Rune Harlyk
490 lines
20 KiB
XML
490 lines
20 KiB
XML
<?xml version="1.0"?>
|
|
<robot name="spot" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
|
|
|
<!-- Include Macros -->
|
|
<xacro:include filename="$(find mini_ros)/urdf/spot_macro.xacro" />
|
|
<xacro:include filename="$(find mini_ros)/urdf/transmissions.xacro" />
|
|
<!-- <xacro:include filename="$(find mini_ros)/urdf/accessories.urdf.xacro" /> -->
|
|
|
|
<!-- Robot description -->
|
|
<!-- STATIC Links -->
|
|
<link name="base_link"/>
|
|
|
|
<!-- MAIN BODY -->
|
|
<xacro:mesh_link name="base_inertia"
|
|
origin_rpy="0 0 ${pi/2}" origin_xyz="-0.16 0.035 -0.045"
|
|
i_rpy="0 0 0" i_xyz="0 0 0"
|
|
mass="0.6"
|
|
c_xyz="0 0 0"
|
|
length="0.114"
|
|
width="0.2"
|
|
height="0.1"
|
|
matname="orange"
|
|
meshfile="package://mini_ros/stl/OpenQuadruped/MAINBODY.stl"
|
|
meshscale="1 1 1" /> <!-- m to mm -->
|
|
|
|
<!-- BATTERY -->
|
|
<xacro:mesh_link name="battery"
|
|
origin_rpy="0 0 ${pi/2}" origin_xyz="-0.15 0.035 -0.022"
|
|
i_rpy="0 0 0" i_xyz="0 0 0"
|
|
mass="0.4"
|
|
c_xyz="0 0 0"
|
|
length="0.048"
|
|
width="0.145"
|
|
height="0.026"
|
|
matname="black"
|
|
meshfile="package://mini_ros/stl/OpenQuadruped/Battery.stl"
|
|
meshscale="1 1 1" /> <!-- m to mm -->
|
|
|
|
<!-- CHASSIS LEFT -->
|
|
<xacro:mesh_link name="chassis_left"
|
|
origin_rpy="0 ${pi/2} -${pi/2}" origin_xyz="0.016 0.003 0"
|
|
i_rpy="0 0 0" i_xyz="0 0 0"
|
|
mass="0.01"
|
|
c_xyz="0 0 0"
|
|
length="0.06"
|
|
width="0.15"
|
|
height="0.006"
|
|
matname="black"
|
|
meshfile="package://mini_ros/stl/OpenQuadruped/Chassis_Left_Side.stl"
|
|
meshscale="1 1 1" /> <!-- m to mm -->
|
|
|
|
<!-- CHASSIS Right -->
|
|
<xacro:mesh_link name="chassis_right"
|
|
origin_rpy="0 ${pi/2} ${pi/2}" origin_xyz="-0.016 -0.003 0"
|
|
i_rpy="0 0 0" i_xyz="0 0 0"
|
|
mass="0.01"
|
|
c_xyz="0 0 0"
|
|
length="0.06"
|
|
width="0.15"
|
|
height="0.006"
|
|
matname="black"
|
|
meshfile="package://mini_ros/stl/OpenQuadruped/Chassis_Right_Side.stl"
|
|
meshscale="1 1 1" /> <!-- m to mm -->
|
|
|
|
<!-- FRONT -->
|
|
<xacro:mesh_link name="front"
|
|
origin_rpy="0 0 ${pi/2}" origin_xyz="-0.16 0.035 -0.045"
|
|
i_rpy="0 0 0" i_xyz="0 0 0"
|
|
mass="0.1"
|
|
c_xyz="0.16 0 0.006"
|
|
length="0.114"
|
|
width="0.045"
|
|
height="0.085"
|
|
matname="orange"
|
|
meshfile="package://mini_ros/stl/OpenQuadruped/Front.stl"
|
|
meshscale="1 1 1" /> <!-- m to mm -->
|
|
|
|
<!-- BACK -->
|
|
<xacro:mesh_link name="back"
|
|
origin_rpy="0 0 ${pi/2}" origin_xyz="-0.16 0.035 -0.045"
|
|
i_rpy="0 0 0" i_xyz="0 0 0"
|
|
mass="0.1"
|
|
c_xyz="-0.16 0 0.006"
|
|
length="0.114"
|
|
width="0.075"
|
|
height="0.085"
|
|
matname="orange"
|
|
meshfile="package://mini_ros/stl/OpenQuadruped/Back.stl"
|
|
meshscale="1 1 1" /> <!-- m to mm -->
|
|
|
|
<!-- FRONT BRACKET -->
|
|
