Commit c2452f49 authored by Jan Koniarik's avatar Jan Koniarik
Browse files

removed package

parent 8d9c7278
cmake_minimum_required(VERSION 2.8.3)
project(schpin_koke)
catkin_package()
<launch>
<!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find schpin_koke)/worlds/koke.world"/>
<!-- more default parameters can be changed here -->
</include>
<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -z 1 -model koke -package_to_model"/>
</launch>
<launch>
<param name="robot_description" textfile="$(find schpin_koke)/src/koke.urdf"/>
<param name="robot_semantics" textfile="$(find schpin_koke)/src/koke.srdf"/>
</launch>
<?xml version="1.0"?>
<package format="2">
<name>schpin_koke</name>
<version>0.0.0</version>
<description>The schpin_koke package</description>
<maintainer email="squirrel@todo.todo">squirrel</maintainer>
<license>LGPLv3</license>
<buildtool_depend>catkin</buildtool_depend>
<export>
</export>
</package>
<?xml version="1.0" encoding="UTF-8"?>
<robot name="koke">
<group name="legs">
<joint name="leg/rr/alfa">
<graph_steps value="16"/>
</joint>
<joint name="leg/rr/beta">
<graph_steps value="16"/>
</joint>
<joint name="leg/rr/gama">
<graph_steps value="16"/>
</joint>
<joint name="leg/rr/tipj"/>
<joint name="leg/rl/alfa">
<graph_steps value="16"/>
</joint>
<joint name="leg/rl/beta">
<graph_steps value="16"/>
</joint>
<joint name="leg/rl/gama">
<graph_steps value="16"/>
</joint>
<joint name="leg/rl/tipj"/>
<joint name="leg/fr/alfa">
<graph_steps value="16"/>
</joint>
<joint name="leg/fr/beta">
<graph_steps value="16"/>
</joint>
<joint name="leg/fr/gama">
<graph_steps value="16"/>
</joint>
<joint name="leg/fr/tipj"/>
<joint name="leg/fl/alfa">
<graph_steps value="16"/>
</joint>
<joint name="leg/fl/beta">
<graph_steps value="16"/>
</joint>
<joint name="leg/fl/gama">
<graph_steps value="16"/>
</joint>
<joint name="leg/fl/tipj"/>
<leg name="rr" root_joint="leg/rr/alfa"/>
<leg name="rl" root_joint="leg/rl/alfa"/>
<leg name="fr" root_joint="leg/fr/alfa"/>
<leg name="fl" root_joint="leg/fl/alfa"/>
</group>
</robot>
<?xml version="1.0" encoding="UTF-8"?>
<robot name="koke">
<joint name="leg/rr/alfa" type="revolute">
<parent link="base_link"/>
<child link="leg/rr/coxa"/>
<origin xyz="-6.0e-2 -5.2000000000000005e-2 0.0" rpy="0.0 0.0 3.141592653589793"/>
<limit effort="100.0" velocity="0.5" lower="0.0" upper="1.5707963267948966"/>
<axis xyz="0.0 0.0 1.0"/>
</joint>
<joint name="leg/rr/beta" type="revolute">
<parent link="leg/rr/coxa"/>
<child link="leg/rr/femur"/>
<origin xyz="6.5e-2 0.0 0.0" rpy="3.141592653589793 1.2246467991473532e-16 3.141592653589793"/>
<limit effort="100.0" velocity="0.5" lower="0.0" upper="4.1887902047863905"/>
<axis xyz="0.0 -1.0 0.0"/>
</joint>
<joint name="leg/rr/gama" type="revolute">
<parent link="leg/rr/femur"/>
<child link="leg/rr/tibia"/>
<origin xyz="9.5e-2 0.0 3.0e-2" rpy="3.141592653589793 -1.5707963267948966 3.141592653589793"/>
<limit effort="100.0" velocity="0.5" lower="0.0" upper="4.1887902047863905"/>
<axis xyz="0.0 1.0 0.0"/>
</joint>
<joint name="leg/rr/tipj" type="fixed">
<parent link="leg/rr/tibia"/>
<child link="leg/rr/tipl"/>
<origin xyz="0.11 0.0 0.0" rpy="0.0 0.0 0.0"/>
</joint>
<joint name="leg/rl/alfa" type="revolute">
<parent link="base_link"/>
<child link="leg/rl/coxa"/>
<origin xyz="-6.0e-2 5.2000000000000005e-2 0.0" rpy="0.0 0.0 3.141592653589793"/>
<limit effort="100.0" velocity="0.5" lower="0.0" upper="1.5707963267948966"/>
