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choshingcheung
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spotmicro-urdf

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choshingcheung commited on
Commit
b4fd2d9
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1 Parent(s): 96795fd

Add SpotMicro URDF and STL mesh assets

Browse files
Files changed (38) hide show
  1. .gitattributes +32 -0
  2. urdf/spot.urdf +710 -0
  3. urdf/stl/LICENSE.txt +3 -0
  4. urdf/stl/OpenQuadruped/BACK.stl +3 -0
  5. urdf/stl/OpenQuadruped/BATTERY.stl +0 -0
  6. urdf/stl/OpenQuadruped/Back_Bracket.stl +3 -0
  7. urdf/stl/OpenQuadruped/Chassis_Left_Side.stl +3 -0
  8. urdf/stl/OpenQuadruped/Chassis_Right_Side.stl +3 -0
  9. urdf/stl/OpenQuadruped/FRONT.stl +3 -0
  10. urdf/stl/OpenQuadruped/Front_Bracket.stl +3 -0
  11. urdf/stl/OpenQuadruped/LEFT_FOOT.stl +3 -0
  12. urdf/stl/OpenQuadruped/LEFT_HIP.stl +3 -0
  13. urdf/stl/OpenQuadruped/LEFT_LOWER_LEG.stl +3 -0
  14. urdf/stl/OpenQuadruped/LEFT_UPPER_LEG.stl +3 -0
  15. urdf/stl/OpenQuadruped/MAINBODY.stl +3 -0
  16. urdf/stl/OpenQuadruped/RIGHT_FOOT.stl +3 -0
  17. urdf/stl/OpenQuadruped/RIGHT_HIP.stl +3 -0
  18. urdf/stl/OpenQuadruped/RIGHT_LOWER_LEG.stl +3 -0
  19. urdf/stl/OpenQuadruped/RIGHT_UPPER_LEG.stl +3 -0
  20. urdf/stl/OpenQuadruped/SERVO_WITH_COVER.stl +3 -0
  21. urdf/stl/README.txt +92 -0
  22. urdf/stl/backpart.stl +3 -0
  23. urdf/stl/foot.stl +3 -0
  24. urdf/stl/frontpart.stl +3 -0
  25. urdf/stl/larm.stl +3 -0
  26. urdf/stl/larm_cover.stl +3 -0
  27. urdf/stl/lfoot.stl +3 -0
  28. urdf/stl/lshoulder.stl +3 -0
  29. urdf/stl/mainbody.dae +0 -0
  30. urdf/stl/mainbody.stl +3 -0
  31. urdf/stl/rarm.stl +3 -0
  32. urdf/stl/rarm_cover.stl +3 -0
  33. urdf/stl/rear.stl +3 -0
  34. urdf/stl/rear2.stl +3 -0
  35. urdf/stl/rearmain.stl +3 -0
  36. urdf/stl/rfoot.stl +3 -0
  37. urdf/stl/rplidar_main.stl +3 -0
  38. urdf/stl/rshoulder.stl +3 -0
.gitattributes CHANGED
@@ -58,3 +58,35 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
58
  # Video files - compressed
59
  *.mp4 filter=lfs diff=lfs merge=lfs -text
60
  *.webm filter=lfs diff=lfs merge=lfs -text
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
58
  # Video files - compressed
59
  *.mp4 filter=lfs diff=lfs merge=lfs -text
60
  *.webm filter=lfs diff=lfs merge=lfs -text
61
+ urdf/stl/backpart.stl filter=lfs diff=lfs merge=lfs -text
62
+ urdf/stl/foot.stl filter=lfs diff=lfs merge=lfs -text
63
+ urdf/stl/frontpart.stl filter=lfs diff=lfs merge=lfs -text
64
+ urdf/stl/larm.stl filter=lfs diff=lfs merge=lfs -text
65
+ urdf/stl/larm_cover.stl filter=lfs diff=lfs merge=lfs -text
66
+ urdf/stl/lfoot.stl filter=lfs diff=lfs merge=lfs -text
67
+ urdf/stl/lshoulder.stl filter=lfs diff=lfs merge=lfs -text
68
+ urdf/stl/mainbody.stl filter=lfs diff=lfs merge=lfs -text
69
+ urdf/stl/OpenQuadruped/BACK.stl filter=lfs diff=lfs merge=lfs -text
70
+ urdf/stl/OpenQuadruped/Back_Bracket.stl filter=lfs diff=lfs merge=lfs -text
71
+ urdf/stl/OpenQuadruped/Chassis_Left_Side.stl filter=lfs diff=lfs merge=lfs -text
72
+ urdf/stl/OpenQuadruped/Chassis_Right_Side.stl filter=lfs diff=lfs merge=lfs -text
73
+ urdf/stl/OpenQuadruped/FRONT.stl filter=lfs diff=lfs merge=lfs -text
74
+ urdf/stl/OpenQuadruped/Front_Bracket.stl filter=lfs diff=lfs merge=lfs -text
75
+ urdf/stl/OpenQuadruped/LEFT_FOOT.stl filter=lfs diff=lfs merge=lfs -text
76
+ urdf/stl/OpenQuadruped/LEFT_HIP.stl filter=lfs diff=lfs merge=lfs -text
77
+ urdf/stl/OpenQuadruped/LEFT_LOWER_LEG.stl filter=lfs diff=lfs merge=lfs -text
78
+ urdf/stl/OpenQuadruped/LEFT_UPPER_LEG.stl filter=lfs diff=lfs merge=lfs -text
79
+ urdf/stl/OpenQuadruped/MAINBODY.stl filter=lfs diff=lfs merge=lfs -text
80
+ urdf/stl/OpenQuadruped/RIGHT_FOOT.stl filter=lfs diff=lfs merge=lfs -text
81
+ urdf/stl/OpenQuadruped/RIGHT_HIP.stl filter=lfs diff=lfs merge=lfs -text
82
+ urdf/stl/OpenQuadruped/RIGHT_LOWER_LEG.stl filter=lfs diff=lfs merge=lfs -text
83
+ urdf/stl/OpenQuadruped/RIGHT_UPPER_LEG.stl filter=lfs diff=lfs merge=lfs -text
84
+ urdf/stl/OpenQuadruped/SERVO_WITH_COVER.stl filter=lfs diff=lfs merge=lfs -text
85
+ urdf/stl/rarm.stl filter=lfs diff=lfs merge=lfs -text
86
+ urdf/stl/rarm_cover.stl filter=lfs diff=lfs merge=lfs -text
87
+ urdf/stl/rear.stl filter=lfs diff=lfs merge=lfs -text
88
+ urdf/stl/rear2.stl filter=lfs diff=lfs merge=lfs -text
89
+ urdf/stl/rearmain.stl filter=lfs diff=lfs merge=lfs -text
