799 lines
28 KiB
Plaintext
799 lines
28 KiB
Plaintext
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<?xml version="1.0" ?>
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<!-- =================================================================================== -->
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<!-- | This document was autogenerated by xacro from robot.xacro | -->
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<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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<!-- =================================================================================== -->
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<robot name="go2">
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<material name="black">
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<color rgba="0.0 0.0 0.0 1.0"/>
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</material>
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<material name="blue">
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<color rgba="0.0 0.0 0.8 1.0"/>
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</material>
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<material name="green">
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<color rgba="0.0 0.8 0.0 1.0"/>
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</material>
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<material name="grey">
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<color rgba="0.2 0.2 0.2 0.0"/>
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</material>
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<material name="silver">
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<color rgba="0.9137254901960784 0.9137254901960784 0.8470588235294118 1.0"/>
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</material>
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<material name="orange">
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<color rgba="1.0 0.4235294117647059 0.0392156862745098 1.0"/>
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</material>
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<material name="brown">
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<color rgba="0.8705882352941177 0.8117647058823529 0.7647058823529411 1.0"/>
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</material>
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<material name="red">
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<color rgba="0.8 0.0 0.0 1.0"/>
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</material>
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<material name="white">
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<color rgba="1.0 1.0 1.0 1.0"/>
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</material>
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<ros2_control name="UnitreeSystem" type="system">
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<hardware>
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<plugin>hardware_unitree_mujoco/HardwareUnitree</plugin>
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</hardware>
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<joint name="FR_hip_joint">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<command_interface name="kp"/>
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<command_interface name="kd"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="FR_thigh_joint">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<command_interface name="kp"/>
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<command_interface name="kd"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="FR_calf_joint">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<command_interface name="kp"/>
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<command_interface name="kd"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="FL_hip_joint">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<command_interface name="kp"/>
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<command_interface name="kd"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="FL_thigh_joint">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<command_interface name="kp"/>
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<command_interface name="kd"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="FL_calf_joint">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<command_interface name="kp"/>
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<command_interface name="kd"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="RR_hip_joint">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<command_interface name="kp"/>
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<command_interface name="kd"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="RR_thigh_joint">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<command_interface name="kp"/>
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<command_interface name="kd"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="RR_calf_joint">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<command_interface name="kp"/>
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<command_interface name="kd"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="RL_hip_joint">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<command_interface name="kp"/>
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<command_interface name="kd"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="RL_thigh_joint">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<command_interface name="kp"/>
