achieved basic control on go2 and aliengo
This commit is contained in:
Huang Zhenbiao
parent
4cb1657df5
commit
2c9cd21c00
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@ -24,9 +24,9 @@ ros2 launch joystick_input joystick.launch.py
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* Passive Mode: LB + B
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* Passive Mode: LB + B
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* Fixed Stand: LB + A
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* Fixed Stand: LB + A
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* Free Stand: LB + X
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* Free Stand: LB + X
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* Trot: start
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* Trot: LB + Y
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* SwingTest: LT + A
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* SwingTest: LT + B
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* Balance: LT + X
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* Balance: LT + A
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### 1.2 Control Input
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### 1.2 Control Input
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@ -19,14 +19,18 @@ void JoystickInput::joy_callback(sensor_msgs::msg::Joy::SharedPtr msg) {
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inputs_.command = 2; // LB + A
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inputs_.command = 2; // LB + A
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} else if (msg->buttons[2] && msg->buttons[4]) {
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} else if (msg->buttons[2] && msg->buttons[4]) {
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inputs_.command = 3; // LB + X
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inputs_.command = 3; // LB + X
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} else if (msg->buttons[7]) {
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} else if (msg->buttons[3] && msg->buttons[4]) {
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inputs_.command = 4; // START
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inputs_.command = 4; // LB + Y
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} else if (msg->axes[2] != 1 && msg->buttons[2]) {
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} else if (msg->axes[2] != 1 && msg->buttons[1]) {
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inputs_.command = 10; // LT + X
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inputs_.command = 5; // LT + B
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} else if (msg->axes[2] != 1 && msg->buttons[0]) {
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} else if (msg->axes[2] != 1 && msg->buttons[0]) {
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inputs_.command = 9; // LT + A
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inputs_.command = 6; // LT + A
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} else if (msg->axes[2] != 1 && msg->buttons[2]) {
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inputs_.command = 7; // LT + X
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} else if (msg->axes[2] != 1 && msg->buttons[3]) {
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} else if (msg->axes[2] != 1 && msg->buttons[3]) {
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inputs_.command = 8; // LT + Y
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inputs_.command = 8; // LT + Y
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} else if (msg->buttons[7]) {
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inputs_.command = 9; // START
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} else {
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} else {
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inputs_.command = 0;
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inputs_.command = 0;
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inputs_.lx = -msg->axes[0];
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inputs_.lx = -msg->axes[0];
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@ -24,8 +24,8 @@ ros2 run keyboard_input keyboard_input
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* Fixed Stand: Keyboard 2
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* Fixed Stand: Keyboard 2
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* Free Stand: Keyboard 3
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* Free Stand: Keyboard 3
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* Trot: Keyboard 4
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* Trot: Keyboard 4
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* SwingTest: Keyboard 9
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* SwingTest: Keyboard 5
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* Balance: Keyboard 0
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* Balance: Keyboard 6
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### 1.2 Control Input
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### 1.2 Control Input
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* WASD IJKL: Move robot
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* WASD IJKL: Move robot
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* Space: Reset Speed Input
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* Space: Reset Speed Input
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@ -56,17 +56,26 @@ void KeyboardInput::check_command(const char key) {
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inputs_.command = 3; // L2_X
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inputs_.command = 3; // L2_X
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break;
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break;
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case '4':
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case '4':
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inputs_.command = 4; // START
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inputs_.command = 4; // L2_Y
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break;
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break;
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case '0':
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case '5':
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inputs_.command = 10; // L1_X
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inputs_.command = 5; // L1_A
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break;
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break;
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case '9':
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case '6':
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inputs_.command = 9; // L1_A
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inputs_.command = 6; // L1_B
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break;
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case '7':
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inputs_.command = 7; // L1_X
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break;
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break;
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case '8':
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case '8':
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inputs_.command = 8; // L1_Y
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inputs_.command = 8; // L1_Y
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break;
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break;
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case '9':
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inputs_.command = 9;
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break;
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case '0':
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inputs_.command = 10;
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break;
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case ' ':
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case ' ':
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inputs_.lx = 0;
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inputs_.lx = 0;
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inputs_.ly = 0;
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inputs_.ly = 0;
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@ -26,6 +26,11 @@ colcon build --packages-up-to ocs2_quadruped_controller
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source ~/ros2_ws/install/setup.bash
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source ~/ros2_ws/install/setup.bash
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ros2 launch go1_description ocs2_control.launch.py
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ros2 launch go1_description ocs2_control.launch.py
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```
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```
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* Unitree Aliengo Robot
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 launch aliengo_description ocs2_control.launch.py
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```
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* Unitree Go2 Robot
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* Unitree Go2 Robot
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```bash
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```bash
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source ~/ros2_ws/install/setup.bash
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source ~/ros2_ws/install/setup.bash
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@ -51,6 +51,8 @@ namespace ocs2::legged_robot {
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vector_t default_joint_state_{};
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vector_t default_joint_state_{};
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scalar_t command_height_{};
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scalar_t command_height_{};
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scalar_t time_to_target_{};
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scalar_t time_to_target_{};
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scalar_t target_displacement_velocity_;
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scalar_t target_rotation_velocity_;
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};
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};
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}
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}
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@ -20,14 +20,16 @@ namespace ocs2::legged_robot {
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loadData::loadCppDataType(reference_file, "comHeight", command_height_);
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loadData::loadCppDataType(reference_file, "comHeight", command_height_);
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loadData::loadEigenMatrix(reference_file, "defaultJointState", default_joint_state_);
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loadData::loadEigenMatrix(reference_file, "defaultJointState", default_joint_state_);
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loadData::loadCppDataType(task_file, "mpc.timeHorizon", time_to_target_);
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loadData::loadCppDataType(task_file, "mpc.timeHorizon", time_to_target_);
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loadData::loadCppDataType(reference_file, "targetRotationVelocity", target_rotation_velocity_);
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loadData::loadCppDataType(reference_file, "targetDisplacementVelocity", target_displacement_velocity_);
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}
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}
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void TargetManager::update() {
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void TargetManager::update() {
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vector_t cmdGoal = vector_t::Zero(6);
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vector_t cmdGoal = vector_t::Zero(6);
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cmdGoal[0] = ctrl_component_.control_inputs_.ly;
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cmdGoal[0] = ctrl_component_.control_inputs_.ly * target_displacement_velocity_;
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cmdGoal[1] = -ctrl_component_.control_inputs_.lx;
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cmdGoal[1] = -ctrl_component_.control_inputs_.lx * target_displacement_velocity_;
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cmdGoal[2] = ctrl_component_.control_inputs_.ry;
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cmdGoal[2] = ctrl_component_.control_inputs_.ry;
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cmdGoal[3] = -ctrl_component_.control_inputs_.rx;
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cmdGoal[3] = -ctrl_component_.control_inputs_.rx * target_rotation_velocity_;
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const vector_t currentPose = ctrl_component_.observation_.state.segment<6>(6);
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const vector_t currentPose = ctrl_component_.observation_.state.segment<6>(6);
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const Eigen::Matrix<scalar_t, 3, 1> zyx = currentPose.tail(3);
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const Eigen::Matrix<scalar_t, 3, 1> zyx = currentPose.tail(3);
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@ -49,9 +49,9 @@ FSMStateName StateFixedStand::checkChange() {
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return FSMStateName::FREESTAND;
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return FSMStateName::FREESTAND;
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case 4:
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case 4:
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return FSMStateName::TROTTING;
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return FSMStateName::TROTTING;
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case 9:
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case 5:
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return FSMStateName::SWINGTEST;
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return FSMStateName::SWINGTEST;
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case 10:
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case 6:
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return FSMStateName::BALANCETEST;
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return FSMStateName::BALANCETEST;
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default:
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default:
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return FSMStateName::FIXEDSTAND;
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return FSMStateName::FIXEDSTAND;
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@ -4,7 +4,7 @@ project(aliengo_description)
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find_package(ament_cmake REQUIRED)
