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add urdfs (part4)

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Brian Delhaisse
2019-03-16 03:35:37 +01:00
parent 1d233df40b
commit d61b71d848
57 changed files with 4486 additions and 0 deletions
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pyrobolearn/robots/urdfs/crab/crab.urdf
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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from crab_model.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="crab" xmlns:xacro="http://ros.org/wiki/xacro">
<!-- Build the body frame -->
<!--link name="base_link"/>
<joint name="base_joint" type="fixed">
<parent link="base_link"/>
<child link="thorax"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint-->
<!-- Note the density of the aluminium is about 2,710kg/m^3, and the densityf of the alloys of aluminium does not vary widely from this figure ranging between 2,640kg/m^3 and 2,810kg/m^3 (from www.thyssenkrupp-materials.co.uk/density-of-aluminium.html) -->
<!-- One servo has a weight of approximately 0.055kg -->
<link name="thorax">
<inertial> <!-- these inertia are calculated based on the visual meshes using Meshlab, and using a density of 1kg/m^3 (http://gazebosim.org/tutorials?tut=inertia) -->
<!--mass value="1"/> <!-- volume = 0.061867e-3 -->
<mass value="0.16765957"/> <!-- volume = 0.061867e-3m^3, density = 2,710kg/m^3 -->
<origin xyz="0.000137 0.000006 0.002405"/>
<!--inertia ixx="0.011935e-5" ixy="0.0" ixz="-0.000021e-5" iyy="0.022562e-5" iyz="-0.000001e-5" izz="0.026533e-5"/-->
<!--inertia ixx="0.00192913831" ixy="0.0" ixz="-0.00000339437" iyy="0.00364685535" iyz="-1.6163706e-7" izz="0.00428871611"/> <!-- divided by the volume, just need to be multiplied by the mass -->
<inertia ixx="0.00032343849" ixy="0.0" ixz="-5.69098615e-7" iyy="0.00061143019" iyz="-2.71e-8" izz="0.00071904429"/> <!-- divided by the volume and multiplied by the mass -->
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/thorax.STL"/>
</geometry>
<material name="grey">
<color rgba="0.5 0.5 0.5 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry name="thorax_collision">
<mesh filename="meshes/thorax.STL" scale="1. 1. 1."/>
</geometry>
</collision>
</link>
<!-- Pi parameter -->
<!-- Joint properties -->
<!-- Leg macros -->
<!-- Build robot model -->
<joint name="leg_center_joint_r1" type="fixed">
<origin rpy="0 0 0" xyz="0.087598 -0.050575 0"/>
<parent link="thorax"/>
<child link="leg_center_r1"/>
</joint>
<link name="leg_center_r1">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
</inertial>
</link> <!-- in pybullet, the inertia need to be specified even for dummy links, otherwise it will put an identity inertia and a mass of 1 by default -->
<joint name="coxa_joint_r1" type="revolute">
<origin rpy="0 0 -1.0471975512" xyz="0 0 0"/>
<parent link="leg_center_r1"/>
<child link="coxa_r1"/>
<axis xyz="0 0 -1"/>
<limit effort="10000" lower="-1.5" upper="1.5" velocity="100"/>
</joint>
<link name="coxa_r1">
<inertial> <!-- these inertia are calculated based on the visual meshes using Meshlab, and using a density of 1kg/m^3 (http://gazebosim.org/tutorials?tut=inertia) -->
<mass value="0.120"/> <!-- volume = 0.033302e-3, mass of 2 servos = 0,110kg + mass of a little bit of alloy = 0.010kg (approx) -->
<origin xyz="0.014769 -0.007977 0.004815"/>
<!--inertia ixx="0.001380e-5" ixy="-0.000093e-5" ixz="-0.000177e-5" iyy="0.001442e-5" iyz="-0.000030e-5" izz="0.001371e-5"/-->
<!--inertia ixx="0.00041438952" ixy="-0.00002792625" ixz="-0.00005314996" iyy="0.00043300702" iyz="-0.00000900846" izz="0.00041168698"/> <!-- divided by the volume, just need to be multiplied by the mass -->
<inertia ixx="0.00004972674" ixy="-0.00000335115" ixz="-0.00000637799" iyy="0.00005196084" iyz="-0.00000108101" izz="0.00004940243"/> <!-- divided by the volume and multiplied by the mass -->
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/coxa_r.STL"/>
</geometry>
<material name="">
<color rgba="0.7 0.7 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry name="coxa_r1_collision">
<mesh filename="meshes/coxa_r.STL" scale="1. 1. 1."/>
</geometry>
</collision>
</link>
<joint name="femur_joint_r1" type="revolute">
<origin rpy="-1.57079632679 0 0" xyz="0.0294 0 0"/>
<parent link="coxa_r1"/>
<child link="femur_r1"/>
<axis xyz="0 0 -1"/>
<limit effort="10000" lower="-1.5" upper="1.5" velocity="100"/>
</joint>
<link name="femur_r1">
<inertial> <!-- these inertia are calculated based on the visual meshes using Meshlab, and using a density of 1kg/m^3 (http://gazebosim.org/tutorials?tut=inertia) -->
<mass value="0.00834951"/> <!-- volume = 0.003081e-3, density = 2,710kg/m^3 -->
<origin xyz="0.0400002 0.0017746 0.0213350"/>
<!--inertia ixx="0.000012e-5" ixy="0.0e-5" ixz="0.0e-5" iyy="0.000319e-5" iyz="0.0e-5" izz="0.000330e-5"/-->
<!--inertia ixx="0.00003894839" ixy="0.0" ixz="0.0" iyy="0.00103537812" iyz="0.0" izz="0.00107108081"/> <!-- divided by the volume, just need to be multiplied by the mass -->
<inertia ixx="3.25199972e-7" ixy="0.0" ixz="0.0" iyy="0.00000864489" iyz="0.0" izz="0.00000894299"/> <!-- divided by the volume and multiplied by the mass -->
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/femur_r.STL"/>
</geometry>
<material name="">
<color rgba="0 0.7 0.7 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry name="femur_r1_collision">
<mesh filename="meshes/femur_r.STL" scale="1. 1. 1."/>
</geometry>
</collision>
</link>
<joint name="tibia_joint_r1" type="revolute">
<origin rpy="3.14159265359 0 1.57079632679" xyz="0.08 0 0"/>
<parent link="femur_r1"/>
<child link="tibia_r1"/>
<axis xyz="0 0 1"/>
<limit effort="10000" lower="-1.5" upper="1.5" velocity="100"/>
</joint>
<link name="tibia_r1">
<inertial> <!-- these inertia are calculated based on the visual meshes using Meshlab, and using a density of 1kg/m^3 (http://gazebosim.org/tutorials?tut=inertia) -->
<mass value="0.05564726"/> <!-- volume = 0.016106e-3, density = 2,710kg + 0.013kg for the servo (a little bit random) -->
<origin xyz="-0.0025176 0.0017559 0.0028322"/>
<!--inertia ixx="0.000317e-5" ixy="-0.000054e-5" ixz="0.000061e-5" iyy="0.001368e-5" iyz="0.000011e-5" izz="0.001244e-5"/-->
<!--inertia ixx="0.00019682106" ixy="-0.00003352787" ixz="0.00003787408" iyy="0.0008493729" iyz="0.00000682975" izz="0.00077238296"/> <!-- divided by the volume, just need to be multiplied by the mass -->
<inertia ixx="0.00001095255" ixy="-0.00000186573" ixz="0.00000210758" iyy="0.00004726527" iyz="3.80056874e-7" izz="0.00004298099"/> <!-- divided by the volume, just need to be multiplied by the mass -->
</inertial>
<visual>
<origin rpy="0 0 0.06" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/tibia_r.STL"/>
</geometry>
<material name="">
<color rgba="0.7 0 0.7 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0.06" xyz="0 0 0"/>
<geometry name="tibia_r1_collision">
<mesh filename="meshes/tibia_r.STL" scale="1. 1. 1."/>
</geometry>
</collision>
</link>
<joint name="tibia_foot_joint_r1" type="fixed">
<origin rpy="0 0 0" xyz="0.117 0 0"/>
<parent link="tibia_r1"/>
<child link="tibia_foot_r1"/>
</joint>
<link name="tibia_foot_r1">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
</inertial>
</link> <!-- in pybullet, the inertia need to be specified even for dummy links, otherwise it will put an identity inertia and a mass of 1 by default -->
<joint name="leg_center_joint_r2" type="fixed">
<origin rpy="0 0 0" xyz="0 -0.06985 0"/>
<parent link="thorax"/>
<child link="leg_center_r2"/>
</joint>
<link name="leg_center_r2">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
</inertial>
</link> <!-- in pybullet, the inertia need to be specified even for dummy links, otherwise it will put an identity inertia and a mass of 1 by default -->
<joint name="coxa_joint_r2" type="revolute">
<origin rpy="0 0 -1.57079632679" xyz="0 0 0"/>
<parent link="leg_center_r2"/>
<child link="coxa_r2"/>
<axis xyz="0 0 -1"/>
<limit effort="10000" lower="-1.5" upper="1.5" velocity="100"/>
</joint>
<link name="coxa_r2">
<inertial> <!-- these inertia are calculated based on the visual meshes using Meshlab, and using a density of 2,710kg/m^3 (http://gazebosim.org/tutorials?tut=inertia) -->
<mass value="0.120"/> <!-- volume = 0.033302e-3, mass of 2 servos = 0,110kg + mass of a little bit of alloy = 0.010kg (approx) -->
<origin xyz="0.014769 -0.007977 0.004815"/>
<!--inertia ixx="0.001380e-5" ixy="-0.000093e-5" ixz="-0.000177e-5" iyy="0.001442e-5" iyz="-0.000030e-5" izz="0.001371e-5"/-->
<!--inertia ixx="0.00041438952" ixy="-0.00002792625" ixz="-0.00005314996" iyy="0.00043300702" iyz="-0.00000900846" izz="0.00041168698"/> <!-- divided by the volume, just need to be multiplied by the mass -->
<inertia ixx="0.00004972674" ixy="-0.00000335115" ixz="-0.00000637799" iyy="0.00005196084" iyz="-0.00000108101" izz="0.00004940243"/> <!-- divided by the volume and multiplied by the mass -->
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/coxa_r.STL"/>
</geometry>
<material name="">
<color rgba="0.7 0.7 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry name="coxa_r2_collision">
<mesh filename="meshes/coxa_r.STL" scale="1. 1. 1."/>
</geometry>
</collision>
</link>
<joint name="femur_joint_r2" type="revolute">
<origin rpy="-1.57079632679 0 0" xyz="0.0294 0 0"/>
<parent link="coxa_r2"/>
<child link="femur_r2"/>
<axis xyz="0 0 -1"/>
<limit effort="10000" lower="-1.5" upper="1.5" velocity="100"/>
</joint>
<link name="femur_r2">
<inertial> <!-- these inertia are calculated based on the visual meshes using Meshlab, and using a density of 1kg/m^3 (http://gazebosim.org/tutorials?tut=inertia) -->
<mass value="0.00834951"/> <!-- volume = 0.003081e-3, density = 2,710kg/m^3 -->
<origin xyz="0.0400002 0.0017746 0.0213350"/>
<!--inertia ixx="0.000012e-5" ixy="0.0e-5" ixz="0.0e-5" iyy="0.000319e-5" iyz="0.0e-5" izz="0.000330e-5"/-->
<!--inertia ixx="0.00003894839" ixy="0.0" ixz="0.0" iyy="0.00103537812" iyz="0.0" izz="0.00107108081"/> <!-- divided by the volume, just need to be multiplied by the mass -->