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<command_interface name="kd"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="RL_calf_joint">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<command_interface name="kp"/>
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<command_interface name="kd"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<sensor name="imu_sensor">
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<state_interface name="orientation.w"/>
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<state_interface name="orientation.x"/>
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<state_interface name="orientation.y"/>
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<state_interface name="orientation.z"/>
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<state_interface name="angular_velocity.x"/>
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<state_interface name="angular_velocity.y"/>
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<state_interface name="angular_velocity.z"/>
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<state_interface name="linear_acceleration.x"/>
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<state_interface name="linear_acceleration.y"/>
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<state_interface name="linear_acceleration.z"/>
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</sensor>
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<sensor name="foot_force">
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<state_interface name="FR"/>
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<state_interface name="FL"/>
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<state_interface name="RR"/>
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<state_interface name="RL"/>
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</sensor>
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</ros2_control>
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<!-- <xacro:stairs stairs="15" xpos="0" ypos="0" zpos="0" /> -->
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<!-- Rotor related joint and link is only for demonstrate location. -->
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<!-- Actually, the rotor will rotate and the joint is not fixed. Reduction ratio should be considered. -->
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<link name="base">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size="0.001 0.001 0.001"/>
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</geometry>
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</visual>
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</link>
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<joint name="floating_base" type="fixed">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<parent link="base"/>
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<child link="trunk"/>
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</joint>
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<link name="trunk">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="file:///home/tlab-uav/ros2_ws/install/go2_description/share/go2_description/meshes/trunk.dae" scale="1 1 1"/>
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</geometry>
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<!-- <material name="orange"/> -->
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size="0.3762 0.0935 0.114"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0.021112 0.0 -0.005366"/>
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<mass value="6.921"/>
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<inertia ixx="0.02448" ixy="0.00012166" ixz="0.0014849" iyy="0.098077" iyz="-3.12e-05" izz="0.107"/>
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</inertial>
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</link>
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<joint name="imu_joint" type="fixed">
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<parent link="trunk"/>
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<child link="imu_link"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</joint>
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<link name="imu_link">
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<inertial>
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<mass value="0.001"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size="0.001 0.001 0.001"/>
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</geometry>
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<!-- <material name="red"/> -->
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size=".001 .001 .001"/>
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</geometry>
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</collision>
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</link>
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<joint name="FR_hip_joint" type="revolute">
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<origin rpy="0 0 0" xyz="0.1934 -0.0465 0"/>
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<parent link="trunk"/>
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<child link="FR_hip"/>
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<axis xyz="1 0 0"/>
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<dynamics damping="0.0" friction="0.0"/>
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<limit effort="23.7" lower="-1.0472" upper="1.0472" velocity="30.1"/>