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find_package(ament_cmake REQUIRED)
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install(
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install(
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DIRECTORY meshes xacro launch config
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DIRECTORY meshes xacro launch config urdf
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DESTINATION share/${PROJECT_NAME}/
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DESTINATION share/${PROJECT_NAME}/
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)
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)
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@ -18,8 +18,15 @@ source ~/ros2_ws/install/setup.bash
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ros2 launch aliengo_description visualize.launch.py
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ros2 launch aliengo_description visualize.launch.py
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```
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```
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## Launch Hardware Interface
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## Launch ROS2 Control
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```bash
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* Unitree Guide Controller
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source ~/ros2_ws/install/setup.bash
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```bash
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ros2 launch aliengo_description hardware.launch.py
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source ~/ros2_ws/install/setup.bash
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```
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ros2 launch aliengo_description unitree_guide.launch.py
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```
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* OCS2 Quadruped Controller
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 launch aliengo_description ocs2_control.launch.py
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```
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@ -0,0 +1,255 @@
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list
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{
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[0] stance
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[1] trot
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[2] standing_trot
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[3] flying_trot
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[4] pace
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[5] standing_pace
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[6] dynamic_walk
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[7] static_walk
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[8] amble
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[9] lindyhop
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[10] skipping
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[11] pawup
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}
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stance
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{
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modeSequence
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{
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[0] STANCE
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}
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switchingTimes
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{
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[0] 0.0
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[1] 0.5
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}
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}
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trot
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{
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modeSequence
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{
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[0] LF_RH
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[1] RF_LH
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}
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switchingTimes
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{
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[0] 0.0
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[1] 0.3
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[2] 0.6
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}
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}
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standing_trot
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{
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modeSequence
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{
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[0] LF_RH
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[1] STANCE
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[2] RF_LH
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[3] STANCE
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}
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switchingTimes
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{
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[0] 0.00
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[1] 0.25
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[2] 0.3
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[3] 0.55
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[4] 0.6
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}
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}
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flying_trot
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{
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modeSequence
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{
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[0] LF_RH
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[1] FLY
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[2] RF_LH
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[3] FLY
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}
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switchingTimes
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{
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[0] 0.00
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[1] 0.15
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[2] 0.2
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[3] 0.35
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[4] 0.4
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}
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}
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pace
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{
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modeSequence
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{
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[0] LF_LH
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[1] FLY
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[2] RF_RH
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[3] FLY
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}
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switchingTimes
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{
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[0] 0.0
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[1] 0.28
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[2] 0.30
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[3] 0.58
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[4] 0.60
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}
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}
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standing_pace
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{
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modeSequence
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{
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[0] LF_LH
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[1] STANCE
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[2] RF_RH
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[3] STANCE
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}
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switchingTimes
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{
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[0] 0.0
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[1] 0.30
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[2] 0.35
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[3] 0.65
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[4] 0.70
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}
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}
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dynamic_walk
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{
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modeSequence
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{
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[0] LF_RF_RH
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[1] RF_RH
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[2] RF_LH_RH
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[3] LF_RF_LH
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[4] LF_LH
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[5] LF_LH_RH
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}
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switchingTimes
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{
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[0] 0.0
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[1] 0.2
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[2] 0.3
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[3] 0.5
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[4] 0.7
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[5] 0.8
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[6] 1.0
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}
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}
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static_walk
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{
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modeSequence
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{
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[0] LF_RF_RH
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[1] RF_LH_RH
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[2] LF_RF_LH
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[3] LF_LH_RH
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}
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switchingTimes
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{
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[0] 0.0
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[1] 0.3
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[2] 0.6
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[3] 0.9
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[4] 1.2
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}
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}
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amble
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{
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modeSequence
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{
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[0] RF_LH
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[1] LF_LH
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[2] LF_RH
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[3] RF_RH
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}
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switchingTimes
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{
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[0] 0.0
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[1] 0.15
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[2] 0.40
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[3] 0.55
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[4] 0.80
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}
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}
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lindyhop
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{
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modeSequence
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{
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[0] LF_RH
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[1] STANCE
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[2] RF_LH
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[3] STANCE
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[4] LF_LH
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[5] RF_RH
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[6] LF_LH
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[7] STANCE
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[8] RF_RH
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[9] LF_LH
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[10] RF_RH
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[11] STANCE
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}
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switchingTimes
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{
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[0] 0.00 ; Step 1
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[1] 0.35 ; Stance
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[2] 0.45 ; Step 2
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[3] 0.80 ; Stance
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[4] 0.90 ; Tripple step
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[5] 1.125 ;
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[6] 1.35 ;
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[7] 1.70 ; Stance
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[8] 1.80 ; Tripple step
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[9] 2.025 ;
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[10] 2.25 ;
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[11] 2.60 ; Stance
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[12] 2.70 ;
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}
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}
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skipping
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{
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modeSequence
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{
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[0] LF_RH
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[1] FLY
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[2] LF_RH
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[3] FLY
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[4] RF_LH
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[5] FLY
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[6] RF_LH
