From e7632415ea619065c56fcfb50a596c720f8faa64 Mon Sep 17 00:00:00 2001
From: Marcus Grieger <marcus@grieger.xyz>
Date: Mon, 29 Jan 2024 18:34:38 +0100
Subject: [PATCH] Added crude urdf model

---
 ros2_hexapod/hexapod.urdf | 663 ++++++++++++++++++++++++++++++++++++++
 1 file changed, 663 insertions(+)
 create mode 100644 ros2_hexapod/hexapod.urdf

diff --git a/ros2_hexapod/hexapod.urdf b/ros2_hexapod/hexapod.urdf
new file mode 100644
index 0000000..b8e6ee1
--- /dev/null
+++ b/ros2_hexapod/hexapod.urdf
@@ -0,0 +1,663 @@
+<?xml version="1.0"?>
+<robot name="hexapod">
+  <material name="black">
+      <color rgba="0 0 0 1"/>
+  </material>
+
+  <material name="blue">
+      <color rgba="0 0 1 1"/>
+  </material>
+
+  <material name="green">
+      <color rgba="0 1 0 1"/>
+  </material>
+
+  <material name="red">
+      <color rgba="1 0 0 1"/>
+  </material>
+  
+  <link name="base_link">
+    <!-- top and bottom plate -->
+    <visual>
+      <origin xyz="0 0 -0.034"/>
+      <geometry>
+        <box size="0.100 0.180 0.003"/>        
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <visual>
+      <origin xyz="0 0 0.034"/>
+      <geometry>
+        <box size="0.100 0.180 0.003"/>        
+      </geometry>
+      <material name="black"/>
+    </visual>
+    
+    <!-- c1 link base -->
+    <visual>
+      <origin xyz="-0.040 0.080 -0.0325"/>
+      <geometry>
+      	<cylinder radius="0.0125" length="0.006"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <visual>
+      <origin xyz="-0.040 0.080 0.0325"/>
+      <geometry>
+      	<cylinder radius="0.0125" length="0.006"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+
+    <!-- c2 link base -->
+    <visual>
+      <origin xyz="-0.060 0.000 -0.0325"/>
+      <geometry>
+      	<cylinder radius="0.0125" length="0.006"/>
+      </geometry>
+    </visual>
+    <visual>
+      <origin xyz="-0.060 0.000 0.0325"/>
+      <geometry>
+      	<cylinder radius="0.0125" length="0.006"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+
+    <!-- c3 link base -->
+    <visual>
+      <origin xyz="-0.040 -0.080 -0.0325"/>
+      <geometry>
+      	<cylinder radius="0.0125" length="0.006"/>
+      </geometry>
+    </visual>
+    <visual>
+      <origin xyz="-0.040 -0.080 0.0325"/>
+      <geometry>
+      	<cylinder radius="0.0125" length="0.006"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+
+    <!-- c4 link base -->
+    <visual>
+      <origin xyz=" 0.040 -0.080 -0.0325"/>
+      <geometry>
+      	<cylinder radius="0.0125" length="0.006"/>
+      </geometry>
+    </visual>
+    <visual>
+      <origin xyz=" 0.040 -0.080 0.0325"/>
+      <geometry>
+      	<cylinder radius="0.0125" length="0.006"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+
+    <!-- c5 link base -->
+    <visual>
+      <origin xyz=" 0.060 0.000 -0.0325"/>
+      <geometry>
+      	<cylinder radius="0.0125" length="0.006"/>
+      </geometry>
+    </visual>
+    <visual>
+      <origin xyz=" 0.060 0.000 0.0325"/>
+      <geometry>
+      	<cylinder radius="0.0125" length="0.006"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+
+    <!-- c6 link base -->
+    <visual>
+      <origin xyz=" 0.040 0.080 -0.0325"/>
+      <geometry>
+      	<cylinder radius="0.0125" length="0.006"/>
+      </geometry>
+    </visual>
+    <visual>
+      <origin xyz="0.040 0.080 0.0325"/>
+      <geometry>
+      	<cylinder radius="0.0125" length="0.006"/>
+      </geometry>
+      <material name="black"/>
+    </visual>    
+  </link>
+
+  <!-- leg 1 -->
+  
+  <link name="c1">
+    <visual>
+      <geometry>
+        <box size="0.045 0.045 0.045"/>
+      </geometry>
+      <origin xyz="-0.015 0 0"/>
+      <material name="blue"/>
+    </visual>
+    <visual>
+      <geometry>
+        <cylinder radius="0.005" length="0.065"/>
+      </geometry>
+      <material name="blue"/>
+    </visual>
+    <visual>
+      <origin xyz="-0.020 0 -0.0075" rpy="-1.57 0 0"/>
+      <geometry>
+        <cylinder radius="0.005" length="0.065"/>
