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spot.urdf.xacro
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spot.urdf.xacro
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<?xml version="1.0"?>
<robot name="spot" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- Include Macros -->
<xacro:include filename="$(find mini_ros)/urdf/spot_macro.xacro" />
<xacro:include filename="$(find mini_ros)/urdf/transmissions.xacro" />
<!-- <xacro:include filename="$(find mini_ros)/urdf/accessories.urdf.xacro" /> -->
<!-- Robot description -->
<!-- STATIC Links -->
<link name="base_link"/>
<!-- MAIN BODY -->
<xacro:mesh_link name="base_inertia"
origin_rpy="0 0 ${pi/2}" origin_xyz="-0.16 0.035 -0.045"
i_rpy="0 0 0" i_xyz="0 0 0"
mass="0.6"
c_xyz="0 0 0"
length="0.114"
width="0.2"
height="0.1"
matname="orange"
meshfile="package://mini_ros/stl/OpenQuadruped/MAINBODY.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<!-- BATTERY -->
<xacro:mesh_link name="battery"
origin_rpy="0 0 ${pi/2}" origin_xyz="-0.15 0.035 -0.022"
i_rpy="0 0 0" i_xyz="0 0 0"
mass="0.4"
c_xyz="0 0 0"
length="0.048"
width="0.145"
height="0.026"
matname="black"
meshfile="package://mini_ros/stl/OpenQuadruped/Battery.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<!-- CHASSIS LEFT -->
<xacro:mesh_link name="chassis_left"
origin_rpy="0 ${pi/2} -${pi/2}" origin_xyz="0.016 0.003 0"
i_rpy="0 0 0" i_xyz="0 0 0"
mass="0.01"
c_xyz="0 0 0"
length="0.06"
width="0.15"
height="0.006"
matname="black"
meshfile="package://mini_ros/stl/OpenQuadruped/Chassis_Left_Side.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<!-- CHASSIS Right -->
<xacro:mesh_link name="chassis_right"
origin_rpy="0 ${pi/2} ${pi/2}" origin_xyz="-0.016 -0.003 0"
i_rpy="0 0 0" i_xyz="0 0 0"
mass="0.01"
c_xyz="0 0 0"
length="0.06"
width="0.15"
height="0.006"
matname="black"
meshfile="package://mini_ros/stl/OpenQuadruped/Chassis_Right_Side.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<!-- FRONT -->
<xacro:mesh_link name="front"
origin_rpy="0 0 ${pi/2}" origin_xyz="-0.16 0.035 -0.045"
i_rpy="0 0 0" i_xyz="0 0 0"
mass="0.1"
c_xyz="0.16 0 0.006"
length="0.114"
width="0.045"
height="0.085"
matname="orange"
meshfile="package://mini_ros/stl/OpenQuadruped/Front.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<!-- BACK -->
<xacro:mesh_link name="back"
origin_rpy="0 0 ${pi/2}" origin_xyz="-0.16 0.035 -0.045"
i_rpy="0 0 0" i_xyz="0 0 0"
mass="0.1"
c_xyz="-0.16 0 0.006"
length="0.114"
width="0.075"
height="0.085"
matname="orange"
meshfile="package://mini_ros/stl/OpenQuadruped/Back.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<!-- FRONT BRACKET -->
<xacro:mesh_link name="front_bracket"
origin_rpy="0 0 ${pi/2}" origin_xyz="-0.16 0.035 -0.045"
i_rpy="0 0 0" i_xyz="0 0 0"
mass="0.1"
c_xyz="0.1 0 0"
length="0.025"
width="0.075"
height="0.085"
matname="black"
meshfile="package://mini_ros/stl/OpenQuadruped/Front_Bracket.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<!-- BACK BRACKET -->
<xacro:mesh_link name="back_bracket"
origin_rpy="0 0 ${pi/2}" origin_xyz="-0.16 0.035 -0.045"
