HeeroYui-deprecated/nao_dcm
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Integration to nao_meshes..Missing hand graphics only..

Browse Source
This commit is contained in:
Konstantinos Chatzilygeroudis 2014-05-18 16:37:56 +03:00
parent e36eae76eb
commit 17baa41f7c
6 changed files with 353 additions and 120 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
nao_dcm_common/nao_dcm_description/CMakeLists.txt
View File

@ -6,7 +6,7 @@ project(nao_dcm_description)
find_package(catkin REQUIRED)
##Needed for ros packages
catkin_package(CATKIN_DEPENDS xacro)
catkin_package(CATKIN_DEPENDS xacro nao_meshes)
install(DIRECTORY launch
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

1
nao_dcm_common/nao_dcm_description/package.xml
View File

@ -39,6 +39,7 @@ OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISE
<run_depend>rviz</run_depend>
<run_depend>xacro</run_depend>
<run_depend>urdf</run_depend>
<run_depend>nao_meshes</run_depend>
<export>

1
nao_dcm_common/nao_dcm_description/urdf/modules/arms.xacro
View File

@ -48,6 +48,7 @@
<axis xyz="0 1 0"/>
</joint>
<link name="${side}Shoulder">
<xacro:visuals_collisions_shoulder_pitch side="${side}"/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="-0.00165 ${reflect*(-0.02663)} 0.00014"/>

3
nao_dcm_common/nao_dcm_description/urdf/nao_dcm_H21.xacro
View File

@ -4,8 +4,9 @@
<!-- XACRO PROPERTIES -->
<xacro:property name="PI" value="3.14159265359" />
<xacro:property name="PI_2" value="1.57079632679" />
<xacro:property name="scale" value="0.1" />
<xacro:property name="scale" value="0.001" />
<xacro:property name="H25" value="false" />
<xacro:property name="nao_meshes" value="true" />
<xacro:include filename="$(find nao_dcm_description)/urdf/nao_dcm_visuals_collisions.xacro" />
<xacro:include filename="$(find nao_dcm_description)/urdf/nao_dcm_gazebo.xacro" />

3
nao_dcm_common/nao_dcm_description/urdf/nao_dcm_H25.xacro
View File

@ -4,8 +4,9 @@
<!-- XACRO PROPERTIES -->
<xacro:property name="PI" value="3.14159265359" />
<xacro:property name="PI_2" value="1.57079632679" />
<xacro:property name="scale" value="0.1" />
<xacro:property name="scale" value="0.001" />
<xacro:property name="H25" value="true" />
<xacro:property name="nao_meshes" value="true" />
<xacro:include filename="$(find nao_dcm_description)/urdf/nao_dcm_visuals_collisions.xacro" />
<xacro:include filename="$(find nao_dcm_description)/urdf/nao_dcm_gazebo.xacro" />

463
nao_dcm_common/nao_dcm_description/urdf/nao_dcm_visuals_collisions.xacro
View File

