2024-09-28 23:05:13 +08:00
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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="go1">
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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 1.0"/>
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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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2024-09-30 15:10:08 +08:00
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<mesh filename="file:///home/tlab-uav/ros2_ws/install/go1_description/share/go1_description/meshes/trunk.dae" scale="1 1 1"/>
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2024-09-28 23:05:13 +08:00
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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="0.0223 0.002 -0.0005"/>
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<mass value="5.204"/>
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<inertia ixx="0.0168128557" ixy="-0.0002296769" ixz="-0.0002945293" iyy="0.063009565" iyz="-4.18731e-05" izz="0.0716547275"/>
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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="-0.01592 -0.06659 -0.00617"/>
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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="0.1881 -0.04675 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="-0.863" upper="0.863" velocity="30.1"/>
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</joint>
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<joint name="FR_hip_rotor_joint" type="fixed">
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<origin rpy="0 0 0" xyz="0.11215 -0.04675 0"/>
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<parent link="trunk"/>
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<child link="FR_hip_rotor"/>
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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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2024-09-30 15:10:08 +08:00
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<mesh filename="file:///home/tlab-uav/ros2_ws/install/go1_description/share/go1_description/meshes/hip.dae" scale="1 1 1"/>
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2024-09-28 23:05:13 +08:00
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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 -0.08 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="-0.005657 0.008752 -0.000102"/>
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<mass value="0.591"/>
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<inertia ixx="0.000334008405" ixy="1.0826066e-05" ixz="1.290732e-06" iyy="0.000619101213" iyz="-1.643194e-06" izz="0.00040057614"/>
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</inertial>
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</link>
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<link name="FR_hip_rotor">
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<visual>
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<origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
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<geometry>
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<cylinder length="0.02" radius="0.035"/>
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</geometry>
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<material name="green"/>
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</visual>
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<inertial>
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<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
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<mass value="0.089"/>
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<inertia ixx="0.000111842" ixy="0.0" ixz="0.0" iyy="5.9647e-05" iyz="0.0" izz="5.9647e-05"/>
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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 -0.08 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="-0.686" upper="4.501" velocity="30.1"/>
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</joint>
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<joint name="FR_thigh_rotor_joint" type="fixed">
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<origin rpy="0 0 0" xyz="0.0 0.00015 0"/>
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<parent link="FR_hip"/>
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<child link="FR_thigh_rotor"/>
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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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2024-09-30 15:10:08 +08:00
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<mesh filename="file:///home/tlab-uav/ros2_ws/install/go1_description/share/go1_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
|
2024-09-28 23:05:13 +08:00
|
|
|
</geometry>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065"/>
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|
|
|
|
<geometry>
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|
|
|
|
