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Changed URDF structure..

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This commit is contained in:
Konstantinos Chatzilygeroudis 2014-05-18 16:07:48 +03:00
parent 00e5b1aac5
commit e36eae76eb
12 changed files with 537 additions and 870 deletions
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106
nao_dcm_common/nao_dcm_description/urdf/modules/arms.xacro Normal file
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- ARM LINKS/JOINTS -->
<!-- Shoulder Roll and Elbow Roll Links are different for the 2 arms -->
<link name="LShoulderDummy">
<xacro:visuals_collisions_shoulder_roll side="L"/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="0.02455 0.00563 0.0033"/>
<mass value="0.15777"/>
<inertia ixx="0.00009389993" ixy="-0.00004714452" ixz="-0.00002699471" iyy="0.00037151879" iyz="-0.00000245977" izz="0.00034190083"/>
</inertial>
</link>
<link name="RShoulderDummy">
<xacro:visuals_collisions_shoulder_roll side="R"/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="0.02429 -0.00952 0.00320"/>
<mass value="0.15974"/>
<inertia ixx="0.00011012031" ixy="0.00007669131" ixz="-0.00002604607" iyy="0.00036757653" iyz="0.00001209828" izz="0.00035461772"/>
</inertial>
</link>
<link name="LElbowDummy">
<xacro:visuals_collisions_elbow_roll side="L"/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="0.02556 0.00281 0.00076"/>
<mass value="0.07761"/>
<inertia ixx="0.00002533220" ixy="-0.00000234271" ixz="0.00000007459" iyy="0.00008913220" iyz="-0.00000002655" izz="0.00008728726"/>
</inertial>
</link>
<link name="RElbowDummy">
<xacro:visuals_collisions_elbow_roll side="R"/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="0.02552 -0.00281 0.00090"/>
<mass value="0.07778"/>
<inertia ixx="0.00002539070" ixy="0.00000233243" ixz="-0.00000060117" iyy="0.00008922036" iyz="0.00000002694" izz="0.00008724843"/>
</inertial>
</link>
<!-- XACRO -->
<xacro:macro name="arm_links_joints" params="side reflect">
<joint name="${side}ShoulderPitch" type="revolute">
<parent link="torso"/>
<child link="${side}Shoulder"/>
<limit effort="${150.27*14.3/1000.0}" lower="-2.0857" upper="2.0857" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0 ${reflect*0.098} 0.1"/>
<axis xyz="0 1 0"/>
</joint>
<link name="${side}Shoulder">
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="-0.00165 ${reflect*(-0.02663)} 0.00014"/>
<mass value="0.07504"/>
<inertia ixx="0.00008428430" ixy="${reflect*-0.00000202802}" ixz="0.00000002338" iyy="0.00001415561" iyz="${reflect*-0.00000001972}" izz="0.00008641949"/>
</inertial>
</link>
<joint name="${side}ElbowYaw" type="revolute">
<parent link="${side}ShoulderDummy"/>
<child link="${side}Elbow"/>
<limit effort="${150.27*14.3/1000.0}" lower="-2.0857" upper="2.0857" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0.105 ${reflect*0.015} 0"/>
<axis xyz="1 0 0"/>
</joint>
<link name="${side}Elbow">
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="-0.02744 0 -0.00014"/>
<mass value="0.06483"/>
<inertia ixx="0.00000559715" ixy="0.00000000421" ixz="0.00000004319" iyy="0.00007543312" iyz="-0.00000000184" izz="0.00007644339"/>
</inertial>
</link>
</xacro:macro>
<xacro:arm_links_joints reflect="1" side="L"/>
<xacro:arm_links_joints reflect="-1" side="R"/>
<!-- JOINTS THAT ARE NOT IDENTICAL TO 2 ENDS -->
<joint name="LShoulderRoll" type="revolute">
<parent link="LShoulder"/>
<child link="LShoulderDummy"/>
<limit effort="${173.22*14.3/1000.0}" lower="-0.3142" upper="1.3265" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 0 1"/>
</joint>
<joint name="RShoulderRoll" type="revolute">
<parent link="RShoulder"/>
<child link="RShoulderDummy"/>
<limit effort="${173.22*14.3/1000.0}" lower="-1.3265" upper="0.3142" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 0 1"/>
</joint>
<joint name="LElbowRoll" type="revolute">
<parent link="LElbow"/>
<child link="LElbowDummy"/>
<limit effort="${173.22*14.3/1000.0}" lower="-1.5446" upper="-0.0349" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 0 1"/>
</joint>
<joint name="RElbowRoll" type="revolute">
<parent link="RElbow"/>
<child link="RElbowDummy"/>
<limit effort="${173.22*14.3/1000.0}" lower="0.0349" upper="1.5446" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 0 1"/>
</joint>
<!-- END OF ARM LINKS/JOINTS -->
</robot>

16
nao_dcm_common/nao_dcm_description/urdf/modules/cameras.xacro Normal file
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- CAMERAS -->
<joint name="TopCamera" type="fixed">
<parent link="gaze"/>
<child link="CameraTop"/>
<origin xyz="0.05871 0 0.06364" rpy="0 0.0209 0"/>
</joint>
<link name="CameraTop"/>
<joint name="BottomCamera" type="fixed">
<parent link="gaze"/>
<child link="CameraBottom"/>
<origin xyz="0.05071 0 0.01774" rpy="0 0.6929 0"/>
</joint>
<link name="CameraBottom"/>
</robot>