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[7] FLY
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}
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switchingTimes
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{
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[0] 0.00
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||||||
|
[1] 0.27
|
||||||
|
[2] 0.30
|
||||||
|
[3] 0.57
|
||||||
|
[4] 0.60
|
||||||
|
[5] 0.87
|
||||||
|
[6] 0.90
|
||||||
|
[7] 1.17
|
||||||
|
[8] 1.20
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
pawup
|
||||||
|
{
|
||||||
|
modeSequence
|
||||||
|
{
|
||||||
|
[0] RF_LH_RH
|
||||||
|
}
|
||||||
|
switchingTimes
|
||||||
|
{
|
||||||
|
[0] 0.0
|
||||||
|
[1] 2.0
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,46 @@
|
||||||
|
targetDisplacementVelocity 0.5;
|
||||||
|
targetRotationVelocity 1.57;
|
||||||
|
|
||||||
|
comHeight 0.4
|
||||||
|
|
||||||
|
defaultJointState
|
||||||
|
{
|
||||||
|
(0,0) -0.10 ; FL_hip_joint
|
||||||
|
(1,0) 0.62 ; FL_thigh_joint
|
||||||
|
(2,0) -1.24 ; FL_calf_joint
|
||||||
|
(3,0) 0.10 ; FR_hip_joint
|
||||||
|
(4,0) 0.62 ; FR_thigh_joint
|
||||||
|
(5,0) -1.24 ; FR_calf_joint
|
||||||
|
(6,0) -0.10 ; RL_hip_joint
|
||||||
|
(7,0) 0.62 ; RL_thigh_joint
|
||||||
|
(8,0) -1.24 ; RL_calf_joint
|
||||||
|
(9,0) 0.10 ; RR_hip_joint
|
||||||
|
(10,0) 0.62 ; RR_thigh_joint
|
||||||
|
(11,0) -1.24 ; RR_calf_joint
|
||||||
|
}
|
||||||
|
|
||||||
|
initialModeSchedule
|
||||||
|
{
|
||||||
|
modeSequence
|
||||||
|
{
|
||||||
|
[0] STANCE
|
||||||
|
[1] STANCE
|
||||||
|
}
|
||||||
|
eventTimes
|
||||||
|
{
|
||||||
|
[0] 0.5
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
defaultModeSequenceTemplate
|
||||||
|
{
|
||||||
|
modeSequence
|
||||||
|
{
|
||||||
|
[0] STANCE
|
||||||
|
}
|
||||||
|
switchingTimes
|
||||||
|
{
|
||||||
|
[0] 0.0
|
||||||
|
[1] 1.0
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,319 @@
|
||||||
|
centroidalModelType 0 // 0: FullCentroidalDynamics, 1: Single Rigid Body Dynamics
|
||||||
|
|
||||||
|
legged_robot_interface
|
||||||
|
{
|
||||||
|
verbose false // show the loaded parameters
|
||||||
|
}
|
||||||
|
|
||||||
|
model_settings
|
||||||
|
{
|
||||||
|
positionErrorGain 0.0
|
||||||
|
phaseTransitionStanceTime 0.1
|
||||||
|
|
||||||
|
verboseCppAd true
|
||||||
|
recompileLibrariesCppAd false
|
||||||
|
modelFolderCppAd /tmp/ocs2_quadruped_controller/aliengo
|
||||||
|
}
|
||||||
|
|
||||||
|
swing_trajectory_config
|
||||||
|
{
|
||||||
|
liftOffVelocity 0.2
|
||||||
|
touchDownVelocity -0.4
|
||||||
|
swingHeight 0.1
|
||||||
|
swingTimeScale 0.15
|
||||||
|
}
|
||||||
|
|
||||||
|
; DDP settings
|
||||||
|
ddp
|
||||||
|
{
|
||||||
|
algorithm SLQ
|
||||||
|
|
||||||
|
nThreads 3
|
||||||
|
threadPriority 50
|
||||||
|
|
||||||
|
maxNumIterations 1
|
||||||
|
minRelCost 1e-1
|
||||||
|
constraintTolerance 5e-3
|
||||||
|
|
||||||
|
displayInfo false
|
||||||
|
displayShortSummary false
|
||||||
|
checkNumericalStability false
|
||||||
|
debugPrintRollout false
|
||||||
|
debugCaching false
|
||||||
|
|
||||||
|
AbsTolODE 1e-5
|
||||||
|
RelTolODE 1e-3
|
||||||
|
maxNumStepsPerSecond 10000
|
||||||
|
timeStep 0.015
|
||||||
|
backwardPassIntegratorType ODE45
|
||||||
|
|
||||||
|
constraintPenaltyInitialValue 20.0
|
||||||
|
constraintPenaltyIncreaseRate 2.0
|
||||||
|
|
||||||
|
preComputeRiccatiTerms true
|
||||||
|
|
||||||
|
useFeedbackPolicy false
|
||||||
|
|
||||||
|
strategy LINE_SEARCH
|
||||||
|
lineSearch
|
||||||
|
{
|
||||||
|
minStepLength 1e-2
|
||||||
|
maxStepLength 1.0
|
||||||
|
hessianCorrectionStrategy DIAGONAL_SHIFT
|
||||||
|
hessianCorrectionMultiple 1e-5
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
; Multiple_Shooting SQP settings
|
||||||
|
sqp
|
||||||
|
{
|
||||||
|
nThreads 3
|
||||||
|
dt 0.015
|
||||||
|
sqpIteration 1
|
||||||
|
deltaTol 1e-4
|
||||||
|
g_max 1e-2
|
||||||
|
g_min 1e-6
|
||||||
|
inequalityConstraintMu 0.1
|
||||||
|
inequalityConstraintDelta 5.0
|
||||||
|
projectStateInputEqualityConstraints true
|
||||||
|
printSolverStatistics true
|
||||||
|
printSolverStatus false
|
||||||
|
printLinesearch false
|
||||||
|
useFeedbackPolicy false
|
||||||
|
integratorType RK2
|
||||||
|
threadPriority 50
|
||||||
|
}
|
||||||
|
|
||||||
|
; Multiple_Shooting IPM settings
|
||||||
|
ipm
|
||||||
|
{
|
||||||
|
nThreads 3
|
||||||
|
dt 0.015
|
||||||
|
ipmIteration 1
|
||||||
|
deltaTol 1e-4
|
||||||
|
g_max 10.0
|
||||||
|
g_min 1e-6
|
||||||
|
computeLagrangeMultipliers true
|
||||||
|
printSolverStatistics true
|
||||||
|
printSolverStatus false
|
||||||
|
printLinesearch false
|
||||||
|
useFeedbackPolicy false
|
||||||
|
integratorType RK2
|
||||||
|
threadPriority 50
|
||||||
|
|
||||||
|
initialBarrierParameter 1e-4
|
||||||
|
targetBarrierParameter 1e-4
|
||||||
|
barrierLinearDecreaseFactor 0.2
|
||||||
|
barrierSuperlinearDecreasePower 1.5
|
||||||
|
barrierReductionCostTol 1e-3
|
||||||
|
barrierReductionConstraintTol 1e-3
|
||||||
|
|
||||||
|
fractionToBoundaryMargin 0.995
|
||||||
|
usePrimalStepSizeForDual false
|
||||||
|
|
||||||
|
initialSlackLowerBound 1e-4
|
||||||
|
initialDualLowerBound 1e-4
|
||||||
|
initialSlackMarginRate 1e-2
|
||||||
|
initialDualMarginRate 1e-2
|
||||||
|
}
|
||||||
|
|
||||||
|
; Rollout settings
|
||||||
|
rollout
|
||||||
|
{
|
||||||
|
AbsTolODE 1e-5
|
||||||
|
RelTolODE 1e-3
|
||||||
|
timeStep 0.015
|
||||||
|
integratorType ODE45
|
||||||
|
maxNumStepsPerSecond 10000
|
||||||
|
checkNumericalStability false
|
||||||
|
}
|
||||||
|
|
||||||
|
mpc
|
||||||
|
{
|
||||||
|
timeHorizon 1.0 ; [s]
|
||||||
|
solutionTimeWindow -1 ; maximum [s]
|
||||||
|
coldStart false
|
||||||
|
|
||||||
|
debugPrint false
|
||||||
|
|
||||||
|
mpcDesiredFrequency 100 ; [Hz]
|
||||||
|
mrtDesiredFrequency 1000 ; [Hz] Useless
|
||||||
|
}
|
||||||
|
|
||||||
|
initialState
|
||||||
|
{
|
||||||
|
;; Normalized Centroidal Momentum: [linear, angular] ;;
|
||||||
|
(0,0) 0.0 ; vcom_x
|
||||||
|
(1,0) 0.0 ; vcom_y
|
||||||
|
(2,0) 0.0 ; vcom_z
|
||||||
|
(3,0) 0.0 ; L_x / robotMass
|
||||||
|
(4,0) 0.0 ; L_y / robotMass
|
||||||
|
(5,0) 0.0 ; L_z / robotMass
|
||||||
|
|
||||||
|
;; Base Pose: [position, orientation] ;;
|
||||||
|
(6,0) 0.0 ; p_base_x
|
||||||
|
(7,0) 0.0 ; p_base_y
|
||||||
|
(8,0) 0.3 ; p_base_z
|
||||||
|
(9,0) 0.0 ; theta_base_z
|
||||||
|
(10,0) 0.0 ; theta_base_y
|
||||||
|
(11,0) 0.0 ; theta_base_x
|
||||||
|
|
||||||
|
;; Leg Joint Positions: [FL, RL, FR, RR] ;;
|
||||||
|
(12,0) -0.20 ; FL_hip_joint
|
||||||
|
(13,0) 0.62 ; FL_thigh_joint
|
||||||
|
(14,0) -1.24 ; FL_calf_joint
|
||||||
|
(15,0) -0.20 ; RL_hip_joint
|
||||||
|
(16,0) 0.62 ; RL_thigh_joint
|
||||||
|
(17,0) -1.24 ; RL_calf_joint
|
||||||
|
(18,0) 0.20 ; FR_hip_joint
|
||||||
|
(19,0) 0.62 ; FR_thigh_joint
|
||||||
|
(20,0) -1.24 ; FR_calf_joint
|
||||||
|
(21,0) 0.20 ; RR_hip_joint
|
||||||
|
(22,0) 0.62 ; RR_thigh_joint
|
||||||
|
(23,0) -1.24 ; RR_calf_joint
|
||||||
|
}
|
||||||
|
|
||||||
|
; standard state weight matrix
|
||||||
|
Q
|
||||||
|
{
|
||||||
|
scaling 1e+0
|
||||||
|
|
||||||
|
;; Normalized Centroidal Momentum: [linear, angular] ;;
|
||||||
|
(0,0) 15.0 ; vcom_x
|
||||||
|
(1,1) 15.0 ; vcom_y
|
||||||
|
(2,2) 100.0 ; vcom_z
|
||||||
|
(3,3) 10.0 ; L_x / robotMass
|
||||||
|
(4,4) 30.0 ; L_y / robotMass
|
||||||
|
(5,5) 30.0 ; L_z / robotMass
|
||||||
|
|
||||||
|
;; Base Pose: [position, orientation] ;;
|
||||||
|
(6,6) 1000.0 ; p_base_x
|
||||||
|
(7,7) 1000.0 ; p_base_y
|
||||||
|
(8,8) 1500.0 ; p_base_z
|
||||||
|
(9,9) 100.0 ; theta_base_z
|
||||||
|
(10,10) 300.0 ; theta_base_y
|
||||||
|
(11,11) 300.0 ; theta_base_x
|
||||||
|
|
||||||
|
;; Leg Joint Positions: [FL, RL, FR, RR] ;;
|
||||||
|
(12,12) 5.0 ; FL_hip_joint
|
||||||
|
(13,13) 5.0 ; FL_thigh_joint
|
||||||
|
(14,14) 2.5 ; FL_calf_joint
|
||||||
|
(15,15) 5.0 ; RL_hip_joint
|
||||||
|
(16,16) 5.0 ; RL_thigh_joint
|
||||||
|
(17,17) 2.5 ; RL_calf_joint
|
||||||
|
(18,18) 5.0 ; FR_hip_joint
|
||||||
|
(19,19) 5.0 ; FR_thigh_joint
|
||||||
|
(20,20) 2.5 ; FR_calf_joint
|
||||||
|
(21,21) 5.0 ; RR_hip_joint
|
||||||
|
(22,22) 5.0 ; RR_thigh_joint
|
||||||
|
(23,23) 2.5 ; RR_calf_joint
|
||||||
|
}
|
||||||
|
|
||||||
|
; control weight matrix
|
||||||
|
R
|
||||||
|
{
|
||||||
|
scaling 1e-3
|
||||||
|
|
||||||
|
;; Feet Contact Forces: [FL, FR, RL, RR] ;;
|
||||||
|
(0,0) 5.0 ; front_left_force
|
||||||
|
(1,1) 5.0 ; front_left_force
|
||||||
|
(2,2) 5.0 ; front_left_force
|
||||||
|
(3,3) 5.0 ; front_right_force
|
||||||
|
(4,4) 5.0 ; front_right_force
|
||||||
|
(5,5) 5.0 ; front_right_force
|
||||||
|
(6,6) 5.0 ; rear_left_force
|
||||||
|
(7,7) 5.0 ; rear_left_force
|
||||||
|
(8,8) 5.0 ; rear_left_force
|
||||||
|
(9,9) 5.0 ; rear_right_force
|
||||||
|
(10,10) 5.0 ; rear_right_force
|
||||||
|
(11,11) 5.0 ; rear_right_force
|
||||||
|
|
||||||
|
;; foot velocity relative to base: [FL, RL, FR, RR] (uses the Jacobian at nominal configuration) ;;
|
||||||
|
(12,12) 5000.0 ; x
|
||||||
|
(13,13) 5000.0 ; y
|
||||||
|
(14,14) 5000.0 ; z
|
||||||
|
(15,15) 5000.0 ; x
|
||||||
|
(16,16) 5000.0 ; y
|
||||||
|
(17,17) 5000.0 ; z
|
||||||
|
(18,18) 5000.0 ; x
|
||||||
|
(19,19) 5000.0 ; y
|
||||||
|
(20,20) 5000.0 ; z
|
||||||
|
(21,21) 5000.0 ; x
|
||||||
|
(22,22) 5000.0 ; y
|
||||||
|
(23,23) 5000.0 ; z
|
||||||
|
}
|
||||||
|
|
||||||
|
frictionConeSoftConstraint
|
||||||
|
{
|
||||||
|
frictionCoefficient 0.3
|
||||||
|
|
||||||
|
; relaxed log barrier parameters
|
||||||
|
mu 0.1
|
||||||
|
delta 5.0
|
||||||
|
}
|
||||||
|
|
||||||
|
selfCollision
|
||||||
|
{
|
||||||
|
; Self Collision raw object pairs
|
||||||
|
collisionObjectPairs
|
||||||
|
{
|
||||||
|
}
|
||||||
|
|
||||||
|
; Self Collision pairs
|
||||||
|
collisionLinkPairs
|
||||||
|
{
|
||||||
|
[0] "FL_calf, FR_calf"
|
||||||
|
[1] "RL_calf, RR_calf"
|
||||||
|
[2] "FL_calf, RL_calf"
|
||||||
|
[3] "FR_calf, RR_calf"
|
||||||
|
[4] "FL_foot, FR_foot"
|
||||||
|
[5] "RL_foot, RR_foot"
|
||||||
|
[6] "FL_foot, RL_foot"
|
||||||
|
[7] "FR_foot, RR_foot"
|
||||||
|
}
|
||||||
|
|
||||||
|
minimumDistance 0.05
|
||||||
|
|
||||||
|
; relaxed log barrier parameters
|
||||||
|
mu 1e-2
|
||||||
|
delta 1e-3
|
||||||
|
}
|
||||||
|
|
||||||
|
; Whole body control
|
||||||
|
torqueLimitsTask
|
||||||
|
{
|
||||||
|
(0,0) 35.278 ; HAA
|
||||||
|
(1,0) 35.278 ; HFE
|
||||||
|
(2,0) 44.4 ; KFE
|
||||||
|
}
|
||||||
|
|
||||||
|
frictionConeTask
|
||||||
|
{
|
||||||
|
frictionCoefficient 0.3
|
||||||
|
}
|
||||||
|
|
||||||
|
swingLegTask
|
||||||
|
{
|
||||||
|
kp 350
|
||||||
|
kd 37
|
||||||
|
}
|
||||||
|
|
||||||
|
weight
|
||||||
|
{
|
||||||
|
swingLeg 100
|
||||||
|
baseAccel 1
|
||||||
|
contactForce 0.01
|
||||||
|
}
|
||||||
|
|
||||||
|
; State Estimation
|
||||||
|
kalmanFilter
|
||||||
|
{
|
||||||
|
footRadius 0.02
|
||||||
|
imuProcessNoisePosition 0.02
|
||||||
|
imuProcessNoiseVelocity 0.02
|
||||||
|
footProcessNoisePosition 0.002
|
||||||
|
footSensorNoisePosition 0.005
|
||||||
|
footSensorNoiseVelocity 0.1
|
||||||
|
footHeightSensorNoise 0.01
|
||||||
|
}
|
||||||
|
|
@ -74,19 +74,20 @@ unitree_guide_controller:
|
||||||
ocs2_quadruped_controller:
|
ocs2_quadruped_controller:
|
||||||
ros__parameters:
|
ros__parameters:
|
||||||
update_rate: 500 # Hz
|
update_rate: 500 # Hz
|
||||||
|
|
||||||
joints:
|
joints:
|
||||||
- FR_hip_joint
|
|
||||||
- FR_thigh_joint
|
|
||||||
- FR_calf_joint
|
|
||||||
- FL_hip_joint
|
- FL_hip_joint
|
||||||
- FL_thigh_joint
|
- FL_thigh_joint
|
||||||
- FL_calf_joint
|
- FL_calf_joint
|
||||||
- RR_hip_joint
|
- FR_hip_joint
|
||||||
- RR_thigh_joint
|
- FR_thigh_joint
|
||||||
- RR_calf_joint
|
- FR_calf_joint
|
||||||
- RL_hip_joint
|
- RL_hip_joint
|
||||||
- RL_thigh_joint
|
- RL_thigh_joint
|
||||||
- RL_calf_joint
|
- RL_calf_joint
|
||||||
|
- RR_hip_joint
|
||||||
|
- RR_thigh_joint
|
||||||
|
- RR_calf_joint
|
||||||
|
|
||||||
command_interfaces:
|
command_interfaces:
|
||||||
- effort
|
- effort
|
||||||
|
|
@ -101,10 +102,11 @@ ocs2_quadruped_controller:
|
||||||
- velocity
|
- velocity
|
||||||
|
|
||||||
feet_names:
|
feet_names:
|
||||||
- FR_foot
|
|
||||||
- FL_foot
|
- FL_foot
|
||||||
- RR_foot
|
- FR_foot
|
||||||
- RL_foot
|
- RL_foot
|
||||||
|
- RR_foot
|
||||||
|
|
||||||
|
|
||||||
imu_name: "imu_sensor"
|
imu_name: "imu_sensor"
|
||||||
base_name: "base"
|
base_name: "base"
|
||||||
|
|
@ -119,4 +121,11 @@ ocs2_quadruped_controller:
|
||||||
- angular_velocity.z
|
- angular_velocity.z
|
||||||
- linear_acceleration.x
|
- linear_acceleration.x
|
||||||
- linear_acceleration.y
|
- linear_acceleration.y
|
||||||
- linear_acceleration.z
|
- linear_acceleration.z
|
||||||
|
|
||||||
|
foot_force_name: "foot_force"
|
||||||
|
foot_force_interfaces:
|
||||||
|
- FL
|
||||||
|
- RL
|
||||||
|
- FR
|
||||||
|
- RR
|
||||||
|
|
@ -0,0 +1,122 @@
|
||||||
|
import os
|
||||||
|
|
||||||
|
import xacro
|
||||||
|
from ament_index_python.packages import get_package_share_directory
|
||||||
|
from launch import LaunchDescription
|
||||||
|
from launch.actions import DeclareLaunchArgument, OpaqueFunction, IncludeLaunchDescription, RegisterEventHandler
|
||||||
|
from launch.event_handlers import OnProcessExit
|
||||||
|
from launch.substitutions import PathJoinSubstitution
|
||||||
|
from launch_ros.actions import Node
|
||||||
|
from launch_ros.substitutions import FindPackageShare
|
||||||
|
from sympy.physics.vector.printing import params
|
||||||
|
|
||||||
|
package_description = "aliengo_description"
|
||||||
|
|
||||||
|
|
||||||
|
def process_xacro(context):
|
||||||
|
robot_type_value = context.launch_configurations['robot_type']
|
||||||
|
pkg_path = os.path.join(get_package_share_directory(package_description))
|
||||||
|
xacro_file = os.path.join(pkg_path, 'xacro', 'robot.xacro')
|
||||||
|
robot_description_config = xacro.process_file(xacro_file, mappings={'robot_type': robot_type_value})
|
||||||
|
return (robot_description_config.toxml(), robot_type_value)
|
||||||
|
|
||||||
|
|
||||||
|
def launch_setup(context, *args, **kwargs):
|
||||||
|
(robot_description, robot_type) = process_xacro(context)
|
||||||
|
robot_controllers = PathJoinSubstitution(
|
||||||
|
[
|
||||||
|
FindPackageShare(package_description),
|
||||||
|
"config",
|
||||||
|
"robot_control.yaml",
|
||||||
|
]
|
||||||
|
)
|
||||||
|
|
||||||
|
robot_state_publisher = Node(
|
||||||
|
package='robot_state_publisher',
|
||||||
|
executable='robot_state_publisher',
|
||||||
|
name='robot_state_publisher',
|
||||||
|
parameters=[
|
||||||
|
{
|
||||||
|
'publish_frequency': 20.0,
|
||||||
|
'use_tf_static': True,
|
||||||
|
'robot_description': robot_description,
|
||||||
|
'ignore_timestamp': True
|
||||||
|
}
|
||||||
|
],
|
||||||
|
)
|
||||||
|
|
||||||
|
controller_manager = Node(
|
||||||
|
package="controller_manager",
|
||||||
|
executable="ros2_control_node",
|
||||||
|
parameters=[robot_controllers,
|
||||||
|
{
|
||||||
|
'urdf_file': os.path.join(get_package_share_directory(package_description), 'urdf', 'robot.urdf'),
|
||||||
|
'task_file': os.path.join(get_package_share_directory(package_description), 'config', 'ocs2',
|
||||||
|
'task.info'),
|
||||||
|
'reference_file': os.path.join(get_package_share_directory(package_description), 'config',
|
||||||
|
'ocs2', 'reference.info'),
|
||||||
|
'gait_file': os.path.join(get_package_share_directory(package_description), 'config',
|
||||||
|
'ocs2', 'gait.info')
|
||||||
|
}],
|
||||||
|
output="both",
|
||||||
|
)
|
||||||
|
|