+      </geometry>
+      <material name="blue"/>
+    </visual>
+  </link>
+
+  <link name="f1">
+    <visual>
+      <origin xyz="-0.040 -0.0015 0"/>
+      <geometry>
+        <box size="0.100 0.003 0.010"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <visual>
+      <origin xyz="0 -0.003 0" rpy="-1.57 0 0"/>
+      <geometry>
+        <cylinder radius="0.0125" length="0.006"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <visual>
+      <origin xyz="-0.080 -0.003 0" rpy="-1.57 0 0"/>
+      <geometry>
+        <cylinder radius="0.0125" length="0.006"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+  </link>
+
+  <link name="t1">
+    <!-- servo -->
+    <visual>
+      <origin xyz="0 -0.005 0.010"/>
+      <geometry>
+        <box size="0.020 0.035 0.040"/> 
+      </geometry>
+      <material name="red"/>
+    </visual>
+    <!-- tibia -->
+    <visual>
+      <origin xyz="-0.010 0 -0.0425"/>
+      <geometry>
+        <box size="0.040 0.003 0.175"/> 
+      </geometry>
+      <material name="red"/>
+    </visual>
+  </link>
+
+  <joint name="base_to_c1" type="continuous">
+    <parent link="base_link"/>
+    <child link="c1"/>
+    <origin xyz="-0.040 0.080 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+
+  <joint name="c1_to_f1" type="continuous">
+    <parent link="c1"/>
+    <child link="f1"/>
+    <origin xyz="-0.020 0.03 -0.0075"/>
+    <axis xyz="0 1 0"/>
+  </joint>
+  
+  <joint name="f1_to_t1" type="continuous">
+    <parent link="f1"/>
+    <child link="t1"/>
+    <origin xyz="-0.080 -0.025 0"/>
+    <axis xyz="0 1 0"/>
+  </joint>
+
+
+  <!-- leg 2 -->
+  
+  <link name="c2">
+    <visual>
+      <geometry>
+        <box size="0.045 0.045 0.045"/>
+      </geometry>
+      <origin xyz="-0.015 0 0"/>
+      <material name="blue"/>
+    </visual>
+    <visual>
+      <geometry>
+        <cylinder radius="0.005" length="0.065"/>
+      </geometry>
+      <material name="blue"/>
+    </visual>
+    <visual>
+      <origin xyz="-0.020 0 -0.0075" rpy="-1.57 0 0"/>
+      <geometry>
+        <cylinder radius="0.005" length="0.065"/>
+      </geometry>
+      <material name="blue"/>
+    </visual>
+  </link>
+
+  <link name="f2">
+    <visual>
+      <origin xyz="-0.040 -0.0015 0"/>
+      <geometry>
+        <box size="0.100 0.003 0.010"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <visual>
+      <origin xyz="0 -0.003 0" rpy="-1.57 0 0"/>
+      <geometry>
+        <cylinder radius="0.0125" length="0.006"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <visual>
+      <origin xyz="-0.080 -0.003 0" rpy="-1.57 0 0"/>
+      <geometry>
+        <cylinder radius="0.0125" length="0.006"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+  </link>
+
+  <link name="t2">
+    <!-- servo -->
+    <visual>
+      <origin xyz="0 -0.005 0.010"/>
+      <geometry>
+        <box size="0.020 0.035 0.040"/> 
+      </geometry>
+      <material name="red"/>
+    </visual>
+    <!-- tibia -->
+    <visual>
+      <origin xyz="-0.010 0 -0.0425"/>
+      <geometry>
+        <box size="0.040 0.003 0.175"/> 
+      </geometry>
+      <material name="red"/>
+    </visual>
+  </link>
+
+  <joint name="base_to_c2" type="continuous">
+    <parent link="base_link"/>
+    <child link="c2"/>
+    <origin xyz="-0.060 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+
+  <joint name="c2_to_f2" type="continuous">
+    <parent link="c2"/>
+    <child link="f2"/>
+    <origin xyz="-0.020 0.03 -0.0075"/>
+    <axis xyz="0 1 0"/>
+  </joint>
+  
+  <joint name="f2_to_t2" type="continuous">
+    <parent link="f2"/>
+    <child link="t2"/>
+    <origin xyz="-0.080 -0.025 0"/>
+    <axis xyz="0 1 0"/>
+  </joint>
+
+  <!-- leg 3 -->
+  
+  <link name="c3">
+    <visual>
+      <geometry>
+        <box size="0.045 0.045 0.045"/>
+      </geometry>
+      <origin xyz="-0.015 0 0"/>
+      <material name="blue"/>
+    </visual>
+    <visual>
+      <geometry>
+        <cylinder radius="0.005" length="0.065"/>
+      </geometry>