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</joint>
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<link name="FR_hip">
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<visual>
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<origin rpy="3.141592653589793 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="file:///home/tlab-uav/ros2_ws/install/go2_description/share/go2_description/meshes/hip.dae" scale="1 1 1"/>
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</geometry>
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<!-- <material name="orange"/> -->
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</visual>
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<collision>
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<origin rpy="1.5707963267948966 0 0" xyz="0 -0.0955 0"/>
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<geometry>
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<cylinder length="0.04" radius="0.046"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="-0.0054 -0.00194 -0.000105"/>
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<mass value="0.678"/>
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<inertia ixx="0.00048" ixy="3.01e-06" ixz="1.11e-06" iyy="0.000884" iyz="1.42e-06" izz="0.000596"/>
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</inertial>
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</link>
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<joint name="FR_thigh_joint" type="revolute">
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<origin rpy="0 0 0" xyz="0 -0.0955 0"/>
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<parent link="FR_hip"/>
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<child link="FR_thigh"/>
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<axis xyz="0 1 0"/>
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<dynamics damping="0.0" friction="0.0"/>
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<limit effort="23.7" lower="-1.5708" upper="3.4907" velocity="30.1"/>
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</joint>
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<link name="FR_thigh">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="file:///home/tlab-uav/ros2_ws/install/go2_description/share/go2_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
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</geometry>
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<!-- <material name="orange"/> -->
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</visual>
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<collision>
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<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065"/>
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||
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<geometry>
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||
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<box size="0.213 0.0245 0.034"/>
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||
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="-0.00374 0.0223 -0.0327"/>
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<mass value="1.152"/>
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<inertia ixx="0.00584" ixy="-8.72e-05" ixz="-0.000289" iyy="0.0058" iyz="-0.000808" izz="0.00103"/>
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</inertial>
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</link>
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<joint name="FR_calf_joint" type="revolute">
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<origin rpy="0 0 0" xyz="0 0 -0.213"/>
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<parent link="FR_thigh"/>
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<child link="FR_calf"/>
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<axis xyz="0 1 0"/>
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<dynamics damping="0.0" friction="0.0"/>
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<limit effort="35.55" lower="-2.7227" upper="-0.83776" velocity="20.06"/>
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</joint>
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<link name="FR_calf">
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<visual>
|
||
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<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
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|
<geometry>
|
||
|
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/go2_description/share/go2_description/meshes/calf.dae" scale="1 1 1"/>
|
||
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</geometry>
|
||
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<!-- <material name="orange"/> -->
|
||
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</visual>
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||
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<collision>
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||
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<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065"/>
|
||
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<geometry>
|
||
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<box size="0.213 0.016 0.016"/>
|
||
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</geometry>
|
||
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</collision>
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||
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<inertial>
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||
