151 lines
5.4 KiB
XML
151 lines
5.4 KiB
XML
<?xml version="1.0"?>
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<robot name="a1" xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:arg name="DEBUG" default="false"/>
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<xacro:arg name="GAZEBO" default="false"/>
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<xacro:include filename="$(find a1_description)/xacro/const.xacro"/>
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<xacro:include filename="$(find a1_description)/xacro/materials.xacro"/>
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<xacro:include filename="$(find a1_description)/xacro/leg.xacro"/>
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<xacro:include filename="$(find a1_description)/xacro/stairs.xacro"/>
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<xacro:if value="$(arg GAZEBO)">
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<xacro:include filename="$(find a1_description)/xacro/gazebo.xacro"/>
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</xacro:if>
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<xacro:unless value="$(arg GAZEBO)">
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<xacro:include filename="$(find a1_description)/xacro/ros2_control.xacro"/>
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</xacro:unless>
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<!-- <xacro:stairs stairs="15" xpos="0" ypos="0" zpos="0" /> -->
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<!-- Rollover Protection mode will add an additional stick on the top, use "true" or "false" to switch it. -->
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<xacro:property name="rolloverProtection" value="false"/>
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<!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
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<xacro:if value="$(arg DEBUG)">
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<link name="world"/>
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<joint name="base_static_joint" type="fixed">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<parent link="world"/>
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<child link="base"/>
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</joint>
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</xacro:if>
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<link name="base">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size="0.001 0.001 0.001"/>
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</geometry>
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</visual>
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</link>
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<joint name="floating_base" type="fixed">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<parent link="base"/>
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<child link="trunk"/>
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</joint>
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<link name="trunk">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="file://$(find a1_description)/meshes/trunk.dae" scale="1 1 1"/>
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</geometry>
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<material name="orange"/>
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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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<box size="${trunk_length} ${trunk_width} ${trunk_height}"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="${trunk_com_x} ${trunk_com_y} ${trunk_com_z}"/>
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<mass value="${trunk_mass}"/>
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<inertia
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ixx="${trunk_ixx}" ixy="${trunk_ixy}" ixz="${trunk_ixz}"
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iyy="${trunk_iyy}" iyz="${trunk_iyz}"
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izz="${trunk_izz}"/>
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</inertial>
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</link>
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<xacro:if value="${(rolloverProtection == 'true')}">
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<joint name="stick_joint" type="fixed">
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<parent link="trunk"/>
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<child link="stick_link"/>
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<origin rpy="0 0 0" xyz="${0.18} 0 ${stick_length/2.0+0.08}"/>
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</joint>
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<link name="stick_link">
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<visual>
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<geometry>
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<cylinder length="${stick_length}" radius="${stick_radius}"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<material name="white"/>
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</visual>
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<collision>
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<geometry>
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<cylinder length="${stick_length}" radius="${stick_radius}"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</collision>
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<inertial>
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<mass value="${stick_mass}"/>
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<inertia
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ixx="${stick_mass / 2.0 * (stick_radius*stick_radius)}" ixy="0.0" ixz="0.0"
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iyy="${stick_mass / 12.0 * (3*stick_radius*stick_radius + stick_length*stick_length)}" iyz="0.0"
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izz="${stick_mass / 12.0 * (3*stick_radius*stick_radius + stick_length*stick_length)}"/>
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</inertial>
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</link>
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</xacro:if>
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<joint name="imu_joint" type="fixed">
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<parent link="trunk"/>
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<child link="imu_link"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</joint>
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<link name="imu_link">
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<inertial>
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<mass value="0.001"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
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</inertial>
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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="0.001 0.001 0.001"/>
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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="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size=".001 .001 .001"/>
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</geometry>
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</collision>
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</link>
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<xacro:leg name="FR" mirror="-1" mirror_dae="False" front_hind="1" front_hind_dae="True">
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<origin rpy="0 0 0" xyz="${leg_offset_x} ${-leg_offset_y} 0"/>
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</xacro:leg>
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<xacro:leg name="FL" mirror="1" mirror_dae="True" front_hind="1" front_hind_dae="True">
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<origin rpy="0 0 0" xyz="${leg_offset_x} ${leg_offset_y} 0"/>
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</xacro:leg>
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<xacro:leg name="RR" mirror="-1" mirror_dae="False" front_hind="-1" front_hind_dae="False">
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<origin rpy="0 0 0" xyz="${-leg_offset_x} ${-leg_offset_y} 0"/>
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</xacro:leg>
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<xacro:leg name="RL" mirror="1" mirror_dae="True" front_hind="-1" front_hind_dae="False">
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<origin rpy="0 0 0" xyz="${-leg_offset_x} ${leg_offset_y} 0"/>
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</xacro:leg>
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<!-- <xacro:stairs stairs="15" xpos="0" ypos="2.0" zpos="0" /> -->
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</robot>
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