97
nao_dcm_common/nao_dcm_description/urdf/modules/hands.xacro Normal file
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- H25 Hands -->
<xacro:if value="${H25}">
<joint name="LWristYaw" type="revolute">
<parent link="LElbowDummy"/>
<child link="l_wrist"/>
<origin rpy="0 0 0" xyz="0.05595 0 0"/>
<limit effort="${50.61*9.4/1000.0}" lower="-1.8238" upper="1.8238" velocity="3.0"/>
</joint>
<link name="l_wrist">
<xacro:visuals_collisions_wrist_yaw reflect="1" side="L"/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="0.03434 -0.00088 0.00308"/>
<mass value="0.18533"/>
<inertia ixx="0.00007054933" ixy="0.00000571599" ixz="-0.00002247437" iyy="0.00035606232" iyz="0.00000317771" izz="0.00035191933"/>
</inertial>
</link>
<!-- DUMMY REVOLUTE JOINT - JUST THERE TO RETURN VALUES BETWEEN 0.0 AND 1.0 THAT THE ROBOT RETURNS -->
<joint name="LHand" type="revolute">
<parent link="l_wrist"/>
<child link="l_gripper"/>
<origin rpy="0 0 0" xyz="0.05775 0 0"/>
<limit effort="${36.24*9.4/1000.0}" lower="0.0" upper="1.0" velocity="3.0"/>
</joint>
<link name="l_gripper">
<inertial> <!-- dummy values for gazebo -->
<mass value="0.2e-5" />
<origin xyz="0 0 0"/>
<inertia ixx="1e-9" ixy="0" ixz="0" iyy="1e-9" iyz="0" izz="1e-9" />
</inertial>
</link>
<joint name="RWristYaw" type="revolute">
<parent link="RElbowDummy"/>
<child link="r_wrist"/>
<origin rpy="0 0 0" xyz="0.05595 0 0"/>
<limit effort="${50.61*9.4/1000.0}" lower="-1.8238" upper="1.8238" velocity="3.0"/>
</joint>
<link name="r_wrist">
<xacro:visuals_collisions_wrist_yaw reflect="-1" side="R"/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="0.03434 -0.00088 0.00308"/>
<mass value="0.18533"/>
<inertia ixx="0.00007054933" ixy="0.00000571599" ixz="-0.00002247437" iyy="0.00035606232" iyz="0.00000317771" izz="0.00035191933"/>
</inertial>
</link>
<!-- DUMMY REVOLUTE JOINT - JUST THERE TO RETURN VALUES BETWEEN 0.0 AND 1.0 THAT THE ROBOT RETURNS -->
<joint name="RHand" type="revolute">
<parent link="r_wrist"/>
<child link="r_gripper"/>
<origin rpy="0 0 0" xyz="0.05775 0 0"/>
<limit effort="${36.24*9.4/1000.0}" lower="0.0" upper="1.0" velocity="3.0"/>
</joint>
<link name="r_gripper">
<inertial> <!-- dummy values for gazebo -->
<mass value="0.2e-5" />
<origin xyz="0 0 0"/>
<inertia ixx="1e-9" ixy="0" ixz="0" iyy="1e-9" iyz="0" izz="1e-9" />
</inertial>
</link>
</xacro:if>
<!-- H21 Hands -->
<xacro:unless value="${H25}">
<joint name="LWristYaw" type="fixed">
<parent link="LElbowDummy"/>
<child link="l_wrist"/>
<origin rpy="0 0 0" xyz="0.05595 0 0"/>
</joint>
<link name="l_wrist">
<xacro:visuals_collisions_wrist_yaw reflect="1" side="L"/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="0.06530 0.00114 0.00051"/>
<mass value="0.18415"/>
<inertia ixx="0.00007810423" ixy="-0.00001233383" ixz="0.00000744169" iyy="0.00112084378" iyz="-0.00000054551" izz="0.00112214306"/>
</inertial>
</link>
<joint name="RWristYaw" type="fixed">
<parent link="RElbowDummy"/>
<child link="r_wrist"/>
<origin rpy="0 0 0" xyz="0.05595 0 0"/>
</joint>
<link name="r_wrist">
<xacro:visuals_collisions_wrist_yaw reflect="-1" side="R"/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="0.06530 0.00114 0.00051"/>
<mass value="0.18415"/>
<inertia ixx="0.00007810423" ixy="-0.00001233383" ixz="0.00000744169" iyy="0.00112084378" iyz="-0.00000054551" izz="0.00112214306"/>
</inertial>
</link>
</xacro:unless>
</robot>

37
nao_dcm_common/nao_dcm_description/urdf/modules/head.xacro Normal file
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- TORSO-HEAD JOINT -->
<joint name="HeadYaw" type="revolute">
<parent link="torso"/>
<child link="neck"/>
<limit effort="${150.27*14.3/1000.0}" lower="-2.0857" upper="2.0857" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0 0 0.1265"/>
<axis xyz="0 0 1"/>
</joint>
<!-- HEAD -->
<link name="neck">
<xacro:visuals_collisions_head_yaw/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="-0.00001 0.00014 -0.02742"/>
<mass value="0.06442"/>
<inertia ixx="0.00007499295" ixy="0.00000000157" ixz="-0.00000001834" iyy="0.00007599995" iyz="-0.00000005295" izz="0.00000553373"/>
</inertial>
</link>
<joint name="HeadPitch" type="revolute">
<parent link="neck"/>
<child link="gaze"/>
<limit effort="${173.22*14.3/1000.0}" lower="-0.6720" upper="0.5149" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 1 0"/>
</joint>
<link name="gaze">
<xacro:visuals_collisions_head_pitch/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="-0.00112 0.00003 0.05258"/>
<mass value="0.60533"/>
<inertia ixx="0.00263129518" ixy="0.00000878814" ixz="0.00004098466" iyy="0.00249112488" iyz="-0.00002995792" izz="0.00098573565"/>
</inertial>
</link>
</robot>

13
nao_dcm_common/nao_dcm_description/urdf/modules/imu.xacro Normal file
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- IMU -->
<joint name="torso-imu" type="fixed">
<parent link="torso"/>
<child link="imu"/>
<!-- Accelerometer -->
<origin xyz="-0.008 0.00606 0.027" rpy="0 0 0"/>
<!-- Gyrometer -->
<!-- <origin xyz="-0.008 0.006 0.029" rpy="0 0 0"/> -->
</joint>
<link name="imu"/>
</robot>