+      <material name="blue"/>
+    </visual>
+    <visual>
+      <origin xyz="-0.020 0 -0.0075" rpy="-1.57 0 0"/>
+      <geometry>
+        <cylinder radius="0.005" length="0.065"/>
+      </geometry>
+      <material name="blue"/>
+    </visual>
+  </link>
+
+  <link name="f3">
+    <visual>
+      <origin xyz="-0.040 -0.0015 0"/>
+      <geometry>
+        <box size="0.100 0.003 0.010"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <visual>
+      <origin xyz="0 -0.003 0" rpy="-1.57 0 0"/>
+      <geometry>
+        <cylinder radius="0.0125" length="0.006"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <visual>
+      <origin xyz="-0.080 -0.003 0" rpy="-1.57 0 0"/>
+      <geometry>
+        <cylinder radius="0.0125" length="0.006"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+  </link>
+
+  <link name="t3">
+    <!-- servo -->
+    <visual>
+      <origin xyz="0 -0.005 0.010"/>
+      <geometry>
+        <box size="0.020 0.035 0.040"/> 
+      </geometry>
+      <material name="red"/>
+    </visual>
+    <!-- tibia -->
+    <visual>
+      <origin xyz="-0.010 0 -0.0425"/>
+      <geometry>
+        <box size="0.040 0.003 0.175"/> 
+      </geometry>
+      <material name="red"/>
+    </visual>
+  </link>
+
+  <joint name="base_to_c3" type="continuous">
+    <parent link="base_link"/>
+    <child link="c3"/>
+    <origin xyz="-0.040 -0.080 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+
+  <joint name="c3_to_f3" type="continuous">
+    <parent link="c3"/>
+    <child link="f3"/>
+    <origin xyz="-0.020 0.03 -0.0075"/>
+    <axis xyz="0 1 0"/>
+  </joint>
+  
+  <joint name="f3_to_t3" type="continuous">
+    <parent link="f3"/>
+    <child link="t3"/>
+    <origin xyz="-0.080 -0.025 0"/>
+    <axis xyz="0 1 0"/>
+  </joint>
+
+  <!-- leg 4 -->
+  
+  <link name="c4">
+    <visual>
+      <geometry>
+        <box size="0.045 0.045 0.045"/>
+      </geometry>
+      <origin xyz="0.015 0 0"/>
+      <material name="blue"/>
+    </visual>
+    <visual>
+      <geometry>
+        <cylinder radius="0.005" length="0.065"/>
+      </geometry>
+      <material name="blue"/>
+    </visual>
+    <visual>
+      <origin xyz="0.020 0 -0.0075" rpy="-1.57 0 0"/>
+      <geometry>
+        <cylinder radius="0.005" length="0.065"/>
+      </geometry>
+      <material name="blue"/>
+    </visual>
+  </link>
+
+  <link name="f4">
+    <visual>
+      <origin xyz="0.040 -0.0015 0"/>
+      <geometry>
+        <box size="0.100 0.003 0.010"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <visual>
+      <origin xyz="0 -0.003 0" rpy="-1.57 0 0"/>
+      <geometry>
+        <cylinder radius="0.0125" length="0.006"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <visual>
+      <origin xyz="0.080 -0.003 0" rpy="-1.57 0 0"/>
+      <geometry>
+        <cylinder radius="0.0125" length="0.006"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+  </link>
+
+  <link name="t4">
+    <!-- servo -->
+    <visual>
+      <origin xyz="0 -0.005 0.010"/>
+      <geometry>
+        <box size="0.020 0.035 0.040"/> 
+      </geometry>
+      <material name="red"/>
+    </visual>
+    <!-- tibia -->
+    <visual>
+      <origin xyz="0.010 0 -0.0425"/>
+      <geometry>
+        <box size="0.040 0.003 0.175"/> 
+      </geometry>
+      <material name="red"/>
+    </visual>
+  </link>
+
+  <joint name="base_to_c4" type="continuous">
+    <parent link="base_link"/>
+    <child link="c4"/>
+    <origin xyz="0.040 -0.080 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+
+  <joint name="c4_to_f4" type="continuous">
+    <parent link="c4"/>
+    <child link="f4"/>
+    <origin xyz="0.020 0.03 -0.0075"/>
+    <axis xyz="0 1 0"/>
+  </joint>
+  
+  <joint name="f4_to_t4" type="continuous">
+    <parent link="f4"/>
+    <child link="t4"/>
+    <origin xyz="0.080 -0.025 0"/>
+    <axis xyz="0 1 0"/>
+  </joint>
+
+  <!-- leg 5 -->
+  
+  <link name="c5">
+    <visual>
+      <geometry>
+        <box size="0.045 0.045 0.045"/>
+      </geometry>
+      <origin xyz="0.015 0 0"/>
