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Commit 84bbaa6d authored by Sergi Hernandez's avatar Sergi Hernandez
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Added the models and reference system description for the feet with IR sensors. 

Added a new robot for the CEABOT competition.
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darwin_description/meshes/left_sensor_foot.stl 0 → 100755
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− 0
View file @ 84bbaa6d
File added
darwin_description/meshes/right_sensor_foot.stl 0 → 100755
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− 0
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File added
darwin_description/urdf/darwin.gazebo
+ 0
− 46
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...@@ -52,10 +52,6 @@ ...@@ -52,10 +52,6 @@
<material>Gazebo/Grey</material> <material>Gazebo/Grey</material>
</gazebo> </gazebo>
<gazebo reference="left_leg_ankle_roll">
<material>Gazebo/Grey</material>
</gazebo>
<gazebo reference="right_leg_pelvis_yaw"> <gazebo reference="right_leg_pelvis_yaw">
<material>Gazebo/Grey</material> <material>Gazebo/Grey</material>
</gazebo> </gazebo>
...@@ -76,10 +72,6 @@ ...@@ -76,10 +72,6 @@
<material>Gazebo/Grey</material> <material>Gazebo/Grey</material>
</gazebo> </gazebo>
<gazebo reference="right_leg_ankle_roll">
<material>Gazebo/Grey</material>
</gazebo>
<gazebo reference="base_link"> <gazebo reference="base_link">
<gravity>false</gravity> <gravity>false</gravity>
<selfCollide>false</selfCollide> <selfCollide>false</selfCollide>
...@@ -236,19 +228,6 @@ ...@@ -236,19 +228,6 @@
<kd>0.0</kd> <kd>0.0</kd>
</gazebo> </gazebo>
<gazebo reference="left_leg_ankle_roll">
<gravity>false</gravity>
<selfCollide>false</selfCollide>
<maxContacts>10</maxContacts>
<dampingFactor>0.2</dampingFactor>
<maxVel>0.0</maxVel>
<minDepth>0.0</minDepth>
<mu1>1.000000</mu1>
<mu2>1.000000</mu2>
<kp>0.0</kp>
<kd>0.0</kd>
</gazebo>
<gazebo reference="right_leg_pelvis_pitch"> <gazebo reference="right_leg_pelvis_pitch">
<gravity>false</gravity> <gravity>false</gravity>
<selfCollide>false</selfCollide> <selfCollide>false</selfCollide>
...@@ -314,19 +293,6 @@ ...@@ -314,19 +293,6 @@
<kd>0.0</kd> <kd>0.0</kd>
</gazebo> </gazebo>
<gazebo reference="right_leg_ankle_roll">
<gravity>false</gravity>
<selfCollide>false</selfCollide>
<maxContacts>10</maxContacts>
<dampingFactor>0.2</dampingFactor>
<maxVel>0.0</maxVel>
<minDepth>0.0</minDepth>
<mu1>1.00000</mu1>
<mu2>1.00000</mu2>
<kp>0.0</kp>
<kd>0.0</kd>
</gazebo>
<gazebo reference="j_tilt"> <gazebo reference="j_tilt">
<implicitSpringDamper>true</implicitSpringDamper> <implicitSpringDamper>true</implicitSpringDamper>
<stopCfm>0.0</stopCfm> <stopCfm>0.0</stopCfm>
...@@ -392,12 +358,6 @@ ...@@ -392,12 +358,6 @@
<stopErp>0.0</stopErp> <stopErp>0.0</stopErp>
</gazebo> </gazebo>
<gazebo reference="j_ankle_roll_l">
<implicitSpringDamper>true</implicitSpringDamper>
<stopCfm>0.0</stopCfm>
<stopErp>0.0</stopErp>
</gazebo>
<gazebo reference="j_hip_yaw_r"> <gazebo reference="j_hip_yaw_r">
<implicitSpringDamper>true</implicitSpringDamper> <implicitSpringDamper>true</implicitSpringDamper>
<stopCfm>0.0</stopCfm> <stopCfm>0.0</stopCfm>
...@@ -428,12 +388,6 @@ ...@@ -428,12 +388,6 @@
<stopErp>0.0</stopErp> <stopErp>0.0</stopErp>
</gazebo> </gazebo>
<gazebo reference="j_ankle_roll_r">
<implicitSpringDamper>true</implicitSpringDamper>
<stopCfm>0.0</stopCfm>
<stopErp>0.0</stopErp>
</gazebo>
<gazebo> <gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so"> <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/darwin</robotNamespace> <robotNamespace>/darwin</robotNamespace>
......
darwin_description/urdf/darwin.xacro
+ 10
− 0
View file @ 84bbaa6d
...@@ -6,6 +6,8 @@ ...@@ -6,6 +6,8 @@
<xacro:include filename="$(find darwin_description)/urdf/sensors/bno055.xacro" /> <xacro:include filename="$(find darwin_description)/urdf/sensors/bno055.xacro" />
<xacro:include filename="$(find darwin_description)/urdf/left_hand.xacro" /> <xacro:include filename="$(find darwin_description)/urdf/left_hand.xacro" />
<xacro:include filename="$(find darwin_description)/urdf/right_hand.xacro" /> <xacro:include filename="$(find darwin_description)/urdf/right_hand.xacro" />
<xacro:include filename="$(find darwin_description)/urdf/left_foot.xacro" />
<xacro:include filename="$(find darwin_description)/urdf/right_foot.xacro" />
<xacro:left_hand parent="left_arm_high"> <xacro:left_hand parent="left_arm_high">
<origin xyz="0.0 -0.060 0.016" rpy="-1.5707 0 0" /> <origin xyz="0.0 -0.060 0.016" rpy="-1.5707 0 0" />
...@@ -15,6 +17,14 @@ ...@@ -15,6 +17,14 @@
<origin xyz="0.0 -0.06 0.016" rpy="-1.5707 0 0" /> <origin xyz="0.0 -0.06 0.016" rpy="-1.5707 0 0" />
</xacro:right_hand> </xacro:right_hand>
<xacro:left_foot parent="left_leg_ankle_pitch">
<origin xyz="0 0 0" rpy="0 0 0" />
</xacro:left_foot>
<xacro:right_foot parent="right_leg_ankle_pitch">
<origin xyz="0 0 0" rpy="0 0 0" />
</xacro:right_foot>
<xacro:ids_xs name="darwin_cam" parent="head"> <xacro:ids_xs name="darwin_cam" parent="head">
<origin xyz="0.0 0.005 0.045" rpy="0 -2.2777 1.5707" /> <origin xyz="0.0 0.005 0.045" rpy="0 -2.2777 1.5707" />
</xacro:ids_xs> </xacro:ids_xs>
......