199
nao_dcm_common/nao_dcm_description/urdf/modules/legs.xacro Normal file
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- LEFT LEG LINKS/JOINTS -->
<joint name="LHipYawPitch" type="revolute">
<parent link="base_link"/>
<child link="LHipYaw"/>
<limit effort="${201.3*68/1000.0}" lower="-1.145303" upper="0.740810" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0 0.05 -0.085"/>
<axis xyz="0 0.707106 -0.707106"/>
</joint>
<link name="LHipYaw">
<xacro:visuals_collisions_hip_yaw_pitch reflect="1" side="L"/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="-0.00781 -0.01114 0.02661"/>
<mass value="0.06981"/>
<inertia ixx="0.00008150233" ixy="-0.00000499449" ixz="0.00001274817" iyy="0.00010132555" iyz="0.00002345474" izz="0.000062626363"/>
</inertial>
</link>
<joint name="LHipRoll" type="revolute">
<parent link="LHipYaw"/>
<child link="LHip"/>
<limit effort="${201.3*68/1000.0}" lower="-0.379472" upper="0.790477" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1 0 0"/>
</joint>
<link name="LHip">
<xacro:visuals_collisions_hip_roll side="L"/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="-0.01549 0.00029 -0.00515"/>
<mass value="0.13053"/>
<inertia ixx="0.00002758354" ixy="-0.00000002233" ixz="-0.00000408164" iyy="0.00009827055" iyz="-0.00000000419" izz="0.00008809973"/>
</inertial>
</link>
<joint name="LHipPitch" type="revolute">
<parent link="LHip"/>
<child link="LHipDummy"/>
<limit effort="${130.85*68/1000.0}" lower="-1.535889" upper="0.484090" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 1 0"/>
</joint>
<link name="LHipDummy">
<xacro:visuals_collisions_hip_pitch reflect="1" side="L"/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="0.00138 0.00221 -0.05373"/>
<mass value="0.38968"/>
<inertia ixx="0.00163671962" ixy="0.00000092451" ixz="0.00008530668" iyy="0.00159107278" iyz="0.00003836160" izz="0.00030374342"/>
</inertial>
</link>
<joint name="LKneePitch" type="revolute">
<parent link="LHipDummy"/>
<child link="LKnee"/>
<limit effort="${130.85*68/1000.0}" lower="-0.092346" upper="2.112528" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0 0 -0.1"/>
<axis xyz="0 1 0"/>
</joint>
<link name="LKnee">
<xacro:visuals_collisions_knee_pitch reflect="1" side="L"/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="0.00453 0.00225 -0.04936"/>
<mass value="0.29142"/>
<inertia ixx="0.00118207967" ixy="0.00000063362" ixz="0.00003649697" iyy="0.00112865226" iyz="0.00003949523" izz="0.00019322744"/>
</inertial>
</link>
<joint name="LAnklePitch" type="revolute">
<parent link="LKnee"/>
<child link="l_ankle"/>
<limit effort="${130.85*68/1000.0}" lower="-1.189516" upper="0.922747" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0 0 -0.1029"/>
<axis xyz="0 1 0"/>
</joint>
<link name="l_ankle">
<xacro:visuals_collisions_ankle_pitch side="L"/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="0.00045 0.00029 0.00685"/>
<mass value="0.13416"/>
<inertia ixx="0.00003850978" ixy="-0.00000002634" ixz="0.00000386194" iyy="0.00007426526" iyz="0.00000001834" izz="0.00005486540"/>
</inertial>
</link>
<joint name="LAnkleRoll" type="revolute">
<parent link="l_ankle"/>
<child link="l_sole"/>
<limit effort="${201.3*68/1000.0}" lower="-0.397880" upper="0.769001" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1 0 0"/>
</joint>
<link name="l_sole">
<xacro:visuals_collisions_ankle_roll side="L"/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="0.02540 -0.00332 -0.03239"/>
<mass value="0.16184"/>
<inertia ixx="0.00026930201" ixy="0.00000587505" ixz="0.00013913328" iyy="0.00064347385" iyz="-0.00001884917" izz="0.00052503477"/>
</inertial>
</link>
<!-- RIGHT LEG LINKS/JOINTS -->
<joint name="RHipYawPitch" type="revolute">
<parent link="base_link"/>
<child link="RHipYaw"/>
<limit effort="${201.3*68/1000.0}" lower="-1.145303" upper="0.740810" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0 -0.05 -0.085"/>
<axis xyz="0 0.707106 0.707106"/>
<mimic joint="LHipYawPitch" multiplier="1" offset="0"/>
</joint>
<link name="RHipYaw">
<xacro:visuals_collisions_hip_yaw_pitch reflect="-1" side="R"/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="-0.00766 0.01200 0.02716"/>
<mass value="0.07118"/>
<inertia ixx="0.00008997195" ixy="0.00000500219" ixz="0.00001273525" iyy="0.00010552611" iyz="-0.00002770080" izz="0.00006688724"/>
</inertial>
</link>
<joint name="RHipRoll" type="revolute">
<parent link="RHipYaw"/>
<child link="RHip"/>
<limit effort="${201.3*68/1000.0}" lower="-0.790477" upper="0.379472" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1 0 0"/>
</joint>
<link name="RHip">
<xacro:visuals_collisions_hip_roll side="R"/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="-0.01549 -0.00029 -0.00516"/>
<mass value="0.13053"/>
<inertia ixx="0.00002758654" ixy="-0.00000001919" ixz="-0.00000410822" iyy="0.00009826996" iyz="0.00000000251" izz="0.00008810332"/>
</inertial>
</link>
<joint name="RHipPitch" type="revolute">
<parent link="RHip"/>
<child link="RHipDummy"/>
<limit effort="${130.85*68/1000.0}" lower="-1.535889" upper="0.484090" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 1 0"/>
</joint>
<link name="RHipDummy">
<xacro:visuals_collisions_hip_pitch reflect="-1" side="R"/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="0.00139 -0.00225 -0.05374"/>
<mass value="0.38976"/>
<inertia ixx="0.00163748205" ixy="-0.00000083954" ixz="0.00008588301" iyy="0.00159221403" iyz="-0.00003917626" izz="0.00030397824"/>
</inertial>
</link>
<joint name="RKneePitch" type="revolute">
<parent link="RHipDummy"/>
<child link="RKnee"/>
<limit effort="${130.85*68/1000.0}" lower="-0.103083" upper="2.120198" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0 0 -0.1"/>
<axis xyz="0 1 0"/>
</joint>
<link name="RKnee">
<xacro:visuals_collisions_knee_pitch reflect="-1" side="R"/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="0.00394 -0.00221 -0.04938"/>
<mass value="0.29163"/>
<inertia ixx="0.00118282956" ixy="-0.00000089650" ixz="0.00002799690" iyy="0.00112827851" iyz="-0.00003847604" izz="0.00019145277"/>
</inertial>
</link>
<joint name="RAnklePitch" type="revolute">
<parent link="RKnee"/>
<child link="r_ankle"/>
<limit effort="${130.85*68/1000.0}" lower="-1.186448" upper="0.932056" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0 0 -0.1029"/>
<axis xyz="0 1 0"/>
</joint>
<link name="r_ankle">
<xacro:visuals_collisions_ankle_pitch side="R"/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="0.00045 -0.00030 0.00684"/>
<mass value="0.13415"/>
<inertia ixx="0.00003850813" ixy="0.00000006434" ixz="0.00000387466" iyy="0.00007431082" iyz="-0.00000000458" izz="0.00005491312"/>
</inertial>
</link>
<joint name="RAnkleRoll" type="revolute">
<parent link="r_ankle"/>
<child link="r_sole"/>
<limit effort="${201.3*68/1000.0}" lower="-0.768992" upper="0.397935" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1 0 0"/>
</joint>
<link name="r_sole">
<xacro:visuals_collisions_ankle_roll side="R"/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="0.02540 -0.00332 -0.03239"/>
<mass value="0.16171"/>
<inertia ixx="0.00026930201" ixy="0.00000587505" ixz="0.00013913328" iyy="0.00064347385" iyz="-0.00001884917" izz="0.00052503477"/>
</inertial>
</link>
<!-- END OF LEG LINKS/JOINTS -->
</robot>

30
nao_dcm_common/nao_dcm_description/urdf/modules/sonars.xacro Normal file
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@ -0,0 +1,30 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- SONARS -->
<!-- Nao has different sonar transmitter and receiver. The correct way is to take the intersection of the 2 cones -->
<!-- <joint name="RightSonarTransmitter" type="fixed">
<parent link="torso"/>
<child link="SonarRightTransmitter"/>
<origin xyz="0.0537 -0.0341 0.0698" rpy="0.0 -0.1745 -0.3490"/>
</joint>
<link name="SonarRightTransmitter"/>
<joint name="LeftSonarTransmitter" type="fixed">
<parent link="torso"/>
<child link="SonarLeftTransmitter"/>
<origin xyz="0.0537 0.0341 0.0698" rpy="0.0 -0.1745 0.3490"/>
</joint>
<link name="SonarLeftTransmitter"/> -->
<joint name="RightSonar" type="fixed">
<parent link="torso"/>
<child link="SonarRight"/>
<origin xyz="0.0477 -0.0416 0.0509" rpy="0 0.2618 -0.4363"/>
</joint>
<link name="SonarRight"/>
<joint name="LeftSonar" type="fixed">
<parent link="torso"/>
<child link="SonarLeft"/>
<origin xyz="0.0477 0.0416 0.0509" rpy="0 0.2618 0.4363"/>
</joint>
<link name="SonarLeft"/>
</robot>

19
nao_dcm_common/nao_dcm_description/urdf/modules/torso.xacro Normal file
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@ -0,0 +1,19 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- DUMMY ROOT LINK -->
<link name="base_link"/>
<joint name="fixed-base" type="fixed">
<parent link="base_link"/>
<child link="torso"/>
</joint>
<!-- TORSO -->
<link name="torso">
<xacro:visuals_collisions_torso/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="-0.00413 0.00009 0.04342"/>
<mass value="1.04956"/>
<inertia ixx="0.00506234058" ixy="0.00001431158" ixz="0.00015519082" iyy="0.00488013591" iyz="-0.00002707934" izz="0.00161030006"/>
</inertial>
</link>
</robot>

