386 lines
13 KiB
Plaintext
386 lines
13 KiB
Plaintext
|
<?xml version="1.0"?>
|
||
|
|
<robot>
|
||
|
|
<!-- ros_control plugin -->
|
||
|
|
<gazebo>
|
||
|
|
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
|
||
|
|
<robotNamespace>/go1_gazebo</robotNamespace>
|
||
|
|
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
|
||
|
|
</plugin>
|
||
|
|
</gazebo>
|
||
|
|
|
||
|
|
<!-- Show the trajectory of trunk center. -->
|
||
|
|
<gazebo>
|
||
|
|
<plugin name="3dplot" filename="libLinkPlot3DPlugin.so">
|
||
|
|
<frequency>10</frequency>
|
||
|
|
<plot>
|
||
|
|
<link>base</link>
|
||
|
|
<pose>0 0 0 0 0 0</pose>
|
||
|
|
<material>Gazebo/Yellow</material>
|
||
|
|
</plot>
|
||
|
|
</plugin>
|
||
|
|
</gazebo>
|
||
|
|
|
||
|
|
<!-- Show the trajectory of foot. You can add another trajectory about another foot. -->
|
||
|
|
<!-- <gazebo>
|
||
|
|
<plugin name="3dplot" filename="libLinkPlot3DPlugin.so">
|
||
|
|
<frequency>100</frequency>
|
||
|
|
<plot>
|
||
|
|
<link>FL_foot</link>
|
||
|
|
<pose>0 0 0 0 0 0</pose>
|
||
|
|
<material>Gazebo/Green</material>
|
||
|
|
</plot>
|
||
|
|
</plugin>
|
||
|
|
</gazebo> -->
|
||
|
|
|
||
|
|
<gazebo>
|
||
|
|
<plugin filename="libgazebo_ros_force.so" name="gazebo_ros_force">
|
||
|
|
<bodyName>trunk</bodyName>
|
||
|
|
<topicName>/apply_force/trunk</topicName>
|
||
|
|
</plugin>
|
||
|
|
</gazebo>
|
||
|
|
|
||
|
|
<gazebo reference="imu_link">
|
||
|
|
<gravity>true</gravity>
|
||
|
|
<sensor name="imu_sensor" type="imu">
|
||
|
|
<always_on>true</always_on>
|
||
|
|
<update_rate>1000</update_rate>
|
||
|
|
<visualize>true</visualize>
|
||
|
|
<topic>__default_topic__</topic>
|
||
|
|
<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
|
||
|
|
<topicName>trunk_imu</topicName>
|
||
|
|
<bodyName>imu_link</bodyName>
|
||
|
|
<updateRateHZ>1000.0</updateRateHZ>
|
||
|
|
<gaussianNoise>0.0</gaussianNoise>
|
||
|
|
<xyzOffset>0 0 0</xyzOffset>
|
||
|
|
<rpyOffset>0 0 0</rpyOffset>
|
||
|
|
<frameName>imu_link</frameName>
|
||
|
|
</plugin>
|
||
|
|
<pose>0 0 0 0 0 0</pose>
|
||
|
|
</sensor>
|
||
|
|
</gazebo>
|
||
|
|
|
||
|
|
<!-- Depth camera -->
|
||
|
|
<!-- <gazebo>
|
||
|
|
<plugin name="camera_plugin" filename="libgazebo_ros_openni_kinect.so">
|
||
|
|
<baseline>0.025</baseline>
|
||
|
|
<always_on>true</always_on>
|
||
|
|
<updateRate>0.0</updateRate>
|
||
|
|
<cameraName>unitree_camera_left</cameraName>
|
||
|
|
<frameName>depthCamera_link_left</frameName>
|
||
|
|
<imageTopicName>rgb/imageRaw_left</imageTopicName>
|
||
|
|
