mirror of
https://github.com/wassname/pyrobolearn.git
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add urdfs (part3)
This commit is contained in:
Brian Delhaisse
@@ -0,0 +1,564 @@
|
||||
<?xml version="1.0" ?>
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||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from cassie.xacro | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<!-- Author: Ross Hartley
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||||
Email: rosshart@umich.edu
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||||
Date: 04/24/2016 -->
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||||
<robot name="cassie" xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
<link name="vectorNav">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="0"/>
|
||||
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="pelvis">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz=".0507 0 .0284"/>
|
||||
<mass value="10.33"/>
|
||||
<inertia ixx=".0942" ixy=".000169" ixz=".015" iyy=".084" iyz=".000516" izz=".113"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/pelvis.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.35 0.35 0.35 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/pelvis.stl" scale="1 1 1"/>
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||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="left_pelvis_abduction">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="0"/>
|
||||
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/abduction.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="light_grey">
|
||||
<color rgba="0.75 0.75 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
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||||
<geometry>
|
||||
<mesh filename="meshes/abduction.stl" scale="1 1 1"/>
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||||
</geometry>
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||||
</collision>
|
||||
</link>
|
||||
<link name="left_pelvis_rotation">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz=".0257 0.0001 .0179"/>
|
||||
<mass value="1.82"/>
|
||||
<inertia ixx=".00272" ixy="7.03e-07" ixz=".00000153" iyy=".00559" iyz="2.61e-06" izz=".004640"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/yaw.stl" scale="1 1 1"/>
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||||
</geometry>
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||||
<material name="light_grey">
|
||||
<color rgba="0.75 0.75 0.75 1"/>
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||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
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||||
<geometry>
|
||||
<mesh filename="meshes/yaw.stl" scale="1 1 1"/>
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||||
</geometry>
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||||
</collision>
|
||||
</link>
|
||||
<link name="left_hip">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-.0557 0 0"/>
|
||||
<mass value="1.17"/>
|
||||
<inertia ixx=".000842" ixy=".000000246" ixz="-.000000625" iyy=".006080" iyz="-.00000004" izz=".006440"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/hip.stl" scale="1 1 1"/>
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||||
</geometry>
|
||||
<material name="light_grey">
|
||||
<color rgba="0.75 0.75 0.75 1"/>
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||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
|
||||
<mesh filename="meshes/hip.stl" scale="1 1 1"/>
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||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="left_thigh">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz=".0598 .0001 -0.0358"/>
|
||||
<mass value="5.52"/>
|
||||
<inertia ixx=".018" ixy=".000284" ixz="-0.0117" iyy=".0563" iyz="-1.93e-05" izz=".0498"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/thigh.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="light_grey">
|
||||
<color rgba="0.75 0.75 0.75 1"/>
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||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/thigh.stl" scale="1 1 1"/>
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||||
</geometry>
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||||
</collision>
|
||||
</link>
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||||
<link name="left_knee">
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||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz=".023 .0321 -0.0022"/>
|
||||
<mass value=".758"/>
|
||||
