644 lines
23 KiB
XML
644 lines
23 KiB
XML
<robot name="robot">
|
|
<link name="base_footprint"/>
|
|
<!-- <joint name="base_joint" type="fixed">
|
|
<parent link="base_footprint" />
|
|
<child link="base_link" />
|
|
<origin xyz="0 0 0.11" rpy="0 0 0" />
|
|
<limit effort="1000.0" lower="-1" upper="1" velocity="0.5" />
|
|
</joint> -->
|
|
<link name="base_link">
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="-1.5745 3.149 0"/>
|
|
<geometry>
|
|
<mesh filename="package://Little_Sophia_Face/meshes/Little_Sophia_Torso_.glb" scale="0.001 0.001 0.001"/>
|
|
</geometry>
|
|
<material name="base_link-material">
|
|
<color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
<geometry>
|
|
<box size="0.1 0.05 0.05"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
<mass value="1"/>
|
|
<inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="base_link_to_upper_arm_right" type="revolute">
|
|
<parent link="base_link"/>
|
|
<child link="upper_arm_right"/>
|
|
<origin xyz="0.04 0 0.048" rpy="0 0 0"/>
|
|
<axis xyz="1 0 0"/>
|
|
<limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
|
|
</joint>
|
|
<link name="upper_arm_right">
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="-1.5745 3.149 0"/>
|
|
<geometry>
|
|
<mesh filename="package://Little_Sophia_Face/meshes/Little_Sophia_Arm_Right.glb" scale="0.001 0.001 0.001"/>
|
|
</geometry>
|
|
<material name="upper_arm_right-material">
|
|
<color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0 0 0.03" rpy="0 0 0"/>
|
|
<geometry>
|
|
<box size="0.03 0.03 0.06"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<origin xyz="0 0 0.03" rpy="0 0 0"/>
|
|
<mass value="1"/>
|
|
<inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666"/>
|
|
</inertial>
|
|
</link>
|
|
|
|
|
|
<!-- Left Upper Arm -->
|
|
<joint name="base_link_to_upper_arm_left" type="revolute">
|
|
<parent link="base_link"/>
|
|
<child link="upper_arm_left"/>
|
|
<origin xyz="-0.04 0 0.048" rpy="0 0 0"/>
|
|
<axis xyz="-1 0 0"/>
|
|
<limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
|
|
</joint>
|
|
|
|
<link name="upper_arm_left">
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="-1.5745 3.149 0"/>
|
|
<geometry>
|
|
<mesh filename="package://Little_Sophia_Face/meshes/Little_Sophia_Arm_Left.glb" scale="0.001 0.001 0.001"/>
|
|
</geometry>
|
|
<material name="upper_arm_left-material">
|
|
<color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0 0 0.03" rpy="0 0 0"/>
|
|
<geometry>
|
|
<box size="0.03 0.03 0.06"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<origin xyz="0 0 0.03" rpy="0 0 0"/>
|
|
<mass value="1"/>
|
|
<inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666"/>
|
|
</inertial>
|
|
</link>
|
|
|
|
<joint name="base_link_to_hip_right" type="revolute">
|
|
<parent link="base_link"/>
|
|
<child link="hip_right"/>
|
|
<origin xyz="0.024 0.005 -0.023" rpy="0 0 0"/>
|
|
<axis xyz="0 0 -1"/>
|
|
<limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
|
|
</joint>
|
|
<link name="hip_right">
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="-1.5745 3.149 0"/>
|
|
<geometry>
|
|
<mesh filename="package://Little_Sophia_Face/meshes/Little_Sophia_Hip_Right.glb" scale="0.001 0.001 0.001"/>
|
|
</geometry>
|
|
<material name="upper_leg_right-material">
|
|
<color rgba="0.0021 0.0497 0.4851 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0 0 -0.035" rpy="0 0 0"/>
|
|
<geometry>
|
|
<box size="0.04 0.04 0.07"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<origin xyz="0 0 -0.035" rpy="0 0 0"/>
|
|
<mass value="1"/>
|
|
<inertia ixx="0.1667" ixy="0" ixz="0" iyy="0.1667" iyz="0" izz="0.1667"/>
|
|
</inertial>
|
|
</link>
|
|
|
|
<joint name="hip_right_to_upper_leg_right" type="revolute">
|
|
<parent link="hip_right"/>
|
|
<child link="upper_leg_right"/>
|
|
<origin xyz="0.009 0.0 -0.023" rpy="-0.5 0 0"/>
|
|
<axis xyz="-1 0 0"/>
|
|
<limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
|
|
</joint>
|
|
|
|
<link name="upper_leg_right">
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="-1.5745 3.149 0"/>
