added all transmission details to sample.urdf
parent
c46d457d1e
commit
8f6cd0bd16
195
urdf/sample.urdf
195
urdf/sample.urdf
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@ -519,4 +519,199 @@
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<encoderValidMax>3500</encoderValidMax>
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<encoderValidMax>3500</encoderValidMax>
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</actuator>
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</actuator>
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</transmission>
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</transmission>
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<transmission name="upper_arm_left">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="spine_1_to_upper_arm_left">
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<hardwareInterface>PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="spine_motor_1">
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<mechanicalReduction>22.75</mechanicalReduction>
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<hardwareInterface>PositionJointInterface</hardwareInterface>
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<encoderTicks>4096</encoderTicks>
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<encoderValidMin>200</encoderValidMin>
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<encoderValidMax>3500</encoderValidMax>
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</actuator>
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</transmission>
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<transmission name="lower_arm_left">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="upper_arm_left_to_lower_arm_left">
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<hardwareInterface>PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="spine_motor_1">
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<mechanicalReduction>22.75</mechanicalReduction>
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<hardwareInterface>PositionJointInterface</hardwareInterface>
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<encoderTicks>4096</encoderTicks>
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<encoderValidMin>200</encoderValidMin>
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<encoderValidMax>3500</encoderValidMax>
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</actuator>
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</transmission>
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<transmission name="hand_left">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="lower_arm_left_to_hand_left">
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<hardwareInterface>PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="spine_motor_1">
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<mechanicalReduction>22.75</mechanicalReduction>
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<hardwareInterface>PositionJointInterface</hardwareInterface>
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<encoderTicks>4096</encoderTicks>
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<encoderValidMin>200</encoderValidMin>
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<encoderValidMax>3500</encoderValidMax>
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</actuator>
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</transmission>
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<transmission name="upper_arm_right">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="spine_1_to_upper_arm_right">
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<hardwareInterface>PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="spine_motor_1">
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<mechanicalReduction>22.75</mechanicalReduction>
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<hardwareInterface>PositionJointInterface</hardwareInterface>
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<encoderTicks>4096</encoderTicks>
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<encoderValidMin>200</encoderValidMin>
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<encoderValidMax>3500</encoderValidMax>
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</actuator>
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</transmission>
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<transmission name="lower_arm_right">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="upper_arm_right_to_lower_arm_right">
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<hardwareInterface>PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="spine_motor_1">
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<mechanicalReduction>22.75</mechanicalReduction>
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<hardwareInterface>PositionJointInterface</hardwareInterface>
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<encoderTicks>4096</encoderTicks>
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<encoderValidMin>200</encoderValidMin>
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<encoderValidMax>3500</encoderValidMax>
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</actuator>
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</transmission>
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<transmission name="hand_right">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="lower_arm_right_to_hand_right">
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<hardwareInterface>PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="spine_motor_1">
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<mechanicalReduction>22.75</mechanicalReduction>
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<hardwareInterface>PositionJointInterface</hardwareInterface>
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<encoderTicks>4096</encoderTicks>
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<encoderValidMin>200</encoderValidMin>
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<encoderValidMax>3500</encoderValidMax>
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</actuator>
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</transmission>
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<transmission name="upper_leg_right">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="base_link_to_upper_leg_right">
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<hardwareInterface>PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="upper_leg_motor_right">
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<mechanicalReduction>22.75</mechanicalReduction>
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<hardwareInterface>PositionJointInterface</hardwareInterface>
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<encoderTicks>4096</encoderTicks>
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<encoderValidMin>200</encoderValidMin>
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<encoderValidMax>3500</encoderValidMax>
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</actuator>
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</transmission>
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<transmission name="lower_leg_right">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="upper_leg_right_to_lower_leg_right">
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<hardwareInterface>PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="lower_leg_motor_right">
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<mechanicalReduction>22.75</mechanicalReduction>
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<hardwareInterface>PositionJointInterface</hardwareInterface>
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<encoderTicks>4096</encoderTicks>
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<encoderValidMin>200</encoderValidMin>
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<encoderValidMax>3500</encoderValidMax>
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</actuator>
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</transmission>
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<transmission name="foot_right">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="lower_leg_right_to_foot_right">
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<hardwareInterface>PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="foot_motor_right">
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<mechanicalReduction>22.75</mechanicalReduction>
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<hardwareInterface>PositionJointInterface</hardwareInterface>
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<encoderTicks>4096</encoderTicks>
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<encoderValidMin>200</encoderValidMin>
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<encoderValidMax>3500</encoderValidMax>
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</actuator>
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</transmission>
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<transmission name="upper_leg_left">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="base_link_to_upper_leg_left">
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<hardwareInterface>PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="upper_leg_motor_left">
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<mechanicalReduction>22.75</mechanicalReduction>
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<hardwareInterface>PositionJointInterface</hardwareInterface>
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<encoderTicks>4096</encoderTicks>
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<encoderValidMin>200</encoderValidMin>
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<encoderValidMax>3500</encoderValidMax>
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</actuator>
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</transmission>
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<transmission name="lower_leg_left">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="upper_leg_left_to_lower_leg_left">
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<hardwareInterface>PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="lower_leg_motor_left">
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<mechanicalReduction>22.75</mechanicalReduction>
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<hardwareInterface>PositionJointInterface</hardwareInterface>
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<encoderTicks>4096</encoderTicks>
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<encoderValidMin>200</encoderValidMin>
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<encoderValidMax>3500</encoderValidMax>
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</actuator>
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</transmission>
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<transmission name="foot_left">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="lower_leg_left_to_foot_left">
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<hardwareInterface>PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="foot_motor_left">
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<mechanicalReduction>22.75</mechanicalReduction>
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<hardwareInterface>PositionJointInterface</hardwareInterface>
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<encoderTicks>4096</encoderTicks>
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<encoderValidMin>200</encoderValidMin>
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<encoderValidMax>3500</encoderValidMax>
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</actuator>
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</transmission>
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<transmission name="neck_base">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="spine_1_to_neck">
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<hardwareInterface>PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="neck_motor_base">
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<mechanicalReduction>22.75</mechanicalReduction>
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<hardwareInterface>PositionJointInterface</hardwareInterface>
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<encoderTicks>4096</encoderTicks>
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<encoderValidMin>200</encoderValidMin>
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<encoderValidMax>3500</encoderValidMax>
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</actuator>
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</transmission>
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<transmission name="neck_tip">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="neck_to_head">
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<hardwareInterface>PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="neck_motor_tip">
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<mechanicalReduction>22.75</mechanicalReduction>
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<hardwareInterface>PositionJointInterface</hardwareInterface>
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<encoderTicks>4096</encoderTicks>
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<encoderValidMin>200</encoderValidMin>
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<encoderValidMax>3500</encoderValidMax>
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</actuator>
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</transmission>
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</robot>
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</robot>
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