237 lines
6.4 KiB
XML
237 lines
6.4 KiB
XML
<?xml version="1.0"?>
|
|
<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
|
|
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
|
|
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
|
|
xmlns:xacro="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" name="macroed">
|
|
|
|
<xacro:property name="width" value=".2" />
|
|
<xacro:property name="leglen" value=".6" />
|
|
<xacro:property name="polelen" value=".2" />
|
|
<xacro:property name="bodylen" value=".6" />
|
|
<xacro:property name="baselen" value=".4" />
|
|
<xacro:property name="wheeldiam" value=".07" />
|
|
<xacro:property name="pi" value="3.1415" />
|
|
|
|
<xacro:macro name="default_inertial" params="mass">
|
|
<inertial>
|
|
<mass value="${mass}" />
|
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0"
|
|
iyy="1.0" iyz="0.0"
|
|
izz="1.0" />
|
|
</inertial>
|
|
</xacro:macro>
|
|
|
|
<link name="base_link">
|
|
<visual>
|
|
<geometry>
|
|
<cylinder radius="${width}" length="${bodylen}"/>
|
|
</geometry>
|
|
<material name="blue">
|
|
<color rgba="0 0 .8 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<cylinder radius="${width}" length="${bodylen}"/>
|
|
</geometry>
|
|
</collision>
|
|
<xacro:default_inertial mass="10"/>
|
|
</link>
|
|
|
|
<xacro:macro name="wheel" params="prefix suffix reflect">
|
|
<link name="${prefix}_${suffix}_wheel">
|
|
<visual>
|
|
<geometry>
|
|
<cylinder radius="${wheeldiam/2}" length=".1"/>
|
|
</geometry>
|
|
<material name="black">
|
|
<color rgba="0 0 0 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<cylinder radius="${wheeldiam/2}" length=".1"/>
|
|
</geometry>
|
|
</collision>
|
|
<xacro:default_inertial mass="1"/>
|
|
</link>
|
|
<joint name="${prefix}_${suffix}_wheel_joint" type="continuous">
|
|
<axis xyz="0 0 1"/>
|
|
<parent link="${prefix}_base"/>
|
|
<child link="${prefix}_${suffix}_wheel"/>
|
|
<origin xyz="0 ${baselen*reflect/3} -${wheeldiam/2+.05}" rpy="0 ${pi/2} 0"/>
|
|
<limit effort="100" velocity="100" />
|
|
<joint_properties damping="0.0" friction="0.0" />
|
|
|
|
</joint>
|
|
|
|
</xacro:macro>
|
|
|
|
|
|
|
|
<xacro:macro name="leg" params="prefix reflect">
|
|
<link name="${prefix}_leg">
|
|
<visual>
|
|
<geometry>
|
|
<box size="${leglen} .2 .1"/>
|
|
</geometry>
|
|
<origin xyz="0 0 -${leglen/2}" rpy="0 ${pi/2} 0"/>
|
|
<material name="white">
|
|
<color rgba="1 1 1 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<box size="${leglen} .2 .1"/>
|
|
</geometry>
|
|
<origin xyz="0 0 -${leglen/2}" rpy="0 ${pi/2} 0"/>
|
|
</collision>
|
|
<xacro:default_inertial mass="10"/>
|
|
</link>
|
|
|
|
<joint name="base_to_${prefix}_leg" type="fixed">
|
|
<parent link="base_link"/>
|
|
<child link="${prefix}_leg"/>
|
|
<origin xyz="${reflect*(width+.02)} 0 .25" />
|
|
</joint>
|
|
|
|
<link name="${prefix}_base">
|
|
<visual>
|
|
<geometry>
|
|
<box size=".1 ${baselen} .1"/>
|
|
</geometry>
|
|
<material name="white"/>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<box size=".1 ${baselen} .1"/>
|
|
</geometry>
|
|
</collision>
|
|
<xacro:default_inertial mass="10"/>
|
|
</link>
|
|
|
|
<joint name="${prefix}_base_joint" type="fixed">
|
|
<parent link="${prefix}_leg"/>
|
|
<child link="${prefix}_base"/>
|
|
<origin xyz="0 0 ${-leglen}" />
|
|
</joint>
|
|
<xacro:wheel prefix="${prefix}" suffix="front" reflect="1"/>
|
|
<xacro:wheel prefix="${prefix}" suffix="back" reflect="-1"/>