90
+ urdf/stl/rfoot.stl filter=lfs diff=lfs merge=lfs -text
91
+ urdf/stl/rplidar_main.stl filter=lfs diff=lfs merge=lfs -text
92
+ urdf/stl/rshoulder.stl filter=lfs diff=lfs merge=lfs -text
urdf/spot.urdf ADDED
@@ -0,0 +1,710 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="1.0" encoding="utf-8"?>
2
+ <!-- =================================================================================== -->
3
+ <!-- | This document was autogenerated by xacro from spot.urdf.xacro | -->
4
+ <!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
5
+ <!-- =================================================================================== -->
6
+ <robot name="spot" xmlns:xacro="http://www.ros.org/wiki/xacro">
7
+ <material name="orange">
8
+ <color rgba="1.0 0.5 0.0 1"/>
9
+ </material>
10
+ <material name="black">
11
+ <color rgba="0.1 0.1 0.1 1"/>
12
+ </material>
13
+ <material name="grey">
14
+ <color rgba="0.6 0.6 0.6 1"/>
15
+ </material>
16
+ <!-- Left Leg: prefix is front or rear -->
17
+ <!-- <xacro:macro name="LeftLeg" params="prefix reflect">
18
+ <link name="${prefix}_Left_Leg">
19
+ <visual>
20
+ <geometry>
21
+ <box size="${leglen} 0.1 0.2"/>
22
+ </geometry>
23
+ <origin xyz="0 0 -${leglen/2}" rpy="0 ${pi/2} 0"/>
24
+ <material name="white"/>
25
+ </visual>
26
+ <collision>
27
+ <geometry>
28
+ <box size="${leglen} 0.1 0.2"/>
29
+ </geometry>
30
+ <origin xyz="0 0 -${leglen/2}" rpy="0 ${pi/2} 0"/>
31
+ </collision>
32
+ <xacro:default_inertial mass="10"/>
33
+ </link>
34
+
35
+ <joint name="base_to_${prefix}_leg" type="fixed">
36
+ <parent link="base_link"/>
37
+ <child link="${prefix}_leg"/>
38
+ <origin xyz="0 ${reflect*(width+.02)} 0.25" />
39
+ </joint>
40
+ </xacro:macro> -->
41
+ <!-- Robot description -->
42
+ <!-- STATIC Links -->
43
+ <link name="base_link">
44
+ <visual>
45
+ <origin rpy="0 0 1.57079632679" xyz="-0.16 0.035 -0.045"/>
46
+ <geometry>
47
+ <mesh filename="./stl/OpenQuadruped/MAINBODY.stl" scale="1 1 1"/>
48
+ </geometry>
49
+ <material name="orange"/>
50
+ </visual>
51
+ <collision>
52
+ <origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
53
+ <geometry>
54
+ <box size="0.114 0.2 0.1"/>
55
+ </geometry>
56
+ </collision>
57
+ <inertial>
58
+ <mass value="0.6"/>
59
+ <origin rpy="0 0 0" xyz="0 0 0"/>
60
+ <!-- Inertial Axes -->
61
+ <inertia ixx="0.0025" ixy="0" ixz="0" iyx="0" iyy="0.0011498" iyz="0" izx="0" izy="0" izz="0.0026498"/>
62
+ </inertial>
63
+ </link>
64
+ <!-- m to mm -->
65
+ <link name="battery">
66
+ <visual>
67
+ <origin rpy="0 0 1.57079632679" xyz="-0.15 0.035 -0.022"/>
68
+ <geometry>
69
+ <mesh filename="./stl/OpenQuadruped/Battery.stl" scale="1 1 1"/>
70
+ </geometry>
71
+ <material name="black"/>
72
+ </visual>
73
+ <collision>
74
+ <origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
75
+ <geometry>
76
+ <box size="0.048 0.145 0.026"/>
77
+ </geometry>
78
+ </collision>
79
+ <inertial>
80
+ <mass value="0.4"/>
81
+ <origin rpy="0 0 0" xyz="0 0 0"/>
82
+ <!-- Inertial Axes -->
83
+ <inertia ixx="0.000723366666667" ixy="0" ixz="0" iyx="0" iyy="9.93333333333e-05" iyz="0" izx="0" izy="0" izz="0.000777633333333"/>
84
+ </inertial>
85
+ </link>
86
+ <!-- m to mm -->
87
+ <link name="chassis_left">
88
+ <visual>
89
+ <origin rpy="0 1.57079632679 -1.57079632679" xyz="0.016 0.003 0"/>
90
+ <geometry>
91
+ <mesh filename="./stl/OpenQuadruped/Chassis_Left_Side.stl" scale="1 1 1"/>
92
+ </geometry>
93
+ <material name="black"/>
94
+ </visual>
95
+ <collision>
96
+ <origin rpy="0 1.57079632679 -1.57079632679" xyz="0 0 0"/>
97
+ <geometry>
98
+ <box size="0.06 0.15 0.006"/>
99
+ </geometry>
100
+ </collision>
101
+ <inertial>
102
+ <mass value="0.01"/>
103
+ <origin rpy="0 0 0" xyz="0 0 0"/>
104
+ <!-- Inertial Axes -->
105
+ <inertia ixx="1.878e-05" ixy="0" ixz="0" iyx="0" iyy="3.03e-06" iyz="0" izx="0" izy="0" izz="2.175e-05"/>
106
+ </inertial>
107
+ </link>
108
+ <!-- m to mm -->
109
+ <link name="chassis_right">
110
+ <visual>
111
+ <origin rpy="0 1.57079632679 1.57079632679" xyz="-0.016 -0.003 0"/>
112
+ <geometry>
113
+ <mesh filename="./stl/OpenQuadruped/Chassis_Right_Side.stl" scale="1 1 1"/>
114
+ </geometry>
115
+ <material name="black"/>
116
+ </visual>
117
+ <collision>
118
+ <origin rpy="0 1.57079632679 1.57079632679" xyz="0 0 0"/>
119
+ <geometry>
120
+ <box size="0.06 0.15 0.006"/>
121
+ </geometry>
122
+ </collision>
123
+ <inertial>
124
