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