<box size="0.213 0.0245 0.034"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin rpy="0 0 0" xyz="-0.003342 0.018054 -0.033451"/>
|
|
|
|
|
<mass value="0.92"/>
|
|
|
|
|
<inertia ixx="0.004431760472" ixy="-5.7496807e-05" ixz="-0.000218457134" iyy="0.004485671726" iyz="-0.000572001265" izz="0.000740309489"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<link name="FR_thigh_rotor">
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<cylinder length="0.02" radius="0.035"/>
|
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|
|
</geometry>
|
|
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|
|
<material name="green"/>
|
|
|
|
|
</visual>
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
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|
|
<mass value="0.089"/>
|
|
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<inertia ixx="5.9647e-05" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="5.9647e-05"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="FR_calf_joint" type="revolute">
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
|
|
|
|
|
<parent link="FR_thigh"/>
|
|
|
|
|
<child link="FR_calf"/>
|
|
|
|
|
<axis xyz="0 1 0"/>
|
|
|
|
|
<dynamics damping="0.0" friction="0.0"/>
|
|
|
|
|
<limit effort="35.55" lower="-2.818" upper="-0.888" velocity="20.06"/>
|
|
|
|
|
</joint>
|
|
|
|
|
<joint name="FR_calf_rotor_joint" type="fixed">
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.0 0.03235 0"/>
|
|
|
|
|
<parent link="FR_thigh"/>
|
|
|
|
|
<child link="FR_calf_rotor"/>
|
|
|
|
|
</joint>
|
|
|
|
|
<link name="FR_calf">
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
2024-09-30 15:10:08 +08:00
|
|
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/go1_description/share/go1_description/meshes/calf.dae" scale="1 1 1"/>
|
2024-09-28 23:05:13 +08:00
|
|
|
</geometry>
|
|
|
|
|
</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="0.006197 0.001408 -0.116695"/>
|
|
|
|
|
<mass value="0.135862"/>
|
|
|
|
|
<inertia ixx="0.001088793059" ixy="-2.55679e-07" ixz="7.117814e-06" iyy="0.001100428748" iyz="2.077264e-06" izz="2.4787446e-05"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<link name="FR_calf_rotor">
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<cylinder length="0.02" radius="0.035"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</visual>
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
|
|
|
|
<mass value="0.089"/>
|
|
|
|
|
<inertia ixx="5.9647e-05" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="5.9647e-05"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="FR_foot_fixed" type="fixed">
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
|
|
|
|
|
<parent link="FR_calf"/>
|
|
|
|
|
<child link="FR_foot"/>
|
|
|
|
|
</joint>
|
|
|
|
|
<link name="FR_foot">
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<sphere radius="0.01"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</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="0.1881 0.04675 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="-0.863" upper="0.863" velocity="30.1"/>
|
|
|
|
|
</joint>
|
|
|
|
|
<joint name="FL_hip_rotor_joint" type="fixed">
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.11215 0.04675 0"/>
|
|
|
|
|
<parent link="trunk"/>
|
|
|
|
|
<child link="FL_hip_rotor"/>
|
|
|
|
|
</joint>
|
|
|
|
|
<link name="FL_hip">
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
2024-09-30 15:10:08 +08:00
|
|
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/go1_description/share/go1_description/meshes/hip.dae" scale="1 1 1"/>
|
2024-09-28 23:05:13 +08:00
|
|
|
</geometry>
|
|
|
|
|
<!-- <material name="orange"/> -->
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<origin rpy="1.5707963267948966 0 0" xyz="0 0.08 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<cylinder length="0.04" radius="0.046"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin rpy="0 0 0" xyz="-0.005657 -0.008752 -0.000102"/>
|
|
|
|
|
<mass value="0.591"/>
|
|
|
|
|
<inertia ixx="0.000334008405" ixy="-1.0826066e-05" ixz="1.290732e-06" iyy="0.000619101213" iyz="1.643194e-06" izz="0.00040057614"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<link name="FL_hip_rotor">
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<cylinder length="0.02" radius="0.035"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="green"/>
|
|
|
|
|
</visual>
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
|
|
|
|
<mass value="0.089"/>
|
|
|
|
|
<inertia ixx="0.000111842" ixy="0.0" ixz="0.0" iyy="5.9647e-05" iyz="0.0" izz="5.9647e-05"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="FL_thigh_joint" type="revolute">
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0.08 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="-0.686" upper="4.501" velocity="30.1"/>
|
|
|
|
|
</joint>
|
|
|
|
|
<joint name="FL_thigh_rotor_joint" type="fixed">
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.0 -0.00015 0"/>
|
|
|
|
|
<parent link="FL_hip"/>
|
|
|
|
|
<child link="FL_thigh_rotor"/>
|
|
|
|
|
</joint>
|
|
|
|
|
<link name="FL_thigh">
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
2024-09-30 15:10:08 +08:00
|
|
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/go1_description/share/go1_description/meshes/thigh.dae" scale="1 1 1"/>
