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Commit a0ce52b3 authored by Carlos Mastalli's avatar Carlos Mastalli
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[borinot] Added quadrotor + 2dof arm robot

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python/example_robot_data/robots_loader.py
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......@@ -374,6 +374,13 @@ class BoltLoader(RobotLoader):
free_flyer = True
class BorinotLoader(RobotLoader):
path = "borinot_description"
urdf_subpath = "urdf"
urdf_filename = "borinot_flying_arm_2.urdf"
free_flyer = True
class Solo8Loader(RobotLoader):
path = "solo_description"
urdf_filename = "solo.urdf"
......@@ -558,6 +565,7 @@ ROBOTS = {
"simple_humanoid": SimpleHumanoidLoader,
"simple_humanoid_classical": SimpleHumanoidClassicalLoader,
"bolt": BoltLoader,
"borinot": BorinotLoader,
"solo8": Solo8Loader,
"solo12": Solo12Loader,
"finger_edu": FingerEduLoader,
......
robots/borinot_description/README.md 0 → 100644
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# Borinot
upstream: https://github.com/PepMS/hidro_robots/tree/main/robots/borinot_flying_arm_2
license: NA
### Modifications:
- Added colors in URDF
robots/borinot_description/meshes/borinot__base_link.dae 0 → 100644
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robots/borinot_description/meshes/flying_arm_2__link1.dae 0 → 100644
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robots/borinot_description/meshes/flying_arm_2__link2.dae 0 → 100644
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robots/borinot_description/meshes/propeller_ccw.dae 0 → 100755
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<created>Fr. Dez 19 16:06:25 2014</created>
<modified>Fr. Dez 19 16:06:25 2014</modified>
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robots/borinot_description/meshes/propeller_cw.dae 0 → 100755
+ 63
− 0
View file @ a0ce52b3
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<technique_common>
<accessor count="199" source="#shape0-lib-normals-array" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<vertices id="shape0-lib-vertices">
<input semantic="POSITION" source="#shape0-lib-positions"/>
</vertices>
<triangles count="199">
<input offset="0" semantic="VERTEX" source="#shape0-lib-vertices"/>
<input offset="1" semantic="NORMAL" source="#shape0-lib-normals"/>
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</triangles>
</mesh>
</geometry>
</library_geometries>
<library_visual_scenes>
<visual_scene id="VisualSceneNode" name="VisualScene">
<node id="node" name="node">
<instance_geometry url="#shape0-lib">
<bind_material>
<technique_common/>
</bind_material>
</instance_geometry>
</node>
</visual_scene>
</library_visual_scenes>
<scene>
<instance_visual_scene url="#VisualSceneNode"/>
</scene>
</COLLADA>
robots/borinot_description/urdf/borinot_flying_arm_2.urdf 0 → 100755
+ 117
− 0
View file @ a0ce52b3
<?xml version="1.0" encoding="utf-8"?>
<robot name="borinot_flynig_arm_2">
<material name="light_blue">
<color rgba="0.5569 0.6313 0.7479 1"/>
</material>
<material name="dark_blue">
<color rgba="0.3 0.3 0.3 1"/>
</material>
<link name="borinot__base_link">
<inertial>
<origin
xyz="0.0 0.00244 0.0202"
rpy="0 0 0" />
<mass value="2.647" />
<inertia ixx="0.027246422051605018" ixy="-0.0" ixz="0.0" iyy="0.026854677520396303" iyz="0.0"
izz="0.039807168462897885" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh
filename="package://example-robot-data/robots/borinot_description/meshes/borinot__base_link.dae" />
</geometry>
<material name="light_blue"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh
filename="package://example-robot-data/robots/borinot_description/meshes/borinot__base_link.dae" />
</geometry>
</collision>
</link>
<!-- link imported from solo12, with axes properly swaped -->
<link name="flying_arm_2__link1">
<inertial>
<origin xyz="0.00001377 -0.07870700 -0.01935853" rpy="0 0 0" />
<mass value="0.14853845" />
<inertia ixx="0.00041107" ixy="0.0" ixz="0.0" iyy="0.00003024" iyz="-0.00004671"
izz="0.00041193" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh
filename="package://example-robot-data/robots/borinot_description/meshes/flying_arm_2__link1.dae" />
</geometry>
<material name="dark_blue"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh
filename="package://example-robot-data/robots/borinot_description/meshes/flying_arm_2__link1.dae" />
</geometry>
</collision>
</link>
<joint name="flying_arm_2__j_bl_link1" type="revolute">
<origin xyz="0.064701 -0.022177 -0.05075" rpy="1.5708 0 -3.1416" />
<parent link="borinot__base_link" />
<child link="flying_arm_2__link1" />
<axis xyz="0 0 -1" />
<limit effort="2.5" lower="-1.6707963267948966" upper="1.6707963267948966" velocity="10000" />
</joint>
<!-- link with the steel m24 nut at the end -->
<link name="flying_arm_2__link2">
<inertial>
<origin xyz="0.0 -0.1149 -0.021" rpy="0 0 0" />
<mass value="0.115" />
<inertia ixx="1.7554e-4" ixy="0.0" ixz="0.0"
iyy="1.972e-5" iyz="0.0" izz="1.7938e-4" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh
filename="package://example-robot-data/robots/borinot_description/meshes/flying_arm_2__link2.dae" />
</geometry>
<material name="dark_blue"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh
filename="package://example-robot-data/robots/borinot_description/meshes/flying_arm_2__link2.dae" />
</geometry>
</collision>
</link>
<joint name="flying_arm_2__j_link1_link2" type="revolute">
<origin xyz="0 -0.160 -0.03715" rpy="0 0 0" />
<parent link="flying_arm_2__link1" />
<child link="flying_arm_2__link2" />
<axis xyz="0 0 -1" />
<limit effort="2.5" lower="-1.6707963267948966" upper="1.6707963267948966" velocity="10000" />
</joint>
<link name="flying_arm_2__ee">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="0.0" />
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
</link>
<joint name="flying_arm_2__j_link2_ee" type="fixed">
<!-- x pointing forward -->
<origin xyz="0 -0.130 0" rpy="0 0 -1.5708" />
<parent link="flying_arm_2__link2" />
<child link="flying_arm_2__ee" />
<axis xyz="0 0 -1" />
<limit lower="0" upper="0" effort="0" velocity="0" />
</joint>
</robot>
\ No newline at end of file
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