<depthImageTopicName>depth/imageRaw_left</depthImageTopicName>
|
||
|
|
<pointCloudTopicName>depth/points_left</pointCloudTopicName>
|
||
|
|
<cameraInfoTopicName>rgb/cameraInfo_left</cameraInfoTopicName>
|
||
|
|
<depthImageCameraInfoTopicName>depth/cameraInfo_left</depthImageCameraInfoTopicName>
|
||
|
|
<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>0.0</CxPrime>
|
||
|
|
<Cx>0.0045</Cx>
|
||
|
|
<Cy>0.0039</Cy>
|
||
|
|
<focalLength>0.004</focalLength>
|
||
|
|
<hackBaseline>0.0</hackBaseline>
|
||
|
|
</plugin>
|
||
|
|
</gazebo> -->
|
||
|
|
|
||
|
|
<!-- <gazebo reference="depthCamera_link_left">
|
||
|
|
<sensor name="unitree_camera_left" type="depth_camera">
|
||
|
|
<update_rate>16</update_rate>
|
||
|
|
<always_on>true</always_on>
|
||
|
|
<visualize>true</visualize>
|
||
|
|
<camera>
|
||
|
|
<horizontal_fov>2.094</horizontal_fov>
|
||
|
|
<image>
|
||
|
|
<width>928</width>
|
||
|
|
<height>800</height>
|
||
|
|
<format>R8G8B8</format>
|
||
|
|
</image>
|
||
|
|
<depth_camera></depth_camera>
|
||
|
|
<clip>
|
||
|
|
<near>0.1</near>
|
||
|
|
<far>100</far>
|
||
|
|
</clip>
|
||
|
|
</camera>
|
||
|
|
<plugin name="camera_plugin" filename="libgazebo_ros_openni_kinect.so">
|
||
|
|
<baseline>0.025</baseline>
|
||
|
|
<always_on>true</always_on>
|
||
|
|
<updateRate>0.0</updateRate>
|
||
|
|
<cameraName>unitree_camera_left</cameraName>
|
||
|
|
<frameName>depthCamera_link_left</frameName>
|
||
|
|
<imageTopicName>rgb/imageRaw_left</imageTopicName>
|
||
|
|
<depthImageTopicName>depth/imageRaw_left</depthImageTopicName>
|
||
|
|
<pointCloudTopicName>depth/points_left</pointCloudTopicName>
|
||
|
|
<cameraInfoTopicName>rgb/cameraInfo_left</cameraInfoTopicName>
|
||
|
|
<depthImageCameraInfoTopicName>depth/cameraInfo_left</depthImageCameraInfoTopicName>
|
||
|
|
<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>0.0</CxPrime>
|
||
|
|
<Cx>0.0045</Cx>
|
||
|
|
<Cy>0.0039</Cy>
|
||
|
|
<focalLength>0.004</focalLength>
|
||
|
|
<hackBaseline>0.0</hackBaseline>
|
||
|
|
</plugin>
|
||
|
|
</sensor>
|
||
|
|
</gazebo> -->
|
||
|
|
|
||
|
|
<gazebo reference="depthCamera_link_left">
|
||
|
|
<sensor name="camera_link_camera" type="depth">
|
||
|
|
<update_rate>20</update_rate>
|
||
|
|
<camera>
|
||
|
|
<horizontal_fov>1.047198</horizontal_fov>
|
||
|
|
<image>
|
||
|
|
<width>640</width>
|
||
|
|
<height>480</height>
|
||
|
|
<format>R8G8B8</format>
|
||
|
|
</image>
|
||
|
|
<clip>
|
||
|
|
<near>0.05</near>
|
||
|
|
<far>3</far>
|
||
|
|
</clip>
|
||
|
|
</camera>
|
||
|
|