<axis xyz="0.0 0.0 -1.0"/>
</joint>
<joint name="leg/rl/beta" type="revolute">
<parent link="leg/rl/coxa"/>
<child link="leg/rl/femur"/>
<origin xyz="6.5e-2 0.0 0.0" rpy="3.141592653589793 1.2246467991473532e-16 3.141592653589793"/>
<limit effort="100.0" velocity="0.5" lower="0.0" upper="4.1887902047863905"/>
<axis xyz="0.0 -1.0 0.0"/>
</joint>
<joint name="leg/rl/gama" type="revolute">
<parent link="leg/rl/femur"/>
<child link="leg/rl/tibia"/>
<origin xyz="9.5e-2 0.0 3.0e-2" rpy="3.141592653589793 -1.5707963267948966 3.141592653589793"/>
<limit effort="100.0" velocity="0.5" lower="0.0" upper="4.1887902047863905"/>
<axis xyz="0.0 1.0 0.0"/>
</joint>
<joint name="leg/rl/tipj" type="fixed">
<parent link="leg/rl/tibia"/>
<child link="leg/rl/tipl"/>
<origin xyz="0.11 0.0 0.0" rpy="0.0 0.0 0.0"/>
</joint>
<joint name="leg/fr/alfa" type="revolute">
<parent link="base_link"/>
<child link="leg/fr/coxa"/>
<origin xyz="6.0e-2 -5.2000000000000005e-2 0.0" rpy="0.0 0.0 0.0"/>
<limit effort="100.0" velocity="0.5" lower="0.0" upper="1.5707963267948966"/>
<axis xyz="0.0 0.0 -1.0"/>
</joint>
<joint name="leg/fr/beta" type="revolute">
<parent link="leg/fr/coxa"/>
<child link="leg/fr/femur"/>
<origin xyz="6.5e-2 0.0 0.0" rpy="3.141592653589793 1.2246467991473532e-16 3.141592653589793"/>
<limit effort="100.0" velocity="0.5" lower="0.0" upper="4.1887902047863905"/>
<axis xyz="0.0 -1.0 0.0"/>
</joint>
<joint name="leg/fr/gama" type="revolute">
<parent link="leg/fr/femur"/>
<child link="leg/fr/tibia"/>
<origin xyz="9.5e-2 0.0 3.0e-2" rpy="3.141592653589793 -1.5707963267948966 3.141592653589793"/>
<limit effort="100.0" velocity="0.5" lower="0.0" upper="4.1887902047863905"/>
<axis xyz="0.0 1.0 0.0"/>
</joint>
<joint name="leg/fr/tipj" type="fixed">
<parent link="leg/fr/tibia"/>
<child link="leg/fr/tipl"/>
<origin xyz="0.11 0.0 0.0" rpy="0.0 0.0 0.0"/>
</joint>
<joint name="leg/fl/alfa" type="revolute">
<parent link="base_link"/>
<child link="leg/fl/coxa"/>
<origin xyz="6.0e-2 5.2000000000000005e-2 0.0" rpy="0.0 0.0 0.0"/>
<limit effort="100.0" velocity="0.5" lower="0.0" upper="1.5707963267948966"/>
<axis xyz="0.0 0.0 1.0"/>
</joint>
<joint name="leg/fl/beta" type="revolute">
<parent link="leg/fl/coxa"/>
<child link="leg/fl/femur"/>
<origin xyz="6.5e-2 0.0 0.0" rpy="3.141592653589793 1.2246467991473532e-16 3.141592653589793"/>
<limit effort="100.0" velocity="0.5" lower="0.0" upper="4.1887902047863905"/>
<axis xyz="0.0 -1.0 0.0"/>
</joint>
<joint name="leg/fl/gama" type="revolute">
<parent link="leg/fl/femur"/>
<child link="leg/fl/tibia"/>
<origin xyz="9.5e-2 0.0 3.0e-2" rpy="3.141592653589793 -1.5707963267948966 3.141592653589793"/>
<limit effort="100.0" velocity="0.5" lower="0.0" upper="4.1887902047863905"/>
<axis xyz="0.0 1.0 0.0"/>
</joint>
<joint name="leg/fl/tipj" type="fixed">
<parent link="leg/fl/tibia"/>
<child link="leg/fl/tipl"/>
<origin xyz="0.11 0.0 0.0" rpy="0.0 0.0 0.0"/>
</joint>
<link name="base_link">
<visual>
<geometry>
<mesh filename="package://schpin_koke/stl/base_link/body.stl" scale="1.0e-3 1.0e-3 1.0e-3"/>
</geometry>
<material name="base_link">
<color rgba="0.2236328125 3.41796875e-2 0.8818359375 1.0"/>
</material>
</visual>
<inertial>
<mass value="1.0"/>
<inertia ixx="41.666666666666664" ixy="0.0" ixz="0.0" iyy="0.0" iyz="41.666666666666664" izz="0.0"/>
</inertial>
<collision>
<geometry>
<mesh filename="package://schpin_koke/stl/base_link/body_collision.stl" scale="1.0e-3 1.0e-3 1.0e-3"/>
</geometry>