+ <mass value="0.01"/>
125
+ <origin rpy="0 0 0" xyz="0 0 0"/>
126
+ <!-- Inertial Axes -->
127
+ <inertia ixx="1.878e-05" ixy="0" ixz="0" iyx="0" iyy="3.03e-06" iyz="0" izx="0" izy="0" izz="2.175e-05"/>
128
+ </inertial>
129
+ </link>
130
+ <!-- m to mm -->
131
+ <link name="front">
132
+ <visual>
133
+ <origin rpy="0 0 1.57079632679" xyz="-0.16 0.035 -0.045"/>
134
+ <geometry>
135
+ <mesh filename="./stl/OpenQuadruped/Front.stl" scale="1 1 1"/>
136
+ </geometry>
137
+ <material name="orange"/>
138
+ </visual>
139
+ <collision>
140
+ <origin rpy="0 0 1.57079632679" xyz="0.16 0 0.006"/>
141
+ <geometry>
142
+ <box size="0.114 0.045 0.085"/>
143
+ </geometry>
144
+ </collision>
145
+ <inertial>
146
+ <mass value="0.1"/>
147
+ <origin rpy="0 0 0" xyz="0 0 0"/>
148
+ <!-- Inertial Axes -->
149
+ <inertia ixx="7.70833333333e-05" ixy="0" ixz="0" iyx="0" iyy="0.000168508333333" iyz="0" izx="0" izy="0" izz="0.000125175"/>
150
+ </inertial>
151
+ </link>
152
+ <!-- m to mm -->
153
+ <link name="back">
154
+ <visual>
155
+ <origin rpy="0 0 1.57079632679" xyz="-0.16 0.035 -0.045"/>
156
+ <geometry>
157
+ <mesh filename="./stl/OpenQuadruped/Back.stl" scale="1 1 1"/>
158
+ </geometry>
159
+ <material name="orange"/>
160
+ </visual>
161
+ <collision>
162
+ <origin rpy="0 0 1.57079632679" xyz="-0.16 0 0.006"/>
163
+ <geometry>
164
+ <box size="0.114 0.075 0.085"/>
165
+ </geometry>
166
+ </collision>
167
+ <inertial>
168
+ <mass value="0.1"/>
169
+ <origin rpy="0 0 0" xyz="0 0 0"/>
170
+ <!-- Inertial Axes -->
171
+ <inertia ixx="0.000107083333333" ixy="0" ixz="0" iyx="0" iyy="0.000168508333333" iyz="0" izx="0" izy="0" izz="0.000155175"/>
172
+ </inertial>
173
+ </link>
174
+ <!-- m to mm -->
175
+ <link name="front_bracket">
176
+ <visual>
177
+ <origin rpy="0 0 1.57079632679" xyz="-0.16 0.035 -0.045"/>
178
+ <geometry>
179
+ <mesh filename="./stl/OpenQuadruped/Front_Bracket.stl" scale="1 1 1"/>
180
+ </geometry>
181
+ <material name="black"/>
182
+ </visual>
183
+ <collision>
184
+ <origin rpy="0 0 1.57079632679" xyz="0.1 0 0"/>
185
+ <geometry>
186
+ <box size="0.025 0.075 0.085"/>
187
+ </geometry>
188
+ </collision>
189
+ <inertial>
190
+ <mass value="0.1"/>
191
+ <origin rpy="0 0 0" xyz="0 0 0"/>
192
+ <!-- Inertial Axes -->
193
+ <inertia ixx="0.000107083333333" ixy="0" ixz="0" iyx="0" iyy="6.54166666667e-05" iyz="0" izx="0" izy="0" izz="5.20833333333e-05"/>
194
+ </inertial>
195
+ </link>
196
+ <!-- m to mm -->
197
+ <link name="back_bracket">
198
+ <visual>
199
+ <origin rpy="0 0 1.57079632679" xyz="-0.16 0.035 -0.045"/>
200
+ <geometry>
201
+ <mesh filename="./stl/OpenQuadruped/Back_Bracket.stl" scale="1 1 1"/>
202
+ </geometry>
203
+ <material name="black"/>
204
+ </visual>
205
+ <collision>
206
+ <origin rpy="0 0 1.57079632679" xyz="-0.1 0 0"/>
207
+ <geometry>
208
+ <box size="0.025 0.075 0.085"/>
209
+ </geometry>
210
+ </collision>
211
+ <inertial>
212
+ <mass value="0.1"/>
213
+ <origin rpy="0 0 0" xyz="0 0 0"/>
214
+ <!-- Inertial Axes -->
215
+ <inertia ixx="0.000107083333333" ixy="0" ixz="0" iyx="0" iyy="6.54166666667e-05" iyz="0" izx="0" izy="0" izz="5.20833333333e-05"/>
216
+ </inertial>
217
+ </link>
218
+ <!-- m to mm -->
219
+ <link name="front_left_hip">
220
+ <visual>
221
+ <origin rpy="0 0 1.57079632679" xyz="-0.25 -0.0044 -0.067"/>
222
+ <geometry>
223
+ <mesh filename="./stl/OpenQuadruped/LEFT_HIP.stl" scale="1 1 1"/>
224
+ </geometry>
225
+ <material name="black"/>
226
+ </visual>
227
+ <collision>
228
+ <origin rpy="0 0 1.57079632679" xyz="0.015 0.01 -0.01"/>
229
+ <geometry>
230
+ <box size="0.05 0.065 0.065"/>
231
+ </geometry>
232
+ </collision>
233
+ <inertial>
234
+ <mass value="0.2"/>
235
+ <origin rpy="0 0 0" xyz="0 0 0"/>
236
+ <!-- Inertial Axes -->
237
+ <inertia ixx="0.000140833333333" ixy="0" ixz="0" iyx="0" iyy="0.000112083333333" iyz="0" izx="0" izy="0" izz="0.000112083333333"/>
238
+ </inertial>
239
+ </link>
240
+ <joint name="motor_front_left_hip" type="revolute">
241
+ <axis xyz="1 0 0"/>
242
+ <origin rpy="0 0 0" xyz="0.0915 0.0394 0.022"/>
243
+ <parent link="front_bracket"/>
244
+ <child link="front_left_hip"/>
245
+ <limit effort="1000.0" lower="-1.04" upper="1.04" velocity="0.7"/>
246
+ <joint_properties damping="0.0" friction="0.0"/>
247
+ </joint>
248
+ <link name="front_left_upper_leg">
249
+ <visual>
250
+ <origin rpy="0 0 1.57079632679" xyz="-0.252 -0.05 -0.055"/>
251
+ <geometry>
252