i_rpy="0 0 0" i_xyz="0 0 0"
mass="0.1"
c_xyz="-0.1 0 0"
length="0.025"
width="0.075"
height="0.085"
matname="black"
meshfile="package://mini_ros/stl/OpenQuadruped/Back_Bracket.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<!-- DYNAMIC LINKS (Joints Included) -->
<!-- FRONT LEFT LEG -->
<!-- HIP -->
<xacro:mesh_link name="front_left_hip"
origin_rpy="0 0 ${pi/2}" origin_xyz="-0.25 -0.0044 -0.067"
i_rpy="0 0 0" i_xyz="0 0.075 0"
mass="0.2"
c_xyz="0.015 0.01 -0.01"
length="0.05"
width="0.065"
height="0.065"
matname="black"
meshfile="package://mini_ros/stl/OpenQuadruped/LEFT_HIP.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<xacro:rev_joint name="motor_front_left_hip" type="revolute"
axis_xyz="1 0 0"
origin_rpy="0 0 0" origin_xyz="${0.2515-0.16} ${0.0044+0.035} ${0.067-0.045}"
parent="front_bracket" child="front_left_hip"
effort="4.0" velocity="4.0"
damping="0.0"
friction="0.0"
lower="-1.04"
upper="1.04"/>
<!-- UPPER LEG -->
<xacro:mesh_link name="front_left_upper_leg"
origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.252} ${-0.05} ${-0.055}"
i_rpy="0 0 0" i_xyz="-0.005 0.0175 -0.055"
mass="0.13"
c_xyz="0 0.02 -0.05"
length="0.035"
width="0.035"
height="0.11"
matname="black"
meshfile="package://mini_ros/stl/OpenQuadruped/LEFT_UPPER_LEG.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<xacro:rev_joint name="motor_front_left_upper_leg" type="revolute"
axis_xyz="0 1 0"
origin_rpy="0 0 0" origin_xyz="0.0015 0.045 -0.0087"
parent="front_left_hip" child="front_left_upper_leg"
effort="4.0" velocity="4.0"
damping="0.0"
friction="0.0"
lower="${-pi/2}"
upper="2.59"/>
<!-- LOWER LEG -->
<xacro:mesh_link name="front_left_lower_leg"
origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.247} ${-0.068} ${0.0535}"
i_rpy="0 0 0" i_xyz="-0.01 0 -0.06"
mass="0.05"
c_xyz="0 0 -0.06"
length="0.035"
width="0.035"
height="0.12"
matname="black"
meshfile="package://mini_ros/stl/OpenQuadruped/LEFT_LOWER_LEG.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<xacro:rev_joint name="motor_front_left_lower_leg" type="revolute"
axis_xyz="0 1 0"
origin_rpy="0 0 0" origin_xyz="-0.005 0.018 -0.109"
parent="front_left_upper_leg" child="front_left_lower_leg"
effort="4.0" velocity="4.0"
damping="0.0"
friction="0.0"
lower="-2.9"
upper="${pi/2}"/>
<!-- FOOT -->
<xacro:mesh_link_sphere name="front_left_foot"
origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.247} ${-0.068} ${0.18}"
i_rpy="0 0 0" i_xyz="0 0 0"
mass="0.005"
c_xyz="${-0.247} ${-0.068} ${0.18}"
length="0.05"
width="0.065"
height="0.065"
radius="0.02"
matname="orange"
meshfile="package://mini_ros/stl/OpenQuadruped/LEFT_FOOT.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<xacro:frame_joint name="front_left_leg_foot" type="fixed"
origin_rpy="0 0 0" origin_xyz="0 0 -0.1265"
parent="front_left_lower_leg" child="front_left_foot"/>
<!-- BACK LEFT LEG -->
<!-- HIP -->
<xacro:mesh_link name="back_left_hip"
origin_rpy="0 0 ${pi/2}" origin_xyz="-0.25 -0.0044 -0.067"
i_rpy="0 0 0" i_xyz="0 0.075 0"
mass="0.2"
c_xyz="0.015 0.01 -0.01"