|
|
<geometry>
|
|
<mesh filename="package://Little_Sophia_Face/meshes/Little_Sophia_Upper_Leg_Right.glb" scale="0.001 0.001 0.001"/>
|
|
</geometry>
|
|
<material name="upper_leg_right-material">
|
|
<color rgba="0.0021 0.0497 0.4851 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0 0 -0.035" rpy="0 0 0"/>
|
|
<geometry>
|
|
<box size="0.04 0.04 0.07"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<origin xyz="0 0 -0.035" rpy="0 0 0"/>
|
|
<mass value="1"/>
|
|
<inertia ixx="0.1667" ixy="0" ixz="0" iyy="0.1667" iyz="0" izz="0.1667"/>
|
|
</inertial>
|
|
</link>
|
|
|
|
|
|
<!-- Upper leg to lower leg roll link (pivot at upper gear center) -->
|
|
<joint name="upper_leg_right_to_lower_leg_right_roll" type="revolute">
|
|
<parent link="upper_leg_right"/>
|
|
<child link="lower_leg_right_roll_link"/>
|
|
<origin xyz="0.0 0.007 -0.028" rpy="0 0 0"/> <!-- upper gear center -->
|
|
<axis xyz="-1 0 0"/> <!-- rolling axis -->
|
|
<limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
|
|
</joint>
|
|
|
|
<link name="lower_leg_right_roll_link"/>
|
|
|
|
<!-- Lower leg roll link to actual lower leg (pivot at lower gear center) -->
|
|
<joint name="lower_leg_roll_to_lower_leg_right" type="revolute">
|
|
<parent link="lower_leg_right_roll_link"/>
|
|
<child link="lower_leg_right"/>
|
|
<origin xyz="-0.001 -0.0025 -0.029" rpy="-0.35 0 0"/>
|
|
<axis xyz="-1 0 0"/>
|
|
<limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
|
|
<mimic joint="upper_leg_right_to_lower_leg_right_roll" multiplier="1.1" offset="0"/>
|
|
</joint>
|
|
|
|
|
|
<link name="lower_leg_right">
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="-1.5745 3.149 0"/>
|
|
<geometry>
|
|
<mesh filename="package://Little_Sophia_Face/meshes/Little_Sophia_Lower_Leg_Right.glb" scale="0.001 0.001 0.001"/>
|
|
</geometry>
|
|
<material name="lower_leg_right-material">
|
|
<color rgba="0.0021 0.0497 0.4851 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0 0 -0.035" rpy="0 0 0"/>
|
|
<geometry>
|
|
<box size="0.04 0.04 0.07"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<origin xyz="0 0 -0.035" rpy="0 0 0"/>
|
|
<mass value="1"/>
|
|
<inertia ixx="0.1667" ixy="0" ixz="0" iyy="0.1667" iyz="0" izz="0.1667"/>
|
|
</inertial>
|
|
</link>
|
|
|
|
|
|
<joint name="lower_leg_right_to_foot_right" type="revolute">
|
|
<parent link="lower_leg_right"/>
|
|
<child link="foot_right"/>
|
|
<origin xyz="0 0 -0.043" rpy="0 0 0"/>
|
|
<axis xyz="1 0 0"/>
|
|
<limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
|
|
</joint>
|
|
|
|
<link name="foot_right">
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="-1.5745 3.149 0"/>
|
|
<geometry>
|
|
<mesh filename="package://Little_Sophia_Face/meshes/Little_Sophia_Foot_Right.glb" scale="0.001 0.001 0.001"/>
|
|
</geometry>
|
|
<material name="foot_right-material">
|
|
<color rgba="0.0021 0.0497 0.4851 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0 0.02 -0.01" rpy="0 0 0"/>
|
|
<geometry>
|
|
<box size="0.04 0.08 0.02"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<origin xyz="0 0.02 -0.01" rpy="0 0 0"/>
|
|
<mass value="1"/>
|
|
<inertia ixx="0.1667" ixy="0" ixz="0" iyy="0.1667" iyz="0" izz="0.1667"/>
|
|
</inertial>
|
|
</link>
|
|
|
|
|
|
<!-- Left Upper Leg -->
|
|
<joint name="base_link_to_hip_left" type="revolute">
|
|
<parent link="base_link"/>
|
|
<child link="hip_left"/>
|
|
<origin xyz="-0.024 0.005 -0.023" rpy="0 0 0"/>
|
|
<axis xyz="0 0 -1"/>
|
|
<limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
|
|
</joint>
|
|
|
|
<link name="hip_left">
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="-1.5745 3.149 0"/>
|
|
<geometry>
|
|
<mesh filename="package://Little_Sophia_Face/meshes/Little_Sophia_Hip_Left.glb" scale="0.001 0.001 0.001"/>
|
|
</geometry>
|
|
<material name="upper_leg_left-material">
|
|
<color rgba="0.0021 0.0497 0.4851 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0 0 -0.035" rpy="0 0 0"/>
|
|
<geometry>
|
|
<box size="0.04 0.04 0.07"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<origin xyz="0 0 -0.035" rpy="0 0 0"/>
