<geometry>
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<cylinder length="0.28" radius="0.011"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.2"/>
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<inertia ixx="0.00131075" ixy="0" ixz="0" iyy="0.00131075" iyz="0" izz="0.0001"/>
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</inertial>
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</link>
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<!-- Knee joint. Joint names are: 1 3 5 7 -->
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<joint name="3" type="revolute">
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<parent link="upper1"/>
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<child link="lower1"/>
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<axis xyz="0 1 0"/>
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<origin xyz="-0.25 0 0"/>
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<!--rpy="0 0.5 0"-->
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<limit effort="87.5" lower="0" upper="3.14159265359" velocity="30"/>
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<dynamics damping="0.0" friction="0.0"/>
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</joint>
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<!-- Toe -->
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<link name="toe1">
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<contact>
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<friction_anchor/>
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<stiffness value="30000.0"/>
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<damping value="1000.0"/>
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<spinning_friction value="0.3"/>
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<lateral_friction value="3.0"/>
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</contact>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<sphere radius="0.03"/>
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</geometry>
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<material name="darkgray"/>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<sphere radius="0.03"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.15"/>
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<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
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</inertial>
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</link>
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<joint name="jtoe1" type="fixed">
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<parent link="lower1"/>
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<child link="toe1"/>
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<origin xyz="0.28 0 -0.0461"/>
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<dynamics damping="0.0" friction="0.0"/>
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</joint>
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<!-- Hip motor -->
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<link name="hip2">
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<visual>
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<origin rpy="1.5707963268 0 0" xyz="0.0 0.039 0"/>
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<geometry>
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<box size="0.195 0.1 0.17"/>
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</geometry>
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<material name="red"/>
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</visual>
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<collision>
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<origin rpy="1.5707963268 0 0" xyz="0.0 0.039 0"/>
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<geometry>
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<box size="0.195 0.1 0.17"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="2.75"/>
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<inertia ixx="0.00891458" ixy="0" ixz="0" iyy="0.0100573" iyz="0" izz="0.01533698"/>
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</inertial>
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</link>
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<!-- Abduction joint. Joint names are: 8 9 10 11 -->
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<joint name="10" type="revolute">
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<parent link="body"/>
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<child link="hip2"/>
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<axis xyz="1 0 0"/>
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<origin xyz="0.325 -0.1575 0"/>
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<limit effort="375" lower="-0.43" upper="0.43" velocity="8.6"/>
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<dynamics damping="0.0" friction="0.0"/>
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</joint>
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<!-- Upper leg -->
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<link name="upper2">
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<visual>
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<origin rpy="0 0 0" xyz="-0.125 -0.0 0"/>
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<geometry>
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<box size="0.25 0.044 0.06"/>
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</geometry>
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<material name="blue"/>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="-0.125 0 0"/>
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<geometry>
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<box size="0.25 0.044 0.06"/>
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</geometry>
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</collision>
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<inertial>
|
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<mass value="0.625"/>
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<inertia ixx="0.0003125" ixy="0" ixz="0" iyy="0.0040625" iyz="0" izz="0.0040625"/>
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</inertial>
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</link>
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<!-- Hip joint. (Motor to upper leg). Joint names are: 0 2 4 6 -->
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<joint name="4" type="revolute">
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<parent link="hip2"/>
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<child link="upper2"/>