||||||
|
joint_state_publisher = Node(
|
||||||
|
package="controller_manager",
|
||||||
|
executable="spawner",
|
||||||
|
arguments=["joint_state_broadcaster",
|
||||||
|
"--controller-manager", "/controller_manager"],
|
||||||
|
)
|
||||||
|
|
||||||
|
imu_sensor_broadcaster = Node(
|
||||||
|
package="controller_manager",
|
||||||
|
executable="spawner",
|
||||||
|
arguments=["imu_sensor_broadcaster",
|
||||||
|
"--controller-manager", "/controller_manager"],
|
||||||
|
)
|
||||||
|
|
||||||
|
ocs2_controller = Node(
|
||||||
|
package="controller_manager",
|
||||||
|
executable="spawner",
|
||||||
|
arguments=["ocs2_quadruped_controller", "--controller-manager", "/controller_manager"]
|
||||||
|
)
|
||||||
|
|
||||||
|
return [
|
||||||
|
robot_state_publisher,
|
||||||
|
controller_manager,
|
||||||
|
joint_state_publisher,
|
||||||
|
RegisterEventHandler(
|
||||||
|
event_handler=OnProcessExit(
|
||||||
|
target_action=joint_state_publisher,
|
||||||
|
on_exit=[imu_sensor_broadcaster],
|
||||||
|
)
|
||||||
|
),
|
||||||
|
RegisterEventHandler(
|
||||||
|
event_handler=OnProcessExit(
|
||||||
|
target_action=imu_sensor_broadcaster,
|
||||||
|
on_exit=[ocs2_controller],
|
||||||
|
)
|
||||||
|
),
|
||||||
|
]
|
||||||
|
|
||||||
|
|
||||||
|
def generate_launch_description():
|
||||||
|
robot_type_arg = DeclareLaunchArgument(
|
||||||
|
'robot_type',
|
||||||
|
default_value='aliengo',
|
||||||
|
description='Type of the robot'
|
||||||
|
)
|
||||||
|
|
||||||
|
rviz_config_file = os.path.join(get_package_share_directory(package_description), "config", "visualize_urdf.rviz")
|
||||||
|
|
||||||
|
return LaunchDescription([
|
||||||
|
robot_type_arg,
|
||||||
|
OpaqueFunction(function=launch_setup),
|
||||||
|
Node(
|
||||||
|
package='rviz2',
|
||||||
|
executable='rviz2',
|
||||||
|
name='rviz_ocs2',
|
||||||
|
output='screen',
|
||||||
|
arguments=["-d", rviz_config_file]
|
||||||
|
)
|
||||||
|
])
|
||||||
|
|
@ -31,265 +31,152 @@
|
||||||
<material name="white">
|
<material name="white">
|
||||||
<color rgba="1.0 1.0 1.0 1.0"/>
|
<color rgba="1.0 1.0 1.0 1.0"/>
|
||||||
</material>
|
</material>
|
||||||
<!-- ros_control plugin -->
|
<ros2_control name="UnitreeSystem" type="system">
|
||||||
<gazebo>
|
<hardware>
|
||||||
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
|
<plugin>hardware_unitree_mujoco/HardwareUnitree</plugin>
|
||||||
<robotNamespace>/aliengo_gazebo</robotNamespace>
|
</hardware>
|
||||||
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
|
<joint name="FR_hip_joint">
|
||||||
</plugin>
|
<command_interface name="position"/>
|
||||||
</gazebo>
|
<command_interface name="velocity"/>
|
||||||
<!-- Show the trajectory of trunk center. -->
|
<command_interface name="effort"/>
|
||||||
<gazebo>
|
<command_interface name="kp"/>
|
||||||
<plugin filename="libLinkPlot3DPlugin.so" name="3dplot">
|
<command_interface name="kd"/>
|
||||||
<frequency>10</frequency>
|
<state_interface name="position"/>
|
||||||
<plot>
|
<state_interface name="velocity"/>
|
||||||
<link>base</link>
|
<state_interface name="effort"/>
|
||||||
<pose>0 0 0 0 0 0</pose>
|
</joint>
|
||||||
<material>Gazebo/Yellow</material>
|
<joint name="FR_thigh_joint">
|
||||||
</plot>
|
<command_interface name="position"/>
|
||||||
</plugin>
|
<command_interface name="velocity"/>
|
||||||
</gazebo>
|
<command_interface name="effort"/>
|
||||||
<!-- Show the trajectory of foot. You can add another trajectory about another foot. -->
|
<command_interface name="kp"/>
|
||||||
<!-- <gazebo>
|
<command_interface name="kd"/>
|
||||||
<plugin name="3dplot" filename="libLinkPlot3DPlugin.so">
|
<state_interface name="position"/>
|
||||||
<frequency>100</frequency>
|
<state_interface name="velocity"/>
|
||||||
<plot>
|
<state_interface name="effort"/>
|
||||||
<link>FL_foot</link>
|
</joint>
|
||||||
<pose>0 0 0 0 0 0</pose>
|
<joint name="FR_calf_joint">
|
||||||
<material>Gazebo/Green</material>
|
<command_interface name="position"/>
|
||||||
</plot>
|
<command_interface name="velocity"/>
|
||||||
</plugin>
|
<command_interface name="effort"/>
|
||||||
</gazebo> -->
|
<command_interface name="kp"/>
|
||||||
<gazebo>
|
<command_interface name="kd"/>
|
||||||
<plugin filename="libgazebo_ros_force.so" name="gazebo_ros_force">
|
<state_interface name="position"/>
|
||||||
<bodyName>trunk</bodyName>
|
<state_interface name="velocity"/>
|
||||||
<topicName>/apply_force/trunk</topicName>
|
<state_interface name="effort"/>
|
||||||
</plugin>
|
</joint>
|
||||||
</gazebo>
|
<joint name="FL_hip_joint">
|
||||||
<gazebo reference="imu_link">
|
<command_interface name="position"/>
|
||||||
<gravity>true</gravity>
|
<command_interface name="velocity"/>
|
||||||
<sensor name="imu_sensor" type="imu">
|
<command_interface name="effort"/>
|
||||||
<always_on>true</always_on>
|
<command_interface name="kp"/>
|
||||||
<update_rate>1000</update_rate>
|
<command_interface name="kd"/>
|
||||||
<visualize>true</visualize>
|
<state_interface name="position"/>
|
||||||
<topic>__default_topic__</topic>
|
<state_interface name="velocity"/>
|
||||||
<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
|
<state_interface name="effort"/>
|
||||||
<topicName>trunk_imu</topicName>
|
</joint>
|
||||||
<bodyName>imu_link</bodyName>
|
<joint name="FL_thigh_joint">
|
||||||
<updateRateHZ>1000.0</updateRateHZ>
|
<command_interface name="position"/>
|
||||||
<gaussianNoise>0.0</gaussianNoise>
|
<command_interface name="velocity"/>
|
||||||
<xyzOffset>0 0 0</xyzOffset>
|
<command_interface name="effort"/>
|
||||||
<rpyOffset>0 0 0</rpyOffset>
|
<command_interface name="kp"/>
|
||||||
<frameName>imu_link</frameName>
|
<command_interface name="kd"/>
|
||||||
</plugin>
|
<state_interface name="position"/>
|
||||||
<pose>0 0 0 0 0 0</pose>
|
<state_interface name="velocity"/>
|
||||||
|
<state_interface name="effort"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="FL_calf_joint">
|
||||||
|
<command_interface name="position"/>
|
||||||
|
<command_interface name="velocity"/>
|
||||||
|
<command_interface name="effort"/>
|
||||||
|
<command_interface name="kp"/>
|
||||||
|
<command_interface name="kd"/>
|
||||||
|
<state_interface name="position"/>
|
||||||
|
<state_interface name="velocity"/>
|
||||||
|
<state_interface name="effort"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="RR_hip_joint">
|
||||||
|
<command_interface name="position"/>
|
||||||
|
<command_interface name="velocity"/>
|
||||||
|
<command_interface name="effort"/>
|
||||||
|
<command_interface name="kp"/>
|
||||||
|
<command_interface name="kd"/>
|
||||||
|
<state_interface name="position"/>
|
||||||
|
<state_interface name="velocity"/>
|
||||||
|
<state_interface name="effort"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="RR_thigh_joint">
|
||||||
|
<command_interface name="position"/>
|
||||||
|
<command_interface name="velocity"/>
|
||||||
|
<command_interface name="effort"/>
|
||||||
|
<command_interface name="kp"/>
|
||||||
|
<command_interface name="kd"/>
|
||||||
|
<state_interface name="position"/>
|
||||||
|
<state_interface name="velocity"/>
|
||||||
|
<state_interface name="effort"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="RR_calf_joint">
|
||||||
|
<command_interface name="position"/>
|
||||||
|
<command_interface name="velocity"/>
|
||||||
|
<command_interface name="effort"/>
|
||||||
|
<command_interface name="kp"/>
|
||||||
|
<command_interface name="kd"/>
|
||||||
|
<state_interface name="position"/>
|
||||||
|
<state_interface name="velocity"/>
|
||||||
|
<state_interface name="effort"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="RL_hip_joint">
|
||||||
|
<command_interface name="position"/>
|
||||||
|
<command_interface name="velocity"/>
|
||||||
|
<command_interface name="effort"/>
|
||||||
|
<command_interface name="kp"/>
|
||||||
|
<command_interface name="kd"/>
|
||||||
|
<state_interface name="position"/>
|
||||||
|
<state_interface name="velocity"/>
|
||||||
|
<state_interface name="effort"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="RL_thigh_joint">
|
||||||
|
<command_interface name="position"/>
|
||||||
|
<command_interface name="velocity"/>
|
||||||
|
<command_interface name="effort"/>
|
||||||
|
<command_interface name="kp"/>
|
||||||
|
<command_interface name="kd"/>
|
||||||
|
<state_interface name="position"/>
|
||||||
|
<state_interface name="velocity"/>
|
||||||
|
<state_interface name="effort"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="RL_calf_joint">
|
||||||
|
<command_interface name="position"/>
|
||||||
|
<command_interface name="velocity"/>
|
||||||
|
<command_interface name="effort"/>
|
||||||
|
<command_interface name="kp"/>
|
||||||
|
<command_interface name="kd"/>
|
||||||
|
<state_interface name="position"/>
|
||||||
|
<state_interface name="velocity"/>
|
||||||
|
<state_interface name="effort"/>
|
||||||
|
</joint>
|
||||||
|
<sensor name="imu_sensor">
|
||||||
|
<state_interface name="orientation.w"/>
|
||||||
|
<state_interface name="orientation.x"/>
|
||||||
|
<state_interface name="orientation.y"/>
|
||||||
|
<state_interface name="orientation.z"/>
|
||||||
|
<state_interface name="angular_velocity.x"/>
|
||||||
|
<state_interface name="angular_velocity.y"/>
|
||||||
|
<state_interface name="angular_velocity.z"/>
|
||||||
|
<state_interface name="linear_acceleration.x"/>
|
||||||
|
<state_interface name="linear_acceleration.y"/>
|
||||||
|
<state_interface name="linear_acceleration.z"/>
|
||||||
</sensor>
|
</sensor>
|
||||||
</gazebo>
|
<sensor name="foot_force">
|
||||||
<!-- Foot contacts. -->
|
<state_interface name="FR"/>
|
||||||
<gazebo reference="FR_calf">
|
<state_interface name="FL"/>
|
||||||
<sensor name="FR_foot_contact" type="contact">
|
<state_interface name="RR"/>
|
||||||
<update_rate>100</update_rate>
|
<state_interface name="RL"/>
|
||||||
<plugin filename="libunitreeFootContactPlugin.so" name="contactPlugin"/>
|
|
||||||
<contact>
|
|
||||||
<collision>FR_calf_fixed_joint_lump__FR_foot_collision_1</collision>
|
|
||||||
</contact>
|
|
||||||
</sensor>
|
</sensor>
|
||||||
</gazebo>
|
</ros2_control>
|
||||||
<gazebo reference="FL_calf">
|
<!-- <xacro:include filename="$(find aliengo_description)/xacro/gazebo.xacro"/>-->
|
||||||
<sensor name="FL_foot_contact" type="contact">
|
|
||||||
<update_rate>100</update_rate>
|
|
||||||
<plugin filename="libunitreeFootContactPlugin.so" name="contactPlugin"/>
|
|
||||||
<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 filename="libunitreeFootContactPlugin.so" name="contactPlugin"/>
|
|
||||||
<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 filename="libunitreeFootContactPlugin.so" name="contactPlugin"/>
|
|
||||||
<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 filename="libunitreeDrawForcePlugin.so" name="drawForcePlugin">
|
|
||||||
<topicName>FR_foot_contact</topicName>
|
|
||||||
</plugin>
|
|
||||||
</visual>
|
|
||||||
</gazebo>
|
|
||||||
<gazebo reference="FL_foot">
|
|
||||||
<visual>
|
|
||||||
<plugin filename="libunitreeDrawForcePlugin.so" name="drawForcePlugin">
|
|
||||||
<topicName>FL_foot_contact</topicName>
|
|
||||||
</plugin>
|
|
||||||
</visual>
|
|
||||||
</gazebo>
|
|
||||||
<gazebo reference="RR_foot">
|
|
||||||
<visual>
|
|
||||||
<plugin filename="libunitreeDrawForcePlugin.so" name="drawForcePlugin">
|
|
||||||
<topicName>RR_foot_contact</topicName>
|
|
||||||
</plugin>
|
|
||||||
</visual>
|
|
||||||
</gazebo>
|
|
||||||
<gazebo reference="RL_foot">
|
|
||||||
<visual>
|
|
||||||
<plugin filename="libunitreeDrawForcePlugin.so" name="drawForcePlugin">
|
|
||||||
<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>
|
|
||||||
<!-- Rotor related joint and link is only for demonstrate location. -->
|
<!-- Rotor related joint and link is only for demonstrate location. -->
|
||||||
<!-- Actually, the rotor will rotate and the joint is not fixed. Reduction ratio should be considered. -->
|
<!-- Actually, the rotor will rotate and the joint is not fixed. Reduction ratio should be considered. -->
|
||||||
<!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
|
|
||||||
<!-- <xacro:if value="$(arg DEBUG)">
|
|
||||||
<link name="world"/>
|
|
||||||
<joint name="base_static_joint" type="fixed">
|
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
||||||
<parent link="world"/>
|
|
||||||
<child link="base"/>
|
|
||||||
</joint>
|
|
||||||
</xacro:if> -->
|
|
||||||
<link name="base">
|
<link name="base">
|
||||||
<visual>
|
<visual>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
|
@ -307,7 +194,7 @@
|
||||||
<visual>
|
<visual>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<mesh filename="package://aliengo_description/meshes/trunk.dae" scale="1 1 1"/>
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/aliengo_description/share/aliengo_description/meshes/trunk.dae" scale="1 1 1"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<material name="orange"/>
|
<material name="orange"/>
|
||||||
</visual>
|
</visual>
|
||||||
|
|
@ -317,12 +204,6 @@
|
||||||
<box size="0.647 0.15 0.112"/>
|
<box size="0.647 0.15 0.112"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
</collision>
|
</collision>
|
||||||
<!-- <collision>
|
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="package://aliengo_description/meshes/trunk.dae" scale="1 1 1"/>
|
|
||||||
</geometry>
|
|
||||||
</collision> -->
|
|
||||||
<inertial>
|
<inertial>
|
||||||
<origin rpy="0 0 0" xyz="0.008811 0.003839 0.000273"/>
|
<origin rpy="0 0 0" xyz="0.008811 0.003839 0.000273"/>
|
||||||
<mass value="11.644"/>
|
<mass value="11.644"/>
|
||||||
|
|
@ -338,7 +219,7 @@
|
||||||
<inertial>
|
<inertial>
|
||||||
<mass value="0.001"/>
|
<mass value="0.001"/>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.0001"/>
|
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
|
||||||
</inertial>
|
</inertial>
|
||||||
<visual>
|
<visual>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
|
@ -371,7 +252,7 @@
|
||||||
<visual>
|
<visual>
|
||||||
<origin rpy="3.141592653589793 0 0" xyz="0 0 0"/>
|
<origin rpy="3.141592653589793 0 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<mesh filename="package://aliengo_description/meshes/hip.dae" scale="1 1 1"/>
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/aliengo_description/share/aliengo_description/meshes/hip.dae" scale="1 1 1"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<material name="orange"/>
|
<material name="orange"/>
|
||||||
</visual>
|
</visual>
|
||||||
|
|
@ -395,19 +276,19 @@
|
||||||
</geometry>
|
</geometry>
|
||||||
<material name="green"/>
|
<material name="green"/>
|
||||||
</visual>
|
</visual>
|
||||||
<collision>
|
<!-- <collision>
|
||||||
<origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
|
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<cylinder length="0.02" radius="0.035"/>
|
<cylinder length="0.02" radius="0.035"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
</collision>
|
</collision> -->
|
||||||
<inertial>
|
<inertial>
|
||||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||||
<mass value="0.146"/>
|
<mass value="0.146"/>
|
||||||
<inertia ixx="0.000138702" ixy="0.0" ixz="0.0" iyy="8.3352e-05" iyz="0.0" izz="8.3352e-05"/>
|
<inertia ixx="0.000138702" ixy="0.0" ixz="0.0" iyy="8.3352e-05" iyz="0.0" izz="8.3352e-05"/>
|
||||||
</inertial>
|
</inertial>
|
||||||
</link>
|
</link>
|
||||||
<joint name="FR_thigh_joint" type="continuous">
|
<joint name="FR_thigh_joint" type="revolute">
|
||||||
<origin rpy="0 0 0" xyz="0 -0.0868 0"/>
|
<origin rpy="0 0 0" xyz="0 -0.0868 0"/>
|