length="0.05"
width="0.065"
height="0.065"
matname="black"
meshfile="package://mini_ros/stl/OpenQuadruped/LEFT_HIP.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<xacro:rev_joint name="motor_back_left_hip" type="revolute"
axis_xyz="1 0 0"
origin_rpy="0 0 0" origin_xyz="${-0.2515+0.115} ${0.0044+0.035} ${0.067-0.045}"
parent="back_bracket" child="back_left_hip"
effort="4.0" velocity="4.0"
damping="0.0"
friction="0.0"
lower="-1.04"
upper="1.04"/>
<!-- UPPER LEG -->
<xacro:mesh_link name="back_left_upper_leg"
origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.252} ${-0.05} ${-0.055}"
i_rpy="0 0 0" i_xyz="-0.005 0.0175 -0.055"
mass="0.13"
c_xyz="0 0.02 -0.05"
length="0.035"
width="0.035"
height="0.11"
matname="black"
meshfile="package://mini_ros/stl/OpenQuadruped/LEFT_UPPER_LEG.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<xacro:rev_joint name="motor_back_left_upper_leg" type="revolute"
axis_xyz="0 1 0"
origin_rpy="0 0 0" origin_xyz="0.0015 0.045 -0.0087"
parent="back_left_hip" child="back_left_upper_leg"
effort="4.0" velocity="4.0"
damping="0.0"
friction="0.0"
lower="${-pi/2}"
upper="2.59"/>
<!-- LOWER LEG -->
<xacro:mesh_link name="back_left_lower_leg"
origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.247} ${-0.068} ${0.0535}"
i_rpy="0 0 0" i_xyz="-0.01 0 -0.06"
mass="0.05"
c_xyz="0 0 -0.06"
length="0.035"
width="0.035"
height="0.12"
matname="black"
meshfile="package://mini_ros/stl/OpenQuadruped/LEFT_LOWER_LEG.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<xacro:rev_joint name="motor_back_left_lower_leg" type="revolute"
axis_xyz="0 1 0"
origin_rpy="0 0 0" origin_xyz="-0.005 0.018 -0.109"
parent="back_left_upper_leg" child="back_left_lower_leg"
effort="4.0" velocity="4.0"
damping="0.0"
friction="0.0"
lower="-2.9"
upper="${pi/2}"/>
<!-- FOOT -->
<xacro:mesh_link_sphere name="back_left_foot"
origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.247} ${-0.068} ${0.18}"
i_rpy="0 0 0" i_xyz="0 0 0"
mass="0.005"
c_xyz="${-0.247} ${-0.068} ${0.18}"
length="0.05"
width="0.065"
height="0.065"
radius="0.02"
matname="orange"
meshfile="package://mini_ros/stl/OpenQuadruped/LEFT_FOOT.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<xacro:frame_joint name="back_left_leg_foot" type="fixed"
origin_rpy="0 0 0" origin_xyz="0 0 -0.1265"
parent="back_left_lower_leg" child="back_left_foot"/>
<!-- FRONT RIGHT LEG -->
<!-- HIP -->
<xacro:mesh_link name="front_right_hip"
origin_rpy="0 0 ${pi/2}" origin_xyz="-0.25 0.074 -0.067"
i_rpy="0 0 0" i_xyz="0 -0.075 0"
mass="0.2"
c_xyz="0.015 ${-0.01} -0.01"
length="0.05"
width="0.065"
height="0.065"
matname="black"
meshfile="package://mini_ros/stl/OpenQuadruped/RIGHT_HIP.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<xacro:rev_joint name="motor_front_right_hip" type="revolute"
axis_xyz="1 0 0"
origin_rpy="0 0 0" origin_xyz="${0.2515-0.16} ${-(0.0044+0.035)} ${0.067-0.045}"
parent="front_bracket" child="front_right_hip"
effort="4.0" velocity="4.0"
damping="0.0"
friction="0.0"
lower="-1.04"
upper="1.04"/>
<!-- UPPER LEG -->
