295 lines
10 KiB
Plaintext
295 lines
10 KiB
Plaintext
|
<?xml version="1.0"?>
|
||
|
|
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||
|
|
|
||
|
|
<xacro:include filename="$(find cyberdog_description)/xacro/transmission.xacro"/>
|
||
|
|
|
||
|
|
<xacro:macro name="leg" params="name mirror mirror_dae front_hind front_hind_dae *origin">
|
||
|
|
|
||
|
|
<joint name="${name}_hip_joint" type="revolute">
|
||
|
|
<xacro:insert_block name="origin"/>
|
||
|
|
<parent link="body"/>
|
||
|
|
<child link="${name}_abad"/>
|
||
|
|
<axis xyz="1 0 0"/>
|
||
|
|
<dynamics damping="${abad_damping}" friction="${abad_friction}"/>
|
||
|
|
<xacro:if value="${(mirror_dae == True)}">
|
||
|
|
<limit effort="${abad_motorTauMax*abadGearRatio}"
|
||
|
|
velocity="${abad_motorVelMax}" lower="${abad_min*PI/180.0}"
|
||
|
|
upper="${abad_max*PI/180.0}"/>
|
||
|
|
</xacro:if>
|
||
|
|
<xacro:if value="${(mirror_dae == False)}">
|
||
|
|
<limit effort="${abad_motorTauMax*abadGearRatio}"
|
||
|
|
velocity="${abad_motorVelMax}" lower="${-abad_max*PI/180.0}"
|
||
|
|
upper="${-abad_min*PI/180.0}"/>
|
||
|
|
</xacro:if>
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
<link name="${name}_abad">
|
||
|
|
<visual>
|
||
|
|
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
</xacro:if>
|
||
|
|
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
|
||
|
|
<origin rpy="${PI} 0 0" xyz="0 0 0"/>
|
||
|
|
</xacro:if>
|
||
|
|
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
|
||
|
|
<origin rpy="0 ${PI} 0" xyz="0 0 0"/>
|
||
|
|
</xacro:if>
|
||
|
|
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
|
||
|
|
<origin rpy="${PI} ${PI} 0" xyz="0 0 0"/>
|
||
|
|
</xacro:if>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="file://$(find cyberdog_description)/meshes/abad.dae" scale="1 1 1"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="${abad_length}" radius="${abad_radius}"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0"
|
||
|
|
xyz="${abad_com_x*front_hind} ${abad_com_y*mirror} ${abad_com_z}"/>
|
||
|
|
<mass value="${abad_mass}"/>
|
||
|
|
<inertia ixx="${abad_ixx}" ixy="${abad_ixy*mirror*front_hind}"
|
||
|
|
ixz="${abad_ixz*front_hind}" iyy="${abad_iyy}" iyz="${abad_iyz*mirror}"
|
||
|
|
izz="${abad_izz}"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<joint name="${name}_abad_rotor_fix" type="fixed">
|
||
|
|
<origin rpy="0 0 0" xyz="${-abad_rotor_offset*front_hind} 0 0"/>
|
||
|
|
<parent link="${name}_abad"/>
|
||
|
|
<child link="${name}_abad_rotor"/>
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
<!-- this link is only for abad rotor inertial -->
|
||
|
|
<link name="${name}_abad_rotor">
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="${rotor_com_x} ${rotor_com_y} ${rotor_com_z}"/>
|
||
|
|
<mass value="${rotor_mass}"/>
|
||
|
|
<inertia ixx="${rotor_ixx}" ixy="${rotor_ixy}" ixz="${rotor_ixz}" iyy="${rotor_iyy}" iyz="${rotor_iyz}"
|
||
|
|
izz="${rotor_izz}"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<joint name="${name}_abad_fixed" type="fixed">
|
||
|
|
<origin rpy="0 0 0" xyz="0 ${(hip_offset-hip_shoulder_length)*mirror} 0"/>
|
||
|
|
<parent link="${name}_abad"/>
|
||
|
|
<child link="${name}_hip_shoulder"/>
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
<link name="${name}_hip_shoulder">
|
||
|
|
<collision>
|
||
|
|