|
2024-09-28 23:05:13 +08:00
|
|
|
</geometry>
|
|
|
|
|
</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="-0.003342 -0.018054 -0.033451"/>
|
|
|
|
|
<mass value="0.92"/>
|
|
|
|
|
<inertia ixx="0.004431760472" ixy="5.7496807e-05" ixz="-0.000218457134" iyy="0.004485671726" iyz="0.000572001265" izz="0.000740309489"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<link name="FL_thigh_rotor">
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<cylinder length="0.02" radius="0.035"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="green"/>
|
|
|
|
|
</visual>
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
|
|
|
|
<mass value="0.089"/>
|
|
|
|
|
<inertia ixx="5.9647e-05" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="5.9647e-05"/>
|
|
|
|
|
</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="-2.818" upper="-0.888" velocity="20.06"/>
|
|
|
|
|
</joint>
|
|
|
|
|
<joint name="FL_calf_rotor_joint" type="fixed">
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.0 -0.03235 0"/>
|
|
|
|
|
<parent link="FL_thigh"/>
|
|
|
|
|
<child link="FL_calf_rotor"/>
|
|
|
|
|
</joint>
|
|
|
|
|
<link name="FL_calf">
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
2024-09-30 15:10:08 +08:00
|
|
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/go1_description/share/go1_description/meshes/calf.dae" scale="1 1 1"/>
|
2024-09-28 23:05:13 +08:00
|
|
|
</geometry>
|
|
|
|
|
</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="0.006197 0.001408 -0.116695"/>
|
|
|
|
|
<mass value="0.135862"/>
|
|
|
|
|
<inertia ixx="0.001088793059" ixy="-2.55679e-07" ixz="7.117814e-06" iyy="0.001100428748" iyz="2.077264e-06" izz="2.4787446e-05"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<link name="FL_calf_rotor">
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<cylinder length="0.02" radius="0.035"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</visual>
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
|
|
|
|
<mass value="0.089"/>
|
|
|
|
|
<inertia ixx="5.9647e-05" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="5.9647e-05"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="FL_foot_fixed" type="fixed">
|
|
|
|
|
<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>
|
|
|
|
|
</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="-0.1881 -0.04675 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="-0.863" upper="0.863" velocity="30.1"/>
|
|
|
|
|
</joint>
|
|
|
|
|
<joint name="RR_hip_rotor_joint" type="fixed">
|
|
|
|
|
<origin rpy="0 0 0" xyz="-0.11215 -0.04675 0"/>
|
|
|
|
|
<parent link="trunk"/>
|
|
|
|
|
<child link="RR_hip_rotor"/>
|
|
|
|
|
</joint>
|
|
|
|
|
<link name="RR_hip">
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="3.141592653589793 3.141592653589793 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
2024-09-30 15:10:08 +08:00
|
|
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/go1_description/share/go1_description/meshes/hip.dae" scale="1 1 1"/>
|
2024-09-28 23:05:13 +08:00
|
|
|
</geometry>
|
|
|
|
|
<!-- <material name="orange"/> -->
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<origin rpy="1.5707963267948966 0 0" xyz="0 -0.08 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<cylinder length="0.04" radius="0.046"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.005657 0.008752 -0.000102"/>
|
|
|
|
|
<mass value="0.591"/>
|
|
|
|
|
<inertia ixx="0.000334008405" ixy="-1.0826066e-05" ixz="-1.290732e-06" iyy="0.000619101213" iyz="-1.643194e-06" izz="0.00040057614"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<link name="RR_hip_rotor">
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<cylinder length="0.02" radius="0.035"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="green"/>
|
|
|
|
|
</visual>
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
|
|
|
|
<mass value="0.089"/>
|
|
|
|
|
<inertia ixx="0.000111842" ixy="0.0" ixz="0.0" iyy="5.9647e-05" iyz="0.0" izz="5.9647e-05"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="RR_thigh_joint" type="revolute">
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 -0.08 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="-0.686" upper="4.501" velocity="30.1"/>
|
|
|
|
|
</joint>
|
|
|
|
|
<joint name="RR_thigh_rotor_joint" type="fixed">
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.0 0.00015 0"/>
|
|
|
|
|
<parent link="RR_hip"/>
|
|
|
|
|
<child link="RR_thigh_rotor"/>
|
|
|
|
|
</joint>
|
|
|
|
|
<link name="RR_thigh">
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
2024-09-30 15:10:08 +08:00
|
|
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/go1_description/share/go1_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
|
2024-09-28 23:05:13 +08:00
|
|
|
</geometry>
|
|
|
|
|
</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="-0.003342 0.018054 -0.033451"/>
|
|
|
|
|
<mass value="0.92"/>
|
|
|
|
|
<inertia ixx="0.004431760472" ixy="-5.7496807e-05" ixz="-0.000218457134" iyy="0.004485671726" iyz="-0.000572001265" izz="0.000740309489"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<link name="RR_thigh_rotor">
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<cylinder length="0.02" radius="0.035"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="green"/>
