Rune Harlyk
583 lines
21 KiB
XML
583 lines
21 KiB
XML
<?xml version="1.0" encoding="utf-8"?>
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<robot name="rex" xmlns:xacro="http://www.ros.org/wiki/xacro">
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<material name="white">
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<color rgba="1 1 1 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="foot_color">
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<color rgba="0 0.75 1 1" />
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</material>
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<!-- Params -->
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<!-- Macros -->
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<!-- Robot Body -->
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<link name="base_link">
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<visual>
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<geometry>
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<mesh filename="stl/mainbody.stl" scale="0.001 0.001 0.001" />
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</geometry>
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<material name="black" />
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<origin rpy="0 0 0" xyz="-0.045 -0.060 -0.015" />
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</visual>
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<collision>
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<geometry>
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<box size="0.14 0.11 0.07" />
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0" />
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</collision>
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<inertial>
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<mass value="1.20" />
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<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
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</inertial>
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</link>
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<!-- create head & tail -->
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<link name="chassis_front_link">
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<visual>
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<geometry>
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<mesh filename="stl/frontpart.stl" scale="0.001 0.001 0.001" />
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</geometry>
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<origin rpy="0 0 0" xyz="-0.040 -0.060 -0.0140" />
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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="0.058 0.11 0.07" />
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</geometry>
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<origin rpy="0 0 0" xyz="-0.145 0 0" />
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</collision>
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<inertial>
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<mass value="0.05" />
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<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
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</inertial>
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</link>
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<joint name="chassis_base_front" type="fixed">
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<parent link="base_link" />
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<child link="chassis_front_link" />
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</joint>
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<link name="chassis_rear_link">
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<visual>
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<geometry>
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<mesh filename="stl/backpart.stl" scale="0.001 0.001 0.001" />
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</geometry>
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<origin rpy="0 0 0" xyz="-0.040 -0.060 -0.0140" />
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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="0.04 0.11 0.07" />
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</geometry>
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<origin rpy="0 0 0" xyz="0.135 0 0" />
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</collision>
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<inertial>
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<mass value="0.05" />
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<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
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</inertial>
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</link>
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<joint name="chassis_base_rear" type="fixed">
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<parent link="base_link" />
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<child link="chassis_rear_link" />
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</joint>
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<!-- create Legs -->
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<link name="front_left_shoulder_link">
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<visual>
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<geometry>
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<mesh filename="stl/lshoulder.stl" scale="0.001 0.001 0.001" />
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</geometry>
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<origin rpy="0 0 0" xyz="-0.135 -0.02 -0.01" />
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<material name="black" />
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</visual>
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<collision>
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<geometry>
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<box size="0.044 0.038 0.07" />
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0" />
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</collision>
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<inertial>
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<mass value="0.10" />
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<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
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</inertial>
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</link>
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<link name="front_left_leg_link_cover">
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<visual>
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<geometry>
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<mesh filename="stl/larm_cover.stl" scale="0.001 0.001 0.001" />
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</geometry>
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<origin rpy="0 0 0" xyz="-0.125 0.04 -0.02" />
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<material name="white" />
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</visual>
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<inertial>
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<mass value="0.5" />
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<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
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</inertial>
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</link>
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<link name="front_left_leg_link">
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<visual>
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<geometry>
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<mesh filename="stl/larm.stl" scale="0.001 0.001 0.001" />
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</geometry>
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<origin rpy="0 0 0" xyz="-0.125 0.04 -0.02" />
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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 0.0 0.0" xyz="0.0 0.0 -0.050" />
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<geometry>
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<box size="0.028 0.036 0.12" />
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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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<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
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</inertial>
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</link>
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<link name="front_left_foot_link">
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<visual>
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<geometry>
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<mesh filename="stl/lfoot.stl" scale="0.001 0.001 0.001" />
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</geometry>
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<origin rpy="0 0 0" xyz="-0.120 0.04 0.1" />
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<material name="black" />
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</visual>
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<collision>
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<geometry>
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<box size="0.026 0.020 0.115" />
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</geometry>
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<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050" />
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</collision>
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<inertial>
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<mass value="0.1" />
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<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
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</inertial>
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</link>
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<link name="front_left_toe_link">
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<visual>
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<geometry>
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<mesh filename="stl/foot.stl" scale="0.001 0.001 0.001" />
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</geometry>
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<origin rpy="0 -0.40010 0" xyz="0 -0.01 0" />