darwin_description/urdf/darwin_ceabot.xacro 0 → 100755
+ 36
− 0
View file @ 84bbaa6d
<robot name="darwin" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find darwin_description)/urdf/darwin_low_res.xacro" />
<xacro:include filename="$(find darwin_description)/urdf/sensors/darwin_imu.xacro" />
<xacro:include filename="$(find darwin_description)/urdf/sensors/ids_xs.xacro" />
<xacro:include filename="$(find darwin_description)/urdf/sensors/bno055.xacro" />
<xacro:include filename="$(find darwin_description)/urdf/left_hand.xacro" />
<xacro:include filename="$(find darwin_description)/urdf/right_hand.xacro" />
<xacro:include filename="$(find darwin_description)/urdf/left_sensor_foot.xacro" />
<xacro:include filename="$(find darwin_description)/urdf/right_sensor_foot.xacro" />
<xacro:left_hand parent="left_arm_high">
<origin xyz="0.0 -0.060 0.016" rpy="-1.5707 0 0" />
</xacro:left_hand>
<xacro:right_hand parent="right_arm_high">
<origin xyz="0.0 -0.06 0.016" rpy="-1.5707 0 0" />
</xacro:right_hand>
<xacro:left_sensor_foot parent="left_leg_ankle_pitch" update_rate="10" range="0.01">
<origin xyz="0 0 0" rpy="0 0 0" />
</xacro:left_sensor_foot>
<xacro:right_sensor_foot parent="right_leg_ankle_pitch" update_rate="10" range="0.01">
<origin xyz="0 0 0" rpy="0 0 0" />
</xacro:right_sensor_foot>
<xacro:ids_xs name="darwin_cam" parent="head">
<origin xyz="0.0 0.005 0.045" rpy="0 -2.2777 1.5707" />
</xacro:ids_xs>
<xacro:bno055 name="darwin_imu" parent="base_link">
<origin xyz="0.0 0.0 -0.05" rpy="0 0 1.5707" />
</xacro:bno055>
</robot>
darwin_description/urdf/darwin_grippers.xacro
+ 7
− 802
View file @ 84bbaa6d
<robot name="darwin" xmlns:xacro="http://www.ros.org/wiki/xacro"> <robot name="darwin" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find darwin_description)/urdf/darwin.gazebo" /> <xacro:include filename="$(find darwin_description)/urdf/darwin_low_res.xacro" />
<xacro:include filename="$(find darwin_description)/urdf/sensors/darwin_imu.xacro" /> <xacro:include filename="$(find darwin_description)/urdf/sensors/darwin_imu.xacro" />
<xacro:include filename="$(find darwin_description)/urdf/sensors/ids_xs.xacro" /> <xacro:include filename="$(find darwin_description)/urdf/sensors/ids_xs.xacro" />
<xacro:include filename="$(find darwin_description)/urdf/sensors/bno055.xacro" /> <xacro:include filename="$(find darwin_description)/urdf/sensors/bno055.xacro" />
<xacro:include filename="$(find darwin_description)/urdf/gripper.xacro" /> <xacro:include filename="$(find darwin_description)/urdf/gripper.xacro" />
<xacro:include filename="$(find darwin_description)/urdf/left_foot.xacro" />
<xacro:include filename="$(find darwin_description)/urdf/right_foot.xacro" />
<link name="base_link"> <xacro:left_foot parent="left_leg_ankle_pitch">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://darwin_description/meshes/body.stl" />
</geometry>
<material name="Grey">
<color rgba="0.79 0.82 0.93 1.0"/>
</material>
</visual>
<inertial>
<mass value="0.975599" />
<origin xyz="0.00002469 -0.029448 -0.01576428" rpy="0 0 0"/>
<inertia ixx="0.00175853" ixy="-0.00000031" ixz="0.00000081" iyy="0.00187076" iyz="-0.00002473" izz="0.00246393" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://darwin_description/meshes/bounding_boxes/body_bb.stl" />
</geometry>
</collision>
</link>
<link name="neck">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://darwin_description/meshes/neck.stl" />
</geometry>
<material name="Grey">
<color rgba="0.79 0.82 0.93 1.0"/>
</material>
</visual>
<inertial>
<mass value="0.0243577" />
<origin xyz="-2.4722012e-006 -0.021006105 -0.0010218021" rpy="0 0 0"/>
<inertia ixx="3.4606288e-006" ixy="-1.810192e-010" ixz="-6.1530042e-011" iyy="9.0467035e-006" iyz="1.5988071e-007" izz="1.0024371e-005" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://darwin_description/meshes/bounding_boxes/neck_bb.stl" />
</geometry>
</collision>
</link>
<link name="head">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://darwin_description/meshes/head.stl" />
</geometry>
<material name="Grey">
<color rgba="0.79 0.82 0.93 1.0"/>
</material>
</visual>
<inertial>
<mass value="0.158042" />
<origin xyz="1.4076285e-005 0.019086672 0.004621368" rpy="0 0 0"/>
<inertia ixx="0.00015147251" ixy="-1.8688115e-007" ixz="5.4521838e-009" iyy="0.00014149723" iyz="-1.3452525e-005" izz="0.00015599345" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://darwin_description/meshes/bounding_boxes/head_bb.stl" />
</geometry>
</collision>
</link>
<link name="left_shoulder">
<visual>
<origin xyz="0.022 -0.016 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://darwin_description/meshes/left_shoulder.stl" />
</geometry>
<material name="Grey">
<color rgba="0.79 0.82 0.93 1.0"/>
</material>
</visual>
<inertial>
<mass value="0.025913" />
<origin xyz="-0.01643844 0.01337172 0.0000000" rpy="0 0 0"/>
<inertia ixx="0.00001012" ixy="-0.00000071" ixz="0.00000000" iyy="0.0000099" iyz="0.00000000" izz="0.00000384" />
</inertial>
<collision>
<origin xyz="0.022 -0.016 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://darwin_description/meshes/bounding_boxes/left_shoulder_bb.stl" />
</geometry>
</collision>
</link>
<link name="left_arm_high" >
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://darwin_description/meshes/left_arm_high.stl" />
</geometry>
<material name="Grey">
<color rgba="0.79 0.82 0.93 1.0"/>
</material>
</visual>
<inertial>
<mass value="0.168377" />
<origin xyz="-0.0000229 -0.03563612 0.00239371" rpy="0 0 0"/>
<inertia ixx="0.00014389" ixy="0.00000009" ixz="0.00000031" iyy="0.00004108" iyz="-0.00000970" izz="0.00013383" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://darwin_description/meshes/bounding_boxes/left_arm_high_bb.stl" />
</geometry>
</collision>
</link>
<xacro:gripper name="l" parent="left_arm_high">
<origin xyz="0.0 -0.060 0.016" rpy="-1.5707 0 0" />
</xacro:gripper>
<link name="right_shoulder" >