<xacro:mesh_link name="front_bracket"
|
|
origin_rpy="0 0 ${pi/2}" origin_xyz="-0.16 0.035 -0.045"
|
|
i_rpy="0 0 0" i_xyz="0 0 0"
|
|
mass="0.1"
|
|
c_xyz="0.1 0 0"
|
|
length="0.025"
|
|
width="0.075"
|
|
height="0.085"
|
|
matname="black"
|
|
meshfile="package://mini_ros/stl/OpenQuadruped/Front_Bracket.stl"
|
|
meshscale="1 1 1" /> <!-- m to mm -->
|
|
|
|
<!-- BACK BRACKET -->
|
|
<xacro:mesh_link name="back_bracket"
|
|
origin_rpy="0 0 ${pi/2}" origin_xyz="-0.16 0.035 -0.045"
|
|
i_rpy="0 0 0" i_xyz="0 0 0"
|
|
mass="0.1"
|
|
c_xyz="-0.1 0 0"
|
|
length="0.025"
|
|
width="0.075"
|
|
height="0.085"
|
|
matname="black"
|
|
meshfile="package://mini_ros/stl/OpenQuadruped/Back_Bracket.stl"
|
|
meshscale="1 1 1" /> <!-- m to mm -->
|
|
|
|
|
|
<!-- DYNAMIC LINKS (Joints Included) -->
|
|
<!-- FRONT LEFT LEG -->
|
|
<!-- HIP -->
|
|
<xacro:mesh_link name="front_left_hip"
|
|
origin_rpy="0 0 ${pi/2}" origin_xyz="-0.25 -0.0044 -0.067"
|
|
i_rpy="0 0 0" i_xyz="0 0.075 0"
|
|
mass="0.2"
|
|
c_xyz="0.015 0.01 -0.01"
|
|
length="0.05"
|
|
width="0.065"
|
|
height="0.065"
|
|
matname="black"
|
|
meshfile="package://mini_ros/stl/OpenQuadruped/LEFT_HIP.stl"
|
|
meshscale="1 1 1" /> <!-- m to mm -->
|
|
<xacro:rev_joint name="motor_front_left_hip" type="revolute"
|
|
axis_xyz="1 0 0"
|
|
origin_rpy="0 0 0" origin_xyz="${0.2515-0.16} ${0.0044+0.035} ${0.067-0.045}"
|
|
parent="front_bracket" child="front_left_hip"
|
|
effort="4.0" velocity="4.0"
|
|
damping="0.0"
|
|
friction="0.0"
|
|
lower="-1.04"
|
|
upper="1.04"/>
|
|
<!-- UPPER LEG -->
|
|
<xacro:mesh_link name="front_left_upper_leg"
|
|
origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.252} ${-0.05} ${-0.055}"
|
|
i_rpy="0 0 0" i_xyz="-0.005 0.0175 -0.055"
|
|
mass="0.13"
|
|
c_xyz="0 0.02 -0.05"
|
|
length="0.035"
|
|
width="0.035"
|
|
height="0.11"
|
|
matname="black"
|
|
meshfile="package://mini_ros/stl/OpenQuadruped/LEFT_UPPER_LEG.stl"
|
|
meshscale="1 1 1" /> <!-- m to mm -->
|
|
<xacro:rev_joint name="motor_front_left_upper_leg" type="revolute"
|
|
axis_xyz="0 1 0"
|
|
origin_rpy="0 0 0" origin_xyz="0.0015 0.045 -0.0087"
|
|
parent="front_left_hip" child="front_left_upper_leg"
|
|
effort="4.0" velocity="4.0"
|
|
damping="0.0"
|
|
friction="0.0"
|
|
lower="${-pi/2}"
|
|
upper="2.59"/>
|
|
<!-- LOWER LEG -->
|
|
<xacro:mesh_link name="front_left_lower_leg"
|
|
origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.247} ${-0.068} ${0.0535}"
|
|
i_rpy="0 0 0" i_xyz="-0.01 0 -0.06"
|
|
mass="0.05"
|
|
c_xyz="0 0 -0.06"
|
|
length="0.035"
|
|
width="0.035"
|
|
height="0.12"
|
|
matname="black"
|
|
meshfile="package://mini_ros/stl/OpenQuadruped/LEFT_LOWER_LEG.stl"
|
|
meshscale="1 1 1" /> <!-- m to mm -->
|
|
<xacro:rev_joint name="motor_front_left_lower_leg" type="revolute"
|
|
axis_xyz="0 1 0"
|
|