<plugin name="camera_link_controller" filename="libgazebo_ros_openni_kinect.so">
|
||
|
|
<baseline>0.2</baseline>
|
||
|
|
<alwaysOn>true</alwaysOn>
|
||
|
|
<updateRate>1.0</updateRate>
|
||
|
|
<cameraName>camera_link_ir</cameraName>
|
||
|
|
<imageTopicName>/camera_link/color/image_raw</imageTopicName>
|
||
|
|
<cameraInfoTopicName>/camera_link/color/camera_info</cameraInfoTopicName>
|
||
|
|
<depthImageTopicName>/camera_link/depth/image_raw</depthImageTopicName>
|
||
|
|
<depthImageInfoTopicName>/camera_link/depth/camera_info</depthImageInfoTopicName>
|
||
|
|
<pointCloudTopicName>/camera_link/depth/points</pointCloudTopicName>
|
||
|
|
<frameName>depthCamera_link_left</frameName>
|
||
|
|
<pointCloudCutoff>0.5</pointCloudCutoff>
|
||
|
|
<pointCloudCutoffMax>3.0</pointCloudCutoffMax>
|
||
|
|
<distortionK1>0.00000001</distortionK1>
|
||
|
|
<distortionK2>0.00000001</distortionK2>
|
||
|
|
<distortionK3>0.00000001</distortionK3>
|
||
|
|
<distortionT1>0.00000001</distortionT1>
|
||
|
|
<distortionT2>0.00000001</distortionT2>
|
||
|
|
<CxPrime>0</CxPrime>
|
||
|
|
<Cx>0</Cx>
|
||
|
|
<Cy>0</Cy>
|
||
|
|
<focalLength>0</focalLength>
|
||
|
|
<hackBaseline>0</hackBaseline>
|
||
|
|
</plugin>
|
||
|
|
</sensor>
|
||
|
|
</gazebo>
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
<!-- Foot contacts. -->
|
||
|
|
<gazebo reference="FR_calf">
|
||
|
|
<sensor name="FR_foot_contact" type="contact">
|
||
|
|
<update_rate>100</update_rate>
|
||
|
|
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
|
||
|
|
<contact>
|
||
|
|
<collision>FR_calf_fixed_joint_lump__FR_foot_collision_1</collision>
|
||
|
|
</contact>
|
||
|
|
</sensor>
|
||
|
|
</gazebo>
|
||
|
|
<gazebo reference="FL_calf">
|
||
|
|
<sensor name="FL_foot_contact" type="contact">
|
||
|
|
<update_rate>100</update_rate>
|
||
|
|
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
|
||
|
|
<contact>
|
||
|
|
<collision>FL_calf_fixed_joint_lump__FL_foot_collision_1</collision>
|
||
|
|
</contact>
|
||
|
|
</sensor>
|
||
|
|
</gazebo>
|
||
|
|
<gazebo reference="RR_calf">
|
||
|
|
<sensor name="RR_foot_contact" type="contact">
|
||
|
|
<update_rate>100</update_rate>
|
||
|
|
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
|
||
|
|
<contact>
|
||
|
|
<collision>RR_calf_fixed_joint_lump__RR_foot_collision_1</collision>
|
||
|
|
</contact>
|
||
|
|
</sensor>
|
||
|
|
</gazebo>
|
||
|
|
<gazebo reference="RL_calf">
|
||
|
|
<sensor name="RL_foot_contact" type="contact">
|
||
|
|
<update_rate>100</update_rate>
|
||
|
|
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
|
||
|