<visual>
<origin xyz="-0.022 -0.016 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://darwin_description/meshes/right_shoulder.stl" />
</geometry>
<material name="Grey">
<color rgba="0.79 0.82 0.93 1.0"/>
</material>
</visual>
<inertial>
<mass value="0.025913" />
<origin xyz="0.01643844 0.01337172 0.00000000" rpy="0 0 0"/>
<inertia ixx="0.00001012" ixy="0.00000071" ixz="0.00000000" iyy="0.00000990" iyz="0.00000000" izz="0.00000384" />
</inertial>
<collision>
<origin xyz="-0.022 -0.016 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://darwin_description/meshes/bounding_boxes/right_shoulder_bb.stl" />
</geometry>
</collision>
</link>
<link name="right_arm_high" >
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://darwin_description/meshes/right_arm_high.stl" />
</geometry>
<material name="Grey">
<color rgba="0.79 0.82 0.93 1.0"/>
</material>
</visual>
<inertial>
<mass value="0.168377" />
<origin xyz="0.00002296 -0.03563612 0.00239371" rpy="0 0 0"/>
<inertia ixx="0.00014389" ixy="-0.00000009" ixz="-0.00000031" iyy="0.00004108" iyz="-0.00000970" izz="0.00013383" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://darwin_description/meshes/bounding_boxes/right_arm_high_bb.stl" />
</geometry>
</collision>
</link>
<xacro:gripper name="r" parent="right_arm_high">
<origin xyz="0.0 -0.06 0.016" rpy="-1.5707 0 0" />
</xacro:gripper>
<link name="left_leg_pelvis_yaw" >
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://darwin_description/meshes/left_leg_pelvis_yaw.stl" />
</geometry>
<material name="Grey">
<color rgba="0.79 0.82 0.93 1.0"/>
</material>
</visual>
<inertial>
<mass value="0.027069" />
<origin xyz="0.00000000 0.0227787 0.00288919" rpy="0 0 0"/>
<inertia ixx="0.00001303" ixy="0.00000000" ixz="0.00000000" iyy="0.00001210" iyz="0.00000003" izz="0.00000422" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://darwin_description/meshes/bounding_boxes/left_leg_pelvis_yaw_bb.stl" />
</geometry>
</collision>
</link>
<link name="left_leg_pelvis_roll" >
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://darwin_description/meshes/left_leg_pelvis_roll.stl" />
</geometry>
<material name="Grey">
<color rgba="0.79 0.82 0.93 1.0"/>
</material>
</visual>
<inertial>
<mass value="0.16710" />
<origin xyz="0.00007233 -0.01111330 -0.02044569" rpy="0 0 0"/>
<inertia ixx="0.00012130" ixy="0.0" ixz="0.0" iyy="0.00010824" iyz="0.0" izz="0.00004476" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://darwin_description/meshes/bounding_boxes/left_leg_pelvis_roll_bb.stl" />
</geometry>
</collision>
</link>
<link name="left_leg_pelvis_pitch" >
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://darwin_description/meshes/left_leg_pelvis_pitch.stl" />
</geometry>
<material name="Grey">
<color rgba="0.79 0.82 0.93 1.0"/>
</material>
</visual>
<inertial>
<mass value="0.119043" />
<origin xyz="0.00001568 -0.07105466 0.00142329" rpy="0 0 0"/>
<inertia ixx="0.00008127" ixy="0.0" ixz="0.0" iyy="0.00003624" iyz="0.0" izz="0.00009704" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://darwin_description/meshes/bounding_boxes/left_leg_pelvis_pitch_bb.stl" />
</geometry>
</collision>
</link>
<link name="left_leg_knee" >
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://darwin_description/meshes/left_leg_knee.stl" />
</geometry>
<material name="Grey">
<color rgba="0.79 0.82 0.93 1.0"/>
</material>
</visual>
<inertial>
<mass value="0.0703098" />
<origin xyz="0.00006376 -0.03683715 0.00894668" rpy="0 0 0"/>
<inertia ixx="0.0000824" ixy="0.0" ixz="0.0" iyy="0.00005574" iyz="0.0" izz="0.00010187" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://darwin_description/meshes/bounding_boxes/left_leg_knee_bb.stl" />
</geometry>
</collision>
</link>
<link name="left_leg_ankle_pitch" >
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://darwin_description/meshes/left_leg_ankle_pitch.stl" />
</geometry>
<material name="Grey">
<color rgba="0.79 0.82 0.93 1.0"/>
</material>
</visual>
<inertial>
<mass value="0.167108" />
<origin xyz="-0.00002505 0.01111330 -0.02044569" rpy="0 0 0"/>
<inertia ixx="0.00012130" ixy="0.0" ixz="0.0" iyy="0.00010823" iyz="0.0" izz="0.00004475" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://darwin_description/meshes/bounding_boxes/left_leg_ankle_pitch_bb.stl" />
</geometry>
</collision>
</link>
<link name="left_leg_ankle_roll" >
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://darwin_description/meshes/left_leg_ankle_roll.stl" />
</geometry>
<material name="Grey">
<color rgba="0.79 0.82 0.93 1.0"/>
</material>
</visual>
<inertial>
<mass value="0.0794462" />
<origin xyz="0.01094328 -0.02730949 -0.00102239" rpy="0 0 0"/>
<inertia ixx="0.00007597" ixy="0.0" ixz="0.0" iyy="0.00010548" iyz="0.0" izz="0.00003613" />
</inertial>
<collision>
<origin xyz="0.0 0.0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://darwin_description/meshes/bounding_boxes/left_leg_ankle_roll_bb.stl" />
</geometry>
</collision>
</link>
<link name="right_leg_pelvis_yaw" >
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://darwin_description/meshes/right_leg_pelvis_yaw.stl" />
</geometry>
<material name="Grey">
<color rgba="0.79 0.82 0.93 1.0"/>
</material>
</visual>
<inertial>
<mass value="0.027069" />
<origin xyz="0.00000000 0.02277874 0.00013919" rpy="0 0 0"/>
<inertia ixx="0.00001303" ixy="0.0" ixz="0.0" iyy="0.00001210" iyz="0.0" izz="0.00000422" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://darwin_description/meshes/bounding_boxes/right_leg_pelvis_yaw_bb.stl" />
</geometry>
</collision>
</link>
<link name="right_leg_pelvis_roll" >
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://darwin_description/meshes/right_leg_pelvis_roll.stl" />
</geometry>
<material name="Grey">
<color rgba="0.79 0.82 0.93 1.0"/>
</material>
</visual>
<inertial>
<mass value="0.167108" />
<origin xyz="-0.00007115 -0.0111133 -0.02044569" rpy="0 0 0"/>
