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[cob4-5] new torso and sensorring configurations #192

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merged 1 commit into from
Aug 4, 2016
Merged

[cob4-5] new torso and sensorring configurations #192

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77 changes: 77 additions & 0 deletions cob_description/urdf/cob4_sensorring/sensorring_3dcs_asus.urdf.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

<xacro:include filename="$(find cob_description)/urdf/cob4_sensorring/sensorring.gazebo.xacro" />
<xacro:include filename="$(find cob_description)/urdf/cob4_sensorring/sensorring.transmission.xacro" />
<xacro:include filename="$(find cob_description)/urdf/sensors/sick_3dcs.urdf.xacro" />
<xacro:include filename="$(find cob_description)/urdf/sensors/kinect.urdf.xacro" />

<xacro:macro name="sensorring" params="parent name *origin">

<joint name="${name}_base_joint" type="fixed">
<insert_block name="origin" />
<parent link="${parent}"/>
<child link="${name}_base_link" />
</joint>

<link name="${name}_base_link">
<xacro:default_inertial/>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box size="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box size="0.001 0.001 0.001" />
</geometry>
</collision>
</link>

<joint name="${name}_joint" type="revolute">
<origin xyz="0 0 0" rpy="0 0 0" />
<parent link="${name}_base_link"/>
<child link="${name}_link" />
<axis xyz="0 0 1" />
<limit effort="100" lower="-6.2831" upper="6.2831" velocity="6.28"/>
</joint>

<link name="${name}_link">
<xacro:default_inertial/>
<!--
<xacro:cylinder_inertial radius="0.250" length="0.1" mass="1.0">
<origin xyz="0 0 0" rpy="0 0 0" />
</xacro:cylinder_inertial>
-->
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box size="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box size="0.001 0.001 0.001" />
</geometry>
</collision>
</link>

<!-- camera -->
<xacro:sick_3dcs name="${name}_cam3d_front" ros_topic="${name}_cam3d_front" parent="${name}_link">
<origin xyz="${sensorring_cam3d_front_x} ${sensorring_cam3d_front_y} ${sensorring_cam3d_front_z}" rpy="${sensorring_cam3d_front_roll} ${sensorring_cam3d_front_pitch} ${sensorring_cam3d_front_yaw}" />
</xacro:sick_3dcs>

<xacro:cob_kinect_v0 name="${name}_cam3d_back" ros_topic="${name}_cam3d_back" parent="${name}_link">
<origin xyz="${sensorring_cam3d_back_x} ${sensorring_cam3d_back_y} ${sensorring_cam3d_back_z}" rpy="${sensorring_cam3d_back_roll} ${sensorring_cam3d_back_pitch} ${sensorring_cam3d_back_yaw}" />
</xacro:cob_kinect_v0>

<!-- extensions -->
<xacro:sensorring_gazebo name="${name}" />
<xacro:sensorring_transmission name="${name}" />

</xacro:macro>

</robot>
163 changes: 163 additions & 0 deletions cob_description/urdf/cob4_torso/torso_static_realsense.urdf.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

<xacro:include filename="$(find cob_description)/urdf/cob4_torso/torso.gazebo.xacro" />
<xacro:include filename="$(find cob_description)/urdf/cob4_torso/torso.transmission.xacro" />
<xacro:include filename="$(find cob_description)/urdf/sensors/realsense.urdf.xacro" />
<xacro:include filename="$(find cob_description)/urdf/sensors/kinect.urdf.xacro" />

<xacro:macro name="torso" params="parent name *origin">

<joint name="${name}_base_joint" type="fixed">
<insert_block name="origin" />
<parent link="${parent}"/>
<child link="${name}_base_link" />
</joint>

<link name="${name}_base_link">
<xacro:default_inertial/>
<!--
<xacro:cylinder_inertial radius="0.300" length="0.046" mass="5.0">
<origin xyz="0.03 0.08 0.01" rpy="0 0 0" />
</xacro:cylinder_inertial>
-->
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box size="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box size="0.001 0.001 0.001" />
</geometry>
</collision>
</link>