|
|
|
|
|
</visual>
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
|
|
|
|
<mass value="0.089"/>
|
|
|
|
|
<inertia ixx="5.9647e-05" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="5.9647e-05"/>
|
|
|
|
|
</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="-2.818" upper="-0.888" velocity="20.06"/>
|
|
|
|
|
</joint>
|
|
|
|
|
<joint name="RR_calf_rotor_joint" type="fixed">
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.0 0.03235 0"/>
|
|
|
|
|
<parent link="RR_thigh"/>
|
|
|
|
|
<child link="RR_calf_rotor"/>
|
|
|
|
|
</joint>
|
|
|
|
|
<link name="RR_calf">
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
2024-09-30 15:10:08 +08:00
|
|
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/go1_description/share/go1_description/meshes/calf.dae" scale="1 1 1"/>
|
2024-09-28 23:05:13 +08:00
|
|
|
</geometry>
|
|
|
|
|
</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="0.006197 0.001408 -0.116695"/>
|
|
|
|
|
<mass value="0.135862"/>
|
|
|
|
|
<inertia ixx="0.001088793059" ixy="-2.55679e-07" ixz="7.117814e-06" iyy="0.001100428748" iyz="2.077264e-06" izz="2.4787446e-05"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<link name="RR_calf_rotor">
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<cylinder length="0.02" radius="0.035"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</visual>
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
|
|
|
|
<mass value="0.089"/>
|
|
|
|
|
<inertia ixx="5.9647e-05" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="5.9647e-05"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="RR_foot_fixed" type="fixed">
|
|
|
|
|
<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>
|
|
|
|
|
</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="-0.1881 0.04675 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="-0.863" upper="0.863" velocity="30.1"/>
|
|
|
|
|
</joint>
|
|
|
|
|
<joint name="RL_hip_rotor_joint" type="fixed">
|
|
|
|
|
<origin rpy="0 0 0" xyz="-0.11215 0.04675 0"/>
|
|
|
|
|
<parent link="trunk"/>
|
|
|
|
|
<child link="RL_hip_rotor"/>
|
|
|
|
|
</joint>
|
|
|
|
|
<link name="RL_hip">
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="0 3.141592653589793 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
2024-09-30 15:10:08 +08:00
|
|
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/go1_description/share/go1_description/meshes/hip.dae" scale="1 1 1"/>
|
2024-09-28 23:05:13 +08:00
|
|
|
</geometry>
|
|
|
|
|
<!-- <material name="orange"/> -->
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<origin rpy="1.5707963267948966 0 0" xyz="0 0.08 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<cylinder length="0.04" radius="0.046"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.005657 -0.008752 -0.000102"/>
|
|
|
|
|
<mass value="0.591"/>
|
|
|
|
|
<inertia ixx="0.000334008405" ixy="1.0826066e-05" ixz="-1.290732e-06" iyy="0.000619101213" iyz="1.643194e-06" izz="0.00040057614"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<link name="RL_hip_rotor">
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<cylinder length="0.02" radius="0.035"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="green"/>
|
|
|
|
|
</visual>
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
|
|
|
|
<mass value="0.089"/>
|
|
|
|
|
<inertia ixx="0.000111842" ixy="0.0" ixz="0.0" iyy="5.9647e-05" iyz="0.0" izz="5.9647e-05"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="RL_thigh_joint" type="revolute">
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0.08 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="-0.686" upper="4.501" velocity="30.1"/>
|
|
|
|
|
</joint>
|
|
|
|
|
<joint name="RL_thigh_rotor_joint" type="fixed">
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.0 -0.00015 0"/>
|
|
|
|
|
<parent link="RL_hip"/>
|
|
|
|
|
<child link="RL_thigh_rotor"/>
|
|
|
|
|
</joint>
|
|
|
|
|
<link name="RL_thigh">
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
2024-09-30 15:10:08 +08:00
|
|
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/go1_description/share/go1_description/meshes/thigh.dae" scale="1 1 1"/>
|
2024-09-28 23:05:13 +08:00
|
|
|
</geometry>
|
|
|
|
|
</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="-0.003342 -0.018054 -0.033451"/>
|
|
|
|
|
<mass value="0.92"/>
|
|
|
|
|
<inertia ixx="0.004431760472" ixy="5.7496807e-05" ixz="-0.000218457134" iyy="0.004485671726" iyz="0.000572001265" izz="0.000740309489"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<link name="RL_thigh_rotor">
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<cylinder length="0.02" radius="0.035"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="green"/>
|
|
|
|
|
</visual>
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
|
|
|
|
<mass value="0.089"/>
|
|
|
|
|
<inertia ixx="5.9647e-05" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="5.9647e-05"/>
|
|
|
|
|
</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="-2.818" upper="-0.888" velocity="20.06"/>
|
|
|
|
|
</joint>
|
|
|
|
|
<joint name="RL_calf_rotor_joint" type="fixed">
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.0 -0.03235 0"/>
|
|