+ <mesh filename="./stl/OpenQuadruped/LEFT_UPPER_LEG.stl" scale="1 1 1"/>
253
+ </geometry>
254
+ <material name="black"/>
255
+ </visual>
256
+ <collision>
257
+ <origin rpy="0 0 1.57079632679" xyz="0 0.02 -0.05"/>
258
+ <geometry>
259
+ <box size="0.035 0.035 0.11"/>
260
+ </geometry>
261
+ </collision>
262
+ <inertial>
263
+ <mass value="0.13"/>
264
+ <origin rpy="0 0 0" xyz="0 0 0"/>
265
+ <!-- Inertial Axes -->
266
+ <inertia ixx="0.000144354166667" ixy="0" ixz="0" iyx="0" iyy="0.000144354166667" iyz="0" izx="0" izy="0" izz="2.65416666667e-05"/>
267
+ </inertial>
268
+ </link>
269
+ <joint name="motor_front_left_upper_leg" type="revolute">
270
+ <axis xyz="0 1 0"/>
271
+ <origin rpy="0 0 0" xyz="0.0015 0.045 -0.0087"/>
272
+ <parent link="front_left_hip"/>
273
+ <child link="front_left_upper_leg"/>
274
+ <limit effort="1000.0" lower="-1.57079632679" upper="2.59" velocity="0.7"/>
275
+ <joint_properties damping="0.0" friction="0.0"/>
276
+ </joint>
277
+ <link name="front_left_lower_leg">
278
+ <visual>
279
+ <origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.0535"/>
280
+ <geometry>
281
+ <mesh filename="./stl/OpenQuadruped/LEFT_LOWER_LEG.stl" scale="1 1 1"/>
282
+ </geometry>
283
+ <material name="black"/>
284
+ </visual>
285
+ <collision>
286
+ <origin rpy="0 0 1.57079632679" xyz="0 0 -0.06"/>
287
+ <geometry>
288
+ <box size="0.035 0.035 0.12"/>
289
+ </geometry>
290
+ </collision>
291
+ <inertial>
292
+ <mass value="0.05"/>
293
+ <origin rpy="0 0 0" xyz="0 0 0"/>
294
+ <!-- Inertial Axes -->
295
+ <inertia ixx="6.51041666667e-05" ixy="0" ixz="0" iyx="0" iyy="6.51041666667e-05" iyz="0" izx="0" izy="0" izz="1.02083333333e-05"/>
296
+ </inertial>
297
+ </link>
298
+ <joint name="motor_front_left_lower_leg" type="revolute">
299
+ <axis xyz="0 1 0"/>
300
+ <origin rpy="0 0 0" xyz="-0.005 0.018 -0.109"/>
301
+ <parent link="front_left_upper_leg"/>
302
+ <child link="front_left_lower_leg"/>
303
+ <limit effort="1000.0" lower="-2.9" upper="1.57079632679" velocity="0.7"/>
304
+ <joint_properties damping="0.0" friction="0.0"/>
305
+ </joint>
306
+ <link name="front_left_foot">
307
+ <visual>
308
+ <origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.18"/>
309
+ <geometry>
310
+ <mesh filename="./stl/OpenQuadruped/LEFT_FOOT.stl" scale="1 1 1"/>
311
+ </geometry>
312
+ <material name="orange"/>
313
+ </visual>
314
+ <collision>
315
+ <origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.18"/>
316
+ <geometry>
317
+ <mesh filename="./stl/OpenQuadruped/LEFT_FOOT.stl" scale="1 1 1"/>
318
+ </geometry>
319
+ <contact_coefficients mu="10.1"/>
320
+ </collision>
321
+ <inertial>
322
+ <mass value="0.005"/>
323
+ <origin rpy="0 0 0" xyz="0 0 0"/>
324
+ <!-- Inertial Axes -->
325
+ <inertia ixx="3.52083333333e-06" ixy="0" ixz="0" iyx="0" iyy="2.80208333333e-06" iyz="0" izx="0" izy="0" izz="2.80208333333e-06"/>
326
+ </inertial>
327
+ </link>
328
+ <joint name="front_left_leg_foot" type="fixed">
329
+ <origin rpy="0 0 0" xyz="0 0 -0.1265"/>
330
+ <parent link="front_left_lower_leg"/>
331
+ <child link="front_left_foot"/>
332
+ </joint>
333
+ <link name="back_left_hip">
334
+ <visual>
335
+ <origin rpy="0 0 1.57079632679" xyz="-0.25 -0.0044 -0.067"/>
336
+ <geometry>
337
+ <mesh filename="./stl/OpenQuadruped/LEFT_HIP.stl" scale="1 1 1"/>
338
+ </geometry>
339
+ <material name="black"/>
340
+ </visual>
341
+ <collision>
342
+ <origin rpy="0 0 1.57079632679" xyz="0.015 0.01 -0.01"/>
343
+ <geometry>
344
+ <box size="0.05 0.065 0.065"/>
345
+ </geometry>
346
+ </collision>
347
+ <inertial>
348
+ <mass value="0.2"/>
349
+ <origin rpy="0 0 0" xyz="0 0 0"/>
350
+ <!-- Inertial Axes -->
351
+ <inertia ixx="0.000140833333333" ixy="0" ixz="0" iyx="0" iyy="0.000112083333333" iyz="0" izx="0" izy="0" izz="0.000112083333333"/>
352
+ </inertial>
353
+ </link>
354
+ <joint name="motor_back_left_hip" type="revolute">
355
+ <axis xyz="1 0 0"/>
356
+ <origin rpy="0 0 0" xyz="-0.1365 0.0394 0.022"/>
357
+ <parent link="back_bracket"/>
358
+ <child link="back_left_hip"/>
359
+ <limit effort="1000.0" lower="-1.04" upper="1.04" velocity="0.7"/>
360
+ <joint_properties damping="0.0" friction="0.0"/>
361
+ </joint>
362
+ <link name="back_left_upper_leg">
363
+ <visual>
364
+ <origin rpy="0 0 1.57079632679" xyz="-0.252 -0.05 -0.055"/>
365
+ <geometry>
366
+ <mesh filename="./stl/OpenQuadruped/LEFT_UPPER_LEG.stl" scale="1 1 1"/>
367
+ </geometry>
368
+ <material name="black"/>