<xacro:mesh_link name="front_right_upper_leg"
origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.252} ${0.12} ${-0.055}"
i_rpy="0 0 0" i_xyz="-0.005 -0.0175 -0.055"
mass="0.13"
c_xyz="0 ${-0.02} -0.05"
length="0.035"
width="0.035"
height="0.11"
matname="black"
meshfile="package://mini_ros/stl/OpenQuadruped/RIGHT_UPPER_LEG.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<xacro:rev_joint name="motor_front_right_upper_leg" type="revolute"
axis_xyz="0 1 0"
origin_rpy="0 0 0" origin_xyz="0.0015 -0.045 -0.0087"
parent="front_right_hip" child="front_right_upper_leg"
effort="4.0" velocity="4.0"
damping="0.0"
friction="0.0"
lower="${-pi/2}"
upper="2.59"/>
<!-- LOWER LEG -->
<xacro:mesh_link name="front_right_lower_leg"
origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.247} ${0.138} ${0.0535}"
i_rpy="0 0 0" i_xyz="-0.01 0 -0.06"
mass="0.05"
c_xyz="0 0 -0.06"
length="0.035"
width="0.035"
height="0.12"
matname="black"
meshfile="package://mini_ros/stl/OpenQuadruped/RIGHT_LOWER_LEG.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<xacro:rev_joint name="motor_front_right_lower_leg" type="revolute"
axis_xyz="0 1 0"
origin_rpy="0 0 0" origin_xyz="-0.005 -0.018 -0.109"
parent="front_right_upper_leg" child="front_right_lower_leg"
effort="4.0" velocity="4.0"
damping="0.0"
friction="0.0"
lower="-2.9"
upper="${pi/2}"/>
<!-- FOOT -->
<xacro:mesh_link_sphere name="front_right_foot"
origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.247} ${0.138} ${0.18}"
i_rpy="0 0 0" i_xyz="0 0 0"
mass="0.005"
c_xyz="${-0.247} ${0.138} ${0.18}"
length="0.05"
width="0.065"
height="0.065"
radius="0.02"
matname="orange"
meshfile="package://mini_ros/stl/OpenQuadruped/RIGHT_FOOT.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<xacro:frame_joint name="front_right_leg_foot" type="fixed"
origin_rpy="0 0 0" origin_xyz="0 0 -0.1265"
parent="front_right_lower_leg" child="front_right_foot"/>
<!-- BACK RIGHT LEG -->
<!-- HIP -->
<xacro:mesh_link name="back_right_hip"
origin_rpy="0 0 ${pi/2}" origin_xyz="-0.25 0.074 -0.067"
i_rpy="0 0 0" i_xyz="0 -0.075 0"
mass="0.2"
c_xyz="0.015 ${-0.01} -0.01"
length="0.05"
width="0.065"
height="0.065"
matname="black"
meshfile="package://mini_ros/stl/OpenQuadruped/RIGHT_HIP.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<xacro:rev_joint name="motor_back_right_hip" type="revolute"
axis_xyz="1 0 0"
origin_rpy="0 0 0" origin_xyz="${-0.2515+0.115} ${-(0.0044+0.035)} ${0.067-0.045}"
parent="back_bracket" child="back_right_hip"
effort="4.0" velocity="4.0"
damping="0.0"
friction="0.0"
lower="-1.04"
upper="1.04"/>
<!-- UPPER LEG -->
<xacro:mesh_link name="back_right_upper_leg"
origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.252} ${0.12} ${-0.055}"
i_rpy="0 0 0" i_xyz="-0.005 -0.0175 -0.055"
mass="0.13"
c_xyz="0 ${-0.02} -0.05"
length="0.035"
width="0.035"
height="0.11"
matname="black"
meshfile="package://mini_ros/stl/OpenQuadruped/RIGHT_UPPER_LEG.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<xacro:rev_joint name="motor_back_right_upper_leg" type="revolute"
axis_xyz="0 1 0"