|
|
|
<parent link="RL_thigh"/>
|
|
|
|
|
<child link="RL_calf_rotor"/>
|
|
|
|
|
</joint>
|
|
|
|
|
<link name="RL_calf">
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
2024-09-30 15:10:08 +08:00
|
|
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/go1_description/share/go1_description/meshes/calf.dae" scale="1 1 1"/>
|
2024-09-28 23:05:13 +08:00
|
|
|
</geometry>
|
|
|
|
|
</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="0.006197 0.001408 -0.116695"/>
|
|
|
|
|
<mass value="0.135862"/>
|
|
|
|
|
<inertia ixx="0.001088793059" ixy="-2.55679e-07" ixz="7.117814e-06" iyy="0.001100428748" iyz="2.077264e-06" izz="2.4787446e-05"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<link name="RL_calf_rotor">
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<cylinder length="0.02" radius="0.035"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</visual>
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
|
|
|
|
<mass value="0.089"/>
|
|
|
|
|
<inertia ixx="5.9647e-05" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="5.9647e-05"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="RL_foot_fixed" type="fixed">
|
|
|
|
|
<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>
|
|
|
|
|
</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>
|
|
|
|
|
<joint name="camera_joint_face" type="fixed">
|
|
|
|
|
<origin rpy="3.141592653589793 0 0" xyz="0.2785 0.0125 0.0167"/>
|
|
|
|
|
<parent link="trunk"/>
|
|
|
|
|
<child link="camera_face"/>
|
|
|
|
|
</joint>
|
|
|
|
|
<link name="camera_face">
|
|
|
|
|
<collision>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box size=".001 .001 .001"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
2024-09-30 15:10:08 +08:00
|
|
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/go1_description/share/go1_description/meshes/depthCamera.dae" scale="1 1 1"/>
|
2024-09-28 23:05:13 +08:00
|
|
|
</geometry>
|
|
|
|
|
</visual>
|
|
|
|
|
<inertial>
|
|
|
|
|
<mass value="1e-5"/>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
|
|
|
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="camera_optical_joint_face" type="fixed">
|
|
|
|
|
<origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
|
|
|
|
|
<parent link="camera_face"/>
|
|
|
|
|
<child link="camera_optical_face"/>
|
|
|
|
|
</joint>
|
|
|
|
|
<link name="camera_optical_face">
|
|
|
|
|
</link>
|
|
|
|
|
<gazebo reference="camera_face">
|
|
|
|
|
<!-- <material>Gazebo/Black</material> -->
|
|
|
|
|
<sensor name="camera_face_camera" type="depth">
|
|
|
|
|
<update_rate>16</update_rate>
|
|
|
|
|
<camera>
|
|
|
|
|
<horizontal_fov>2.094</horizontal_fov>
|
|
|
|
|
<image>
|
|
|
|
|
<width>928</width>
|
|
|
|
|
<height>800</height>
|
|
|
|
|
<format>R8G8B8</format>
|
|
|
|
|
</image>
|
|
|
|
|
<clip>
|
|
|
|
|
<near>0.1</near>
|
|
|
|
|
<far>5</far>
|
|
|
|
|
</clip>
|
|
|
|
|
</camera>
|
|
|
|
|
<plugin filename="libgazebo_ros_openni_kinect.so" name="camera_face_controller">
|
|
|
|
|
<baseline>0.025</baseline>
|
|
|
|
|
<alwaysOn>true</alwaysOn>
|
|
|
|
|
<updateRate>0.0</updateRate>
|
|
|
|
|
<cameraName>camera_face_ir</cameraName>
|
|
|
|
|
<imageTopicName>/camera_face/color/image_raw</imageTopicName>
|
|
|
|
|
<cameraInfoTopicName>/camera_face/color/camera_info</cameraInfoTopicName>
|
|
|
|
|
<depthImageTopicName>/camera_face/depth/image_raw</depthImageTopicName>
|
|
|
|
|
<depthImageInfoTopicName>/camera_face/depth/camera_info</depthImageInfoTopicName>
|
|
|
|
|
<!-- <pointCloudTopicName>/camera_${name}/depth/points</pointCloudTopicName> -->
|
|
|
|
|
<pointCloudTopicName>/cam1/point_cloud_face</pointCloudTopicName>
|
|
|
|
|
<frameName>camera_optical_face</frameName>
|
|
|
|
|
<pointCloudCutoff>0.1</pointCloudCutoff>
|
|
|
|
|
<pointCloudCutoffMax>1.5</pointCloudCutoffMax>
|
|
|
|
|
<distortionK1>0.0</distortionK1>
|
|
|
|
|
<distortionK2>0.0</distortionK2>
|
|
|
|
|
<distortionK3>0.0</distortionK3>
|
|
|
|
|
<distortionT1>0.0</distortionT1>
|
|
|
|
|
<distortionT2>0.0</distortionT2>
|
|
|
|
|
<CxPrime>0</CxPrime>
|
|
|
|
|
<Cx>0.0045</Cx>
|
|
|
|
|
<Cy>0.0039</Cy>
|
|
|
|
|
<focalLength>0</focalLength>
|
|
|
|
|
<hackBaseline>0</hackBaseline>
|
|
|
|
|
</plugin>
|
|
|
|
|
</sensor>
|
|
|
|
|
</gazebo>
|
|
|
|
|
<joint name="camera_joint_chin" type="fixed">
|
|
|
|
|
<origin rpy="3.141592653589793 1.5707963267948966 0" xyz="0.2522 0.0125 -0.0436"/>
|
|
|
|
|
<parent link="trunk"/>
|
|
|
|
|
<child link="camera_chin"/>
|
|
|
|
|
</joint>
|
|
|
|
|
<link name="camera_chin">
|
|
|
|
|
<collision>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box size=".001 .001 .001"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
2024-09-30 15:10:08 +08:00
|
|
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/go1_description/share/go1_description/meshes/depthCamera.dae" scale="1 1 1"/>
|
2024-09-28 23:05:13 +08:00
|
|
|
</geometry>
|
|
|
|
|
</visual>
|
|
|
|
|
<inertial>
|
|
|
|
|
<mass value="1e-5"/>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
|
|
|
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="camera_optical_joint_chin" type="fixed">
|
|
|
|
|
<origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
|
|
|
|
|
<parent link="camera_chin"/>
|
|
|
|
|
