2022-09-24 17:07:08 +08:00
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:include filename="$(find b1_description)/xacro/transmission.xacro"/>
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2022-11-11 22:29:30 +08:00
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<xacro:macro name="leg" params="name mirror mirror_dae front_hind front_hind_dae">
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2022-09-24 17:07:08 +08:00
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<joint name="${name}_hip_joint" type="revolute">
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2022-11-11 22:29:30 +08:00
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<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
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<origin rpy="0 0 0" xyz="${leg_offset_x} ${-leg_offset_y} 0"/>
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</xacro:if>
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<xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
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<origin rpy="0 0 0" xyz="${leg_offset_x} ${leg_offset_y} 0"/>
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</xacro:if>
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<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
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<origin rpy="0 0 0" xyz="${-leg_offset_x} ${-leg_offset_y} 0"/>
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</xacro:if>
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<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
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<origin rpy="0 0 0" xyz="${-leg_offset_x} ${leg_offset_y} 0"/>
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</xacro:if>
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2022-09-24 17:07:08 +08:00
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<parent link="trunk"/>
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<child link="${name}_hip"/>
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<axis xyz="1 0 0"/>
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<dynamics damping="${damping}" friction="${friction}"/>
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<xacro:if value="${(mirror_dae == True)}">
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<limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${hip_position_min}" upper="${hip_position_max}"/>
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</xacro:if>
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<xacro:if value="${(mirror_dae == False)}">
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<limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${-hip_position_max}" upper="${-hip_position_min}"/>
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</xacro:if>
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</joint>
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2022-11-11 22:29:30 +08:00
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<joint name="${name}_hip_rotor_joint" type="fixed">
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<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
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<origin rpy="0 0 0" xyz="${hip_rotor_offset_x} ${-hip_rotor_offset_y} 0"/>
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</xacro:if>
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<xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
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<origin rpy="0 0 0" xyz="${hip_rotor_offset_x} ${hip_rotor_offset_y} 0"/>
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</xacro:if>
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<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
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<origin rpy="0 0 0" xyz="${-hip_rotor_offset_x} ${-hip_rotor_offset_y} 0"/>
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</xacro:if>
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<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
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<origin rpy="0 0 0" xyz="${-hip_rotor_offset_x} ${hip_rotor_offset_y} 0"/>
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</xacro:if>
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<parent link="trunk"/>
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<child link="${name}_hip_rotor"/>
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</joint>
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2022-09-24 17:07:08 +08:00
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<link name="${name}_hip">
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<visual>
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<xacro:if value="${(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} ${PI} 0" xyz="0 0 0"/>
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</xacro:if>
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<geometry>
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<mesh filename="package://b1_description/meshes/hip.dae" scale="1 1 1"/>
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</geometry>
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<material name="orange"/>
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</visual>
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<collision>
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<origin rpy="${PI/2.0} 0 0" xyz="0 ${hip_offset*mirror} 0"/>
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<geometry>
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<cylinder length="${hip_length}" radius="${hip_radius}"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="${hip_com_x*front_hind} ${hip_com_y*mirror} ${hip_com_z}"/>
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<mass value="${hip_mass}"/>
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<inertia
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ixx="${hip_ixx}" ixy="${hip_ixy*mirror*front_hind}" ixz="${hip_ixz*front_hind}"
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iyy="${hip_iyy}" iyz="${hip_iyz*mirror}"
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izz="${hip_izz}"/>
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</inertial>
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</link>
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2022-11-11 22:29:30 +08:00
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<link name="${name}_hip_rotor">
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<visual>
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<origin rpy="0 ${PI/2.0} 0" xyz="0 0 0"/>
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<geometry>
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<cylinder length="0.02" radius="0.05"/>
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</geometry>
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<material name="green"/>
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</visual>
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2022-09-24 17:07:08 +08:00
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<collision>
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2022-11-11 22:29:30 +08:00
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<origin rpy="0 ${PI/2.0} 0" xyz="0 0 0"/>
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2022-09-24 17:07:08 +08:00
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<geometry>
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2022-11-11 22:29:30 +08:00
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<cylinder length="0.02" radius="0.05"/>
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2022-09-24 17:07:08 +08:00
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</geometry>
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</collision>
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2022-11-11 22:29:30 +08:00
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<inertial>
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<origin rpy="0 0 0" xyz="${hip_rotor_com_x} ${hip_rotor_com_y} ${hip_rotor_com_z}"/>
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<mass value="${hip_rotor_mass}"/>
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<inertia
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ixx="${hip_rotor_ixx}" ixy="${hip_rotor_ixy}" ixz="${hip_rotor_ixz}"
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iyy="${hip_rotor_iyy}" iyz="${hip_rotor_iyz}"
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izz="${hip_rotor_izz}"/>
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</inertial>
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</link>
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2022-09-24 17:07:08 +08:00
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<joint name="${name}_thigh_joint" type="revolute">
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<origin rpy="0 0 0" xyz="0 ${thigh_offset*mirror} 0"/>
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<parent link="${name}_hip"/>
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<child link="${name}_thigh"/>
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<axis xyz="0 1 0"/>
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<dynamics damping="${damping}" friction="${friction}"/>
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<limit effort="${thigh_torque_max}" velocity="${thigh_velocity_max}" lower="${thigh_position_min}" upper="${thigh_position_max}"/>
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</joint>
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2022-11-11 22:29:30 +08:00
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<joint name="${name}_thigh_rotor_joint" type="fixed">