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<origin rpy="0 0 0" xyz="0.00548 -0.000975 -0.115"/>
|
||
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<mass value="0.154"/>
|
||
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<inertia ixx="0.00108" ixy="3.4e-07" ixz="1.72e-05" iyy="0.0011" iyz="8.28e-06" izz="3.29e-05"/>
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</inertial>
|
||
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</link>
|
||
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<joint name="FR_foot_fixed" type="fixed">
|
||
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0
|
||
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|
||
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<origin rpy="0 0 0" xyz="0 0 -0.213"/>
|
||
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<parent link="FR_calf"/>
|
||
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<child link="FR_foot"/>
|
||
|
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</joint>
|
||
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<link name="FR_foot">
|
||
|
|
<visual>
|
||
|
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<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<sphere radius="0.01"/>
|
||
|
|
</geometry>
|
||
|
|
<!-- <material name="orange"/> -->
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<sphere radius="0.02"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<mass value="0.06"/>
|
||
|
|
<inertia ixx="9.600000000000001e-06" ixy="0.0" ixz="0.0" iyy="9.600000000000001e-06" iyz="0.0" izz="9.600000000000001e-06"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<transmission name="FR_hip_tran">
|
||
|
|
<type>transmission_interface/SimpleTransmission</type>
|
||
|
|
<joint name="FR_hip_joint">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
</joint>
|
||
|
|
<actuator name="FR_hip_motor">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
<mechanicalReduction>1</mechanicalReduction>
|
||
|
|
</actuator>
|
||
|
|
</transmission>
|
||
|
|
<transmission name="FR_thigh_tran">
|
||
|
|
<type>transmission_interface/SimpleTransmission</type>
|
||
|
|
<joint name="FR_thigh_joint">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
</joint>
|
||
|
|
<actuator name="FR_thigh_motor">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
<mechanicalReduction>1</mechanicalReduction>
|
||
|
|
</actuator>
|
||
|
|
</transmission>
|
||
|
|
<transmission name="FR_calf_tran">
|
||
|
|
<type>transmission_interface/SimpleTransmission</type>
|
||
|
|
<joint name="FR_calf_joint">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
</joint>
|
||
|
|
<actuator name="FR_calf_motor">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
<mechanicalReduction>1</mechanicalReduction>
|
||
|
|
</actuator>
|
||
|
|
</transmission>
|
||
|
|
<joint name="FL_hip_joint" type="revolute">
|
||
|
|
<origin rpy="0 0 0" xyz="0.1934 0.0465 0"/>
|
||
|
|
<parent link="trunk"/>
|
||
|
|
<child link="FL_hip"/>
|
||
|
|
<axis xyz="1 0 0"/>
|
||
|
|
<dynamics damping="0.0" friction="0.0"/>
|
||
|
|
<limit effort="23.7" lower="-1.0472" upper="1.0472" velocity="30.1"/>
|
||
|
|
</joint>
|
||
|
|
<link name="FL_hip">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/go2_description/share/go2_description/meshes/hip.dae" scale="1 1 1"/>
|
||
|
|
</geometry>
|
||
|
|
<!-- <material name="orange"/> -->
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="1.5707963267948966 0 0" xyz="0 0.0955 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.04" radius="0.046"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="-0.0054 0.00194 -0.000105"/>
|
||
|
|
<mass value="0.678"/>
|
||
|
|
<inertia ixx="0.00048" ixy="-3.01e-06" ixz="1.11e-06" iyy="0.000884" iyz="-1.42e-06" izz="0.000596"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="FL_thigh_joint" type="revolute">
|
||
|
|
<origin rpy="0 0 0" xyz="0 0.0955 0"/>
|
||
|
|
<parent link="FL_hip"/>
|
||
|
|
<child link="FL_thigh"/>
|
||
|
|
<axis xyz="0 1 0"/>
|
||
|
|
<dynamics damping="0.0" friction="0.0"/>
|
||
|
|
<limit effort="23.7" lower="-1.5708" upper="3.4907" velocity="30.1"/>
|
||
|
|
</joint>
|
||
|
|
<link name="FL_thigh">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/go2_description/share/go2_description/meshes/thigh.dae" scale="1 1 1"/>
|
||
|
|
</geometry>
|
||
|
|
<!-- <material name="orange"/> -->
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.213 0.0245 0.034"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="-0.00374 -0.0223 -0.0327"/>
|
||
|
|
<mass value="1.152"/>
|
||
|
|
<inertia ixx="0.00584" ixy="8.72e-05" ixz="-0.000289" iyy="0.0058" iyz="0.000808" izz="0.00103"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="FL_calf_joint" type="revolute">
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
|
||
|
|
<parent link="FL_thigh"/>
|
||
|
|
<child link="FL_calf"/>
|
||
|
|
<axis xyz="0 1 0"/>
|
||
|
|
<dynamics damping="0.0" friction="0.0"/>
|
||
|
|
<limit effort="35.55" lower="-2.7227" upper="-0.83776" velocity="20.06"/>
|
||
|
|
</joint>
|
||
|
|
<link name="FL_calf">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/go2_description/share/go2_description/meshes/calf.dae" scale="1 1 1"/>
|
||
|
|
</geometry>
|
||
|
|
<!-- <material name="orange"/> -->
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.213 0.016 0.016"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="0.00548 -0.000975 -0.115"/>
|
||
|
|
<mass value="0.154"/>
|
||
|
|
<inertia ixx="0.00108" ixy="3.4e-07" ixz="1.72e-05" iyy="0.0011" iyz="8.28e-06" izz="3.29e-05"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="FL_foot_fixed" type="fixed">
|
||
|
|
0
|