</collision>
</link>
<link name="leg/rr/coxa">
<visual>
<geometry>
<mesh filename="package://schpin_koke/stl/leg/rr/coxa/coxa.stl" scale="1.0e-3 1.0e-3 1.0e-3"/>
</geometry>
<material name="leg/rr/coxa">
<color rgba="8.984375e-2 0.501953125 0.6953125 1.0"/>
</material>
</visual>
<inertial>
<mass value="0.32"/>
<inertia ixx="13.333333333333332" ixy="0.0" ixz="0.0" iyy="0.0" iyz="13.333333333333332" izz="0.0"/>
</inertial>
<collision>
<geometry>
<mesh filename="package://schpin_koke/stl/leg/rr/coxa/coxa_collision.stl" scale="1.0e-3 1.0e-3 1.0e-3"/>
</geometry>
</collision>
</link>
<link name="leg/rr/femur">
<visual>
<geometry>
<mesh filename="package://schpin_koke/stl/leg/rr/femur/femur.stl" scale="1.0e-3 1.0e-3 1.0e-3"/>
</geometry>
<material name="leg/rr/femur">
<color rgba="0.2412109375 0.1494140625 0.8369140625 1.0"/>
</material>
</visual>
<inertial>
<mass value="5.0e-2"/>
<inertia ixx="2.0833333333333335" ixy="0.0" ixz="0.0" iyy="0.0" iyz="2.0833333333333335" izz="0.0"/>
</inertial>
<collision>
<geometry>
<mesh filename="package://schpin_koke/stl/leg/rr/femur/femur_collision_a.stl" scale="1.0e-3 1.0e-3 1.0e-3"/>
</geometry>
</collision>
<collision>
<geometry>
<mesh filename="package://schpin_koke/stl/leg/rr/femur/femur_collision_b.stl" scale="1.0e-3 1.0e-3 1.0e-3"/>
</geometry>
</collision>
</link>
<link name="leg/rr/tibia">
<visual>
<geometry>
<mesh filename="package://schpin_koke/stl/leg/rr/tibia/tibia.stl" scale="1.0e-3 1.0e-3 1.0e-3"/>
</geometry>
<material name="leg/rr/tibia">
<color rgba="0.6337890625 0.1162109375 0.3232421875 1.0"/>
</material>
</visual>
<inertial>
<mass value="0.17"/>
<inertia ixx="7.083333333333334" ixy="0.0" ixz="0.0" iyy="0.0" iyz="7.083333333333334" izz="0.0"/>
</inertial>
<collision>
<geometry>
<mesh filename="package://schpin_koke/stl/leg/rr/tibia/tibia_collision.stl" scale="1.0e-3 1.0e-3 1.0e-3"/>
</geometry>
</collision>
</link>
<link name="leg/rr/tipl">
<inertial>
<mass value="0.0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
</inertial>
</link>
<link name="leg/rl/coxa">
<visual>
<geometry>
<mesh filename="package://schpin_koke/stl/leg/rl/coxa/coxa.stl" scale="1.0e-3 1.0e-3 1.0e-3"/>
</geometry>
<material name="leg/rl/coxa">
<color rgba="0.357421875 0.109375 0.904296875 1.0"/>
</material>
</visual>
<inertial>
<mass value="0.32"/>
<inertia ixx="13.333333333333332" ixy="0.0" ixz="0.0" iyy="0.0" iyz="13.333333333333332" izz="0.0"/>
</inertial>
<collision>
<geometry>
<mesh filename="package://schpin_koke/stl/leg/rl/coxa/coxa_collision.stl" scale="1.0e-3 1.0e-3 1.0e-3"/>
</geometry>
</collision>
</link>
<link name="leg/rl/femur">
<visual>
<geometry>
<mesh filename="package://schpin_koke/stl/leg/rl/femur/femur.stl" scale="1.0e-3 1.0e-3 1.0e-3"/>
</geometry>
<material name="leg/rl/femur">
<color rgba="0.1220703125 0.2841796875 0.3662109375 1.0"/>
</material>
</visual>
<inertial>
<mass value="5.0e-2"/>
<inertia ixx="2.0833333333333335" ixy="0.0" ixz="0.0" iyy="0.0" iyz="2.0833333333333335" izz="0.0"/>
</inertial>
<collision>
<geometry>
<mesh filename="package://schpin_koke/stl/leg/rl/femur/femur_collision_a.stl" scale="1.0e-3 1.0e-3 1.0e-3"/>
</geometry>
</collision>
<collision>
<geometry>
<mesh filename="package://schpin_koke/stl/leg/rl/femur/femur_collision_b.stl" scale="1.0e-3 1.0e-3 1.0e-3"/>
</geometry>
</collision>
</link>
<link name="leg/rl/tibia">
<visual>
<geometry>
<mesh filename="package://schpin_koke/stl/leg/rl/tibia/tibia.stl" scale="1.0e-3 1.0e-3 1.0e-3"/>