<inertia ixx="3.25199972e-7" ixy="0.0" ixz="0.0" iyy="0.00000864489" iyz="0.0" izz="0.00000894299"/> <!-- divided by the volume and multiplied by the mass -->
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/femur_r.STL"/>
</geometry>
<material name="">
<color rgba="0 0.7 0.7 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry name="femur_r2_collision">
<mesh filename="meshes/femur_r.STL" scale="1. 1. 1."/>
</geometry>
</collision>
</link>
<joint name="tibia_joint_r2" type="revolute">
<origin rpy="3.14159265359 0 1.57079632679" xyz="0.08 0 0"/>
<parent link="femur_r2"/>
<child link="tibia_r2"/>
<axis xyz="0 0 1"/>
<limit effort="10000" lower="-1.5" upper="1.5" velocity="100"/>
</joint>
<link name="tibia_r2">
<inertial> <!-- these inertia are calculated based on the visual meshes using Meshlab, and using a density of 1kg/m^3 (http://gazebosim.org/tutorials?tut=inertia) -->
<mass value="0.05564726"/> <!-- volume = 0.016106e-3, density = 2,710kg + 0.013kg for the servo (a little bit random) -->
<origin xyz="-0.0025176 0.0017559 0.0028322"/>
<!--inertia ixx="0.000317e-5" ixy="-0.000054e-5" ixz="0.000061e-5" iyy="0.001368e-5" iyz="0.000011e-5" izz="0.001244e-5"/-->
<!--inertia ixx="0.00019682106" ixy="-0.00003352787" ixz="0.00003787408" iyy="0.0008493729" iyz="0.00000682975" izz="0.00077238296"/> <!-- divided by the volume, just need to be multiplied by the mass -->
<inertia ixx="0.00001095255" ixy="-0.00000186573" ixz="0.00000210758" iyy="0.00004726527" iyz="3.80056874e-7" izz="0.00004298099"/> <!-- divided by the volume, just need to be multiplied by the mass -->
</inertial>
<visual>
<origin rpy="0 0 0.06" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/tibia_r.STL"/>
</geometry>
<material name="">
<color rgba="0.7 0 0.7 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0.06" xyz="0 0 0"/>
<geometry name="tibia_r2_collision">
<mesh filename="meshes/tibia_r.STL" scale="1. 1. 1."/>
</geometry>
</collision>
</link>
<joint name="tibia_foot_joint_r2" type="fixed">
<origin rpy="0 0 0" xyz="0.117 0 0"/>
<parent link="tibia_r2"/>
<child link="tibia_foot_r2"/>
</joint>
<link name="tibia_foot_r2">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
</inertial>
</link> <!-- in pybullet, the inertia need to be specified even for dummy links, otherwise it will put an identity inertia and a mass of 1 by default -->
<joint name="leg_center_joint_r3" type="fixed">
<origin rpy="0 0 0" xyz="-0.087598 -0.050575 0"/>
<parent link="thorax"/>
<child link="leg_center_r3"/>
</joint>
<link name="leg_center_r3">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
</inertial>
</link> <!-- in pybullet, the inertia need to be specified even for dummy links, otherwise it will put an identity inertia and a mass of 1 by default -->
<joint name="coxa_joint_r3" type="revolute">
<origin rpy="0 0 -2.09439510239" xyz="0 0 0"/>
<parent link="leg_center_r3"/>
<child link="coxa_r3"/>
<axis xyz="0 0 -1"/>
<limit effort="10000" lower="-1.5" upper="1.5" velocity="100"/>
</joint>
<link name="coxa_r3">
<inertial> <!-- these inertia are calculated based on the visual meshes using Meshlab, and using a density of 2,710kg/m^3 (http://gazebosim.org/tutorials?tut=inertia) -->
<mass value="0.120"/> <!-- volume = 0.033302e-3, mass of 2 servos = 0,110kg + mass of a little bit of alloy = 0.010kg (approx) -->
<origin xyz="0.014769 -0.007977 0.004815"/>
<!--inertia ixx="0.001380e-5" ixy="-0.000093e-5" ixz="-0.000177e-5" iyy="0.001442e-5" iyz="-0.000030e-5" izz="0.001371e-5"/-->
<!--inertia ixx="0.00041438952" ixy="-0.00002792625" ixz="-0.00005314996" iyy="0.00043300702" iyz="-0.00000900846" izz="0.00041168698"/> <!-- divided by the volume, just need to be multiplied by the mass -->
<inertia ixx="0.00004972674" ixy="-0.00000335115" ixz="-0.00000637799" iyy="0.00005196084" iyz="-0.00000108101" izz="0.00004940243"/> <!-- divided by the volume and multiplied by the mass -->
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/coxa_r.STL"/>
</geometry>
<material name="">
<color rgba="0.7 0.7 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry name="coxa_r3_collision">
<mesh filename="meshes/coxa_r.STL" scale="1. 1. 1."/>
</geometry>
</collision>
</link>
<joint name="femur_joint_r3" type="revolute">
<origin rpy="-1.57079632679 0 0" xyz="0.0294 0 0"/>
<parent link="coxa_r3"/>
<child link="femur_r3"/>
<axis xyz="0 0 -1"/>
<limit effort="10000" lower="-1.5" upper="1.5" velocity="100"/>
</joint>
<link name="femur_r3">
<inertial> <!-- these inertia are calculated based on the visual meshes using Meshlab, and using a density of 1kg/m^3 (http://gazebosim.org/tutorials?tut=inertia) -->
<mass value="0.00834951"/> <!-- volume = 0.003081e-3, density = 2,710kg/m^3 -->
<origin xyz="0.0400002 0.0017746 0.0213350"/>
<!--inertia ixx="0.000012e-5" ixy="0.0e-5" ixz="0.0e-5" iyy="0.000319e-5" iyz="0.0e-5" izz="0.000330e-5"/-->
<!--inertia ixx="0.00003894839" ixy="0.0" ixz="0.0" iyy="0.00103537812" iyz="0.0" izz="0.00107108081"/> <!-- divided by the volume, just need to be multiplied by the mass -->
<inertia ixx="3.25199972e-7" ixy="0.0" ixz="0.0" iyy="0.00000864489" iyz="0.0" izz="0.00000894299"/> <!-- divided by the volume and multiplied by the mass -->
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/femur_r.STL"/>
</geometry>
<material name="">
<color rgba="0 0.7 0.7 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry name="femur_r3_collision">
<mesh filename="meshes/femur_r.STL" scale="1. 1. 1."/>
</geometry>
</collision>
</link>
<joint name="tibia_joint_r3" type="revolute">
<origin rpy="3.14159265359 0 1.57079632679" xyz="0.08 0 0"/>
<parent link="femur_r3"/>
<child link="tibia_r3"/>
<axis xyz="0 0 1"/>
<limit effort="10000" lower="-1.5" upper="1.5" velocity="100"/>
</joint>
<link name="tibia_r3">
<inertial> <!-- these inertia are calculated based on the visual meshes using Meshlab, and using a density of 1kg/m^3 (http://gazebosim.org/tutorials?tut=inertia) -->
<mass value="0.05564726"/> <!-- volume = 0.016106e-3, density = 2,710kg + 0.013kg for the servo (a little bit random) -->
<origin xyz="-0.0025176 0.0017559 0.0028322"/>
<!--inertia ixx="0.000317e-5" ixy="-0.000054e-5" ixz="0.000061e-5" iyy="0.001368e-5" iyz="0.000011e-5" izz="0.001244e-5"/-->
<!--inertia ixx="0.00019682106" ixy="-0.00003352787" ixz="0.00003787408" iyy="0.0008493729" iyz="0.00000682975" izz="0.00077238296"/> <!-- divided by the volume, just need to be multiplied by the mass -->
<inertia ixx="0.00001095255" ixy="-0.00000186573" ixz="0.00000210758" iyy="0.00004726527" iyz="3.80056874e-7" izz="0.00004298099"/> <!-- divided by the volume, just need to be multiplied by the mass -->
</inertial>
<visual>
<origin rpy="0 0 0.06" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/tibia_r.STL"/>
</geometry>
<material name="">
<color rgba="0.7 0 0.7 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0.06" xyz="0 0 0"/>
<geometry name="tibia_r3_collision">
<mesh filename="meshes/tibia_r.STL" scale="1. 1. 1."/>
</geometry>
</collision>
</link>
<joint name="tibia_foot_joint_r3" type="fixed">
<origin rpy="0 0 0" xyz="0.117 0 0"/>
<parent link="tibia_r3"/>
<child link="tibia_foot_r3"/>
</joint>
<link name="tibia_foot_r3">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
</inertial>
</link> <!-- in pybullet, the inertia need to be specified even for dummy links, otherwise it will put an identity inertia and a mass of 1 by default -->
<joint name="leg_center_joint_l1" type="fixed">
<origin rpy="0 0 0" xyz="0.087598 0.050575 0"/>
<parent link="thorax"/>
<child link="leg_center_l1"/>
</joint>
<link name="leg_center_l1">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
</inertial>
</link> <!-- in pybullet, the inertia need to be specified even for dummy links, otherwise it will put an identity inertia and a mass of 1 by default -->
<joint name="coxa_joint_l1" type="revolute">
<origin rpy="0 0 1.0471975512" xyz="0 0 0"/>
<parent link="leg_center_l1"/>
<child link="coxa_l1"/>
<axis xyz="0 0 -1"/>
<limit effort="10000" lower="-1.5" upper="1.5" velocity="100"/>
</joint>
<link name="coxa_l1">
<inertial> <!-- these inertia are calculated based on the visual meshes using Meshlab, and using a density of 1kg/m^3 (http://gazebosim.org/tutorials?tut=inertia) -->
<mass value="0.120"/> <!-- volume = 0.033302e-3, mass of 2 servos = 0,110kg + mass of a little bit of alloy = 0.010kg (approx) -->
<origin xyz="0.014769 0.007977 0.004815"/>
<!--inertia ixx="0.001380e-5" ixy="0.000093e-5" ixz="-0.000177e-5" iyy="0.001442e-5" iyz="0.000030e-5" izz="0.001371e-5"/-->
<!--inertia ixx="0.00041438952" ixy="0.00002792625" ixz="-0.00005314996" iyy="0.00043300702" iyz="0.00000900846" izz="0.00041168698"/> <!-- divided by the volume, just need to be multiplied by the mass -->
<inertia ixx="0.00004972674" ixy="0.00000335115" ixz="-0.00000637799" iyy="0.00005196084" iyz="0.00000108101" izz="0.00004940243"/> <!-- divided by the volume and multiplied by the mass -->
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/coxa_l.STL"/>
</geometry>
<material name="">
<color rgba="0.7 0.7 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry name="coxa_l1_collision">
<mesh filename="meshes/coxa_l.STL" scale="1. 1. 1."/>
</geometry>
</collision>
</link>
<joint name="femur_joint_l1" type="revolute">
<origin rpy="-1.57079632679 0 0" xyz="0.0294 0 0"/>
<parent link="coxa_l1"/>
<child link="femur_l1"/>
<axis xyz="0 0 -1"/>
<limit effort="10000" lower="-1.5" upper="1.5" velocity="100"/>
</joint>
<link name="femur_l1">
<inertial> <!-- these inertia are calculated based on the visual meshes using Meshlab, and using a density of 1kg/m^3 (http://gazebosim.org/tutorials?tut=inertia) -->
<mass value="0.00834951"/> <!-- volume = 0.003081e-3, density = 2,710kg/m^3 -->
<origin xyz="0.0400002 0.0017746 -0.0213350"/>
<!--inertia ixx="0.000012e-5" ixy="0.0e-5" ixz="0.0e-5" iyy="0.000319e-5" iyz="0.0e-5" izz="0.000330e-5"/-->
