Adds Simulator from OpenQuadruped/spot_mini_mini
This commit is contained in:
Rune Harlyk
@@ -0,0 +1,710 @@
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||||
<?xml version="1.0" encoding="utf-8"?>
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<!-- =================================================================================== -->
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<!-- | This document was autogenerated by xacro from spot.urdf.xacro | -->
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<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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<!-- =================================================================================== -->
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<robot name="spot" xmlns:xacro="http://www.ros.org/wiki/xacro">
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<material name="orange">
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<color rgba="1.0 0.5 0.0 1"/>
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</material>
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<material name="black">
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<color rgba="0.1 0.1 0.1 1"/>
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</material>
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<material name="grey">
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<color rgba="0.6 0.6 0.6 1"/>
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</material>
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<!-- Left Leg: prefix is front or rear -->
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<!-- <xacro:macro name="LeftLeg" params="prefix reflect">
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<link name="${prefix}_Left_Leg">
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<visual>
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<geometry>
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<box size="${leglen} 0.1 0.2"/>
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</geometry>
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<origin xyz="0 0 -${leglen/2}" rpy="0 ${pi/2} 0"/>
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<material name="white"/>
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</visual>
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<collision>
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<geometry>
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<box size="${leglen} 0.1 0.2"/>
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</geometry>
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<origin xyz="0 0 -${leglen/2}" rpy="0 ${pi/2} 0"/>
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</collision>
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<xacro:default_inertial mass="10"/>
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</link>
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<joint name="base_to_${prefix}_leg" type="fixed">
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<parent link="base_link"/>
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<child link="${prefix}_leg"/>
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<origin xyz="0 ${reflect*(width+.02)} 0.25" />
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</joint>
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</xacro:macro> -->
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<!-- Robot description -->
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<!-- STATIC Links -->
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<link name="base_link">
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<visual>
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<origin rpy="0 0 1.57079632679" xyz="-0.16 0.035 -0.045"/>
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<geometry>
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<mesh filename="package://mini_ros/stl/OpenQuadruped/MAINBODY.stl" scale="1 1 1"/>
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</geometry>
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<material name="orange"/>
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</visual>
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<collision>
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<origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
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<geometry>
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<box size="0.114 0.2 0.1"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.6"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<!-- Inertial Axes -->
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<inertia ixx="0.0025" ixy="0" ixz="0" iyx="0" iyy="0.0011498" iyz="0" izx="0" izy="0" izz="0.0026498"/>
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</inertial>
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</link>
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<!-- m to mm -->
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<link name="battery">
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<visual>
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<origin rpy="0 0 1.57079632679" xyz="-0.15 0.035 -0.022"/>
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<geometry>
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<mesh filename="package://mini_ros/stl/OpenQuadruped/Battery.stl" scale="1 1 1"/>
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</geometry>
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<material name="black"/>
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</visual>
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<collision>
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<origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
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<geometry>
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<box size="0.048 0.145 0.026"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.4"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<!-- Inertial Axes -->
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<inertia ixx="0.000723366666667" ixy="0" ixz="0" iyx="0" iyy="9.93333333333e-05" iyz="0" izx="0" izy="0" izz="0.000777633333333"/>
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</inertial>
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</link>
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<!-- m to mm -->
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<link name="chassis_left">
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<visual>
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<origin rpy="0 1.57079632679 -1.57079632679" xyz="0.016 0.003 0"/>