<inertia ixx="0.00012130" ixy="0.0" ixz="0.0" iyy="0.00010823" iyz="0.0" izz="0.00004475" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://darwin_description/meshes/bounding_boxes/right_leg_pelvis_roll_bb.stl" />
</geometry>
</collision>
</link>
<link name="right_leg_pelvis_pitch" >
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://darwin_description/meshes/right_leg_pelvis_pitch.stl" />
</geometry>
<material name="Grey">
<color rgba="0.79 0.82 0.93 1.0"/>
</material>
</visual>
<inertial>
<mass value="0.119043" />
<origin xyz="-0.00005071 -0.07105466 0.00142329" rpy="0 0 0"/>
<inertia ixx="0.00008127" ixy="0.0" ixz="0.0" iyy="0.00003624" iyz="0.0" izz="0.00009704" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://darwin_description/meshes/bounding_boxes/right_leg_pelvis_pitch_bb.stl" />
</geometry>
</collision>
</link>
<link name="right_leg_knee" >
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://darwin_description/meshes/right_leg_knee.stl" />
</geometry>
<material name="Grey">
<color rgba="0.79 0.82 0.93 1.0"/>
</material>
</visual>
<inertial>
<mass value="0.0703098" />
<origin xyz="-0.00006415 -0.03683715 0.00894668" rpy="0 0 0"/>
<inertia ixx="0.00008246" ixy="0.0" ixz="0.0" iyy="0.00005574" iyz="0.0" izz="0.00010187" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://darwin_description/meshes/bounding_boxes/right_leg_knee_bb.stl" />
</geometry>
</collision>
</link>
<link name="right_leg_ankle_pitch" >
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://darwin_description/meshes/right_leg_ankle_pitch.stl" />
</geometry>
<material name="Grey">
<color rgba="0.79 0.82 0.93 1.0"/>
</material>
</visual>
<inertial>
<mass value="0.167108" />
<origin xyz="-0.00007115 0.01111330 -0.02044569" rpy="0 0 0"/>
<inertia ixx="0.00012130" ixy="0.0" ixz="0.0" iyy="0.00010823" iyz="0.0" izz="0.00004475" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://darwin_description/meshes/bounding_boxes/right_leg_ankle_pitch_bb.stl" />
</geometry>
</collision>
</link>
<link name="right_leg_ankle_roll" >
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://darwin_description/meshes/right_leg_ankle_roll.stl" />
</geometry>
<material name="Grey">
<color rgba="0.79 0.82 0.93 1.0"/>
</material>
</visual>
<inertial>
<mass value="0.0794462" />
<origin xyz="-0.01094329 -0.02730949 -0.00102239" rpy="0 0 0"/>
<inertia ixx="0.00007597" ixy="0.0" ixz="0.0" iyy="0.0001054" iyz="0.0" izz="0.00003613" />
</inertial>
<collision>
<origin xyz="0.0 0.0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://darwin_description/meshes/bounding_boxes/right_leg_ankle_roll_bb.stl" />
</geometry>
</collision>
</link>
<joint name="j_pan" type="revolute">
<parent link="base_link"/>
<child link="neck"/>
<origin xyz="0.0 0.051 0.0" rpy="0 0 0" />
<axis xyz="0 1 0" />
<limit effort="2.5" velocity="6.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.4"/>
</joint>
<transmission name="tran_pan">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_pan">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="pan_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="j_tilt" type="revolute">
<parent link="neck"/>
<child link="head"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<axis xyz="-1 0 0" />
<limit effort="2.5" velocity="6.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.4"/>
</joint>
<transmission name="tran_tilt">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_tilt">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="tilt_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="j_shoulder_pitch_l" type="revolute">
<parent link="base_link"/>
<child link="left_shoulder"/>
<origin xyz="0.06 0 0" rpy="0 0 0" />
<axis xyz="1 0 0" />
<limit effort="2.5" velocity="6.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.4"/>
</joint>
<transmission name="tran_shoulder_pitch_l">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_shoulder_pitch_l">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="shoulder_pitch_l_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="j_shoulder_roll_l" type="revolute">
<parent link="left_shoulder"/>
<child link="left_arm_high"/>
<origin xyz="0.022 -0.016 0.0" rpy="0 0 0.785398163" />
<axis xyz="0 0 -1" />
<limit effort="2.5" velocity="6.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.4"/>
</joint>
<transmission name="tran_shoulder_roll_l">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_shoulder_roll_l">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="shoulder_roll_l_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="j_shoulder_pitch_r" type="revolute">
<parent link="base_link"/>
<child link="right_shoulder"/>
<origin xyz="-0.06 0 0" rpy="0 0 0" />
<axis xyz="-1 0 0" />
<limit effort="2.5" velocity="6.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.4"/>
</joint>
<transmission name="tran_shoulder_pitch_r">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_shoulder_pitch_r">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="shoulder_pitch_r_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="j_shoulder_roll_r" type="revolute">
<parent link="right_shoulder"/>
<child link="right_arm_high"/>
<origin xyz="-0.022 -0.016 0" rpy="0 0 -0.785398163" />
<axis xyz="0 0 -1" />
<limit effort="2.5" velocity="6.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.4"/>
</joint>
<transmission name="tran_shoulder_roll_r">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_shoulder_roll_r">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="shoulder_roll_r_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="j_hip_yaw_l" type="revolute">
<parent link="base_link"/>
<child link="left_leg_pelvis_yaw"/>
<origin xyz="0.037 -0.1222 -0.005" rpy="0 0 0" />
<axis xyz="0 -1 0" />
<limit effort="2.5" velocity="6.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.4"/>
</joint>