|
<contact>
|
||
|
|
<collision>RL_calf_fixed_joint_lump__RL_foot_collision_1</collision>
|
||
|
|
</contact>
|
||
|
|
</sensor>
|
||
|
|
</gazebo>
|
||
|
|
|
||
|
|
<!-- Visualization of Foot contacts. -->
|
||
|
|
<gazebo reference="FR_foot">
|
||
|
|
<visual>
|
||
|
|
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
|
||
|
|
<topicName>FR_foot_contact</topicName>
|
||
|
|
</plugin>
|
||
|
|
</visual>
|
||
|
|
</gazebo>
|
||
|
|
<gazebo reference="FL_foot">
|
||
|
|
<visual>
|
||
|
|
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
|
||
|
|
<topicName>FL_foot_contact</topicName>
|
||
|
|
</plugin>
|
||
|
|
</visual>
|
||
|
|
</gazebo>
|
||
|
|
<gazebo reference="RR_foot">
|
||
|
|
<visual>
|
||
|
|
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
|
||
|
|
<topicName>RR_foot_contact</topicName>
|
||
|
|
</plugin>
|
||
|
|
</visual>
|
||
|
|
</gazebo>
|
||
|
|
<gazebo reference="RL_foot">
|
||
|
|
<visual>
|
||
|
|
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
|
||
|
|
<topicName>RL_foot_contact</topicName>
|
||
|
|
</plugin>
|
||
|
|
</visual>
|
||
|
|
</gazebo>
|
||
|
|
|
||
|
|
<gazebo reference="base">
|
||
|
|
<material>Gazebo/Green</material>
|
||
|
|
<turnGravityOff>false</turnGravityOff>
|
||
|
|
</gazebo>
|
||
|
|
|
||
|
|
<gazebo reference="trunk">
|
||
|
|
<mu1>0.2</mu1>
|
||
|
|
<mu2>0.2</mu2>
|
||
|
|
<kp value="1000000.0"/>
|
||
|
|
<kd value="1.0"/>
|
||
|
|
</gazebo>
|
||
|
|
|
||
|
|
<gazebo reference="stick_link">
|
||
|
|
<mu1>0.2</mu1>
|
||
|
|
<mu2>0.2</mu2>
|
||
|
|
<material>Gazebo/White</material>
|
||
|
|
</gazebo>
|
||
|
|
|
||
|
|
<gazebo reference="imu_link">
|
||
|
|
<mu1>0.2</mu1>
|
||
|
|
<mu2>0.2</mu2>
|
||
|
|
<material>Gazebo/Red</material>
|
||
|
|
</gazebo>
|
||
|
|
|
||
|
|
<!-- FL leg -->
|
||
|
|
<gazebo reference="FL_hip">
|
||
|
|
<mu1>0.2</mu1>
|
||
|
|
<mu2>0.2</mu2>
|
||
|
|
<material>Gazebo/DarkGrey</material>
|
||
|
|
</gazebo>
|
||
|
|
<gazebo reference="FL_thigh">
|
||
|
|
<mu1>0.2</mu1>
|
||
|
|
<mu2>0.2</mu2>
|
||
|
|
<self_collide>1</self_collide>
|
||
|
|
<material>Gazebo/DarkGrey</material>
|
||
|
|
<kp value="1000000.0"/>
|
||
|
|
<kd value="1.0"/>
|
||
|
|
</gazebo>
|
||
|
|
<gazebo reference="FL_calf">
|
||
|
|
<mu1>0.2</mu1>
|
||
|
|
<mu2>0.2</mu2>
|
||
|
|
<self_collide>1</self_collide>
|
||
|
|
</gazebo>
|
||
|
|
<gazebo reference="FL_foot">
|
||
|
|
<mu1>0.6</mu1>
|
||
|
|
<mu2>0.6</mu2>
|
||
|
|
<self_collide>1</self_collide>
|
||
|
|
<material>Gazebo/DarkGrey</material>
|
||
|
|
<kp value="1000000.0"/>
|
||
|
|
<kd value="1.0"/>