||||||
<parent link="FR_hip"/>
|
<parent link="FR_hip"/>
|
||||||
<child link="FR_thigh"/>
|
<child link="FR_thigh"/>
|
||||||
|
|
@ -424,7 +305,7 @@
|
||||||
<visual>
|
<visual>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<mesh filename="package://aliengo_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/aliengo_description/share/aliengo_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<material name="orange"/>
|
<material name="orange"/>
|
||||||
</visual>
|
</visual>
|
||||||
|
|
@ -448,12 +329,12 @@
|
||||||
</geometry>
|
</geometry>
|
||||||
<material name="green"/>
|
<material name="green"/>
|
||||||
</visual>
|
</visual>
|
||||||
<collision>
|
<!-- <collision>
|
||||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<cylinder length="0.02" radius="0.035"/>
|
<cylinder length="0.02" radius="0.035"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
</collision>
|
</collision> -->
|
||||||
<inertial>
|
<inertial>
|
||||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||||
<mass value="0.146"/>
|
<mass value="0.146"/>
|
||||||
|
|
@ -477,7 +358,7 @@
|
||||||
<visual>
|
<visual>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<mesh filename="package://aliengo_description/meshes/calf.dae" scale="1 1 1"/>
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/aliengo_description/share/aliengo_description/meshes/calf.dae" scale="1 1 1"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<material name="orange"/>
|
<material name="orange"/>
|
||||||
</visual>
|
</visual>
|
||||||
|
|
@ -501,12 +382,12 @@
|
||||||
</geometry>
|
</geometry>
|
||||||
<material name="green"/>
|
<material name="green"/>
|
||||||
</visual>
|
</visual>
|
||||||
<collision>
|
<!-- <collision>
|
||||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<cylinder length="0.02" radius="0.035"/>
|
<cylinder length="0.02" radius="0.035"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
</collision>
|
</collision> -->
|
||||||
<inertial>
|
<inertial>
|
||||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||||
<mass value="0.132"/>
|
<mass value="0.132"/>
|
||||||
|
|
@ -584,7 +465,7 @@
|
||||||
<visual>
|
<visual>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<mesh filename="package://aliengo_description/meshes/hip.dae" scale="1 1 1"/>
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/aliengo_description/share/aliengo_description/meshes/hip.dae" scale="1 1 1"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<material name="orange"/>
|
<material name="orange"/>
|
||||||
</visual>
|
</visual>
|
||||||
|
|
@ -608,19 +489,19 @@
|
||||||
</geometry>
|
</geometry>
|
||||||
<material name="green"/>
|
<material name="green"/>
|
||||||
</visual>
|
</visual>
|
||||||
<collision>
|
<!-- <collision>
|
||||||
<origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
|
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<cylinder length="0.02" radius="0.035"/>
|
<cylinder length="0.02" radius="0.035"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
</collision>
|
</collision> -->
|
||||||
<inertial>
|
<inertial>
|
||||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||||
<mass value="0.146"/>
|
<mass value="0.146"/>
|
||||||
<inertia ixx="0.000138702" ixy="0.0" ixz="0.0" iyy="8.3352e-05" iyz="0.0" izz="8.3352e-05"/>
|
<inertia ixx="0.000138702" ixy="0.0" ixz="0.0" iyy="8.3352e-05" iyz="0.0" izz="8.3352e-05"/>
|
||||||
</inertial>
|
</inertial>
|
||||||
</link>
|
</link>
|
||||||
<joint name="FL_thigh_joint" type="continuous">
|
<joint name="FL_thigh_joint" type="revolute">
|
||||||
<origin rpy="0 0 0" xyz="0 0.0868 0"/>
|
<origin rpy="0 0 0" xyz="0 0.0868 0"/>
|
||||||
<parent link="FL_hip"/>
|
<parent link="FL_hip"/>
|
||||||
<child link="FL_thigh"/>
|
<child link="FL_thigh"/>
|
||||||
|
|
@ -637,7 +518,7 @@
|
||||||
<visual>
|
<visual>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<mesh filename="package://aliengo_description/meshes/thigh.dae" scale="1 1 1"/>
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/aliengo_description/share/aliengo_description/meshes/thigh.dae" scale="1 1 1"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<material name="orange"/>
|
<material name="orange"/>
|
||||||
</visual>
|
</visual>
|
||||||
|
|
@ -661,12 +542,12 @@
|
||||||
</geometry>
|
</geometry>
|
||||||
<material name="green"/>
|
<material name="green"/>
|
||||||
</visual>
|
</visual>
|
||||||
<collision>
|
<!-- <collision>
|
||||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<cylinder length="0.02" radius="0.035"/>
|
<cylinder length="0.02" radius="0.035"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
</collision>
|
</collision> -->
|
||||||
<inertial>
|
<inertial>
|
||||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||||
<mass value="0.146"/>
|
<mass value="0.146"/>
|
||||||
|
|
@ -690,7 +571,7 @@
|
||||||
<visual>
|
<visual>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<mesh filename="package://aliengo_description/meshes/calf.dae" scale="1 1 1"/>
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/aliengo_description/share/aliengo_description/meshes/calf.dae" scale="1 1 1"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<material name="orange"/>
|
<material name="orange"/>
|
||||||
</visual>
|
</visual>
|
||||||
|
|
@ -714,12 +595,12 @@
|
||||||
</geometry>
|
</geometry>
|
||||||
<material name="green"/>
|
<material name="green"/>
|
||||||
</visual>
|
</visual>
|
||||||
<collision>
|
<!-- <collision>
|
||||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<cylinder length="0.02" radius="0.035"/>
|
<cylinder length="0.02" radius="0.035"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
</collision>
|
</collision> -->
|
||||||
<inertial>
|
<inertial>
|
||||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||||
<mass value="0.132"/>
|
<mass value="0.132"/>
|
||||||
|
|
@ -797,7 +678,7 @@
|
||||||
<visual>
|
<visual>
|
||||||
<origin rpy="3.141592653589793 3.141592653589793 0" xyz="0 0 0"/>
|
<origin rpy="3.141592653589793 3.141592653589793 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<mesh filename="package://aliengo_description/meshes/hip.dae" scale="1 1 1"/>
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/aliengo_description/share/aliengo_description/meshes/hip.dae" scale="1 1 1"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<material name="orange"/>
|
<material name="orange"/>
|
||||||
</visual>
|
</visual>
|
||||||
|
|
@ -821,19 +702,19 @@
|
||||||
</geometry>
|
</geometry>
|
||||||
<material name="green"/>
|
<material name="green"/>
|
||||||
</visual>
|
</visual>
|
||||||
<collision>
|
<!-- <collision>
|
||||||
<origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
|
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<cylinder length="0.02" radius="0.035"/>
|
<cylinder length="0.02" radius="0.035"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
</collision>
|
</collision> -->
|
||||||
<inertial>
|
<inertial>
|
||||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||||
<mass value="0.146"/>
|
<mass value="0.146"/>
|
||||||
<inertia ixx="0.000138702" ixy="0.0" ixz="0.0" iyy="8.3352e-05" iyz="0.0" izz="8.3352e-05"/>
|
<inertia ixx="0.000138702" ixy="0.0" ixz="0.0" iyy="8.3352e-05" iyz="0.0" izz="8.3352e-05"/>
|
||||||
</inertial>
|
</inertial>
|
||||||
</link>
|
</link>
|
||||||
<joint name="RR_thigh_joint" type="continuous">
|
<joint name="RR_thigh_joint" type="revolute">
|
||||||
<origin rpy="0 0 0" xyz="0 -0.0868 0"/>
|
<origin rpy="0 0 0" xyz="0 -0.0868 0"/>
|
||||||
<parent link="RR_hip"/>
|
<parent link="RR_hip"/>
|
||||||
<child link="RR_thigh"/>
|
<child link="RR_thigh"/>
|
||||||
|
|
@ -850,7 +731,7 @@
|
||||||
<visual>
|
<visual>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<mesh filename="package://aliengo_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/aliengo_description/share/aliengo_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<material name="orange"/>
|
<material name="orange"/>
|
||||||
</visual>
|
</visual>
|
||||||
|
|
@ -874,12 +755,12 @@
|
||||||
</geometry>
|
</geometry>
|
||||||
<material name="green"/>
|
<material name="green"/>
|
||||||
</visual>
|
</visual>
|
||||||
<collision>
|
<!-- <collision>
|
||||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<cylinder length="0.02" radius="0.035"/>
|
<cylinder length="0.02" radius="0.035"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
</collision>
|
</collision> -->
|
||||||
<inertial>
|
<inertial>
|
||||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||||
<mass value="0.146"/>
|
<mass value="0.146"/>
|
||||||
|
|
@ -903,7 +784,7 @@
|
||||||
<visual>
|
<visual>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<mesh filename="package://aliengo_description/meshes/calf.dae" scale="1 1 1"/>
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/aliengo_description/share/aliengo_description/meshes/calf.dae" scale="1 1 1"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<material name="orange"/>
|
<material name="orange"/>
|
||||||
</visual>
|
</visual>
|
||||||
|
|
@ -927,12 +808,12 @@
|
||||||
</geometry>
|
</geometry>
|
||||||
<material name="green"/>
|
<material name="green"/>
|
||||||
</visual>
|
</visual>
|
||||||
<collision>
|
<!-- <collision>
|
||||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<cylinder length="0.02" radius="0.035"/>
|
<cylinder length="0.02" radius="0.035"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
</collision>
|
</collision> -->
|
||||||
<inertial>
|
<inertial>
|
||||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||||
<mass value="0.132"/>
|
<mass value="0.132"/>
|
||||||
|
|
@ -1010,7 +891,7 @@
|
||||||
<visual>
|
<visual>
|
||||||
<origin rpy="0 3.141592653589793 0" xyz="0 0 0"/>
|
<origin rpy="0 3.141592653589793 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<mesh filename="package://aliengo_description/meshes/hip.dae" scale="1 1 1"/>
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/aliengo_description/share/aliengo_description/meshes/hip.dae" scale="1 1 1"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<material name="orange"/>
|
<material name="orange"/>
|
||||||
</visual>
|
</visual>
|
||||||
|
|
@ -1034,19 +915,19 @@
|
||||||
</geometry>
|
</geometry>
|
||||||
<material name="green"/>
|
<material name="green"/>
|
||||||
</visual>
|
</visual>
|
||||||
<collision>
|
<!-- <collision>
|
||||||
<origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
|
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<cylinder length="0.02" radius="0.035"/>
|
<cylinder length="0.02" radius="0.035"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
</collision>
|
</collision> -->
|
||||||
<inertial>
|
<inertial>
|
||||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||||
<mass value="0.146"/>
|
<mass value="0.146"/>
|
||||||
<inertia ixx="0.000138702" ixy="0.0" ixz="0.0" iyy="8.3352e-05" iyz="0.0" izz="8.3352e-05"/>
|
<inertia ixx="0.000138702" ixy="0.0" ixz="0.0" iyy="8.3352e-05" iyz="0.0" izz="8.3352e-05"/>
|
||||||
</inertial>
|
</inertial>
|
||||||
</link>
|
</link>
|
||||||
<joint name="RL_thigh_joint" type="continuous">
|
<joint name="RL_thigh_joint" type="revolute">
|
||||||
<origin rpy="0 0 0" xyz="0 0.0868 0"/>
|
<origin rpy="0 0 0" xyz="0 0.0868 0"/>
|
||||||
<parent link="RL_hip"/>
|
<parent link="RL_hip"/>
|
||||||
<child link="RL_thigh"/>
|
<child link="RL_thigh"/>
|
||||||
|
|
@ -1063,7 +944,7 @@
|
||||||
<visual>
|
<visual>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<mesh filename="package://aliengo_description/meshes/thigh.dae" scale="1 1 1"/>
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/aliengo_description/share/aliengo_description/meshes/thigh.dae" scale="1 1 1"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<material name="orange"/>
|
<material name="orange"/>
|
||||||
</visual>
|
</visual>
|
||||||
|
|
@ -1087,12 +968,12 @@
|
||||||
</geometry>
|
</geometry>
|
||||||
<material name="green"/>
|
<material name="green"/>
|
||||||
</visual>
|
</visual>
|
||||||
<collision>
|
<!-- <collision>
|
||||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<cylinder length="0.02" radius="0.035"/>
|
<cylinder length="0.02" radius="0.035"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
</collision>
|
</collision> -->
|
||||||
<inertial>
|
<inertial>
|
||||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||||
<mass value="0.146"/>
|
<mass value="0.146"/>
|
||||||
|
|
@ -1116,7 +997,7 @@
|
||||||
<visual>
|
<visual>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<mesh filename="package://aliengo_description/meshes/calf.dae" scale="1 1 1"/>
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/aliengo_description/share/aliengo_description/meshes/calf.dae" scale="1 1 1"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<material name="orange"/>
|
<material name="orange"/>
|
||||||
</visual>
|
</visual>
|
||||||
|
|
@ -1140,12 +1021,12 @@
|
||||||
</geometry>
|
</geometry>
|
||||||
<material name="green"/>
|
<material name="green"/>
|
||||||
</visual>
|
</visual>
|
||||||
<collision>
|
<!-- <collision>
|
||||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<cylinder length="0.02" radius="0.035"/>
|
<cylinder length="0.02" radius="0.035"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
</collision>
|
</collision> -->
|
||||||
<inertial>
|
<inertial>
|
||||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||||
<mass value="0.132"/>
|
<mass value="0.132"/>
|
||||||
|
|
@ -1208,4 +1089,3 @@
|
||||||
</transmission>
|
</transmission>
|
||||||
<!-- <xacro:stairs stairs="15" xpos="0" ypos="2.0" zpos="0" /> -->
|
<!-- <xacro:stairs stairs="15" xpos="0" ypos="2.0" zpos="0" /> -->
|
||||||
</robot>
|
</robot>
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -2,274 +2,253 @@
|
||||||
|
|
||||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||||
|
|
||||||
<xacro:include filename="$(find aliengo_description)/xacro/transmission.xacro"/>
|
<xacro:include filename="$(find aliengo_description)/xacro/transmission.xacro"/>
|
||||||
|
|
||||||
<xacro:macro name="leg" params="name mirror mirror_dae front_hind front_hind_dae">
|
<xacro:macro name="leg" params="name mirror mirror_dae front_hind front_hind_dae">
|
||||||
|
|
||||||
<joint name="${name}_hip_joint" type="revolute">
|
<joint name="${name}_hip_joint" type="revolute">
|
||||||
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
|
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
|
||||||
<origin rpy="0 0 0" xyz="${leg_offset_x} ${-leg_offset_y} 0"/>
|
<origin rpy="0 0 0" xyz="${leg_offset_x} ${-leg_offset_y} 0"/>
|
||||||
</xacro:if>
|
</xacro:if>
|
||||||
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
|
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
|
||||||
<origin rpy="0 0 0" xyz="${leg_offset_x} ${leg_offset_y} 0"/>
|
<origin rpy="0 0 0" xyz="${leg_offset_x} ${leg_offset_y} 0"/>
|
||||||
</xacro:if>
|
</xacro:if>
|
||||||
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
|
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
|
||||||
<origin rpy="0 0 0" xyz="${-leg_offset_x} ${-leg_offset_y} 0"/>
|
<origin rpy="0 0 0" xyz="${-leg_offset_x} ${-leg_offset_y} 0"/>
|
||||||
</xacro:if>
|
</xacro:if>
|
||||||
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
|
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
|
||||||
<origin rpy="0 0 0" xyz="${-leg_offset_x} ${leg_offset_y} 0"/>
|
<origin rpy="0 0 0" xyz="${-leg_offset_x} ${leg_offset_y} 0"/>
|
||||||
</xacro:if>
|
</xacro:if>
|
||||||
<parent link="trunk"/>
|
<parent link="trunk"/>
|
||||||
<child link="${name}_hip"/>
|
<child link="${name}_hip"/>