|
|
<mass value="1"/>
|
|
<inertia ixx="0.1667" ixy="0" ixz="0" iyy="0.1667" iyz="0" izz="0.1667"/>
|
|
</inertial>
|
|
</link>
|
|
|
|
<joint name="hip_left_to_upper_leg_left" type="revolute">
|
|
<parent link="hip_left"/>
|
|
<child link="upper_leg_left"/>
|
|
<origin xyz="-0.009 0.0 -0.023" rpy="-0.6 0 0"/>
|
|
<axis xyz="1 0 0"/>
|
|
<limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
|
|
</joint>
|
|
|
|
<link name="upper_leg_left">
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="-1.5745 3.149 0"/>
|
|
<geometry>
|
|
<mesh filename="package://Little_Sophia_Face/meshes/Little_Sophia_Upper_Leg_Left.glb" scale="0.001 0.001 0.001"/>
|
|
</geometry>
|
|
<material name="upper_leg_left-material">
|
|
<color rgba="0.0021 0.0497 0.4851 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0 0 -0.035" rpy="0 0 0"/>
|
|
<geometry>
|
|
<box size="0.04 0.04 0.07"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<origin xyz="0 0 -0.035" rpy="0 0 0"/>
|
|
<mass value="1"/>
|
|
<inertia ixx="0.1667" ixy="0" ixz="0" iyy="0.1667" iyz="0" izz="0.1667"/>
|
|
</inertial>
|
|
</link>
|
|
|
|
<!-- Upper leg to lower leg roll link (pivot at upper gear center) -->
|
|
<joint name="upper_leg_left_to_lower_leg_left_roll" type="revolute">
|
|
<parent link="upper_leg_left"/>
|
|
<child link="lower_leg_left_roll_link"/>
|
|
<origin xyz="0.0 0.007 -0.028" rpy="0 0 0"/> <!-- upper gear center -->
|
|
<axis xyz="1 0 0"/> <!-- rolling axis -->
|
|
<limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
|
|
</joint>
|
|
|
|
<link name="lower_leg_left_roll_link"/>
|
|
|
|
<!-- Lower leg roll link to actual lower leg (pivot at lower gear center) -->
|
|
<joint name="lower_leg_roll_to_lower_leg_left" type="revolute">
|
|
<parent link="lower_leg_left_roll_link"/>
|
|
<child link="lower_leg_left"/>
|
|
<origin xyz="-0.001 -0.0025 -0.029" rpy="-0.35 0 0"/>
|
|
<axis xyz="1 0 0"/>
|
|
<limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
|
|
<mimic joint="upper_leg_left_to_lower_leg_left_roll" multiplier="1.1" offset="0"/>
|
|
</joint>
|
|
|
|
|
|
<link name="lower_leg_left">
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="-1.5745 3.149 0"/>
|
|
<geometry>
|
|
<mesh filename="package://Little_Sophia_Face/meshes/Little_Sophia_Lower_Leg_Left.glb" scale="0.001 0.001 0.001"/>
|
|
</geometry>
|
|
<material name="lower_leg_right-material">
|
|
<color rgba="0.0021 0.0497 0.4851 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0 0 -0.035" rpy="0 0 0"/>
|
|
<geometry>
|
|
<box size="0.04 0.04 0.07"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<origin xyz="0 0 -0.035" rpy="0 0 0"/>
|
|
<mass value="1"/>
|
|
<inertia ixx="0.1667" ixy="0" ixz="0" iyy="0.1667" iyz="0" izz="0.1667"/>
|
|
</inertial>
|
|
</link>
|
|
|
|
<joint name="lower_leg_left_to_foot_left" type="revolute">
|
|
<parent link="lower_leg_left"/>
|
|
<child link="foot_left"/>
|
|
<origin xyz="0 0 -0.043" rpy="0 0 0"/>
|
|
<axis xyz="-1 0 0"/>
|
|
<limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
|
|
</joint>
|
|
|
|
|
|
<link name="foot_left">
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="-1.5745 3.149 0"/>
|
|
<geometry>
|
|
<mesh filename="package://Little_Sophia_Face/meshes/Little_Sophia_Foot_Left.glb" scale="0.001 0.001 0.001"/>
|
|
</geometry>
|
|
<material name="foot_left-material">
|
|
<color rgba="0.0021 0.0497 0.4851 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0 0.02 -0.01" rpy="0 0 0"/>
|
|
<geometry>
|
|
<box size="0.04 0.08 0.02"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<origin xyz="0 0.02 -0.01" rpy="0 0 0"/>
|
|
<mass value="1"/>
|
|
<inertia ixx="0.1667" ixy="0" ixz="0" iyy="0.1667" iyz="0" izz="0.1667"/>
|
|
</inertial>
|
|
</link>
|
|
|
|
|
|
<!-- Spine to yaw joint -->
|
|
<joint name="base_link_to_neck_yaw" type="revolute">
|
|
<parent link="base_link"/>
|
|
<child link="neck_yaw_link"/>
|
|
<origin xyz="0 0 0.065" rpy="0 0 0"/>
|
|
<axis xyz="0 0 1"/> <!-- yaw/pan around Z -->
|
|
<limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
|
|
</joint>
|
|
<link name="neck_yaw_link"/>
|
|
|
|
<!-- Pitch joint -->
|
|
<joint name="neck_pitch" type="revolute">
|
|
<parent link="neck_yaw_link"/>
|
|
<child link="neck_pitch_link"/>
|
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
<axis xyz="-1 0 0"/> <!-- pitch around X -->
|
|
<limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
|
|
</joint>
|
|
<link name="neck_pitch_link"/>
|
|
|
|
<!-- Roll joint -->
|
|
<joint name="neck_roll" type="revolute">
|
|
<parent link="neck_pitch_link"/>
|
|
<child link="head"/>
|
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
<axis xyz="0 1 0"/> <!-- roll around Y -->
|
|
<limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
|
|
</joint>
|
|
|
|
<!-- Head (includes fused neck geometry) -->
|
|
<link name="head">
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="-1.5745 3.149 0"/>
|
|
<geometry>
|
|
<mesh filename="package://Little_Sophia_Face/meshes/Little_Sophia_Face.glb" scale="0.001 0.001 0.001"/>
|
|
</geometry>
|
|
<material name="head-material">
|
|
<color rgba="0.002 0.05 0.48 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
<geometry>
|
|
<box size="0.06 0.06 0.06"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
<mass value="1"/>
|
|
<inertia ixx="0.16" ixy="0" ixz="0" iyy="0.16" iyz="0" izz="0.16"/>
|
|
</inertial>
|
|
</link>
|
|
|
|
|
|
<transmission name="upper_arm_left">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="base_link_to_upper_arm_left">
|
|
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="upper_arm_left">
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
|
<encoderTicks>4096</encoderTicks>
|
|
<encoderValidMin>200</encoderValidMin>
|
|
<encoderValidMax>3500</encoderValidMax>
|
|
<encoderRange>300</encoderRange>
|
|
<motorID>23</motorID></actuator>
|
|
</transmission>
|
|
<transmission name="hand_left">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="lower_arm_left_to_hand_left">
|
|
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="hand_left">
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
|
<encoderTicks>4096</encoderTicks>
|
|
<encoderValidMin>200</encoderValidMin>
|
|
<encoderValidMax>3500</encoderValidMax>
|
|
<encoderRange>300</encoderRange>
|
|
</actuator>
|
|
</transmission>
|
|
|
|
<transmission name="upper_arm_right">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="base_link_to_upper_arm_right">
|
|
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="upper_arm_right">
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
|
<encoderTicks>4096</encoderTicks>
|
|
<encoderValidMin>200</encoderValidMin>
|
|
<encoderValidMax>3500</encoderValidMax>
|
|
<encoderRange>300</encoderRange>
|
|
<motorID>25</motorID></actuator>
|
|
</transmission>
|
|
|
|
|
|
<transmission name="hip_right">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="base_link_to_hip_right">
|
|
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="hip_right">
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
|
<encoderTicks>4096</encoderTicks>
|
|
<encoderValidMin>200</encoderValidMin>
|
|
<encoderValidMax>3500</encoderValidMax>
|
|
<encoderRange>300</encoderRange>
|
|
<motorID>34</motorID></actuator>
|
|
</transmission>
|
|
|
|
<transmission name="upper_leg_right">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="hip_right_to_upper_leg_right">
|
|
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="upper_leg_right">
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
|
<encoderTicks>4096</encoderTicks>
|
|
<encoderValidMin>200</encoderValidMin>
|
|
<encoderValidMax>3500</encoderValidMax>
|
|
<encoderRange>300</encoderRange>
|
|
<motorID>33</motorID></actuator>
|
|
</transmission>
|
|
|
|
<transmission name="lower_leg_right">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="upper_leg_right_to_lower_leg_right_roll">
|
|
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="lower_leg_right">
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
|
<encoderTicks>4096</encoderTicks>
|