369
+ </visual>
370
+ <collision>
371
+ <origin rpy="0 0 1.57079632679" xyz="0 0.02 -0.05"/>
372
+ <geometry>
373
+ <box size="0.035 0.035 0.11"/>
374
+ </geometry>
375
+ </collision>
376
+ <inertial>
377
+ <mass value="0.13"/>
378
+ <origin rpy="0 0 0" xyz="0 0 0"/>
379
+ <!-- Inertial Axes -->
380
+ <inertia ixx="0.000144354166667" ixy="0" ixz="0" iyx="0" iyy="0.000144354166667" iyz="0" izx="0" izy="0" izz="2.65416666667e-05"/>
381
+ </inertial>
382
+ </link>
383
+ <joint name="motor_back_left_upper_leg" type="revolute">
384
+ <axis xyz="0 1 0"/>
385
+ <origin rpy="0 0 0" xyz="0.0015 0.045 -0.0087"/>
386
+ <parent link="back_left_hip"/>
387
+ <child link="back_left_upper_leg"/>
388
+ <limit effort="1000.0" lower="-1.57079632679" upper="2.59" velocity="0.7"/>
389
+ <joint_properties damping="0.0" friction="0.0"/>
390
+ </joint>
391
+ <link name="back_left_lower_leg">
392
+ <visual>
393
+ <origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.0535"/>
394
+ <geometry>
395
+ <mesh filename="./stl/OpenQuadruped/LEFT_LOWER_LEG.stl" scale="1 1 1"/>
396
+ </geometry>
397
+ <material name="black"/>
398
+ </visual>
399
+ <collision>
400
+ <origin rpy="0 0 1.57079632679" xyz="0 0 -0.06"/>
401
+ <geometry>
402
+ <box size="0.035 0.035 0.12"/>
403
+ </geometry>
404
+ </collision>
405
+ <inertial>
406
+ <mass value="0.05"/>
407
+ <origin rpy="0 0 0" xyz="0 0 0"/>
408
+ <!-- Inertial Axes -->
409
+ <inertia ixx="6.51041666667e-05" ixy="0" ixz="0" iyx="0" iyy="6.51041666667e-05" iyz="0" izx="0" izy="0" izz="1.02083333333e-05"/>
410
+ </inertial>
411
+ </link>
412
+ <joint name="motor_back_left_lower_leg" type="revolute">
413
+ <axis xyz="0 1 0"/>
414
+ <origin rpy="0 0 0" xyz="-0.005 0.018 -0.109"/>
415
+ <parent link="back_left_upper_leg"/>
416
+ <child link="back_left_lower_leg"/>
417
+ <limit effort="1000.0" lower="-2.9" upper="1.57079632679" velocity="0.7"/>
418
+ <joint_properties damping="0.0" friction="0.0"/>
419
+ </joint>
420
+ <link name="back_left_foot">
421
+ <visual>
422
+ <origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.18"/>
423
+ <geometry>
424
+ <mesh filename="./stl/OpenQuadruped/LEFT_FOOT.stl" scale="1 1 1"/>
425
+ </geometry>
426
+ <material name="orange"/>
427
+ </visual>
428
+ <collision>
429
+ <origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.18"/>
430
+ <geometry>
431
+ <mesh filename="./stl/OpenQuadruped/LEFT_FOOT.stl" scale="1 1 1"/>
432
+ </geometry>
433
+ <contact_coefficients mu="10.1"/>
434
+ </collision>
435
+ <inertial>
436
+ <mass value="0.005"/>
437
+ <origin rpy="0 0 0" xyz="0 0 0"/>
438
+ <!-- Inertial Axes -->
439
+ <inertia ixx="3.52083333333e-06" ixy="0" ixz="0" iyx="0" iyy="2.80208333333e-06" iyz="0" izx="0" izy="0" izz="2.80208333333e-06"/>
440
+ </inertial>
441
+ </link>
442
+ <joint name="back_left_leg_foot" type="fixed">
443
+ <origin rpy="0 0 0" xyz="0 0 -0.1265"/>
444
+ <parent link="back_left_lower_leg"/>
445
+ <child link="back_left_foot"/>
446
+ </joint>
447
+ <link name="front_right_hip">
448
+ <visual>
449
+ <origin rpy="0 0 1.57079632679" xyz="-0.25 0.074 -0.067"/>
450
+ <geometry>
451
+ <mesh filename="./stl/OpenQuadruped/RIGHT_HIP.stl" scale="1 1 1"/>
452
+ </geometry>
453
+ <material name="black"/>
454
+ </visual>
455
+ <collision>
456
+ <origin rpy="0 0 1.57079632679" xyz="0.015 -0.01 -0.01"/>
457
+ <geometry>
458
+ <box size="0.05 0.065 0.065"/>
459
+ </geometry>
460
+ </collision>
461
+ <inertial>
462
+ <mass value="0.2"/>
463
+ <origin rpy="0 0 0" xyz="0 0 0"/>
464
+ <!-- Inertial Axes -->
465
+ <inertia ixx="0.000140833333333" ixy="0" ixz="0" iyx="0" iyy="0.000112083333333" iyz="0" izx="0" izy="0" izz="0.000112083333333"/>
466
+ </inertial>
467
+ </link>
468
+ <joint name="motor_front_right_hip" type="revolute">
469
+ <axis xyz="1 0 0"/>
470
+ <origin rpy="0 0 0" xyz="0.0915 -0.0394 0.022"/>
471
+ <parent link="front_bracket"/>
472
+ <child link="front_right_hip"/>
473
+ <limit effort="1000.0" lower="-1.04" upper="1.04" velocity="0.7"/>
474
+ <joint_properties damping="0.0" friction="0.0"/>
475
+ </joint>
476
+ <link name="front_right_upper_leg">
477
+ <visual>
478
+ <origin rpy="0 0 1.57079632679" xyz="-0.252 0.12 -0.055"/>
479
+ <geometry>
480
+ <mesh filename="./stl/OpenQuadruped/RIGHT_UPPER_LEG.stl" scale="1 1 1"/>
481
+ </geometry>
482
+ <material name="black"/>
483
+ </visual>
484
+ <collision>
485
+ <origin rpy="0 0 1.57079632679" xyz="0 -0.02 -0.05"/>