</geometry>
<material name="leg/rl/tibia">
<color rgba="0.7607421875 3.61328125e-2 0.4423828125 1.0"/>
</material>
</visual>
<inertial>
<mass value="0.17"/>
<inertia ixx="7.083333333333334" ixy="0.0" ixz="0.0" iyy="0.0" iyz="7.083333333333334" izz="0.0"/>
</inertial>
<collision>
<geometry>
<mesh filename="package://schpin_koke/stl/leg/rl/tibia/tibia_collision.stl" scale="1.0e-3 1.0e-3 1.0e-3"/>
</geometry>
</collision>
</link>
<link name="leg/rl/tipl">
<inertial>
<mass value="0.0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
</inertial>
</link>
<link name="leg/fr/coxa">
<visual>
<geometry>
<mesh filename="package://schpin_koke/stl/leg/fr/coxa/coxa.stl" scale="1.0e-3 1.0e-3 1.0e-3"/>
</geometry>
<material name="leg/fr/coxa">
<color rgba="0.359375 0.435546875 0.46484375 1.0"/>
</material>
</visual>
<inertial>
<mass value="0.32"/>
<inertia ixx="13.333333333333332" ixy="0.0" ixz="0.0" iyy="0.0" iyz="13.333333333333332" izz="0.0"/>
</inertial>
<collision>
<geometry>
<mesh filename="package://schpin_koke/stl/leg/fr/coxa/coxa_collision.stl" scale="1.0e-3 1.0e-3 1.0e-3"/>
</geometry>
</collision>
</link>
<link name="leg/fr/femur">
<visual>
<geometry>
<mesh filename="package://schpin_koke/stl/leg/fr/femur/femur.stl" scale="1.0e-3 1.0e-3 1.0e-3"/>
</geometry>
<material name="leg/fr/femur">
<color rgba="0.4013671875 0.6455078125 0.9580078125 1.0"/>
</material>
</visual>
<inertial>
<mass value="5.0e-2"/>
<inertia ixx="2.0833333333333335" ixy="0.0" ixz="0.0" iyy="0.0" iyz="2.0833333333333335" izz="0.0"/>
</inertial>
<collision>
<geometry>
<mesh filename="package://schpin_koke/stl/leg/fr/femur/femur_collision_a.stl" scale="1.0e-3 1.0e-3 1.0e-3"/>
</geometry>
</collision>
<collision>
<geometry>
<mesh filename="package://schpin_koke/stl/leg/fr/femur/femur_collision_b.stl" scale="1.0e-3 1.0e-3 1.0e-3"/>
</geometry>
</collision>
</link>
<link name="leg/fr/tibia">
<visual>
<geometry>
<mesh filename="package://schpin_koke/stl/leg/fr/tibia/tibia.stl" scale="1.0e-3 1.0e-3 1.0e-3"/>
</geometry>
<material name="leg/fr/tibia">
<color rgba="4.8828125e-3 0.3544921875 0.1708984375 1.0"/>
</material>
</visual>
<inertial>
<mass value="0.17"/>
<inertia ixx="7.083333333333334" ixy="0.0" ixz="0.0" iyy="0.0" iyz="7.083333333333334" izz="0.0"/>
</inertial>
<collision>
<geometry>
<mesh filename="package://schpin_koke/stl/leg/fr/tibia/tibia_collision.stl" scale="1.0e-3 1.0e-3 1.0e-3"/>
</geometry>
</collision>
</link>
<link name="leg/fr/tipl">
<inertial>
<mass value="0.0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
</inertial>
</link>
<link name="leg/fl/coxa">
<visual>
<geometry>
<mesh filename="package://schpin_koke/stl/leg/fl/coxa/coxa.stl" scale="1.0e-3 1.0e-3 1.0e-3"/>
</geometry>
<material name="leg/fl/coxa">
<color rgba="0.822265625 9.765625e-2 2.5390625e-2 1.0"/>
</material>
</visual>
<inertial>
<mass value="0.32"/>
<inertia ixx="13.333333333333332" ixy="0.0" ixz="0.0" iyy="0.0" iyz="13.333333333333332" izz="0.0"/>
</inertial>
<collision>
<geometry>
<mesh filename="package://schpin_koke/stl/leg/fl/coxa/coxa_collision.stl" scale="1.0e-3 1.0e-3 1.0e-3"/>
</geometry>
</collision>
</link>
<link name="leg/fl/femur">
<visual>
<geometry>
<mesh filename="package://schpin_koke/stl/leg/fl/femur/femur.stl" scale="1.0e-3 1.0e-3 1.0e-3"/>
</geometry>
<material name="leg/fl/femur">
<color rgba="0.9775390625 0.2099609375 0.7919921875 1.0"/>
</material>
</visual>
<inertial>
<mass value="5.0e-2"/>