<transmission name="tran_hip_yaw_l">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_hip_yaw_l">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="hip_yaw_l_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="j_hip_roll_l" type="revolute">
<parent link="left_leg_pelvis_yaw"/>
<child link="left_leg_pelvis_roll"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<axis xyz="0 0 -1" />
<limit effort="2.5" velocity="6.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.4"/>
</joint>
<transmission name="tran_hip_roll_l">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_hip_roll_l">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="hip_roll_l_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="j_hip_pitch_l" type="revolute">
<parent link="left_leg_pelvis_roll"/>
<child link="left_leg_pelvis_pitch"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<axis xyz="-1 0 0" />
<limit effort="2.5" velocity="6.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.4"/>
</joint>
<transmission name="tran_hip_pitch_l">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_hip_pitch_l">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="hip_pitch_l_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="j_knee_l" type="revolute">
<parent link="left_leg_pelvis_pitch"/>
<child link="left_leg_knee"/>
<origin xyz="0 -0.093 0" rpy="0 0 0" />
<axis xyz="-1 0 0" />
<limit effort="2.5" velocity="6.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.4"/>
</joint>
<transmission name="tran_knee_l">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_knee_l">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="knee_l_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="j_ankle_pitch_l" type="revolute">
<parent link="left_leg_knee"/>
<child link="left_leg_ankle_pitch"/>
<origin xyz="0 -0.093 0" rpy="0 0 0" />
<axis xyz="1 0 0" />
<limit effort="2.5" velocity="6.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.4"/>
</joint>
<transmission name="tran_ankle_pitch_l">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_ankle_pitch_l">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="ankle_pitch_l_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="j_ankle_roll_l" type="revolute">
<parent link="left_leg_ankle_pitch"/>
<child link="left_leg_ankle_roll"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<axis xyz="0 0 1" />
<limit effort="2.5" velocity="6.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.4"/>
</joint>
<transmission name="tran_ankle_roll_l">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_ankle_roll_l">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="ankle_roll_l_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="j_hip_yaw_r" type="revolute">
<parent link="base_link"/>
<child link="right_leg_pelvis_yaw"/>
<origin xyz="-0.037 -0.1222 -0.005" rpy="0 0 0" />
<axis xyz="0 -1 0" />
<limit effort="2.5" velocity="6.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.4"/>
</joint>
<transmission name="tran_hip_yaw_r">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_hip_yaw_r">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="hip_yaw_r_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="j_hip_roll_r" type="revolute">
<parent link="right_leg_pelvis_yaw"/>
<child link="right_leg_pelvis_roll"/>
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<axis xyz="0 0 -1" /> </xacro:right_hand>
<limit effort="2.5" velocity="6.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.4"/>
</joint>
<transmission name="tran_hip_roll_r"> <xacro:right_foot parent="right_leg_ankle_pitch">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_hip_roll_r">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="hip_roll_r_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="j_hip_pitch_r" type="revolute">
<parent link="right_leg_pelvis_roll"/>
<child link="right_leg_pelvis_pitch"/>
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<axis xyz="1 0 0" /> </xacro:right_hand>
<limit effort="2.5" velocity="6.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.4"/>
</joint>
<transmission name="tran_hip_pitch_r">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_hip_pitch_r">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="hip_pitch_r_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="j_knee_r" type="revolute">
<parent link="right_leg_pelvis_pitch"/>
<child link="right_leg_knee"/>
<origin xyz="0.0 -0.093 0" rpy="0 0 0" />
<axis xyz="1 0 0" />
<limit effort="2.5" velocity="6.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.4"/>
</joint>
<transmission name="tran_knee_r">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_knee_r">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="knee_r_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="j_ankle_pitch_r" type="revolute">
<parent link="right_leg_knee"/>
<child link="right_leg_ankle_pitch"/>
<origin xyz="0.0 -0.093 0" rpy="0 0 0" />
<axis xyz="-1 0 0" />
<limit effort="2.5" velocity="6.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.4"/>
</joint>
<transmission name="tran_ankle_pitch_r">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_ankle_pitch_r">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="ankle_pitch_r_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="j_ankle_roll_r" type="revolute">
<parent link="right_leg_ankle_pitch"/>
<child link="right_leg_ankle_roll"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<axis xyz="0 0 1" />
<limit effort="2.5" velocity="6.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.4"/>
</joint>
<transmission name="tran_ankle_roll_r">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_ankle_roll_r">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="ankle_roll_r_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<xacro:ids_xs name="darwin_cam" parent="head"> <xacro:ids_xs name="darwin_cam" parent="head">
<origin xyz="0.0 0.005 0.045" rpy="0 -2.2777 1.5707" /> <origin xyz="0.0 0.005 0.045" rpy="0 -2.2777 1.5707" />
......