origin_rpy="0 0 0" origin_xyz="-0.005 0.018 -0.109"
|
|
parent="front_left_upper_leg" child="front_left_lower_leg"
|
|
effort="4.0" velocity="4.0"
|
|
damping="0.0"
|
|
friction="0.0"
|
|
lower="-2.9"
|
|
upper="${pi/2}"/>
|
|
<!-- FOOT -->
|
|
<xacro:mesh_link_sphere name="front_left_foot"
|
|
origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.247} ${-0.068} ${0.18}"
|
|
i_rpy="0 0 0" i_xyz="0 0 0"
|
|
mass="0.005"
|
|
c_xyz="${-0.247} ${-0.068} ${0.18}"
|
|
length="0.05"
|
|
width="0.065"
|
|
height="0.065"
|
|
radius="0.02"
|
|
matname="orange"
|
|
meshfile="package://mini_ros/stl/OpenQuadruped/LEFT_FOOT.stl"
|
|
meshscale="1 1 1" /> <!-- m to mm -->
|
|
<xacro:frame_joint name="front_left_leg_foot" type="fixed"
|
|
origin_rpy="0 0 0" origin_xyz="0 0 -0.1265"
|
|
parent="front_left_lower_leg" child="front_left_foot"/>
|
|
|
|
<!-- BACK LEFT LEG -->
|
|
<!-- HIP -->
|
|
<xacro:mesh_link name="back_left_hip"
|
|
origin_rpy="0 0 ${pi/2}" origin_xyz="-0.25 -0.0044 -0.067"
|
|
i_rpy="0 0 0" i_xyz="0 0.075 0"
|
|
mass="0.2"
|
|
c_xyz="0.015 0.01 -0.01"
|
|
length="0.05"
|
|
width="0.065"
|
|
height="0.065"
|
|
matname="black"
|
|
meshfile="package://mini_ros/stl/OpenQuadruped/LEFT_HIP.stl"
|
|
meshscale="1 1 1" /> <!-- m to mm -->
|
|
<xacro:rev_joint name="motor_back_left_hip" type="revolute"
|
|
axis_xyz="1 0 0"
|
|
origin_rpy="0 0 0" origin_xyz="${-0.2515+0.115} ${0.0044+0.035} ${0.067-0.045}"
|
|
parent="back_bracket" child="back_left_hip"
|
|
effort="4.0" velocity="4.0"
|
|
damping="0.0"
|
|
friction="0.0"
|
|
lower="-1.04"
|
|
upper="1.04"/>
|
|
<!-- UPPER LEG -->
|
|
<xacro:mesh_link name="back_left_upper_leg"
|
|
origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.252} ${-0.05} ${-0.055}"
|
|
i_rpy="0 0 0" i_xyz="-0.005 0.0175 -0.055"
|
|
mass="0.13"
|
|
c_xyz="0 0.02 -0.05"
|
|
length="0.035"
|
|
width="0.035"
|
|
height="0.11"
|
|
matname="black"
|
|
meshfile="package://mini_ros/stl/OpenQuadruped/LEFT_UPPER_LEG.stl"
|
|
meshscale="1 1 1" /> <!-- m to mm -->
|
|
<xacro:rev_joint name="motor_back_left_upper_leg" type="revolute"
|
|
axis_xyz="0 1 0"
|
|
origin_rpy="0 0 0" origin_xyz="0.0015 0.045 -0.0087"
|
|
parent="back_left_hip" child="back_left_upper_leg"
|
|
effort="4.0" velocity="4.0"
|
|
damping="0.0"
|
|
friction="0.0"
|
|
lower="${-pi/2}"
|
|
upper="2.59"/>
|
|
<!-- LOWER LEG -->
|
|
<xacro:mesh_link name="back_left_lower_leg"
|
|
origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.247} ${-0.068} ${0.0535}"
|
|
i_rpy="0 0 0" i_xyz="-0.01 0 -0.06"
|
|
mass="0.05"
|
|
c_xyz="0 0 -0.06"
|
|
length="0.035"
|
|
width="0.035"
|
|
height="0.12"
|
|
matname="black"
|
|
meshfile="package://mini_ros/stl/OpenQuadruped/LEFT_LOWER_LEG.stl"
|
|
meshscale="1 1 1" /> <!-- m to mm -->
|
|
<xacro:rev_joint name="motor_back_left_lower_leg" type="revolute"
|
|
axis_xyz="0 1 0"