486
+ <geometry>
487
+ <box size="0.035 0.035 0.11"/>
488
+ </geometry>
489
+ </collision>
490
+ <inertial>
491
+ <mass value="0.13"/>
492
+ <origin rpy="0 0 0" xyz="0 0 0"/>
493
+ <!-- Inertial Axes -->
494
+ <inertia ixx="0.000144354166667" ixy="0" ixz="0" iyx="0" iyy="0.000144354166667" iyz="0" izx="0" izy="0" izz="2.65416666667e-05"/>
495
+ </inertial>
496
+ </link>
497
+ <joint name="motor_front_right_upper_leg" type="revolute">
498
+ <axis xyz="0 1 0"/>
499
+ <origin rpy="0 0 0" xyz="0.0015 -0.045 -0.0087"/>
500
+ <parent link="front_right_hip"/>
501
+ <child link="front_right_upper_leg"/>
502
+ <limit effort="1000.0" lower="-1.57079632679" upper="2.59" velocity="0.7"/>
503
+ <joint_properties damping="0.0" friction="0.0"/>
504
+ </joint>
505
+ <link name="front_right_lower_leg">
506
+ <visual>
507
+ <origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.0535"/>
508
+ <geometry>
509
+ <mesh filename="./stl/OpenQuadruped/RIGHT_LOWER_LEG.stl" scale="1 1 1"/>
510
+ </geometry>
511
+ <material name="black"/>
512
+ </visual>
513
+ <collision>
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+ <origin rpy="0 0 1.57079632679" xyz="0 0 -0.06"/>
515
+ <geometry>
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+ <box size="0.035 0.035 0.12"/>
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518
+ </collision>
519
+ <inertial>
520
+ <mass value="0.05"/>
521
+ <origin rpy="0 0 0" xyz="0 0 0"/>
522
+ <!-- Inertial Axes -->
523
+ <inertia ixx="6.51041666667e-05" ixy="0" ixz="0" iyx="0" iyy="6.51041666667e-05" iyz="0" izx="0" izy="0" izz="1.02083333333e-05"/>
524
+ </inertial>
525
+ </link>
526
+ <joint name="motor_front_right_lower_leg" type="revolute">
527
+ <axis xyz="0 1 0"/>
528
+ <origin rpy="0 0 0" xyz="-0.005 -0.018 -0.109"/>
529
+ <parent link="front_right_upper_leg"/>
530
+ <child link="front_right_lower_leg"/>
531
+ <limit effort="1000.0" lower="-2.9" upper="1.57079632679" velocity="0.7"/>
532
+ <joint_properties damping="0.0" friction="0.0"/>
533
+ </joint>
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+ <link name="front_right_foot">
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+ <visual>
536
+ <origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.18"/>
537
+ <geometry>
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+ </geometry>
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+ <material name="orange"/>
541
+ </visual>
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+ <collision>
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+ <origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.18"/>
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+ <geometry>
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+ <mesh filename="./stl/OpenQuadruped/RIGHT_FOOT.stl" scale="1 1 1"/>
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+ </geometry>
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+ </collision>
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+ <inertial>
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+ <mass value="0.005"/>
551
+ <origin rpy="0 0 0" xyz="0 0 0"/>
552
+ <!-- Inertial Axes -->
553
+ <inertia ixx="3.52083333333e-06" ixy="0" ixz="0" iyx="0" iyy="2.80208333333e-06" iyz="0" izx="0" izy="0" izz="2.80208333333e-06"/>
554
+ </inertial>
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+ <origin rpy="0 0 0" xyz="0 0 -0.1265"/>
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+ <parent link="front_right_lower_leg"/>
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+ <child link="front_right_foot"/>
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+ <visual>
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+ <origin rpy="0 0 1.57079632679" xyz="-0.25 0.074 -0.067"/>
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+ <geometry>
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+ <geometry>
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+ </collision>
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+ <inertial>
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+ <mass value="0.2"/>
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+ <origin rpy="0 0 0" xyz="0 0 0"/>
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+ <!-- Inertial Axes -->
579
+ <inertia ixx="0.000140833333333" ixy="0" ixz="0" iyx="0" iyy="0.000112083333333" iyz="0" izx="0" izy="0" izz="0.000112083333333"/>