<!--inertia ixx="0.00003894839" ixy="0.0" ixz="0.0" iyy="0.00103537812" iyz="0.0" izz="0.00107108081"/> <!-- divided by the volume, just need to be multiplied by the mass -->
<inertia ixx="3.25199972e-7" ixy="0.0" ixz="0.0" iyy="0.00000864489" iyz="0.0" izz="0.00000894299"/> <!-- divided by the volume and multiplied by the mass -->
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/femur_l.STL"/>
</geometry>
<material name="">
<color rgba="0 0.7 0.7 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry name="femur_l1_collision">
<mesh filename="meshes/femur_l.STL" scale="1. 1. 1."/>
</geometry>
</collision>
</link>
<joint name="tibia_joint_l1" type="revolute">
<origin rpy="3.14159265359 0 1.57079632679" xyz="0.08 0 0"/>
<parent link="femur_l1"/>
<child link="tibia_l1"/>
<axis xyz="0 0 1"/>
<limit effort="10000" lower="-1.5" upper="1.5" velocity="100"/>
</joint>
<link name="tibia_l1">
<inertial> <!-- these inertia are calculated based on the visual meshes using Meshlab, and using a density of 1kg/m^3 (http://gazebosim.org/tutorials?tut=inertia) -->
<mass value="0.05564726"/> <!-- volume = 0.016106e-3, density = 2,710kg + 0.013kg for the servo (a little bit random) -->
<origin xyz="-0.0025176 0.0017559 -0.0028322"/>
<!--inertia ixx="0.000317e-5" ixy="-0.000054e-5" ixz="-0.000061e-5" iyy="0.001368e-5" iyz="-0.000011e-5" izz="0.001244e-5"/-->
<!--inertia ixx="0.00019682106" ixy="-0.00003352787" ixz="-0.00003787408" iyy="0.0008493729" iyz="-0.00000682975" izz="0.00077238296"/> <!-- divided by the volume, just need to be multiplied by the mass -->
<inertia ixx="0.00001095255" ixy="-0.00000186573" ixz="-0.00000210758" iyy="0.00004726527" iyz="-3.80056874e-7" izz="0.00004298099"/> <!-- divided by the volume, just need to be multiplied by the mass -->
</inertial>
<visual>
<origin rpy="0 0 0.06" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/tibia_l.STL"/>
</geometry>
<material name="">
<color rgba="0.7 0 0.7 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0.06" xyz="0 0 0"/>
<geometry name="tibia_l1_collision">
<mesh filename="meshes/tibia_l.STL" scale="1. 1. 1."/>
</geometry>
</collision>
</link>
<joint name="tibia_foot_joint_l1" type="fixed">
<origin rpy="0 0 0" xyz="0.117 0 0"/>
<parent link="tibia_l1"/>
<child link="tibia_foot_l1"/>
</joint>
<link name="tibia_foot_l1">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
</inertial>
</link> <!-- in pybullet, the inertia need to be specified even for dummy links, otherwise it will put an identity inertia and a mass of 1 by default -->
<joint name="leg_center_joint_l2" type="fixed">
<origin rpy="0 0 0" xyz="0 0.06985 0"/>
<parent link="thorax"/>
<child link="leg_center_l2"/>
</joint>
<link name="leg_center_l2">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
</inertial>
</link> <!-- in pybullet, the inertia need to be specified even for dummy links, otherwise it will put an identity inertia and a mass of 1 by default -->
<joint name="coxa_joint_l2" type="revolute">
<origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
<parent link="leg_center_l2"/>
<child link="coxa_l2"/>
<axis xyz="0 0 -1"/>
<limit effort="10000" lower="-1.5" upper="1.5" velocity="100"/>
</joint>
<link name="coxa_l2">
<inertial> <!-- these inertia are calculated based on the visual meshes using Meshlab, and using a density of 1kg/m^3 (http://gazebosim.org/tutorials?tut=inertia) -->
<mass value="0.120"/> <!-- volume = 0.033302e-3, mass of 2 servos = 0,110kg + mass of a little bit of alloy = 0.010kg (approx) -->
<origin xyz="0.014769 0.007977 0.004815"/>
<!--inertia ixx="0.001380e-5" ixy="0.000093e-5" ixz="-0.000177e-5" iyy="0.001442e-5" iyz="0.000030e-5" izz="0.001371e-5"/-->
<!--inertia ixx="0.00041438952" ixy="0.00002792625" ixz="-0.00005314996" iyy="0.00043300702" iyz="0.00000900846" izz="0.00041168698"/> <!-- divided by the volume, just need to be multiplied by the mass -->
<inertia ixx="0.00004972674" ixy="0.00000335115" ixz="-0.00000637799" iyy="0.00005196084" iyz="0.00000108101" izz="0.00004940243"/> <!-- divided by the volume and multiplied by the mass -->
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/coxa_l.STL"/>
</geometry>
<material name="">
<color rgba="0.7 0.7 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry name="coxa_l2_collision">
<mesh filename="meshes/coxa_l.STL" scale="1. 1. 1."/>
</geometry>
</collision>
</link>
<joint name="femur_joint_l2" type="revolute">
<origin rpy="-1.57079632679 0 0" xyz="0.0294 0 0"/>
<parent link="coxa_l2"/>
<child link="femur_l2"/>
<axis xyz="0 0 -1"/>
<limit effort="10000" lower="-1.5" upper="1.5" velocity="100"/>
</joint>
<link name="femur_l2">
<inertial> <!-- these inertia are calculated based on the visual meshes using Meshlab, and using a density of 1kg/m^3 (http://gazebosim.org/tutorials?tut=inertia) -->
<mass value="0.00834951"/> <!-- volume = 0.003081e-3, density = 2,710kg/m^3 -->
<origin xyz="0.0400002 0.0017746 -0.0213350"/>
<!--inertia ixx="0.000012e-5" ixy="0.0e-5" ixz="0.0e-5" iyy="0.000319e-5" iyz="0.0e-5" izz="0.000330e-5"/-->
<!--inertia ixx="0.00003894839" ixy="0.0" ixz="0.0" iyy="0.00103537812" iyz="0.0" izz="0.00107108081"/> <!-- divided by the volume, just need to be multiplied by the mass -->
<inertia ixx="3.25199972e-7" ixy="0.0" ixz="0.0" iyy="0.00000864489" iyz="0.0" izz="0.00000894299"/> <!-- divided by the volume and multiplied by the mass -->
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/femur_l.STL"/>
</geometry>
<material name="">
<color rgba="0 0.7 0.7 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry name="femur_l2_collision">
<mesh filename="meshes/femur_l.STL" scale="1. 1. 1."/>
</geometry>
</collision>
</link>
<joint name="tibia_joint_l2" type="revolute">
<origin rpy="3.14159265359 0 1.57079632679" xyz="0.08 0 0"/>
<parent link="femur_l2"/>
<child link="tibia_l2"/>
<axis xyz="0 0 1"/>
<limit effort="10000" lower="-1.5" upper="1.5" velocity="100"/>
</joint>
<link name="tibia_l2">
<inertial> <!-- these inertia are calculated based on the visual meshes using Meshlab, and using a density of 1kg/m^3 (http://gazebosim.org/tutorials?tut=inertia) -->
<mass value="0.05564726"/> <!-- volume = 0.016106e-3, density = 2,710kg + 0.013kg for the servo (a little bit random) -->
<origin xyz="-0.0025176 0.0017559 -0.0028322"/>
<!--inertia ixx="0.000317e-5" ixy="-0.000054e-5" ixz="-0.000061e-5" iyy="0.001368e-5" iyz="-0.000011e-5" izz="0.001244e-5"/-->
<!--inertia ixx="0.00019682106" ixy="-0.00003352787" ixz="-0.00003787408" iyy="0.0008493729" iyz="-0.00000682975" izz="0.00077238296"/> <!-- divided by the volume, just need to be multiplied by the mass -->
<inertia ixx="0.00001095255" ixy="-0.00000186573" ixz="-0.00000210758" iyy="0.00004726527" iyz="-3.80056874e-7" izz="0.00004298099"/> <!-- divided by the volume, just need to be multiplied by the mass -->
</inertial>
<visual>
<origin rpy="0 0 0.06" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/tibia_l.STL"/>
</geometry>
<material name="">
<color rgba="0.7 0 0.7 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0.06" xyz="0 0 0"/>
<geometry name="tibia_l2_collision">
<mesh filename="meshes/tibia_l.STL" scale="1. 1. 1."/>
</geometry>
</collision>
</link>
<joint name="tibia_foot_joint_l2" type="fixed">
<origin rpy="0 0 0" xyz="0.117 0 0"/>
<parent link="tibia_l2"/>
<child link="tibia_foot_l2"/>
</joint>
<link name="tibia_foot_l2">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
</inertial>
</link> <!-- in pybullet, the inertia need to be specified even for dummy links, otherwise it will put an identity inertia and a mass of 1 by default -->
<joint name="leg_center_joint_l3" type="fixed">
<origin rpy="0 0 0" xyz="-0.087598 0.050575 0"/>
<parent link="thorax"/>
<child link="leg_center_l3"/>
</joint>
<link name="leg_center_l3">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
</inertial>
</link> <!-- in pybullet, the inertia need to be specified even for dummy links, otherwise it will put an identity inertia and a mass of 1 by default -->
<joint name="coxa_joint_l3" type="revolute">
<origin rpy="0 0 2.09439510239" xyz="0 0 0"/>
<parent link="leg_center_l3"/>
<child link="coxa_l3"/>
<axis xyz="0 0 -1"/>
<limit effort="10000" lower="-1.5" upper="1.5" velocity="100"/>
</joint>
<link name="coxa_l3">
<inertial> <!-- these inertia are calculated based on the visual meshes using Meshlab, and using a density of 1kg/m^3 (http://gazebosim.org/tutorials?tut=inertia) -->
<mass value="0.120"/> <!-- volume = 0.033302e-3, mass of 2 servos = 0,110kg + mass of a little bit of alloy = 0.010kg (approx) -->
<origin xyz="0.014769 0.007977 0.004815"/>
<!--inertia ixx="0.001380e-5" ixy="0.000093e-5" ixz="-0.000177e-5" iyy="0.001442e-5" iyz="0.000030e-5" izz="0.001371e-5"/-->
<!--inertia ixx="0.00041438952" ixy="0.00002792625" ixz="-0.00005314996" iyy="0.00043300702" iyz="0.00000900846" izz="0.00041168698"/> <!-- divided by the volume, just need to be multiplied by the mass -->
<inertia ixx="0.00004972674" ixy="0.00000335115" ixz="-0.00000637799" iyy="0.00005196084" iyz="0.00000108101" izz="0.00004940243"/> <!-- divided by the volume and multiplied by the mass -->
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/coxa_l.STL"/>
</geometry>
<material name="">
<color rgba="0.7 0.7 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry name="coxa_l3_collision">
<mesh filename="meshes/coxa_l.STL" scale="1. 1. 1."/>
</geometry>
</collision>
</link>
<joint name="femur_joint_l3" type="revolute">
<origin rpy="-1.57079632679 0 0" xyz="0.0294 0 0"/>
<parent link="coxa_l3"/>
<child link="femur_l3"/>
<axis xyz="0 0 -1"/>
<limit effort="10000" lower="-1.5" upper="1.5" velocity="100"/>
</joint>
<link name="femur_l3">
<inertial> <!-- these inertia are calculated based on the visual meshes using Meshlab, and using a density of 1kg/m^3 (http://gazebosim.org/tutorials?tut=inertia) -->
<mass value="0.00834951"/> <!-- volume = 0.003081e-3, density = 2,710kg/m^3 -->
<origin xyz="0.0400002 0.0017746 -0.0213350"/>
<!--inertia ixx="0.000012e-5" ixy="0.0e-5" ixz="0.0e-5" iyy="0.000319e-5" iyz="0.0e-5" izz="0.000330e-5"/-->
