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Adds Simulator from OpenQuadruped/spot_mini_mini

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Rune Harlyk
2024-03-04 15:55:45 +01:00
parent 02871591fd
commit 6a981b64fa
162 changed files with 11940 additions and 1 deletions
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mock/simulator/mini_ros/urdf/spot_macro.xacro
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<?xml version="1.0" ?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<material name="orange">
<color rgba="1.0 0.5 0.0 1"/>
</material>
<material name="black">
<color rgba="0.1 0.1 0.1 1"/>
</material>
<material name="grey">
<color rgba="0.6 0.6 0.6 1"/>
</material>
<xacro:macro name="rev_joint" params="name type axis_xyz origin_rpy origin_xyz parent child effort velocity damping friction upper lower">
<joint name="${name}" type="${type}">
<axis xyz="${axis_xyz}" />
<origin rpy="${origin_rpy}" xyz="${origin_xyz}" />
<parent link="${parent}" />
<child link="${child}" />
<limit effort="${effort}" velocity="${velocity}" lower="${lower}" upper="${upper}"/>
<joint_properties damping="${damping}" friction="${friction}" />
</joint>
</xacro:macro>
<xacro:macro name="frame_joint" params="name type origin_rpy origin_xyz parent child">
<joint name="${name}" type="${type}">
<origin rpy="${origin_rpy}" xyz="${origin_xyz}" />
<parent link="${parent}" />
<child link="${child}" />
</joint>
</xacro:macro>
<xacro:macro name="mesh_link" params="name origin_xyz origin_rpy meshfile meshscale c_xyz matname mass i_xyz i_rpy length width height">
<link name="${name}">
<visual>
<origin rpy="${origin_rpy}" xyz="${origin_xyz}" />
<geometry>
<mesh filename="${meshfile}" scale="${meshscale}"/>
</geometry>
<material name="${matname}"/>
</visual>
<collision>
<origin rpy="${origin_rpy}" xyz="${c_xyz}" />
<geometry>
<box size="${length} ${width} ${height}" />
</geometry>
</collision>
<inertial>
<mass value="${mass}" />
<origin rpy="${i_rpy}" xyz="${i_xyz}" /> <!-- Inertial Axes -->
<inertia ixx="${mass * (width * width + height * height)/12.0}" ixy="${0}" ixz="${0}" iyx="${0}" iyy="${mass * (length * length + height * height)/12.0}" iyz="${0}" izx="${0}" izy="${0}" izz="${mass * (length * length + width * width)/12.0}" />
</inertial>
</link>
<gazebo reference="${name}">
<xacro:if value="${matname == 'black'}">
<material>Gazebo/Black</material>
</xacro:if>
<xacro:if value="${matname == 'orange'}">
<material>Gazebo/Orange</material>
</xacro:if>
</gazebo>
</xacro:macro>
<xacro:macro name="mesh_link_sphere" params="name origin_xyz origin_rpy meshfile meshscale c_xyz matname mass i_xyz i_rpy length width height radius">
<link name="${name}">
<visual>
<origin rpy="${origin_rpy}" xyz="${origin_xyz}" />
<geometry>
<mesh filename="${meshfile}" scale="${meshscale}"/>
</geometry>
<material name="${matname}"/>
</visual>
<collision>
<origin rpy="${origin_rpy}" xyz="${c_xyz}" />
<geometry>
<mesh filename="${meshfile}" scale="${meshscale}"/>
</geometry>
<contact_coefficients mu="10.1"/>
</collision>
<inertial>
<mass value="${mass}" />
<origin rpy="${i_rpy}" xyz="${i_xyz}" /> <!-- Inertial Axes -->
<inertia ixx="${mass * (width * width + height * height)/12.0}" ixy="${0}" ixz="${0}" iyx="${0}" iyy="${mass * (length * length + height * height)/12.0}" iyz="${0}" izx="${0}" izy="${0}" izz="${mass * (length * length + width * width)/12.0}" />
</inertial>
</link>
<gazebo reference="${name}">
<kp>1000000.0</kp>
<kd>1.0</kd>
<mu1>0.8</mu1>
<mu2>0.8</mu2>
<maxVel>0.0</maxVel>
<minDepth>0.001</minDepth>
<material>Gazebo/Orange</material>
</gazebo>
</xacro:macro>
<!-- Left Leg: prefix is front or rear -->
<!-- <xacro:macro name="LeftLeg" params="prefix reflect">
<link name="${prefix}_Left_Leg">
<visual>
<geometry>
<box size="${leglen} 0.1 0.2"/>
</geometry>
<origin xyz="0 0 -${leglen/2}" rpy="0 ${pi/2} 0"/>
<material name="white"/>
</visual>
<collision>
<geometry>
<box size="${leglen} 0.1 0.2"/>
</geometry>
<origin xyz="0 0 -${leglen/2}" rpy="0 ${pi/2} 0"/>
</collision>
<xacro:default_inertial mass="10"/>
</link>
<joint name="base_to_${prefix}_leg" type="fixed">
<parent link="base_link"/>
<child link="${prefix}_leg"/>
<origin xyz="0 ${reflect*(width+.02)} 0.25" />
</joint>
</xacro:macro> -->
</robot>