<inertia ixx=".002160" ixy=".000956" ixz="2.84e-06" iyy=".00144" iyz="7.39e-07" izz=".00334"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/knee-output.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.35 0.35 0.35 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/knee-output.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="left_shin">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz=".1834 .0012 0.0002"/>
|
||||
<mass value=".577"/>
|
||||
<inertia ixx=".000360" ixy=".000334" ixz="-1.94e-07" iyy=".0341" iyz="2.65e-07" izz=".0341"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/shin-bone.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.35 0.35 0.35 1"/>
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||||
</material>
|
||||
</visual>
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||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/shin-bone.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="left_tarsus">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz=".1105 -.0306 -0.0013"/>
|
||||
<mass value=".782"/>
|
||||
<inertia ixx=".00113" ixy="-.00288" ixz="-6.33e-05" iyy=".0231" iyz="3.62e-05" izz=".0239"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/tarsus.stl" scale="1 1 1"/>
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||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.35 0.35 0.35 1"/>
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||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/tarsus.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="left_toe">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz=".0047 .0275 -0.0001"/>
|
||||
<mass value=".15"/>
|
||||
<inertia ixx=".000287" ixy="-.0000986" ixz="-1.46e-06" iyy=".000171" iyz="1.72e-07" izz=".000449"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/toe.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="light_grey">
|
||||
<color rgba="0.75 0.75 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/toe.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="right_pelvis_abduction">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="0"/>
|
||||
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/abduction_mirror.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="light_grey">
|
||||
<color rgba="0.75 0.75 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/abduction_mirror.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="right_pelvis_rotation">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz=".0257 -0.0001 .0179"/>
|
||||
<mass value="1.82"/>
|
||||
<inertia ixx=".00272" ixy="-7.03e-07" ixz=".00000153" iyy=".00559" iyz="-2.61e-06" izz=".004640"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/yaw_mirror.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="light_grey">
|
||||
<color rgba="0.75 0.75 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/yaw_mirror.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="right_hip">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-.0557 0 0"/>
|
||||
<mass value="1.17"/>
|
||||
<inertia ixx=".000842" ixy=".000000246" ixz="-.000000625" iyy=".006080" iyz="-.00000004" izz=".006440"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/hip_mirror.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="light_grey">
|
||||
<color rgba="0.75 0.75 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/hip_mirror.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="right_thigh">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz=".0598 .0001 0.0358"/>
|
||||
<mass value="5.52"/>
|
||||
<inertia ixx=".018" ixy=".000284" ixz="0.0117" iyy=".0563" iyz="1.93e-05" izz=".0498"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/thigh_mirror.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="light_grey">
|
||||
<color rgba="0.75 0.75 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/thigh_mirror.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="right_knee">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz=".023 .0321 0.0022"/>
|
||||
<mass value=".758"/>
|
||||
<inertia ixx=".002160" ixy=".000956" ixz="-2.84e-06" iyy=".00144" iyz="-7.39e-07" izz=".00334"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/knee-output_mirror.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.35 0.35 0.35 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/knee-output_mirror.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="right_shin">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz=".1834 .0012 -0.0002"/>
|
||||
<mass value=".577"/>
|
||||