<child link="camera_optical_chin"/>
|
|
|
|
|
</joint>
|
|
|
|
|
<link name="camera_optical_chin">
|
|
|
|
|
</link>
|
|
|
|
|
<gazebo reference="camera_chin">
|
|
|
|
|
<!-- <material>Gazebo/Black</material> -->
|
|
|
|
|
<sensor name="camera_chin_camera" type="depth">
|
|
|
|
|
<update_rate>16</update_rate>
|
|
|
|
|
<camera>
|
|
|
|
|
<horizontal_fov>2.094</horizontal_fov>
|
|
|
|
|
<image>
|
|
|
|
|
<width>928</width>
|
|
|
|
|
<height>800</height>
|
|
|
|
|
<format>R8G8B8</format>
|
|
|
|
|
</image>
|
|
|
|
|
<clip>
|
|
|
|
|
<near>0.1</near>
|
|
|
|
|
<far>5</far>
|
|
|
|
|
</clip>
|
|
|
|
|
</camera>
|
|
|
|
|
<plugin filename="libgazebo_ros_openni_kinect.so" name="camera_chin_controller">
|
|
|
|
|
<baseline>0.025</baseline>
|
|
|
|
|
<alwaysOn>true</alwaysOn>
|
|
|
|
|
<updateRate>0.0</updateRate>
|
|
|
|
|
<cameraName>camera_chin_ir</cameraName>
|
|
|
|
|
<imageTopicName>/camera_chin/color/image_raw</imageTopicName>
|
|
|
|
|
<cameraInfoTopicName>/camera_chin/color/camera_info</cameraInfoTopicName>
|
|
|
|
|
<depthImageTopicName>/camera_chin/depth/image_raw</depthImageTopicName>
|
|
|
|
|
<depthImageInfoTopicName>/camera_chin/depth/camera_info</depthImageInfoTopicName>
|
|
|
|
|
<!-- <pointCloudTopicName>/camera_${name}/depth/points</pointCloudTopicName> -->
|
|
|
|
|
<pointCloudTopicName>/cam2/point_cloud_chin</pointCloudTopicName>
|
|
|
|
|
<frameName>camera_optical_chin</frameName>
|
|
|
|
|
<pointCloudCutoff>0.1</pointCloudCutoff>
|
|
|
|
|
<pointCloudCutoffMax>1.5</pointCloudCutoffMax>
|
|
|
|
|
<distortionK1>0.0</distortionK1>
|
|
|
|
|
<distortionK2>0.0</distortionK2>
|
|
|
|
|
<distortionK3>0.0</distortionK3>
|
|
|
|
|
<distortionT1>0.0</distortionT1>
|
|
|
|
|
<distortionT2>0.0</distortionT2>
|
|
|
|
|
<CxPrime>0</CxPrime>
|
|
|
|
|
<Cx>0.0045</Cx>
|
|
|
|
|
<Cy>0.0039</Cy>
|
|
|
|
|
<focalLength>0</focalLength>
|
|
|
|
|
<hackBaseline>0</hackBaseline>
|
|
|
|
|
</plugin>
|
|
|
|
|
</sensor>
|
|
|
|
|
</gazebo>
|
|
|
|
|
<joint name="camera_joint_left" type="fixed">
|
|
|
|
|
<origin rpy="3.141592653589793 0.2618 1.5707963267948966" xyz="-0.066 0.082 -0.0176"/>
|
|
|
|
|
<parent link="trunk"/>
|
|
|
|
|
<child link="camera_left"/>
|
|
|
|
|
</joint>
|
|
|
|
|
<link name="camera_left">
|
|
|
|
|
<collision>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box size=".001 .001 .001"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
2024-09-30 15:10:08 +08:00
|
|
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/go1_description/share/go1_description/meshes/depthCamera.dae" scale="1 1 1"/>
|
2024-09-28 23:05:13 +08:00
|
|
|
</geometry>
|
|
|
|
|
</visual>
|
|
|
|
|
<inertial>
|
|
|
|
|
<mass value="1e-5"/>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
|
|
|
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="camera_optical_joint_left" type="fixed">
|
|
|
|
|
<origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
|
|
|
|
|
<parent link="camera_left"/>
|
|
|
|
|
<child link="camera_optical_left"/>
|
|
|
|
|
</joint>
|
|
|
|
|
<link name="camera_optical_left">
|
|
|
|
|
</link>
|
|
|
|
|
<gazebo reference="camera_left">
|
|
|
|
|
<!-- <material>Gazebo/Black</material> -->
|
|
|
|
|
<sensor name="camera_left_camera" type="depth">
|
|
|
|
|
<update_rate>16</update_rate>
|
|
|
|
|
<camera>
|
|
|
|
|
<horizontal_fov>2.094</horizontal_fov>
|
|
|
|
|
<image>
|
|
|
|
|
<width>928</width>
|
|
|
|
|
<height>800</height>
|
|
|
|
|
<format>R8G8B8</format>
|
|
|
|
|
</image>
|
|
|
|
|
<clip>
|
|
|
|
|
<near>0.1</near>
|
|
|
|
|
<far>5</far>
|
|
|
|
|
</clip>
|
|
|
|
|
</camera>
|
|
|
|
|
<plugin filename="libgazebo_ros_openni_kinect.so" name="camera_left_controller">
|
|
|
|
|
<baseline>0.025</baseline>
|
|
|
|
|
<alwaysOn>true</alwaysOn>
|
|
|
|
|
<updateRate>0.0</updateRate>
|
|
|
|
|
<cameraName>camera_left_ir</cameraName>
|
|
|
|
|
<imageTopicName>/camera_left/color/image_raw</imageTopicName>
|
|
|
|
|
<cameraInfoTopicName>/camera_left/color/camera_info</cameraInfoTopicName>
|
|
|
|
|
<depthImageTopicName>/camera_left/depth/image_raw</depthImageTopicName>
|
|
|
|
|
<depthImageInfoTopicName>/camera_left/depth/camera_info</depthImageInfoTopicName>
|
|
|
|
|
<!-- <pointCloudTopicName>/camera_${name}/depth/points</pointCloudTopicName> -->
|
|
|
|
|
<pointCloudTopicName>/cam3/point_cloud_left</pointCloudTopicName>
|
|
|
|
|
<frameName>camera_optical_left</frameName>
|
|
|
|
|
<pointCloudCutoff>0.1</pointCloudCutoff>
|
|
|
|
|
<pointCloudCutoffMax>1.5</pointCloudCutoffMax>
|
|
|
|
|
<distortionK1>0.0</distortionK1>
|
|
|
|
|
<distortionK2>0.0</distortionK2>
|
|
|
|
|
<distortionK3>0.0</distortionK3>
|
|
|
|
|
<distortionT1>0.0</distortionT1>
|
|
|
|
|
<distortionT2>0.0</distortionT2>
|
|
|
|
|
<CxPrime>0</CxPrime>
|
|
|
|
|
<Cx>0.0045</Cx>
|
|
|
|
|
<Cy>0.0039</Cy>
|
|
|
|
|
<focalLength>0</focalLength>
|
|
|
|
|
<hackBaseline>0</hackBaseline>
|
|
|
|
|
</plugin>
|
|
|
|
|
</sensor>
|
|
|
|
|
</gazebo>
|
|
|
|
|
<joint name="camera_joint_right" type="fixed">
|
|
|
|
|
<origin rpy="3.141592653589793 0.2618 -1.5707963267948966" xyz="-0.041 -0.082 -0.0176"/>
|
|
|
|
|
<parent link="trunk"/>
|
|
|
|
|
<child link="camera_right"/>
|
|
|
|
|
</joint>
|
|
|
|
|
<link name="camera_right">
|
|
|
|
|
