talos_lower_body.urdf.xacro

<?xml version="1.0"?>
<!--

  Copyright (c) 2014, 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:xacro="http://ros.org/wiki/xacro"
        xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
        xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
        xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">

  <xacro:include filename="$(find talos_description)/urdf/leg/leg.urdf.xacro" />
    <link name="base_link">
      <inertial>
        <origin xyz="-0.08222 0.00838 -0.07261" rpy="0.00000 0.00000 0.00000"/>
        <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/talos/base_link.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/talos/base_link_collision.STL" scale="1 1 1"/>
        </geometry>
      </collision>  
    </link>
     
     
   <xacro:talos_leg prefix="left"  reflect="1" />
   <xacro:talos_leg prefix="right" reflect="-1" />

  <!-- Generic simulatalos_gazebo plugins -->
  <xacro:include filename="$(find talos_description)/gazebo/gazebo.urdf.xacro" />
  <!-- Materials for visualization -->
  <xacro:include filename="$(find talos_description)/urdf/materials.urdf.xacro" />

</robot>