<inertia ixx=".000360" ixy=".000334" ixz="1.94e-07" iyy=".0341" iyz="-2.65e-07" izz=".0341"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/shin-bone_mirror.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.35 0.35 0.35 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/shin-bone_mirror.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="right_tarsus">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz=".1105 -.0306 0.0013"/>
|
||||
<mass value=".782"/>
|
||||
<inertia ixx=".00113" ixy="-.00288" ixz="6.33e-05" iyy=".0231" iyz="-3.62e-05" izz=".0239"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/tarsus_mirror.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.35 0.35 0.35 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/tarsus_mirror.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="right_toe">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz=".0047 .0275 0.0001"/>
|
||||
<mass value=".15"/>
|
||||
<inertia ixx=".000287" ixy="-.0000986" ixz="1.46e-06" iyy=".000171" iyz="-1.72e-07" izz=".000449"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/toe_mirror.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="light_grey">
|
||||
<color rgba="0.75 0.75 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/toe_mirror.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="fixed_pelvis_to_vectorNav" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0.03155 0 -0.07996"/>
|
||||
<parent link="pelvis"/>
|
||||
<child link="vectorNav"/>
|
||||
</joint>
|
||||
<joint name="fixed_left" type="fixed">
|
||||
<origin rpy="0 1.57079632679 0" xyz="0.021 0.135 0"/>
|
||||
<parent link="pelvis"/>
|
||||
<child link="left_pelvis_abduction"/>
|
||||
</joint>
|
||||
<joint name="hip_abduction_left" type="continuous">
|
||||
<origin rpy="0 -1.57079632679 0" xyz="0 0 -0.07"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<parent link="left_pelvis_abduction"/>
|
||||
<child link="left_pelvis_rotation"/>
|
||||
<limit effort="4.5" lower="-0.2618" upper="0.3927" velocity="12.1475"/>
|
||||
</joint>
|
||||
<joint name="hip_rotation_left" type="continuous">
|
||||
<origin rpy="0 1.57079632679 -1.57079632679" xyz="0 0 -0.09"/>
|
||||
<axis xyz="-1 0 0"/>
|
||||
<parent link="left_pelvis_rotation"/>
|
||||
<child link="left_hip"/>
|
||||
<limit effort="4.5" lower="-0.3927" upper="0.3927" velocity="12.1475"/>
|
||||
</joint>
|
||||
<joint name="hip_flexion_left" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="left_hip"/>
|
||||
<child link="left_thigh"/>
|
||||
<limit effort="12.2" lower="-0.8727" upper="1.3963" velocity="8.5085"/>
|
||||
</joint>
|
||||
<joint name="knee_joint_left" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.12 0 0.0045"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="left_thigh"/>
|
||||
<child link="left_knee"/>
|
||||
<limit effort="12.2" lower="-2.8623" upper="-0.6458" velocity="8.5085"/>
|
||||
</joint>
|
||||
<joint name="knee_to_shin_left" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.0607 0.0474 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="left_knee"/>
|
||||
<child link="left_shin"/>
|
||||
<limit effort="0" lower="-100" upper="100" velocity="100"/>
|
||||
</joint>
|
||||
<joint name="ankle_joint_left" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.4348 0.02 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="left_shin"/>
|
||||
<child link="left_tarsus"/>
|
||||
<limit effort="0" lower="-100" upper="100" velocity="100"/>
|
||||
</joint>
|
||||
<joint name="toe_joint_left" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.408 -0.04 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="left_tarsus"/>
|
||||
<child link="left_toe"/>
|
||||
<limit effort="0.9" lower="-2.4435" upper="-0.5236" velocity="11.5192"/>
|
||||
</joint>
|
||||
<joint name="fixed_right" type="fixed">
|
||||
<origin rpy="0 1.57079632679 0" xyz="0.021 -0.135 0"/>
|
||||
<parent link="pelvis"/>
|
||||
<child link="right_pelvis_abduction"/>
|
||||
</joint>
|
||||
<joint name="hip_abduction_right" type="continuous">
|
||||
<origin rpy="0 -1.57079632679 0" xyz="0 0 -0.07"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<parent link="right_pelvis_abduction"/>
|
||||
<child link="right_pelvis_rotation"/>
|
||||
<limit effort="4.5" lower="-0.3927" upper="0.2618" velocity="12.1475"/>
|
||||
</joint>
|
||||
<joint name="hip_rotation_right" type="continuous">
|
||||
<origin rpy="0 1.57079632679 -1.57079632679" xyz="0 0 -0.09"/>
|
||||
<axis xyz="-1 0 0"/>
|
||||
<parent link="right_pelvis_rotation"/>
|
||||
<child link="right_hip"/>
|
||||
<limit effort="4.5" lower="-0.3927" upper="0.3927" velocity="12.1475"/>
|
||||
</joint>
|
||||
<joint name="hip_flexion_right" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="right_hip"/>
|
||||
<child link="right_thigh"/>
|
||||
