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hexapod_ng
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Added crude urdf model

main
Marcus Grieger 1年前
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共有 1 个文件被更改，包括 663 次插入 和 0 次删除
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  1. +663
    -0
      ros2_hexapod/hexapod.urdf

+ 663
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ros2_hexapod/hexapod.urdf 查看文件

@@ -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>

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