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="${hip_shoulder_length}" radius="${hip_shoulder_radius}"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<joint name="${name}_thigh_joint" type="revolute">
|
||
|
|
<origin rpy="0 0 0" xyz="0 ${hip_offset*mirror} 0"/>
|
||
|
|
<parent link="${name}_abad"/>
|
||
|
|
<child link="${name}_hip"/>
|
||
|
|
<axis xyz="0 1 0"/>
|
||
|
|
<dynamics damping="${hip_damping}" friction="${hip_friction}"/>
|
||
|
|
<xacro:if value="${front_hind_dae == True}">
|
||
|
|
<limit effort="${hip_motorTauMax*hipGearRatio}"
|
||
|
|
velocity="${hip_motorVelMax}" lower="${hip_f_min*PI/180.0}"
|
||
|
|
upper="${hip_f_max*PI/180.0}"/>
|
||
|
|
</xacro:if>
|
||
|
|
<xacro:if value="${front_hind_dae == False}">
|
||
|
|
<limit effort="${hip_motorTauMax*hipGearRatio}"
|
||
|
|
velocity="${hip_motorVelMax}" lower="${hip_h_min*PI/180.0}"
|
||
|
|
upper="${hip_h_max*PI/180.0}"/>
|
||
|
|
</xacro:if>
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
<link name="${name}_hip">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<xacro:if value="${mirror_dae == True}">
|
||
|
|
<mesh filename="file://$(find cyberdog_description)/meshes/hip.dae"
|
||
|
|
scale="1 1 1"/>
|
||
|
|
</xacro:if>
|
||
|
|
<xacro:if value="${mirror_dae == False}">
|
||
|
|
<mesh filename="file://$(find cyberdog_description)/meshes/hip_mirror.dae"
|
||
|
|
scale="1 1 1"/>
|
||
|
|
</xacro:if>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-hip_length/2.0}"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="${hip_length} ${hip_width} ${hip_height}"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="${hip_com_x} ${hip_com_y*mirror} ${hip_com_z}"/>
|
||
|
|
<mass value="${hip_mass}"/>
|
||
|
|
<inertia ixx="${hip_ixx}" ixy="${hip_ixy*mirror}" ixz="${hip_ixz}" iyy="${hip_iyy}"
|
||
|
|
iyz="${hip_iyz*mirror}" izz="${hip_izz}"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<joint name="${name}_hip_rotor_fix" type="fixed">
|
||
|
|
<origin rpy="0 0 0" xyz="0 ${hip_rotor_offset*mirror} 0"/>
|
||
|
|
<parent link="${name}_hip"/>
|
||
|
|
<child link="${name}_hip_rotor"/>
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
<!-- this link is only for hip rotor inertial -->
|
||
|
|
<link name="${name}_hip_rotor">
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="${rotor_com_x} ${rotor_com_y} ${rotor_com_z}"/>
|
||
|
|
<mass value="${rotor_mass}"/>
|
||
|
|
<inertia ixx="${rotor_ixx}" ixy="${rotor_ixy}" ixz="${rotor_ixz}" iyy="${rotor_iyy}" iyz="${rotor_iyz}"
|
||
|
|
izz="${rotor_izz}"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<joint name="${name}_knee_rotor_fix" type="fixed">
|
||
|
|
<origin rpy="0 0 0" xyz="0 ${knee_rotor_offset*mirror} 0"/>
|
||
|
|
<parent link="${name}_hip"/>
|
||
|
|
<child link="${name}_knee_rotor"/>
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
<!-- this link is only for knee rotor inertial -->
|
||
|
|
<link name="${name}_knee_rotor">
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="${rotor_com_x} ${rotor_com_y} ${rotor_com_z}"/>
|
||
|
|
<mass value="${rotor_mass}"/>
|
||
|
|
<inertia ixx="${rotor_ixx}" ixy="${rotor_ixy}" ixz="${rotor_ixz}" iyy="${rotor_iyy}" iyz="${rotor_iyz}"
|
||
|
|
izz="${rotor_izz}"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<joint name="${name}_calf_joint" type="revolute">
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 ${-hip_length}"/>
|
||
|
|
<parent link="${name}_hip"/>
|
||
|
|
<child link="${name}_knee"/>
|
||
|
|
<axis xyz="0 1 0"/>
|
