quadruped_ros2_control/descriptions/unitree/go2_description/xacro/leg.xacro

<?xml version="1.0"?>

<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

	<xacro:include filename="$(find go2_description)/xacro/transmission.xacro"/>

	<xacro:macro name="leg" params="name mirror mirror_dae front_hind front_hind_dae">

		<joint name="${name}_hip_joint" type="revolute">
			<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
				<origin rpy="0 0 0" xyz="${leg_offset_x} ${-leg_offset_y} 0"/>
			</xacro:if>
			<xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
				<origin rpy="0 0 0" xyz="${leg_offset_x} ${leg_offset_y} 0"/>
			</xacro:if>
			<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
				<origin rpy="0 0 0" xyz="${-leg_offset_x} ${-leg_offset_y} 0"/>
			</xacro:if>
			<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
				<origin rpy="0 0 0" xyz="${-leg_offset_x} ${leg_offset_y} 0"/>
			</xacro:if>
			<parent link="trunk"/>
			<child link="${name}_hip"/>
			<axis xyz="1 0 0"/>
			<dynamics damping="${damping}" friction="${friction}"/>
			<xacro:if value="${(mirror_dae == True)}">
				<limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${hip_position_min}"
				       upper="${hip_position_max}"/>
			</xacro:if>
			<xacro:if value="${(mirror_dae == False)}">
				<limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${-hip_position_max}"
				       upper="${-hip_position_min}"/>
			</xacro:if>
		</joint>


		<link name="${name}_hip">
			<visual>
				<xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
					<origin rpy="0 0 0" xyz="0 0 0"/>
				</xacro:if>
				<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
					<origin rpy="${PI} 0 0" xyz="0 0 0"/>
				</xacro:if>
				<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
					<origin rpy="0 ${PI} 0" xyz="0 0 0"/>
				</xacro:if>
				<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
					<origin rpy="${PI} ${PI} 0" xyz="0 0 0"/>
				</xacro:if>
				<geometry>
					<mesh filename="file://$(find go2_description)/meshes/hip.dae" scale="1 1 1"/>
				</geometry>
			</visual>
			<collision>
				<origin rpy="${PI/2.0} 0 0" xyz="0 ${hip_offset*mirror} 0"/>
				<geometry>
					<cylinder length="${hip_length}" radius="${hip_radius}"/>
				</geometry>
			</collision>
			<inertial>
				<origin rpy="0 0 0" xyz="${hip_com_x*front_hind} ${hip_com_y*mirror} ${hip_com_z}"/>
				<mass value="${hip_mass}"/>
				<inertia
						ixx="${hip_ixx}" ixy="${hip_ixy*mirror*front_hind}" ixz="${hip_ixz*front_hind}"
						iyy="${hip_iyy}" iyz="${hip_iyz*mirror}"
						izz="${hip_izz}"/>
			</inertial>
		</link>

		<joint name="${name}_thigh_joint" type="revolute">
			<origin rpy="0 0 0" xyz="0 ${thigh_offset*mirror} 0"/>
			<parent link="${name}_hip"/>
			<child link="${name}_thigh"/>
			<axis xyz="0 1 0"/>
			<dynamics damping="${damping}" friction="${friction}"/>
			<limit effort="${thigh_torque_max}" velocity="${thigh_velocity_max}" lower="${thigh_position_min}"
			       upper="${thigh_position_max}"/>
		</joint>