11
nao_dcm_common/nao_dcm_description/urdf/nao_dcm_H21.xacro
View File

@ -5,10 +5,19 @@
<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="H25" value="false" />
<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" />
<xacro:include filename="$(find nao_dcm_description)/urdf/nao_dcm_H21_structure.xacro" />
<xacro:include filename="$(find nao_dcm_description)/urdf/nao_dcm_H21_control.xacro" />
<xacro:include filename="$(find nao_dcm_description)/urdf/modules/torso.xacro" />
<xacro:include filename="$(find nao_dcm_description)/urdf/modules/head.xacro" />
<xacro:include filename="$(find nao_dcm_description)/urdf/modules/arms.xacro" />
<xacro:include filename="$(find nao_dcm_description)/urdf/modules/hands.xacro" />
<xacro:include filename="$(find nao_dcm_description)/urdf/modules/legs.xacro" />
<xacro:include filename="$(find nao_dcm_description)/urdf/modules/imu.xacro" />
<xacro:include filename="$(find nao_dcm_description)/urdf/modules/sonars.xacro" />
<xacro:include filename="$(find nao_dcm_description)/urdf/modules/cameras.xacro" />
</robot>

419
nao_dcm_common/nao_dcm_description/urdf/nao_dcm_H21_structure.xacro
View File