|
|
origin_rpy="0 0 0" origin_xyz="-0.005 0.018 -0.109"
|
|
parent="back_left_upper_leg" child="back_left_lower_leg"
|
|
effort="4.0" velocity="4.0"
|
|
damping="0.0"
|
|
friction="0.0"
|
|
lower="-2.9"
|
|
upper="${pi/2}"/>
|
|
<!-- FOOT -->
|
|
<xacro:mesh_link_sphere name="back_left_foot"
|
|
origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.247} ${-0.068} ${0.18}"
|
|
i_rpy="0 0 0" i_xyz="0 0 0"
|
|
mass="0.005"
|
|
c_xyz="${-0.247} ${-0.068} ${0.18}"
|
|
length="0.05"
|
|
width="0.065"
|
|
height="0.065"
|
|
radius="0.02"
|
|
matname="orange"
|
|
meshfile="package://mini_ros/stl/OpenQuadruped/LEFT_FOOT.stl"
|
|
meshscale="1 1 1" /> <!-- m to mm -->
|
|
<xacro:frame_joint name="back_left_leg_foot" type="fixed"
|
|
origin_rpy="0 0 0" origin_xyz="0 0 -0.1265"
|
|
parent="back_left_lower_leg" child="back_left_foot"/>
|
|
|
|
<!-- FRONT RIGHT LEG -->
|
|
<!-- HIP -->
|
|
<xacro:mesh_link name="front_right_hip"
|
|
origin_rpy="0 0 ${pi/2}" origin_xyz="-0.25 0.074 -0.067"
|
|
i_rpy="0 0 0" i_xyz="0 -0.075 0"
|
|
mass="0.2"
|
|
c_xyz="0.015 ${-0.01} -0.01"
|
|
length="0.05"
|
|
width="0.065"
|
|
height="0.065"
|
|
matname="black"
|
|
meshfile="package://mini_ros/stl/OpenQuadruped/RIGHT_HIP.stl"
|
|
meshscale="1 1 1" /> <!-- m to mm -->
|
|
<xacro:rev_joint name="motor_front_right_hip" type="revolute"
|
|
axis_xyz="1 0 0"
|
|
origin_rpy="0 0 0" origin_xyz="${0.2515-0.16} ${-(0.0044+0.035)} ${0.067-0.045}"
|
|
parent="front_bracket" child="front_right_hip"
|
|
effort="4.0" velocity="4.0"
|
|
damping="0.0"
|
|
friction="0.0"
|
|
lower="-1.04"
|
|
upper="1.04"/>
|
|
<!-- UPPER LEG -->
|
|
<xacro:mesh_link name="front_right_upper_leg"
|
|
origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.252} ${0.12} ${-0.055}"
|
|
i_rpy="0 0 0" i_xyz="-0.005 -0.0175 -0.055"
|
|
mass="0.13"
|
|
c_xyz="0 ${-0.02} -0.05"
|
|
length="0.035"
|
|
width="0.035"
|
|
height="0.11"
|
|
matname="black"
|
|
meshfile="package://mini_ros/stl/OpenQuadruped/RIGHT_UPPER_LEG.stl"
|
|
meshscale="1 1 1" /> <!-- m to mm -->
|
|
<xacro:rev_joint name="motor_front_right_upper_leg" type="revolute"
|
|
axis_xyz="0 1 0"
|
|
origin_rpy="0 0 0" origin_xyz="0.0015 -0.045 -0.0087"
|
|
parent="front_right_hip" child="front_right_upper_leg"
|
|
effort="4.0" velocity="4.0"
|
|
damping="0.0"
|
|
friction="0.0"
|
|
lower="${-pi/2}"
|
|
upper="2.59"/>
|
|
<!-- LOWER LEG -->
|
|
<xacro:mesh_link name="front_right_lower_leg"
|
|
origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.247} ${0.138} ${0.0535}"
|
|
i_rpy="0 0 0" i_xyz="-0.01 0 -0.06"
|
|
mass="0.05"
|
|
c_xyz="0 0 -0.06"
|
|
length="0.035"
|
|
width="0.035"
|
|
height="0.12"
|
|
matname="black"
|
|
meshfile="package://mini_ros/stl/OpenQuadruped/RIGHT_LOWER_LEG.stl"
|
|
meshscale="1 1 1" /> <!-- m to mm -->
|
|
<xacro:rev_joint name="motor_front_right_lower_leg" type="revolute"