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+ </inertial>
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583
+ <axis xyz="1 0 0"/>
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+ <link name="back_right_upper_leg">
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+ <visual>
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+ <origin rpy="0 0 1.57079632679" xyz="-0.252 0.12 -0.055"/>
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+ </collision>
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+ <inertial>
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+ <origin rpy="0 0 0" xyz="0 0 0"/>
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+ <!-- Inertial Axes -->
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+ <joint_properties damping="0.0" friction="0.0"/>
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+ <link name="back_right_lower_leg">
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+ <visual>
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+ <geometry>
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+ </collision>
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+ <inertial>
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+ <mass value="0.05"/>
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+ <origin rpy="0 0 0" xyz="0 0 0"/>
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+ <!-- Inertial Axes -->
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+ <origin rpy="0 0 0" xyz="0 0 0"/>
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+ <!-- Inertial Axes -->
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668
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669
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671
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+ <parent link="back_right_lower_leg"/>
673
+ <child link="back_right_foot"/>
674
+ </joint>
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+ <joint name="base_battery" type="fixed">
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+ <origin rpy="0 0 0" xyz="-0.01 0 -0.0225"/>
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+ <parent link="base_link"/>
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+ <child link="battery"/>
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+ <joint name="base_left" type="fixed">
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+ <origin rpy="0 0 0" xyz="0.00 0.052 0"/>
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+ <parent link="base_link"/>
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+ <child link="chassis_left"/>
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+ </joint>
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+ <joint name="base_right" type="fixed">
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+ <origin rpy="0 0 0" xyz="0.00 -0.052 0"/>
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+ <parent link="base_link"/>
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+ <child link="chassis_right"/>
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+ </joint>
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+ <joint name="base_front" type="fixed">
691
+ <origin rpy="0 0 0" xyz="0 0 0"/>
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+ <parent link="base_link"/>
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+ <child link="front"/>
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+ </joint>
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+ <joint name="base_back" type="fixed">
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+ <origin rpy="0 0 0" xyz="0 0 0"/>
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+ <parent link="base_link"/>
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+ <child link="back"/>
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+ </joint>
700
+ <joint name="base_front_bracket" type="fixed">
701
+ <origin rpy="0 0 0" xyz="0 0 0"/>
702
+ <parent link="base_link"/>
703
+ <child link="front_bracket"/>
704
+ </joint>
705
+ <joint name="base_back_bracket" type="fixed">
706
+ <origin rpy="0 0 0" xyz="0 0 0"/>
707
+ <parent link="base_link"/>
708
+ <child link="back_bracket"/>
709
+ </joint>
710
+ </robot>
urdf/stl/LICENSE.txt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ Spotmicro - robot dog (http://www.thingiverse.com/thing:3445283) by KDY0523 is licensed under the Creative Commons - Attribution license.
