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🐾 Adds foot tracing and gui panel

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This commit is contained in:
Rune Harlyk
2024-02-25 02:04:50 +01:00
committed by Rune Harlyk
parent 4c2fe9a044
commit f41d5a7949
7 changed files with 201 additions and 143 deletions
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app/public/spot_micro.urdf.xacro
+118 -118
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@@ -1,119 +1,119 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="spot_micro_rviz">
<material name="white">
<color rgba="1 1 1 1"/>
</material>
<material name="black">
<color rgba="0.1 0.1 0.1 1"/>
</material>
<material name="blue">
<color rgba="0 0.75 1 1"/>
</material>
<material name="shell_color">
<color rgba="1 1 1 1" />
</material>
<material name="body_color">
<color rgba="0.1 0.1 0.1 1" />
</material>
<material name="foot_color">
<color rgba="0 0.75 1 1" />
</material>
<!-- Params -->
<!-- Params -->
<xacro:property name="body_length" value="0.140" />
<xacro:property name="body_width" value="0.110" />
<xacro:property name="body_height" value="0.070" />
<xacro:property name="body_length" value="0.140" />
<xacro:property name="body_width" value="0.110" />
<xacro:property name="body_height" value="0.070" />
<xacro:property name="front_length" value="0.058" />
<xacro:property name="rear_length" value="0.040" />
<xacro:property name="front_length" value="0.058" />
<xacro:property name="rear_length" value="0.040" />
<xacro:property name="shoulder_length" value="0.044" />
<xacro:property name="shoulder_width" value="0.038" />
<xacro:property name="shoulder_length" value="0.044" />
<xacro:property name="shoulder_width" value="0.038" />
<xacro:property name="leg_length" value="0.1075" />
<xacro:property name="foot_length" value="0.130" />
<xacro:property name="leg_length" value="0.1075" />
<xacro:property name="foot_length" value="0.130" />
<xacro:property name="toe_radius" value="0.020" />
<!-- <xacro:property name="toe_radius" value="0.014" /> -->
<xacro:property name="toe_width" value="0.020" />
<xacro:property name="shift" value="0.055" />
<xacro:property name="shiftx" value="0.093" />
<xacro:property name="shifty" value="0.039" />
<xacro:property name="toe_radius" value="0.020" />
<!-- <xacro:property name="toe_radius" value="0.014" /> -->
<xacro:property name="toe_width" value="0.020" />
<xacro:property name="shift" value="0.055" />
<xacro:property name="shiftx" value="0.093" />
<xacro:property name="shifty" value="0.039" />
<!-- Macros -->
<!-- Macros -->
<xacro:macro name="gen_shoulder" params="name left">
<link name="${name}">
<visual>
<xacro:if value="${left}">
<geometry>
<mesh filename="package://stl/lshoulder.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 3.14159" xyz="0.135 0.015 -0.01"/>
</xacro:if>
<xacro:unless value="${left}">
<geometry>
<mesh filename="package://stl/rshoulder.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 3.14159" xyz="0.135 0.095 -0.01"/>
</xacro:unless>
<material name="black"/>
</visual>
<collision>
<geometry>
<box size="${shoulder_length} ${shoulder_width} ${body_height}"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.10"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
</link>
</xacro:macro>
<xacro:macro name="gen_shoulder" params="name left">
<link name="${name}">
<visual>
<xacro:if value="${left}">
<geometry>
<mesh filename="package://stl/lshoulder.stl" scale="0.001 0.001 0.001" />
</geometry>
<origin rpy="0 0 3.14159" xyz="0.135 0.015 -0.01" />
</xacro:if>
<xacro:unless value="${left}">
<geometry>
<mesh filename="package://stl/rshoulder.stl" scale="0.001 0.001 0.001" />
</geometry>
<origin rpy="0 0 3.14159" xyz="0.135 0.095 -0.01" />
</xacro:unless>
<material name="body_color" />
</visual>
<collision>
<geometry>
<box size="${shoulder_length} ${shoulder_width} ${body_height}" />
</geometry>
<origin rpy="0 0 0" xyz="0 0 0" />
</collision>
<inertial>
<mass value="0.10" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
</link>
</xacro:macro>
<xacro:macro name="gen_shoulder_joint" params="pos shiftx shifty">
<joint name="${pos}_shoulder" type="revolute">
<parent link="base_link"/>
<child link="${pos}_shoulder_link"/>
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="${shiftx} ${shifty} 0"/>
<limit effort="1000.0" lower="-0.548" upper="0.548" velocity="0.7"/>
<dynamics damping="0.0" friction="0.5"/>
</joint>
</xacro:macro>
<xacro:macro name="gen_shoulder_joint" params="pos shiftx shifty">
<joint name="${pos}_shoulder" type="revolute">
<parent link="base_link" />
<child link="${pos}_shoulder_link" />
<axis xyz="1 0 0" />
<origin rpy="0 0 0" xyz="${shiftx} ${shifty} 0" />
<limit effort="1000.0" lower="-0.548" upper="0.548" velocity="0.7" />
<dynamics damping="0.0" friction="0.5" />
</joint>
</xacro:macro>
<xacro:macro name="gen_leg" params="name left">
<link name="${name}_cover">