|
|
axis_xyz="0 1 0"
|
|
origin_rpy="0 0 0" origin_xyz="-0.005 -0.018 -0.109"
|
|
parent="front_right_upper_leg" child="front_right_lower_leg"
|
|
effort="4.0" velocity="4.0"
|
|
damping="0.0"
|
|
friction="0.0"
|
|
lower="-2.9"
|
|
upper="${pi/2}"/>
|
|
<!-- FOOT -->
|
|
<xacro:mesh_link_sphere name="front_right_foot"
|
|
origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.247} ${0.138} ${0.18}"
|
|
i_rpy="0 0 0" i_xyz="0 0 0"
|
|
mass="0.005"
|
|
c_xyz="${-0.247} ${0.138} ${0.18}"
|
|
length="0.05"
|
|
width="0.065"
|
|
height="0.065"
|
|
radius="0.02"
|
|
matname="orange"
|
|
meshfile="package://mini_ros/stl/OpenQuadruped/RIGHT_FOOT.stl"
|
|
meshscale="1 1 1" /> <!-- m to mm -->
|
|
<xacro:frame_joint name="front_right_leg_foot" type="fixed"
|
|
origin_rpy="0 0 0" origin_xyz="0 0 -0.1265"
|
|
parent="front_right_lower_leg" child="front_right_foot"/>
|
|
|
|
<!-- BACK RIGHT LEG -->
|
|
<!-- HIP -->
|
|
<xacro:mesh_link name="back_right_hip"
|
|
origin_rpy="0 0 ${pi/2}" origin_xyz="-0.25 0.074 -0.067"
|
|
i_rpy="0 0 0" i_xyz="0 -0.075 0"
|
|
mass="0.2"
|
|
c_xyz="0.015 ${-0.01} -0.01"
|
|
length="0.05"
|
|
width="0.065"
|
|
height="0.065"
|
|
matname="black"
|
|
meshfile="package://mini_ros/stl/OpenQuadruped/RIGHT_HIP.stl"
|
|
meshscale="1 1 1" /> <!-- m to mm -->
|
|
<xacro:rev_joint name="motor_back_right_hip" type="revolute"
|
|
axis_xyz="1 0 0"
|
|
origin_rpy="0 0 0" origin_xyz="${-0.2515+0.115} ${-(0.0044+0.035)} ${0.067-0.045}"
|
|
parent="back_bracket" child="back_right_hip"
|
|
effort="4.0" velocity="4.0"
|
|
damping="0.0"
|
|
friction="0.0"
|
|
lower="-1.04"
|
|
upper="1.04"/>
|
|
<!-- UPPER LEG -->
|
|
<xacro:mesh_link name="back_right_upper_leg"
|
|
origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.252} ${0.12} ${-0.055}"
|
|
i_rpy="0 0 0" i_xyz="-0.005 -0.0175 -0.055"
|
|
mass="0.13"
|
|
c_xyz="0 ${-0.02} -0.05"
|
|
length="0.035"
|
|
width="0.035"
|
|
height="0.11"
|
|
matname="black"
|
|
meshfile="package://mini_ros/stl/OpenQuadruped/RIGHT_UPPER_LEG.stl"
|
|
meshscale="1 1 1" /> <!-- m to mm -->
|
|
<xacro:rev_joint name="motor_back_right_upper_leg" type="revolute"
|
|
axis_xyz="0 1 0"
|
|
origin_rpy="0 0 0" origin_xyz="0.0015 -0.045 -0.0087"
|
|
parent="back_right_hip" child="back_right_upper_leg"
|
|
effort="4.0" velocity="4.0"
|
|
damping="0.0"
|
|
friction="0.0"
|
|
lower="${-pi/2}"
|
|
upper="2.59"/>
|
|
<!-- LOWER LEG -->
|
|
<xacro:mesh_link name="back_right_lower_leg"
|
|
origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.247} ${0.138} ${0.0535}"
|
|
i_rpy="0 0 0" i_xyz="-0.01 0 -0.06"
|
|
mass="0.05"
|
|
c_xyz="0 0 -0.06"
|
|
length="0.035"
|
|
width="0.035"
|
|
height="0.12"
|
|
matname="black"
|
|
meshfile="package://mini_ros/stl/OpenQuadruped/RIGHT_LOWER_LEG.stl"
|
|
meshscale="1 1 1" /> <!-- m to mm -->