<limit effort="12.2" lower="-0.8727" upper="1.3963" velocity="8.5085"/>
|
||||
</joint>
|
||||
<joint name="knee_joint_right" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.12 0 -0.0045"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="right_thigh"/>
|
||||
<child link="right_knee"/>
|
||||
<limit effort="12.2" lower="-2.8623" upper="-0.6458" velocity="8.5085"/>
|
||||
</joint>
|
||||
<joint name="knee_to_shin_right" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.0607 0.0474 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="right_knee"/>
|
||||
<child link="right_shin"/>
|
||||
<limit effort="0" lower="-100" upper="100" velocity="100"/>
|
||||
</joint>
|
||||
<joint name="ankle_joint_right" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.4348 0.02 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="right_shin"/>
|
||||
<child link="right_tarsus"/>
|
||||
<limit effort="0" lower="-100" upper="100" velocity="100"/>
|
||||
</joint>
|
||||
<joint name="toe_joint_right" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.408 -0.04 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="right_tarsus"/>
|
||||
<child link="right_toe"/>
|
||||
<limit effort="0.9" lower="-2.4435" upper="-0.5236" velocity="11.5192"/>
|
||||
</joint>
|
||||
<transmission name="hip_abduction_trans_left" type="transmission_interface/SimpleTransmission">
|
||||
<joint name="hip_abduction_left"/>
|
||||
<actuator name="hip_abduction_motor_left"/>
|
||||
<motorInertia>0.000061</motorInertia>
|
||||
<mechanicalReduction>25</mechanicalReduction>
|
||||
</transmission>
|
||||
<transmission name="hip_rotation_trans_left" type="transmission_interface/SimpleTransmission">
|
||||
<joint name="hip_rotation_left"/>
|
||||
<actuator name="hip_rotation_motor_left"/>
|
||||
<motorInertia>0.000061</motorInertia>
|
||||
<mechanicalReduction>25</mechanicalReduction>
|
||||
</transmission>
|
||||
<transmission name="hip_flexion_trans_left" type="transmission_interface/SimpleTransmission">
|
||||
<joint name="hip_flexion_left"/>
|
||||
<actuator name="hip_flexion_motor_left"/>
|
||||
<motorInertia>0.000365</motorInertia>
|
||||
<mechanicalReduction>16</mechanicalReduction>
|
||||
</transmission>
|
||||
<transmission name="knee_joint_trans_left" type="transmission_interface/SimpleTransmission">
|
||||
<joint name="knee_joint_left"/>
|
||||
<actuator name="knee_joint_motor_left"/>
|
||||
<motorInertia>0.000365</motorInertia>
|
||||
<mechanicalReduction>16</mechanicalReduction>
|
||||
</transmission>
|
||||
<transmission name="toe_joint_trans_left" type="transmission_interface/SimpleTransmission">
|
||||
<joint name="toe_joint_left"/>
|
||||
<actuator name="toe_joint_motor_left"/>
|
||||
<motorInertia>0.0000049</motorInertia>
|
||||
<mechanicalReduction>50</mechanicalReduction>
|
||||
</transmission>
|
||||
<transmission name="hip_abduction_trans_right" type="transmission_interface/SimpleTransmission">
|
||||
<joint name="hip_abduction_right"/>
|
||||
<actuator name="hip_abduction_motor_right"/>
|
||||
<motorInertia>0.000061</motorInertia>
|
||||
<mechanicalReduction>25</mechanicalReduction>
|
||||
</transmission>
|
||||
<transmission name="hip_rotation_trans_right" type="transmission_interface/SimpleTransmission">
|
||||
<joint name="hip_rotation_right"/>
|
||||
<actuator name="hip_rotation_motor_right"/>
|
||||
<motorInertia>0.000061</motorInertia>
|
||||
<mechanicalReduction>25</mechanicalReduction>
|
||||
</transmission>
|
||||
<transmission name="hip_flexion_trans_right" type="transmission_interface/SimpleTransmission">
|
||||
<joint name="hip_flexion_right"/>
|
||||
<actuator name="hip_flexion_motor_right"/>
|
||||
<motorInertia>0.000365</motorInertia>
|
||||
<mechanicalReduction>16</mechanicalReduction>
|
||||
</transmission>
|
||||
<transmission name="knee_joint_trans_right" type="transmission_interface/SimpleTransmission">
|
||||
<joint name="knee_joint_right"/>
|
||||
<actuator name="knee_joint_motor_right"/>
|
||||
<motorInertia>0.000365</motorInertia>
|
||||
<mechanicalReduction>16</mechanicalReduction>
|
||||
</transmission>
|
||||
<transmission name="toe_joint_trans_right" type="transmission_interface/SimpleTransmission">
|
||||
<joint name="toe_joint_right"/>
|
||||
<actuator name="toe_joint_motor_right"/>
|
||||
<motorInertia>0.0000049</motorInertia>
|
||||
<mechanicalReduction>50</mechanicalReduction>
|
||||
</transmission>
|
||||
</robot>
|
||||
@@ -0,0 +1,572 @@
|
||||
<?xml version="1.0" ?>
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from cassie.xacro | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<!-- Author: Ross Hartley
|
||||
Email: rosshart@umich.edu
|