||
|
|
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
|
||
|
|
<parent link="FL_calf"/>
|
||
|
|
<child link="FL_foot"/>
|
||
|
|
</joint>
|
||
|
|
<link name="FL_foot">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<sphere radius="0.01"/>
|
||
|
|
</geometry>
|
||
|
|
<!-- <material name="orange"/> -->
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<sphere radius="0.02"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<mass value="0.06"/>
|
||
|
|
<inertia ixx="9.600000000000001e-06" ixy="0.0" ixz="0.0" iyy="9.600000000000001e-06" iyz="0.0" izz="9.600000000000001e-06"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<transmission name="FL_hip_tran">
|
||
|
|
<type>transmission_interface/SimpleTransmission</type>
|
||
|
|
<joint name="FL_hip_joint">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
</joint>
|
||
|
|
<actuator name="FL_hip_motor">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
<mechanicalReduction>1</mechanicalReduction>
|
||
|
|
</actuator>
|
||
|
|
</transmission>
|
||
|
|
<transmission name="FL_thigh_tran">
|
||
|
|
<type>transmission_interface/SimpleTransmission</type>
|
||
|
|
<joint name="FL_thigh_joint">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
</joint>
|
||
|
|
<actuator name="FL_thigh_motor">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
<mechanicalReduction>1</mechanicalReduction>
|
||
|
|
</actuator>
|
||
|
|
</transmission>
|
||
|
|
<transmission name="FL_calf_tran">
|
||
|
|
<type>transmission_interface/SimpleTransmission</type>
|
||
|
|
<joint name="FL_calf_joint">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
</joint>
|
||
|
|
<actuator name="FL_calf_motor">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
<mechanicalReduction>1</mechanicalReduction>
|
||
|
|
</actuator>
|
||
|
|
</transmission>
|
||
|
|
<joint name="RR_hip_joint" type="revolute">
|
||
|
|
<origin rpy="0 0 0" xyz="-0.1934 -0.0465 0"/>
|
||
|
|
<parent link="trunk"/>
|
||
|
|
<child link="RR_hip"/>
|
||
|
|
<axis xyz="1 0 0"/>
|
||
|
|
<dynamics damping="0.0" friction="0.0"/>
|
||
|
|
<limit effort="23.7" lower="-1.0472" upper="1.0472" velocity="30.1"/>
|
||
|
|
</joint>
|
||
|
|
<link name="RR_hip">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="3.141592653589793 3.141592653589793 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/go2_description/share/go2_description/meshes/hip.dae" scale="1 1 1"/>
|
||
|
|
</geometry>
|
||
|
|
<!-- <material name="orange"/> -->
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="1.5707963267948966 0 0" xyz="0 -0.0955 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.04" radius="0.046"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="0.0054 -0.00194 -0.000105"/>
|
||
|
|
<mass value="0.678"/>
|
||
|
|
<inertia ixx="0.00048" ixy="-3.01e-06" ixz="-1.11e-06" iyy="0.000884" iyz="1.42e-06" izz="0.000596"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="RR_thigh_joint" type="revolute">
|
||
|
|
<origin rpy="0 0 0" xyz="0 -0.0955 0"/>
|
||
|
|
<parent link="RR_hip"/>
|
||
|
|
<child link="RR_thigh"/>
|
||
|
|
<axis xyz="0 1 0"/>
|
||
|
|
<dynamics damping="0.0" friction="0.0"/>
|
||
|
|
<limit effort="23.7" lower="-1.5708" upper="3.4907" velocity="30.1"/>
|
||
|
|
</joint>
|
||
|
|
<link name="RR_thigh">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/go2_description/share/go2_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
|
||
|
|
</geometry>
|
||
|
|
<!-- <material name="orange"/> -->
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.213 0.0245 0.034"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="-0.00374 0.0223 -0.0327"/>
|
||
|
|
<mass value="1.152"/>
|
||
|
|
<inertia ixx="0.00584" ixy="-8.72e-05" ixz="-0.000289" iyy="0.0058" iyz="-0.000808" izz="0.00103"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="RR_calf_joint" type="revolute">
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
|
||
|
|
<parent link="RR_thigh"/>
|
||
|
|
<child link="RR_calf"/>
|
||
|
|
<axis xyz="0 1 0"/>
|
||
|
|
<dynamics damping="0.0" friction="0.0"/>
|
||
|
|
<limit effort="35.55" lower="-2.7227" upper="-0.83776" velocity="20.06"/>
|
||
|
|
</joint>
|
||
|
|
<link name="RR_calf">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/go2_description/share/go2_description/meshes/calf.dae" scale="1 1 1"/>
|
||
|
|
</geometry>
|
||
|
|
<!-- <material name="orange"/> -->
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.213 0.016 0.016"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="0.00548 -0.000975 -0.115"/>
|
||
|
|
<mass value="0.154"/>
|
||
|
|
<inertia ixx="0.00108" ixy="3.4e-07" ixz="1.72e-05" iyy="0.0011" iyz="8.28e-06" izz="3.29e-05"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="RR_foot_fixed" type="fixed">
|
||
|
|
0
|
||
|
|
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
|
||
|
|
<parent link="RR_calf"/>
|
||
|
|
<child link="RR_foot"/>
|
||
|
|
</joint>
|
||
|
|
<link name="RR_foot">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<sphere radius="0.01"/>
|
||
|
|
</geometry>
|
||
|
|
<!-- <material name="orange"/> -->
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<sphere radius="0.02"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<mass value="0.06"/>
|
||
|
|
<inertia ixx="9.600000000000001e-06" ixy="0.0" ixz="0.0" iyy="9.600000000000001e-06" iyz="0.0" izz="9.600000000000001e-06"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<transmission name="RR_hip_tran">
|
||
|
|
<type>transmission_interface/SimpleTransmission</type>
|
||
|
|
<joint name="RR_hip_joint">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
</joint>
|
||
|
|
<actuator name="RR_hip_motor">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