@ -1,419 +0,0 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- DUMMY ROOT LINK -->
<link name="base_link"/>
<joint name="fixed-base" type="fixed">
<parent link="base_link"/>
<child link="torso"/>
</joint>
<!-- TORSO -->
<link name="torso">
<xacro:visuals_collisions_torso/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="-0.00413 0.00009 0.04342"/>
<mass value="1.04956"/>
<inertia ixx="0.00506234058" ixy="0.00001431158" ixz="0.00015519082" iyy="0.0048013591" iyz="-0.00002707934" izz="0.00161030006"/>
</inertial>
</link>
<!-- IMU -->
<joint name="torso-imu" type="fixed">
<parent link="torso"/>
<child link="imu"/>
<origin xyz="-0.008 0.00606 0.027" rpy="0 0 0"/>
</joint>
<link name="imu"/>
<!-- SONARS -->
<!-- Nao has different sonar transmitter and receiver. The correct way is to take the intersection of the 2 cones -->
<!-- <joint name="RightSonarTransmitter" type="fixed">
<parent link="torso"/>
<child link="SonarRightTransmitter"/>
<origin xyz="0.0537 -0.0341 0.0698" rpy="0.0 -0.1745 -0.3490"/>
</joint>
<link name="SonarRightTransmitter"/>
<joint name="LeftSonarTransmitter" type="fixed">
<parent link="torso"/>
<child link="SonarLeftTransmitter"/>
<origin xyz="0.0537 0.0341 0.0698" rpy="0.0 -0.1745 0.3490"/>
</joint>
<link name="SonarLeftTransmitter"/> -->
<joint name="RightSonar" type="fixed">
<parent link="torso"/>
<child link="SonarRight"/>
<origin xyz="0.0477 -0.0416 0.0509" rpy="0 0.2618 -0.4363"/>
</joint>
<link name="SonarRight"/>
<joint name="LeftSonar" type="fixed">
<parent link="torso"/>
<child link="SonarLeft"/>
<origin xyz="0.0477 0.0416 0.0509" rpy="0 0.2618 0.4363"/>
</joint>
<link name="SonarLeft"/>
<!-- TORSO-HEAD JOINT -->
<joint name="HeadYaw" type="revolute">
<parent link="torso"/>
<child link="neck"/>
<limit effort="5" lower="-2.0857" upper="2.0857" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0 0 0.1265"/>
<axis xyz="0 0 1"/>
</joint>
<!-- HEAD -->
<link name="neck">
<xacro:visuals_collisions_head_yaw/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="-0.00001 0.00014 -0.02742"/>
<mass value="0.06442"/>
<inertia ixx="0.00007499295" ixy="0.00000000157" ixz="-0.00000001834" iyy="0.00007599995" iyz="-0.00000005295" izz="0.00000553373"/>
</inertial>
</link>
<joint name="HeadPitch" type="revolute">
<parent link="neck"/>
<child link="gaze"/>
<limit effort="5" lower="-0.6720" upper="0.5149" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 1 0"/>
</joint>
<link name="gaze">
<xacro:visuals_collisions_head_pitch/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="-0.00112 0.00003 0.05258"/>
<mass value="0.6533"/>
<inertia ixx="0.00263129518" ixy="0.00000878814" ixz="0.00004098466" iyy="0.00249112488" iyz="-0.00002995792" izz="0.00098573565"/>
</inertial>
</link>
<!-- CAMERAS -->
<joint name="TopCamera" type="fixed">
<parent link="gaze"/>
<child link="CameraTop"/>
<origin xyz="0.05871 0 0.06364" rpy="0 0.0209 0"/>
</joint>
<link name="CameraTop"/>
<joint name="BottomCamera" type="fixed">
<parent link="gaze"/>
<child link="CameraBottom"/>
<origin xyz="0.05071 0 0.01774" rpy="0 0.6929 0"/>
</joint>
<link name="CameraBottom"/>
<!-- ARM LINKS/JOINTS -->
<!-- Shoulder Roll Links are different for the 2 arms -->
<link name="LShoulderDummy">
<xacro:visuals_collisions_shoulder_roll side="L"/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="0.02455 0.00563 0.0033"/>
<mass value="0.15777"/>
<inertia ixx="0.00009389993" ixy="-0.00004714452" ixz="-0.00002699471" iyy="0.00037151879" iyz="-0.00000245977" izz="0.00034190083"/>
</inertial>
</link>
<link name="RShoulderDummy">
<xacro:visuals_collisions_shoulder_roll side="R"/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="0.02455 0.00563 0.0033"/>
<mass value="0.15777"/>
<inertia ixx="0.00009389993" ixy="-0.00004714452" ixz="-0.00002699471" iyy="0.00037151879" iyz="-0.00000245977" izz="0.00034190083"/>
</inertial>
</link>
<!-- XACRO -->
<xacro:macro name="arm_links_joints" params="side reflect">
<joint name="${side}ShoulderPitch" type="revolute">
<parent link="torso"/>
<child link="${side}Shoulder"/>
<limit effort="5" lower="-2.0857" upper="2.0857" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0 ${reflect*0.098} 0.1"/>
<axis xyz="0 1 0"/>
</joint>
<link name="${side}Shoulder">
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="-0.00165 ${reflect*(-0.02663)} 0.00014"/>
<mass value="0.07504"/>
<inertia ixx="0.00008428430" ixy="${reflect*-0.00000202802}" ixz="0.00000002338" iyy="0.00001415561" iyz="${reflect*-0.00000001972}" izz="0.00008641949"/>
</inertial>
</link>
<joint name="${side}ElbowYaw" type="revolute">
<parent link="${side}ShoulderDummy"/>
<child link="${side}Elbow"/>
<limit effort="5" lower="-2.0857" upper="2.0857" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0.105 ${reflect*0.015} 0"/>
<axis xyz="1 0 0"/>
</joint>
<link name="${side}Elbow">
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="-0.02744 0 -0.00014"/>
<mass value="0.06483"/>
<inertia ixx="0.00000559715" ixy="0.00000000421" ixz="0.00000004319" iyy="0.00007543312" iyz="-0.00000000184" izz="0.00007644339"/>
</inertial>
</link>
<link name="${side}ElbowDummy">
<xacro:visuals_collisions_elbow_roll side="${side}"/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="0.02455 0.00563 0.0033"/>
<mass value="0.07761"/>
<inertia ixx="0.00009389993" ixy="-0.00004714452" ixz="-0.00002699471" iyy="0.00037151879" iyz="-0.00000245977" izz="0.00034190083"/>
</inertial>
</link>
</xacro:macro>
<xacro:arm_links_joints reflect="1" side="L"/>
<xacro:arm_links_joints reflect="-1" side="R"/>
<!-- JOINTS/LINKS THAT NEED TO BE NAMED FOR REP-120 -->
<joint name="LWristYaw" type="fixed">
<parent link="LElbowDummy"/>
<child link="l_wrist"/>
<origin rpy="0 0 0" xyz="0.05595 0 0"/>
</joint>
<link name="l_wrist">
<xacro:visuals_collisions_wrist_yaw reflect="1" side="L"/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="0.06530 0.00114 0.00051"/>
<mass value="0.18415"/>
<inertia ixx="0.00007810423" ixy="-0.00001233383" ixz="0.00000744169" iyy="0.00112084378" iyz="-0.00000054551" izz="0.00112214306"/>
</inertial>
</link>
<joint name="RWristYaw" type="fixed">
<parent link="RElbowDummy"/>
<child link="r_wrist"/>
<origin rpy="0 0 0" xyz="0.05595 0 0"/>
</joint>
<link name="r_wrist">
<xacro:visuals_collisions_wrist_yaw reflect="-1" side="R"/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="0.06530 0.00114 0.00051"/>
<mass value="0.18415"/>
<inertia ixx="0.00007810423" ixy="-0.00001233383" ixz="0.00000744169" iyy="0.00112084378" iyz="-0.00000054551" izz="0.00112214306"/>
</inertial>
</link>
<!-- JOINTS THAT ARE NOT IDENTICAL TO 2 ENDS -->
<joint name="LShoulderRoll" type="revolute">
<parent link="LShoulder"/>
<child link="LShoulderDummy"/>
<limit effort="5" lower="-0.3142" upper="1.3265" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 0 1"/>
</joint>
<joint name="RShoulderRoll" type="revolute">
<parent link="RShoulder"/>
<child link="RShoulderDummy"/>
<limit effort="5" lower="-1.3265" upper="0.3142" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 0 1"/>
</joint>
<joint name="LElbowRoll" type="revolute">
<parent link="LElbow"/>
<child link="LElbowDummy"/>
<limit effort="5" lower="-1.5446" upper="-0.0349" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 0 1"/>