||||
Date: 04/24/2016 -->
|
||||
<robot name="cassie" xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
<link name="vectorNav">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="0"/>
|
||||
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="pelvis">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz=".0507 0 .0284"/>
|
||||
<mass value="10.33"/>
|
||||
<inertia ixx=".0942" ixy=".000169" ixz=".015" iyy=".084" iyz=".000516" izz=".113"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/pelvis.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.35 0.35 0.35 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="1.088 2.591 0.303"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="left_pelvis_roll">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="0"/>
|
||||
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/hip-roll.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="light_grey">
|
||||
<color rgba="0.75 0.75 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="1.088 2.591 0.303"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="left_pelvis_yaw">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz=".0257 0.0001 .0179"/>
|
||||
<mass value="1.82"/>
|
||||
<inertia ixx=".00272" ixy="7.03e-07" ixz=".00000153" iyy=".00559" iyz="2.61e-06" izz=".004640"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/hip-yaw.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="light_grey">
|
||||
<color rgba="0.75 0.75 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="1.088 2.591 0.303"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="left_hip">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-.0557 0 0"/>
|
||||
<mass value="1.17"/>
|
||||
<inertia ixx=".000842" ixy=".000000246" ixz="-.000000625" iyy=".006080" iyz="-.00000004" izz=".006440"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<!--mesh filename="meshes/hip-pitch.stl" scale="1 1 1"/-->
|
||||
<box size="0.01 0.01 0.01"/>
|
||||
</geometry>
|
||||
<material name="light_grey">
|
||||
<color rgba="0.75 0.75 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="1.088 2.591 0.303"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="left_thigh">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz=".0598 .0001 -0.0358"/>
|
||||
<mass value="5.52"/>
|
||||
<inertia ixx=".018" ixy=".000284" ixz="-0.0117" iyy=".0563" iyz="-1.93e-05" izz=".0498"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<!--mesh filename="meshes/thigh.stl" scale="1 1 1"/-->
|
||||
<!--box size="0.01 0.01 0.01"/-->
|
||||
<mesh filename="meshes/hip-pitch.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="light_grey">
|
||||
<!--color rgba="0.75 0.75 0.75 1"/-->
|
||||
<color rgba="0.75 0.75 0.75 0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="1.088 2.591 0.303"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="left_knee">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz=".023 .0321 -0.0022"/>
|
||||
<mass value=".758"/>
|
||||
<inertia ixx=".002160" ixy=".000956" ixz="2.84e-06" iyy=".00144" iyz="7.39e-07" izz=".00334"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/knee.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.35 0.35 0.35 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="1.088 2.591 0.303"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="left_shin">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz=".1834 .0012 0.0002"/>
|
||||
<mass value=".577"/>
|
||||
<inertia ixx=".000360" ixy=".000334" ixz="-1.94e-07" iyy=".0341" iyz="2.65e-07" izz=".0341"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/shin.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.35 0.35 0.35 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="1.088 2.591 0.303"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="left_tarsus">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz=".1105 -.0306 -0.0013"/>
|
||||
<mass value=".782"/>
|
||||
<inertia ixx=".00113" ixy="-.00288" ixz="-6.33e-05" iyy=".0231" iyz="3.62e-05" izz=".0239"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/tarsus.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.35 0.35 0.35 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="1.088 2.591 0.303"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="left_foot">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz=".0047 .0275 -0.0001"/>
|
||||
<mass value=".15"/>
|
||||
<inertia ixx=".000287" ixy="-.0000986" ixz="-1.46e-06" iyy=".000171" iyz="1.72e-07" izz=".000449"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/foot.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="light_grey">
|
||||