<visual>
<xacro:if value="${left}">
<geometry>
<mesh filename="package://stl/larm_cover.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 -0.139 3.14159" xyz="0.130 -0.040 -0.025"/>
</xacro:if>
<xacro:unless value="${left}">
<geometry>
<mesh filename="package://stl/rarm_cover.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 -0.139 3.14159" xyz="0.130 0.15 -0.025"/>
</xacro:unless>
<material name="white"/>
</visual>
</link>
<link name="${name}">
<visual>
<xacro:if value="${left}">
<geometry>
<mesh filename="package://stl/larm.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 -0.139 3.14159" xyz="0.130 -0.040 -0.025"/>
</xacro:if>
<xacro:unless value="${left}">
<geometry>
<mesh filename="package://stl/rarm.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 -0.139 3.14159" xyz="0.130 0.15 -0.025"/>
</xacro:unless>
<material name="black"/>
<!-- <geometry>
<xacro:macro name="gen_leg" params="name left">
<link name="${name}_cover">
<visual>
<xacro:if value="${left}">
<geometry>
<mesh filename="package://stl/larm_cover.stl" scale="0.001 0.001 0.001" />
</geometry>
<origin rpy="0 -0.139 3.14159" xyz="0.130 -0.040 -0.025" />
</xacro:if>
<xacro:unless value="${left}">
<geometry>
<mesh filename="package://stl/rarm_cover.stl" scale="0.001 0.001 0.001" />
</geometry>
<origin rpy="0 -0.139 3.14159" xyz="0.130 0.15 -0.025" />
</xacro:unless>
<material name="shell_color" />
</visual>
</link>
<link name="${name}">
<visual>
<xacro:if value="${left}">
<geometry>
<mesh filename="package://stl/larm.stl" scale="0.001 0.001 0.001" />
</geometry>
<origin rpy="0 -0.139 3.14159" xyz="0.130 -0.040 -0.025" />
</xacro:if>
<xacro:unless value="${left}">
<geometry>
<mesh filename="package://stl/rarm.stl" scale="0.001 0.001 0.001" />
</geometry>
<origin rpy="0 -0.139 3.14159" xyz="0.130 0.15 -0.025" />
</xacro:unless>
<material name="body_color" />
<!-- <geometry>
<box size="0.028 0.036 ${leg_length}"/>
</geometry>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/>
<material name="white"/>-->
<material name="shell_color"/>-->
</visual>
<collision>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/>
@@ -150,17 +150,17 @@
<visual>
<xacro:if value="${left}">
<geometry>
<mesh filename="package://stl/lfoot.stl" scale="0.001 0.001 0.001"/>
<mesh filename="package://stl/lfoot.stl" scale="0.001 0.001 0.001" />
</geometry>
<origin rpy="0 0 3.14159" xyz="0.120 -0.04 0.1"/>
<origin rpy="0 0 3.14159" xyz="0.120 -0.04 0.1" />
</xacro:if>
<xacro:unless value="${left}">
<geometry>
<mesh filename="package://stl/rfoot.stl" scale="0.001 0.001 0.001"/>
<mesh filename="package://stl/rfoot.stl" scale="0.001 0.001 0.001" />
</geometry>
<origin rpy="0 0 3.14159" xyz="0.120 0.15 0.1"/>
<origin rpy="0 0 3.14159" xyz="0.120 0.15 0.1" />
</xacro:unless>
<material name="black"/>
<material name="body_color" />
</visual>
<collision>
<geometry>
@@ -190,10 +190,10 @@
<link name="${name}">
<visual>
<geometry>
<mesh filename="package://stl/foot.stl" scale="0.001 0.001 0.001"/>
<mesh filename="package://stl/foot.stl" scale="0.001 0.001 0.001" />
</geometry>
<origin rpy="0 -0.40010 3.14159" xyz="0.00 0.01 0.015"/>
<material name="blue"/>
<origin rpy="0 -0.40010 3.14159" xyz="0.00 0.01 0.015" />
<material name="foot_color" />
</visual>
<collision>
<geometry>
@@ -229,14 +229,14 @@
<xacro:gen_toe_joint pos="${pos}"/>
</xacro:macro>
<!-- Robot Body -->
<!-- Robot Body -->
<link name="base_link">
<visual>
<geometry>
<mesh filename="package://stl/mainbody.stl" scale="0.001 0.001 0.001"/>
<mesh filename="package://stl/mainbody.stl" scale="0.001 0.001 0.001" />
</geometry>
<material name="black"/>
<material name="body_color" />
<origin rpy="0 0 0" xyz="-0.042 -0.055 -0.010"/>
</visual>
<collision>
@@ -255,10 +255,10 @@
<link name="rear_link">
<visual>
<geometry>
<mesh filename="package://stl/backpart.stl" scale="0.001 0.001 0.001"/>
<mesh filename="package://stl/backpart.stl" scale="0.001 0.001 0.001" />
</geometry>
<origin rpy="0 0 3.14159" xyz="0.04 0.055 -0.010"/>
<material name="white"/>
<origin rpy="0 0 3.14159" xyz="0.04 0.055 -0.010" />
<material name="shell_color" />
</visual>
<collision>
<geometry>
@@ -279,10 +279,10 @@
<link name="front_link">
<visual>
<geometry>
<mesh filename="package://stl/frontpart.stl" scale="0.001 0.001 0.001"/>
<mesh filename="package://stl/frontpart.stl" scale="0.001 0.001 0.001" />
</geometry>
<origin rpy="0 0 3.14159" xyz="0.040 0.055 -0.010"/>
<material name="white"/>
<origin rpy="0 0 3.14159" xyz="0.040 0.055 -0.010" />
<material name="shell_color" />
</visual>
<collision>
<geometry>
@@ -300,7 +300,7 @@
<child link="front_link"/>
</joint>
<!-- create Legs -->
<!-- create Legs -->
<xacro:gen_full_leg_joint pos="front_left" shiftx="${shiftx}" shifty="${shifty}" shift="${shift}" left="true"/>
<xacro:gen_full_leg_joint pos="front_right" shiftx="${shiftx}" shifty="-${shifty}" shift="-${shift}" left="false"/>