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<material name="foot_color" />
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</visual>
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<collision>
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<geometry>
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<mesh filename="stl/foot.stl" scale="0.001 0.001 0.001" />
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</geometry>
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<origin rpy="0 -0.40010 0" xyz="0 -0.01 0" />
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<contact_coefficients mu="100.0" />
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</collision>
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<inertial>
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<mass value="0.005" />
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<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
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</inertial>
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</link>
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<joint name="motor_front_left_shoulder" type="revolute">
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<parent link="base_link" />
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<child link="front_left_shoulder_link" />
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<axis xyz="1 0 0" />
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<origin rpy="0 0 0" xyz="-0.093 -0.036 0" />
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<limit effort="100.0" lower="-1.0" upper="1.0" velocity="0.7" />
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<dynamics damping="0.0" friction="0.5" />
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</joint>
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<joint name="motor_front_left_leg" type="revolute">
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<parent link="front_left_shoulder_link" />
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<child link="front_left_leg_link" />
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<axis xyz="0 1 0" />
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<origin rpy="0 0 0" xyz="0 -0.052 0" />
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<limit effort="100.0" lower="-2.17" upper="0.97" velocity="0.5" />
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<dynamics damping="0.0" friction="0.0" />
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</joint>
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<joint name="front_left_leg_cover_joint" type="fixed">
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<parent link="front_left_leg_link" />
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<child link="front_left_leg_link_cover" />
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<origin xyz="0 0 0" />
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</joint>
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<joint name="foot_motor_front_left" type="revolute">
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<parent link="front_left_leg_link" />
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<child link="front_left_foot_link" />
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<axis xyz="0 1 0" />
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<origin rpy="0 0 0" xyz="-0.01 0 -0.12" />
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<limit effort="100.0" lower="-0.1" upper="2.59" velocity="0.5" />
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<dynamics damping="0.0" friction="0.5" />
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</joint>
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<joint name="front_left_toe" type="fixed">
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<parent link="front_left_foot_link" />
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<child link="front_left_toe_link" />
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<origin xyz="0 0 -0.115" />
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</joint>
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<link name="front_right_shoulder_link">
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<visual>
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<geometry>
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<mesh filename="stl/rshoulder.stl" scale="0.001 0.001 0.001" />
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</geometry>
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<origin rpy="0 0 0" xyz="-0.135 -0.09 -0.01" />
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<material name="black" />
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</visual>
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<collision>
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<geometry>
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<box size="0.044 0.038 0.07" />
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0" />
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</collision>
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<inertial>
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<mass value="0.10" />
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<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
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</inertial>
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</link>
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<link name="front_right_leg_link_cover">
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<visual>
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<geometry>
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<mesh filename="stl/rarm_cover.stl" scale="0.001 0.001 0.001" />
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</geometry>
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<origin rpy="0 0 0" xyz="-0.125 -0.15 -0.02" />
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<material name="white" />
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</visual>
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<inertial>
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<mass value="0.5" />
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<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
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</inertial>
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</link>
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<link name="front_right_leg_link">
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<visual>
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<geometry>
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<mesh filename="stl/rarm.stl" scale="0.001 0.001 0.001" />
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</geometry>
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<origin rpy="0 0 0" xyz="-0.125 -0.15 -0.02" />
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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 0.0 0.0" xyz="0.0 0.0 -0.050" />
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<geometry>
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<box size="0.028 0.036 0.12" />
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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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<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
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</inertial>
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</link>
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<link name="front_right_foot_link">
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<visual>
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<geometry>
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<mesh filename="stl/rfoot.stl" scale="0.001 0.001 0.001" />
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</geometry>
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<origin rpy="0 0 0" xyz="-0.120 -0.15 0.1" />
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<material name="black" />
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</visual>
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<collision>
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<geometry>
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<box size="0.026 0.020 0.115" />
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</geometry>
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<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050" />
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</collision>
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<inertial>
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<mass value="0.1" />
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<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
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</inertial>
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</link>
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<link name="front_right_toe_link">
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<visual>
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<geometry>
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<mesh filename="stl/foot.stl" scale="0.001 0.001 0.001" />
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</geometry>
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<origin rpy="0 -0.40010 0" xyz="0 -0.01 0" />
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<material name="foot_color" />
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</visual>
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<collision>
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<geometry>
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<mesh filename="stl/foot.stl" scale="0.001 0.001 0.001" />
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</geometry>
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<origin rpy="0 -0.40010 0" xyz="0 -0.01 0" />
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<contact_coefficients mu="100.0" />
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</collision>
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<inertial>
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<mass value="0.005" />
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<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
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</inertial>
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</link>
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<joint name="motor_front_right_shoulder" type="revolute">