|
|
<xacro:rev_joint name="motor_back_right_lower_leg" type="revolute"
|
|
axis_xyz="0 1 0"
|
|
origin_rpy="0 0 0" origin_xyz="-0.005 -0.018 -0.109"
|
|
parent="back_right_upper_leg" child="back_right_lower_leg"
|
|
effort="4.0" velocity="4.0"
|
|
damping="0.0"
|
|
friction="0.0"
|
|
lower="-2.9"
|
|
upper="${pi/2}"/>
|
|
<!-- FOOT -->
|
|
<xacro:mesh_link_sphere name="back_right_foot"
|
|
origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.247} ${0.138} ${0.18}"
|
|
i_rpy="0 0 0" i_xyz="0 0 0"
|
|
mass="0.005"
|
|
c_xyz="${-0.247} ${0.138} ${0.18}"
|
|
length="0.05"
|
|
width="0.065"
|
|
height="0.065"
|
|
radius="0.02"
|
|
matname="orange"
|
|
meshfile="package://mini_ros/stl/OpenQuadruped/RIGHT_FOOT.stl"
|
|
meshscale="1 1 1" /> <!-- m to mm -->
|
|
<xacro:frame_joint name="back_right_leg_foot" type="fixed"
|
|
origin_rpy="0 0 0" origin_xyz="0 0 -0.1265"
|
|
parent="back_right_lower_leg" child="back_right_foot"/>
|
|
|
|
|
|
<!-- STATIC Joints -->
|
|
<!-- FOOTPRINT TO MAIN BODY-->
|
|
<xacro:frame_joint name="base_base" type="fixed"
|
|
origin_rpy="0 0 0" origin_xyz="0 0 0"
|
|
parent="base_link" child="base_inertia"/>
|
|
<!-- MAIN BODY TO BATTERY -->
|
|
<xacro:frame_joint name="base_battery" type="fixed"
|
|
origin_rpy="0 0 0" origin_xyz="-0.01 0 -0.0225"
|
|
parent="base_link" child="battery"/>
|
|
<!-- MAIN BODY TO CHASSIS LEFT -->
|
|
<xacro:frame_joint name="base_left" type="fixed"
|
|
origin_rpy="0 0 0" origin_xyz="0.00 0.052 0"
|
|
parent="base_link" child="chassis_left"/>
|
|
<!-- MAIN BODY TO CHASSIS RIGHT -->
|
|
<xacro:frame_joint name="base_right" type="fixed"
|
|
origin_rpy="0 0 0" origin_xyz="0.00 -0.052 0"
|
|
parent="base_link" child="chassis_right"/>
|
|
<!-- MAIN BODY TO FRONT -->
|
|
<xacro:frame_joint name="base_front" type="fixed"
|
|
origin_rpy="0 0 0" origin_xyz="0 0 0"
|
|
parent="base_link" child="front"/>
|
|
<!-- MAIN BODY TO BACK -->
|
|
<xacro:frame_joint name="base_back" type="fixed"
|
|
origin_rpy="0 0 0" origin_xyz="0 0 0"
|
|
parent="base_link" child="back"/>
|
|
<!-- MAIN BODY TO FRONT BRACKET -->
|
|
<xacro:frame_joint name="base_front_bracket" type="fixed"
|
|
origin_rpy="0 0 0" origin_xyz="0 0 0"
|
|
parent="base_link" child="front_bracket"/>
|
|
<!-- MAIN BODY TO BACK BRACKET -->
|
|
<xacro:frame_joint name="base_back_bracket" type="fixed"
|
|
origin_rpy="0 0 0" origin_xyz="0 0 0"
|
|
parent="base_link" child="back_bracket"/>
|
|
|
|
<xacro:quadruped_transmission leg="front_left"/>
|
|
<xacro:quadruped_transmission leg="front_right"/>
|
|
<xacro:quadruped_transmission leg="back_left"/>
|
|
<xacro:quadruped_transmission leg="back_right"/>
|
|
|
|
<gazebo>
|
|
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
|
|
<robotNamespace>/spot</robotNamespace>
|
|
</plugin>
|
|
</gazebo>
|
|
|
|
</robot>
|