212 lines
6.6 KiB
XML
212 lines
6.6 KiB
XML
<?xml version="1.0"?>
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<robot name="cyber_dog" xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:arg name="ROBOT" default="cyber_dog"/>
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<xacro:arg name="USE_LIDAR" default="false"/>
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<xacro:include filename="const.xacro"/>
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<xacro:include filename="leg.xacro"/>
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<xacro:include filename="gazebo.xacro"/>
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<xacro:include filename="ros2_control.xacro"/>
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<link name="base_link">
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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_link"/>
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<child link="body"/>
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</joint>
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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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<mesh filename="file://$(find cyberdog_description)/meshes/body.dae" scale="1 1 1"/>
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</geometry>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size="${body_length} ${body_width} ${body_height}"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="${body_com_x} ${body_com_y} ${body_com_z}"/>
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<mass value="${body_mass}"/>
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<inertia ixx="${body_ixx}" ixy="${body_ixy}" ixz="${body_ixz}" iyy="${body_iyy}" iyz="${body_iyz}"
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izz="${body_izz}"/>
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</inertial>
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</link>
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<joint name="imu_joint" type="fixed">
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<parent link="body"/>
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<child link="imu_link"/>
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<origin rpy="0 0 0" xyz="33.4e-3 -17.2765e-3 51.0469e-3"/>
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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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</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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<joint name="scan_joint" type="fixed">
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<parent link="body"/>
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<child link="lidar_link"/>
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<origin rpy="0 0 0" xyz="0.21425 0 0.0908"/>
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</joint>
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<link name="lidar_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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</link>
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<joint name="D435_camera_joint" type="fixed">
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<parent link="body"/>
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<child link="D435_camera_link"/>
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<origin rpy="0 0 0" xyz="271.994e-3 25e-3 114.912e-3"/>
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</joint>
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<link name="D435_camera_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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</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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<joint name="RGB_camera_joint" type="fixed">
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<parent link="body"/>
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<child link="RGB_camera_link"/>
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<origin rpy="0 0 0" xyz="275.76e-3 0 125.794e-3"/>
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</joint>
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<link name="RGB_camera_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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</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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<joint name="AI_camera_joint" type="fixed">
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<parent link="body"/>
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<child link="AI_camera_link"/>
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<origin rpy="0 0 0" xyz="290.228e-3 0 147.420e-3"/>
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</joint>
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<link name="AI_camera_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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</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="${abad_offset_x} ${-abad_offset_y} 0"/>
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</xacro:leg>
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<xacro:leg name="FL" mirror="1" mirror_dae="True" front_hind="1" front_hind_dae="True">
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<origin rpy="0 0 0" xyz="${abad_offset_x} ${abad_offset_y} 0"/>
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</xacro:leg>
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<xacro:leg name="RR" mirror="-1" mirror_dae="False" front_hind="-1" front_hind_dae="False">
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<origin rpy="0 0 0" xyz="${-abad_offset_x} ${-abad_offset_y} 0"/>
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</xacro:leg>
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<xacro:leg name="RL" mirror="1" mirror_dae="True" front_hind="-1" front_hind_dae="False">
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<origin rpy="0 0 0" xyz="${-abad_offset_x} ${abad_offset_y} 0"/>
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</xacro:leg>
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<!-- This link is only for head collision -->
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<joint name="head_joint" type="fixed">
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<parent link="body"/>
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<child link="head"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</joint>
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<link name="head">
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<collision>
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<origin rpy="0 0 0" xyz="0.256 0 0.120"/>
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<geometry>
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<box size="0.076 0.060 0.040"/>
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</geometry>
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</collision>
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<collision>
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<origin rpy="0 0 0" xyz="0.225 0 0.150"/>
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<geometry>
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<box size="0.020 0.080 0.100"/>
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</geometry>
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</collision>
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</link>
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<gazebo reference="body">
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<visual>
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<material>
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<ambient>.1 .1 .1 1.0</ambient>
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<diffuse>.1 .1 .1 1.0</diffuse>
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<specular>.1 .1 .1 1.0</specular>
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</material>
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</visual>
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</gazebo>
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</robot> |