</joint>
<joint name="RElbowRoll" type="revolute">
<parent link="RElbow"/>
<child link="RElbowDummy"/>
<limit effort="5" lower="0.0349" upper="1.5446" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 0 1"/>
</joint>
<!-- END OF ARM LINKS/JOINTS -->
<!-- LEFT LEG LINKS/JOINTS -->
<joint name="LHipYawPitch" type="revolute">
<parent link="base_link"/>
<child link="LHipYaw"/>
<limit effort="5" lower="-1.145303" upper="0.740810" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0 0.05 -0.085"/>
<axis xyz="0 0.707106 -0.707106"/>
</joint>
<link name="LHipYaw">
<xacro:visuals_collisions_hip_yaw_pitch reflect="1" side="L"/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="-0.00781 -0.01114 0.02661"/>
<mass value="0.06981"/>
<inertia ixx="0.00008150233" ixy="-0.00000499449" ixz="0.00001274817" iyy="0.00010132555" iyz="0.00002345474" izz="0.000062626363"/>
</inertial>
</link>
<joint name="LHipRoll" type="revolute">
<parent link="LHipYaw"/>
<child link="LHip"/>
<limit effort="5" lower="-0.379472" upper="0.790477" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1 0 0"/>
</joint>
<link name="LHip">
<xacro:visuals_collisions_hip_roll side="L"/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="-0.01549 0.00029 -0.00515"/>
<mass value="0.13053"/>
<inertia ixx="0.00002758354" ixy="-0.00000002233" ixz="-0.00000408164" iyy="0.00009827055" iyz="-0.00000000419" izz="0.00008809973"/>
</inertial>
</link>
<joint name="LHipPitch" type="revolute">
<parent link="LHip"/>
<child link="LHipDummy"/>
<limit effort="5" lower="-1.535889" upper="0.484090" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 1 0"/>
</joint>
<link name="LHipDummy">
<xacro:visuals_collisions_hip_pitch reflect="1" side="L"/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="0.00138 0.00221 -0.05373"/>
<mass value="0.38968"/>
<inertia ixx="0.00163671962" ixy="0.00000092451" ixz="0.00008530668" iyy="0.00159107278" iyz="0.00003836160" izz="0.00030374342"/>
</inertial>
</link>
<joint name="LKneePitch" type="revolute">
<parent link="LHipDummy"/>
<child link="LKnee"/>
<limit effort="5" lower="-0.092346" upper="2.112528" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0 0 -0.1"/>
<axis xyz="0 1 0"/>
</joint>
<link name="LKnee">
<xacro:visuals_collisions_knee_pitch reflect="1" side="L"/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="0.00453 0.00225 -0.04936"/>
<mass value="0.29142"/>
<inertia ixx="0.00118207967" ixy="0.00000063362" ixz="0.00003649697" iyy="0.00112865226" iyz="0.00003949523" izz="0.00019322744"/>
</inertial>
</link>
<joint name="LAnklePitch" type="revolute">
<parent link="LKnee"/>
<child link="l_ankle"/>
<limit effort="5" lower="-1.189516" upper="0.922747" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0 0 -0.1029"/>
<axis xyz="0 1 0"/>
</joint>
<link name="l_ankle">
<xacro:visuals_collisions_ankle_pitch side="L"/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="0.00045 0.00029 0.00685"/>
<mass value="0.13416"/>
<inertia ixx="0.00003850978" ixy="-0.00000002634" ixz="0.00000386194" iyy="0.00007426526" iyz="0.00000001834" izz="0.00005486540"/>
</inertial>
</link>
<joint name="LAnkleRoll" type="revolute">
<parent link="l_ankle"/>
<child link="l_sole"/>
<limit effort="5" lower="-0.397880" upper="0.769001" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1 0 0"/>
</joint>
<link name="l_sole">
<xacro:visuals_collisions_ankle_roll side="L"/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="0.02540 -0.00332 -0.03239"/>
<mass value="0.16184"/>
<inertia ixx="0.00026930201" ixy="0.00000587505" ixz="0.00013913328" iyy="0.00064347385" iyz="-0.00001884917" izz="0.00052503477"/>
</inertial>
</link>
<!-- RIGHT LEG LINKS/JOINTS -->
<joint name="RHipYawPitch" type="revolute">
<parent link="base_link"/>
<child link="RHipYaw"/>
<limit effort="5" lower="-1.145303" upper="0.740810" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0 -0.05 -0.085"/>
<axis xyz="0 0.707106 0.707106"/>
<mimic joint="LHipYawPitch" multiplier="1" offset="0"/>
</joint>
<link name="RHipYaw">
<xacro:visuals_collisions_hip_yaw_pitch reflect="-1" side="R"/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="-0.00766 0.01200 0.02716"/>
<mass value="0.07118"/>
<inertia ixx="0.00008997195" ixy="0.00000500219" ixz="0.00001273525" iyy="0.00010552611" iyz="-0.00002770080" izz="0.00006688724"/>
</inertial>
</link>
<joint name="RHipRoll" type="revolute">
<parent link="RHipYaw"/>
<child link="RHip"/>
<limit effort="5" lower="-0.790477" upper="0.379472" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1 0 0"/>
</joint>
<link name="RHip">
<xacro:visuals_collisions_hip_roll side="R"/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="-0.01549 -0.00029 -0.00516"/>
<mass value="0.13053"/>
<inertia ixx="0.00002758654" ixy="-0.00000001919" ixz="-0.00000410822" iyy="0.00009826996" iyz="0.00000000251" izz="0.00008810332"/>
</inertial>
</link>
<joint name="RHipPitch" type="revolute">
<parent link="RHip"/>
<child link="RHipDummy"/>
<limit effort="5" lower="-1.535889" upper="0.484090" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 1 0"/>
</joint>
<link name="RHipDummy">
<xacro:visuals_collisions_hip_pitch reflect="-1" side="R"/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="0.00139 -0.00225 -0.05374"/>
<mass value="0.38976"/>
<inertia ixx="0.00163748205" ixy="-0.00000083954" ixz="0.00008588301" iyy="0.00159221403" iyz="-0.00003917626" izz="0.00030397824"/>
</inertial>
</link>
<joint name="RKneePitch" type="revolute">
<parent link="RHipDummy"/>
<child link="RKnee"/>
<limit effort="5" lower="-0.103083" upper="2.120198" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0 0 -0.1"/>
<axis xyz="0 1 0"/>
</joint>
<link name="RKnee">
<xacro:visuals_collisions_knee_pitch reflect="-1" side="R"/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="0.00394 -0.00221 -0.04938"/>
<mass value="0.29163"/>
<inertia ixx="0.00118282956" ixy="-0.00000089650" ixz="0.00002799690" iyy="0.00112827851" iyz="-0.00003847604" izz="0.00019145277"/>
</inertial>
</link>
<joint name="RAnklePitch" type="revolute">
<parent link="RKnee"/>
<child link="r_ankle"/>
<limit effort="5" lower="-1.186448" upper="0.932056" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0 0 -0.1029"/>
<axis xyz="0 1 0"/>
</joint>
<link name="r_ankle">
<xacro:visuals_collisions_ankle_pitch side="R"/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="0.00045 -0.00030 0.00684"/>
<mass value="0.13415"/>
<inertia ixx="0.00003850813" ixy="0.00000006434" ixz="0.00000387466" iyy="0.00007431082" iyz="-0.00000000458" izz="0.00005491312"/>
</inertial>
</link>
<joint name="RAnkleRoll" type="revolute">
<parent link="r_ankle"/>
<child link="r_sole"/>
<limit effort="5" lower="-0.768992" upper="0.397935" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1 0 0"/>
</joint>
<link name="r_sole">
<xacro:visuals_collisions_ankle_roll side="R"/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="0.02540 -0.00332 -0.03239"/>
<mass value="0.16171"/>
<inertia ixx="0.00026930201" ixy="0.00000587505" ixz="0.00013913328" iyy="0.00064347385" iyz="-0.00001884917" izz="0.00052503477"/>
</inertial>
</link>
<!-- END OF LEG LINKS/JOINTS -->
</robot>

