43 lines
1.7 KiB
XML
43 lines
1.7 KiB
XML
<?xml version="1.0"?>
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<!-- b1z1_description: B1 quadruped mounted with Z1 robotic arm -->
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<robot name="b1z1_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
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<!-- define arguments -->
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<xacro:arg name="DEBUG" default="false"/> <!-- debug mode switch -->
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<xacro:arg name="UnitreeGripper" default="true"/> <!-- include Z1 end-effector -->
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<!-- include xacro files -->
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<xacro:include filename="$(find b1_description)/xacro/b1.xacro"/>
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<xacro:include filename="$(find z1_description)/xacro/z1.xacro"/>
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<xacro:include filename="$(find b1z1_description)/xacro/const.xacro"/>
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<xacro:include filename="$(find b1z1_description)/xacro/gazebo.xacro"/>
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<!-- B1 macro: expands to describe B1 quadruped -->
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<xacro:b1/>
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<!-- Z1 macro: expands to describe Z1 robotic arm -->
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<xacro:z1 UnitreeGripper="$(arg UnitreeGripper)"/>
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<!-- define joint affixing Z1 to B1 -->
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<joint name="trunk_arm_joint" type="fixed">
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<!-- Z1 mounting point wrt B1 trunk; configurable in const.xacro -->
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<origin rpy="${arm_offset_r} ${arm_offset_p} ${arm_offset_yaw}" xyz="${arm_offset_x} ${arm_offset_y} ${arm_offset_z}"/>
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<!-- define parent and child links -->
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<parent link="trunk"/>
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<child link="link00"/>
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</joint>
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<!-- debug mode configuration -->
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<xacro:if value="$(arg DEBUG)">
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<!-- debug mode hangs up the robot; i.e., statically affixes B1 base to world -->
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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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</robot>
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