<color rgba="0.75 0.75 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="1.088 2.591 0.303"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="right_pelvis_roll">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="0"/>
|
||||
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/hip-roll.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="light_grey">
|
||||
<color rgba="0.75 0.75 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="1.088 2.591 0.303"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="right_pelvis_yaw">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz=".0257 -0.0001 .0179"/>
|
||||
<mass value="1.82"/>
|
||||
<inertia ixx=".00272" ixy="-7.03e-07" ixz=".00000153" iyy=".00559" iyz="-2.61e-06" izz=".004640"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/hip-yaw.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="light_grey">
|
||||
<color rgba="0.75 0.75 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="1.088 2.591 0.303"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="right_hip">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-.0557 0 0"/>
|
||||
<mass value="1.17"/>
|
||||
<inertia ixx=".000842" ixy=".000000246" ixz="-.000000625" iyy=".006080" iyz="-.00000004" izz=".006440"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<!--mesh filename="meshes/hip-pitch.stl" scale="1 1 1"/-->
|
||||
<box size="0.01 0.01 0.01"/>
|
||||
</geometry>
|
||||
<material name="light_grey">
|
||||
<color rgba="0.75 0.75 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="1.088 2.591 0.303"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="right_thigh">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz=".0598 .0001 0.0358"/>
|
||||
<mass value="5.52"/>
|
||||
<inertia ixx=".018" ixy=".000284" ixz="0.0117" iyy=".0563" iyz="1.93e-05" izz=".0498"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<!--mesh filename="meshes/thigh.stl" scale="1 1 1"/-->
|
||||
<!--box size="0.01 0.01 0.01"/-->
|
||||
<mesh filename="meshes/hip-pitch.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="light_grey">
|
||||
<!--color rgba="0.75 0.75 0.75 1"/-->
|
||||
<color rgba="0.75 0.75 0.75 0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="1.088 2.591 0.303"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="right_knee">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz=".023 .0321 0.0022"/>
|
||||
<mass value=".758"/>
|
||||
<inertia ixx=".002160" ixy=".000956" ixz="-2.84e-06" iyy=".00144" iyz="-7.39e-07" izz=".00334"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/knee.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.35 0.35 0.35 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="1.088 2.591 0.303"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="right_shin">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz=".1834 .0012 -0.0002"/>
|
||||
<mass value=".577"/>
|
||||
<inertia ixx=".000360" ixy=".000334" ixz="1.94e-07" iyy=".0341" iyz="-2.65e-07" izz=".0341"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/shin.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.35 0.35 0.35 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="1.088 2.591 0.303"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="right_tarsus">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz=".1105 -.0306 0.0013"/>
|
||||
<mass value=".782"/>
|
||||
<inertia ixx=".00113" ixy="-.00288" ixz="6.33e-05" iyy=".0231" iyz="-3.62e-05" izz=".0239"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/tarsus.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.35 0.35 0.35 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="1.088 2.591 0.303"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="right_toe">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz=".0047 .0275 0.0001"/>
|
||||
<mass value=".15"/>
|
||||
<inertia ixx=".000287" ixy="-.0000986" ixz="1.46e-06" iyy=".000171" iyz="-1.72e-07" izz=".000449"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/foot.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="light_grey">
|
||||
<color rgba="0.75 0.75 0.75 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="1.088 2.591 0.303"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="fixed_pelvis_to_vectorNav" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0.03155 0 -0.07996"/>
|
||||
<parent link="pelvis"/>
|
||||
<child link="vectorNav"/>
|
||||
</joint>
|
||||
<joint name="fixed_left" type="fixed">
|
||||
<origin rpy="0 1.57079632679 0" xyz="0.021 0.135 0"/>
|
||||
<parent link="pelvis"/>
|
||||
<child link="left_pelvis_roll"/>
|
||||
</joint>
|
||||
<joint name="hip_abduction_left" type="continuous">
|
||||