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<geometry>
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<mesh filename="package://mini_ros/stl/OpenQuadruped/Chassis_Left_Side.stl" scale="1 1 1"/>
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</geometry>
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<material name="black"/>
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</visual>
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<collision>
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<origin rpy="0 1.57079632679 -1.57079632679" xyz="0 0 0"/>
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<geometry>
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<box size="0.06 0.15 0.006"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.01"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<!-- Inertial Axes -->
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<inertia ixx="1.878e-05" ixy="0" ixz="0" iyx="0" iyy="3.03e-06" iyz="0" izx="0" izy="0" izz="2.175e-05"/>
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</inertial>
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</link>
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<!-- m to mm -->
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<link name="chassis_right">
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<visual>
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<origin rpy="0 1.57079632679 1.57079632679" xyz="-0.016 -0.003 0"/>
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<geometry>
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<mesh filename="package://mini_ros/stl/OpenQuadruped/Chassis_Right_Side.stl" scale="1 1 1"/>
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</geometry>
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<material name="black"/>
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</visual>
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<collision>
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<origin rpy="0 1.57079632679 1.57079632679" xyz="0 0 0"/>
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<geometry>
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<box size="0.06 0.15 0.006"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.01"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<!-- Inertial Axes -->
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||||
<inertia ixx="1.878e-05" ixy="0" ixz="0" iyx="0" iyy="3.03e-06" iyz="0" izx="0" izy="0" izz="2.175e-05"/>
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</inertial>
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</link>
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<!-- m to mm -->
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<link name="front">
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<visual>
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<origin rpy="0 0 1.57079632679" xyz="-0.16 0.035 -0.045"/>
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<geometry>
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<mesh filename="package://mini_ros/stl/OpenQuadruped/Front.stl" scale="1 1 1"/>
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</geometry>
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<material name="orange"/>
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</visual>
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<collision>
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<origin rpy="0 0 1.57079632679" xyz="0.16 0 0.006"/>
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<geometry>
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<box size="0.114 0.045 0.085"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.1"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<!-- Inertial Axes -->
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<inertia ixx="7.70833333333e-05" ixy="0" ixz="0" iyx="0" iyy="0.000168508333333" iyz="0" izx="0" izy="0" izz="0.000125175"/>
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</inertial>
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</link>
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<!-- m to mm -->
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<link name="back">
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<visual>
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<origin rpy="0 0 1.57079632679" xyz="-0.16 0.035 -0.045"/>
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<geometry>
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<mesh filename="package://mini_ros/stl/OpenQuadruped/Back.stl" scale="1 1 1"/>
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</geometry>
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<material name="orange"/>
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</visual>
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<collision>
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||||
<origin rpy="0 0 1.57079632679" xyz="-0.16 0 0.006"/>
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||||
<geometry>
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||||
<box size="0.114 0.075 0.085"/>
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||||
</geometry>
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||||
</collision>
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||||
<inertial>
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||||
<mass value="0.1"/>
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||||
<origin rpy="0 0 0" xyz="0 0 0"/>
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<!-- Inertial Axes -->
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||||
<inertia ixx="0.000107083333333" ixy="0" ixz="0" iyx="0" iyy="0.000168508333333" iyz="0" izx="0" izy="0" izz="0.000155175"/>
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</inertial>
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</link>
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<!-- m to mm -->
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<link name="front_bracket">
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<visual>
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<origin rpy="0 0 1.57079632679" xyz="-0.16 0.035 -0.045"/>
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<geometry>
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<mesh filename="package://mini_ros/stl/OpenQuadruped/Front_Bracket.stl" scale="1 1 1"/>
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</geometry>
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<material name="black"/>
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</visual>
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<collision>
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||||
<origin rpy="0 0 1.57079632679" xyz="0.1 0 0"/>
