Added the battery pack and the cm510 controller STL models.

Added a new motions file with all the standard motion actions.

bioloid_controller_cm510/CMakeLists.txt

@@ -127,6 +127,7 @@ add_library(${PROJECT_NAME} src/bioloid_controller_cm510.cpp
                             ${BIOLOID_FW_PATH}/communications/src/serial_console.c
                             # main application module
                             ${ProjectPath}/movements/movements.c
+                            ${ProjectPath}/movements/mtn_library.c
                             # AVR simulation modules
                             src/sim/avr_delay.c
                             src/sim/avr_registers.c

bioloid_controller_cm510/include/bioloid_controller_cm510_impl.h

@@ -528,7 +528,7 @@ namespace bioloid_controller_cm510
 
       try{
         memset(&pages[0],0x00,sizeof(TActionPage));
-        for(page_id=1;page_id<MAX_PAGES;page_id++)
+        for(page_id=1;page_id<motions.get_num_pages();page_id++)
         {
           CRobotisPage robotis_page=motions.get_page(page_id-1);
 

bioloid_description/urdf/bioloid_ceabot.xacro

@@ -15,4 +15,62 @@
   </xacro:sharp_ir>
   <xacro:feet_ir left_parent="left_leg_ankle_roll" right_parent="right_leg_ankle_roll" update_rate="20" range="0.01"/>
 
+  <link name="battery_pack">
+    <collision>
+      <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://bioloid_description/meshes/bounding_boxes/battery_bb.stl" />
+      </geometry>
+    </collision>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://bioloid_description/meshes/bounding_boxes/battery_bb.stl" />
+      </geometry>
+      <material name="Grey">
+        <color rgba="0.79 0.82 0.93 1.0"/>
+      </material>
+    </visual>
+    <inertial>
+      <mass value="0.083" />
+      <origin xyz="-0.00750000 0.00000000 0.00000000" rpy="0 0 0"/>
+      <inertia ixx="0.00004236" ixy="0.00000000" ixz="0.00000000" iyy="0.00001003" iyz="0.00000000" izz="0.00003545" />
+    </inertial>
+  </link>
+
+  <joint name="j_battery" type="fixed">
+    <parent link="base_link"/>
+    <child link="battery_pack"/>
+    <origin xyz="0 -0.06 -0.022" rpy="-1.5707 -1.5707 0" />
+  </joint>
+
+  <link name="controller">
+    <collision>
+      <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://bioloid_description/meshes/bounding_boxes/cm510_bb.stl" />
+      </geometry>
+    </collision>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://bioloid_description/meshes/bounding_boxes/cm510_bb.stl" />
+      </geometry>
+      <material name="Grey">
+        <color rgba="0.79 0.82 0.93 1.0"/>
+      </material>
+    </visual>
+    <inertial>
+      <mass value="0.0513" />
+      <origin xyz="-0.01301673 -0.00039419 0.00111614" rpy="0 0 0"/>
+      <inertia ixx="0.00004774" ixy="0.00000038" ixz="-0.00000094" iyy="0.00002476" iyz="-0.00000030" izz="0.00004497" />
+    </inertial>
+  </link>
+
+  <joint name="j_controller" type="fixed">
+    <parent link="base_link"/>
+    <child link="controller"/>
+    <origin xyz="0 -0.01 -0.022" rpy="-1.5707 -1.5707 0" />
+  </joint>
+
 </robot>