11
nao_dcm_common/nao_dcm_description/urdf/nao_dcm_H25.xacro
View File

@ -5,10 +5,19 @@
<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="H25" 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" />
<xacro:include filename="$(find nao_dcm_description)/urdf/nao_dcm_H25_structure.xacro" />
<xacro:include filename="$(find nao_dcm_description)/urdf/nao_dcm_H25_control.xacro" />
<xacro:include filename="$(find nao_dcm_description)/urdf/modules/torso.xacro" />
<xacro:include filename="$(find nao_dcm_description)/urdf/modules/head.xacro" />
<xacro:include filename="$(find nao_dcm_description)/urdf/modules/arms.xacro" />
<xacro:include filename="$(find nao_dcm_description)/urdf/modules/hands.xacro" />
<xacro:include filename="$(find nao_dcm_description)/urdf/modules/legs.xacro" />
<xacro:include filename="$(find nao_dcm_description)/urdf/modules/imu.xacro" />
<xacro:include filename="$(find nao_dcm_description)/urdf/modules/sonars.xacro" />
<xacro:include filename="$(find nao_dcm_description)/urdf/modules/cameras.xacro" />
</robot>

449
nao_dcm_common/nao_dcm_description/urdf/nao_dcm_H25_structure.xacro
View File

@ -1,449 +0,0 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- DUMMY ROOT LINK -->
<link name="base_link"/>
<joint name="fixed-base" type="fixed">
<parent link="base_link"/>
<child link="torso"/>
</joint>
<!-- TORSO -->
<link name="torso">
<xacro:visuals_collisions_torso/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="-0.00413 0.00009 0.04342"/>
<mass value="1.04956"/>
<inertia ixx="0.00506234058" ixy="0.00001431158" ixz="0.00015519082" iyy="0.0048013591" iyz="-0.00002707934" izz="0.00161030006"/>
</inertial>
</link>
<!-- IMU -->
<joint name="torso-imu" type="fixed">
<parent link="torso"/>
<child link="imu"/>
<origin xyz="-0.008 0.00606 0.027" rpy="0 0 0"/>
</joint>
<link name="imu"/>
<!-- SONARS -->
<!-- Nao has different sonar transmitter and receiver. The correct way is to take the intersection of the 2 cones -->
<!-- <joint name="RightSonarTransmitter" type="fixed">
<parent link="torso"/>
<child link="SonarRightTransmitter"/>
<origin xyz="0.0537 -0.0341 0.0698" rpy="0.0 -0.1745 -0.3490"/>
</joint>
<link name="SonarRightTransmitter"/>
<joint name="LeftSonarTransmitter" type="fixed">
<parent link="torso"/>
<child link="SonarLeftTransmitter"/>
<origin xyz="0.0537 0.0341 0.0698" rpy="0.0 -0.1745 0.3490"/>
</joint>
<link name="SonarLeftTransmitter"/> -->
<joint name="RightSonar" type="fixed">
<parent link="torso"/>
<child link="SonarRight"/>
<origin xyz="0.0477 -0.0416 0.0509" rpy="0 0.2618 -0.4363"/>
</joint>
<link name="SonarRight"/>
<joint name="LeftSonar" type="fixed">
<parent link="torso"/>
<child link="SonarLeft"/>
<origin xyz="0.0477 0.0416 0.0509" rpy="0 0.2618 0.4363"/>
</joint>
<link name="SonarLeft"/>
<!-- TORSO-HEAD JOINT -->
<joint name="HeadYaw" type="revolute">
<parent link="torso"/>
<child link="neck"/>
<limit effort="5" lower="-2.0857" upper="2.0857" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0 0 0.1265"/>
<axis xyz="0 0 1"/>
</joint>
<!-- HEAD -->
<link name="neck">
<xacro:visuals_collisions_head_yaw/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="-0.00001 0.00014 -0.02742"/>
<mass value="0.06442"/>
<inertia ixx="0.00007499295" ixy="0.00000000157" ixz="-0.00000001834" iyy="0.00007599995" iyz="-0.00000005295" izz="0.00000553373"/>
</inertial>
</link>
<joint name="HeadPitch" type="revolute">
<parent link="neck"/>
<child link="gaze"/>
<limit effort="5" lower="-0.6720" upper="0.5149" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 1 0"/>
</joint>
<link name="gaze">
<xacro:visuals_collisions_head_pitch/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="-0.00112 0.00003 0.05258"/>
<mass value="0.6533"/>
<inertia ixx="0.00263129518" ixy="0.00000878814" ixz="0.00004098466" iyy="0.00249112488" iyz="-0.00002995792" izz="0.00098573565"/>
</inertial>
</link>
<!-- CAMERAS -->
<joint name="TopCamera" type="fixed">
<parent link="gaze"/>
<child link="CameraTop"/>
<origin xyz="0.05871 0 0.06364" rpy="0 0.0209 0"/>
</joint>
<link name="CameraTop"/>
<joint name="BottomCamera" type="fixed">
<parent link="gaze"/>
<child link="CameraBottom"/>
<origin xyz="0.05071 0 0.01774" rpy="0 0.6929 0"/>
</joint>
<link name="CameraBottom"/>
<!-- ARM LINKS/JOINTS -->
<!-- Shoulder Roll Links are different for the 2 arms -->
<link name="LShoulderDummy">
<xacro:visuals_collisions_shoulder_roll side="L"/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="0.02455 0.00563 0.0033"/>
<mass value="0.15777"/>
<inertia ixx="0.00009389993" ixy="-0.00004714452" ixz="-0.00002699471" iyy="0.00037151879" iyz="-0.00000245977" izz="0.00034190083"/>
</inertial>
</link>
<link name="RShoulderDummy">
<xacro:visuals_collisions_shoulder_roll side="R"/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="0.02455 0.00563 0.0033"/>
<mass value="0.15777"/>
<inertia ixx="0.00009389993" ixy="-0.00004714452" ixz="-0.00002699471" iyy="0.00037151879" iyz="-0.00000245977" izz="0.00034190083"/>
</inertial>
</link>
<!-- XACRO -->
<xacro:macro name="arm_links_joints" params="side reflect">
<joint name="${side}ShoulderPitch" type="revolute">
<parent link="torso"/>
<child link="${side}Shoulder"/>
<limit effort="5" lower="-2.0857" upper="2.0857" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0 ${reflect*0.098} 0.1"/>
<axis xyz="0 1 0"/>
</joint>
<link name="${side}Shoulder">
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="-0.00165 ${reflect*(-0.02663)} 0.00014"/>
<mass value="0.07504"/>
<inertia ixx="0.00008428430" ixy="${reflect*-0.00000202802}" ixz="0.00000002338" iyy="0.00001415561" iyz="${reflect*-0.00000001972}" izz="0.00008641949"/>
</inertial>
</link>
<joint name="${side}ElbowYaw" type="revolute">
<parent link="${side}ShoulderDummy"/>
<child link="${side}Elbow"/>
<limit effort="5" lower="-2.0857" upper="2.0857" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0.105 ${reflect*0.015} 0"/>
<axis xyz="1 0 0"/>
</joint>
<link name="${side}Elbow">
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="-0.02744 0 -0.00014"/>
<mass value="0.06483"/>
<inertia ixx="0.00000559715" ixy="0.00000000421" ixz="0.00000004319" iyy="0.00007543312" iyz="-0.00000000184" izz="0.00007644339"/>
</inertial>
</link>
<link name="${side}ElbowDummy">
<xacro:visuals_collisions_elbow_roll side="${side}"/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="0.02455 0.00563 0.0033"/>
<mass value="0.07761"/>
<inertia ixx="0.00009389993" ixy="-0.00004714452" ixz="-0.00002699471" iyy="0.00037151879" iyz="-0.00000245977" izz="0.00034190083"/>
</inertial>
</link>
</xacro:macro>
<xacro:arm_links_joints reflect="1" side="L"/>
<xacro:arm_links_joints reflect="-1" side="R"/>
<!-- JOINTS/LINKS THAT NEED TO BE NAMED FOR REP-120 -->
<joint name="LWristYaw" type="revolute">
<parent link="LElbowDummy"/>
<child link="l_wrist"/>
<origin rpy="0 0 0" xyz="0.05595 0 0"/>
<limit effort="0.49" lower="-1.8238" upper="1.8238" velocity="3.0"/>
</joint>
<link name="l_wrist">
<xacro:visuals_collisions_wrist_yaw reflect="1" side="L"/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="0.03434 -0.00088 0.00308"/>
<mass value="0.18533"/>
<inertia ixx="0.00007054933" ixy="0.00000571599" ixz="-0.00002247437" iyy="0.00035606232" iyz="0.00000317771" izz="0.00035191933"/>
</inertial>
</link>
<!-- DUMMY REVOLUTE JOINT - JUST THERE TO RETURN VALUES BETWEEN 0.0 AND 1.0 THAT THE ROBOT RETURNS -->
<joint name="LHand" type="revolute">
<parent link="l_wrist"/>
<child link="l_gripper"/>
<origin rpy="0 0 0" xyz="0.05775 0 0"/>
<limit effort="0.49" lower="0.0" upper="1.0" velocity="3.0"/>
</joint>
<link name="l_gripper">
<inertial> <!-- dummy values for gazebo -->
<mass value="1e-5" />
<origin xyz="0 0 0"/>
<inertia ixx="1e-9" ixy="0" ixz="0" iyy="1e-9" iyz="0" izz="1e-9" />
</inertial>
</link>
<joint name="RWristYaw" type="revolute">
<parent link="RElbowDummy"/>
<child link="r_wrist"/>
<origin rpy="0 0 0" xyz="0.05595 0 0"/>
<limit effort="0.49" lower="-1.8238" upper="1.8238" velocity="3.0"/>
</joint>
<link name="r_wrist">
<xacro:visuals_collisions_wrist_yaw reflect="-1" side="R"/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="0.03434 -0.00088 0.00308"/>
<mass value="0.18533"/>
<inertia ixx="0.00007054933" ixy="0.00000571599" ixz="-0.00002247437" iyy="0.00035606232" iyz="0.00000317771" izz="0.00035191933"/>
</inertial>
</link>