|
||||||
<axis xyz="1 0 0"/>
|
<axis xyz="1 0 0"/>
|
||||||
<dynamics damping="${damping}" friction="${friction}"/>
|
<dynamics damping="${damping}" friction="${friction}"/>
|
||||||
<xacro:if value="${(mirror_dae == True)}">
|
<xacro:if value="${(mirror_dae == True)}">
|
||||||
<limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${hip_position_min}"
|
<limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${hip_position_min}"
|
||||||
upper="${hip_position_max}"/>
|
upper="${hip_position_max}"/>
|
||||||
</xacro:if>
|
</xacro:if>
|
||||||
<xacro:if value="${(mirror_dae == False)}">
|
<xacro:if value="${(mirror_dae == False)}">
|
||||||
<limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${-hip_position_max}"
|
<limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${-hip_position_max}"
|
||||||
upper="${-hip_position_min}"/>
|
upper="${-hip_position_min}"/>
|
||||||
</xacro:if>
|
</xacro:if>
|
||||||
</joint>
|
</joint>
|
||||||
|
|
||||||
<joint name="${name}_hip_rotor_joint" type="fixed">
|
<joint name="${name}_hip_rotor_joint" type="fixed">
|
||||||
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
|
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
|
||||||
<origin rpy="0 0 0" xyz="${hip_rotor_offset_x} ${-hip_rotor_offset_y} 0"/>
|
<origin rpy="0 0 0" xyz="${hip_rotor_offset_x} ${-hip_rotor_offset_y} 0"/>
|
||||||
</xacro:if>
|
</xacro:if>
|
||||||
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
|
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
|
||||||
<origin rpy="0 0 0" xyz="${hip_rotor_offset_x} ${hip_rotor_offset_y} 0"/>
|
<origin rpy="0 0 0" xyz="${hip_rotor_offset_x} ${hip_rotor_offset_y} 0"/>
|
||||||
</xacro:if>
|
</xacro:if>
|
||||||
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
|
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
|
||||||
<origin rpy="0 0 0" xyz="${-hip_rotor_offset_x} ${-hip_rotor_offset_y} 0"/>
|
<origin rpy="0 0 0" xyz="${-hip_rotor_offset_x} ${-hip_rotor_offset_y} 0"/>
|
||||||
</xacro:if>
|
</xacro:if>
|
||||||
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
|
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
|
||||||
<origin rpy="0 0 0" xyz="${-hip_rotor_offset_x} ${hip_rotor_offset_y} 0"/>
|
<origin rpy="0 0 0" xyz="${-hip_rotor_offset_x} ${hip_rotor_offset_y} 0"/>
|
||||||
</xacro:if>
|
</xacro:if>
|
||||||
<parent link="trunk"/>
|
<parent link="trunk"/>
|
||||||
<child link="${name}_hip_rotor"/>
|
<child link="${name}_hip_rotor"/>
|
||||||
</joint>
|
</joint>
|
||||||
|
|
||||||
<link name="${name}_hip">
|
<link name="${name}_hip">
|
||||||
<visual>
|
<visual>
|
||||||
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
|
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
</xacro:if>
|
</xacro:if>
|
||||||
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
|
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
|
||||||
<origin rpy="${PI} 0 0" xyz="0 0 0"/>
|
<origin rpy="${PI} 0 0" xyz="0 0 0"/>
|
||||||
</xacro:if>
|
</xacro:if>
|
||||||
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
|
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
|
||||||
<origin rpy="0 ${PI} 0" xyz="0 0 0"/>
|
<origin rpy="0 ${PI} 0" xyz="0 0 0"/>
|
||||||
</xacro:if>
|
</xacro:if>
|
||||||
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
|
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
|
||||||
<origin rpy="${PI} ${PI} 0" xyz="0 0 0"/>
|
<origin rpy="${PI} ${PI} 0" xyz="0 0 0"/>
|
||||||
</xacro:if>
|
</xacro:if>
|
||||||
<geometry>
|
<geometry>
|
||||||
<mesh filename="file://$(find aliengo_description)/meshes/hip.dae" scale="1 1 1"/>
|
<mesh filename="file://$(find aliengo_description)/meshes/hip.dae" scale="1 1 1"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<material name="orange"/>
|
<material name="orange"/>
|
||||||
</visual>
|
</visual>
|
||||||
<collision>
|
<collision>
|
||||||
<origin rpy="${PI/2.0} 0 0" xyz="0 ${hip_offset*mirror} 0"/>
|
<origin rpy="${PI/2.0} 0 0" xyz="0 ${hip_offset*mirror} 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<cylinder length="${hip_length}" radius="${hip_radius}"/>
|
<cylinder length="${hip_length}" radius="${hip_radius}"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
</collision>
|
</collision>
|
||||||
<inertial>
|
<inertial>
|
||||||
<origin rpy="0 0 0" xyz="${hip_com_x*front_hind} ${hip_com_y*mirror} ${hip_com_z}"/>
|
<origin rpy="0 0 0" xyz="${hip_com_x*front_hind} ${hip_com_y*mirror} ${hip_com_z}"/>
|
||||||
<mass value="${hip_mass}"/>
|
<mass value="${hip_mass}"/>
|
||||||
<inertia
|
<inertia
|
||||||
ixx="${hip_ixx}" ixy="${hip_ixy*mirror*front_hind}" ixz="${hip_ixz*front_hind}"
|
ixx="${hip_ixx}" ixy="${hip_ixy*mirror*front_hind}" ixz="${hip_ixz*front_hind}"
|
||||||
iyy="${hip_iyy}" iyz="${hip_iyz*mirror}"
|
iyy="${hip_iyy}" iyz="${hip_iyz*mirror}"
|
||||||
izz="${hip_izz}"/>
|
izz="${hip_izz}"/>
|
||||||
</inertial>
|
</inertial>
|
||||||
</link>
|
</link>
|
||||||
|
|
||||||
<link name="${name}_hip_rotor">
|
<link name="${name}_hip_rotor">
|
||||||
<visual>
|
<visual>
|
||||||
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 0"/>
|
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<cylinder length="0.02" radius="0.035"/>
|
<cylinder length="0.02" radius="0.035"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<material name="green"/>
|
<material name="green"/>
|
||||||
</visual>
|
</visual>
|
||||||
<!-- <collision>
|
<inertial>
|
||||||
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="${hip_rotor_com_x} ${hip_rotor_com_y} ${hip_rotor_com_z}"/>
|
||||||
<geometry>
|
<mass value="${hip_rotor_mass}"/>
|
||||||
<cylinder length="0.02" radius="0.035"/>
|
<inertia
|
||||||
</geometry>
|
ixx="${hip_rotor_ixx}" ixy="${hip_rotor_ixy}" ixz="${hip_rotor_ixz}"
|
||||||
</collision> -->
|
iyy="${hip_rotor_iyy}" iyz="${hip_rotor_iyz}"
|
||||||
<inertial>
|
izz="${hip_rotor_izz}"/>
|
||||||
<origin rpy="0 0 0" xyz="${hip_rotor_com_x} ${hip_rotor_com_y} ${hip_rotor_com_z}"/>
|
</inertial>
|
||||||
<mass value="${hip_rotor_mass}"/>
|
</link>
|
||||||
<inertia
|
|
||||||
ixx="${hip_rotor_ixx}" ixy="${hip_rotor_ixy}" ixz="${hip_rotor_ixz}"
|
|
||||||
iyy="${hip_rotor_iyy}" iyz="${hip_rotor_iyz}"
|
|
||||||
izz="${hip_rotor_izz}"/>
|
|
||||||
</inertial>
|
|
||||||
</link>
|
|
||||||
|
|
||||||
<joint name="${name}_thigh_joint" type="continuous">
|
<joint name="${name}_thigh_joint" type="revolute">
|
||||||
<origin rpy="0 0 0" xyz="0 ${thigh_offset*mirror} 0"/>
|
<origin rpy="0 0 0" xyz="0 ${thigh_offset*mirror} 0"/>
|
||||||
<parent link="${name}_hip"/>
|
<parent link="${name}_hip"/>
|
||||||
<child link="${name}_thigh"/>
|
<child link="${name}_thigh"/>
|
||||||
<axis xyz="0 1 0"/>
|
<axis xyz="0 1 0"/>
|
||||||
<dynamics damping="${damping}" friction="${friction}"/>
|
<dynamics damping="${damping}" friction="${friction}"/>
|
||||||
<limit effort="${thigh_torque_max}" velocity="${thigh_velocity_max}"/>
|
<limit effort="${thigh_torque_max}" velocity="${thigh_velocity_max}"/>
|
||||||
</joint>
|
</joint>
|
||||||
|
|
||||||
<joint name="${name}_thigh_rotor_joint" type="fixed">
|
<joint name="${name}_thigh_rotor_joint" type="fixed">
|
||||||
<origin rpy="0 0 0" xyz="${thigh_rotor_offset_x} ${thigh_rotor_offset_y*mirror} 0"/>
|
<origin rpy="0 0 0" xyz="${thigh_rotor_offset_x} ${thigh_rotor_offset_y*mirror} 0"/>
|
||||||
<parent link="${name}_hip"/>
|
<parent link="${name}_hip"/>
|
||||||
<child link="${name}_thigh_rotor"/>
|
<child link="${name}_thigh_rotor"/>
|
||||||
</joint>
|
</joint>
|
||||||
|
|
||||||
<link name="${name}_thigh">
|
<link name="${name}_thigh">
|
||||||
<visual>
|
<visual>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<xacro:if value="${mirror_dae == True}">
|
<xacro:if value="${mirror_dae == True}">
|
||||||
<mesh filename="file://$(find aliengo_description)/meshes/thigh.dae" scale="1 1 1"/>
|
<mesh filename="file://$(find aliengo_description)/meshes/thigh.dae" scale="1 1 1"/>
|
||||||
</xacro:if>
|
</xacro:if>
|
||||||
<xacro:if value="${mirror_dae == False}">
|
<xacro:if value="${mirror_dae == False}">
|
||||||
<mesh filename="file://$(find aliengo_description)/meshes/thigh_mirror.dae" scale="1 1 1"/>
|
<mesh filename="file://$(find aliengo_description)/meshes/thigh_mirror.dae" scale="1 1 1"/>
|
||||||
</xacro:if>
|
</xacro:if>
|
||||||
</geometry>
|
</geometry>
|
||||||
<material name="orange"/>
|
<material name="orange"/>
|
||||||
</visual>
|
</visual>
|
||||||
<collision>
|
<collision>
|
||||||
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-thigh_length/2.0}"/>
|
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-thigh_length/2.0}"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<box size="${thigh_length} ${thigh_width} ${thigh_height}"/>
|
<box size="${thigh_length} ${thigh_width} ${thigh_height}"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
</collision>
|
</collision>
|
||||||
<inertial>
|
<inertial>
|
||||||
<origin rpy="0 0 0" xyz="${thigh_com_x} ${thigh_com_y*mirror} ${thigh_com_z}"/>
|
<origin rpy="0 0 0" xyz="${thigh_com_x} ${thigh_com_y*mirror} ${thigh_com_z}"/>
|
||||||
<mass value="${thigh_mass}"/>
|
<mass value="${thigh_mass}"/>
|
||||||
<inertia
|
<inertia
|
||||||
ixx="${thigh_ixx}" ixy="${thigh_ixy*mirror}" ixz="${thigh_ixz}"
|
ixx="${thigh_ixx}" ixy="${thigh_ixy*mirror}" ixz="${thigh_ixz}"
|
||||||
iyy="${thigh_iyy}" iyz="${thigh_iyz*mirror}"
|
iyy="${thigh_iyy}" iyz="${thigh_iyz*mirror}"
|
||||||
izz="${thigh_izz}"/>
|
izz="${thigh_izz}"/>
|
||||||
</inertial>
|
</inertial>
|
||||||
</link>
|
</link>
|
||||||
|
|
||||||
<link name="${name}_thigh_rotor">
|
<link name="${name}_thigh_rotor">
|
||||||
<visual>
|
<visual>
|
||||||
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
|
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<cylinder length="0.02" radius="0.035"/>
|
<cylinder length="0.02" radius="0.035"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<material name="green"/>
|
<material name="green"/>
|
||||||
</visual>
|
</visual>
|
||||||
<!-- <collision>
|
<inertial>
|
||||||
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="${thigh_rotor_com_x} ${thigh_rotor_com_y} ${thigh_rotor_com_z}"/>
|
||||||
<geometry>
|
<mass value="${thigh_rotor_mass}"/>
|
||||||
<cylinder length="0.02" radius="0.035"/>
|
<inertia
|
||||||
</geometry>
|
ixx="${thigh_rotor_ixx}" ixy="${thigh_rotor_ixy}" ixz="${thigh_rotor_ixz}"
|
||||||
</collision> -->
|
iyy="${thigh_rotor_iyy}" iyz="${thigh_rotor_iyz}"
|
||||||
<inertial>
|
izz="${thigh_rotor_izz}"/>
|
||||||
<origin rpy="0 0 0" xyz="${thigh_rotor_com_x} ${thigh_rotor_com_y} ${thigh_rotor_com_z}"/>
|
</inertial>
|
||||||
<mass value="${thigh_rotor_mass}"/>
|
</link>
|
||||||
<inertia
|
|
||||||
ixx="${thigh_rotor_ixx}" ixy="${thigh_rotor_ixy}" ixz="${thigh_rotor_ixz}"
|
|
||||||
iyy="${thigh_rotor_iyy}" iyz="${thigh_rotor_iyz}"
|
|
||||||
izz="${thigh_rotor_izz}"/>
|
|
||||||
</inertial>
|
|
||||||
</link>
|
|
||||||
|
|
||||||
<joint name="${name}_calf_joint" type="revolute">
|
<joint name="${name}_calf_joint" type="revolute">
|
||||||
<origin rpy="0 0 0" xyz="0 0 ${-thigh_length}"/>
|
<origin rpy="0 0 0" xyz="0 0 ${-thigh_length}"/>
|
||||||
<parent link="${name}_thigh"/>
|
<parent link="${name}_thigh"/>
|
||||||
<child link="${name}_calf"/>
|
<child link="${name}_calf"/>
|
||||||
<axis xyz="0 1 0"/>
|
<axis xyz="0 1 0"/>
|
||||||
<dynamics damping="${damping}" friction="${friction}"/>
|
<dynamics damping="${damping}" friction="${friction}"/>
|
||||||
<limit effort="${calf_torque_max}" velocity="${calf_velocity_max}" lower="${calf_position_min}"
|
<limit effort="${calf_torque_max}" velocity="${calf_velocity_max}" lower="${calf_position_min}"
|
||||||
upper="${calf_position_max}"/>
|
upper="${calf_position_max}"/>
|
||||||
</joint>
|
</joint>
|
||||||
|
|
||||||
<joint name="${name}_calf_rotor_joint" type="fixed">
|
<joint name="${name}_calf_rotor_joint" type="fixed">
|
||||||
<origin rpy="0 0 0" xyz="${calf_rotor_offset_x} ${calf_rotor_offset_y*mirror} 0"/>
|
<origin rpy="0 0 0" xyz="${calf_rotor_offset_x} ${calf_rotor_offset_y*mirror} 0"/>
|
||||||
<parent link="${name}_thigh"/>
|
<parent link="${name}_thigh"/>
|
||||||
<child link="${name}_calf_rotor"/>
|
<child link="${name}_calf_rotor"/>
|
||||||
</joint>
|
</joint>
|
||||||
|
|
||||||
<link name="${name}_calf">
|
<link name="${name}_calf">
|
||||||
<visual>
|
<visual>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<mesh filename="file://$(find aliengo_description)/meshes/calf.dae" scale="1 1 1"/>
|
<mesh filename="file://$(find aliengo_description)/meshes/calf.dae" scale="1 1 1"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<material name="orange"/>
|
</visual>
|
||||||
</visual>
|
<collision>
|
||||||
<collision>
|
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-calf_length/2.0}"/>
|
||||||
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-calf_length/2.0}"/>
|
<geometry>
|
||||||
<geometry>
|
<box size="${calf_length} ${calf_width} ${calf_height}"/>
|
||||||
<box size="${calf_length} ${calf_width} ${calf_height}"/>
|
</geometry>
|
||||||
</geometry>
|
</collision>
|
||||||
</collision>
|
<inertial>
|
||||||
<inertial>
|
<origin rpy="0 0 0" xyz="${calf_com_x} ${calf_com_y} ${calf_com_z}"/>
|
||||||
<origin rpy="0 0 0" xyz="${calf_com_x} ${calf_com_y} ${calf_com_z}"/>
|
<mass value="${calf_mass}"/>
|
||||||
<mass value="${calf_mass}"/>
|
<inertia
|
||||||
<inertia
|
ixx="${calf_ixx}" ixy="${calf_ixy}" ixz="${calf_ixz}"
|
||||||
ixx="${calf_ixx}" ixy="${calf_ixy}" ixz="${calf_ixz}"
|
iyy="${calf_iyy}" iyz="${calf_iyz}"
|
||||||
iyy="${calf_iyy}" iyz="${calf_iyz}"
|
izz="${calf_izz}"/>
|
||||||
izz="${calf_izz}"/>
|
</inertial>
|
||||||
</inertial>
|
</link>
|
||||||
</link>
|
|
||||||
|
|
||||||
<link name="${name}_calf_rotor">
|
<link name="${name}_calf_rotor">
|
||||||
<visual>
|
<visual>
|
||||||
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
|
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<cylinder length="0.02" radius="0.035"/>
|
<cylinder length="0.02" radius="0.035"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<material name="green"/>
|
</visual>
|
||||||
</visual>
|
<inertial>
|
||||||
<!-- <collision>
|
<origin rpy="0 0 0" xyz="${calf_rotor_com_x} ${calf_rotor_com_y} ${calf_rotor_com_z}"/>
|
||||||
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
|
<mass value="${calf_rotor_mass}"/>
|
||||||
<geometry>
|
<inertia
|
||||||
<cylinder length="0.02" radius="0.035"/>
|
ixx="${calf_rotor_ixx}" ixy="${calf_rotor_ixy}" ixz="${calf_rotor_ixz}"
|
||||||
</geometry>
|
iyy="${calf_rotor_iyy}" iyz="${calf_rotor_iyz}"
|
||||||
</collision> -->
|
izz="${calf_rotor_izz}"/>
|
||||||
<inertial>
|
</inertial>
|
||||||
<origin rpy="0 0 0" xyz="${calf_rotor_com_x} ${calf_rotor_com_y} ${calf_rotor_com_z}"/>
|
</link>
|
||||||
<mass value="${calf_rotor_mass}"/>
|
|
||||||
<inertia
|
|
||||||
ixx="${calf_rotor_ixx}" ixy="${calf_rotor_ixy}" ixz="${calf_rotor_ixz}"
|
|
||||||
iyy="${calf_rotor_iyy}" iyz="${calf_rotor_iyz}"
|
|
||||||
izz="${calf_rotor_izz}"/>
|
|
||||||
</inertial>
|
|
||||||
</link>
|
|
||||||
|
|
||||||
<joint name="${name}_foot_fixed" type="fixed">
|
<joint name="${name}_foot_fixed" type="fixed">
|
||||||
<origin rpy="0 0 0" xyz="0 0 ${-(calf_length)}"/>
|
<origin rpy="0 0 0" xyz="0 0 ${-(calf_length)}"/>
|
||||||
<parent link="${name}_calf"/>
|
<parent link="${name}_calf"/>
|
||||||
<child link="${name}_foot"/>
|
<child link="${name}_foot"/>
|
||||||
</joint>
|
</joint>
|
||||||
|
|
||||||
<link name="${name}_foot">
|
<link name="${name}_foot">
|
||||||
<visual>
|