		<link name="${name}_thigh">
			<visual>
				<origin rpy="0 0 0" xyz="0 0 0"/>
				<geometry>
					<xacro:if value="${mirror_dae == True}">
						<mesh filename="file://$(find go2_description)/meshes/thigh.dae" scale="1 1 1"/>
					</xacro:if>
					<xacro:if value="${mirror_dae == False}">
						<mesh filename="file://$(find go2_description)/meshes/thigh_mirror.dae" scale="1 1 1"/>
					</xacro:if>
				</geometry>
			</visual>
			<collision>
				<origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-thigh_length/2.0}"/>
				<geometry>
					<box size="${thigh_length} ${thigh_width} ${thigh_height}"/>
				</geometry>
			</collision>
			<inertial>
				<origin rpy="0 0 0" xyz="${thigh_com_x} ${thigh_com_y*mirror} ${thigh_com_z}"/>
				<mass value="${thigh_mass}"/>
				<inertia
						ixx="${thigh_ixx}" ixy="${thigh_ixy*mirror}" ixz="${thigh_ixz}"
						iyy="${thigh_iyy}" iyz="${thigh_iyz*mirror}"
						izz="${thigh_izz}"/>
			</inertial>
		</link>


		<joint name="${name}_calf_joint" type="revolute">
			<origin rpy="0 0 0" xyz="0 0 ${-thigh_length}"/>
			<parent link="${name}_thigh"/>
			<child link="${name}_calf"/>
			<axis xyz="0 1 0"/>
			<dynamics damping="${damping}" friction="${friction}"/>
			<limit effort="${calf_torque_max}" velocity="${calf_velocity_max}" lower="${calf_position_min}"
			       upper="${calf_position_max}"/>
		</joint>


		<link name="${name}_calf">
			<visual>
				<origin rpy="0 0 0" xyz="0 0 0"/>
				<geometry>
					<mesh filename="file://$(find go2_description)/meshes/calf.dae" scale="1 1 1"/>
				</geometry>
			</visual>
			<collision>
				<origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-calf_length/2.0}"/>
				<geometry>
					<box size="${calf_length} ${calf_width} ${calf_height}"/>
				</geometry>
			</collision>
			<inertial>
				<origin rpy="0 0 0" xyz="${calf_com_x} ${calf_com_y} ${calf_com_z}"/>
				<mass value="${calf_mass}"/>
				<inertia
						ixx="${calf_ixx}" ixy="${calf_ixy}" ixz="${calf_ixz}"
						iyy="${calf_iyy}" iyz="${calf_iyz}"
						izz="${calf_izz}"/>
			</inertial>
		</link>


		<joint name="${name}_foot_fixed" type="fixed">0
			<origin rpy="0 0 0" xyz="0 0 ${-(calf_length)}"/>
			<parent link="${name}_calf"/>
			<child link="${name}_foot"/>
		</joint>

		<link name="${name}_foot">
			<visual>
				<origin rpy="0 0 0" xyz="0 0 0"/>
				<geometry>
					<sphere radius="${foot_radius-0.01}"/>
				</geometry>
			</visual>
			<collision>
				<origin rpy="0 0 0" xyz="0 0 0"/>
				<geometry>
					<sphere radius="${foot_radius}"/>
				</geometry>
			</collision>
			<inertial>
				<mass value="${foot_mass}"/>
				<inertia
						ixx="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}" ixy="0.0" ixz="0.0"
						iyy="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}" iyz="0.0"
						izz="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}"/>
			</inertial>
		</link>

		<gazebo reference="${name}_hip">
			<mu1>0.2</mu1>
			<mu2>0.2</mu2>
		</gazebo>

		<gazebo reference="${name}_thigh">
			<mu1>0.2</mu1>
			<mu2>0.2</mu2>
			<self_collide>0</self_collide>
			<kp value="1000000.0"/>
			<kd value="100.0"/>
		</gazebo>

		<gazebo reference="${name}_calf">
			<mu1>0.6</mu1>
			<mu2>0.6</mu2>
			<self_collide>1</self_collide>
		</gazebo>

		<gazebo reference="${name}_foot">
			<mu1>0.6</mu1>
			<mu2>0.6</mu2>
			<self_collide>1</self_collide>
			<kp value="1000000.0"/>
			<kd value="100.0"/>
		</gazebo>

		<xacro:leg_transmission name="${name}"/>
	</xacro:macro>
</robot>