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rb1_torso_3dof.urdf.xacro
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rb1_torso_3dof.urdf.xacro
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<?xml version="1.0"?>
<robot name="rb1_torso_3dof" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- xacro:include filename="$(find rb1_torso_description)/urdf/rb1_torso_3dof.gazebo.xacro" / -->
<xacro:property name="joint_effort_limit" value="100.0"/>
<xacro:property name="joint_velocity_limit" value="3.0"/>
<xacro:property name="joint_damping" value="0.5"/>
<xacro:property name="joint_friction" value="0.5"/>
<xacro:property name="j1_torso_mechanical_reduction" value="320.0"/>
<xacro:property name="j1_torso_motor_torque_constant" value="1.0"/>
<xacro:property name="j1_head_mechanical_reduction" value="320.0"/>
<xacro:property name="j1_head_motor_torque_constant" value="1.0"/>
<xacro:property name="j2_head_mechanical_reduction" value="320.0"/>
<xacro:property name="j2_head_motor_torque_constant" value="1.0"/>
<xacro:macro name="rb1_torso_3dof" params="name hq">
<!-- Robot mechanical and motor parameters -->
<xacro:property name="PI" value="3.1415926535897931"/>
<!-- BASE_LINK -->
<link
name="base_link_rb1_torso">
</link>
<link name="link1_torso">
<inertial>
<mass value="3.0" />
<origin xyz="0 0 0" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<xacro:if value="${hq}">
<geometry>
<mesh filename="package://rb1_torso_description/meshes/torsos/rb1_lower.dae"/>
</geometry>
</xacro:if>
<xacro:unless value="${hq}">
<geometry>
<mesh filename="package://rb1_torso_description/meshes/torsos/rb1_lower.stl"/>
</geometry>
</xacro:unless>
<material name="darkgrey">
<color rgba="0.1 0.1 0.1 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0 " />
<geometry>
<mesh filename="package://rb1_torso_description/meshes/torsos/rb1_lower.dae"/>
</geometry>
</collision>
</link>
<joint
name="j0_rb1_torso"
type="fixed">
<origin
xyz="0.0 0.0 0.0"
rpy="0.0 0.0 0.0" />
<parent
link="base_link_rb1_torso" />
<child
link="link1_torso" />
<axis
xyz="0 0 0" />
</joint>
<link name="link2_torso">
<inertial>
<mass value="2.0" />
<origin xyz="0 0 0" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<xacro:if value="${hq}">
<geometry>
<mesh filename="package://rb1_torso_description/meshes/torsos/rb1_upper.dae"/>
</geometry>
</xacro:if>
<xacro:unless value="${hq}">
<geometry>
<mesh filename="package://rb1_torso_description/meshes/torsos/rb1_upper.stl"/>
</geometry>
</xacro:unless>
<material name="darkgrey">
<color rgba="0.1 0.1 0.1 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0 " />
<geometry>
<mesh filename="package://rb1_torso_description/meshes/torsos/rb1_upper.dae"/>
</geometry>
</collision>
</link>
<joint
name="j1_torso"
type="prismatic">
<origin
xyz="0 0 0"
rpy="0.0 0.0 0.0" />
<parent link="link1_torso" />
<child link="link2_torso" />
<axis xyz="0 0 1" />
<limit effort="${joint_effort_limit}" velocity="${joint_velocity_limit}" upper="${0.360}" lower="${0}"/>
<dynamics damping="${joint_damping}" friction="${joint_friction}"/>
</joint>
<transmission name="j1_torso_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j1_torso" />
<actuator name="j1_torso_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>${j1_torso_mechanical_reduction}</mechanicalReduction>
<motorTorqueConstant>${j1_torso_motor_torque_constant}</motorTorqueConstant>
</actuator>
</transmission>
<link name="link1_head">
<inertial>
<mass value="1.0" />
<origin xyz="0 0 0" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<xacro:if value="${hq}">
<geometry>
<mesh filename="package://rb1_torso_description/meshes/heads/head1.dae"/>
</geometry>
</xacro:if>
<xacro:unless value="${hq}">
<geometry>
<mesh filename="package://rb1_torso_description/meshes/heads/head1.stl"/>
</geometry>
</xacro:unless>
<material name="darkgrey">
<color rgba="0.1 0.1 0.1 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0 " />
<geometry>
<mesh filename="package://rb1_torso_description/meshes/heads/head1.dae"/>
</geometry>
</collision>
</link>
<joint
name="j1_head"
type="revolute">
<origin
xyz="0.010 0.0 0.940"
rpy="0.0 0.0 0.0" />
<parent link="link2_torso" />
<child link="link1_head" />
<axis xyz="0 0 1" />
<limit effort="${joint_effort_limit}" velocity="${joint_velocity_limit}" upper="${PI/2}" lower="${-PI/2}"/>
<dynamics damping="${joint_damping}" friction="${joint_friction}"/>
</joint>
<transmission name="j1_head_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j1_head" />
<actuator name="j1_head_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>${j1_head_mechanical_reduction}</mechanicalReduction>
<motorTorqueConstant>${j1_head_motor_torque_constant}</motorTorqueConstant>
</actuator>
</transmission>
<link name="link2_head">
<inertial>
<mass value="1.0" />
<origin xyz="0 0 0" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<xacro:if value="${hq}">
<geometry>
<mesh filename="package://rb1_torso_description/meshes/heads/head2.dae"/>
</geometry>
</xacro:if>
<xacro:unless value="${hq}">
<geometry>
<mesh filename="package://rb1_torso_description/meshes/heads/head2.stl"/>
</geometry>
</xacro:unless>
<material name="darkgrey">
<color rgba="0.1 0.1 0.1 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0 " />
<geometry>
<mesh filename="package://rb1_torso_description/meshes/heads/head2.dae"/>
</geometry>
</collision>
</link>
<joint
name="j2_head"
type="revolute">
<origin
xyz="0.105 0.0 0.0"
rpy="0.0 0.0 0.0" />
<parent link="link1_head" />
<child link="link2_head" />
<axis xyz="0 1 0" />
<limit effort="${joint_effort_limit}" velocity="${joint_velocity_limit}" upper="${PI/4}" lower="${-PI/4}"/>
<dynamics damping="${joint_damping}" friction="${joint_friction}"/>
</joint>
<transmission name="j2_head_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="j2_head" />
<actuator name="j2_head_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>${j2_head_mechanical_reduction}</mechanicalReduction>
<motorTorqueConstant>${j2_head_motor_torque_constant}</motorTorqueConstant>
</actuator>
</transmission>
</xacro:macro>
</robot>