realrobotshk
/
sophia_controller
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

added upper and lower teeth to urdf, connected motorIDs

master
Jake Wilkinson 2025-11-25 16:46:28 +08:00
parent 0905db8d77
commit 79d83808a0
2 changed files with 78 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

82
public/robots/LittleSophia/urdf/LittleSophia.urdf
View File

@ -447,7 +447,7 @@
<!-- Position the eye relative to the head --> <!-- Position the eye relative to the head -->
<origin xyz="-0.0198 0.024 0.065" rpy="0 0 0" /> <origin xyz="-0.0198 0.024 0.065" rpy="0 0 0" />
<!-- yaw axis: adjust depending on your coordinate system --> <!-- yaw axis: adjust depending on your coordinate system -->
<axis xyz="0 0 1" /> <axis xyz="0 0 -1" />
<limit effort="10.0" lower="-1.0" upper="1.0" velocity="1.0" /> <limit effort="10.0" lower="-1.0" upper="1.0" velocity="1.0" />
</joint> </joint>
@ -476,7 +476,7 @@
<parent link="head" /> <parent link="head" />
<child link="eye_right" /> <child link="eye_right" />
<origin xyz="0.0193 0.024 0.065" rpy="0 0 0" /> <origin xyz="0.0193 0.024 0.065" rpy="0 0 0" />
<axis xyz="0 0 1" /> <axis xyz="0 0 -1" />
<limit effort="10.0" lower="-1.0" upper="1.0" velocity="1.0" /> <limit effort="10.0" lower="-1.0" upper="1.0" velocity="1.0" />
</joint> </joint>
@ -556,6 +556,62 @@
</inertial> </inertial>
</link> </link>
<joint name="teeth_lower_pitch" type="revolute">
<parent link="head" />
<child link="teeth_lower" />
<origin xyz="-0.0009 0.01 0.026" rpy="0 0 0" />
<axis xyz="-1 0 0" />
<limit effort="10.0" lower="-1.0" upper="1.0" velocity="1.0" />
</joint>
<link name="teeth_lower">
<visual>
<origin xyz="0 0 0" rpy="-1.5745 3.149 0" />
<geometry>
<mesh filename="package://Little_Sophia_Face/meshes/Little_Sophia_Teeth_Lower.glb"
scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<sphere radius="0.01" />
</geometry>
</collision>
<inertial>
<mass value="0.01" />
<inertia ixx="1e-5" iyy="1e-5" izz="1e-5" ixy="0" ixz="0" iyz="0" />
</inertial>
</link>
<joint name="teeth_upper_pitch" type="revolute">
<parent link="head" />
<child link="teeth_upper" />
<origin xyz="-0.0009 0.01 0.026" rpy="0 0 0" />
<axis xyz="1 0 0" />
<limit effort="10.0" lower="-1.0" upper="1.0" velocity="1.0" />
</joint>
<link name="teeth_upper">
<visual>
<origin xyz="0 0 0" rpy="-1.5745 3.149 0" />
<geometry>
<mesh filename="package://Little_Sophia_Face/meshes/Little_Sophia_Teeth_Upper.glb"
scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<sphere radius="0.01" />
</geometry>
</collision>
<inertial>
<mass value="0.01" />
<inertia ixx="1e-5" iyy="1e-5" izz="1e-5" ixy="0" ixz="0" iyz="0" />
</inertial>
</link>
<transmission name="upper_arm_left"> <transmission name="upper_arm_left">
<type>transmission_interface/SimpleTransmission</type> <type>transmission_interface/SimpleTransmission</type>
@ -796,7 +852,7 @@
<encoderValidMin>100</encoderValidMin> <encoderValidMin>100</encoderValidMin>
<encoderValidMax>3900</encoderValidMax> <encoderValidMax>3900</encoderValidMax>
<encoderRange>300</encoderRange> <encoderRange>300</encoderRange>
<motorID>99</motorID> <motorID>14</motorID>
</actuator> </actuator>
</transmission> </transmission>
@ -812,7 +868,7 @@
<encoderValidMin>100</encoderValidMin> <encoderValidMin>100</encoderValidMin>
<encoderValidMax>3900</encoderValidMax> <encoderValidMax>3900</encoderValidMax>
<encoderRange>300</encoderRange> <encoderRange>300</encoderRange>
<motorID>98</motorID> <motorID>15</motorID>
</actuator> </actuator>
</transmission> </transmission>
@ -828,7 +884,7 @@
<encoderValidMin>100</encoderValidMin> <encoderValidMin>100</encoderValidMin>
<encoderValidMax>3900</encoderValidMax> <encoderValidMax>3900</encoderValidMax>
<encoderRange>300</encoderRange> <encoderRange>300</encoderRange>
<motorID>98</motorID> <motorID>10</motorID>
</actuator> </actuator>
</transmission> </transmission>
@ -848,4 +904,20 @@
</actuator> </actuator>
</transmission> </transmission>
<transmission name="teeth_lower_pitch">
<type>transmission_interface/SimpleTransmission</type>
<joint name="teeth_lower_pitch">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="teeth_lower_pitch">
<mechanicalReduction>1</mechanicalReduction>
<hardwareInterface>PositionJointInterface</hardwareInterface>
<encoderTicks>4095</encoderTicks>
<encoderValidMin>100</encoderValidMin>
<encoderValidMax>3900</encoderValidMax>
<encoderRange>300</encoderRange>
<motorID>40</motorID>
</actuator>
</transmission>
</robot> </robot>

2
ros_robot_visualiser/URDFEditor.js
View File

@ -74,7 +74,7 @@ export class URDFEditor {
this.setupScene(); this.setupScene();
this.loadURDF(); //this.loadURDF();
//this.loadURDFFromIndexedDB(); //this.loadURDFFromIndexedDB();
this.setupEvents(); this.setupEvents();