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Commit 03557791 authored by Sam Pfeiffer's avatar Sam Pfeiffer
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Add torso

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tor_description/meshes/torso/base_link.STL 0 → 100644
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tor_description/meshes/torso/base_link_collision.STL 0 → 100644
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tor_description/meshes/torso/torso_1.STL 0 → 100644
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tor_description/meshes/torso/torso_2.STL 0 → 100644
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tor_description/meshes/torso/torso_2_collision.STL 0 → 100644
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tor_description/robots/tor_torso.urdf.xacro 0 → 100644
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<?xml version="1.0"?>
<!--
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="tor" xmlns:xacro="http://www.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="$(find tor_description)/urdf/torso/torso.urdf.xacro" />
<xacro:tor_torso name="torso" />
<!-- Generic simulator_gazebo plugins -->
<xacro:include filename="$(find tor_description)/gazebo/gazebo.urdf.xacro" />
<!-- Materials for visualization -->
<xacro:include filename="$(find tor_description)/urdf/materials.urdf.xacro" />
</robot>
tor_description/robots/upload_torso.launch 0 → 100644
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<launch>
<!-- Robot description -->
<param name="robot_description" command="$(find xacro)/xacro.py '$(find tor_description)/robots/tor_torso.urdf.xacro'" />
</launch>
tor_description/urdf/deg_to_rad.xacro 0 → 100644
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<robot xmlns:xacro="http://ros.org/wiki/xacro">
<property name="deg_to_rad" value="0.01745329251994329577" />
</robot>
tor_description/urdf/torso/torso.transmission.xacro 0 → 100644
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<?xml version="1.0"?>
<!--
Copyright (c) 2016, PAL Robotics, S.L.
All rights reserved.
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
-->
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="tor_torso_differential_transmission"
params="name number1 number2 act_reduction1 act_reduction2 jnt_reduction1 jnt_reduction2" >
<transmission name="torso_trans">
<type>transmission_interface/DifferentialTransmission</type>
<actuator name="${name}_${number1}_motor">
<role>actuator1</role>
<mechanicalReduction>${act_reduction1}</mechanicalReduction>
</actuator>
<actuator name="${name}_${number2}_motor">
<role>actuator2</role>
<mechanicalReduction>${act_reduction2}</mechanicalReduction>
</actuator>
<joint name="${name}_${number1}_joint">
<role>joint1</role>
<offset>0.0</offset>
<mechanicalReduction>${jnt_reduction1}</mechanicalReduction>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<joint name="${name}_${number2}_joint">
<role>joint2</role>
<offset>0.0</offset>
<mechanicalReduction>${jnt_reduction2}</mechanicalReduction>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
</transmission>
</xacro:macro>
</robot>
tor_description/urdf/torso/torso.urdf.xacro 0 → 100644
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<?xml version="1.0"?>
<!--
Copyright (c) 2016, PAL Robotics, S.L.
All rights reserved.
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
-->
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<!--File includes-->
<xacro:include filename="$(find tor_description)/urdf/deg_to_rad.xacro" />
<xacro:include filename="$(find tor_description)/urdf/torso/torso.transmission.xacro" />
<!--Constant parameters-->
<xacro:property name="torso_max_vel" value="5.4" />
<xacro:property name="torso_max_effort" value="78.0" />
<xacro:property name="torso_eps" value="0.02" />
<xacro:macro name="tor_torso" params="name">
<!--************************-->
<!-- TORSO_2 -->
<!--************************-->
<link name="${name}_2_link">
<inertial>
<origin xyz="-0.04551 -0.00053 0.16386" rpy="0.00000 0.00000 0.00000"/>
<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 xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://tor_description/meshes/torso/torso_2.STL" scale="1 1 1"/>
</geometry>
<material name="LightGrey" />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://tor_description/meshes/torso/torso_2_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
<!--************************-->
<!-- TORSO_1 -->
<!--************************-->
<link name="${name}_1_link">
<inertial>
<origin xyz="0.00013 -0.00001 -0.01306" rpy="0.00000 0.00000 0.00000"/>
<mass value="3.02433"/>
<inertia ixx="0.00759400000" ixy="0.00000100000" ixz="-0.00004800000"
iyy="0.00429200000" iyz="-0.00000100000"
izz="0.00749700000"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://tor_description/meshes/torso/torso_1.STL" scale="1 1 1"/>
</geometry>
<material name="LightGrey" />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://tor_description/meshes/torso/torso_1.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="${name}_1_joint" type="revolute">
<parent link="${name}_2_link"/>
<child link="${name}_1_link"/>
<origin xyz="0.02000 0.00000 0.0"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="0 1 0" />
<limit lower="${-75.00000 * deg_to_rad}" upper="${75.00000 * deg_to_rad}"
effort="${torso_max_effort}" velocity="${torso_max_vel}"/>
<dynamics damping="1.0" friction="1.0"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
soft_lower_limit="${-75.0 * deg_to_rad + torso_eps}"
soft_upper_limit="${ 75.0 * deg_to_rad - torso_eps}" /> -->
</joint>
<!--************************-->
<!-- BASE_LINK -->
<!--************************-->
<link name="base_link">
<inertial>
<origin xyz="-0.06071 0.00861 0.06368" rpy="0.00000 0.00000 0.00000"/>
<mass value="13.34865"/>
<inertia ixx="0.06652900000" ixy="-0.00035700000" ixz="0.00027600000"
iyy="0.03746500000" iyz="-0.00125400000"
izz="0.07895100000"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://tor_description/meshes/torso/base_link.STL" scale="1 1 1"/>
</geometry>
<material name="LightGrey" />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://tor_description/meshes/torso/base_link_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="${name}_2_joint" type="revolute">
<parent link="${name}_1_link"/>
<child link="base_link"/>
<!-- <child link="${name}_2_link"/> -->
<origin xyz="0.0 0.0 -0.2012"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="0 0 1" />
<limit lower="${-75.00000 * deg_to_rad}" upper="${75.00000 * deg_to_rad}"
effort="${torso_max_effort}" velocity="${torso_max_vel}" />
<dynamics friction="1.0" damping="1.0"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
soft_lower_limit="${-75.00000 * deg_to_rad + eps_radians}"
soft_upper_limit="${75.00000 * deg_to_rad - eps_radians}" /> -->
</joint>
<!-- <joint name="torso_1_to_base_link" type="fixed">
<parent link="${name}_1_link"/>
<child link="base_link"/>
<origin xyz="0.0 0.0 0.0"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="0 0 0" />
</joint> -->
<gazebo reference="${name}_1_link">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
</gazebo>
<gazebo reference="${name}_2_link">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
</gazebo>
<gazebo reference="${name}_1_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo reference="${name}_2_joint">
<implicitSpringDamper>1</implicitSpringDamper>
<provideFeedback>1</provideFeedback>
</gazebo>
<!-- extensions -->
<xacro:tor_torso_differential_transmission name="${name}" number1="1" number2="2"
act_reduction1="1.0" act_reduction2="1.0"
jnt_reduction1="1.0" jnt_reduction2="1.0" />
</xacro:macro>
</robot>
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