<origin rpy="0 -1.57079632679 0" xyz="0 0 -0.07"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<parent link="left_pelvis_roll"/>
|
||||
<child link="left_pelvis_yaw"/>
|
||||
<limit effort="4.5" lower="-0.2618" upper="0.3927" velocity="12.1475"/>
|
||||
</joint>
|
||||
<joint name="hip_rotation_left" type="continuous">
|
||||
<origin rpy="0 1.57079632679 -1.57079632679" xyz="0 0 -0.09"/>
|
||||
<axis xyz="-1 0 0"/>
|
||||
<parent link="left_pelvis_yaw"/>
|
||||
<child link="left_hip"/>
|
||||
<limit effort="4.5" lower="-0.3927" upper="0.3927" velocity="12.1475"/>
|
||||
</joint>
|
||||
<joint name="hip_flexion_left" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="left_hip"/>
|
||||
<child link="left_thigh"/>
|
||||
<limit effort="12.2" lower="-0.8727" upper="1.3963" velocity="8.5085"/>
|
||||
</joint>
|
||||
<joint name="knee_joint_left" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.12 0 0.0045"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="left_thigh"/>
|
||||
<child link="left_knee"/>
|
||||
<limit effort="12.2" lower="-2.8623" upper="-0.6458" velocity="8.5085"/>
|
||||
</joint>
|
||||
<joint name="knee_to_shin_left" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.0607 0.0474 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="left_knee"/>
|
||||
<child link="left_shin"/>
|
||||
<limit effort="0" lower="-100" upper="100" velocity="100"/>
|
||||
</joint>
|
||||
<joint name="ankle_joint_left" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.4348 0.02 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="left_shin"/>
|
||||
<child link="left_tarsus"/>
|
||||
<limit effort="0" lower="-100" upper="100" velocity="100"/>
|
||||
</joint>
|
||||
<joint name="toe_joint_left" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.408 -0.04 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="left_tarsus"/>
|
||||
<child link="left_foot"/>
|
||||
<limit effort="0.9" lower="-2.4435" upper="-0.5236" velocity="11.5192"/>
|
||||
</joint>
|
||||
<joint name="fixed_right" type="fixed">
|
||||
<origin rpy="0 1.57079632679 0" xyz="0.021 -0.135 0"/>
|
||||
<parent link="pelvis"/>
|
||||
<child link="right_pelvis_roll"/>
|
||||
</joint>
|
||||
<joint name="hip_abduction_right" type="continuous">
|
||||
<origin rpy="0 -1.57079632679 0" xyz="0 0 -0.07"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<parent link="right_pelvis_roll"/>
|
||||
<child link="right_pelvis_yaw"/>
|
||||
<limit effort="4.5" lower="-0.3927" upper="0.2618" velocity="12.1475"/>
|
||||
</joint>
|
||||
<joint name="hip_rotation_right" type="continuous">
|
||||
<origin rpy="0 1.57079632679 -1.57079632679" xyz="0 0 -0.09"/>
|
||||
<axis xyz="-1 0 0"/>
|
||||
<parent link="right_pelvis_yaw"/>
|
||||
<child link="right_hip"/>
|
||||
<limit effort="4.5" lower="-0.3927" upper="0.3927" velocity="12.1475"/>
|
||||
</joint>
|
||||
<joint name="hip_flexion_right" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="right_hip"/>
|
||||
<child link="right_thigh"/>
|
||||
<limit effort="12.2" lower="-0.8727" upper="1.3963" velocity="8.5085"/>
|
||||
</joint>
|
||||
<joint name="knee_joint_right" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.12 0 -0.0045"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="right_thigh"/>
|
||||
<child link="right_knee"/>
|
||||
<limit effort="12.2" lower="-2.8623" upper="-0.6458" velocity="8.5085"/>
|
||||
</joint>
|
||||
<joint name="knee_to_shin_right" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.0607 0.0474 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="right_knee"/>
|
||||
<child link="right_shin"/>
|
||||
<limit effort="0" lower="-100" upper="100" velocity="100"/>
|
||||
</joint>
|
||||
<joint name="ankle_joint_right" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.4348 0.02 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="right_shin"/>
|
||||
<child link="right_tarsus"/>
|
||||
<limit effort="0" lower="-100" upper="100" velocity="100"/>
|
||||
</joint>
|
||||
<joint name="toe_joint_right" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="0.408 -0.04 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="right_tarsus"/>
|
||||
<child link="right_toe"/>
|
||||
<limit effort="0.9" lower="-2.4435" upper="-0.5236" velocity="11.5192"/>
|
||||
</joint>
|
||||
<transmission name="hip_abduction_trans_left" type="transmission_interface/SimpleTransmission">
|
||||
<joint name="hip_abduction_left"/>
|
||||
<actuator name="hip_abduction_motor_left"/>
|
||||
<motorInertia>0.000061</motorInertia>
|
||||
<mechanicalReduction>25</mechanicalReduction>
|
||||
</transmission>
|
||||