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<geometry>
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||||
<box size="0.025 0.075 0.085"/>
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||||
</geometry>
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||||
</collision>
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||||
<inertial>
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||||
<mass value="0.1"/>
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||||
<origin rpy="0 0 0" xyz="0 0 0"/>
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||||
<!-- Inertial Axes -->
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||||
<inertia ixx="0.000107083333333" ixy="0" ixz="0" iyx="0" iyy="6.54166666667e-05" iyz="0" izx="0" izy="0" izz="5.20833333333e-05"/>
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</inertial>
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</link>
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<!-- m to mm -->
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<link name="back_bracket">
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<visual>
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<origin rpy="0 0 1.57079632679" xyz="-0.16 0.035 -0.045"/>
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<geometry>
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||||
<mesh filename="package://mini_ros/stl/OpenQuadruped/Back_Bracket.stl" scale="1 1 1"/>
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</geometry>
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<material name="black"/>
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</visual>
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||||
<collision>
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||||
<origin rpy="0 0 1.57079632679" xyz="-0.1 0 0"/>
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<geometry>
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<box size="0.025 0.075 0.085"/>
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||||
</geometry>
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||||
</collision>
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||||
<inertial>
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||||
<mass value="0.1"/>
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||||
<origin rpy="0 0 0" xyz="0 0 0"/>
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||||
<!-- Inertial Axes -->
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||||
<inertia ixx="0.000107083333333" ixy="0" ixz="0" iyx="0" iyy="6.54166666667e-05" iyz="0" izx="0" izy="0" izz="5.20833333333e-05"/>
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||||
</inertial>
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</link>
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<!-- m to mm -->
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<link name="front_left_hip">
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<visual>
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<origin rpy="0 0 1.57079632679" xyz="-0.25 -0.0044 -0.067"/>
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||||
<geometry>
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||||
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_HIP.stl" scale="1 1 1"/>
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||||
</geometry>
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||||
<material name="black"/>
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||||
</visual>
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||||
<collision>
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||||
<origin rpy="0 0 1.57079632679" xyz="0.015 0.01 -0.01"/>
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||||
<geometry>
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||||
<box size="0.05 0.065 0.065"/>
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||||
</geometry>
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||||
</collision>
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||||
<inertial>
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||||
<mass value="0.2"/>
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||||
<origin rpy="0 0 0" xyz="0 0 0"/>
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||||
<!-- Inertial Axes -->
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||||
<inertia ixx="0.000140833333333" ixy="0" ixz="0" iyx="0" iyy="0.000112083333333" iyz="0" izx="0" izy="0" izz="0.000112083333333"/>
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||||
</inertial>
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||||
</link>
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||||
<joint name="motor_front_left_hip" type="revolute">
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||||
<axis xyz="1 0 0"/>
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||||
<origin rpy="0 0 0" xyz="0.0915 0.0394 0.022"/>
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||||
<parent link="front_bracket"/>
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<child link="front_left_hip"/>
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||||
<limit effort="1000.0" lower="-1.04" upper="1.04" velocity="0.7"/>
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<joint_properties damping="0.0" friction="0.0"/>
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</joint>
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||||
<link name="front_left_upper_leg">
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||||
<visual>
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||||
<origin rpy="0 0 1.57079632679" xyz="-0.252 -0.05 -0.055"/>
|
||||
<geometry>
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||||
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_UPPER_LEG.stl" scale="1 1 1"/>
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||||
</geometry>
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||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 1.57079632679" xyz="0 0.02 -0.05"/>
|
||||
<geometry>
|
||||
<box size="0.035 0.035 0.11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.13"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<!-- Inertial Axes -->
|
||||
<inertia ixx="0.000144354166667" ixy="0" ixz="0" iyx="0" iyy="0.000144354166667" iyz="0" izx="0" izy="0" izz="2.65416666667e-05"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_left_upper_leg" type="revolute">
|
||||
<axis xyz="0 1 0"/>
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||||
<origin rpy="0 0 0" xyz="0.0015 0.045 -0.0087"/>
|
||||
<parent link="front_left_hip"/>
|
||||
<child link="front_left_upper_leg"/>
|
||||
<limit effort="1000.0" lower="-1.57079632679" upper="2.59" velocity="0.7"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<link name="front_left_lower_leg">
