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Task Group #209
closedTask Group #205: FY26 Internal Support task management
[xela models] Add uSPrHE35 model to xela_models
Added by Sanghoon Lee 2 months ago. Updated about 2 months ago.
Start date:
01/19/2026
Due date:
% Done:
100%
Estimated time:
Product Code:
uAi SW:
Issue closed :
02/07/2026
Description
Among the sensor data captured by Wilson, there is a model called uSPrHE35(uSPa35) that is not currently in xela_models, so I am working on adding it to xela_models.

<?xml version="1.0"?>
<robot name="uSPrHE35" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:arg name="sensor_prefix" default="x_taxel_" />
<xacro:arg name="base_prefix" default="x_base_" />
<!-- uSPr HE35 model -->
<xacro:macro name="uSPrHE35" params="sequence parent x:=0.0 y:=0.0 z:=0.0 rx:=0.0 ry:=0.0 rz:=0.0 col:='blue' body:=1 taxels:=1 skipinertia:=0 xoff=-0.019 yoff=0.0095 zoff=-0.0062 txstep=0.0048 tystep=0.0048 standalone:=0">
<xacro:if value="${standalone == 1}">
<xacro:include filename="$(find xela_models)/urdf/materials.xacro" />
<xacro:include filename="$(find xela_models)/urdf/taxel_n.xacro" />
</xacro:if>
<xacro:property name="initial_positions_file" default="$(arg initial_positions_file)"/>
<joint name="$(arg base_prefix)${sequence}_uSPrHE35_fixed" type="fixed">
<origin xyz="${x} ${y} ${z}" rpy="${radians(rx)} ${radians(ry)} ${radians(rz)}"/>
<parent link="${parent}" />
<child link="$(arg base_prefix)${sequence}_uSPrHE35_link" />
</joint>
<link name="$(arg base_prefix)${sequence}_uSPrHE35_link">
<collision>
<origin xyz="0 0 0" rpy="0 0 -1.57" />
<geometry>
<mesh filename="package://xela_models/mesh/uSPrHE35.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
<xacro:if value="${body == 1}">
<visual>
<origin xyz="0 0 0" rpy="0 0 -1.57" />
<geometry>
<mesh filename="package://xela_models/mesh/uSPrHE35.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="${col}"/>
</visual>
<xacro:unless value="${skipinertia == 1}">
<inertial>
<origin xyz="0.001258 -0.020107 -0.010350" rpy="0 0 0"/>
<mass value="0.020553"/>
<inertia ixx="5.819471e-06" ixy="5.367372e-07" ixz="-8.146625e-08"
iyy="8.883230e-07" iyz="-3.681331e-08" izz="6.455063e-06"/>
</inertial>
</xacro:unless>
</xacro:if>
</link>
<gazebo reference="$(arg base_prefix)${sequence}_uSPrHE35_link">
<material>Gazebo/Red</material>
</gazebo>
<xacro:if value="${taxels == 1}">
<xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_uSPa35_01" x="${1*txstep+xoff}" y="${3*tystep-yoff}" z="${zoff}" parent="$(arg base_prefix)${sequence}_uSPrHE35_link" />
<xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_uSPa35_02" x="${2*txstep+xoff}" y="${3*tystep-yoff}" z="${zoff}" parent="$(arg base_prefix)${sequence}_uSPrHE35_link" />
<xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_uSPa35_03" x="${3*txstep+xoff}" y="${3*tystep-yoff}" z="${zoff}" parent="$(arg base_prefix)${sequence}_uSPrHE35_link" />
<xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_uSPa35_04" x="${4*txstep+xoff}" y="${3*tystep-yoff}" z="${zoff}" parent="$(arg base_prefix)${sequence}_uSPrHE35_link" />
<xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_uSPa35_05" x="${5*txstep+xoff}" y="${3*tystep-yoff}" z="${zoff}" parent="$(arg base_prefix)${sequence}_uSPrHE35_link" />
<xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_uSPa35_06" x="${1*txstep+xoff}" y="${2*tystep-yoff}" z="${zoff}" parent="$(arg base_prefix)${sequence}_uSPrHE35_link" />
<xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_uSPa35_07" x="${2*txstep+xoff}" y="${2*tystep-yoff}" z="${zoff}" parent="$(arg base_prefix)${sequence}_uSPrHE35_link" />
<xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_uSPa35_08" x="${3*txstep+xoff}" y="${2*tystep-yoff}" z="${zoff}" parent="$(arg base_prefix)${sequence}_uSPrHE35_link" />
<xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_uSPa35_09" x="${4*txstep+xoff}" y="${2*tystep-yoff}" z="${zoff}" parent="$(arg base_prefix)${sequence}_uSPrHE35_link" />
<xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_uSPa35_10" x="${5*txstep+xoff}" y="${2*tystep-yoff}" z="${zoff}" parent="$(arg base_prefix)${sequence}_uSPrHE35_link" />
<xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_uSPa35_11" x="${1*txstep+xoff}" y="${1*tystep-yoff}" z="${zoff}" parent="$(arg base_prefix)${sequence}_uSPrHE35_link" />
<xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_uSPa35_12" x="${2*txstep+xoff}" y="${1*tystep-yoff}" z="${zoff}" parent="$(arg base_prefix)${sequence}_uSPrHE35_link" />
<xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_uSPa35_13" x="${3*txstep+xoff}" y="${1*tystep-yoff}" z="${zoff}" parent="$(arg base_prefix)${sequence}_uSPrHE35_link" />
<xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_uSPa35_14" x="${4*txstep+xoff}" y="${1*tystep-yoff}" z="${zoff}" parent="$(arg base_prefix)${sequence}_uSPrHE35_link" />
<xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_uSPa35_15" x="${5*txstep+xoff}" y="${1*tystep-yoff}" z="${zoff}" parent="$(arg base_prefix)${sequence}_uSPrHE35_link" />
</xacro:if>
</xacro:macro>
</robot>
Files
| clipboard-202601261316-2jmnw.png (98.8 KB) clipboard-202601261316-2jmnw.png | Sanghoon Lee, 01/26/2026 04:16 AM | ||
| clipboard-202602021001-ruys4.png (32.4 KB) clipboard-202602021001-ruys4.png | Sanghoon Lee, 02/02/2026 01:00 AM |
Updated by Sanghoon Lee 2 months ago
- Copied from Task Group #206: [xela models] Add uSPrDS model to xela_models and provide its urdf added
Updated by Sanghoon Lee about 2 months ago
- Status changed from Resolved to Closed
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