||
|
|
<dynamics damping="${hip_damping}" friction="${hip_friction}"/>
|
||
|
|
<limit effort="${knee_motorTauMax*kneeGearRatio}"
|
||
|
|
velocity="${knee_motorVelMax}" lower="${knee_min*PI/180.0}"
|
||
|
|
upper="${knee_max*PI/180.0}"/>
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
<link name="${name}_knee">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="file://$(find cyberdog_description)/meshes/knee.dae" scale="1 1 1"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 ${PI} 0" xyz="0 0 ${-knee_length/2.0}"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="${knee_height} ${knee_width} ${knee_length}"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<collision name="${name}_knee_rubber">
|
||
|
|
<origin rpy="0 ${PI} 0" xyz="${-knee_rubber/2.0} 0 -0.007"/>
|
||
|
|
<geometry>
|
||
|
|
<sphere radius="0.016"/>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<max_vel>0.00001</max_vel>
|
||
|
|
<min_depth>0.0</min_depth>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="${knee_com_x} ${knee_com_y} ${knee_com_z}"/>
|
||
|
|
<mass value="${knee_mass}"/>
|
||
|
|
<inertia ixx="${knee_ixx}" ixy="${knee_ixy}" ixz="${knee_ixz}" iyy="${knee_iyy}"
|
||
|
|
iyz="${knee_iyz}" izz="${knee_izz}"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<joint name="${name}_foot_fixed" type="fixed">
|
||
|
|
<origin rpy="0 0 0" xyz="0.0055 0 ${-knee_length+foot_radius/2.0}"/>
|
||
|
|
<parent link="${name}_knee"/>
|
||
|
|
<child link="${name}_foot"/>
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
<link name="${name}_foot">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<sphere radius="${foot_radius-0.01}"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<sphere radius="${foot_radius}"/>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<ode>
|
||
|
|
<max_vel>0.001</max_vel>
|
||
|
|
<min_depth>0.0</min_depth>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<xacro:leg_transmission name="${name}"/>
|
||
|
|
|
||
|
|
<gazebo reference="${name}_abad">
|
||
|
|
<mu1>0.2</mu1>
|
||
|
|
<mu2>0.2</mu2>
|
||
|
|
<visual>
|
||
|
|
<material>
|
||
|
|
<ambient>.5 .5 .5 1.0</ambient>
|
||
|
|
<diffuse>.5 .5 .5 1.0</diffuse>
|
||
|
|
<specular>.5 .5 .5 1.0</specular>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</gazebo>
|
||
|
|
<gazebo reference="${name}_hip">
|
||
|
|
<mu1>0.2</mu1>
|
||
|
|
<mu2>0.2</mu2>
|
||
|
|
<self_collide>1</self_collide>
|
||
|
|
<visual>
|
||
|
|
<material>
|
||
|
|
<ambient>.05 .05 .05 1.0</ambient>
|
||
|
|
<diffuse>.05 .05 .05 1.0</diffuse>
|
||
|
|
<specular>.05 .05 .05 1.0</specular>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</gazebo>
|
||
|
|
<gazebo reference="${name}_knee">
|
||
|
|
<mu1>0.7</mu1>
|
||
|
|
<mu2>0.7</mu2>
|
||
|
|
<self_collide>1</self_collide>
|
||
|
|
<visual>
|
||
|
|
<material>
|
||
|
|
<ambient>.5 .5 .5 1.0</ambient>
|
||
|
|
<diffuse>.5 .5 .5 1.0</diffuse>
|
||
|
|
<specular>.5 .5 .5 1.0</specular>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</gazebo>
|
||
|
|
<gazebo reference="${name}_foot">
|
||
|
|
<mu1>0.7</mu1>
|
||
|
|
<mu2>0.7</mu2>
|
||
|
|
<self_collide>1</self_collide>
|
||
|
|
<visual>
|
||
|
|
<material>
|
||
|
|
<ambient>.5 .5 .5 1.0</ambient>
|
||
|
|
<diffuse>.5 .5 .5 1.0</diffuse>
|
||
|
|
<specular>.5 .5 .5 1.0</specular>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
</gazebo>
|
||
|
|
|
||
|
|
</xacro:macro>
|
||
|
|
</robot>
|