<collision>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box size=".001 .001 .001"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
2024-09-30 15:10:08 +08:00
|
|
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/go1_description/share/go1_description/meshes/depthCamera.dae" scale="1 1 1"/>
|
2024-09-28 23:05:13 +08:00
|
|
|
</geometry>
|
|
|
|
|
</visual>
|
|
|
|
|
<inertial>
|
|
|
|
|
<mass value="1e-5"/>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
|
|
|
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="camera_optical_joint_right" type="fixed">
|
|
|
|
|
<origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
|
|
|
|
|
<parent link="camera_right"/>
|
|
|
|
|
<child link="camera_optical_right"/>
|
|
|
|
|
</joint>
|
|
|
|
|
<link name="camera_optical_right">
|
|
|
|
|
</link>
|
|
|
|
|
<gazebo reference="camera_right">
|
|
|
|
|
<!-- <material>Gazebo/Black</material> -->
|
|
|
|
|
<sensor name="camera_right_camera" type="depth">
|
|
|
|
|
<update_rate>16</update_rate>
|
|
|
|
|
<camera>
|
|
|
|
|
<horizontal_fov>2.094</horizontal_fov>
|
|
|
|
|
<image>
|
|
|
|
|
<width>928</width>
|
|
|
|
|
<height>800</height>
|
|
|
|
|
<format>R8G8B8</format>
|
|
|
|
|
</image>
|
|
|
|
|
<clip>
|
|
|
|
|
<near>0.1</near>
|
|
|
|
|
<far>5</far>
|
|
|
|
|
</clip>
|
|
|
|
|
</camera>
|
|
|
|
|
<plugin filename="libgazebo_ros_openni_kinect.so" name="camera_right_controller">
|
|
|
|
|
<baseline>0.025</baseline>
|
|
|
|
|
<alwaysOn>true</alwaysOn>
|
|
|
|
|
<updateRate>0.0</updateRate>
|
|
|
|
|
<cameraName>camera_right_ir</cameraName>
|
|
|
|
|
<imageTopicName>/camera_right/color/image_raw</imageTopicName>
|
|
|
|
|
<cameraInfoTopicName>/camera_right/color/camera_info</cameraInfoTopicName>
|
|
|
|
|
<depthImageTopicName>/camera_right/depth/image_raw</depthImageTopicName>
|
|
|
|
|
<depthImageInfoTopicName>/camera_right/depth/camera_info</depthImageInfoTopicName>
|
|
|
|
|
<!-- <pointCloudTopicName>/camera_${name}/depth/points</pointCloudTopicName> -->
|
|
|
|
|
<pointCloudTopicName>/cam4/point_cloud_right</pointCloudTopicName>
|
|
|
|
|
<frameName>camera_optical_right</frameName>
|
|
|
|
|
<pointCloudCutoff>0.1</pointCloudCutoff>
|
|
|
|
|
<pointCloudCutoffMax>1.5</pointCloudCutoffMax>
|
|
|
|
|
<distortionK1>0.0</distortionK1>
|
|
|
|
|
<distortionK2>0.0</distortionK2>
|
|
|
|
|
<distortionK3>0.0</distortionK3>
|
|
|
|
|
<distortionT1>0.0</distortionT1>
|
|
|
|
|
<distortionT2>0.0</distortionT2>
|
|
|
|
|
<CxPrime>0</CxPrime>
|
|
|
|
|
<Cx>0.0045</Cx>
|
|
|
|
|
<Cy>0.0039</Cy>
|
|
|
|
|
<focalLength>0</focalLength>
|
|
|
|
|
<hackBaseline>0</hackBaseline>
|
|
|
|
|
</plugin>
|
|
|
|
|
</sensor>
|
|
|
|
|
</gazebo>
|
|
|
|
|
<joint name="camera_joint_rearDown" type="fixed">
|
|
|
|
|
<origin rpy="3.141592653589793 1.5707963267948966 0" xyz="-0.0825 0.0125 -0.04365"/>
|
|
|
|
|
<parent link="trunk"/>
|
|
|
|
|
<child link="camera_rearDown"/>
|
|
|
|
|
</joint>
|
|
|
|
|
<link name="camera_rearDown">
|
|
|
|
|
<collision>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box size=".001 .001 .001"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
2024-09-30 15:10:08 +08:00
|
|
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/go1_description/share/go1_description/meshes/depthCamera.dae" scale="1 1 1"/>
|
2024-09-28 23:05:13 +08:00
|
|
|
</geometry>
|
|
|
|
|
</visual>
|
|
|
|
|
<inertial>
|
|
|
|
|
<mass value="1e-5"/>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
|
|
|
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="camera_optical_joint_rearDown" type="fixed">
|
|
|
|
|
<origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
|
|
|
|
|
<parent link="camera_rearDown"/>
|
|
|
|
|
<child link="camera_optical_rearDown"/>
|
|
|
|
|
</joint>
|
|
|
|
|
<link name="camera_optical_rearDown">
|
|
|
|
|
</link>
|
|
|
|
|
<gazebo reference="camera_rearDown">
|
|
|
|
|
<!-- <material>Gazebo/Black</material> -->
|
|
|
|
|
<sensor name="camera_rearDown_camera" type="depth">
|
|
|
|
|
<update_rate>16</update_rate>
|
|
|
|
|
<camera>
|
|
|
|
|
<horizontal_fov>2.094</horizontal_fov>
|
|
|
|
|
<image>
|
|
|
|
|
<width>928</width>
|
|
|
|
|
<height>800</height>
|
|
|
|
|
<format>R8G8B8</format>
|
|
|
|
|
</image>
|
|
|
|
|
<clip>
|
|
|
|
|
<near>0.1</near>
|
|
|
|
|
<far>5</far>
|
|
|
|
|
</clip>
|
|
|
|
|
</camera>
|
|
|
|
|
<plugin filename="libgazebo_ros_openni_kinect.so" name="camera_rearDown_controller">
|
|
|
|
|
<baseline>0.025</baseline>
|
|
|
|
|
<alwaysOn>true</alwaysOn>
|
|
|
|
|
<updateRate>0.0</updateRate>
|
|
|
|
|
<cameraName>camera_rearDown_ir</cameraName>
|
|
|
|
|
<imageTopicName>/camera_rearDown/color/image_raw</imageTopicName>
|
|
|
|
|
<cameraInfoTopicName>/camera_rearDown/color/camera_info</cameraInfoTopicName>
|
|
|
|
|
<depthImageTopicName>/camera_rearDown/depth/image_raw</depthImageTopicName>
|
|
|
|
|
<depthImageInfoTopicName>/camera_rearDown/depth/camera_info</depthImageInfoTopicName>
|
|
|
|
|
<!-- <pointCloudTopicName>/camera_${name}/depth/points</pointCloudTopicName> -->
|
|
|
|
|
<pointCloudTopicName>/cam5/point_cloud_rearDown</pointCloudTopicName>
|
|
|
|
|
<frameName>camera_optical_rearDown</frameName>
|
|
|
|
|
<pointCloudCutoff>0.1</pointCloudCutoff>
|
|
|
|
|