|
||||
<visual>
|
||||
<origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.0535"/>
|
||||
<geometry>
|
||||
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_LOWER_LEG.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 1.57079632679" xyz="0 0 -0.06"/>
|
||||
<geometry>
|
||||
<box size="0.035 0.035 0.12"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<!-- Inertial Axes -->
|
||||
<inertia ixx="6.51041666667e-05" ixy="0" ixz="0" iyx="0" iyy="6.51041666667e-05" iyz="0" izx="0" izy="0" izz="1.02083333333e-05"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_left_lower_leg" type="revolute">
|
||||
<axis xyz="0 1 0"/>
|
||||
<origin rpy="0 0 0" xyz="-0.005 0.018 -0.109"/>
|
||||
<parent link="front_left_upper_leg"/>
|
||||
<child link="front_left_lower_leg"/>
|
||||
<limit effort="1000.0" lower="-2.9" upper="1.57079632679" velocity="0.7"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<link name="front_left_foot">
|
||||
<visual>
|
||||
<origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.18"/>
|
||||
<geometry>
|
||||
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_FOOT.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.18"/>
|
||||
<geometry>
|
||||
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_FOOT.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<contact_coefficients mu="10.1"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.005"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<!-- Inertial Axes -->
|
||||
<inertia ixx="3.52083333333e-06" ixy="0" ixz="0" iyx="0" iyy="2.80208333333e-06" iyz="0" izx="0" izy="0" izz="2.80208333333e-06"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="front_left_leg_foot" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.1265"/>
|
||||
<parent link="front_left_lower_leg"/>
|
||||
<child link="front_left_foot"/>
|
||||
</joint>
|
||||
<link name="back_left_hip">
|
||||
<visual>
|
||||
<origin rpy="0 0 1.57079632679" xyz="-0.25 -0.0044 -0.067"/>
|
||||
<geometry>
|
||||
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_HIP.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 1.57079632679" xyz="0.015 0.01 -0.01"/>
|
||||
<geometry>
|
||||
<box size="0.05 0.065 0.065"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.2"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<!-- Inertial Axes -->
|
||||
<inertia ixx="0.000140833333333" ixy="0" ixz="0" iyx="0" iyy="0.000112083333333" iyz="0" izx="0" izy="0" izz="0.000112083333333"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_left_hip" type="revolute">
|
||||
<axis xyz="1 0 0"/>
|
||||
<origin rpy="0 0 0" xyz="-0.1365 0.0394 0.022"/>
|
||||
<parent link="back_bracket"/>
|
||||
<child link="back_left_hip"/>
|
||||
<limit effort="1000.0" lower="-1.04" upper="1.04" velocity="0.7"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<link name="back_left_upper_leg">
|
||||
<visual>
|
||||
<origin rpy="0 0 1.57079632679" xyz="-0.252 -0.05 -0.055"/>
|
||||
<geometry>
|
||||
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_UPPER_LEG.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 1.57079632679" xyz="0 0.02 -0.05"/>
|
||||
<geometry>
|
||||
<box size="0.035 0.035 0.11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.13"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<!-- Inertial Axes -->
|
||||
<inertia ixx="0.000144354166667" ixy="0" ixz="0" iyx="0" iyy="0.000144354166667" iyz="0" izx="0" izy="0" izz="2.65416666667e-05"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_left_upper_leg" type="revolute">
|
||||
<axis xyz="0 1 0"/>
|
||||
<origin rpy="0 0 0" xyz="0.0015 0.045 -0.0087"/>
|
||||
<parent link="back_left_hip"/>
|
||||
<child link="back_left_upper_leg"/>
|
||||
<limit effort="1000.0" lower="-1.57079632679" upper="2.59" velocity="0.7"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<link name="back_left_lower_leg">
|
||||
<visual>
|
||||
<origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.0535"/>
|
||||
<geometry>
|
||||
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_LOWER_LEG.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 1.57079632679" xyz="0 0 -0.06"/>
|
||||
<geometry>
|
||||
<box size="0.035 0.035 0.12"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<!-- Inertial Axes -->
|
||||
<inertia ixx="6.51041666667e-05" ixy="0" ixz="0" iyx="0" iyy="6.51041666667e-05" iyz="0" izx="0" izy="0" izz="1.02083333333e-05"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_left_lower_leg" type="revolute">
|
||||
<axis xyz="0 1 0"/>
|
||||
<origin rpy="0 0 0" xyz="-0.005 0.018 -0.109"/>
|
||||
<parent link="back_left_upper_leg"/>
|
||||
<child link="back_left_lower_leg"/>
|
||||
<limit effort="1000.0" lower="-2.9" upper="1.57079632679" velocity="0.7"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<link name="back_left_foot">
|
||||
<visual>
|
||||
<origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.18"/>
|
||||
<geometry>
|
||||
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_FOOT.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.18"/>
|
||||
<geometry>
|
||||
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_FOOT.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<contact_coefficients mu="10.1"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.005"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<!-- Inertial Axes -->
|
||||
<inertia ixx="3.52083333333e-06" ixy="0" ixz="0" iyx="0" iyy="2.80208333333e-06" iyz="0" izx="0" izy="0" izz="2.80208333333e-06"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="back_left_leg_foot" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.1265"/>
|
||||
<parent link="back_left_lower_leg"/>
|
||||
<child link="back_left_foot"/>
|
||||
</joint>
|
||||
<link name="front_right_hip">
|
||||
<visual>
|
||||
<origin rpy="0 0 1.57079632679" xyz="-0.25 0.074 -0.067"/>
|
||||
<geometry>
|
||||
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_HIP.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 1.57079632679" xyz="0.015 -0.01 -0.01"/>
|
||||
<geometry>
|
||||
<box size="0.05 0.065 0.065"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.2"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<!-- Inertial Axes -->
|
||||
<inertia ixx="0.000140833333333" ixy="0" ixz="0" iyx="0" iyy="0.000112083333333" iyz="0" izx="0" izy="0" izz="0.000112083333333"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_right_hip" type="revolute">
|
||||
<axis xyz="1 0 0"/>
|
||||
<origin rpy="0 0 0" xyz="0.0915 -0.0394 0.022"/>
|
||||
<parent link="front_bracket"/>
|
||||
<child link="front_right_hip"/>
|
||||
<limit effort="1000.0" lower="-1.04" upper="1.04" velocity="0.7"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<link name="front_right_upper_leg">
|
||||
<visual>
|
||||
<origin rpy="0 0 1.57079632679" xyz="-0.252 0.12 -0.055"/>
|
||||
