add z1 urdf
This commit is contained in:
TrivasZhang
parent
560fd88ef0
commit
44a16158a2
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@ -7,6 +7,7 @@
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<xacro:include filename="$(find z1_description)/xacro/transmission.xacro"/>
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<!-- <xacro:property name="UnitreeGripper" value="false"/> -->
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<xacro:arg name="UnitreeGripper" default="false"/>
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<link name="world"/>
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@ -0,0 +1,283 @@
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<?xml version="1.0" ?>
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<!-- =================================================================================== -->
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<!-- | This document was autogenerated by xacro from robot.xacro | -->
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<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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<!-- =================================================================================== -->
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<robot name="z1_description">
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<!-- ros_control plugin -->
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<gazebo>
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<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
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<robotNamespace>/z1_gazebo</robotNamespace>
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<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
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</plugin>
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</gazebo>
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<gazebo reference="link04">
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<self_collide>true</self_collide>
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</gazebo>
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<gazebo reference="link05">
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<self_collide>true</self_collide>
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</gazebo>
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<gazebo reference="link06">
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<self_collide>true</self_collide>
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</gazebo>
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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="link00"/>
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</joint>
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<link name="link00">
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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://z1_description/meshes/z1_Link00.dae" scale="1 1 1"/>
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</geometry>
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</visual>
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<collision>
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<geometry>
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<cylinder length="0.051" radius="0.0325"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0.0255"/>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="-0.00334984 -0.00013615 0.02495843"/>
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<mass value="0.47247481"/>
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<inertia ixx="0.00037937" ixy="3.5e-07" ixz="1.037e-05" iyy="0.00041521" iyz="9.9e-07" izz="0.00053066"/>
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</inertial>
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</link>
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<joint name="joint1" type="revolute">
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<origin rpy="0 0 0" xyz="0 0 0.0585"/>
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<parent link="link00"/>
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<child link="link01"/>
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<axis xyz="0 0 1"/>
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<dynamics damping="1.0" friction="1.0"/>
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<limit effort="30.0" lower="-2.6179938779914944" upper="2.6179938779914944" velocity="10"/>
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</joint>
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<link name="link01">
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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://z1_description/meshes/z1_Link01.dae" scale="1 1 1"/>
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</geometry>
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</visual>
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<!-- <collision>
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<geometry>
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<cylinder length="${2*motor_height}" radius="${motor_diameter}"/>
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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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<origin rpy="0 0 0" xyz="2.47e-06 -0.00025198 0.02317169"/>
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<mass value="0.67332551"/>
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<inertia ixx="0.00128328" ixy="6e-08" ixz="4e-07" iyy="0.00071931" iyz="-5e-07" izz="0.00083936"/>
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</inertial>
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</link>
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<joint name="joint2" type="revolute">
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<origin rpy="0 0 0" xyz="0 0 0.045"/>
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<parent link="link01"/>
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<child link="link02"/>
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<axis xyz="0 1 0"/>
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<dynamics damping="2.0" friction="2.0"/>
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<limit effort="60.0" lower="0.0" upper="3.141592653589793" velocity="10"/>
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</joint>
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<link name="link02">
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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://z1_description/meshes/z1_Link02.dae" scale="1 1 1"/>
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</geometry>
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</visual>
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<collision>
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<geometry>
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<cylinder length="0.102" radius="0.0325"/>
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</geometry>
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<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
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</collision>
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<collision>
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<geometry>
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<cylinder length="0.235" radius="0.0225"/>
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</geometry>
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<origin rpy="0 1.5707963267948966 0" xyz="-0.16249999999999998 0 0"/>
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</collision>
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<collision>
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<geometry>
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<cylinder length="0.051" radius="0.0325"/>
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</geometry>
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<origin rpy="1.5707963267948966 0 0" xyz="-0.35 0 0"/>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="-0.11012601 0.00240029 0.00158266"/>
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<mass value="1.19132258"/>
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<inertia ixx="0.00102138" ixy="-0.00062358" ixz="-5.13e-06" iyy="0.02429457" iyz="2.1e-06" izz="0.02466114"/>
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</inertial>
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</link>
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<joint name="joint3" type="revolute">
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<origin rpy="0 0 0" xyz="-0.35 0 0"/>
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<parent link="link02"/>