@ -24,156 +24,385 @@
<!-- XACRO MACROS FOR VISUALS AND COLLISIONS -->
<xacro:macro name="visuals_collisions_torso" params="">
<visual>
<origin xyz="0 0 0.02075" rpy="0 0 0"/>
<geometry>
<box size="0.04 0.1 0.2115"/>
</geometry>
<material name="Blue"/>
</visual>
<collision>
<origin xyz="0 0 0.02075" rpy="0 0 0"/>
<geometry>
<box size="0.04 0.1 0.2115"/>
</geometry>
</collision>
<xacro:unless value="${nao_meshes}">
<visual>
<origin xyz="0 0 0.02075" rpy="0 0 0"/>
<geometry>
<box size="0.04 0.1 0.2115"/>
</geometry>
<material name="Blue"/>
</visual>
<collision>
<origin xyz="0 0 0.02075" rpy="0 0 0"/>
<geometry>
<box size="0.04 0.1 0.2115"/>
</geometry>
</collision>
</xacro:unless>
<xacro:if value="${nao_meshes}">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://nao_meshes/meshes/V40/visual/Torso.obj" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://nao_meshes/meshes/V40/collision/Torso.ply" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</collision>
</xacro:if>
</xacro:macro>
<xacro:macro name="visuals_collisions_head_yaw" params="">
<xacro:if value="${nao_meshes}">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://nao_meshes/meshes/V40/visual/HeadYaw.obj" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://nao_meshes/meshes/V40/collision/HeadYaw.ply" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</collision>
</xacro:if>
</xacro:macro>
<xacro:macro name="visuals_collisions_head_pitch" params="">
<visual>
<origin xyz="0 0 0.058" rpy="${PI_2} 0 0"/>
<geometry>
<cylinder radius="0.04" length="0.14"/>
</geometry>
<material name="Green"/>
</visual>
<collision>
<origin xyz="0 0 0.058" rpy="${PI_2} 0 0"/>
<geometry>
<cylinder radius="0.04" length="0.14"/>
</geometry>
</collision>
<xacro:unless value="${nao_meshes}">
<visual>
<origin xyz="0 0 0.058" rpy="${PI_2} 0 0"/>
<geometry>
<cylinder radius="0.04" length="0.14"/>
</geometry>
<material name="Green"/>
</visual>
<collision>
<origin xyz="0 0 0.058" rpy="${PI_2} 0 0"/>
<geometry>
<cylinder radius="0.04" length="0.14"/>
</geometry>
</collision>
</xacro:unless>
<xacro:if value="${nao_meshes}">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://nao_meshes/meshes/V40/visual/HeadPitch.obj" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://nao_meshes/meshes/V40/collision/HeadPitch.ply" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</collision>
</xacro:if>
</xacro:macro>
<xacro:macro name="visuals_collisions_shoulder_pitch" params="side">
<xacro:if value="${nao_meshes}">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://nao_meshes/meshes/V40/visual/${side}ShoulderPitch.obj" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://nao_meshes/meshes/V40/collision/${side}ShoulderPitch.ply" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</collision>
</xacro:if>
</xacro:macro>
<xacro:macro name="visuals_collisions_shoulder_roll" params="side">
<visual>
<origin xyz="0.045 0 0" rpy="${PI_2} 0 ${PI_2}"/>
<geometry>
<cylinder radius="0.02" length="0.09"/>
</geometry>
<material name="Green"/>
</visual>
<collision>
<origin xyz="0.045 0 0" rpy="${PI_2} 0 ${PI_2}"/>
<geometry>
<cylinder radius="0.02" length="0.09"/>
</geometry>
</collision>
<xacro:unless value="${nao_meshes}">
<visual>
<origin xyz="0.045 0 0" rpy="${PI_2} 0 ${PI_2}"/>
<geometry>
<cylinder radius="0.02" length="0.09"/>
</geometry>
<material name="Green"/>
</visual>
<collision>
<origin xyz="0.045 0 0" rpy="${PI_2} 0 ${PI_2}"/>
<geometry>
<cylinder radius="0.02" length="0.09"/>
</geometry>
</collision>
</xacro:unless>
<xacro:if value="${nao_meshes}">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://nao_meshes/meshes/V40/visual/${side}ShoulderRoll.obj" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://nao_meshes/meshes/V40/collision/${side}ShoulderRoll.ply" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</collision>
</xacro:if>
</xacro:macro>
<xacro:macro name="visuals_collisions_elbow_roll" params="side">
<visual>
<origin xyz="0.025325 0 0" rpy="${PI_2} 0 ${PI_2}"/>
<geometry>
<cylinder radius="0.02" length="0.05065"/>
</geometry>
<material name="Red"/>
</visual>
<collision>
<origin xyz="0.025325 0 0" rpy="${PI_2} 0 ${PI_2}"/>
<geometry>
<cylinder radius="0.02" length="0.05065"/>
</geometry>
</collision>
<xacro:unless value="${nao_meshes}">
<visual>
<origin xyz="0.025325 0 0" rpy="${PI_2} 0 ${PI_2}"/>
<geometry>
<cylinder radius="0.02" length="0.05065"/>
</geometry>
<material name="Red"/>
</visual>
<collision>
<origin xyz="0.025325 0 0" rpy="${PI_2} 0 ${PI_2}"/>
<geometry>
<cylinder radius="0.02" length="0.05065"/>
</geometry>
</collision>
</xacro:unless>
<xacro:if value="${nao_meshes}">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://nao_meshes/meshes/V40/visual/${side}ElbowRoll.obj" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://nao_meshes/meshes/V40/collision/${side}ElbowRoll.ply" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</collision>
</xacro:if>
</xacro:macro>
<xacro:macro name="visuals_collisions_wrist_yaw" params="side reflect">
<visual>
<origin xyz="0.029 0 0" rpy="${PI_2} 0 ${PI_2}"/>
<geometry>
<box size="0.03 0.02 0.058"/>
</geometry>
<material name="Yellow"/>
</visual>
<collision>
<origin xyz="0.029 0 0" rpy="${PI_2} 0 ${PI_2}"/>
<geometry>
<box size="0.03 0.02 0.058"/>
</geometry>
</collision>
<xacro:unless value="${nao_meshes}">
<visual>
<origin xyz="0.029 0 0" rpy="${PI_2} 0 ${PI_2}"/>
<geometry>