<inertia ixx="2.0833333333333335" ixy="0.0" ixz="0.0" iyy="0.0" iyz="2.0833333333333335" izz="0.0"/>
</inertial>
<collision>
<geometry>
<mesh filename="package://schpin_koke/stl/leg/fl/femur/femur_collision_a.stl" scale="1.0e-3 1.0e-3 1.0e-3"/>
</geometry>
</collision>
<collision>
<geometry>
<mesh filename="package://schpin_koke/stl/leg/fl/femur/femur_collision_b.stl" scale="1.0e-3 1.0e-3 1.0e-3"/>
</geometry>
</collision>
</link>
<link name="leg/fl/tibia">
<visual>
<geometry>
<mesh filename="package://schpin_koke/stl/leg/fl/tibia/tibia.stl" scale="1.0e-3 1.0e-3 1.0e-3"/>
</geometry>
<material name="leg/fl/tibia">
<color rgba="0.7021484375 0.9541015625 0.8447265625 1.0"/>
</material>
</visual>
<inertial>
<mass value="0.17"/>
<inertia ixx="7.083333333333334" ixy="0.0" ixz="0.0" iyy="0.0" iyz="7.083333333333334" izz="0.0"/>
</inertial>
<collision>
<geometry>
<mesh filename="package://schpin_koke/stl/leg/fl/tibia/tibia_collision.stl" scale="1.0e-3 1.0e-3 1.0e-3"/>
</geometry>
</collision>
</link>
<link name="leg/fl/tipl">
<inertial>
<mass value="0.0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
</inertial>
</link>
<transmission name="servo/21">
<type>transmission_interface/SimpleTransmission</type>
<joint name="leg/rr/alfa">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="servo/21"/>
</transmission>
<transmission name="servo/22">
<type>transmission_interface/SimpleTransmission</type>
<joint name="leg/rr/beta">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="servo/22"/>
</transmission>
<transmission name="servo/23">
<type>transmission_interface/SimpleTransmission</type>
<joint name="leg/rr/gama">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="servo/23"/>
</transmission>
<transmission name="servo/11">
<type>transmission_interface/SimpleTransmission</type>
<joint name="leg/rl/alfa">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="servo/11"/>
</transmission>
<transmission name="servo/12">
<type>transmission_interface/SimpleTransmission</type>
<joint name="leg/rl/beta">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="servo/12"/>
</transmission>
<transmission name="servo/13">
<type>transmission_interface/SimpleTransmission</type>
<joint name="leg/rl/gama">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="servo/13"/>
</transmission>
<transmission name="servo/21">
<type>transmission_interface/SimpleTransmission</type>
<joint name="leg/fr/alfa">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="servo/21"/>
</transmission>
<transmission name="servo/22">
<type>transmission_interface/SimpleTransmission</type>
<joint name="leg/fr/beta">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="servo/22"/>
</transmission>
<transmission name="servo/23">
<type>transmission_interface/SimpleTransmission</type>
<joint name="leg/fr/gama">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="servo/23"/>
</transmission>
<transmission name="servo/1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="leg/fl/alfa">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="servo/1"/>
</transmission>
<transmission name="servo/2">
<type>transmission_interface/SimpleTransmission</type>
<joint name="leg/fl/beta">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="servo/2"/>
</transmission>
<transmission name="servo/3">
<type>transmission_interface/SimpleTransmission</type>
<joint name="leg/fl/gama">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="servo/3"/>
</transmission>
</robot>