darwin_description/urdf/darwin_high_res.xacro
+ 0
− 86
View file @ 84bbaa6d
...@@ -291,29 +291,6 @@ ...@@ -291,29 +291,6 @@
</collision> </collision>
</link> </link>
<link name="left_leg_ankle_roll" >
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://darwin_description/meshes/left_leg_ankle_roll.stl" />
</geometry>
<material name="Grey">
<color rgba="0.79 0.82 0.93 1.0"/>
</material>
</visual>
<inertial>
<mass value="0.0794462" />
<origin xyz="0.01094328 -0.02730949 -0.00102239" rpy="0 0 0"/>
<inertia ixx="0.00007597" ixy="0.0" ixz="0.0" iyy="0.00010548" iyz="0.0" izz="0.00003613" />
</inertial>
<collision>
<origin xyz="0.0 0.0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://darwin_description/meshes/bounding_boxes/left_leg_ankle_roll_bb.stl" />
</geometry>
</collision>
</link>
<link name="right_leg_pelvis_yaw" > <link name="right_leg_pelvis_yaw" >
<visual> <visual>
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
...@@ -429,29 +406,6 @@ ...@@ -429,29 +406,6 @@
</collision> </collision>
</link> </link>
<link name="right_leg_ankle_roll" >
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://darwin_description/meshes/right_leg_ankle_roll.stl" />
</geometry>
<material name="Grey">
<color rgba="0.79 0.82 0.93 1.0"/>
</material>
</visual>
<inertial>
<mass value="0.0794462" />
<origin xyz="-0.01094329 -0.02730949 -0.00102239" rpy="0 0 0"/>
<inertia ixx="0.00007597" ixy="0.0" ixz="0.0" iyy="0.0001054" iyz="0.0" izz="0.00003613" />
</inertial>
<collision>
<origin xyz="0.0 0.0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://darwin_description/meshes/bounding_boxes/right_leg_ankle_roll_bb.stl" />
</geometry>
</collision>
</link>
<joint name="j_pan" type="revolute"> <joint name="j_pan" type="revolute">
<parent link="base_link"/> <parent link="base_link"/>
<child link="neck"/> <child link="neck"/>
...@@ -672,26 +626,6 @@ ...@@ -672,26 +626,6 @@
</actuator> </actuator>
</transmission> </transmission>
<joint name="j_ankle_roll_l" type="revolute">
<parent link="left_leg_ankle_pitch"/>
<child link="left_leg_ankle_roll"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<axis xyz="0 0 1" />
<limit effort="2.5" velocity="6.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.4"/>
</joint>
<transmission name="tran_ankle_roll_l">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_ankle_roll_l">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="ankle_roll_l_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="j_hip_yaw_r" type="revolute"> <joint name="j_hip_yaw_r" type="revolute">
<parent link="base_link"/> <parent link="base_link"/>
<child link="right_leg_pelvis_yaw"/> <child link="right_leg_pelvis_yaw"/>
...@@ -792,26 +726,6 @@ ...@@ -792,26 +726,6 @@
</actuator> </actuator>
</transmission> </transmission>
<joint name="j_ankle_roll_r" type="revolute">
<parent link="right_leg_ankle_pitch"/>
<child link="right_leg_ankle_roll"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<axis xyz="0 0 1" />
<limit effort="2.5" velocity="6.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.4"/>
</joint>
<transmission name="tran_ankle_roll_r">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_ankle_roll_r">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="ankle_roll_r_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<xacro:ids_xs name="darwin_cam" parent="head"> <xacro:ids_xs name="darwin_cam" parent="head">
<origin xyz="0.0 0.005 0.045" rpy="0 -2.2777 1.5707" /> <origin xyz="0.0 0.005 0.045" rpy="0 -2.2777 1.5707" />
</xacro:ids_xs> </xacro:ids_xs>
......
darwin_description/urdf/darwin_low_res.xacro
+ 0
− 86
View file @ 84bbaa6d
...@@ -278,29 +278,6 @@ ...@@ -278,29 +278,6 @@
</collision> </collision>
</link> </link>
<link name="left_leg_ankle_roll" >
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://darwin_description/meshes/bounding_boxes/left_leg_ankle_roll_bb.stl" />
</geometry>
<material name="Grey">
<color rgba="0.79 0.82 0.93 1.0"/>
</material>
</visual>
<inertial>
<mass value="0.0794462" />
<origin xyz="0.01094328 -0.02730949 -0.00102239" rpy="0 0 0"/>
<inertia ixx="0.00007597" ixy="0.0" ixz="0.0" iyy="0.00010548" iyz="0.0" izz="0.00003613" />
</inertial>
<collision>
<origin xyz="0.0 0.0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://darwin_description/meshes/bounding_boxes/left_leg_ankle_roll_bb.stl" />
</geometry>
</collision>
</link>
<link name="right_leg_pelvis_yaw" > <link name="right_leg_pelvis_yaw" >
<visual> <visual>
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
...@@ -416,29 +393,6 @@ ...@@ -416,29 +393,6 @@
</collision> </collision>
</link> </link>
<link name="right_leg_ankle_roll" >
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://darwin_description/meshes/bounding_boxes/right_leg_ankle_roll_bb.stl" />
</geometry>
<material name="Grey">
<color rgba="0.79 0.82 0.93 1.0"/>
</material>
</visual>
<inertial>
<mass value="0.0794462" />
<origin xyz="-0.01094329 -0.02730949 -0.00102239" rpy="0 0 0"/>
<inertia ixx="0.00007597" ixy="0.0" ixz="0.0" iyy="0.0001054" iyz="0.0" izz="0.00003613" />
</inertial>
<collision>
<origin xyz="0.0 0.0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://darwin_description/meshes/bounding_boxes/right_leg_ankle_roll_bb.stl" />
</geometry>
</collision>
</link>
<joint name="j_pan" type="revolute"> <joint name="j_pan" type="revolute">
<parent link="base_link"/> <parent link="base_link"/>
<child link="neck"/> <child link="neck"/>
...@@ -659,26 +613,6 @@ ...@@ -659,26 +613,6 @@
</actuator> </actuator>
</transmission> </transmission>
<joint name="j_ankle_roll_l" type="revolute">
<parent link="left_leg_ankle_pitch"/>
<child link="left_leg_ankle_roll"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<axis xyz="0 0 1" />
<limit effort="2.5" velocity="6.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.4"/>
</joint>
<transmission name="tran_ankle_roll_l">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_ankle_roll_l">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="ankle_roll_l_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="j_hip_yaw_r" type="revolute"> <joint name="j_hip_yaw_r" type="revolute">
<parent link="base_link"/> <parent link="base_link"/>
<child link="right_leg_pelvis_yaw"/> <child link="right_leg_pelvis_yaw"/>
...@@ -779,24 +713,4 @@ ...@@ -779,24 +713,4 @@
</actuator> </actuator>
</transmission> </transmission>
<joint name="j_ankle_roll_r" type="revolute">
<parent link="right_leg_ankle_pitch"/>
<child link="right_leg_ankle_roll"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<axis xyz="0 0 1" />
<limit effort="2.5" velocity="6.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.4"/>
</joint>
<transmission name="tran_ankle_roll_r">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_ankle_roll_r">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="ankle_roll_r_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</robot> </robot>
darwin_description/urdf/darwin_sc.xacro
+ 10
− 0
View file @ 84bbaa6d
...@@ -5,6 +5,16 @@ ...@@ -5,6 +5,16 @@
<xacro:include filename="$(find darwin_description)/urdf/sensors/ids_xs.xacro" /> <xacro:include filename="$(find darwin_description)/urdf/sensors/ids_xs.xacro" />
<xacro:include filename="$(find darwin_description)/urdf/sensors/bno055.xacro" /> <xacro:include filename="$(find darwin_description)/urdf/sensors/bno055.xacro" />
<xacro:include filename="$(find darwin_description)/urdf/gripper_sc_low_res.xacro" /> <xacro:include filename="$(find darwin_description)/urdf/gripper_sc_low_res.xacro" />
<xacro:include filename="$(find darwin_description)/urdf/left_foot.xacro" />
<xacro:include filename="$(find darwin_description)/urdf/right_foot.xacro" />
<xacro:left_foot parent="left_leg_ankle_pitch">
<origin xyz="0 0 0" rpy="0 0 0" />
</xacro:left_foot>
<xacro:right_foot parent="right_leg_ankle_pitch">
<origin xyz="0 0 0" rpy="0 0 0" />
</xacro:right_foot>
<xacro:gripper_sc name="l" parent="left_arm_high"> <xacro:gripper_sc name="l" parent="left_arm_high">
<origin xyz="0.0 -0.060 0.016" rpy="-1.5707 0 0" /> <origin xyz="0.0 -0.060 0.016" rpy="-1.5707 0 0" />
......