<!--inertia ixx="0.00003894839" ixy="0.0" ixz="0.0" iyy="0.00103537812" iyz="0.0" izz="0.00107108081"/> <!-- divided by the volume, just need to be multiplied by the mass -->
<inertia ixx="3.25199972e-7" ixy="0.0" ixz="0.0" iyy="0.00000864489" iyz="0.0" izz="0.00000894299"/> <!-- divided by the volume and multiplied by the mass -->
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/femur_l.STL"/>
</geometry>
<material name="">
<color rgba="0 0.7 0.7 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry name="femur_l3_collision">
<mesh filename="meshes/femur_l.STL" scale="1. 1. 1."/>
</geometry>
</collision>
</link>
<joint name="tibia_joint_l3" type="revolute">
<origin rpy="3.14159265359 0 1.57079632679" xyz="0.08 0 0"/>
<parent link="femur_l3"/>
<child link="tibia_l3"/>
<axis xyz="0 0 1"/>
<limit effort="10000" lower="-1.5" upper="1.5" velocity="100"/>
</joint>
<link name="tibia_l3">
<inertial> <!-- these inertia are calculated based on the visual meshes using Meshlab, and using a density of 1kg/m^3 (http://gazebosim.org/tutorials?tut=inertia) -->
<mass value="0.05564726"/> <!-- volume = 0.016106e-3, density = 2,710kg + 0.013kg for the servo (a little bit random) -->
<origin xyz="-0.0025176 0.0017559 -0.0028322"/>
<!--inertia ixx="0.000317e-5" ixy="-0.000054e-5" ixz="-0.000061e-5" iyy="0.001368e-5" iyz="-0.000011e-5" izz="0.001244e-5"/-->
<!--inertia ixx="0.00019682106" ixy="-0.00003352787" ixz="-0.00003787408" iyy="0.0008493729" iyz="-0.00000682975" izz="0.00077238296"/> <!-- divided by the volume, just need to be multiplied by the mass -->
<inertia ixx="0.00001095255" ixy="-0.00000186573" ixz="-0.00000210758" iyy="0.00004726527" iyz="-3.80056874e-7" izz="0.00004298099"/> <!-- divided by the volume, just need to be multiplied by the mass -->
</inertial>
<visual>
<origin rpy="0 0 0.06" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/tibia_l.STL"/>
</geometry>
<material name="">
<color rgba="0.7 0 0.7 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0.06" xyz="0 0 0"/>
<geometry name="tibia_l3_collision">
<mesh filename="meshes/tibia_l.STL" scale="1. 1. 1."/>
</geometry>
</collision>
</link>
<joint name="tibia_foot_joint_l3" type="fixed">
<origin rpy="0 0 0" xyz="0.117 0 0"/>
<parent link="tibia_l3"/>
<child link="tibia_foot_l3"/>
</joint>
<link name="tibia_foot_l3">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
</inertial>
</link> <!-- in pybullet, the inertia need to be specified even for dummy links, otherwise it will put an identity inertia and a mass of 1 by default -->
</robot>
pyrobolearn/robots/urdfs/crab/meshes/Tibia_foot_new.STL
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pyrobolearn/robots/urdfs/cubli/LICENSE
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The MIT License (MIT)
Copyright (c) 2018 Songyan Xin
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.
pyrobolearn/robots/urdfs/cubli/cubli.urdf
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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from cubli.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<!-- Revolute-Revolute Manipulator -->
<robot name="cubli" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- Space btw top of beam and the each joint -->
<material name="black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<material name="green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>
<material name="grey">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
<material name="orange">
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
</material>
<material name="brown">
<color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
</material>
<material name="red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="white">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<link name="cube">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="1.0"/>
<inertia ixx="0.166667" ixy="0.0" ixz="0.0" iyy="0.166667" iyz="0.0" izz="0.166667"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="1.0 1.0 1.0"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="1.0 1.0 1.0"/>
</geometry>
</collision>
</link>
<link name="wheel_x">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="1.0"/>
<inertia ixx="0.04020833333333334" ixy="0.0" ixz="0.0" iyy="0.04020833333333334" iyz="0.0" izz="0.08"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.05" radius="0.4"/>
</geometry>
<material name="red"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<cylinder length="0.05" radius="0.4"/>
</geometry>
</collision>
</link>
<link name="wheel_y">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="1.0"/>
<inertia ixx="0.04020833333333334" ixy="0.0" ixz="0.0" iyy="0.04020833333333334" iyz="0.0" izz="0.08"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.05" radius="0.4"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<cylinder length="0.05" radius="0.4"/>
</geometry>
</collision>
</link>
<link name="wheel_z">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="1.0"/>
<inertia ixx="0.04020833333333334" ixy="0.0" ixz="0.0" iyy="0.04020833333333334" iyz="0.0" izz="0.08"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.05" radius="0.4"/>
</geometry>
<material name="blue"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<cylinder length="0.05" radius="0.4"/>
</geometry>
</collision>
</link>
<joint name="joint_x" type="continuous">
<parent link="cube"/>
<child link="wheel_x"/>
<origin rpy="0 1.57079632679 0" xyz="0.475 0 0"/>
<axis xyz="0 0 1"/>
<dynamics damping="0.7"/>
</joint>
<joint name="joint_y" type="continuous">
<parent link="cube"/>
<child link="wheel_y"/>
<origin rpy="-1.57079632679 0 0" xyz="0 0.475 0"/>
<axis xyz="0 0 1"/>
<dynamics damping="0.7"/>
</joint>
<joint name="joint_z" type="continuous">
<parent link="cube"/>
<child link="wheel_z"/>
<origin rpy="0 0 0" xyz="0 0 0.475"/>
<axis xyz="0 0 1"/>
<dynamics damping="0.7"/>
</joint>
</robot>
pyrobolearn/robots/urdfs/epuck/LICENSE
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Copyright (c) 2015, Simon Puligny (simon.puligny@epfl.ch)
Website: http://www.gctronic.com/doc/index.php/E-Puck
Github: https://github.com/gctronic/epuck_driver_cpp
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
3. All advertising materials mentioning features or use of this software
must display the following acknowledgement:
This product includes software developed by the <organization>.
4. Neither the name of the <organization> nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY <COPYRIGHT HOLDER> ''AS IS'' AND ANY
EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
pyrobolearn/robots/urdfs/epuck/epuck.urdf
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<?xml version="1.0"?>
<!-- Modify by Brian: added inertia and collision tags -->
<!-- weight information (m_tot = 150 g) can be found here: http://www.gctronic.com/e-puck_spec.php -->
<!-- solid cylinder: i_xx = i_yy = i_zz = 1/12 * m * (3*r^2 + h^2) -->
<robot name="epuck">
<link name="base_link">
<inertial>
<origin xyz="0. 0. 0.02" />
<mass value="0.08"/>
<inertia ixx="3.220667e-05" ixy="0.0" ixz="0.0" iyy="3.220667e-05" iyz="0.0" izz="3.220667e-05" />
</inertial>
<visual>
<geometry>
<cylinder length="0.034" radius="0.035"/>
</geometry>
<origin xyz="0.0 0.0 0.02"/>
<material name="light_grey">
<!-- <color rgba="0.8 0.8 0.8 0.5"/> -->
<color rgba="0.8 0.8 0.8 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length="0.034" radius="0.035"/>
</geometry>
<origin xyz="0.0 0.0 0.02"/>
</collision>
</link>
<link name="right_wheel">
<inertial>
<origin rpy="0 1.57075 0"/>
<mass value="0.02"/>
<inertia ixx="2.006667e-06" ixy="0.0" ixz="0.0" iyy="2.006667e-06" iyz="0.0" izz="2.006667e-06" />
</inertial>
<visual>
<geometry>
<cylinder length="0.002" radius="0.02"/>
</geometry>
<origin rpy="0 1.57075 0"/>
<material name="black">
<color rgba="0.0 0.0 0.0 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length="0.002" radius="0.02"/>
</geometry>
<origin rpy="0 1.57075 0"/>
</collision>
</link>
<joint name="base_to_right_wheel" type="continuous">
<parent link="base_link"/>
<child link="right_wheel"/>
<origin rpy="0 0 1.57075" xyz="0.0 -0.035 0.02"/>
<axis xyz="1 0 0"/>
</joint>
<link name="left_wheel">
<inertial>
<origin rpy="0 1.57075 0"/>
<mass value="0.02"/>
<inertia ixx="2.006667e-06" ixy="0.0" ixz="0.0" iyy="2.006667e-06" iyz="0.0" izz="2.006667e-06" />
</inertial>
<visual>
<geometry>
<cylinder length="0.002" radius="0.02"/>
</geometry>
<origin rpy="0 1.57075 0"/>
<material name="black">
<color rgba="0.0 0.0 0.0 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length="0.002" radius="0.02"/>
</geometry>
<origin rpy="0 1.57075 0"/>
</collision>
</link>
<joint name="base_to_left_wheel" type="continuous">
<parent link="base_link"/>
<child link="left_wheel"/>
<origin rpy="0 0 1.57075" xyz="0.0 0.035 0.02"/>
<axis xyz="1 0 0"/>
</joint>
<link name="body_top">
<inertial>
<mass value="0.03"/>
<inertia ixx="1.02775e-5" ixy="0.0" ixz="0.0" iyy="1.02775e-5" iyz="0.0" izz="1.02775e-5" />
</inertial>
<visual>
<geometry>
<cylinder length="0.002" radius="0.037"/>
</geometry>
<material name="green_pcb">
<color rgba="0.23 0.4 0.16 1.0"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length="0.002" radius="0.037"/>
</geometry>
</collision>
</link>
<joint name="base_to_body_top" type="fixed">
<parent link="base_link"/>
<child link="body_top"/>
<origin xyz="0.0 0.0 0.037"/>
</joint>
</robot>
pyrobolearn/robots/urdfs/husky/LICENSE
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Software License Agreement (BSD License)
Copyright (c) 2015, Clearpath Robotics
Paul Bovbel <pbovbel@clearpathrobotics.com>, Devon Ash <dash@clearpathrobotics.com>
All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that
the following conditions are met:
* Redistributions of source code must retain the above copyright notice, this list of conditions and the
following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the
following disclaimer in the documentation and/or other materials provided with the distribution.
* Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
pyrobolearn/robots/urdfs/husky/husky.urdf
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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from husky.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<!--
Software License Agreement (BSD)
\file husky.urdf.xacro
\authors Paul Bovbel <pbovbel@clearpathrobotics.com>, Devon Ash <dash@clearpathrobotics.com>
\copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that
the following conditions are met:
* Redistributions of source code must retain the above copyright notice, this list of conditions and the
following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the
following disclaimer in the documentation and/or other materials provided with the distribution.
* Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-->
<robot name="husky" xmlns:xacro="http://ros.org/wiki/xacro">
<!-- Base link is the center of the robot's bottom plate -->
<link name="base_link">
<inertial>
<mass value="1.e-6"/>
<inertia ixx="1.e-12" ixy="0.0" ixz="0.0" iyy="1.e-12" iyz="0.0" izz="1.e-12"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/base_link.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.0 0 0.061875"/>
<geometry>
<box size="0.9874 0.5709 0.12375"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.185625"/>
<geometry>
<box size="0.78992 0.5709 0.12375"/>
</geometry>
</collision>
</link>
<!-- Base footprint is on the ground under the robot -->
<!-- <link name="base_footprint"/>
<joint name="base_footprint_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.13228"/>
<parent link="base_link"/>
<child link="base_footprint"/>
</joint> -->
<!-- Interial link stores the robot's inertial information -->
<link name="inertial_link">
<inertial>
<mass value="46.034"/>
<origin xyz="-0.00065 -0.085 0.062"/>
<inertia ixx="0.6022" ixy="-0.02364" ixz="-0.1197" iyy="1.7386" iyz="-0.001544" izz="2.0296"/>
</inertial>
</link>
<joint name="inertial_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base_link"/>
<child link="inertial_link"/>
</joint>
<!-- IMU Link is the standard mounting position for the UM6 IMU.-->
<!-- Can be modified with environment variables in /etc/ros/setup.bash -->
<link name="imu_link">
<inertial>
<mass value="1.e-6"/>
<inertia ixx="1.e-12" ixy="0.0" ixz="0.0" iyy="1.e-12" iyz="0.0" izz="1.e-12"/>
</inertial>
</link>
<joint name="imu_joint" type="fixed">
<origin rpy="0 -1.5708 3.1416" xyz="0.19 0 0.149"/>
<parent link="base_link"/>
<child link="imu_link"/>
</joint>
<gazebo reference="imu_link">
</gazebo>
<link name="front_left_wheel_link">
<inertial>
<mass value="2.637"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.04411" iyz="0" izz="0.02467"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/wheel.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.1143" radius="0.1651"/>
</geometry>
</collision>
</link>
<gazebo reference="front_left_wheel_link">
<mu1 value="1.0"/>
<mu2 value="1.0"/>
<kp value="10000000.0"/>
<kd value="1.0"/>
<fdir1 value="1 0 0"/>
</gazebo>
<joint name="front_left_wheel" type="continuous">
<parent link="base_link"/>
<child link="front_left_wheel_link"/>
<origin rpy="0 0 0" xyz="0.256 0.2854 0.03282"/>
<axis rpy="0 0 0" xyz="0 1 0"/>
</joint>
<transmission name="front_left_wheel_trans" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="front_left_wheel_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="front_left_wheel">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
</transmission>
<link name="front_right_wheel_link">
<inertial>
<mass value="2.637"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.04411" iyz="0" izz="0.02467"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/wheel.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.1143" radius="0.1651"/>
</geometry>
</collision>
</link>
<gazebo reference="front_right_wheel_link">
<mu1 value="1.0"/>
<mu2 value="1.0"/>
<kp value="10000000.0"/>
<kd value="1.0"/>
<fdir1 value="1 0 0"/>
</gazebo>
<joint name="front_right_wheel" type="continuous">
<parent link="base_link"/>
<child link="front_right_wheel_link"/>
<origin rpy="0 0 0" xyz="0.256 -0.2854 0.03282"/>
<axis rpy="0 0 0" xyz="0 1 0"/>
</joint>
<transmission name="front_right_wheel_trans" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="front_right_wheel_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="front_right_wheel">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
</transmission>
<link name="rear_left_wheel_link">
<inertial>
<mass value="2.637"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.04411" iyz="0" izz="0.02467"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/wheel.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.1143" radius="0.1651"/>
</geometry>
</collision>
</link>
<gazebo reference="rear_left_wheel_link">
<mu1 value="1.0"/>
<mu2 value="1.0"/>
<kp value="10000000.0"/>
<kd value="1.0"/>
<fdir1 value="1 0 0"/>
</gazebo>
<joint name="rear_left_wheel" type="continuous">
<parent link="base_link"/>
<child link="rear_left_wheel_link"/>
<origin rpy="0 0 0" xyz="-0.256 0.2854 0.03282"/>
<axis rpy="0 0 0" xyz="0 1 0"/>
</joint>
<transmission name="rear_left_wheel_trans" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="rear_left_wheel_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="rear_left_wheel">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
</transmission>
<link name="rear_right_wheel_link">
<inertial>
<mass value="2.637"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.04411" iyz="0" izz="0.02467"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/wheel.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.1143" radius="0.1651"/>
</geometry>
</collision>
</link>
<gazebo reference="rear_right_wheel_link">
<mu1 value="1.0"/>
<mu2 value="1.0"/>
<kp value="10000000.0"/>
<kd value="1.0"/>
<fdir1 value="1 0 0"/>
</gazebo>
<joint name="rear_right_wheel" type="continuous">
<parent link="base_link"/>
<child link="rear_right_wheel_link"/>
<origin rpy="0 0 0" xyz="-0.256 -0.2854 0.03282"/>
<axis rpy="0 0 0" xyz="0 1 0"/>
</joint>
<transmission name="rear_right_wheel_trans" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="rear_right_wheel_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="rear_right_wheel">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
</transmission>
<!-- Spawn Husky chassis -->
<link name="top_chassis_link">
<inertial>
<mass value="1.e-6"/>
<inertia ixx="1.e-12" ixy="0.0" ixz="0.0" iyy="1.e-12" iyz="0.0" izz="1.e-12"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/top_chassis.dae"/>
</geometry>
</visual>
</link>
<!-- Attach chassis to the robot -->
<joint name="top_chassis_joint" type="fixed">
<parent link="base_link"/>
<child link="top_chassis_link"/>
</joint>
<!-- Spawn user rails -->
<link name="user_rail_link">
<inertial>
<mass value="1.e-6"/>
<inertia ixx="1.e-12" ixy="0.0" ixz="0.0" iyy="1.e-12" iyz="0.0" izz="1.e-12"/>
</inertial>
<visual>
<geometry>
<mesh filename="meshes/user_rail.dae"/>
</geometry>
</visual>
</link>
<!-- Attach user rails to base link -->
<joint name="user_rail" type="fixed">
<origin rpy="0 0 0" xyz="0.272 0 0.245"/>
<parent link="base_link"/>
<child link="user_rail_link"/>
</joint>
<!-- Spawn front bumper link -->
<link name="front_bumper_link">
<inertial>
<mass value="1.e-6"/>
<inertia ixx="1.e-12" ixy="0.0" ixz="0.0" iyy="1.e-12" iyz="0.0" izz="1.e-12"/>
</inertial>
<visual>
<geometry>
<mesh filename="meshes/bumper.dae"/>
</geometry>
</visual>
</link>
<!-- Attach front bumper -->
<joint name="front_bumper" type="fixed">
<origin rpy="0 0 0" xyz="0.48 0 0.091"/>
<parent link="base_link"/>
<child link="front_bumper_link"/>
</joint>
<!-- Spawn rear bumper link -->
<link name="rear_bumper_link">
<inertial>
<mass value="1.e-6"/>
<inertia ixx="1.e-12" ixy="0.0" ixz="0.0" iyy="1.e-12" iyz="0.0" izz="1.e-12"/>
</inertial>
<visual>
<geometry>
<mesh filename="meshes/bumper.dae"/>
</geometry>
</visual>
</link>
<!-- Attach rear bumper -->
<joint name="rear_bumper" type="fixed">
<origin rpy="0 0 3.14159" xyz="-0.48 0 0.091"/>
<parent link="base_link"/>
<child link="rear_bumper_link"/>
</joint>
<link name="top_plate_link">
<inertial>
<mass value="1.e-6"/>
<inertia ixx="1.e-12" ixy="0.0" ixz="0.0" iyy="1.e-12" iyz="0.0" izz="1.e-12"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/top_plate.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/top_plate.dae"/>
</geometry>
</collision>
<collision>
<!-- Extra collision tag for widgets on top plate -->
<geometry>
<box rpy="0 0 0" size="0.32 0.41 0.09"/>
</geometry>
</collision>
</link>
<!-- Attach top plate -->
<joint name="top_plate_joint" type="fixed">
<parent link="base_link"/>
<child link="top_plate_link"/>
<origin rpy="0 0 0" xyz="0.0812 0 0.245"/>
</joint>
<!-- Top plate front link -->
<joint name="top_plate_front_joint" type="fixed">
<parent link="top_plate_link"/>
<child link="top_plate_front_link"/>
<origin rpy="0 0 0" xyz="0.36367 0 0.00639"/>
</joint>
<!-- Top plate rear link-->
<joint name="top_plate_rear_joint" type="fixed">
<parent link="top_plate_link"/>
<child link="top_plate_rear_link"/>
<origin rpy="0 0 0" xyz="-0.36633 0 0.00639"/>
</joint>
<link name="top_plate_front_link">
<inertial>
<mass value="1.e-6"/>
<inertia ixx="1.e-12" ixy="0.0" ixz="0.0" iyy="1.e-12" iyz="0.0" izz="1.e-12"/>
</inertial>
</link>
<link name="top_plate_rear_link">
<inertial>
<mass value="1.e-6"/>
<inertia ixx="1.e-12" ixy="0.0" ixz="0.0" iyy="1.e-12" iyz="0.0" izz="1.e-12"/>
</inertial>
</link>
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<robotNamespace>/</robotNamespace>
</plugin>
</gazebo>
<gazebo>
<plugin filename="libhector_gazebo_ros_imu.so" name="imu_controller">
<robotNamespace>/</robotNamespace>
<updateRate>50.0</updateRate>
<bodyName>base_link</bodyName>
<topicName>imu/data</topicName>
<accelDrift>0.005 0.005 0.005</accelDrift>
<accelGaussianNoise>0.005 0.005 0.005</accelGaussianNoise>
