Darkages/SpotMicroESP32-Leika
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

🦴 Adds Simulator from OpenQuadruped/spot_mini_mini

Browse Source
This commit is contained in:
Rune Harlyk
2024-03-04 15:55:45 +01:00
parent e673a50fa2
commit 1753e539db
162 changed files with 11940 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
mock/simulator/mini_ros/urdf/transmissions.xacro
+37
View File
@@ -0,0 +1,37 @@
<?xml version="1.0" ?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="quadruped_transmission" params="leg ">
<transmission name="${leg}_hip_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="motor_${leg}_hip">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${leg}_hip_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${leg}_upper_leg_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="motor_${leg}_lower_leg">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${leg}_upper_leg_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${leg}_lower_leg_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="motor_${leg}_upper_leg">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${leg}_lower_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</xacro:macro>
</robot>