|
<encoderValidMin>200</encoderValidMin>
|
|
<encoderValidMax>3500</encoderValidMax>
|
|
<encoderRange>300</encoderRange>
|
|
<motorID>32</motorID></actuator>
|
|
</transmission>
|
|
|
|
<transmission name="foot_right">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="lower_leg_right_to_foot_right">
|
|
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="foot_right">
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
|
<encoderTicks>4096</encoderTicks>
|
|
<encoderValidMin>200</encoderValidMin>
|
|
<encoderValidMax>3500</encoderValidMax>
|
|
<encoderRange>300</encoderRange>
|
|
<motorID>30</motorID></actuator>
|
|
</transmission>
|
|
|
|
<transmission name="hip_left">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="base_link_to_hip_left">
|
|
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="hip_left">
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
|
<encoderTicks>4096</encoderTicks>
|
|
<encoderValidMin>200</encoderValidMin>
|
|
<encoderValidMax>3500</encoderValidMax>
|
|
<encoderRange>300</encoderRange>
|
|
<motorID>39</motorID></actuator>
|
|
</transmission>
|
|
|
|
<transmission name="upper_leg_left">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="hip_left_to_upper_leg_left">
|
|
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="upper_leg_left">
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
|
<encoderTicks>4096</encoderTicks>
|
|
<encoderValidMin>200</encoderValidMin>
|
|
<encoderValidMax>3500</encoderValidMax>
|
|
<encoderRange>300</encoderRange>
|
|
<motorID>38</motorID></actuator>
|
|
</transmission>
|
|
|
|
<transmission name="lower_leg_left">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="upper_leg_left_to_lower_leg_left_roll">
|
|
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="lower_leg_left">
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
|
<encoderTicks>4096</encoderTicks>
|
|
<encoderValidMin>200</encoderValidMin>
|
|
<encoderValidMax>3500</encoderValidMax>
|
|
<encoderRange>300</encoderRange>
|
|
<motorID>37</motorID></actuator>
|
|
</transmission>
|
|
|
|
|
|
<transmission name="foot_left">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="lower_leg_left_to_foot_left">
|
|
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="foot_left">
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
|
<encoderTicks>4096</encoderTicks>
|
|
<encoderValidMin>200</encoderValidMin>
|
|
<encoderValidMax>3500</encoderValidMax>
|
|
<encoderRange>300</encoderRange>
|
|
<motorID>35</motorID></actuator>
|
|
</transmission>
|
|
|
|
<!-- Yaw (pan) transmission -->
|
|
<transmission name="neck_yaw_trans">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="base_link_to_neck_yaw">
|
|
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="neck_yaw">
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
|
<encoderTicks>4096</encoderTicks>
|
|
<encoderValidMin>200</encoderValidMin>
|
|
<encoderValidMax>3500</encoderValidMax>
|
|
<encoderRange>300</encoderRange>
|
|
<motorID>27</motorID></actuator>
|
|
</transmission>
|
|
|
|
<!-- Pitch transmission -->
|
|
<transmission name="neck_pitch_trans">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="neck_pitch">
|
|
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="neck_pitch">
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
|
<encoderTicks>4096</encoderTicks>
|
|
<encoderValidMin>500</encoderValidMin>
|
|
<encoderValidMax>4095</encoderValidMax>
|
|
<encoderRange>300</encoderRange>
|
|
<motorID>41</motorID></actuator>
|
|
</transmission>
|
|
|
|
<!-- Roll transmission -->
|
|
<transmission name="neck_roll_trans">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="neck_roll">
|
|
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="neck_roll">
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
|
<encoderTicks>4095</encoderTicks>
|
|
<encoderValidMin>100</encoderValidMin>
|
|
<encoderValidMax>3900</encoderValidMax>
|
|
<encoderRange>300</encoderRange>
|
|
<motorID>42</motorID></actuator>
|
|
</transmission>
|
|
|
|
|
|
</robot> |