<rateDrift>0.005 0.005 0.005 </rateDrift>
<rateGaussianNoise>0.005 0.005 0.005 </rateGaussianNoise>
<headingDrift>0.005</headingDrift>
<headingGaussianNoise>0.005</headingGaussianNoise>
</plugin>
</gazebo>
<gazebo>
<plugin filename="libhector_gazebo_ros_gps.so" name="gps_controller">
<robotNamespace>/</robotNamespace>
<updateRate>40</updateRate>
<bodyName>base_link</bodyName>
<frameId>base_link</frameId>
<topicName>navsat/fix</topicName>
<velocityTopicName>navsat/vel</velocityTopicName>
<referenceLatitude>49.9</referenceLatitude>
<referenceLongitude>8.9</referenceLongitude>
<referenceHeading>0</referenceHeading>
<referenceAltitude>0</referenceAltitude>
<drift>0.0001 0.0001 0.0001</drift>
</plugin>
</gazebo>
<!-- This file is a placeholder which is included by default from
husky.urdf.xacro. If a robot is being customized and requires
additional URDF, set the HUSKY_URDF_EXTRAS environment variable
to the full path of the file you would like included. -->
</robot>
pyrobolearn/robots/urdfs/husky/meshes/accessories/300_mm_sensor_arch.dae
+199
View File
@@ -0,0 +1,199 @@
<?xml version="1.0" encoding="utf-8"?>
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
<asset>
<contributor>
<author>Blender User</author>
<authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
</contributor>
<created>2015-03-23T14:20:02</created>
<modified>2015-03-23T14:20:02</modified>
<unit name="meter" meter="1"/>
<up_axis>Z_UP</up_axis>
</asset>
<library_cameras>
<camera id="Camera-camera" name="Camera">
<optics>
<technique_common>
<perspective>
<xfov sid="xfov">49.13434</xfov>
<aspect_ratio>1.777778</aspect_ratio>
<znear sid="znear">0.1</znear>
<zfar sid="zfar">100</zfar>
</perspective>
</technique_common>
</optics>
<extra>
<technique profile="blender">
<YF_dofdist>0</YF_dofdist>
<shiftx>0</shiftx>
<shifty>0</shifty>
</technique>
</extra>
</camera>
</library_cameras>
<library_lights>
<light id="Lamp-light" name="Lamp">
<technique_common>
<point>
<color sid="color">1 1 1</color>
<constant_attenuation>1</constant_attenuation>
<linear_attenuation>0</linear_attenuation>
<quadratic_attenuation>0.00111109</quadratic_attenuation>
</point>
</technique_common>
<extra>
<technique profile="blender">
<adapt_thresh>0.000999987</adapt_thresh>
<area_shape>1</area_shape>
<area_size>0.1</area_size>
<area_sizey>0.1</area_sizey>
<area_sizez>1</area_sizez>
<atm_distance_factor>1</atm_distance_factor>
<atm_extinction_factor>1</atm_extinction_factor>
<atm_turbidity>2</atm_turbidity>
<att1>0</att1>
<att2>1</att2>
<backscattered_light>1</backscattered_light>
<bias>1</bias>
<blue>1</blue>
<buffers>1</buffers>
<bufflag>0</bufflag>
<bufsize>2880</bufsize>
<buftype>2</buftype>
<clipend>30.002</clipend>
<clipsta>1.000799</clipsta>
<compressthresh>0.04999995</compressthresh>
<dist sid="blender_dist">29.99998</dist>
<energy sid="blender_energy">1</energy>
<falloff_type>2</falloff_type>
<filtertype>0</filtertype>
<flag>0</flag>
<gamma sid="blender_gamma">1</gamma>
<green>1</green>
<halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
<horizon_brightness>1</horizon_brightness>
<mode>8192</mode>
<ray_samp>1</ray_samp>
<ray_samp_method>1</ray_samp_method>
<ray_samp_type>0</ray_samp_type>
<ray_sampy>1</ray_sampy>
<ray_sampz>1</ray_sampz>
<red>1</red>
<samp>3</samp>
<shadhalostep>0</shadhalostep>
<shadow_b sid="blender_shadow_b">0</shadow_b>
<shadow_g sid="blender_shadow_g">0</shadow_g>
<shadow_r sid="blender_shadow_r">0</shadow_r>
<sky_colorspace>0</sky_colorspace>
<sky_exposure>1</sky_exposure>
<skyblendfac>1</skyblendfac>
<skyblendtype>1</skyblendtype>
<soft>3</soft>
<spotblend>0.15</spotblend>
<spotsize>75</spotsize>
<spread>1</spread>
<sun_brightness>1</sun_brightness>
<sun_effect_type>0</sun_effect_type>
<sun_intensity>1</sun_intensity>
<sun_size>1</sun_size>
<type>0</type>
</technique>
</extra>
</light>
</library_lights>
<library_images/>
<library_effects>
<effect id="Dark-effect">
<profile_COMMON>
<technique sid="common">
<phong>
<emission>
<color sid="emission">0 0 0 1</color>
</emission>
<ambient>
<color sid="ambient">0 0 0 1</color>
</ambient>
<diffuse>
<color sid="diffuse">0.1 0.1 0.1 1</color>
</diffuse>
<specular>
<color sid="specular">0.1 0.1 0.1 1</color>
</specular>
<shininess>
<float sid="shininess">50</float>
</shininess>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
</phong>
</technique>
</profile_COMMON>
</effect>
</library_effects>
<library_materials>
<material id="Dark-material" name="Dark">
<instance_effect url="#Dark-effect"/>
</material>
</library_materials>
<library_geometries>
<geometry id="_00_mm_sensor_arch-mesh" name="300 mm sensor arch">
<mesh>
<source id="_00_mm_sensor_arch-mesh-positions">
<float_array id="_00_mm_sensor_arch-mesh-positions-array" count="90">-0.32 -0.255 -0.3 -0.32 -0.275 -0.3 -0.01999998 -0.255 0 -0.01999998 -0.275 0 0.01999998 -0.255 -0.3 0.01999998 -0.275 -0.3 -0.01999998 -0.255 -0.3 -0.01999998 -0.275 -0.3 -0.01999998 -0.255 -0.02828425 -0.01999998 -0.275 -0.02828425 -0.2917158 -0.255 -0.3 -0.2917158 -0.275 -0.3 0.01999998 0.255 -0.3 0.01999998 0.275 -0.3 0.01999998 0.255 -0.01999998 0.01999998 0.275 0 0.01999998 -0.255 -0.01999998 0.01999998 -0.275 0 -0.01999998 0.255 -0.3 -0.01999998 0.275 -0.3 -0.01999998 0.255 -0.02828425 -0.01999998 0.275 -0.02828425 -0.2917158 0.255 -0.3 -0.2917158 0.275 -0.3 -0.32 0.255 -0.3 -0.32 0.275 -0.3 -0.01999998 0.275 0 -0.01999998 0.255 0 -0.01999998 -0.255 -0.01999998 -0.01999998 0.255 -0.01999998</float_array>
<technique_common>
<accessor source="#_00_mm_sensor_arch-mesh-positions-array" count="30" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<source id="_00_mm_sensor_arch-mesh-normals">
<float_array id="_00_mm_sensor_arch-mesh-normals-array" count="168">-0.7071068 0 0.7071068 -0.7071068 0 0.7071068 0 0 -1 0 0 -1 -1 0 0 -1 0 0 0.7071068 0 -0.7071068 0.7071068 0 -0.7071068 0 0 -1 0 0 -1 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 0 0 -1 0 0 -1 -1 0 0 -1 0 0 0.7071068 0 -0.7071068 0.7071068 0 -0.7071068 0 0 -1 0 0 -1 -0.7071068 0 0.7071068 -0.7071068 0 0.7071068 0 0 1 0 0 1 0 0 1 0 0 1 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 0 -1 0 0 -1 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 -1 0 0 -1 0 0</float_array>
<technique_common>
<accessor source="#_00_mm_sensor_arch-mesh-normals-array" count="56" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<vertices id="_00_mm_sensor_arch-mesh-vertices">
<input semantic="POSITION" source="#_00_mm_sensor_arch-mesh-positions"/>
</vertices>
<polylist material="Dark-material" count="56">
<input semantic="VERTEX" source="#_00_mm_sensor_arch-mesh-vertices" offset="0"/>
<input semantic="NORMAL" source="#_00_mm_sensor_arch-mesh-normals" offset="1"/>
<vcount>3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
<p>0 0 1 0 2 0 2 1 1 1 3 1 4 2 5 2 6 2 6 3 5 3 7 3 6 4 7 4 8 4 8 5 7 5 9 5 8 6 9 6 10 6 10 7 9 7 11 7 10 8 11 8 0 8 0 9 11 9 1 9 12 10 13 10 14 10 14 11 13 11 15 11 14 12 15 12 16 12 16 13 15 13 17 13 16 14 17 14 4 14 4 15 17 15 5 15 18 16 19 16 12 16 12 17 19 17 13 17 20 18 21 18 18 18 18 19 21 19 19 19 22 20 23 20 20 20 20 21 23 21 21 21 24 22 25 22 22 22 22 23 25 23 23 23 26 24 25 24 27 24 27 25 25 25 24 25 3 26 17 26 2 26 2 27 17 27 15 27 2 28 15 28 27 28 27 29 15 29 26 29 19 30 21 30 13 30 13 31 21 31 15 31 23 32 25 32 21 32 21 33 25 33 26 33 21 34 26 34 15 34 9 35 7 35 5 35 1 36 11 36 3 36 3 37 11 37 9 37 3 38 9 38 17 38 17 39 9 39 5 39 6 40 8 40 4 40 4 41 8 41 16 41 0 42 2 42 28 42 16 43 8 43 28 43 28 44 8 44 10 44 28 45 10 45 0 45 29 46 14 46 28 46 28 47 14 47 16 47 20 48 18 48 12 48 29 49 27 49 24 49 24 50 22 50 29 50 29 51 22 51 20 51 29 52 20 52 14 52 14 53 20 53 12 53 27 54 29 54 2 54 2 55 29 55 28 55</p>
</polylist>
</mesh>
</geometry>
</library_geometries>
<library_controllers/>
<library_visual_scenes>
<visual_scene id="Scene" name="Scene">
<node id="Camera" name="Camera" type="NODE">
<matrix sid="transform">0.6858805 -0.3173701 0.6548619 7.481132 0.7276338 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953432 0.4452454 5.343665 0 0 0 1</matrix>
<instance_camera url="#Camera-camera"/>
</node>
<node id="Lamp" name="Lamp" type="NODE">
<matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
<instance_light url="#Lamp-light"/>
</node>
<node id="_00_mm_sensor_arch" name="_00_mm_sensor_arch" type="NODE">
<matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
<instance_geometry url="#_00_mm_sensor_arch-mesh">
<bind_material>
<technique_common>
<instance_material symbol="Dark-material" target="#Dark-material"/>
</technique_common>
</bind_material>
</instance_geometry>
</node>
</visual_scene>
</library_visual_scenes>
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
</COLLADA>
pyrobolearn/robots/urdfs/husky/meshes/accessories/300_mm_sensor_arch.stl
BIN
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pyrobolearn/robots/urdfs/husky/meshes/accessories/510_mm_sensor_arch.dae
+199
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@@ -0,0 +1,199 @@
<?xml version="1.0" encoding="utf-8"?>
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
<asset>
<contributor>
<author>Blender User</author>
<authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
</contributor>
<created>2015-03-23T14:20:23</created>
<modified>2015-03-23T14:20:23</modified>
<unit name="meter" meter="1"/>
<up_axis>Z_UP</up_axis>
</asset>
<library_cameras>
<camera id="Camera-camera" name="Camera">
<optics>
<technique_common>
<perspective>
<xfov sid="xfov">49.13434</xfov>
<aspect_ratio>1.777778</aspect_ratio>
<znear sid="znear">0.1</znear>
<zfar sid="zfar">100</zfar>
</perspective>
</technique_common>
</optics>
<extra>
<technique profile="blender">
<YF_dofdist>0</YF_dofdist>
<shiftx>0</shiftx>
<shifty>0</shifty>
</technique>
</extra>
</camera>
</library_cameras>
<library_lights>
<light id="Lamp-light" name="Lamp">
<technique_common>
<point>
<color sid="color">1 1 1</color>
<constant_attenuation>1</constant_attenuation>