<visual>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<sphere radius="${foot_radius-0.01}"/>
|
<sphere radius="${foot_radius-0.01}"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<material name="green"/>
|
</visual>
|
||||||
</visual>
|
<collision>
|
||||||
<collision>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<geometry>
|
||||||
<geometry>
|
<sphere radius="${foot_radius}"/>
|
||||||
<sphere radius="${foot_radius}"/>
|
</geometry>
|
||||||
</geometry>
|
</collision>
|
||||||
</collision>
|
<inertial>
|
||||||
<inertial>
|
<mass value="${foot_mass}"/>
|
||||||
<mass value="${foot_mass}"/>
|
<inertia
|
||||||
<inertia
|
ixx="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}" ixy="0.0" ixz="0.0"
|
||||||
ixx="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}" ixy="0.0" ixz="0.0"
|
iyy="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}" iyz="0.0"
|
||||||
iyy="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}" iyz="0.0"
|
izz="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}"/>
|
||||||
izz="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}"/>
|
</inertial>
|
||||||
</inertial>
|
</link>
|
||||||
</link>
|
|
||||||
|
|
||||||
<xacro:leg_transmission name="${name}"/>
|
<xacro:leg_transmission name="${name}"/>
|
||||||
</xacro:macro>
|
</xacro:macro>
|
||||||
</robot>
|
</robot>
|
||||||
|
|
|
||||||
|
|
@ -52,12 +52,6 @@
|
||||||
<box size="${trunk_length} ${trunk_width} ${trunk_height}"/>
|
<box size="${trunk_length} ${trunk_width} ${trunk_height}"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
</collision>
|
</collision>
|
||||||
<!-- <collision>
|
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="package://aliengo_description/meshes/trunk.dae" scale="1 1 1"/>
|
|
||||||
</geometry>
|
|
||||||
</collision> -->
|
|
||||||
<inertial>
|
<inertial>
|
||||||
<origin rpy="0 0 0" xyz="${trunk_com_x} ${trunk_com_y} ${trunk_com_z}"/>
|
<origin rpy="0 0 0" xyz="${trunk_com_x} ${trunk_com_y} ${trunk_com_z}"/>
|
||||||
<mass value="${trunk_mass}"/>
|
<mass value="${trunk_mass}"/>
|
||||||
|
|
|
||||||
|
|
@ -1,176 +1,176 @@
|
||||||
<?xml version="1.0"?>
|
<?xml version="1.0"?>
|
||||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||||
|
|
||||||
<ros2_control name="UnitreeSystem" type="system">
|
<ros2_control name="UnitreeSystem" type="system">
|
||||||
|
|
||||||
<hardware>
|
<hardware>
|
||||||
<plugin>hardware_unitree_mujoco/HardwareUnitree</plugin>
|
<plugin>hardware_unitree_mujoco/HardwareUnitree</plugin>
|
||||||
</hardware>
|
</hardware>
|
||||||
|
|
||||||
<joint name="FR_hip_joint">
|
<joint name="FR_hip_joint">
|
||||||
<command_interface name="position"/>
|
<command_interface name="position"/>
|
||||||
<command_interface name="velocity"/>
|
<command_interface name="velocity"/>
|
||||||
<command_interface name="effort"/>
|
<command_interface name="effort"/>
|
||||||
<command_interface name="kp"/>
|
<command_interface name="kp"/>
|
||||||
<command_interface name="kd"/>
|
<command_interface name="kd"/>
|
||||||
|
|
||||||
<state_interface name="position"/>
|
<state_interface name="position"/>
|
||||||
<state_interface name="velocity"/>
|
<state_interface name="velocity"/>
|
||||||
<state_interface name="effort"/>
|
<state_interface name="effort"/>
|
||||||
</joint>
|
</joint>
|
||||||
|
|
||||||
<joint name="FR_thigh_joint">
|
<joint name="FR_thigh_joint">
|
||||||
<command_interface name="position"/>
|
<command_interface name="position"/>
|
||||||
<command_interface name="velocity"/>
|
<command_interface name="velocity"/>
|
||||||
<command_interface name="effort"/>
|
<command_interface name="effort"/>
|
||||||
<command_interface name="kp"/>
|
<command_interface name="kp"/>
|
||||||
<command_interface name="kd"/>
|
<command_interface name="kd"/>
|
||||||
|
|
||||||
<state_interface name="position"/>
|
<state_interface name="position"/>
|
||||||
<state_interface name="velocity"/>
|
<state_interface name="velocity"/>
|
||||||
<state_interface name="effort"/>
|
<state_interface name="effort"/>
|
||||||
</joint>
|
</joint>
|
||||||
|
|
||||||
<joint name="FR_calf_joint">
|
<joint name="FR_calf_joint">
|
||||||
<command_interface name="position"/>
|
<command_interface name="position"/>
|
||||||
<command_interface name="velocity"/>
|
<command_interface name="velocity"/>
|
||||||
<command_interface name="effort"/>
|
<command_interface name="effort"/>
|
||||||
<command_interface name="kp"/>
|
<command_interface name="kp"/>
|
||||||
<command_interface name="kd"/>
|
<command_interface name="kd"/>
|
||||||
|
|
||||||
<state_interface name="position"/>
|
<state_interface name="position"/>
|
||||||
<state_interface name="velocity"/>
|
<state_interface name="velocity"/>
|
||||||
<state_interface name="effort"/>
|
<state_interface name="effort"/>
|
||||||
</joint>
|
</joint>
|
||||||
|
|
||||||
<joint name="FL_hip_joint">
|
<joint name="FL_hip_joint">
|
||||||
<command_interface name="position"/>
|
<command_interface name="position"/>
|
||||||
<command_interface name="velocity"/>
|
<command_interface name="velocity"/>
|
||||||
<command_interface name="effort"/>
|
<command_interface name="effort"/>
|
||||||
<command_interface name="kp"/>
|
<command_interface name="kp"/>
|
||||||
<command_interface name="kd"/>
|
<command_interface name="kd"/>
|
||||||
|
|
||||||
<state_interface name="position"/>
|
<state_interface name="position"/>
|
||||||
<state_interface name="velocity"/>
|
<state_interface name="velocity"/>
|
||||||
<state_interface name="effort"/>
|
<state_interface name="effort"/>
|
||||||
</joint>
|
</joint>
|
||||||
|
|
||||||
<joint name="FL_thigh_joint">
|
<joint name="FL_thigh_joint">
|
||||||
<command_interface name="position"/>
|
<command_interface name="position"/>
|
||||||
<command_interface name="velocity"/>
|
<command_interface name="velocity"/>
|
||||||
<command_interface name="effort"/>
|
<command_interface name="effort"/>
|
||||||
<command_interface name="kp"/>
|
<command_interface name="kp"/>
|
||||||
<command_interface name="kd"/>
|
<command_interface name="kd"/>
|
||||||
|
|
||||||
<state_interface name="position"/>
|
<state_interface name="position"/>
|
||||||
<state_interface name="velocity"/>
|
<state_interface name="velocity"/>
|
||||||
<state_interface name="effort"/>
|
<state_interface name="effort"/>
|
||||||
</joint>
|
</joint>
|
||||||
|
|
||||||
<joint name="FL_calf_joint">
|
<joint name="FL_calf_joint">
|
||||||
<command_interface name="position"/>
|
<command_interface name="position"/>
|
||||||
<command_interface name="velocity"/>
|
<command_interface name="velocity"/>
|
||||||
<command_interface name="effort"/>
|
<command_interface name="effort"/>
|
||||||
<command_interface name="kp"/>
|
<command_interface name="kp"/>
|
||||||
<command_interface name="kd"/>
|
<command_interface name="kd"/>
|
||||||
|
|
||||||
<state_interface name="position"/>
|
<state_interface name="position"/>
|
||||||
<state_interface name="velocity"/>
|
<state_interface name="velocity"/>
|
||||||
<state_interface name="effort"/>
|
<state_interface name="effort"/>
|
||||||
</joint>
|
</joint>
|
||||||
|
|
||||||
<joint name="RR_hip_joint">
|
<joint name="RR_hip_joint">
|
||||||
<command_interface name="position"/>
|
<command_interface name="position"/>
|
||||||
<command_interface name="velocity"/>
|
<command_interface name="velocity"/>
|
||||||
<command_interface name="effort"/>
|
<command_interface name="effort"/>
|
||||||
<command_interface name="kp"/>
|
<command_interface name="kp"/>
|
||||||
<command_interface name="kd"/>
|
<command_interface name="kd"/>
|
||||||
|
|
||||||
<state_interface name="position"/>
|
<state_interface name="position"/>
|
||||||
<state_interface name="velocity"/>
|
<state_interface name="velocity"/>
|
||||||
<state_interface name="effort"/>
|
<state_interface name="effort"/>
|
||||||
</joint>
|
</joint>
|
||||||
|
|
||||||
<joint name="RR_thigh_joint">
|
<joint name="RR_thigh_joint">
|
||||||
<command_interface name="position"/>
|
<command_interface name="position"/>
|
||||||
<command_interface name="velocity"/>
|
<command_interface name="velocity"/>
|
||||||
<command_interface name="effort"/>
|
<command_interface name="effort"/>
|
||||||
<command_interface name="kp"/>
|
<command_interface name="kp"/>
|
||||||
<command_interface name="kd"/>
|
<command_interface name="kd"/>
|
||||||
|
|
||||||
<state_interface name="position"/>
|
<state_interface name="position"/>
|
||||||
<state_interface name="velocity"/>
|
<state_interface name="velocity"/>
|
||||||
<state_interface name="effort"/>
|
<state_interface name="effort"/>
|
||||||
</joint>
|
</joint>
|
||||||
|
|
||||||
<joint name="RR_calf_joint">
|
<joint name="RR_calf_joint">
|
||||||
<command_interface name="position"/>
|
<command_interface name="position"/>
|
||||||
<command_interface name="velocity"/>
|
<command_interface name="velocity"/>
|
||||||
<command_interface name="effort"/>
|
<command_interface name="effort"/>
|
||||||
<command_interface name="kp"/>
|
<command_interface name="kp"/>
|
||||||
<command_interface name="kd"/>
|
<command_interface name="kd"/>
|
||||||
|
|
||||||
<state_interface name="position"/>
|
<state_interface name="position"/>
|
||||||
<state_interface name="velocity"/>
|
<state_interface name="velocity"/>
|
||||||
<state_interface name="effort"/>
|
<state_interface name="effort"/>
|
||||||
</joint>
|
</joint>
|
||||||
|
|
||||||
<joint name="RL_hip_joint">
|
<joint name="RL_hip_joint">
|
||||||
<command_interface name="position"/>
|
<command_interface name="position"/>
|
||||||
<command_interface name="velocity"/>
|
<command_interface name="velocity"/>
|
||||||
<command_interface name="effort"/>
|
<command_interface name="effort"/>
|
||||||
<command_interface name="kp"/>
|
<command_interface name="kp"/>
|
||||||
<command_interface name="kd"/>
|
<command_interface name="kd"/>
|
||||||
|
|
||||||
<state_interface name="position"/>
|
<state_interface name="position"/>
|
||||||
<state_interface name="velocity"/>
|
<state_interface name="velocity"/>
|
||||||
<state_interface name="effort"/>
|
<state_interface name="effort"/>
|
||||||
</joint>
|
</joint>
|
||||||
|
|
||||||
<joint name="RL_thigh_joint">
|
<joint name="RL_thigh_joint">
|
||||||
<command_interface name="position"/>
|
<command_interface name="position"/>
|
||||||
<command_interface name="velocity"/>
|
<command_interface name="velocity"/>
|
||||||
<command_interface name="effort"/>
|
<command_interface name="effort"/>
|
||||||
<command_interface name="kp"/>
|
<command_interface name="kp"/>
|
||||||
<command_interface name="kd"/>
|
<command_interface name="kd"/>
|
||||||
|
|
||||||
<state_interface name="position"/>
|
<state_interface name="position"/>
|
||||||
<state_interface name="velocity"/>
|
<state_interface name="velocity"/>
|
||||||
<state_interface name="effort"/>
|
<state_interface name="effort"/>
|
||||||
</joint>
|
</joint>
|
||||||
|
|
||||||
<joint name="RL_calf_joint">
|
<joint name="RL_calf_joint">
|
||||||
<command_interface name="position"/>
|
<command_interface name="position"/>
|
||||||
<command_interface name="velocity"/>
|
<command_interface name="velocity"/>
|
||||||
<command_interface name="effort"/>
|
<command_interface name="effort"/>
|
||||||
<command_interface name="kp"/>
|
<command_interface name="kp"/>
|
||||||
<command_interface name="kd"/>
|
<command_interface name="kd"/>
|
||||||
|
|
||||||
<state_interface name="position"/>
|
<state_interface name="position"/>
|
||||||
<state_interface name="velocity"/>
|
<state_interface name="velocity"/>
|
||||||
<state_interface name="effort"/>
|
<state_interface name="effort"/>
|
||||||
</joint>
|
</joint>
|
||||||
|
|
||||||
<sensor name="imu_sensor">
|
<sensor name="imu_sensor">
|
||||||
<state_interface name="orientation.w"/>
|
<state_interface name="orientation.w"/>
|
||||||
<state_interface name="orientation.x"/>
|
<state_interface name="orientation.x"/>
|
||||||
<state_interface name="orientation.y"/>
|
<state_interface name="orientation.y"/>
|
||||||
<state_interface name="orientation.z"/>
|
<state_interface name="orientation.z"/>
|
||||||
<state_interface name="angular_velocity.x"/>
|
<state_interface name="angular_velocity.x"/>
|
||||||
<state_interface name="angular_velocity.y"/>
|
<state_interface name="angular_velocity.y"/>
|
||||||
<state_interface name="angular_velocity.z"/>
|
<state_interface name="angular_velocity.z"/>
|
||||||
<state_interface name="linear_acceleration.x"/>
|
<state_interface name="linear_acceleration.x"/>
|
||||||
<state_interface name="linear_acceleration.y"/>
|
<state_interface name="linear_acceleration.y"/>
|
||||||
<state_interface name="linear_acceleration.z"/>
|
<state_interface name="linear_acceleration.z"/>
|
||||||
</sensor>
|
</sensor>
|
||||||
|
|
||||||
<sensor name="foot_force">
|
<sensor name="foot_force">
|
||||||
<state_interface name="FR"/>
|
<state_interface name="FR"/>
|
||||||
<state_interface name="FL"/>
|
<state_interface name="FL"/>
|
||||||
<state_interface name="RR"/>
|
<state_interface name="RR"/>
|
||||||
<state_interface name="RL"/>
|
<state_interface name="RL"/>
|
||||||
</sensor>
|
</sensor>
|
||||||
|
|
||||||
</ros2_control>
|
</ros2_control>
|
||||||
|
|
||||||
</robot>
|
</robot>
|
||||||
|
|
|
||||||
|
|
@ -5,16 +5,16 @@ comHeight 0.3
|
||||||
|
|
||||||
defaultJointState
|
defaultJointState
|
||||||
{
|
{
|
||||||
(0,0) -0.20 ; FL_hip_joint
|
(0,0) -0.10 ; FL_hip_joint
|
||||||
(1,0) 0.72 ; FL_thigh_joint
|
(1,0) 0.72 ; FL_thigh_joint
|
||||||
(2,0) -1.44 ; FL_calf_joint
|
(2,0) -1.44 ; FL_calf_joint
|
||||||
(3,0) -0.20 ; RL_hip_joint
|
(3,0) 0.10 ; FR_hip_joint
|
||||||
(4,0) 0.72 ; RL_thigh_joint
|
(4,0) 0.72 ; FR_thigh_joint
|
||||||
(5,0) -1.44 ; RL_calf_joint
|
(5,0) -1.44 ; FR_calf_joint
|
||||||
(6,0) 0.20 ; FR_hip_joint
|
(6,0) -0.10 ; RL_hip_joint
|
||||||
(7,0) 0.72 ; FR_thigh_joint
|
(7,0) 0.72 ; RL_thigh_joint
|
||||||
(8,0) -1.44 ; FR_calf_joint
|
(8,0) -1.44 ; RL_calf_joint
|
||||||
(9,0) 0.20 ; RR_hip_joint
|
(9,0) 0.10 ; RR_hip_joint
|
||||||
(10,0) 0.72 ; RR_thigh_joint
|
(10,0) 0.72 ; RR_thigh_joint
|
||||||
(11,0) -1.44 ; RR_calf_joint
|
(11,0) -1.44 ; RR_calf_joint
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -194,7 +194,7 @@
|
||||||
<visual>
|
<visual>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<mesh filename="file:///home/biao/ros2_ws/install/go1_description/share/go1_description/meshes/trunk.dae" scale="1 1 1"/>
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/go1_description/share/go1_description/meshes/trunk.dae" scale="1 1 1"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<!-- <material name="orange"/> -->
|
<!-- <material name="orange"/> -->
|
||||||
</visual>
|
</visual>
|
||||||
|
|
@ -252,7 +252,7 @@
|
||||||
<visual>
|
<visual>
|
||||||
<origin rpy="3.141592653589793 0 0" xyz="0 0 0"/>
|
<origin rpy="3.141592653589793 0 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<mesh filename="file:///home/biao/ros2_ws/install/go1_description/share/go1_description/meshes/hip.dae" scale="1 1 1"/>
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/go1_description/share/go1_description/meshes/hip.dae" scale="1 1 1"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<!-- <material name="orange"/> -->
|
<!-- <material name="orange"/> -->
|
||||||
</visual>
|
</visual>
|
||||||
|
|
@ -276,12 +276,6 @@
|
||||||
</geometry>
|
</geometry>
|
||||||
<material name="green"/>
|
<material name="green"/>
|
||||||
</visual>
|
</visual>
|
||||||
<!-- <collision>
|
|
||||||
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<cylinder length="0.02" radius="0.035"/>
|
|
||||||
</geometry>
|
|
||||||