<transmission name="hip_rotation_trans_left" type="transmission_interface/SimpleTransmission">
|
||||
<joint name="hip_rotation_left"/>
|
||||
<actuator name="hip_rotation_motor_left"/>
|
||||
<motorInertia>0.000061</motorInertia>
|
||||
<mechanicalReduction>25</mechanicalReduction>
|
||||
</transmission>
|
||||
<transmission name="hip_flexion_trans_left" type="transmission_interface/SimpleTransmission">
|
||||
<joint name="hip_flexion_left"/>
|
||||
<actuator name="hip_flexion_motor_left"/>
|
||||
<motorInertia>0.000365</motorInertia>
|
||||
<mechanicalReduction>16</mechanicalReduction>
|
||||
</transmission>
|
||||
<transmission name="knee_joint_trans_left" type="transmission_interface/SimpleTransmission">
|
||||
<joint name="knee_joint_left"/>
|
||||
<actuator name="knee_joint_motor_left"/>
|
||||
<motorInertia>0.000365</motorInertia>
|
||||
<mechanicalReduction>16</mechanicalReduction>
|
||||
</transmission>
|
||||
<transmission name="toe_joint_trans_left" type="transmission_interface/SimpleTransmission">
|
||||
<joint name="toe_joint_left"/>
|
||||
<actuator name="toe_joint_motor_left"/>
|
||||
<motorInertia>0.0000049</motorInertia>
|
||||
<mechanicalReduction>50</mechanicalReduction>
|
||||
</transmission>
|
||||
<transmission name="hip_abduction_trans_right" type="transmission_interface/SimpleTransmission">
|
||||
<joint name="hip_abduction_right"/>
|
||||
<actuator name="hip_abduction_motor_right"/>
|
||||
<motorInertia>0.000061</motorInertia>
|
||||
<mechanicalReduction>25</mechanicalReduction>
|
||||
</transmission>
|
||||
<transmission name="hip_rotation_trans_right" type="transmission_interface/SimpleTransmission">
|
||||
<joint name="hip_rotation_right"/>
|
||||
<actuator name="hip_rotation_motor_right"/>
|
||||
<motorInertia>0.000061</motorInertia>
|
||||
<mechanicalReduction>25</mechanicalReduction>
|
||||
</transmission>
|
||||
<transmission name="hip_flexion_trans_right" type="transmission_interface/SimpleTransmission">
|
||||
<joint name="hip_flexion_right"/>
|
||||
<actuator name="hip_flexion_motor_right"/>
|
||||
<motorInertia>0.000365</motorInertia>
|
||||
<mechanicalReduction>16</mechanicalReduction>
|
||||
</transmission>
|
||||
<transmission name="knee_joint_trans_right" type="transmission_interface/SimpleTransmission">
|
||||
<joint name="knee_joint_right"/>
|
||||
<actuator name="knee_joint_motor_right"/>
|
||||
<motorInertia>0.000365</motorInertia>
|
||||
<mechanicalReduction>16</mechanicalReduction>
|
||||
</transmission>
|
||||
<transmission name="toe_joint_trans_right" type="transmission_interface/SimpleTransmission">
|
||||
<joint name="toe_joint_right"/>
|
||||
<actuator name="toe_joint_motor_right"/>
|
||||
<motorInertia>0.0000049</motorInertia>
|
||||
<mechanicalReduction>50</mechanicalReduction>
|
||||
</transmission>
|
||||
</robot>
|
||||
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@@ -0,0 +1,7 @@
|
||||
# When generating the URDF from the xacro, you can specified the follow arguments:
|
||||
# END_EFFECTOR: soft_hand, heri, stick
|
||||
# visual_model: simplified, mesh
|
||||
# collision_model: primitives, simplified, mesh
|
||||
|
||||
# Here is the command to type:
|
||||
rosrun xacro xacro --inorder centauro.urdf.xacro > centauro.urdf GAZEBO:=true MIDDLEWARE:=xbotcore XBOT_CONFIG_FILE:=configs/ADVR_shared/centauro/configs/config_centauro.yaml STATIC:=false LEFT_END_EFFECTOR:=heri RIGHT_END_EFFECTOR:=heri MASS:=0.0 ARMS:=true LEGS:=true TORSO:=true WHEELS:=false HEAD:=true ARM_ACTUATORS:=true LEG_ACTUATORS:=true TORSO_ACTUATORS:=true WHEELS_ACTUATORS:=true HEAD_ACTUATORS:=true ARM_SENSORS:=true LEG_SENSORS:=true FT_SENSORS:=true BUMBERS:=true IMU:=true VISUAL_MODEL:=mesh COLLISION_MODEL:=simplified INERTIA_PARAM:=original KINEMATIC_PARAM:=original
|
||||
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@@ -0,0 +1,21 @@
|
||||
MIT License
|
||||
|
||||
Copyright (c) 2017 Alex Ansari
|
||||
|
||||
Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
of this software and associated documentation files (the "Software"), to deal
|
||||
in the Software without restriction, including without limitation the rights
|
||||
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
copies of the Software, and to permit persons to whom the Software is
|
||||
furnished to do so, subject to the following conditions:
|
||||
|
||||
The above copyright notice and this permission notice shall be included in all
|
||||
copies or substantial portions of the Software.
|
||||
|
||||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
|
||||
SOFTWARE.
|
||||
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Load Diff
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user