<mechanicalReduction>1</mechanicalReduction>
|
||
|
|
</actuator>
|
||
|
|
</transmission>
|
||
|
|
<transmission name="RR_thigh_tran">
|
||
|
|
<type>transmission_interface/SimpleTransmission</type>
|
||
|
|
<joint name="RR_thigh_joint">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
</joint>
|
||
|
|
<actuator name="RR_thigh_motor">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
<mechanicalReduction>1</mechanicalReduction>
|
||
|
|
</actuator>
|
||
|
|
</transmission>
|
||
|
|
<transmission name="RR_calf_tran">
|
||
|
|
<type>transmission_interface/SimpleTransmission</type>
|
||
|
|
<joint name="RR_calf_joint">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
</joint>
|
||
|
|
<actuator name="RR_calf_motor">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
<mechanicalReduction>1</mechanicalReduction>
|
||
|
|
</actuator>
|
||
|
|
</transmission>
|
||
|
|
<joint name="RL_hip_joint" type="revolute">
|
||
|
|
<origin rpy="0 0 0" xyz="-0.1934 0.0465 0"/>
|
||
|
|
<parent link="trunk"/>
|
||
|
|
<child link="RL_hip"/>
|
||
|
|
<axis xyz="1 0 0"/>
|
||
|
|
<dynamics damping="0.0" friction="0.0"/>
|
||
|
|
<limit effort="23.7" lower="-1.0472" upper="1.0472" velocity="30.1"/>
|
||
|
|
</joint>
|
||
|
|
<link name="RL_hip">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 3.141592653589793 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/go2_description/share/go2_description/meshes/hip.dae" scale="1 1 1"/>
|
||
|
|
</geometry>
|
||
|
|
<!-- <material name="orange"/> -->
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="1.5707963267948966 0 0" xyz="0 0.0955 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.04" radius="0.046"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="0.0054 0.00194 -0.000105"/>
|
||
|
|
<mass value="0.678"/>
|
||
|
|
<inertia ixx="0.00048" ixy="3.01e-06" ixz="-1.11e-06" iyy="0.000884" iyz="-1.42e-06" izz="0.000596"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="RL_thigh_joint" type="revolute">
|
||
|
|
<origin rpy="0 0 0" xyz="0 0.0955 0"/>
|
||
|
|
<parent link="RL_hip"/>
|
||
|
|
<child link="RL_thigh"/>
|
||
|
|
<axis xyz="0 1 0"/>
|
||
|
|
<dynamics damping="0.0" friction="0.0"/>
|
||
|
|
<limit effort="23.7" lower="-1.5708" upper="3.4907" velocity="30.1"/>
|
||
|
|
</joint>
|
||
|
|
<link name="RL_thigh">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/go2_description/share/go2_description/meshes/thigh.dae" scale="1 1 1"/>
|
||
|
|
</geometry>
|
||
|
|
<!-- <material name="orange"/> -->
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.213 0.0245 0.034"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="-0.00374 -0.0223 -0.0327"/>
|
||
|
|
<mass value="1.152"/>
|
||
|
|
<inertia ixx="0.00584" ixy="8.72e-05" ixz="-0.000289" iyy="0.0058" iyz="0.000808" izz="0.00103"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="RL_calf_joint" type="revolute">
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
|
||
|
|
<parent link="RL_thigh"/>
|
||
|
|
<child link="RL_calf"/>
|
||
|
|
<axis xyz="0 1 0"/>
|
||
|
|
<dynamics damping="0.0" friction="0.0"/>
|
||
|
|
<limit effort="35.55" lower="-2.7227" upper="-0.83776" velocity="20.06"/>
|
||
|
|
</joint>
|
||
|
|
<link name="RL_calf">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/go2_description/share/go2_description/meshes/calf.dae" scale="1 1 1"/>
|
||
|
|
</geometry>
|
||
|
|
<!-- <material name="orange"/> -->
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.213 0.016 0.016"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="0.00548 -0.000975 -0.115"/>
|
||
|
|
<mass value="0.154"/>
|
||
|
|
<inertia ixx="0.00108" ixy="3.4e-07" ixz="1.72e-05" iyy="0.0011" iyz="8.28e-06" izz="3.29e-05"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="RL_foot_fixed" type="fixed">
|
||
|
|
0
|
||
|
|
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
|
||
|
|
<parent link="RL_calf"/>
|
||
|
|
<child link="RL_foot"/>
|
||
|
|
</joint>
|
||
|
|
<link name="RL_foot">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<sphere radius="0.01"/>
|
||
|
|
</geometry>
|
||
|
|
<!-- <material name="orange"/> -->
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<sphere radius="0.02"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<mass value="0.06"/>
|
||
|
|
<inertia ixx="9.600000000000001e-06" ixy="0.0" ixz="0.0" iyy="9.600000000000001e-06" iyz="0.0" izz="9.600000000000001e-06"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<transmission name="RL_hip_tran">
|
||
|
|
<type>transmission_interface/SimpleTransmission</type>
|
||
|
|
<joint name="RL_hip_joint">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
</joint>
|
||
|
|
<actuator name="RL_hip_motor">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
<mechanicalReduction>1</mechanicalReduction>
|
||
|
|
</actuator>
|
||
|
|
</transmission>
|
||
|
|
<transmission name="RL_thigh_tran">
|
||
|
|
<type>transmission_interface/SimpleTransmission</type>
|
||
|
|
<joint name="RL_thigh_joint">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
</joint>
|
||
|
|
<actuator name="RL_thigh_motor">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
<mechanicalReduction>1</mechanicalReduction>
|
||
|
|
</actuator>
|
||
|
|
</transmission>
|
||
|
|
<transmission name="RL_calf_tran">
|
||
|
|
<type>transmission_interface/SimpleTransmission</type>
|
||
|
|
<joint name="RL_calf_joint">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
</joint>
|
||
|
|
<actuator name="RL_calf_motor">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
<mechanicalReduction>1</mechanicalReduction>
|
||
|
|
</actuator>
|
||
|
|
</transmission>
|
||
|
|
</robot>
|