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<axis xyz="0 -1 0"/>
|
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<origin xyz="0 -0.068 0"/>
|
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<!-- rpy="0 -0.3 0" -->
|
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<limit effort="87.5" lower="-3.14159265359" upper="3.14159265359" velocity="30"/>
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<dynamics damping="0.0" friction="0.0"/>
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</joint>
|
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<!-- Lower leg -->
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<link name="lower2">
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<visual>
|
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<origin rpy="0 1.5707963268 0" xyz="0.14 0 -0.0355"/>
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<geometry>
|
|
<cylinder length="0.28" radius="0.011"/>
|
|
</geometry>
|
|
<material name="black"/>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 1.5707963268 0" xyz="0.14 0 -0.0355"/>
|
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<geometry>
|
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<cylinder length="0.28" radius="0.011"/>
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|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.2"/>
|
|
<inertia ixx="0.00131075" ixy="0" ixz="0" iyy="0.00131075" iyz="0" izz="0.0001"/>
|
|
</inertial>
|
|
</link>
|
|
<!-- Knee joint. Joint names are: 1 3 5 7 -->
|
|
<joint name="5" type="revolute">
|
|
<parent link="upper2"/>
|
|
<child link="lower2"/>
|
|
<axis xyz="0 1 0"/>
|
|
<origin xyz="-0.25 0 0"/>
|
|
<!--rpy="0 0.5 0"-->
|
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<limit effort="87.5" lower="0" upper="3.14159265359" velocity="30"/>
|
|
<dynamics damping="0.0" friction="0.0"/>
|
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</joint>
|
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<!-- Toe -->
|
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<link name="toe2">
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<contact>
|
|
<friction_anchor/>
|
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<stiffness value="30000.0"/>
|
|
<damping value="1000.0"/>
|
|
<spinning_friction value="0.3"/>
|
|
<lateral_friction value="3.0"/>
|
|
</contact>
|
|
<visual>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<sphere radius="0.03"/>
|
|
</geometry>
|
|
<material name="darkgray"/>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<sphere radius="0.03"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.15"/>
|
|
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
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</inertial>
|
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</link>
|
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<joint name="jtoe2" type="fixed">
|
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<parent link="lower2"/>
|
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<child link="toe2"/>
|
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<origin xyz="0.28 0 -0.0461"/>
|
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<dynamics damping="0.0" friction="0.0"/>
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</joint>
|
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<!-- Hip motor -->
|
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<link name="hip3">
|
|
<visual>
|
|
<origin rpy="1.5707963268 0 0" xyz="0.0 0.039 0"/>
|
|
<geometry>
|
|
<box size="0.195 0.1 0.17"/>
|
|
</geometry>
|
|
<material name="purple"/>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="1.5707963268 0 0" xyz="0.0 0.039 0"/>
|
|
<geometry>
|
|
<box size="0.195 0.1 0.17"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="2.75"/>
|
|
<inertia ixx="0.00891458" ixy="0" ixz="0" iyy="0.0100573" iyz="0" izz="0.01533698"/>
|
|
</inertial>
|
|
</link>
|
|
<!-- Abduction joint. Joint names are: 8 9 10 11 -->
|
|
<joint name="11" type="revolute">
|
|
<parent link="body"/>
|
|
<child link="hip3"/>
|
|
<axis xyz="1 0 0"/>
|
|
<origin xyz="-0.325 -0.1575 0"/>
|
|
<limit effort="375" lower="-0.43" upper="0.43" velocity="8.6"/>
|
|
<dynamics damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
<!-- Upper leg -->
|
|
<link name="upper3">
|
|
<visual>
|
|
<origin rpy="0 0 0" xyz="-0.125 -0.0 0"/>
|
|
<geometry>
|
|
<box size="0.25 0.044 0.06"/>
|
|
</geometry>
|
|
<material name="blue"/>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="-0.125 0 0"/>
|
|
<geometry>
|
|
<box size="0.25 0.044 0.06"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.625"/>
|
|
<inertia ixx="0.0003125" ixy="0" ixz="0" iyy="0.0040625" iyz="0" izz="0.0040625"/>
|
|
</inertial>
|
|
</link>
|
|
<!-- Hip joint. (Motor to upper leg). Joint names are: 0 2 4 6 -->
|
|
<joint name="6" type="revolute">
|
|
<parent link="hip3"/>
|
|
<child link="upper3"/>
|
|
<axis xyz="0 -1 0"/>
|
|
<origin xyz="0 -0.068 0"/>
|
|
<!-- rpy="0 -0.3 0" -->
|
|
<limit effort="87.5" lower="-3.14159265359" upper="3.14159265359" velocity="30"/>
|
|
<dynamics damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
<!-- Lower leg -->
|
|
<link name="lower3">
|
|
<visual>
|
|
<origin rpy="0 1.5707963268 0" xyz="0.14 0 -0.0355"/>
|
|
<geometry>
|
|
<cylinder length="0.28" radius="0.011"/>
|
|
</geometry>
|
|
<material name="black"/>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 1.5707963268 0" xyz="0.14 0 -0.0355"/>
|
|
<geometry>
|
|
<cylinder length="0.28" radius="0.011"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.2"/>
|
|
<inertia ixx="0.00131075" ixy="0" ixz="0" iyy="0.00131075" iyz="0" izz="0.0001"/>
|
|
</inertial>
|
|
</link>
|
|
<!-- Knee joint. Joint names are: 1 3 5 7 -->
|
|
<joint name="7" type="revolute">
|
|
<parent link="upper3"/>
|
|
<child link="lower3"/>
|
|
<axis xyz="0 1 0"/>
|
|
<origin xyz="-0.25 0 0"/>
|
|
<!--rpy="0 0.5 0"-->
|
|
<limit effort="87.5" lower="0" upper="3.14159265359" velocity="30"/>
|
|
<dynamics damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
<!-- Toe -->
|
|
<link name="toe3">
|
|
<contact>
|
|
<friction_anchor/>
|
|
<stiffness value="30000.0"/>
|
|
<damping value="1000.0"/>
|
|
<spinning_friction value="0.3"/>
|
|
<lateral_friction value="3.0"/>
|
|
</contact>
|
|
<visual>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<sphere radius="0.03"/>
|
|
</geometry>
|
|
<material name="darkgray"/>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<sphere radius="0.03"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.15"/>
|
|
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="jtoe3" type="fixed">
|
|
<parent link="lower3"/>
|
|
<child link="toe3"/>
|
|
<origin xyz="0.28 0 -0.0461"/>
|
|
<dynamics damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
</robot>
|
|
|