<linear_attenuation>0</linear_attenuation>
<quadratic_attenuation>0.00111109</quadratic_attenuation>
</point>
</technique_common>
<extra>
<technique profile="blender">
<adapt_thresh>0.000999987</adapt_thresh>
<area_shape>1</area_shape>
<area_size>0.1</area_size>
<area_sizey>0.1</area_sizey>
<area_sizez>1</area_sizez>
<atm_distance_factor>1</atm_distance_factor>
<atm_extinction_factor>1</atm_extinction_factor>
<atm_turbidity>2</atm_turbidity>
<att1>0</att1>
<att2>1</att2>
<backscattered_light>1</backscattered_light>
<bias>1</bias>
<blue>1</blue>
<buffers>1</buffers>
<bufflag>0</bufflag>
<bufsize>2880</bufsize>
<buftype>2</buftype>
<clipend>30.002</clipend>
<clipsta>1.000799</clipsta>
<compressthresh>0.04999995</compressthresh>
<dist sid="blender_dist">29.99998</dist>
<energy sid="blender_energy">1</energy>
<falloff_type>2</falloff_type>
<filtertype>0</filtertype>
<flag>0</flag>
<gamma sid="blender_gamma">1</gamma>
<green>1</green>
<halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
<horizon_brightness>1</horizon_brightness>
<mode>8192</mode>
<ray_samp>1</ray_samp>
<ray_samp_method>1</ray_samp_method>
<ray_samp_type>0</ray_samp_type>
<ray_sampy>1</ray_sampy>
<ray_sampz>1</ray_sampz>
<red>1</red>
<samp>3</samp>
<shadhalostep>0</shadhalostep>
<shadow_b sid="blender_shadow_b">0</shadow_b>
<shadow_g sid="blender_shadow_g">0</shadow_g>
<shadow_r sid="blender_shadow_r">0</shadow_r>
<sky_colorspace>0</sky_colorspace>
<sky_exposure>1</sky_exposure>
<skyblendfac>1</skyblendfac>
<skyblendtype>1</skyblendtype>
<soft>3</soft>
<spotblend>0.15</spotblend>
<spotsize>75</spotsize>
<spread>1</spread>
<sun_brightness>1</sun_brightness>
<sun_effect_type>0</sun_effect_type>
<sun_intensity>1</sun_intensity>
<sun_size>1</sun_size>
<type>0</type>
</technique>
</extra>
</light>
</library_lights>
<library_images/>
<library_effects>
<effect id="Dark-effect">
<profile_COMMON>
<technique sid="common">
<phong>
<emission>
<color sid="emission">0 0 0 1</color>
</emission>
<ambient>
<color sid="ambient">0 0 0 1</color>
</ambient>
<diffuse>
<color sid="diffuse">0.1 0.1 0.1 1</color>
</diffuse>
<specular>
<color sid="specular">0.1 0.1 0.1 1</color>
</specular>
<shininess>
<float sid="shininess">50</float>
</shininess>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
</phong>
</technique>
</profile_COMMON>
</effect>
</library_effects>
<library_materials>
<material id="Dark-material" name="Dark">
<instance_effect url="#Dark-effect"/>
</material>
</library_materials>
<library_geometries>
<geometry id="_10_mm_sensor_arch-mesh" name="510 mm sensor arch">
<mesh>
<source id="_10_mm_sensor_arch-mesh-positions">
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<technique_common>
<accessor source="#_10_mm_sensor_arch-mesh-positions-array" count="32" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<source id="_10_mm_sensor_arch-mesh-normals">
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<technique_common>
<accessor source="#_10_mm_sensor_arch-mesh-normals-array" count="60" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
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</accessor>
</technique_common>
</source>
<vertices id="_10_mm_sensor_arch-mesh-vertices">
<input semantic="POSITION" source="#_10_mm_sensor_arch-mesh-positions"/>
</vertices>
<polylist material="Dark-material" count="60">
<input semantic="VERTEX" source="#_10_mm_sensor_arch-mesh-vertices" offset="0"/>
<input semantic="NORMAL" source="#_10_mm_sensor_arch-mesh-normals" offset="1"/>
<vcount>3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
<p>0 0 1 0 2 0 2 1 1 1 3 1 2 2 3 2 4 2 4 3 3 3 5 3 4 4 5 4 6 4 6 5 5 5 7 5 6 6 7 6 8 6 8 7 7 7 9 7 8 8 9 8 10 8 10 9 9 9 11 9 12 10 13 10 14 10 14 11 13 11 15 11 14 12 15 12 16 12 16 13 15 13 17 13 16 14 17 14 0 14 0 15 17 15 1 15 18 16 19 16 12 16 12 17 19 17 13 17 20 18 21 18 18 18 18 19 21 19 19 19 22 20 23 20 20 20 20 21 23 21 21 21 24 22 25 22 22 22 22 23 25 23 23 23 26 24 27 24 24 24 24 25 27 25 25 25 10 26 11 26 28 26 28 27 11 27 29 27 28 28 29 28 30 28 30 29 29 29 31 29 30 30 31 30 26 30 26 31 31 31 27 31 15 32 31 32 17 32 17 33 31 33 29 33 13 34 19 34 15 34 15 35 19 35 21 35 31 36 15 36 27 36 27 37 15 37 21 37 27 38 21 38 25 38 25 39 21 39 23 39 5 40 3 40 1 40 17 41 29 41 11 41 9 42 7 42 11 42 11 43 7 43 5 43 11 44 5 44 17 44 17 45 5 45 1 45 0 46 2 46 16 46 16 47 2 47 4 47 28 48 16 48 10 48 10 49 16 49 4 49 10 50 4 50 8 50 8 51 4 51 6 51 16 52 28 52 14 52 14 53 28 53 30 53 20 54 18 54 12 54 14 55 30 55 26 55 24 56 22 56 26 56 26 57 22 57 20 57 26 58 20 58 14 58 14 59 20 59 12 59</p>
</polylist>
</mesh>
</geometry>
</library_geometries>
<library_controllers/>
<library_visual_scenes>
<visual_scene id="Scene" name="Scene">
<node id="Camera" name="Camera" type="NODE">
<matrix sid="transform">0.6858805 -0.3173701 0.6548619 7.481132 0.7276338 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953432 0.4452454 5.343665 0 0 0 1</matrix>
<instance_camera url="#Camera-camera"/>
</node>
<node id="Lamp" name="Lamp" type="NODE">
<matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
<instance_light url="#Lamp-light"/>
</node>
<node id="_10_mm_sensor_arch" name="_10_mm_sensor_arch" type="NODE">
<matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
<instance_geometry url="#_10_mm_sensor_arch-mesh">
<bind_material>
<technique_common>
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<technique_common>
<accessor source="#UR5_Top_Plate-mesh-normals-array" count="104" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<vertices id="UR5_Top_Plate-mesh-vertices">
<input semantic="POSITION" source="#UR5_Top_Plate-mesh-positions"/>
</vertices>
<polylist material="Dark-material" count="204">
<input semantic="VERTEX" source="#UR5_Top_Plate-mesh-vertices" offset="0"/>
<input semantic="NORMAL" source="#UR5_Top_Plate-mesh-normals" offset="1"/>
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</polylist>
</mesh>
</geometry>
</library_geometries>
<library_controllers/>
<library_visual_scenes>
<visual_scene id="Scene" name="Scene">
<node id="UR5_Top_Plate" name="UR5_Top_Plate" type="NODE">
<matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1.0584 0.00336042 0 0 0 1</matrix>
<instance_geometry url="#UR5_Top_Plate-mesh" name="UR5_Top_Plate">
<bind_material>
<technique_common>
<instance_material symbol="Dark-material" target="#Dark-material"/>
</technique_common>
</bind_material>
</instance_geometry>
</node>
</visual_scene>
</library_visual_scenes>
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
</COLLADA>
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<?xml version="1.0" encoding="utf-8"?>
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<asset>
<contributor>
<author>Blender User</author>
<authoring_tool>Blender 2.79.0 commit date:2018-02-21, commit time:10:41, hash:8928d99270f</authoring_tool>
</contributor>
<created>2018-04-12T09:31:19</created>
<modified>2018-04-12T09:31:19</modified>
<unit name="meter" meter="1"/>
<up_axis>Z_UP</up_axis>
</asset>
<library_images/>
<library_effects>
<effect id="Dark-effect">
<profile_COMMON>
<technique sid="common">
<phong>
<emission>
<color sid="emission">0 0 0 1</color>
</emission>
<ambient>
<color sid="ambient">0 0 0 1</color>
</ambient>
<diffuse>
<color sid="diffuse">0.08000001 0.08000001 0.08000001 1</color>
</diffuse>
<specular>
<color sid="specular">0.025 0.025 0.025 1</color>
</specular>
<shininess>
<float sid="shininess">50</float>
</shininess>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
</phong>
</technique>
</profile_COMMON>
</effect>
</library_effects>
<library_materials>
<material id="Dark-material" name="Dark">
<instance_effect url="#Dark-effect"/>
</material>
</library_materials>
<library_geometries>
<geometry id="Top_Plate-mesh" name="Top Plate">
<mesh>
<source id="Top_Plate-mesh-positions">
<float_array id="Top_Plate-mesh-positions-array" count="48">0.305 -0.295 0.006349921 -0.345 -0.295 0.006349921 0.305 -0.295 0 -0.345 -0.295 0 -0.365 -0.275 0 -0.365 0.275 0 -0.345 0.295 0 0.305 0.295 0 0.365 -0.235 0 0.365 0.235 0 0.305 0.295 0.006349921 -0.345 0.295 0.006349921 0.365 -0.235 0.006349921 0.365 0.235 0.006349921 -0.365 -0.275 0.006349921 -0.365 0.275 0.006349921</float_array>
<technique_common>
<accessor source="#Top_Plate-mesh-positions-array" count="16" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<source id="Top_Plate-mesh-normals">
<float_array id="Top_Plate-mesh-normals-array" count="48">0 -1 0 0 0 -1 0 1 0 0 0 1 0 0 1 0 0 1 1 0 0 -1 0 0 -0.7071072 0.7071064 0 -0.7071059 0.7071077 0 -0.7071072 -0.7071064 0 -0.7071059 -0.7071077 0 0.707107 -0.7071066 0 0.7071066 -0.707107 0 0.707107 0.7071066 0 0.7071066 0.707107 0</float_array>
<technique_common>
<accessor source="#Top_Plate-mesh-normals-array" count="16" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<vertices id="Top_Plate-mesh-vertices">
<input semantic="POSITION" source="#Top_Plate-mesh-positions"/>
</vertices>
<triangles material="Dark-material" count="28">
<input semantic="VERTEX" source="#Top_Plate-mesh-vertices" offset="0"/>
<input semantic="NORMAL" source="#Top_Plate-mesh-normals" offset="1"/>
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</triangles>
</mesh>
</geometry>
</library_geometries>
<library_controllers/>
<library_visual_scenes>
<visual_scene id="Scene" name="Scene">
<node id="Top_Plate" name="Top_Plate" type="NODE">
<matrix sid="transform">1 0 0 -0.00133478 0 1 0 -0.00296879 0 0 1 4.3182e-5 0 0 0 1</matrix>
<instance_geometry url="#Top_Plate-mesh" name="Top_Plate">
<bind_material>
<technique_common>
<instance_material symbol="Dark-material" target="#Dark-material"/>
</technique_common>
</bind_material>
</instance_geometry>
</node>
</visual_scene>
</library_visual_scenes>
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
</COLLADA>
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This software is graciously provided by HumaRobotics under the Simplified BSD License.
