Rune Harlyk
311 lines
11 KiB
XML
311 lines
11 KiB
XML
<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="spot_micro_rviz">
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<material name="shell_color">
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<color rgba="1 1 1 1" />
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</material>
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<material name="body_color">
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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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<xacro:property name="body_length" value="0.140" />
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<xacro:property name="body_width" value="0.110" />
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<xacro:property name="body_height" value="0.070" />
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<xacro:property name="front_length" value="0.058" />
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<xacro:property name="rear_length" value="0.040" />
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<xacro:property name="shoulder_length" value="0.044" />
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<xacro:property name="shoulder_width" value="0.038" />
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<xacro:property name="leg_length" value="0.1075" />
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<xacro:property name="foot_length" value="0.130" />
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<xacro:property name="toe_radius" value="0.020" />
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<!-- <xacro:property name="toe_radius" value="0.014" /> -->
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<xacro:property name="toe_width" value="0.020" />
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<xacro:property name="shift" value="0.055" />
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<xacro:property name="shiftx" value="0.093" />
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<xacro:property name="shifty" value="0.039" />
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<!-- Macros -->
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<xacro:macro name="gen_shoulder" params="name left">
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<link name="${name}">
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<visual>
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<xacro:if value="${left}">
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<geometry>
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<mesh filename="package://stl/lshoulder.stl" scale="0.001 0.001 0.001" />
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</geometry>
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<origin rpy="0 0 3.14159" xyz="0.135 0.015 -0.01" />
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</xacro:if>
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<xacro:unless value="${left}">
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<geometry>
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<mesh filename="package://stl/rshoulder.stl" scale="0.001 0.001 0.001" />
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</geometry>
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<origin rpy="0 0 3.14159" xyz="0.135 0.095 -0.01" />
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</xacro:unless>
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<material name="body_color" />
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</visual>
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<collision>
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<geometry>
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<box size="${shoulder_length} ${shoulder_width} ${body_height}" />
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0" />
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</collision>
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<inertial>
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<mass value="0.10" />
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<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
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</inertial>
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</link>
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</xacro:macro>
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<xacro:macro name="gen_shoulder_joint" params="pos shiftx shifty">
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<joint name="${pos}_shoulder" type="revolute">
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<parent link="base_link" />
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<child link="${pos}_shoulder_link" />
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<axis xyz="1 0 0" />
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<origin rpy="0 0 0" xyz="${shiftx} ${shifty} 0" />
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<limit effort="1000.0" lower="-0.548" upper="0.548" velocity="0.7" />
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<dynamics damping="0.0" friction="0.5" />
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</joint>
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</xacro:macro>
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<xacro:macro name="gen_leg" params="name left">
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<link name="${name}_cover">
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<visual>
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<xacro:if value="${left}">
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<geometry>
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<mesh filename="package://stl/larm_cover.stl" scale="0.001 0.001 0.001" />
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</geometry>
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<origin rpy="0 -0.139 3.14159" xyz="0.130 -0.040 -0.025" />
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</xacro:if>
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<xacro:unless value="${left}">
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<geometry>
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<mesh filename="package://stl/rarm_cover.stl" scale="0.001 0.001 0.001" />
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</geometry>
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<origin rpy="0 -0.139 3.14159" xyz="0.130 0.15 -0.025" />
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</xacro:unless>
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<material name="shell_color" />
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</visual>
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</link>
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<link name="${name}">
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<visual>
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<xacro:if value="${left}">
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<geometry>
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<mesh filename="package://stl/larm.stl" scale="0.001 0.001 0.001" />
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</geometry>
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<origin rpy="0 -0.139 3.14159" xyz="0.130 -0.040 -0.025" />
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</xacro:if>
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<xacro:unless value="${left}">
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<geometry>
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<mesh filename="package://stl/rarm.stl" scale="0.001 0.001 0.001" />
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</geometry>
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<origin rpy="0 -0.139 3.14159" xyz="0.130 0.15 -0.025" />
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</xacro:unless>
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<material name="body_color" />
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<!-- <geometry>
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<box size="0.028 0.036 ${leg_length}"/>
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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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<material name="shell_color"/>-->
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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 ${leg_length}"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.15"/>
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<inertia ixx="1000" ixy="0" ixz="0" iyy="1000" iyz="0" izz="1000" />
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</inertial>
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</link>
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</xacro:macro>
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<xacro:macro name="gen_leg_joint" params="pos shift">
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<joint name="${pos}_leg" type="revolute">
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<parent link="${pos}_shoulder_link"/>
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<child link="${pos}_leg_link"/>
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<axis xyz="0 1 0"/>
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<origin rpy="0 0 0" xyz="0 ${shift} 0"/>
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<limit effort="1000.0" lower="-2.666" upper="1.548" velocity="0.5"/>
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<dynamics damping="0.0" friction="0.0"/>
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</joint>
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<joint name="${pos}_leg_cover_joint" type="fixed">
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<parent link="${pos}_leg_link"/>
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<child link="${pos}_leg_link_cover"/>
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<origin xyz="0 0 0"/>
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</joint>
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</xacro:macro>
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<xacro:macro name="gen_foot" params="name left">
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<link name="${name}">
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<visual>
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<xacro:if value="${left}">
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<geometry>
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<mesh filename="package://stl/lfoot.stl" scale="0.001 0.001 0.001" />
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</geometry>
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<origin rpy="0 0 3.14159" xyz="0.120 -0.04 0.1" />
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</xacro:if>
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<xacro:unless value="${left}">