<geometry>
|
||||
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_UPPER_LEG.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 1.57079632679" xyz="0 -0.02 -0.05"/>
|
||||
<geometry>
|
||||
<box size="0.035 0.035 0.11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.13"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<!-- Inertial Axes -->
|
||||
<inertia ixx="0.000144354166667" ixy="0" ixz="0" iyx="0" iyy="0.000144354166667" iyz="0" izx="0" izy="0" izz="2.65416666667e-05"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_right_upper_leg" type="revolute">
|
||||
<axis xyz="0 1 0"/>
|
||||
<origin rpy="0 0 0" xyz="0.0015 -0.045 -0.0087"/>
|
||||
<parent link="front_right_hip"/>
|
||||
<child link="front_right_upper_leg"/>
|
||||
<limit effort="1000.0" lower="-1.57079632679" upper="2.59" velocity="0.7"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<link name="front_right_lower_leg">
|
||||
<visual>
|
||||
<origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.0535"/>
|
||||
<geometry>
|
||||
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_LOWER_LEG.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 1.57079632679" xyz="0 0 -0.06"/>
|
||||
<geometry>
|
||||
<box size="0.035 0.035 0.12"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<!-- Inertial Axes -->
|
||||
<inertia ixx="6.51041666667e-05" ixy="0" ixz="0" iyx="0" iyy="6.51041666667e-05" iyz="0" izx="0" izy="0" izz="1.02083333333e-05"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_right_lower_leg" type="revolute">
|
||||
<axis xyz="0 1 0"/>
|
||||
<origin rpy="0 0 0" xyz="-0.005 -0.018 -0.109"/>
|
||||
<parent link="front_right_upper_leg"/>
|
||||
<child link="front_right_lower_leg"/>
|
||||
<limit effort="1000.0" lower="-2.9" upper="1.57079632679" velocity="0.7"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<link name="front_right_foot">
|
||||
<visual>
|
||||
<origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.18"/>
|
||||
<geometry>
|
||||
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_FOOT.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.18"/>
|
||||
<geometry>
|
||||
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_FOOT.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<contact_coefficients mu="10.1"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.005"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<!-- Inertial Axes -->
|
||||
<inertia ixx="3.52083333333e-06" ixy="0" ixz="0" iyx="0" iyy="2.80208333333e-06" iyz="0" izx="0" izy="0" izz="2.80208333333e-06"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="front_right_leg_foot" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.1265"/>
|
||||
<parent link="front_right_lower_leg"/>
|
||||
<child link="front_right_foot"/>
|
||||
</joint>
|
||||
<link name="back_right_hip">
|
||||
<visual>
|
||||
<origin rpy="0 0 1.57079632679" xyz="-0.25 0.074 -0.067"/>
|
||||
<geometry>
|
||||
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_HIP.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 1.57079632679" xyz="0.015 -0.01 -0.01"/>
|
||||
<geometry>
|
||||
<box size="0.05 0.065 0.065"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.2"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<!-- Inertial Axes -->
|
||||
<inertia ixx="0.000140833333333" ixy="0" ixz="0" iyx="0" iyy="0.000112083333333" iyz="0" izx="0" izy="0" izz="0.000112083333333"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_right_hip" type="revolute">
|
||||
<axis xyz="1 0 0"/>
|
||||
<origin rpy="0 0 0" xyz="-0.1365 -0.0394 0.022"/>
|
||||
<parent link="back_bracket"/>
|
||||
<child link="back_right_hip"/>
|
||||
<limit effort="1000.0" lower="-1.04" upper="1.04" velocity="0.7"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<link name="back_right_upper_leg">
|
||||
<visual>
|
||||
<origin rpy="0 0 1.57079632679" xyz="-0.252 0.12 -0.055"/>
|
||||
<geometry>
|
||||
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_UPPER_LEG.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 1.57079632679" xyz="0 -0.02 -0.05"/>
|
||||
<geometry>
|
||||
<box size="0.035 0.035 0.11"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.13"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<!-- Inertial Axes -->
|
||||
<inertia ixx="0.000144354166667" ixy="0" ixz="0" iyx="0" iyy="0.000144354166667" iyz="0" izx="0" izy="0" izz="2.65416666667e-05"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_right_upper_leg" type="revolute">
|
||||
<axis xyz="0 1 0"/>
|
||||
<origin rpy="0 0 0" xyz="0.0015 -0.045 -0.0087"/>
|
||||
<parent link="back_right_hip"/>
|
||||
<child link="back_right_upper_leg"/>
|
||||
<limit effort="1000.0" lower="-1.57079632679" upper="2.59" velocity="0.7"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<link name="back_right_lower_leg">
|
||||
<visual>
|
||||
<origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.0535"/>
|
||||
<geometry>
|
||||
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_LOWER_LEG.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 1.57079632679" xyz="0 0 -0.06"/>
|
||||
<geometry>
|
||||
<box size="0.035 0.035 0.12"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<!-- Inertial Axes -->
|
||||
<inertia ixx="6.51041666667e-05" ixy="0" ixz="0" iyx="0" iyy="6.51041666667e-05" iyz="0" izx="0" izy="0" izz="1.02083333333e-05"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_back_right_lower_leg" type="revolute">
|
||||
<axis xyz="0 1 0"/>
|
||||
<origin rpy="0 0 0" xyz="-0.005 -0.018 -0.109"/>
|
||||
<parent link="back_right_upper_leg"/>
|
||||
<child link="back_right_lower_leg"/>
|
||||
<limit effort="1000.0" lower="-2.9" upper="1.57079632679" velocity="0.7"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<link name="back_right_foot">
|
||||
<visual>
|
||||
<origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.18"/>
|
||||
<geometry>
|
||||
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_FOOT.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.18"/>
|
||||
<geometry>
|
||||
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_FOOT.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<contact_coefficients mu="10.1"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.005"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<!-- Inertial Axes -->
|
||||
<inertia ixx="3.52083333333e-06" ixy="0" ixz="0" iyx="0" iyy="2.80208333333e-06" iyz="0" izx="0" izy="0" izz="2.80208333333e-06"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="back_right_leg_foot" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.1265"/>
|
||||
<parent link="back_right_lower_leg"/>
|
||||
<child link="back_right_foot"/>
|
||||
</joint>
|
||||
<joint name="base_battery" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="-0.01 0 -0.0225"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="battery"/>