2
+ http://creativecommons.org/licenses/by/3.0/
3
+
urdf/stl/OpenQuadruped/BACK.stl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:c446dc331a50564e7717b265602e4315e23c45208b43cc5d4637e798607f6359
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+ size 2476384
urdf/stl/OpenQuadruped/BATTERY.stl ADDED
Binary file (684 Bytes). View file
 
urdf/stl/OpenQuadruped/Back_Bracket.stl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
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+ .: :,
2
+ ,:::::::: ::` ::: :::
3
+ ,:::::::: ::` ::: :::
4
+ .,,:::,,, ::`.:, ... .. .:, .:. ..`... ..` .. .:, .. :: .::, .:,`
5
+ ,:: ::::::: ::, ::::::: `:::::::.,:: ::: ::: .:::::: ::::: :::::: .::::::
6
+ ,:: :::::::: ::, :::::::: ::::::::.,:: ::: ::: :::,:::, ::::: ::::::, ::::::::
7
+ ,:: ::: ::: ::, ::: :::`::. :::.,:: ::,`::`::: ::: ::: `::,` ::: :::
8
+ ,:: ::. ::: ::, ::` :::.:: ::.,:: :::::: ::::::::: ::` :::::: :::::::::
9
+ ,:: ::. ::: ::, ::` :::.:: ::.,:: .::::: ::::::::: ::` :::::::::::::::
10
+ ,:: ::. ::: ::, ::` ::: ::: `:::.,:: :::: :::` ,,, ::` .:: :::.::. ,,,
11
+ ,:: ::. ::: ::, ::` ::: ::::::::.,:: :::: :::::::` ::` ::::::: :::::::.
12
+ ,:: ::. ::: ::, ::` ::: :::::::`,:: ::. :::::` ::` :::::: :::::.
13
+ ::, ,:: ``
14
+ ::::::::
15
+ ::::::
16
+ `,,`
17
+
18
+
19
+ http://www.thingiverse.com/thing:3445283
20
+ Spotmicro - robot dog by KDY0523 is licensed under the Creative Commons - Attribution license.
21
+ http://creativecommons.org/licenses/by/3.0/
22
+
23
+ # Summary
24
+
25
+ I designed Spotmicro inspired by the Spotmini of Boston Dynamics.
26
+
27
+ It works on the basis of the Arduino mega, and if you use a different board, you have to redesign the 'plate' file yourself and print the non-mega file instead of the regular file.
28
+
29
+ The ultra sonic sensor can be used for mapping or obstacle avoidance.
30
+
31
+ When you attach the servo horn to the 3D printed parts, you must use the HOTGLUE.
32
+
33
+ THERE IS NO CODE YET, SO YOU HAVE TO WRITE IT YOURSELF.
34
+
35
+ Assembly video part 1 : https://youtu.be/03RR-mz2hwA
36
+
37
+ Assembly video part 2 : https://youtu.be/LV5vvmhwtxM
38
+
39
+ Instagram : https://www.instagram.com/kim.d.yeon/
40
+
41
+ To make this, you need the following...
42
+
43
+ _Electronics_
44
+ 12 × MG 996 R servo motor
45
+ 1 × Arduino Mega
46
+ 2 × HC-SR04 Ultrasonic sensor
47
+ 1 × HC-06 Bluetooth module
48
+ 1 × MPU-6050 Gyro sensor
49
+ 1 × I2C 16x2 LCD Module
50
+ 1 × Rleil rocker switch RL3-4
51
+ 7.4v Battery
52
+
53
+ _Screws, Nuts and Bearings_
54
+ 8 × 'M5×15'
55
+ 40 × 'M4×20'
56
+ 8 × 'M4×15'
57
+ 48 × 'M4 nut'
58
+ 4 × 'M3×20'
59
+ 28 × 'M3×10'
60
+ 16 × 'M3 nut'
61
+ 8 × 'F625zz Flange ball bearing'
62
+
63
+
64
+
65
+ Made by Deok-yeon Kim
66
+
67
+ # Print Settings
68
+
69
+ Printer Brand: Creality
70
+ Printer: Ender 3
71
+ Infill: 10~20%
72
+ Filament_brand: .
73
+ Filament_color: Yellow, Black, Gray
74
+ Filament_material: PLA, Flexible
75
+
76
+ # Post-Printing
77
+
78
+ ![Alt text](https://cdn.thingiverse.com/assets/5d/9f/90/dd/a9/complete_1.jpg)
79
+
80
+ ![Alt text](https://cdn.thingiverse.com/assets/e0/6f/f7/86/7d/complete_4.jpg)
81
+
82
+ ![Alt text](https://cdn.thingiverse.com/assets/3d/1a/c2/52/17/complete_front.jpg)
83
+
84
+ ![Alt text](https://cdn.thingiverse.com/assets/fc/ee/68/ac/75/complete_back.jpg)
85
+
86
+ ![Alt text](https://cdn.thingiverse.com/assets/67/d1/49/80/50/complete_top.jpg)
87
+
88
+ ![Alt text](https://cdn.thingiverse.com/assets/13/bf/32/0e/d4/complete_bottom.jpg)
89
+
90
+ ![Alt text](https://cdn.thingiverse.com/assets/93/fc/7f/81/17/frame_3.jpg)
91
+
92
+ ![Alt text](https://cdn.thingiverse.com/assets/4e/0b/38/9c/80/frame-1.jpg)
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