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<geometry>
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<mesh filename="package://stl/rfoot.stl" scale="0.001 0.001 0.001" />
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</geometry>
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<origin rpy="0 0 3.14159" xyz="0.120 0.15 0.1" />
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</xacro:unless>
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<material name="body_color" />
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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 ${foot_length}"/>
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</geometry>
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<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/>
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</collision>
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<inertial>
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<mass value="0.1"/>
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<inertia ixx="1000" ixy="0" ixz="0" iyy="1000" iyz="0" izz="1000" />
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</inertial>
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</link>
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</xacro:macro>
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<xacro:macro name="gen_foot_joint" params="pos">
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<joint name="${pos}_foot" type="revolute">
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<parent link="${pos}_leg_link"/>
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<child link="${pos}_foot_link"/>
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<axis xyz="0 1 0"/>
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<origin rpy="0 0 0" xyz="0 0 -${leg_length}"/>
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<limit effort="1000.0" lower="-2.6" upper="0.1" velocity="0.5"/>
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<dynamics damping="0.0" friction="0.5"/>
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</joint>
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</xacro:macro>
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<xacro:macro name="gen_toe" params="name">
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<link name="${name}">
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<visual>
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<geometry>
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<mesh filename="package://stl/foot.stl" scale="0.001 0.001 0.001" />
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</geometry>
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<origin rpy="0 -0.40010 3.14159" xyz="0.00 0.01 0.015" />
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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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<sphere radius="${toe_radius}" />
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 ${toe_radius}"/>
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<contact_coefficients mu="1.1" />
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</collision>
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<inertial>
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<mass value="0.05"/>
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<inertia ixx="1000" ixy="0" ixz="0" iyy="1000" iyz="0" izz="1000" />
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</inertial>
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</link>
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</xacro:macro>
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<xacro:macro name="gen_toe_joint" params="pos">
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<joint name="${pos}_toe" type="fixed">
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<parent link="${pos}_foot_link"/>
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<child link="${pos}_toe_link"/>
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<origin xyz="0 0 -${foot_length}"/>
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</joint>
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</xacro:macro>
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<xacro:macro name="gen_full_leg_joint" params="pos shiftx shifty shift left">
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<xacro:gen_shoulder name="${pos}_shoulder_link" left="${left}"/>
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<xacro:gen_leg name="${pos}_leg_link" left="${left}"/>
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<xacro:gen_foot name="${pos}_foot_link" left="${left}"/>
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<xacro:gen_toe name="${pos}_toe_link"/>
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<xacro:gen_shoulder_joint pos="${pos}" shiftx="${shiftx}" shifty="${shifty}"/>
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<xacro:gen_leg_joint pos="${pos}" shift="${shift}"/>
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<xacro:gen_foot_joint pos="${pos}"/>
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<xacro:gen_toe_joint pos="${pos}"/>
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</xacro:macro>
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<!-- Robot Body -->
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<link name="base_link">
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<visual>
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<geometry>
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<mesh filename="package://stl/mainbody.stl" scale="0.001 0.001 0.001" />
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</geometry>
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<material name="body_color" />
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<origin rpy="0 0 0" xyz="-0.042 -0.055 -0.010"/>
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</visual>
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<collision>
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<geometry>
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<box size="${body_length} ${body_width} ${body_height}"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</collision>
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<inertial>
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<mass value="2.80"/>
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<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
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</inertial>
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</link>
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<link name="rear_link">
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<visual>
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<geometry>
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<mesh filename="package://stl/backpart.stl" scale="0.001 0.001 0.001" />
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</geometry>
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<origin rpy="0 0 3.14159" xyz="0.04 0.055 -0.010" />
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<material name="shell_color" />
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</visual>
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<collision>
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<geometry>
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<box size="${rear_length} ${body_width} ${body_height}"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0.135 0 0"/>
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</collision>
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<inertial>
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<mass value="0.20"/>
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<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
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</inertial>
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</link>
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<joint name="base_rear" type="fixed">
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<parent link="base_link"/>
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<child link="rear_link"/>
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</joint>
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<link name="front_link">
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<visual>
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<geometry>
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<mesh filename="package://stl/frontpart.stl" scale="0.001 0.001 0.001" />
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</geometry>
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<origin rpy="0 0 3.14159" xyz="0.040 0.055 -0.010" />
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<material name="shell_color" />
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</visual>
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<collision>
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<geometry>
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<box size="${front_length} ${body_width} ${body_height}"/>
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</geometry>
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<origin rpy="0 0 0" xyz="-0.145 0 0"/>
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</collision>
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<inertial>
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<mass value="0.20"/>
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<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
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</inertial>
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</link>
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<joint name="base_front" type="fixed">
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<parent link="base_link"/>
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<child link="front_link"/>
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</joint>
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<!-- create Legs -->
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<xacro:gen_full_leg_joint pos="front_left" shiftx="${shiftx}" shifty="${shifty}" shift="${shift}" left="true"/>
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<xacro:gen_full_leg_joint pos="front_right" shiftx="${shiftx}" shifty="-${shifty}" shift="-${shift}" left="false"/>
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<xacro:gen_full_leg_joint pos="rear_left" shiftx="-${shiftx}" shifty="${shifty}" shift="${shift}" left="true"/>
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<xacro:gen_full_leg_joint pos="rear_right" shiftx="-${shiftx}" shifty="-${shifty}" shift="-${shift}" left="false"/>
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</robot>
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