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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from talos_description/robots/talos_full_v2.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<!--
Copyright (c) 2016, PAL Robotics, S.L.
All rights reserved.
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
-->
<robot name="talos" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:xacro="http://ros.org/wiki/xacro">
<!--************************-->
<!-- TORSO_2 (TILT) -->
<!--************************-->
<link name="torso_2_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="-0.04551 -0.00053 0.16386"/>
<mass value="17.55011"/>
<inertia ixx="0.37376900000" ixy="0.00063900000" ixz="0.01219600000" iyy="0.24790200000" iyz="0.00000700000" izz="0.28140400000"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_description/meshes/torso/torso_2.STL" scale="1 1 1"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_description/meshes/torso/torso_2_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
<!--************************-->
<!-- TORSO_1 (PAN) -->
<!--************************-->
<link name="torso_1_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00013 -0.00001 -0.01306"/>
<mass value="3.02433"/>
<inertia ixx="0.00759400000" ixy="0.00000100000" ixz="-0.00004800000" iyy="0.00429200000" iyz="-0.00000100000" izz="0.00749700000"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_description/meshes/torso/torso_1.STL" scale="1 1 1"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_description/meshes/torso/torso_1.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="torso_1_joint" type="revolute">
<parent link="base_link"/>
<child link="torso_1_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0722"/>
<axis xyz="0 0 1"/>
<limit effort="78.0" lower="-1.25663706144" upper="1.25663706144" velocity="5.4"/>
<dynamics damping="1.0" friction="1.0"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
soft_lower_limit="${-15.0 * deg_to_rad + torso_eps}"
soft_upper_limit="${ 45.0 * deg_to_rad - torso_eps}" /> -->
</joint>
<!--************************-->
<!-- BASE_LINK -->
<!--************************-->
<link name="base_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="-0.08222 0.00838 -0.07261"/>
<mass value="13.53810"/>
<inertia ixx="0.06989000000" ixy="-0.00011700000" ixz="0.00023000000" iyy="0.03998200000" iyz="-0.00132500000" izz="0.08234500000"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_description/meshes/torso/base_link.STL" scale="1 1 1"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_description/meshes/torso/base_link_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="torso_2_joint" type="revolute">
<parent link="torso_1_link"/>
<child link="torso_2_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<axis xyz="0 1 0"/>
<limit effort="78.0" lower="-0.226892802759" upper="0.733038285838" velocity="5.4"/>
<dynamics damping="1.0" friction="1.0"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
soft_lower_limit="${-75.00000 * deg_to_rad + eps_radians}"
soft_upper_limit="${75.00000 * deg_to_rad - eps_radians}" /> -->
</joint>
<link name="imu_link">
<inertial>
<mass value="0.01"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.000001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.000001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.01 0.01 0.01"/>
</geometry>
</visual>
</link>
<joint name="imu_joint" type="fixed">
<origin rpy="3.14159265359 0 1.57079632679" xyz="0.04925 0 0.078"/>
<parent link="torso_2_link"/>
<child link="imu_link"/>
</joint>
<gazebo reference="torso_1_link">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
</gazebo>
<gazebo reference="torso_2_link">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
</gazebo>
<gazebo reference="base_link">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
</gazebo>
<gazebo reference="torso_1_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo reference="torso_2_joint">
<implicitSpringDamper>1</implicitSpringDamper>
<provideFeedback>1</provideFeedback>
</gazebo>
<transmission name="talos_torso_trans">
<type>talos_transmission_interface/DifferentialTransmission</type>
<actuator name="torso_1_motor">
<role>actuator1</role>
<mechanicalReduction>1.0</mechanicalReduction>
</actuator>
<actuator name="torso_2_motor">
<role>actuator2</role>
<mechanicalReduction>1.0</mechanicalReduction>
</actuator>
<joint name="torso_1_joint">
<role>joint1</role>
<offset>0.0</offset>
<mechanicalReduction>1.0</mechanicalReduction>
<hardwareInterface>talos_hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>talos_hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<joint name="torso_2_joint">
<role>joint2</role>
<offset>0.0</offset>
<mechanicalReduction>1.0</mechanicalReduction>
<hardwareInterface>talos_hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>talos_hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
</transmission>
<link name="head_1_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00120 0.00145 0.02165"/>
<mass value="0.65988"/>
<inertia ixx="0.00122100000" ixy="-0.00000400000" ixz="0.00007000000" iyy="0.00092400000" iyz="-0.00004100000" izz="0.00103300000"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_description/meshes/head/head_1.stl" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_description/meshes/head/head_1_collision.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="head_1_joint" type="revolute">
<parent link="torso_2_link"/>
<child link="head_1_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.31600"/>
<axis xyz="0 1 0"/>
<limit effort="8.0" lower="-0.209439510239" upper="0.785398163397" velocity="1.0"/>
<dynamics damping="0.5" friction="1.0"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
soft_lower_limit="${-15.00000 * deg_to_rad + eps_radians}"
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