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<parent link="base_link" />
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<child link="front_right_shoulder_link" />
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<axis xyz="1 0 0" />
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<origin rpy="0 0 0" xyz="-0.093 0.036 0" />
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<limit effort="100.0" lower="-1.0" upper="1.0" velocity="0.7" />
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<dynamics damping="0.0" friction="0.5" />
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</joint>
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<joint name="motor_front_right_leg" type="revolute">
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<parent link="front_right_shoulder_link" />
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<child link="front_right_leg_link" />
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<axis xyz="0 1 0" />
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<origin rpy="0 0 0" xyz="0 0.052 0" />
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<limit effort="100.0" lower="-2.17" upper="0.97" velocity="0.5" />
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<dynamics damping="0.0" friction="0.0" />
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</joint>
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<joint name="front_right_leg_cover_joint" type="fixed">
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<parent link="front_right_leg_link" />
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<child link="front_right_leg_link_cover" />
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<origin xyz="0 0 0" />
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</joint>
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<joint name="foot_motor_front_right" type="revolute">
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<parent link="front_right_leg_link" />
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<child link="front_right_foot_link" />
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<axis xyz="0 1 0" />
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<origin rpy="0 0 0" xyz="-0.01 0 -0.12" />
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<limit effort="100.0" lower="-0.1" upper="2.59" velocity="0.5" />
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<dynamics damping="0.0" friction="0.5" />
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</joint>
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<joint name="front_right_toe" type="fixed">
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<parent link="front_right_foot_link" />
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<child link="front_right_toe_link" />
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<origin xyz="0 0 -0.115" />
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</joint>
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<link name="rear_left_shoulder_link">
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<visual>
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<geometry>
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<mesh filename="stl/lshoulder.stl" scale="0.001 0.001 0.001" />
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</geometry>
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<origin rpy="0 0 0" xyz="-0.135 -0.02 -0.01" />
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<material name="black" />
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</visual>
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<collision>
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<geometry>
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<box size="0.044 0.038 0.07" />
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0" />
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</collision>
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<inertial>
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<mass value="0.10" />
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<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
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</inertial>
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</link>
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<link name="rear_left_leg_link_cover">
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<visual>
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<geometry>
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<mesh filename="stl/larm_cover.stl" scale="0.001 0.001 0.001" />
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</geometry>
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<origin rpy="0 0 0" xyz="-0.125 0.04 -0.02" />
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<material name="white" />
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</visual>
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<inertial>
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<mass value="0.5" />
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<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
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</inertial>
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</link>
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<link name="rear_left_leg_link">
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<visual>
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<geometry>
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<mesh filename="stl/larm.stl" scale="0.001 0.001 0.001" />
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</geometry>
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<origin rpy="0 0 0" xyz="-0.125 0.04 -0.02" />
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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 0.0 0.0" xyz="0.0 0.0 -0.050" />
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<geometry>
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<box size="0.028 0.036 0.12" />
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</geometry>
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</collision>
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<inertial>
|
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<mass value="0.10" />
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<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
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</inertial>
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</link>
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<link name="rear_left_foot_link">
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<visual>
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<geometry>
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<mesh filename="stl/lfoot.stl" scale="0.001 0.001 0.001" />
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</geometry>
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<origin rpy="0 0 0" xyz="-0.120 0.04 0.1" />
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<material name="black" />
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</visual>
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<collision>
|
|
<geometry>
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<box size="0.026 0.020 0.115" />
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</geometry>
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<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050" />
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</collision>
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<inertial>
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|
<mass value="0.1" />
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|
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
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</inertial>
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</link>
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<link name="rear_left_toe_link">
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<visual>
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<geometry>
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<mesh filename="stl/foot.stl" scale="0.001 0.001 0.001" />
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</geometry>
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<origin rpy="0 -0.40010 0" xyz="0 -0.01 0" />
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<material name="foot_color" />
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</visual>
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<collision>
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<geometry>
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<mesh filename="stl/foot.stl" scale="0.001 0.001 0.001" />
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</geometry>
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<origin rpy="0 -0.40010 0" xyz="0 -0.01 0" />
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<contact_coefficients mu="100.0" />
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</collision>
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|
<inertial>
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<mass value="0.005" />
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<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
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</inertial>
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</link>
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<joint name="motor_rear_left_shoulder" type="revolute">
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<parent link="base_link" />
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<child link="rear_left_shoulder_link" />
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<axis xyz="1 0 0" />
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<origin rpy="0 0 0" xyz="0.093 -0.036 0" />
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<limit effort="100.0" lower="-1.0" upper="1.0" velocity="0.7" />
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<dynamics damping="0.0" friction="0.5" />
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</joint>
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<joint name="motor_rear_left_leg" type="revolute">
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<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="white" />
|
|
</visual>
|
|
<inertial>
|
|
<mass value="0.5" />
|
|
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
|
|
</inertial>
|
|
</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="foot_color" />
|
|
</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> |