Commit 4512d116 authored by spykspeigel's avatar spykspeigel
Browse files

removed useless folder and plugins from the urdf

parent 66ee905b
Pipeline #17127 passed with stage
in 2 minutes and 31 seconds
......@@ -25,13 +25,13 @@
<visual>
<origin xyz="0 0.011 0.18" rpy="-1.57 -1.57 0"/>
<geometry>
<mesh filename="package://example-robot-data/robots/simplecube_description/meshes/qb_meshes/dae/qb_base_flange_m.dae" />
<mesh filename="package://example-robot-data/robots/asr_twodof_description/qb_meshes/dae/qb_base_flange_m.dae" />
</geometry>
</visual>
<visual>
<origin xyz="0 0.044 0.1470" rpy="0 0 0"/>
<geometry>
<mesh filename="package://example-robot-data/robots/simplecube_description/meshes/qb_meshes/dae/qbmove_frame_m.dae" />
<mesh filename="package://example-robot-data/robots/asr_twodof_description/qb_meshes/dae/qbmove_frame_m.dae" />
</geometry>
</visual>
</link>
......@@ -54,13 +54,13 @@
<visual>
<origin xyz="0 0.056 0" rpy="0 -1.57 -1.57"/>
<geometry>
<mesh filename="package://example-robot-data/robots/simplecube_description/meshes/qb_meshes/dae/qb_c_flange_m.dae" />
<mesh filename="package://example-robot-data/robots/asr_twodof_description/qb_meshes/dae/qb_c_flange_m.dae" />
</geometry>
</visual>
<visual>
<origin xyz="0 0.089 -0.033" rpy="0 0 0"/>
<geometry>
<mesh filename="package://example-robot-data/robots/simplecube_description/meshes/qb_meshes/dae/qbmove_frame_m.dae" />
<mesh filename="package://example-robot-data/robots/asr_twodof_description/qb_meshes/dae/qbmove_frame_m.dae" />
</geometry>
</visual>
</link>
......@@ -83,13 +83,13 @@
<visual>
<origin xyz="0 0.056 0" rpy="0 -1.57 -1.57"/>
<geometry>
<mesh filename="package://example-robot-data/robots/simplecube_description/meshes/qb_meshes/dae/qb_c_flange_m.dae" />
<mesh filename="package://example-robot-data/robots/asr_twodof_description/qb_meshes/dae/qb_c_flange_m.dae" />
</geometry>
</visual>
<visual>
<origin xyz="0 0.089 -0.033" rpy="0 0 0"/>
<geometry>
<mesh filename="package://example-robot-data/robots/simplecube_description/meshes/qb_meshes/dae/qbmove_frame_m.dae" />
<mesh filename="package://example-robot-data/robots/asr_twodof_description/qb_meshes/dae/qbmove_frame_m.dae" />
</geometry>
</visual>
</link>
......@@ -108,35 +108,4 @@
<self_collide>1</self_collide>
</gazebo>
<!-- Legend for the libadvanced_plugin.so custom plugin
# The type of actuator is fixed i.e., qbMove
# The control_type can be chosen as: [0,1,2]
# - [0] -> references are directly the motor positions
# - [1] -> references are used as equilibirium position and preset
# - [2] -> first reference is used as direct joint torque, while the second is not used (marked as disabled)
#
# The three other tags enable the generation and publication of additional topics: the elastic topic publisher, the state publisher and
# enable the subscription to external torque topic
-->
<gazebo>
<plugin name="advanced_vsa_j1" filename="libadvanced_plugin.so">
<joint>J1</joint>
<control_type>1</control_type>
<pub_eltau>false</pub_eltau>
<pub_state>false</pub_state>
<sub_ext_tau>false</sub_ext_tau>
</plugin>
</gazebo>
<gazebo>
<plugin name="advanced_vsa_j2" filename="libadvanced_plugin.so">
<joint>J2</joint>
<control_type>2</control_type>
<pub_eltau>false</pub_eltau>
<pub_state>false</pub_state>
<sub_ext_tau>false</sub_ext_tau>
</plugin>
</gazebo>
</robot>
Software License Agreement: BSD 3-Clause License
Copyright (c) 2016-2021, qbrobotics®
All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the
following conditions are met:
* Redistributions of source code must retain the above copyright notice, this list of conditions and the
following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the
following disclaimer in the documentation and/or other materials provided with the distribution.
* Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote
products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
\ No newline at end of file
# qbMove Actuator Description
qbmove is a muscle-like building block actuator, small and lightweight, and based on the Variable Stiffness Actuation (VSA) principle, designed for constructing innovative robot structures and soft manipulators. It is unique in its ability to endow robots with Natural Motion, i.e. that resembles the elegance and deftness of human motion.
upstream: https://bitbucket.org/qbrobotics/qbmove-ros/src/production-melodic/qb_move_description/
license: BSD
\ No newline at end of file
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<?xml version="1.0"?>
<robot name="simpleCube">
<link name="world">
</link>
<joint name="dummy_base" type="floating">
<origin xyz="0 0 0" rpy="0 0 0"/>
<parent link="world"/>
<child link="cube_base"/>
</joint>
<link name="cube_base">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1.0"/>
<inertia ixx="0.001" iyy="0.001" izz="0.001" ixy="0" ixz="0" iyz="0"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://example-robot-data/robots/simplecube_description/meshes/qb_meshes/dae/qb_base_flange_m.dae" />
</geometry>
</visual>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://example-robot-data/robots/simplecube_description/meshes/qb_meshes/dae/qbmove_frame_m.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://example-robot-data/robots/simplecube_description/meshes/qb_meshes/stl/qbmove_frame_m.stl" />
</geometry>
</collision>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://example-robot-data/robots/simplecube_description/meshes/qb_meshes/stl/qb_base_flange_m.stl" />
</geometry>
</collision>
</link>
<joint name="J1" type="revolute">
<origin xyz="0 0 0.033" rpy="0 0 0"/>
<parent link="cube_base"/>
<child link="Link1"/>
<limit effort="300" velocity="100" lower="-3.14" upper="3.14" />
<axis xyz="0 0 1"/>
</joint>
<link name="Link1">
<inertial>
<origin xyz="-0.035 0 0.038" rpy="0 0 0"/>
<mass value="0.20"/>
<inertia ixx="0.001" iyy="0.001" izz="0.001" ixy="0" ixz="0" iyz="0"/>
</inertial>
<visual>
<origin xyz="0 0 0.022" rpy="1.57 0 0"/>
<geometry>
<mesh filename="package://example-robot-data/robots/simplecube_description/meshes/qb_meshes/dae/qbmove_pulley_m.dae" />
</geometry>
</visual>
<visual>
<origin xyz="-0.035 0 0.038" rpy="0 0 0"/>
<geometry>
<mesh filename="package://example-robot-data/robots/simplecube_description/meshes/onedof/dae/demoshaft.dae" />
</geometry>
</visual>
<collision>
<origin xyz="-0.035 0 0.038" rpy="0 0 0"/>
<geometry>
<mesh filename="package://example-robot-data/robots/simplecube_description/meshes/onedof/demoshaft.stl" />
</geometry>
</collision>
</link>
<gazebo>
<self_collide>1</self_collide>
</gazebo>
<gazebo>
<plugin name="advanced_vsa_j1" filename="libadvanced_plugin.so">
<joint>J1</joint>
<control_type>1</control_type>
<pub_eltau>false</pub_eltau>
<pub_state>true</pub_state>
<sub_ext_tau>false</sub_ext_tau>
</plugin>
</gazebo>
</robot>
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