|
||||
</joint>
|
||||
<joint name="base_left" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0.00 0.052 0"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="chassis_left"/>
|
||||
</joint>
|
||||
<joint name="base_right" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0.00 -0.052 0"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="chassis_right"/>
|
||||
</joint>
|
||||
<joint name="base_front" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="front"/>
|
||||
</joint>
|
||||
<joint name="base_back" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="back"/>
|
||||
</joint>
|
||||
<joint name="base_front_bracket" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="front_bracket"/>
|
||||
</joint>
|
||||
<joint name="base_back_bracket" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="back_bracket"/>
|
||||
</joint>
|
||||
</robot>
|
||||
@@ -0,0 +1,594 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<robot name="rex" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<material name="yellow">
|
||||
<color rgba="0.92 0.83 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>
|
||||
<!-- Params -->
|
||||
<!-- Macros -->
|
||||
<!-- Robot Body -->
|
||||
<link name="base_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="stl/mainbody.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
<origin rpy="0 0 0" xyz="-0.045 -0.060 -0.015"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size="0.14 0.11 0.07"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="1.20"/>
|
||||
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<!-- @TODO add lidar sensor-->
|
||||
<!-- Lidar Backpack -->
|
||||
<!-- <link name="lidar_link">-->
|
||||
<!-- <visual>-->
|
||||
<!-- <geometry>-->
|
||||
<!-- <mesh filename="stl/rplidar_main.STL" scale="0.001 0.001 0.001"/>-->
|
||||
<!-- </geometry>-->
|
||||
<!-- <material name="black"/>-->
|
||||
<!-- <origin rpy="1.57075 0 0" xyz="-0.06425 0.02885 0"/>-->
|
||||
<!-- </visual>-->
|
||||
<!-- <collision>-->
|
||||
<!-- <geometry>-->
|
||||
<!-- <box size="0.0985 0.0577 0.07"/>-->
|
||||
<!-- </geometry>-->
|
||||
<!-- <origin rpy="0 0 0" xyz="0 0 0"/>-->
|
||||
<!-- </collision>-->
|
||||
<!-- <inertial>-->
|
||||
<!-- <mass value="0.50"/>-->
|
||||
<!-- <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>-->
|
||||
<!-- </inertial>-->
|
||||
<!-- </link>-->
|
||||
<!-- <joint name="base_lidar" type="fixed">-->
|
||||
<!-- <parent link="base_link"/>-->
|
||||
<!-- <child link="lidar_link"/>-->
|
||||
<!-- <origin xyz="0 0 0.035"/>-->
|
||||
<!-- </joint>-->
|
||||
|
||||
<!-- create head & tail -->
|
||||
<link name="chassis_front_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="stl/frontpart.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="-0.040 -0.060 -0.0140"/>
|
||||
<material name="yellow"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size="0.058 0.11 0.07"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="-0.145 0 0"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="chassis_base_front" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<child link="chassis_front_link"/>
|
||||
</joint>
|
||||
<link name="chassis_rear_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="stl/backpart.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="-0.040 -0.060 -0.0140"/>
|
||||
<material name="yellow"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size="0.04 0.11 0.07"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0.135 0 0"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="chassis_base_rear" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<child link="chassis_rear_link"/>
|
||||
</joint>
|
||||
|
||||
<!-- create Legs -->
|
||||
<link name="front_left_shoulder_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="stl/lshoulder.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="-0.135 -0.02 -0.01"/>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size="0.044 0.038 0.07"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.10"/>
|
||||
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="front_left_leg_link_cover">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="stl/larm_cover.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="-0.125 0.04 -0.02"/>
|
||||
<material name="yellow"/>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="front_left_leg_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="stl/larm.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="-0.125 0.04 -0.02"/>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/>
|
||||
<geometry>
|
||||
<box size="0.028 0.036 0.12"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1"/>
|
||||
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="front_left_foot_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="stl/lfoot.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="-0.120 0.04 0.1"/>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size="0.026 0.020 0.115"/>
|
||||
</geometry>
|
||||
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1"/>
|
||||
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="front_left_toe_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="stl/foot.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<origin rpy="0 -0.40010 0" xyz="0 -0.01 0"/>
|
||||
<material name="grey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="stl/foot.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<origin rpy="0 -0.40010 0" xyz="0 -0.01 0"/>
|
||||
<contact_coefficients mu="100.0"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.005"/>
|
||||
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_left_shoulder" type="revolute">
|
||||
<parent link="base_link"/>
|
||||
<child link="front_left_shoulder_link"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<origin rpy="0 0 0" xyz="-0.093 -0.036 0"/>
|
||||
<limit effort="100.0" lower="-1.0" upper="1.0" velocity="0.7"/>
|
||||
<dynamics damping="0.0" friction="0.5"/>
|
||||
</joint>
|
||||
<joint name="motor_front_left_leg" type="revolute">
|
||||
<parent link="front_left_shoulder_link"/>
|
||||
<child link="front_left_leg_link"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<origin rpy="0 0 0" xyz="0 -0.052 0"/>
|
||||
<limit effort="100.0" lower="-2.17" upper="0.97" velocity="0.5"/>
|
||||
<dynamics damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<joint name="front_left_leg_cover_joint" type="fixed">
|
||||
<parent link="front_left_leg_link"/>
|
||||
<child link="front_left_leg_link_cover"/>
|
||||
<origin xyz="0 0 0"/>
|
||||
</joint>
|
||||
<joint name="foot_motor_front_left" type="revolute">
|
||||
<parent link="front_left_leg_link"/>
|
||||
<child link="front_left_foot_link"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<origin rpy="0 0 0" xyz="-0.01 0 -0.12"/>
|
||||
