Darkages/SpotMicroESP32-Leika
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🧹 Formats urdf

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This commit is contained in:
Rune Harlyk
2024-08-10 00:08:35 +02:00
committed by Rune Harlyk
parent fb9313913d
commit 80c74dc745
1 changed files with 575 additions and 602 deletions
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simulation/resources/spot.urdf
+8 -35
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@@ -1,7 +1,7 @@
<?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 name="white">
<color rgba="1 1 1 1" />
</material>
<material name="black">
<color rgba="0.1 0.1 0.1 1" />
@@ -32,33 +32,6 @@
</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>
@@ -66,7 +39,7 @@
<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"/>
<material name="white" />
</visual>
<collision>
<geometry>
@@ -89,7 +62,7 @@
<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"/>
<material name="white" />
</visual>
<collision>
<geometry>
@@ -133,7 +106,7 @@
<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"/>
<material name="white" />
</visual>
<inertial>
<mass value="0.5" />
@@ -258,7 +231,7 @@
<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"/>
<material name="white" />
</visual>
<inertial>
<mass value="0.5" />
@@ -383,7 +356,7 @@
<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"/>
<material name="white" />
</visual>
<inertial>
<mass value="0.5" />
@@ -508,7 +481,7 @@
<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"/>
<material name="white" />
</visual>
<inertial>
<mass value="0.5" />