+      <material name="blue"/>
+    </visual>
+    <visual>
+      <geometry>
+        <cylinder radius="0.005" length="0.065"/>
+      </geometry>
+      <material name="blue"/>
+    </visual>
+    <visual>
+      <origin xyz="0.020 0 -0.0075" rpy="-1.57 0 0"/>
+      <geometry>
+        <cylinder radius="0.005" length="0.065"/>
+      </geometry>
+      <material name="blue"/>
+    </visual>
+  </link>
+
+  <link name="f5">
+    <visual>
+      <origin xyz="0.040 -0.0015 0"/>
+      <geometry>
+        <box size="0.100 0.003 0.010"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <visual>
+      <origin xyz="0 -0.003 0" rpy="-1.57 0 0"/>
+      <geometry>
+        <cylinder radius="0.0125" length="0.006"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <visual>
+      <origin xyz="0.080 -0.003 0" rpy="-1.57 0 0"/>
+      <geometry>
+        <cylinder radius="0.0125" length="0.006"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+  </link>
+
+  <link name="t5">
+    <!-- servo -->
+    <visual>
+      <origin xyz="0 -0.005 0.010"/>
+      <geometry>
+        <box size="0.020 0.035 0.040"/> 
+      </geometry>
+      <material name="red"/>
+    </visual>
+    <!-- tibia -->
+    <visual>
+      <origin xyz="0.010 0 -0.0425"/>
+      <geometry>
+        <box size="0.040 0.003 0.175"/> 
+      </geometry>
+      <material name="red"/>
+    </visual>
+  </link>
+
+  <joint name="base_to_c5" type="continuous">
+    <parent link="base_link"/>
+    <child link="c5"/>
+    <origin xyz="0.060 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+
+  <joint name="c5_to_f5" type="continuous">
+    <parent link="c5"/>
+    <child link="f5"/>
+    <origin xyz="0.020 0.03 -0.0075"/>
+    <axis xyz="0 1 0"/>
+  </joint>
+  
+  <joint name="f5_to_t5" type="continuous">
+    <parent link="f5"/>
+    <child link="t5"/>
+    <origin xyz="0.080 -0.025 0"/>
+    <axis xyz="0 1 0"/>
+  </joint>
+
+  <!-- leg 6 -->
+  
+  <link name="c6">
+    <visual>
+      <geometry>
+        <box size="0.045 0.045 0.045"/>
+      </geometry>
+      <origin xyz="0.015 0 0"/>
+      <material name="blue"/>
+    </visual>
+    <visual>
+      <geometry>
+        <cylinder radius="0.005" length="0.065"/>
+      </geometry>
+      <material name="blue"/>
+    </visual>
+    <visual>
+      <origin xyz="0.020 0 -0.0075" rpy="-1.57 0 0"/>
+      <geometry>
+        <cylinder radius="0.005" length="0.065"/>
+      </geometry>
+      <material name="blue"/>
+    </visual>
+  </link>
+
+  <link name="f6">
+    <visual>
+      <origin xyz="0.040 -0.0015 0"/>
+      <geometry>
+        <box size="0.100 0.003 0.010"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <visual>
+      <origin xyz="0 -0.003 0" rpy="-1.57 0 0"/>
+      <geometry>
+        <cylinder radius="0.0125" length="0.006"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <visual>
+      <origin xyz="0.080 -0.003 0" rpy="-1.57 0 0"/>
+      <geometry>
+        <cylinder radius="0.0125" length="0.006"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+  </link>
+
+  <link name="t6">
+    <!-- servo -->
+    <visual>
+      <origin xyz="0 -0.005 0.010"/>
+      <geometry>
+        <box size="0.020 0.035 0.040"/> 
+      </geometry>
+      <material name="red"/>
+    </visual>
+    <!-- tibia -->
+    <visual>
+      <origin xyz="0.010 0 -0.0425"/>
+      <geometry>
+        <box size="0.040 0.003 0.175"/> 
+      </geometry>
+      <material name="red"/>
+    </visual>
+  </link>
+
+  <joint name="base_to_c6" type="continuous">
+    <parent link="base_link"/>
+    <child link="c6"/>
+    <origin xyz="0.040 0.080 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+
+  <joint name="c6_to_f6" type="continuous">
+    <parent link="c6"/>
+    <child link="f6"/>
+    <origin xyz="0.020 0.03 -0.0075"/>
+    <axis xyz="0 1 0"/>
+  </joint>
+  
+  <joint name="f6_to_t6" type="continuous">
+    <parent link="f6"/>
+    <child link="t6"/>
+    <origin xyz="0.080 -0.025 0"/>
+    <axis xyz="0 1 0"/>
+  </joint>
+
+</robot>