darwin_description/urdf/left_foot.gazebo 0 → 100644
+ 26
− 0
View file @ 84bbaa6d
<?xml version="1.0"?>
<robot>
<gazebo reference="left_leg_ankle_roll">
<material>Gazebo/Grey</material>
</gazebo>
<gazebo reference="left_leg_ankle_roll">
<gravity>false</gravity>
<selfCollide>false</selfCollide>
<maxContacts>10</maxContacts>
<dampingFactor>0.2</dampingFactor>
<maxVel>0.0</maxVel>
<minDepth>0.0</minDepth>
<mu1>1.000000</mu1>
<mu2>1.000000</mu2>
<kp>0.0</kp>
<kd>0.0</kd>
</gazebo>
<gazebo reference="j_ankle_roll_l">
<implicitSpringDamper>true</implicitSpringDamper>
<stopCfm>0.0</stopCfm>
<stopErp>0.0</stopErp>
</gazebo>
</robot>
darwin_description/urdf/left_foot.xacro 0 → 100755
+ 52
− 0
View file @ 84bbaa6d
<?xml version="1.0"?>
<root xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(find darwin_description)/urdf/left_foot.gazebo" />
<xacro:macro name="left_foot" params="parent *origin">
<link name="left_leg_ankle_roll" >
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://darwin_description/meshes/bounding_boxes/left_leg_ankle_roll_bb.stl" />
</geometry>
<material name="Grey">
<color rgba="0.79 0.82 0.93 1.0"/>
</material>
</visual>
<inertial>
<mass value="0.0794462" />
<origin xyz="0.01094328 -0.02730949 -0.00102239" rpy="0 0 0"/>
<inertia ixx="0.00007597" ixy="0.0" ixz="0.0" iyy="0.00010548" iyz="0.0" izz="0.00003613" />
</inertial>
<collision>
<origin xyz="0.0 0.0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://darwin_description/meshes/bounding_boxes/left_leg_ankle_roll_bb.stl" />
</geometry>
</collision>
</link>
<joint name="j_ankle_roll_l" type="revolute">
<parent link="${parent}"/>
<child link="left_leg_ankle_roll"/>
<xacro:insert_block name="origin" />
<axis xyz="0 0 1" />
<limit effort="2.5" velocity="6.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.4"/>
</joint>
<transmission name="tran_ankle_roll_l">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_ankle_roll_l">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="ankle_roll_l_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</xacro:macro>
</root>
darwin_description/urdf/left_sensor_foot.xacro 0 → 100755
+ 86
− 0
View file @ 84bbaa6d
<?xml version="1.0"?>
<root xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(find darwin_description)/urdf/left_foot.gazebo" />
<xacro:include filename="$(find bioloid_description)/urdf/sensors/cny70_ir.xacro" />
<xacro:macro name="left_sensor_foot" params="parent *origin update_rate range">
<link name="left_leg_ankle_roll" >
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://darwin_description/meshes/left_sensor_foot.stl" />
</geometry>
<material name="Grey">
<color rgba="0.79 0.82 0.93 1.0"/>
</material>
</visual>
<inertial>
<mass value="0.07944623" />
<origin xyz="0.00787555 -0.03128293 -0.00010476" rpy="0 0 0"/>
<inertia ixx="0.00006020" ixy="-0.00000148" ixz="-0.0000010" iyy="0.00008141" iyz="0.00000086" izz="0.00002745" />
</inertial>
<collision>
<origin xyz="0.0 0.0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://darwin_description/meshes/left_sensor_foot.stl" />
</geometry>
</collision>
</link>
<joint name="j_ankle_roll_l" type="revolute">
<parent link="${parent}"/>
<child link="left_leg_ankle_roll"/>
<xacro:insert_block name="origin" />
<axis xyz="0 0 1" />
<limit effort="2.5" velocity="6.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.4"/>
</joint>
<transmission name="tran_ankle_roll_l">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_ankle_roll_l">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="ankle_roll_l_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<xacro:cny70_ir name="left_down_right_rear" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
<origin xyz="-0.0185 -0.0325 0.0065" rpy="1.5707 0 -1.5707" />
</xacro:cny70_ir>
<xacro:cny70_ir name="left_down_right_middle" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
<origin xyz="-0.0185 -0.0325 0.0275" rpy="1.5707 0 -1.5707" />
</xacro:cny70_ir>
<xacro:cny70_ir name="left_down_right_front" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
<origin xyz="-0.011 -0.0325 0.0485" rpy="1.5707 0 -1.5707" />
</xacro:cny70_ir>
<xacro:cny70_ir name="left_down_left_rear" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
<origin xyz="0.0335 -0.0325 0.0065" rpy="1.5707 0 -1.5707" />
</xacro:cny70_ir>
<xacro:cny70_ir name="left_down_left_middle" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
<origin xyz="0.0335 -0.0325 0.0275" rpy="1.5707 0 -1.5707" />
</xacro:cny70_ir>
<xacro:cny70_ir name="left_down_left_front" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
<origin xyz="0.026 -0.0325 0.0485" rpy="1.5707 0 -1.5707" />
</xacro:cny70_ir>
<xacro:cny70_ir name="left_front_right" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
<origin xyz="-0.0186 -0.0285 0.051" rpy="0 -1.5707 0" />
</xacro:cny70_ir>
<xacro:cny70_ir name="left_front_left" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
<origin xyz="0.0336 -0.0285 0.051" rpy="-1.5707 -1.5707 0" />
</xacro:cny70_ir>
</xacro:macro>
</root>
darwin_description/urdf/right_foot.gazebo 0 → 100644
+ 26
− 0