<!-- DUMMY REVOLUTE JOINT - JUST THERE TO RETURN VALUES BETWEEN 0.0 AND 1.0 THAT THE ROBOT RETURNS -->
<joint name="RHand" type="revolute">
<parent link="r_wrist"/>
<child link="r_gripper"/>
<origin rpy="0 0 0" xyz="0.05775 0 0"/>
<limit effort="0.49" lower="0.0" upper="1.0" velocity="3.0"/>
</joint>
<link name="r_gripper">
<inertial> <!-- dummy values for gazebo -->
<mass value="1e-5" />
<origin xyz="0 0 0"/>
<inertia ixx="1e-9" ixy="0" ixz="0" iyy="1e-9" iyz="0" izz="1e-9" />
</inertial>
</link>
<!-- JOINTS THAT ARE NOT IDENTICAL TO 2 ENDS -->
<joint name="LShoulderRoll" type="revolute">
<parent link="LShoulder"/>
<child link="LShoulderDummy"/>
<limit effort="5" lower="-0.3142" upper="1.3265" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 0 1"/>
</joint>
<joint name="RShoulderRoll" type="revolute">
<parent link="RShoulder"/>
<child link="RShoulderDummy"/>
<limit effort="5" lower="-1.3265" upper="0.3142" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 0 1"/>
</joint>
<joint name="LElbowRoll" type="revolute">
<parent link="LElbow"/>
<child link="LElbowDummy"/>
<limit effort="5" lower="-1.5446" upper="-0.0349" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 0 1"/>
</joint>
<joint name="RElbowRoll" type="revolute">
<parent link="RElbow"/>
<child link="RElbowDummy"/>
<limit effort="5" lower="0.0349" upper="1.5446" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 0 1"/>
</joint>
<!-- END OF ARM LINKS/JOINTS -->
<!-- LEFT LEG LINKS/JOINTS -->
<joint name="LHipYawPitch" type="revolute">
<parent link="base_link"/>
<child link="LHipYaw"/>
<limit effort="1.61" lower="-1.145303" upper="0.740810" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0 0.05 -0.085"/>
<axis xyz="0 0.707106 -0.707106"/>
</joint>
<link name="LHipYaw">
<xacro:visuals_collisions_hip_yaw_pitch reflect="1" side="L"/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="-0.00781 -0.01114 0.02661"/>
<mass value="0.06981"/>
<inertia ixx="0.00008150233" ixy="-0.00000499449" ixz="0.00001274817" iyy="0.00010132555" iyz="0.00002345474" izz="0.000062626363"/>
</inertial>
</link>
<joint name="LHipRoll" type="revolute">
<parent link="LHipYaw"/>
<child link="LHip"/>
<limit effort="1.61" lower="-0.379472" upper="0.790477" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1 0 0"/>
</joint>
<link name="LHip">
<xacro:visuals_collisions_hip_roll side="L"/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="-0.01549 0.00029 -0.00515"/>
<mass value="0.13053"/>
<inertia ixx="0.00002758354" ixy="-0.00000002233" ixz="-0.00000408164" iyy="0.00009827055" iyz="-0.00000000419" izz="0.00008809973"/>
</inertial>
</link>
<joint name="LHipPitch" type="revolute">
<parent link="LHip"/>
<child link="LHipDummy"/>
<limit effort="1.61" lower="-1.535889" upper="0.484090" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 1 0"/>
</joint>
<link name="LHipDummy">
<xacro:visuals_collisions_hip_pitch reflect="1" side="L"/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="0.00138 0.00221 -0.05373"/>
<mass value="0.38968"/>
<inertia ixx="0.00163671962" ixy="0.00000092451" ixz="0.00008530668" iyy="0.00159107278" iyz="0.00003836160" izz="0.00030374342"/>
</inertial>
</link>
<joint name="LKneePitch" type="revolute">
<parent link="LHipDummy"/>
<child link="LKnee"/>
<limit effort="1.61" lower="-0.092346" upper="2.112528" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0 0 -0.1"/>
<axis xyz="0 1 0"/>
</joint>
<link name="LKnee">
<xacro:visuals_collisions_knee_pitch reflect="1" side="L"/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="0.00453 0.00225 -0.04936"/>
<mass value="0.29142"/>
<inertia ixx="0.00118207967" ixy="0.00000063362" ixz="0.00003649697" iyy="0.00112865226" iyz="0.00003949523" izz="0.00019322744"/>
</inertial>
</link>
<joint name="LAnklePitch" type="revolute">
<parent link="LKnee"/>
<child link="l_ankle"/>
<limit effort="1.61" lower="-1.189516" upper="0.922747" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0 0 -0.1029"/>
<axis xyz="0 1 0"/>
</joint>
<link name="l_ankle">
<xacro:visuals_collisions_ankle_pitch side="L"/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="0.00045 0.00029 0.00685"/>
<mass value="0.13416"/>
<inertia ixx="0.00003850978" ixy="-0.00000002634" ixz="0.00000386194" iyy="0.00007426526" iyz="0.00000001834" izz="0.00005486540"/>
</inertial>
</link>
<joint name="LAnkleRoll" type="revolute">
<parent link="l_ankle"/>
<child link="l_sole"/>
<limit effort="1.61" lower="-0.397880" upper="0.769001" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1 0 0"/>
</joint>
<link name="l_sole">
<xacro:visuals_collisions_ankle_roll side="L"/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="0.02540 -0.00332 -0.03239"/>
<mass value="0.16184"/>
<inertia ixx="0.00026930201" ixy="0.00000587505" ixz="0.00013913328" iyy="0.00064347385" iyz="-0.00001884917" izz="0.00052503477"/>
</inertial>
</link>
<!-- RIGHT LEG LINKS/JOINTS -->
<joint name="RHipYawPitch" type="revolute">
<parent link="base_link"/>
<child link="RHipYaw"/>
<limit effort="1.61" lower="-1.145303" upper="0.740810" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0 -0.05 -0.085"/>
<axis xyz="0 0.707106 0.707106"/>
<mimic joint="LHipYawPitch" multiplier="1" offset="0"/>
</joint>
<link name="RHipYaw">
<xacro:visuals_collisions_hip_yaw_pitch reflect="-1" side="R"/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="-0.00766 0.01200 0.02716"/>
<mass value="0.07118"/>
<inertia ixx="0.00008997195" ixy="0.00000500219" ixz="0.00001273525" iyy="0.00010552611" iyz="-0.00002770080" izz="0.00006688724"/>
</inertial>
</link>
<joint name="RHipRoll" type="revolute">
<parent link="RHipYaw"/>
<child link="RHip"/>
<limit effort="1.61" lower="-0.790477" upper="0.379472" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1 0 0"/>
</joint>
<link name="RHip">
<xacro:visuals_collisions_hip_roll side="R"/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="-0.01549 -0.00029 -0.00516"/>
<mass value="0.13053"/>
<inertia ixx="0.00002758654" ixy="-0.00000001919" ixz="-0.00000410822" iyy="0.00009826996" iyz="0.00000000251" izz="0.00008810332"/>
</inertial>
</link>
<joint name="RHipPitch" type="revolute">
<parent link="RHip"/>
<child link="RHipDummy"/>
<limit effort="1.61" lower="-1.535889" upper="0.484090" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 1 0"/>
</joint>
<link name="RHipDummy">
<xacro:visuals_collisions_hip_pitch reflect="-1" side="R"/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="0.00139 -0.00225 -0.05374"/>
<mass value="0.38976"/>
<inertia ixx="0.00163748205" ixy="-0.00000083954" ixz="0.00008588301" iyy="0.00159221403" iyz="-0.00003917626" izz="0.00030397824"/>
</inertial>
</link>
<joint name="RKneePitch" type="revolute">
<parent link="RHipDummy"/>
<child link="RKnee"/>
<limit effort="1.61" lower="-0.103083" upper="2.120198" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0 0 -0.1"/>
<axis xyz="0 1 0"/>
</joint>
<link name="RKnee">
<xacro:visuals_collisions_knee_pitch reflect="-1" side="R"/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="0.00394 -0.00221 -0.04938"/>
<mass value="0.29163"/>
<inertia ixx="0.00118282956" ixy="-0.00000089650" ixz="0.00002799690" iyy="0.00112827851" iyz="-0.00003847604" izz="0.00019145277"/>
</inertial>
</link>
<joint name="RAnklePitch" type="revolute">
<parent link="RKnee"/>
<child link="r_ankle"/>
<limit effort="1.61" lower="-1.186448" upper="0.932056" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0 0 -0.1029"/>
<axis xyz="0 1 0"/>
</joint>
<link name="r_ankle">
<xacro:visuals_collisions_ankle_pitch side="R"/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="0.00045 -0.00030 0.00684"/>
<mass value="0.13415"/>
<inertia ixx="0.00003850813" ixy="0.00000006434" ixz="0.00000387466" iyy="0.00007431082" iyz="-0.00000000458" izz="0.00005491312"/>
</inertial>
</link>
<joint name="RAnkleRoll" type="revolute">
<parent link="r_ankle"/>
<child link="r_sole"/>
<limit effort="1.61" lower="-0.768992" upper="0.397935" velocity="3.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1 0 0"/>
</joint>
<link name="r_sole">
<xacro:visuals_collisions_ankle_roll side="R"/>
<inertial>
<!-- CENTER OF MASS -->
<origin rpy="0 0 0" xyz="0.02540 -0.00332 -0.03239"/>
<mass value="0.16171"/>
<inertia ixx="0.00026930201" ixy="0.00000587505" ixz="0.00013913328" iyy="0.00064347385" iyz="-0.00001884917" izz="0.00052503477"/>
</inertial>
</link>
<!-- END OF LEG LINKS/JOINTS -->
</robot>