HumaRobotics is a trademark of Generation Robots
Copyright (c) 2013, Generation Robots
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
The views and conclusions contained in the software and documentation are those
of the authors and should not be interpreted as representing official policies,
either expressed or implied, of the FreeBSD Project.
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<?xml version="1.0" ?>
<!-- URDF found in "https://github.com/grafoteka/rhex" and updated by Brian to have collision tags, inertial tags, and to translate spanish words to english -->
<robot name="hexa">
<link name="base_link">
<!-- <inertial>
<mass value=""/>
<inertia ixx="" ixy="" ixz="" iyy="" iyz="" izz=""/>
<origin xyz="0 0 0"/>
</inertial> -->
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/chassis.dae" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/chassis.dae" scale="0.001 0.001 0.001" />
</geometry>
</collision>
</link>
<!-- axis 1 -->
<link name="axis1">
<!-- <inertial>
<mass value=""/>
<inertia ixx="" ixy="" ixz="" iyy="" iyz="" izz=""/>
<origin xyz="0 0 0"/>
</inertial> -->
<visual>
<origin xyz="0.07 0.02 0.03" rpy="0 1.5708 1.5708" />
<geometry>
<cylinder radius="0.02" length="0.02"/>
</geometry>
<material name="Blue"/>
</visual>
</link>
<joint name="joint_axis1" type="fixed">
<parent link="base_link"/>
<child link="axis1"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<axis xyz="0 1 0" rpy="0 0 0" />
</joint>
<!-- leg 1 -->
<link name="leg1">
<!-- <inertial>
<mass value=""/>
<inertia ixx="" ixy="" ixz="" iyy="" iyz="" izz=""/>
<origin xyz="0 0 0"/>
</inertial> -->
<visual>
<origin xyz="0 0 0" rpy="0 0 0" /> <!-- 0.07 0.02 0.03 -->
<geometry>
<mesh filename="meshes/leg.dae" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" /> <!-- 0.07 0.02 0.03 -->
<geometry>
<mesh filename="meshes/leg.dae" scale="0.001 0.001 0.001" />
</geometry>
</collision>
</link>
<joint name="joint_leg1" type="continuous">
<parent link="axis1"/>
<child link="leg1"/>
<origin xyz="0.07 0.02 0.03" rpy="0 0 0" />
<axis xyz="0 1 0" rpy="0 0 0" />
</joint>
<!-- axis 2 -->
<link name="axis2">
<visual>
<origin xyz="0.07 0.33 0.03" rpy="0 1.5708 1.5708" />
<geometry>
<cylinder radius="0.02" length="0.02"/>
</geometry>
<material name="Blue"/>
</visual>
</link>
<joint name="joint_axis2" type="fixed">
<parent link="base_link"/>
<child link="axis2"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<axis xyz="0 1 0" rpy="0 0 0" />
</joint>
<!-- leg 2 -->
<link name="leg2">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" /> <!-- 0.07 0.02 0.03 -->
<geometry>
<mesh filename="meshes/leg.dae" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" /> <!-- 0.07 0.02 0.03 -->
<geometry>
<mesh filename="meshes/leg.dae" scale="0.001 0.001 0.001" />
</geometry>
</collision>
</link>
<joint name="joint_leg2" type="continuous">
<parent link="axis2"/>
<child link="leg2"/>
<origin xyz="0.07 0.33 0.03" rpy="0 0 0" />
<axis xyz="0 1 0" rpy="0 0 0" />
</joint>
<!-- axis 3 -->
<link name="axis3">
<visual>
<origin xyz="0.24 -0.03 0.03" rpy="0 1.5708 1.5708" />
<geometry>
<cylinder radius="0.02" length="0.02"/>
</geometry>
<material name="Blue"/>
</visual>
</link>
<joint name="joint_axis3" type="fixed">
<parent link="base_link"/>
<child link="axis3"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<axis xyz="0 1 0" rpy="0 0 0" />
</joint>
<!-- leg 3 -->
<link name="leg3">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" /> <!-- 0.07 0.02 0.03 -->
<geometry>
<mesh filename="meshes/leg.dae" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" /> <!-- 0.07 0.02 0.03 -->
<geometry>
<mesh filename="meshes/leg.dae" scale="0.001 0.001 0.001" />
</geometry>
</collision>
</link>
<joint name="joint_leg3" type="continuous">
<parent link="axis3"/>
<child link="leg3"/>
<origin xyz="0.24 -0.03 0.03" rpy="0 0 0" />
<axis xyz="0 1 0" rpy="0 0 0" />
</joint>
<!-- axis 4 -->
<link name="axis4">
<visual>
<origin xyz="0.24 0.38 0.03" rpy="0 1.5708 1.5708" />
<geometry>
<cylinder radius="0.02" length="0.02"/>
</geometry>
<material name="Blue"/>
</visual>
</link>
<joint name="joint_axis4" type="fixed">
<parent link="base_link"/>
<child link="axis4"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<axis xyz="0 1 0" rpy="0 0 0" />
</joint>
<!-- leg 4 -->
<link name="leg4">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" /> <!-- 0.07 0.02 0.03 -->
<geometry>
<mesh filename="meshes/leg.dae" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" /> <!-- 0.07 0.02 0.03 -->
<geometry>
<mesh filename="meshes/leg.dae" scale="0.001 0.001 0.001" />
</geometry>
</collision>
</link>
<joint name="joint_leg4" type="continuous">
<parent link="axis4"/>
<child link="leg4"/>
<origin xyz="0.24 0.38 0.03" rpy="0 0 0" />
<axis xyz="0 1 0" rpy="0 0 0" />
</joint>
<!-- axis 5 -->
<link name="axis5">
<visual>
<origin xyz="0.41 0.02 0.03" rpy="0 1.5708 1.5708" />
<geometry>
<cylinder radius="0.02" length="0.02"/>
</geometry>
<material name="Blue"/>
</visual>
</link>
<joint name="joint_axis5" type="fixed">
<parent link="base_link"/>
<child link="axis5"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<axis xyz="0 1 0" rpy="0 0 0" />
</joint>
<!-- leg 5 -->
<link name="leg5">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" /> <!-- 0.07 0.02 0.03 -->
<geometry>
<mesh filename="meshes/leg.dae" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" /> <!-- 0.07 0.02 0.03 -->
<geometry>
<mesh filename="meshes/leg.dae" scale="0.001 0.001 0.001" />
</geometry>
</collision>
</link>
<joint name="joint_leg5" type="continuous">
<parent link="axis5"/>
<child link="leg5"/>
<origin xyz="0.41 0.02 0.03" rpy="0 0 0" />
<axis xyz="0 1 0" rpy="0 0 0" />
</joint>
<!-- axis 6 -->
<link name="axis6">
<visual>
<origin xyz="0.41 0.31 0.03" rpy="0 1.5708 1.5708" />
<geometry>
<cylinder radius="0.02" length="0.02"/>
</geometry>
<material name="Blue"/>
</visual>
</link>
<joint name="joint_axis6" type="fixed">
<parent link="base_link"/>
<child link="axis6"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<axis xyz="0 1 0" rpy="0 0 0" />
</joint>
<!-- leg 6 -->
<link name="leg6">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" /> <!-- 0.07 0.02 0.03 -->
<geometry>
<mesh filename="meshes/leg.dae" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" /> <!-- 0.07 0.02 0.03 -->
<geometry>
<mesh filename="meshes/leg.dae" scale="0.001 0.001 0.001" />
</geometry>
</collision>
</link>
<joint name="joint_leg6" type="continuous">
<parent link="axis6"/>
<child link="leg6"/>
<origin xyz="0.41 0.31 0.03" rpy="0 0 0" />
<axis xyz="0 1 0" rpy="0 0 0" />
</joint>
</robot>