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<origin rpy="0 0 0" xyz="${thigh_rotor_offset_x} ${thigh_rotor_offset_y*mirror} 0"/>
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<parent link="${name}_hip"/>
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<child link="${name}_thigh_rotor"/>
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</joint>
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2022-09-24 17:07:08 +08:00
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<link name="${name}_thigh">
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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="${mirror_dae == True}">
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<mesh filename="package://b1_description/meshes/thigh.dae" scale="1 1 1"/>
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</xacro:if>
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<xacro:if value="${mirror_dae == False}">
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<mesh filename="package://b1_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
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</xacro:if>
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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 ${PI/2.0} 0" xyz="0 0 ${-thigh_length/2.0}"/>
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<geometry>
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<box size="${thigh_length} ${thigh_width} ${thigh_height}"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="${thigh_com_x} ${thigh_com_y*mirror} ${thigh_com_z}"/>
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<mass value="${thigh_mass}"/>
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<inertia
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ixx="${thigh_ixx}" ixy="${thigh_ixy*mirror}" ixz="${thigh_ixz}"
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iyy="${thigh_iyy}" iyz="${thigh_iyz*mirror}"
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izz="${thigh_izz}"/>
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</inertial>
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</link>
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2022-11-11 22:29:30 +08:00
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<link name="${name}_thigh_rotor">
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<visual>
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<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
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<geometry>
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<cylinder length="0.02" radius="0.05"/>
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</geometry>
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<material name="green"/>
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</visual>
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<collision>
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<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
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<geometry>
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<cylinder length="0.02" radius="0.05"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="${thigh_rotor_com_x} ${thigh_rotor_com_y} ${thigh_rotor_com_z}"/>
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<mass value="${thigh_rotor_mass}"/>
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<inertia
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ixx="${thigh_rotor_ixx}" ixy="${thigh_rotor_ixy}" ixz="${thigh_rotor_ixz}"
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iyy="${thigh_rotor_iyy}" iyz="${thigh_rotor_iyz}"
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izz="${thigh_rotor_izz}"/>
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</inertial>
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</link>
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2022-09-24 17:07:08 +08:00
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<joint name="${name}_calf_joint" type="revolute">
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<origin rpy="0 0 0" xyz="0 0 ${-thigh_length}"/>
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<parent link="${name}_thigh"/>
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<child link="${name}_calf"/>
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<axis xyz="0 1 0"/>
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<dynamics damping="${damping}" friction="${friction}"/>
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<limit effort="${calf_torque_max}" velocity="${calf_velocity_max}" lower="${calf_position_min}" upper="${calf_position_max}"/>
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</joint>
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2022-11-11 22:29:30 +08:00
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<joint name="${name}_calf_rotor_joint" type="fixed">
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<origin rpy="0 0 0" xyz="${calf_rotor_offset_x} ${calf_rotor_offset_y*mirror} 0"/>
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<parent link="${name}_thigh"/>
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<child link="${name}_calf_rotor"/>
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</joint>
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2022-09-24 17:07:08 +08:00
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<link name="${name}_calf">
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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="package://b1_description/meshes/calf.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 ${PI/2.0} 0" xyz="0 0 ${-calf_length/2.0}"/>
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<geometry>
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<box size="${calf_length} ${calf_width} ${calf_height}"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="${calf_com_x} ${calf_com_y} ${calf_com_z}"/>
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<mass value="${calf_mass}"/>
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<inertia
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ixx="${calf_ixx}" ixy="${calf_ixy}" ixz="${calf_ixz}"
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iyy="${calf_iyy}" iyz="${calf_iyz}"
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izz="${calf_izz}"/>
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</inertial>
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</link>
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2022-11-11 22:29:30 +08:00
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<link name="${name}_calf_rotor">
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<visual>
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<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
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<geometry>
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<cylinder length="0.02" radius="0.05"/>
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</geometry>
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<material name="green"/>
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</visual>
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<collision>
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<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
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<geometry>
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<cylinder length="0.02" radius="0.05"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="${calf_rotor_com_x} ${calf_rotor_com_y} ${calf_rotor_com_z}"/>
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<mass value="${calf_rotor_mass}"/>
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<inertia
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ixx="${calf_rotor_ixx}" ixy="${calf_rotor_ixy}" ixz="${calf_rotor_ixz}"
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iyy="${calf_rotor_iyy}" iyz="${calf_rotor_iyz}"
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izz="${calf_rotor_izz}"/>
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</inertial>
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</link>
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2022-09-24 17:07:08 +08:00
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<joint name="${name}_foot_fixed" type="fixed">
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<origin rpy="0 0 0" xyz="0 0 ${-(calf_length)}"/>
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<parent link="${name}_calf"/>
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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="${foot_radius-0.01}"/>
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</geometry>
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<material name="green"/>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<sphere radius="${foot_radius}"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="${foot_mass}"/>
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<inertia
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ixx="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}" ixy="0.0" ixz="0.0"
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iyy="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}" iyz="0.0"
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izz="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}"/>
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</inertial>
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</link>
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<xacro:leg_transmission name="${name}"/>
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</xacro:macro>
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</robot>
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