<joint name="${name}_1_joint" type="fixed">
<origin xyz="0 0 0.04642" rpy="0 0 0"/>
<parent link="${name}_base_link"/>
<child link="${name}_1_link" />
</joint>

<link name="${name}_1_link">
<xacro:default_inertial/>
<!--
<xacro:hollow_spherical_cap_inertial r="0.295" h="0.075" t="0.010" mass="6">
<origin xyz="0 0 ${0.075/2}" rpy="0 0 0"/>
</xacro:hollow_spherical_cap_inertial>
-->
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box size="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box size="0.001 0.001 0.001" />
</geometry>
</collision>
</link>

<joint name="${name}_2_joint" type="fixed">
<origin xyz="0 0.14734 0.07547" rpy="0.5236 0 0" />
<parent link="${name}_1_link"/>
<child link="${name}_2_link" />
</joint>

<link name="${name}_2_link">
<xacro:default_inertial/>
<!--
<xacro:spherical_cap_inertial r="0.295" h="0.075" mass="19.5">
<origin xyz="0.034 0.102 0.092" rpy="0.5236 0 0"/>
</xacro:spherical_cap_inertial>
-->
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box size="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box size="0.001 0.001 0.001" />
</geometry>
</collision>
</link>

<joint name="${name}_3_joint" type="fixed">
<origin xyz="0 -0.09228 0.13477" rpy="-0.5236 0 0" />
<parent link="${name}_2_link"/>
<child link="${name}_3_link" />
</joint>

<link name="${name}_3_link">
<xacro:default_inertial/>
<!--
<xacro:cylinder_inertial radius="0.250" length="0.610" mass="23.8">
<origin xyz="-0.028 0.005 0.233" rpy="0 0 0" />
</xacro:cylinder_inertial>
-->
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://cob_description/meshes/cob4_torso/torso_link.dae"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://cob_description/meshes/cob4_torso/torso_link_collision.stl"/>
</geometry>
</collision>
</link>

<joint name="${name}_center_joint" type="fixed">
<origin xyz="0.0 0.0 0.18566" rpy="0 0 0" />
<parent link="${name}_3_link"/>
<child link="${name}_center_link" />
</joint>

<link name="${name}_center_link">
<xacro:default_inertial/>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box size="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box size="0.001 0.001 0.001" />
</geometry>
</collision>
</link>


<!-- left camera -->
<xacro:cob_kinect_v0 name="${name}_cam3d_left" ros_topic="torso_cam3d_left" parent="${name}_3_link">
<origin xyz="${torso_cam3d_left_x} ${torso_cam3d_left_y} ${torso_cam3d_left_z}" rpy="${torso_cam3d_left_roll} ${torso_cam3d_left_pitch} ${torso_cam3d_left_yaw}" />
</xacro:cob_kinect_v0>

<!-- right camera -->
<xacro:cob_kinect_v0 name="${name}_cam3d_right" ros_topic="torso_cam3d_right" parent="${name}_3_link">
<origin xyz="${torso_cam3d_right_x} ${torso_cam3d_right_y} ${torso_cam3d_right_z}" rpy="${torso_cam3d_right_roll} ${torso_cam3d_right_pitch} ${torso_cam3d_right_yaw}" />
</xacro:cob_kinect_v0>

<!-- down camera -->
<xacro:realsense name="${name}_cam3d_down" ros_topic="torso_cam3d_down" parent="${name}_3_link">
<origin xyz="${torso_cam3d_down_x} ${torso_cam3d_down_y} ${torso_cam3d_down_z}" rpy="${torso_cam3d_down_roll} ${torso_cam3d_down_pitch} ${torso_cam3d_down_yaw}" />
</xacro:realsense>

<!-- extensions -->
<xacro:torso_gazebo name="torso" />
<xacro:torso_transmission name="torso" />

</xacro:macro>

</robot>