View file @ 84bbaa6d
<?xml version="1.0"?>
<robot>
<gazebo reference="right_leg_ankle_roll">
<material>Gazebo/Grey</material>
</gazebo>
<gazebo reference="right_leg_ankle_roll">
<gravity>false</gravity>
<selfCollide>false</selfCollide>
<maxContacts>10</maxContacts>
<dampingFactor>0.2</dampingFactor>
<maxVel>0.0</maxVel>
<minDepth>0.0</minDepth>
<mu1>1.00000</mu1>
<mu2>1.00000</mu2>
<kp>0.0</kp>
<kd>0.0</kd>
</gazebo>
<gazebo reference="j_ankle_roll_r">
<implicitSpringDamper>true</implicitSpringDamper>
<stopCfm>0.0</stopCfm>
<stopErp>0.0</stopErp>
</gazebo>
</robot>
darwin_description/urdf/right_foot.xacro 0 → 100755
+ 52
− 0
View file @ 84bbaa6d
<?xml version="1.0"?>
<root xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(find darwin_description)/urdf/right_foot.gazebo" />
<xacro:macro name="right_foot" params="parent *origin">
<link name="right_leg_ankle_roll" >
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://darwin_description/meshes/bounding_boxes/right_leg_ankle_roll_bb.stl" />
</geometry>
<material name="Grey">
<color rgba="0.79 0.82 0.93 1.0"/>
</material>
</visual>
<inertial>
<mass value="0.0794462" />
<origin xyz="-0.01094329 -0.02730949 -0.00102239" rpy="0 0 0"/>
<inertia ixx="0.00007597" ixy="0.0" ixz="0.0" iyy="0.0001054" iyz="0.0" izz="0.00003613" />
</inertial>
<collision>
<origin xyz="0.0 0.0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://darwin_description/meshes/bounding_boxes/right_leg_ankle_roll_bb.stl" />
</geometry>
</collision>
</link>
<joint name="j_ankle_roll_r" type="revolute">
<parent link="${parent}"/>
<child link="right_leg_ankle_roll"/>
<xacro:insert_block name="origin" />
<axis xyz="0 0 1" />
<limit effort="2.5" velocity="6.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.4"/>
</joint>
<transmission name="tran_ankle_roll_r">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_ankle_roll_r">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="ankle_roll_r_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</xacro:macro>
</root>
darwin_description/urdf/right_sensor_foot.xacro 0 → 100755
+ 86
− 0
View file @ 84bbaa6d
<?xml version="1.0"?>
<root xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(find darwin_description)/urdf/right_foot.gazebo" />
<xacro:include filename="$(find bioloid_description)/urdf/sensors/cny70_ir.xacro" />
<xacro:macro name="right_sensor_foot" params="parent *origin update_rate range">
<link name="right_leg_ankle_roll" >
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://darwin_description/meshes/right_sensor_foot.stl" />
</geometry>
<material name="Grey">
<color rgba="0.79 0.82 0.93 1.0"/>
</material>
</visual>
<inertial>
<mass value="0.07944623" />
<origin xyz="-0.00825113 -0.03128300 -0.00010280" rpy="0 0 0"/>
<inertia ixx="0.00006020" ixy="0.00000138" ixz="0.00000006" iyy="0.00008138" iyz="0.00000086" izz="0.00002742" />
</inertial>
<collision>
<origin xyz="0.0 0.0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://darwin_description/meshes/right_sensor_foot.stl" />
</geometry>
</collision>
</link>
<joint name="j_ankle_roll_r" type="revolute">
<parent link="${parent}"/>
<child link="right_leg_ankle_roll"/>
<xacro:insert_block name="origin" />
<axis xyz="0 0 1" />
<limit effort="2.5" velocity="6.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.4"/>
</joint>
<transmission name="tran_ankle_roll_r">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j_ankle_roll_r">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="ankle_roll_r_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<xacro:cny70_ir name="right_down_right_rear" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
<origin xyz="-0.0335 -0.0325 0.0065" rpy="1.5707 0 -1.5707" />
</xacro:cny70_ir>
<xacro:cny70_ir name="right_down_right_middle" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
<origin xyz="-0.0335 -0.0325 0.0275" rpy="1.5707 0 -1.5707" />
</xacro:cny70_ir>
<xacro:cny70_ir name="right_down_right_front" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
<origin xyz="-0.026 -0.0325 0.0485" rpy="1.5707 0 -1.5707" />
</xacro:cny70_ir>
<xacro:cny70_ir name="right_down_left_rear" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
<origin xyz="0.0185 -0.0325 0.0065" rpy="1.5707 0 -1.5707" />
</xacro:cny70_ir>
<xacro:cny70_ir name="right_down_left_middle" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
<origin xyz="0.0185 -0.0325 0.0275" rpy="1.5707 0 -1.5707" />
</xacro:cny70_ir>
<xacro:cny70_ir name="right_down_left_front" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
<origin xyz="0.011 -0.0325 0.0485" rpy="1.5707 0 -1.5707" />
</xacro:cny70_ir>
<xacro:cny70_ir name="right_front_right" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
<origin xyz="-0.0336 -0.0285 0.051" rpy="0 -1.5707 0" />
</xacro:cny70_ir>
<xacro:cny70_ir name="right_front_left" parent="${parent}" update_rate="${update_rate}" fov="0.05" min_range="0.001" max_range="${range}">
<origin xyz="0.0186 -0.0285 0.051" rpy="-1.5707 -1.5707 0" />
</xacro:cny70_ir>
</xacro:macro>
</root>
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