98 lines
2.9 KiB
XML
98 lines
2.9 KiB
XML
<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:macro name="leg" params="name mirror front_hind">
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<!-- 定义hip_joint -->
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<joint name="${name}_hip_joint" type="revolute">
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<origin rpy="0 0 0" xyz="${front_hind * 0.23} ${mirror * 0.15} 0"/>
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<parent link="trunk"/>
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<child link="${name}_hip"/>
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<axis xyz="1 0 0"/>
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<dynamics damping="0.1" friction="0.1"/>
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<limit effort="20" velocity="10" lower="-1.57" upper="1.57"/>
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</joint>
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<link name="${name}_hip">
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<visual>
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<origin rpy="1.5708 0 0" xyz="0 ${mirror * -0.03} 0"/>
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<geometry>
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<cylinder length="0.05" radius="0.05"/>
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</geometry>
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<material name="white"/>
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</visual>
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<collision>
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<origin rpy="1.5708 0 0" xyz="0 ${mirror * -0.03} 0"/>
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<geometry>
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<cylinder length="0.05" radius="0.10"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.5"/>
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<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
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</inertial>
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</link>
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<!-- 定义thigh_joint -->
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<joint name="${name}_thigh_joint" type="revolute">
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<origin rpy="0 -0.7854 0" xyz="0 ${mirror * 0.05} 0"/>
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<parent link="${name}_hip"/>
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<child link="${name}_thigh"/>
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<axis xyz="0 1 0"/>
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<dynamics damping="0.1" friction="0.1"/>
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<limit effort="20" velocity="10" lower="-1.57" upper="1.57"/>
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</joint>
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<link name="${name}_thigh">
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<visual>
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<origin rpy="0 0 0" xyz="-0.125 0 0"/>
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<geometry>
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<box size="0.25 0.05 0.05"/>
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</geometry>
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<material name="light-grey"/>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="-0.125 0 0"/>
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<geometry>
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<box size="0.25 0.05 0.05"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.5"/>
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<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
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</inertial>
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</link>
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<!-- 定义calf_joint -->
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<joint name="${name}_calf_joint" type="revolute">
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<origin rpy="0 -1.5708 0" xyz="-0.25 0 0"/>
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<parent link="${name}_thigh"/>
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<child link="${name}_calf"/>
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<axis xyz="0 1 0"/>
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<dynamics damping="0.1" friction="0.1"/>
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<limit effort="20" velocity="10" lower="-1.57" upper="1.57"/>
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</joint>
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<link name="${name}_calf">
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<visual>
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<origin rpy="0 0 0" xyz="-0.125 0 0"/>
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<geometry>
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<box size="0.25 0.05 0.05"/>
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</geometry>
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<material name="grey"/>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="-0.125 0 0"/>
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<geometry>
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<box size="0.25 0.05 0.05"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.5"/>
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<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
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</inertial>
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</link>
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</xacro:macro>
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</robot> |