|
||
|
|
</gazebo>
|
||
|
|
|
||
|
|
<!-- FR leg -->
|
||
|
|
<gazebo reference="FR_hip">
|
||
|
|
<mu1>0.2</mu1>
|
||
|
|
<mu2>0.2</mu2>
|
||
|
|
<material>Gazebo/DarkGrey</material>
|
||
|
|
</gazebo>
|
||
|
|
<gazebo reference="FR_thigh">
|
||
|
|
<mu1>0.2</mu1>
|
||
|
|
<mu2>0.2</mu2>
|
||
|
|
<self_collide>1</self_collide>
|
||
|
|
<material>Gazebo/DarkGrey</material>
|
||
|
|
<kp value="1000000.0"/>
|
||
|
|
<kd value="1.0"/>
|
||
|
|
</gazebo>
|
||
|
|
<gazebo reference="FR_calf">
|
||
|
|
<mu1>0.2</mu1>
|
||
|
|
<mu2>0.2</mu2>
|
||
|
|
<self_collide>1</self_collide>
|
||
|
|
</gazebo>
|
||
|
|
<gazebo reference="FR_foot">
|
||
|
|
<mu1>0.6</mu1>
|
||
|
|
<mu2>0.6</mu2>
|
||
|
|
<self_collide>1</self_collide>
|
||
|
|
<material>Gazebo/DarkGrey</material>
|
||
|
|
<kp value="1000000.0"/>
|
||
|
|
<kd value="1.0"/>
|
||
|
|
</gazebo>
|
||
|
|
|
||
|
|
<!-- RL leg -->
|
||
|
|
<gazebo reference="RL_hip">
|
||
|
|
<mu1>0.2</mu1>
|
||
|
|
<mu2>0.2</mu2>
|
||
|
|
<material>Gazebo/DarkGrey</material>
|
||
|
|
</gazebo>
|
||
|
|
<gazebo reference="RL_thigh">
|
||
|
|
<mu1>0.2</mu1>
|
||
|
|
<mu2>0.2</mu2>
|
||
|
|
<self_collide>1</self_collide>
|
||
|
|
<material>Gazebo/DarkGrey</material>
|
||
|
|
<kp value="1000000.0"/>
|
||
|
|
<kd value="1.0"/>
|
||
|
|
</gazebo>
|
||
|
|
<gazebo reference="RL_calf">
|
||
|
|
<mu1>0.2</mu1>
|
||
|
|
<mu2>0.2</mu2>
|
||
|
|
<self_collide>1</self_collide>
|
||
|
|
</gazebo>
|
||
|
|
<gazebo reference="RL_foot">
|
||
|
|
<mu1>0.6</mu1>
|
||
|
|
<mu2>0.6</mu2>
|
||
|
|
<self_collide>1</self_collide>
|
||
|
|
<material>Gazebo/DarkGrey</material>
|
||
|
|
<kp value="1000000.0"/>
|
||
|
|
<kd value="1.0"/>
|
||
|
|
</gazebo>
|
||
|
|
|
||
|
|
<!-- RR leg -->
|
||
|
|
<gazebo reference="RR_hip">
|
||
|
|
<mu1>0.2</mu1>
|
||
|
|
<mu2>0.2</mu2>
|
||
|
|
<material>Gazebo/DarkGrey</material>
|
||
|
|
</gazebo>
|
||
|
|
<gazebo reference="RR_thigh">
|
||
|
|
<mu1>0.2</mu1>
|
||
|
|
<mu2>0.2</mu2>
|
||
|
|
<self_collide>1</self_collide>
|
||
|
|
<material>Gazebo/DarkGrey</material>
|
||
|
|
<kp value="1000000.0"/>
|
||
|
|
<kd value="1.0"/>
|
||
|
|
</gazebo>
|
||
|
|
<gazebo reference="RR_calf">
|
||
|
|
<mu1>0.2</mu1>
|
||
|
|
<mu2>0.2</mu2>
|
||
|
|
<self_collide>1</self_collide>
|
||
|
|
</gazebo>
|
||
|
|
<gazebo reference="RR_foot">
|
||
|
|
<mu1>0.6</mu1>
|
||
|
|
<mu2>0.6</mu2>
|
||
|
|
<self_collide>1</self_collide>
|
||
|
|
<material>Gazebo/DarkGrey</material>
|
||
|
|
<kp value="1000000.0"/>
|
||
|
|
<kd value="1.0"/>
|
||
|
|
</gazebo>
|
||
|
|
|
||
|
|
</robot>
|