<box size="0.03 0.02 0.058"/>
</geometry>
<material name="Yellow"/>
</visual>
<collision>
<origin xyz="0.029 0 0" rpy="${PI_2} 0 ${PI_2}"/>
<geometry>
<box size="0.03 0.02 0.058"/>
</geometry>
</collision>
</xacro:unless>
<xacro:if value="${nao_meshes}">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://nao_meshes/meshes/V40/visual/WristYaw.obj" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://nao_meshes/meshes/V40/collision/WristYaw.ply" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</collision>
</xacro:if>
</xacro:macro>
<xacro:macro name="visuals_collisions_hip_yaw_pitch" params="side reflect">
<xacro:if value="${nao_meshes}">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://nao_meshes/meshes/V40/visual/${side}HipYawPitch.obj" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://nao_meshes/meshes/V40/collision/${side}HipYawPitch.ply" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</collision>
</xacro:if>
</xacro:macro>
<xacro:macro name="visuals_collisions_hip_roll" params="side">
<xacro:if value="${nao_meshes}">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://nao_meshes/meshes/V40/visual/${side}HipRoll.obj" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://nao_meshes/meshes/V40/collision/${side}HipRoll.ply" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</collision>
</xacro:if>
</xacro:macro>
<xacro:macro name="visuals_collisions_hip_pitch" params="side reflect">
<visual>
<origin xyz="0 0 -0.05" rpy="0 0 0"/>
<geometry>
<cylinder radius="0.02" length="0.1"/>
</geometry>
<material name="Yellow"/>
</visual>
<collision>
<origin xyz="0 0 -0.05" rpy="0 0 0"/>
<geometry>
<cylinder radius="0.02" length="0.1"/>
</geometry>
</collision>
<xacro:unless value="${nao_meshes}">
<visual>
<origin xyz="0 0 -0.05" rpy="0 0 0"/>
<geometry>
<cylinder radius="0.02" length="0.1"/>
</geometry>
<material name="Yellow"/>
</visual>
<collision>
<origin xyz="0 0 -0.05" rpy="0 0 0"/>
<geometry>
<cylinder radius="0.02" length="0.1"/>
</geometry>
</collision>
</xacro:unless>
<xacro:if value="${nao_meshes}">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://nao_meshes/meshes/V40/visual/${side}HipPitch.obj" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://nao_meshes/meshes/V40/collision/${side}HipPitch.ply" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</collision>
</xacro:if>
</xacro:macro>
<xacro:macro name="visuals_collisions_knee_pitch" params="side reflect">
<visual>
<origin xyz="0 0 -0.05" rpy="0 0 0"/>
<geometry>
<cylinder radius="0.02" length="0.1"/>
</geometry>
<material name="Yellow"/>
</visual>
<collision>
<origin xyz="0 0 -0.05" rpy="0 0 0"/>
<geometry>
<cylinder radius="0.02" length="0.1"/>
</geometry>
</collision>
<xacro:unless value="${nao_meshes}">
<visual>
<origin xyz="0 0 -0.05" rpy="0 0 0"/>
<geometry>
<cylinder radius="0.02" length="0.1"/>
</geometry>
<material name="Yellow"/>
</visual>
<collision>
<origin xyz="0 0 -0.05" rpy="0 0 0"/>
<geometry>
<cylinder radius="0.02" length="0.1"/>
</geometry>
</collision>
</xacro:unless>
<xacro:if value="${nao_meshes}">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://nao_meshes/meshes/V40/visual/${side}KneePitch.obj" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://nao_meshes/meshes/V40/collision/${side}KneePitch.ply" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</collision>
</xacro:if>
</xacro:macro>
<xacro:macro name="visuals_collisions_ankle_pitch" params="side">
<visual>
<origin xyz="0 0 -0.023" rpy="0 0 0"/>
<geometry>
<cylinder radius="0.02" length="0.046"/>
</geometry>
<material name="Yellow"/>
</visual>
<collision>
<origin xyz="0 0 -0.023" rpy="0 0 0"/>
<geometry>
<cylinder radius="0.02" length="0.046"/>
</geometry>
</collision>
<xacro:unless value="${nao_meshes}">
<visual>
<origin xyz="0 0 -0.023" rpy="0 0 0"/>
<geometry>
<cylinder radius="0.02" length="0.046"/>
</geometry>
<material name="Yellow"/>
</visual>
<collision>
<origin xyz="0 0 -0.023" rpy="0 0 0"/>
<geometry>
<cylinder radius="0.02" length="0.046"/>
</geometry>
</collision>
</xacro:unless>
<xacro:if value="${nao_meshes}">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://nao_meshes/meshes/V40/visual/${side}AnklePitch.obj" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://nao_meshes/meshes/V40/collision/${side}AnklePitch.ply" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</collision>
</xacro:if>
</xacro:macro>
<xacro:macro name="visuals_collisions_ankle_roll" params="side">
<visual>
<origin xyz="0.02 0 -0.042" rpy="0 0 0"/>
<geometry>
<box size="0.16 0.08 0.015"/>
</geometry>
<material name="Yellow"/>
</visual>
<collision>
<origin xyz="0.02 0 -0.042" rpy="0 0 0"/>
<geometry>
<box size="0.16 0.06 0.015"/>
</geometry>
</collision>
<xacro:unless value="${nao_meshes}">
<visual>
<origin xyz="0.02 0 -0.042" rpy="0 0 0"/>
<geometry>
<box size="0.16 0.08 0.015"/>
</geometry>
<material name="Yellow"/>
</visual>
<collision>
<origin xyz="0.02 0 -0.042" rpy="0 0 0"/>
<geometry>
<box size="0.16 0.06 0.015"/>
</geometry>
</collision>
</xacro:unless>
<xacro:if value="${nao_meshes}">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://nao_meshes/meshes/V40/visual/${side}AnkleRoll.obj" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="package://nao_meshes/meshes/V40/collision/${side}AnkleRoll.ply" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</collision>
</xacro:if>
</xacro:macro>
<!-- END OF XACRO MACROS -->