origin_rpy="0 0 0" origin_xyz="0.0015 -0.045 -0.0087"
parent="back_right_hip" child="back_right_upper_leg"
effort="4.0" velocity="4.0"
damping="0.0"
friction="0.0"
lower="${-pi/2}"
upper="2.59"/>
<!-- LOWER LEG -->
<xacro:mesh_link name="back_right_lower_leg"
origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.247} ${0.138} ${0.0535}"
i_rpy="0 0 0" i_xyz="-0.01 0 -0.06"
mass="0.05"
c_xyz="0 0 -0.06"
length="0.035"
width="0.035"
height="0.12"
matname="black"
meshfile="package://mini_ros/stl/OpenQuadruped/RIGHT_LOWER_LEG.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<xacro:rev_joint name="motor_back_right_lower_leg" type="revolute"
axis_xyz="0 1 0"
origin_rpy="0 0 0" origin_xyz="-0.005 -0.018 -0.109"
parent="back_right_upper_leg" child="back_right_lower_leg"
effort="4.0" velocity="4.0"
damping="0.0"
friction="0.0"
lower="-2.9"
upper="${pi/2}"/>
<!-- FOOT -->
<xacro:mesh_link_sphere name="back_right_foot"
origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.247} ${0.138} ${0.18}"
i_rpy="0 0 0" i_xyz="0 0 0"
mass="0.005"
c_xyz="${-0.247} ${0.138} ${0.18}"
length="0.05"
width="0.065"
height="0.065"
radius="0.02"
matname="orange"
meshfile="package://mini_ros/stl/OpenQuadruped/RIGHT_FOOT.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<xacro:frame_joint name="back_right_leg_foot" type="fixed"
origin_rpy="0 0 0" origin_xyz="0 0 -0.1265"
parent="back_right_lower_leg" child="back_right_foot"/>
<!-- STATIC Joints -->
<!-- FOOTPRINT TO MAIN BODY-->
<xacro:frame_joint name="base_base" type="fixed"
origin_rpy="0 0 0" origin_xyz="0 0 0"
parent="base_link" child="base_inertia"/>
<!-- MAIN BODY TO BATTERY -->
<xacro:frame_joint name="base_battery" type="fixed"
origin_rpy="0 0 0" origin_xyz="-0.01 0 -0.0225"
parent="base_link" child="battery"/>
<!-- MAIN BODY TO CHASSIS LEFT -->
<xacro:frame_joint name="base_left" type="fixed"
origin_rpy="0 0 0" origin_xyz="0.00 0.052 0"
parent="base_link" child="chassis_left"/>
<!-- MAIN BODY TO CHASSIS RIGHT -->
<xacro:frame_joint name="base_right" type="fixed"
origin_rpy="0 0 0" origin_xyz="0.00 -0.052 0"
parent="base_link" child="chassis_right"/>
<!-- MAIN BODY TO FRONT -->
<xacro:frame_joint name="base_front" type="fixed"
origin_rpy="0 0 0" origin_xyz="0 0 0"
parent="base_link" child="front"/>
<!-- MAIN BODY TO BACK -->
<xacro:frame_joint name="base_back" type="fixed"
origin_rpy="0 0 0" origin_xyz="0 0 0"
parent="base_link" child="back"/>
<!-- MAIN BODY TO FRONT BRACKET -->
<xacro:frame_joint name="base_front_bracket" type="fixed"
origin_rpy="0 0 0" origin_xyz="0 0 0"
parent="base_link" child="front_bracket"/>
<!-- MAIN BODY TO BACK BRACKET -->
<xacro:frame_joint name="base_back_bracket" type="fixed"
origin_rpy="0 0 0" origin_xyz="0 0 0"
parent="base_link" child="back_bracket"/>
<xacro:quadruped_transmission leg="front_left"/>
<xacro:quadruped_transmission leg="front_right"/>
<xacro:quadruped_transmission leg="back_left"/>
<xacro:quadruped_transmission leg="back_right"/>
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/spot</robotNamespace>
</plugin>
</gazebo>
</robot>