<limit effort="100.0" lower="-0.1" upper="2.59" velocity="0.5"/>
|
||||
<dynamics damping="0.0" friction="0.5"/>
|
||||
</joint>
|
||||
<joint name="front_left_toe" type="fixed">
|
||||
<parent link="front_left_foot_link"/>
|
||||
<child link="front_left_toe_link"/>
|
||||
<origin xyz="0 0 -0.115"/>
|
||||
</joint>
|
||||
|
||||
<link name="front_right_shoulder_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="stl/rshoulder.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="-0.135 -0.09 -0.01"/>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size="0.044 0.038 0.07"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.10"/>
|
||||
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="front_right_leg_link_cover">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="stl/rarm_cover.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="-0.125 -0.15 -0.02"/>
|
||||
<material name="yellow"/>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="front_right_leg_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="stl/rarm.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="-0.125 -0.15 -0.02"/>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/>
|
||||
<geometry>
|
||||
<box size="0.028 0.036 0.12"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1"/>
|
||||
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="front_right_foot_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="stl/rfoot.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="-0.120 -0.15 0.1"/>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size="0.026 0.020 0.115"/>
|
||||
</geometry>
|
||||
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1"/>
|
||||
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="front_right_toe_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="stl/foot.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<origin rpy="0 -0.40010 0" xyz="0 -0.01 0"/>
|
||||
<material name="grey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="stl/foot.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<origin rpy="0 -0.40010 0" xyz="0 -0.01 0"/>
|
||||
<contact_coefficients mu="100.0"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.005"/>
|
||||
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_front_right_shoulder" type="revolute">
|
||||
<parent link="base_link"/>
|
||||
<child link="front_right_shoulder_link"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<origin rpy="0 0 0" xyz="-0.093 0.036 0"/>
|
||||
<limit effort="100.0" lower="-1.0" upper="1.0" velocity="0.7"/>
|
||||
<dynamics damping="0.0" friction="0.5"/>
|
||||
</joint>
|
||||
<joint name="motor_front_right_leg" type="revolute">
|
||||
<parent link="front_right_shoulder_link"/>
|
||||
<child link="front_right_leg_link"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<origin rpy="0 0 0" xyz="0 0.052 0"/>
|
||||
<limit effort="100.0" lower="-2.17" upper="0.97" velocity="0.5"/>
|
||||
<dynamics damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<joint name="front_right_leg_cover_joint" type="fixed">
|
||||
<parent link="front_right_leg_link"/>
|
||||
<child link="front_right_leg_link_cover"/>
|
||||
<origin xyz="0 0 0"/>
|
||||
</joint>
|
||||
<joint name="foot_motor_front_right" type="revolute">
|
||||
<parent link="front_right_leg_link"/>
|
||||
<child link="front_right_foot_link"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<origin rpy="0 0 0" xyz="-0.01 0 -0.12"/>
|
||||
<limit effort="100.0" lower="-0.1" upper="2.59" velocity="0.5"/>
|
||||
<dynamics damping="0.0" friction="0.5"/>
|
||||
</joint>
|
||||
<joint name="front_right_toe" type="fixed">
|
||||
<parent link="front_right_foot_link"/>
|
||||
<child link="front_right_toe_link"/>
|
||||
<origin xyz="0 0 -0.115"/>
|
||||
</joint>
|
||||
|
||||
<link name="rear_left_shoulder_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="stl/lshoulder.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="-0.135 -0.02 -0.01"/>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size="0.044 0.038 0.07"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.10"/>
|
||||
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="rear_left_leg_link_cover">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="stl/larm_cover.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="-0.125 0.04 -0.02"/>
|
||||
<material name="yellow"/>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="rear_left_leg_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="stl/larm.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="-0.125 0.04 -0.02"/>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/>
|
||||
<geometry>
|
||||
<box size="0.028 0.036 0.12"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.10"/>
|
||||
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="rear_left_foot_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="stl/lfoot.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="-0.120 0.04 0.1"/>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size="0.026 0.020 0.115"/>
|
||||
</geometry>
|
||||
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1"/>
|
||||
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="rear_left_toe_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="stl/foot.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<origin rpy="0 -0.40010 0" xyz="0 -0.01 0"/>
|
||||
<material name="grey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="stl/foot.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<origin rpy="0 -0.40010 0" xyz="0 -0.01 0"/>
|
||||
<contact_coefficients mu="100.0"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.005"/>
|
||||
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_rear_left_shoulder" type="revolute">
|
||||
<parent link="base_link"/>
|
||||
<child link="rear_left_shoulder_link"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<origin rpy="0 0 0" xyz="0.093 -0.036 0"/>
|
||||
<limit effort="100.0" lower="-1.0" upper="1.0" velocity="0.7"/>
|
||||
<dynamics damping="0.0" friction="0.5"/>
|
||||
</joint>
|
||||
<joint name="motor_rear_left_leg" type="revolute">
|
||||
<parent link="rear_left_shoulder_link"/>
|
||||
<child link="rear_left_leg_link"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<origin rpy="0 0 0" xyz="0 -0.052 0"/>
|
||||
<limit effort="100.0" lower="-2.17" upper="0.97" velocity="0.5"/>
|
||||
<dynamics damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<joint name="rear_left_leg_cover_joint" type="fixed">
|
||||
<parent link="rear_left_leg_link"/>
|
||||
<child link="rear_left_leg_link_cover"/>
|
||||
<origin xyz="0 0 0"/>
|
||||
</joint>
|
||||
<joint name="foot_motor_rear_left" type="revolute">
|
||||
<parent link="rear_left_leg_link"/>
|
||||
<child link="rear_left_foot_link"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<origin rpy="0 0 0" xyz="-0.01 0 -0.12"/>
|
||||