<pointCloudCutoffMax>1.5</pointCloudCutoffMax>
|
|
|
|
|
<distortionK1>0.0</distortionK1>
|
|
|
|
|
<distortionK2>0.0</distortionK2>
|
|
|
|
|
<distortionK3>0.0</distortionK3>
|
|
|
|
|
<distortionT1>0.0</distortionT1>
|
|
|
|
|
<distortionT2>0.0</distortionT2>
|
|
|
|
|
<CxPrime>0</CxPrime>
|
|
|
|
|
<Cx>0.0045</Cx>
|
|
|
|
|
<Cy>0.0039</Cy>
|
|
|
|
|
<focalLength>0</focalLength>
|
|
|
|
|
<hackBaseline>0</hackBaseline>
|
|
|
|
|
</plugin>
|
|
|
|
|
</sensor>
|
|
|
|
|
</gazebo>
|
|
|
|
|
<joint name="camera_laserscan_joint_left" type="fixed">
|
|
|
|
|
<origin rpy="0 0.2618 0" xyz="0 0 0"/>
|
|
|
|
|
<parent link="camera_left"/>
|
|
|
|
|
<child link="camera_laserscan_link_left"/>
|
|
|
|
|
</joint>
|
|
|
|
|
<link name="camera_laserscan_link_left">
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="camera_laserscan_joint_right" type="fixed">
|
|
|
|
|
<origin rpy="0 0.2618 0" xyz="0 0 0"/>
|
|
|
|
|
<parent link="camera_right"/>
|
|
|
|
|
<child link="camera_laserscan_link_right"/>
|
|
|
|
|
</joint>
|
|
|
|
|
<link name="camera_laserscan_link_right">
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="ultraSound_joint_left" type="fixed">
|
|
|
|
|
<origin rpy="0 0.2618 1.5707963267948966" xyz="-0.0535 0.0826 0.00868"/>
|
|
|
|
|
<parent link="trunk"/>
|
|
|
|
|
<child link="ultraSound_left"/>
|
|
|
|
|
</joint>
|
|
|
|
|
<link name="ultraSound_left">
|
|
|
|
|
<collision>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box size=".001 .001 .001"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
2024-09-30 15:10:08 +08:00
|
|
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/go1_description/share/go1_description/meshes/ultraSound.dae" scale="1 1 1"/>
|
2024-09-28 23:05:13 +08:00
|
|
|
</geometry>
|
|
|
|
|
<material name="black"/>
|
|
|
|
|
</visual>
|
|
|
|
|
<inertial>
|
|
|
|
|
<mass value="1e-5"/>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
|
|
|
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
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<joint name="ultraSound_joint_right" type="fixed">
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<origin rpy="0 0.2618 -1.5707963267948966" xyz="-0.0535 -0.0826 0.00868"/>
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<parent link="trunk"/>
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<child link="ultraSound_right"/>
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</joint>
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<link name="ultraSound_right">
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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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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
|
2024-09-30 15:10:08 +08:00
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<mesh filename="file:///home/tlab-uav/ros2_ws/install/go1_description/share/go1_description/meshes/ultraSound.dae" scale="1 1 1"/>
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2024-09-28 23:05:13 +08:00
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</geometry>
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<material name="black"/>
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</visual>
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<inertial>
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<mass value="1e-5"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
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</inertial>
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</link>
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<joint name="ultraSound_joint_face" type="fixed">
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<origin rpy="0 0 0" xyz="0.2747 0.0 -0.0088"/>
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<parent link="trunk"/>
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<child link="ultraSound_face"/>
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</joint>
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<link name="ultraSound_face">
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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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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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|
|
<geometry>
|
2024-09-30 15:10:08 +08:00
|
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|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/go1_description/share/go1_description/meshes/ultraSound.dae" scale="1 1 1"/>
|
2024-09-28 23:05:13 +08:00
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</geometry>
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<material name="black"/>
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</visual>
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<inertial>
|
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|
|
|
<mass value="1e-5"/>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
|
|
|
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
|
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</inertial>
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</link>
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</robot>
|