|
|
</xacro:macro>
|
|
<xacro:leg prefix="right" reflect="1" />
|
|
<xacro:leg prefix="left" reflect="-1" />
|
|
|
|
<joint name="gripper_extension" type="prismatic">
|
|
<parent link="base_link"/>
|
|
<child link="gripper_pole"/>
|
|
<limit effort="1000.0" lower="-${width*2-.02}" upper="0" velocity="0.5"/>
|
|
<origin rpy="0 0 ${pi/2}" xyz="0 ${width-.01} .2"/>
|
|
</joint>
|
|
|
|
<link name="gripper_pole">
|
|
<visual>
|
|
<geometry>
|
|
<cylinder length="${polelen}" radius=".01"/>
|
|
</geometry>
|
|
<origin xyz="${polelen/2} 0 0" rpy="0 ${pi/2} 0 "/>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<cylinder length="${polelen}" radius=".01"/>
|
|
</geometry>
|
|
<origin xyz="${polelen/2} 0 0" rpy="0 ${pi/2} 0 "/>
|
|
</collision>
|
|
<xacro:default_inertial mass=".05"/>
|
|
</link>
|
|
|
|
<xacro:macro name="gripper" params="prefix reflect">
|
|
<joint name="${prefix}_gripper_joint" type="revolute">
|
|
<axis xyz="0 0 ${reflect}"/>
|
|
<limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
|
|
<origin rpy="0 0 0" xyz="${polelen} ${reflect*0.01} 0"/>
|
|
<parent link="gripper_pole"/>
|
|
<child link="${prefix}_gripper"/>
|
|
</joint>
|
|
<link name="${prefix}_gripper">
|
|
<visual>
|
|
<origin rpy="${(reflect-1)/2*pi} 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<mesh filename="package://pr2_description/meshes/gripper_v0/l_finger.dae"/>
|
|
</geometry>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<mesh filename="package://pr2_description/meshes/gripper_v0/l_finger.dae"/>
|
|
</geometry>
|
|
<origin rpy="${(reflect-1)/2*pi} 0 0" xyz="0 0 0"/>
|
|
</collision>
|
|
<xacro:default_inertial mass=".05"/>
|
|
</link>
|
|
<joint name="${prefix}_tip_joint" type="fixed">
|
|
<parent link="${prefix}_gripper"/>
|
|
<child link="${prefix}_tip"/>
|
|
</joint>
|
|
<link name="${prefix}_tip">
|
|
<visual>
|
|
<origin rpy="${(reflect-1)/2*pi} 0 0" xyz="0.09137 0.00495 0"/>
|
|
<geometry>
|
|
<mesh filename="package://pr2_description/meshes/gripper_v0/l_finger_tip.dae"/>
|
|
</geometry>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<mesh filename="package://pr2_description/meshes/gripper_v0/l_finger_tip.dae"/>
|
|
</geometry>
|
|
<origin rpy="${(reflect-1)/2*pi} 0 0" xyz="0.09137 0.00495 0"/>
|
|
</collision>
|
|
<xacro:default_inertial mass=".05"/>
|
|
</link>
|
|
</xacro:macro>
|
|
<xacro:gripper prefix="left" reflect="1" />
|
|
<xacro:gripper prefix="right" reflect="-1" />
|
|
|
|
<link name="head">
|
|
<visual>
|
|
<geometry>
|
|
<sphere radius="${width}"/>
|
|
</geometry>
|
|
<material name="white"/>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<sphere radius="${width}"/>
|
|
</geometry>
|
|
</collision>
|
|
<xacro:default_inertial mass="10"/>
|
|
</link>
|
|
|
|
<joint name="head_swivel" type="continuous">
|
|
<parent link="base_link"/>
|
|
<child link="head"/>
|
|
<axis xyz="0 0 1"/>
|
|
<origin xyz="0 0 ${bodylen/2}"/>
|
|
</joint>
|
|
|
|
<link name="box">
|
|
<visual>
|
|
<geometry>
|
|
<box size=".08 .08 .08"/>
|
|
</geometry>
|
|
<material name="blue"/>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<box size=".08 .08 .08"/>
|
|
</geometry>
|
|
</collision>
|
|
<xacro:default_inertial mass="1"/>
|
|
</link>
|
|
|
|
<joint name="tobox" type="fixed">
|
|
<parent link="head"/>
|
|
<child link="box"/>
|
|
<origin xyz="0 ${.707*width} ${.707*width}"/>
|
|
</joint>
|
|
</robot>
|
|
|