<limit effort="100.0" lower="-0.1" upper="2.59" velocity="0.5"/>
|
||||
<dynamics damping="0.0" friction="0.5"/>
|
||||
</joint>
|
||||
<joint name="rear_left_toe" type="fixed">
|
||||
<parent link="rear_left_foot_link"/>
|
||||
<child link="rear_left_toe_link"/>
|
||||
<origin xyz="0 0 -0.115"/>
|
||||
</joint>
|
||||
|
||||
<link name="rear_right_shoulder_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="stl/rshoulder.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="-0.135 -0.09 -0.01"/>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size="0.044 0.038 0.07"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.10"/>
|
||||
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="rear_right_leg_link_cover">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="stl/rarm_cover.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="-0.125 -0.15 -0.02"/>
|
||||
<material name="yellow"/>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="rear_right_leg_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="stl/rarm.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="-0.125 -0.15 -0.02"/>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/>
|
||||
<geometry>
|
||||
<box size="0.028 0.036 0.12"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.10"/>
|
||||
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="rear_right_foot_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="stl/rfoot.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="-0.120 -0.15 0.1"/>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size="0.026 0.020 0.115"/>
|
||||
</geometry>
|
||||
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1"/>
|
||||
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="rear_right_toe_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="stl/foot.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<origin rpy="0 -0.40010 0" xyz="0 -0.01 0"/>
|
||||
<material name="grey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="stl/foot.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<origin rpy="0 -0.40010 0" xyz="0 -0.01 0"/>
|
||||
<contact_coefficients mu="100.0"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.005"/>
|
||||
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="motor_rear_right_shoulder" type="revolute">
|
||||
<parent link="base_link"/>
|
||||
<child link="rear_right_shoulder_link"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<origin rpy="0 0 0" xyz="0.093 0.036 0"/>
|
||||
<limit effort="100.0" lower="-1.0" upper="1.0" velocity="0.7"/>
|
||||
<dynamics damping="0.0" friction="0.5"/>
|
||||
</joint>
|
||||
<joint name="motor_rear_right_leg" type="revolute">
|
||||
<parent link="rear_right_shoulder_link"/>
|
||||
<child link="rear_right_leg_link"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<origin rpy="0 0 0" xyz="0 0.052 0"/>
|
||||
<limit effort="100.0" lower="-2.17" upper="0.97" velocity="0.5"/>
|
||||
<dynamics damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<joint name="rear_right_leg_cover_joint" type="fixed">
|
||||
<parent link="rear_right_leg_link"/>
|
||||
<child link="rear_right_leg_link_cover"/>
|
||||
<origin xyz="0 0 0"/>
|
||||
</joint>
|
||||
<joint name="foot_motor_rear_right" type="revolute">
|
||||
<parent link="rear_right_leg_link"/>
|
||||
<child link="rear_right_foot_link"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<origin rpy="0 0 0" xyz="-0.01 0 -0.12"/>
|
||||
<limit effort="100.0" lower="-0.1" upper="2.59" velocity="0.5"/>
|
||||
<dynamics damping="0.0" friction="0.5"/>
|
||||
</joint>
|
||||
<joint name="rear_right_toe" type="fixed">
|
||||
<parent link="rear_right_foot_link"/>
|
||||
<child link="rear_right_toe_link"/>
|
||||
<origin xyz="0 0 -0.115"/>
|
||||
</joint>
|
||||
</robot>
|
||||
@@ -0,0 +1,3 @@
|
||||
Spotmicro - robot dog (http://www.thingiverse.com/thing:3445283) by KDY0523 is licensed under the Creative Commons - Attribution license.
|
||||
http://creativecommons.org/licenses/by/3.0/
|
||||
|
||||
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@@ -0,0 +1,92 @@
|
||||
.: :,
|
||||
,:::::::: ::` ::: :::
|
||||
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|
||||
.,,:::,,, ::`.:, ... .. .:, .:. ..`... ..` .. .:, .. :: .::, .:,`
|
||||
,:: ::::::: ::, ::::::: `:::::::.,:: ::: ::: .:::::: ::::: :::::: .::::::
|
||||
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|
||||
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|
||||
,:: ::. ::: ::, ::` :::.:: ::.,:: :::::: ::::::::: ::` :::::: :::::::::
|
||||
,:: ::. ::: ::, ::` :::.:: ::.,:: .::::: ::::::::: ::` :::::::::::::::
|
||||
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|
||||
,:: ::. ::: ::, ::` ::: ::::::::.,:: :::: :::::::` ::` ::::::: :::::::.
|
||||
,:: ::. ::: ::, ::` ::: :::::::`,:: ::. :::::` ::` :::::: :::::.
|
||||
::, ,:: ``
|
||||
::::::::
|
||||
::::::
|
||||
`,,`
|
||||
|
||||
|
||||
http://www.thingiverse.com/thing:3445283
|
||||
Spotmicro - robot dog by KDY0523 is licensed under the Creative Commons - Attribution license.
|
||||
http://creativecommons.org/licenses/by/3.0/
|
||||
|
||||
# Summary
|
||||
|
||||
I designed Spotmicro inspired by the Spotmini of Boston Dynamics.
|
||||
|
||||
It works on the basis of the Arduino mega, and if you use a different board, you have to redesign the 'plate' file yourself and print the non-mega file instead of the regular file.
|
||||
|
||||
The ultra sonic sensor can be used for mapping or obstacle avoidance.
|
||||
|
||||
When you attach the servo horn to the 3D printed parts, you must use the HOTGLUE.
|
||||
|
||||
THERE IS NO CODE YET, SO YOU HAVE TO WRITE IT YOURSELF.
|
||||
|
||||
Assembly video part 1 : https://youtu.be/03RR-mz2hwA
|
||||
|
||||
Assembly video part 2 : https://youtu.be/LV5vvmhwtxM
|
||||
|
||||
Instagram : https://www.instagram.com/kim.d.yeon/
|
||||
|
||||
To make this, you need the following...
|
||||
|
||||
_Electronics_
|
||||
12 × MG 996 R servo motor
|
||||
1 × Arduino Mega
|
||||
2 × HC-SR04 Ultrasonic sensor
|
||||
1 × HC-06 Bluetooth module
|
||||
1 × MPU-6050 Gyro sensor
|
||||
1 × I2C 16x2 LCD Module
|
||||
1 × Rleil rocker switch RL3-4
|
||||
7.4v Battery
|
||||
|
||||
_Screws, Nuts and Bearings_
|
||||
8 × 'M5×15'
|
||||
40 × 'M4×20'
|
||||
8 × 'M4×15'
|
||||
48 × 'M4 nut'
|
||||
4 × 'M3×20'
|
||||
28 × 'M3×10'
|
||||
16 × 'M3 nut'
|
||||
8 × 'F625zz Flange ball bearing'
|
||||
|
||||
|
||||
|
||||
Made by Deok-yeon Kim
|
||||
|
||||
# Print Settings
|
||||
|
||||
Printer Brand: Creality
|
||||
Printer: Ender 3
|
||||
Infill: 10~20%
|
||||
Filament_brand: .
|
||||
Filament_color: Yellow, Black, Gray
|
||||
Filament_material: PLA, Flexible
|
||||
|
||||
# Post-Printing
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
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Reference in New Issue
Block a user