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<child link="link03"/>
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<axis xyz="0 1 0"/>
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<dynamics damping="1.0" friction="1.0"/>
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<limit effort="30.0" lower="-4.782202150464463" upper="0.0" velocity="10"/>
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</joint>
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<link name="link03">
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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://z1_description/meshes/z1_Link03.dae" scale="1 1 1"/>
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</geometry>
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</visual>
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<collision>
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<geometry>
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<cylinder length="0.116" radius="0.02"/>
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</geometry>
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<origin rpy="0 1.5707963267948966 0" xyz="0.128 0 0.055"/>
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</collision>
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<collision>
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<geometry>
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<cylinder length="0.059" radius="0.0325"/>
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</geometry>
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<origin rpy="0 1.5707963267948966 0" xyz="0.2205 0 0.055"/>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0.10609208 -0.00541815 0.03476383"/>
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<mass value="0.83940874"/>
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<inertia ixx="0.00108061" ixy="8.669e-05" ixz="0.00208102" iyy="0.00954238" iyz="1.332e-05" izz="0.00886621"/>
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</inertial>
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</link>
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<joint name="joint4" type="revolute">
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<origin rpy="0 0 0" xyz="0.218 0 0.057"/>
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<parent link="link03"/>
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<child link="link04"/>
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<axis xyz="0 1 0"/>
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<dynamics damping="1.0" friction="1.0"/>
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<limit effort="30.0" lower="-1.7453292519943295" upper="1.5707963267948966" velocity="10"/>
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</joint>
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<link name="link04">
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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://z1_description/meshes/z1_Link04.dae" scale="1 1 1"/>
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</geometry>
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</visual>
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<collision>
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<geometry>
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<cylinder length="0.073" radius="0.0325"/>
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</geometry>
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<origin rpy="1.5707963267948966 0 0" xyz="0.0472 0 0"/>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0.04366681 0.00364738 -0.00170192"/>
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<mass value="0.56404563"/>
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<inertia ixx="0.00031576" ixy="-8.13e-05" ixz="-4.091e-05" iyy="0.00092996" iyz="5.96e-06" izz="0.00097912"/>
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</inertial>
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</link>
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<joint name="joint5" type="revolute">
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<origin rpy="0 0 0" xyz="0.07 0.0 0.0"/>
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<parent link="link04"/>
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<child link="link05"/>
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<axis xyz="0 0 1"/>
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<dynamics damping="1.0" friction="1.0"/>
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<limit effort="30.0" lower="-1.7278759594743864" upper="1.7278759594743864" velocity="10"/>
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</joint>
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<link name="link05">
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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://z1_description/meshes/z1_Link05.dae" scale="1 1 1"/>
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</geometry>
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</visual>
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<inertial>
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<origin rpy="0 0 0" xyz="0.03121533 0.0 0.00646316"/>
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<mass value="0.38938492"/>
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<inertia ixx="0.00017605" ixy="-4e-07" ixz="-5.689e-05" iyy="0.00055896" iyz="1.3e-07" izz="0.0005386"/>
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</inertial>
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</link>
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<joint name="joint6" type="revolute">
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<origin rpy="0 0 0" xyz="0.0492 0.0 0.0"/>
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<parent link="link05"/>
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<child link="link06"/>
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<axis xyz="1 0 0"/>
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<dynamics damping="1.0" friction="1.0"/>
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<limit effort="30.0" lower="-2.792526803190927" upper="2.792526803190927" velocity="10"/>
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</joint>
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<link name="link06">
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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://z1_description/meshes/z1_Link06.dae" scale="1 1 1"/>
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</geometry>
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</visual>
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<collision>
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<geometry>
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<cylinder length="0.051" radius="0.0325"/>
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</geometry>
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<origin rpy="0 1.5707963267948966 0" xyz="0.0255 0 0"/>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0.0241569 -0.00017355 -0.00143876"/>
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<mass value="0.28875807"/>
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<inertia ixx="0.00018328" ixy="-1.22e-06" ixz="-5.4e-07" iyy="0.0001475" iyz="-8e-08" izz="0.0001468"/>
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</inertial>
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</link>
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<transmission name="JointTrans1">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="joint1">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="Actuator1">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="JointTrans2">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="joint2">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="Actuator2">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="JointTrans3">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="joint3">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="Actuator3">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="JointTrans4">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="joint4">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="Actuator4">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="JointTrans5">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="joint5">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="Actuator5">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="JointTrans6">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="joint6">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="Actuator6">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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</robot>
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