</collision> -->
|
|
||||||
<inertial>
|
<inertial>
|
||||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||||
<mass value="0.089"/>
|
<mass value="0.089"/>
|
||||||
|
|
@ -305,9 +299,8 @@
|
||||||
<visual>
|
<visual>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<mesh filename="file:///home/biao/ros2_ws/install/go1_description/share/go1_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/go1_description/share/go1_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<!-- <material name="orange"/> -->
|
|
||||||
</visual>
|
</visual>
|
||||||
<collision>
|
<collision>
|
||||||
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065"/>
|
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065"/>
|
||||||
|
|
@ -329,12 +322,6 @@
|
||||||
</geometry>
|
</geometry>
|
||||||
<material name="green"/>
|
<material name="green"/>
|
||||||
</visual>
|
</visual>
|
||||||
<!-- <collision>
|
|
||||||
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<cylinder length="0.02" radius="0.035"/>
|
|
||||||
</geometry>
|
|
||||||
</collision> -->
|
|
||||||
<inertial>
|
<inertial>
|
||||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||||
<mass value="0.089"/>
|
<mass value="0.089"/>
|
||||||
|
|
@ -358,9 +345,8 @@
|
||||||
<visual>
|
<visual>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<mesh filename="file:///home/biao/ros2_ws/install/go1_description/share/go1_description/meshes/calf.dae" scale="1 1 1"/>
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/go1_description/share/go1_description/meshes/calf.dae" scale="1 1 1"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<!-- <material name="orange"/> -->
|
|
||||||
</visual>
|
</visual>
|
||||||
<collision>
|
<collision>
|
||||||
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065"/>
|
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065"/>
|
||||||
|
|
@ -380,14 +366,7 @@
|
||||||
<geometry>
|
<geometry>
|
||||||
<cylinder length="0.02" radius="0.035"/>
|
<cylinder length="0.02" radius="0.035"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<material name="green"/>
|
|
||||||
</visual>
|
</visual>
|
||||||
<!-- <collision>
|
|
||||||
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<cylinder length="0.02" radius="0.035"/>
|
|
||||||
</geometry>
|
|
||||||
</collision> -->
|
|
||||||
<inertial>
|
<inertial>
|
||||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||||
<mass value="0.089"/>
|
<mass value="0.089"/>
|
||||||
|
|
@ -405,7 +384,6 @@
|
||||||
<geometry>
|
<geometry>
|
||||||
<sphere radius="0.01"/>
|
<sphere radius="0.01"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<!-- <material name="orange"/> -->
|
|
||||||
</visual>
|
</visual>
|
||||||
<collision>
|
<collision>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
|
@ -465,7 +443,7 @@
|
||||||
<visual>
|
<visual>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<mesh filename="file:///home/biao/ros2_ws/install/go1_description/share/go1_description/meshes/hip.dae" scale="1 1 1"/>
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/go1_description/share/go1_description/meshes/hip.dae" scale="1 1 1"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<!-- <material name="orange"/> -->
|
<!-- <material name="orange"/> -->
|
||||||
</visual>
|
</visual>
|
||||||
|
|
@ -489,12 +467,6 @@
|
||||||
</geometry>
|
</geometry>
|
||||||
<material name="green"/>
|
<material name="green"/>
|
||||||
</visual>
|
</visual>
|
||||||
<!-- <collision>
|
|
||||||
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<cylinder length="0.02" radius="0.035"/>
|
|
||||||
</geometry>
|
|
||||||
</collision> -->
|
|
||||||
<inertial>
|
<inertial>
|
||||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||||
<mass value="0.089"/>
|
<mass value="0.089"/>
|
||||||
|
|
@ -518,9 +490,8 @@
|
||||||
<visual>
|
<visual>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<mesh filename="file:///home/biao/ros2_ws/install/go1_description/share/go1_description/meshes/thigh.dae" scale="1 1 1"/>
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/go1_description/share/go1_description/meshes/thigh.dae" scale="1 1 1"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<!-- <material name="orange"/> -->
|
|
||||||
</visual>
|
</visual>
|
||||||
<collision>
|
<collision>
|
||||||
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065"/>
|
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065"/>
|
||||||
|
|
@ -542,12 +513,6 @@
|
||||||
</geometry>
|
</geometry>
|
||||||
<material name="green"/>
|
<material name="green"/>
|
||||||
</visual>
|
</visual>
|
||||||
<!-- <collision>
|
|
||||||
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<cylinder length="0.02" radius="0.035"/>
|
|
||||||
</geometry>
|
|
||||||
</collision> -->
|
|
||||||
<inertial>
|
<inertial>
|
||||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||||
<mass value="0.089"/>
|
<mass value="0.089"/>
|
||||||
|
|
@ -571,9 +536,8 @@
|
||||||
<visual>
|
<visual>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<mesh filename="file:///home/biao/ros2_ws/install/go1_description/share/go1_description/meshes/calf.dae" scale="1 1 1"/>
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/go1_description/share/go1_description/meshes/calf.dae" scale="1 1 1"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<!-- <material name="orange"/> -->
|
|
||||||
</visual>
|
</visual>
|
||||||
<collision>
|
<collision>
|
||||||
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065"/>
|
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065"/>
|
||||||
|
|
@ -593,14 +557,7 @@
|
||||||
<geometry>
|
<geometry>
|
||||||
<cylinder length="0.02" radius="0.035"/>
|
<cylinder length="0.02" radius="0.035"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<material name="green"/>
|
|
||||||
</visual>
|
</visual>
|
||||||
<!-- <collision>
|
|
||||||
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<cylinder length="0.02" radius="0.035"/>
|
|
||||||
</geometry>
|
|
||||||
</collision> -->
|
|
||||||
<inertial>
|
<inertial>
|
||||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||||
<mass value="0.089"/>
|
<mass value="0.089"/>
|
||||||
|
|
@ -618,7 +575,6 @@
|
||||||
<geometry>
|
<geometry>
|
||||||
<sphere radius="0.01"/>
|
<sphere radius="0.01"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<!-- <material name="orange"/> -->
|
|
||||||
</visual>
|
</visual>
|
||||||
<collision>
|
<collision>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
|
@ -678,7 +634,7 @@
|
||||||
<visual>
|
<visual>
|
||||||
<origin rpy="3.141592653589793 3.141592653589793 0" xyz="0 0 0"/>
|
<origin rpy="3.141592653589793 3.141592653589793 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<mesh filename="file:///home/biao/ros2_ws/install/go1_description/share/go1_description/meshes/hip.dae" scale="1 1 1"/>
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/go1_description/share/go1_description/meshes/hip.dae" scale="1 1 1"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<!-- <material name="orange"/> -->
|
<!-- <material name="orange"/> -->
|
||||||
</visual>
|
</visual>
|
||||||
|
|
@ -702,12 +658,6 @@
|
||||||
</geometry>
|
</geometry>
|
||||||
<material name="green"/>
|
<material name="green"/>
|
||||||
</visual>
|
</visual>
|
||||||
<!-- <collision>
|
|
||||||
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<cylinder length="0.02" radius="0.035"/>
|
|
||||||
</geometry>
|
|
||||||
</collision> -->
|
|
||||||
<inertial>
|
<inertial>
|
||||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||||
<mass value="0.089"/>
|
<mass value="0.089"/>
|
||||||
|
|
@ -731,9 +681,8 @@
|
||||||
<visual>
|
<visual>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<mesh filename="file:///home/biao/ros2_ws/install/go1_description/share/go1_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/go1_description/share/go1_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<!-- <material name="orange"/> -->
|
|
||||||
</visual>
|
</visual>
|
||||||
<collision>
|
<collision>
|
||||||
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065"/>
|
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065"/>
|
||||||
|
|
@ -755,12 +704,6 @@
|
||||||
</geometry>
|
</geometry>
|
||||||
<material name="green"/>
|
<material name="green"/>
|
||||||
</visual>
|
</visual>
|
||||||
<!-- <collision>
|
|
||||||
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<cylinder length="0.02" radius="0.035"/>
|
|
||||||
</geometry>
|
|
||||||
</collision> -->
|
|
||||||
<inertial>
|
<inertial>
|
||||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||||
<mass value="0.089"/>
|
<mass value="0.089"/>
|
||||||
|
|
@ -784,9 +727,8 @@
|
||||||
<visual>
|
<visual>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<mesh filename="file:///home/biao/ros2_ws/install/go1_description/share/go1_description/meshes/calf.dae" scale="1 1 1"/>
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/go1_description/share/go1_description/meshes/calf.dae" scale="1 1 1"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<!-- <material name="orange"/> -->
|
|
||||||
</visual>
|
</visual>
|
||||||
<collision>
|
<collision>
|
||||||
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065"/>
|
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065"/>
|
||||||
|
|
@ -806,14 +748,7 @@
|
||||||
<geometry>
|
<geometry>
|
||||||
<cylinder length="0.02" radius="0.035"/>
|
<cylinder length="0.02" radius="0.035"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<material name="green"/>
|
|
||||||
</visual>
|
</visual>
|
||||||
<!-- <collision>
|
|
||||||
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<cylinder length="0.02" radius="0.035"/>
|
|
||||||
</geometry>
|
|
||||||
</collision> -->
|
|
||||||
<inertial>
|
<inertial>
|
||||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||||
<mass value="0.089"/>
|
<mass value="0.089"/>
|
||||||
|
|
@ -831,7 +766,6 @@
|
||||||
<geometry>
|
<geometry>
|
||||||
<sphere radius="0.01"/>
|
<sphere radius="0.01"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<!-- <material name="orange"/> -->
|
|
||||||
</visual>
|
</visual>
|
||||||
<collision>
|
<collision>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
|
@ -891,7 +825,7 @@
|
||||||
<visual>
|
<visual>
|
||||||
<origin rpy="0 3.141592653589793 0" xyz="0 0 0"/>
|
<origin rpy="0 3.141592653589793 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<mesh filename="file:///home/biao/ros2_ws/install/go1_description/share/go1_description/meshes/hip.dae" scale="1 1 1"/>
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/go1_description/share/go1_description/meshes/hip.dae" scale="1 1 1"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<!-- <material name="orange"/> -->
|
<!-- <material name="orange"/> -->
|
||||||
</visual>
|
</visual>
|
||||||
|
|
@ -915,12 +849,6 @@
|
||||||
</geometry>
|
</geometry>
|
||||||
<material name="green"/>
|
<material name="green"/>
|
||||||
</visual>
|
</visual>
|
||||||
<!-- <collision>
|
|
||||||
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<cylinder length="0.02" radius="0.035"/>
|
|
||||||
</geometry>
|
|
||||||
</collision> -->
|
|
||||||
<inertial>
|
<inertial>
|
||||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||||
<mass value="0.089"/>
|
<mass value="0.089"/>
|
||||||
|
|
@ -944,9 +872,8 @@
|
||||||
<visual>
|
<visual>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<mesh filename="file:///home/biao/ros2_ws/install/go1_description/share/go1_description/meshes/thigh.dae" scale="1 1 1"/>
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/go1_description/share/go1_description/meshes/thigh.dae" scale="1 1 1"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<!-- <material name="orange"/> -->
|
|
||||||
</visual>
|
</visual>
|
||||||
<collision>
|
<collision>
|
||||||
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065"/>
|
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065"/>
|
||||||
|
|
@ -968,12 +895,6 @@
|
||||||
</geometry>
|
</geometry>
|
||||||
<material name="green"/>
|
<material name="green"/>
|
||||||
</visual>
|
</visual>
|
||||||
<!-- <collision>
|
|
||||||
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<cylinder length="0.02" radius="0.035"/>
|
|
||||||
</geometry>
|
|
||||||
</collision> -->
|
|
||||||
<inertial>
|
<inertial>
|
||||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||||
<mass value="0.089"/>
|
<mass value="0.089"/>
|
||||||
|
|
@ -997,9 +918,8 @@
|
||||||
<visual>
|
<visual>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<mesh filename="file:///home/biao/ros2_ws/install/go1_description/share/go1_description/meshes/calf.dae" scale="1 1 1"/>
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/go1_description/share/go1_description/meshes/calf.dae" scale="1 1 1"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<!-- <material name="orange"/> -->
|
|
||||||
</visual>
|
</visual>
|
||||||
<collision>
|
<collision>
|
||||||
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065"/>
|
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065"/>
|
||||||
|
|
@ -1019,14 +939,7 @@
|
||||||
<geometry>
|
<geometry>
|
||||||
<cylinder length="0.02" radius="0.035"/>
|
<cylinder length="0.02" radius="0.035"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<material name="green"/>
|
|
||||||
</visual>
|
</visual>
|
||||||
<!-- <collision>
|
|
||||||
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<cylinder length="0.02" radius="0.035"/>
|
|
||||||
</geometry>
|
|
||||||
</collision> -->
|
|
||||||
<inertial>
|
<inertial>
|
||||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||||
<mass value="0.089"/>
|
<mass value="0.089"/>
|
||||||
|
|
@ -1044,7 +957,6 @@
|
||||||
<geometry>
|
<geometry>
|
||||||
<sphere radius="0.01"/>
|
<sphere radius="0.01"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<!-- <material name="orange"/> -->
|
|
||||||
</visual>
|
</visual>
|
||||||
<collision>
|
<collision>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
|
@ -1102,7 +1014,7 @@
|
||||||
<visual>
|
<visual>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<mesh filename="file:///home/biao/ros2_ws/install/go1_description/share/go1_description/meshes/depthCamera.dae" scale="1 1 1"/>
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/go1_description/share/go1_description/meshes/depthCamera.dae" scale="1 1 1"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
</visual>
|
</visual>
|
||||||
<inertial>
|
<inertial>
|
||||||
|
|
@ -1176,7 +1088,7 @@
|
||||||
<visual>
|
<visual>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<mesh filename="file:///home/biao/ros2_ws/install/go1_description/share/go1_description/meshes/depthCamera.dae" scale="1 1 1"/>
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/go1_description/share/go1_description/meshes/depthCamera.dae" scale="1 1 1"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
</visual>
|
</visual>
|
||||||
<inertial>
|
<inertial>
|
||||||
|
|
@ -1250,7 +1162,7 @@
|
||||||
<visual>
|
<visual>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<mesh filename="file:///home/biao/ros2_ws/install/go1_description/share/go1_description/meshes/depthCamera.dae" scale="1 1 1"/>
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/go1_description/share/go1_description/meshes/depthCamera.dae" scale="1 1 1"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
</visual>
|
</visual>
|
||||||
<inertial>
|
<inertial>
|
||||||
|
|
@ -1324,7 +1236,7 @@
|
||||||
<visual>
|
<visual>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<mesh filename="file:///home/biao/ros2_ws/install/go1_description/share/go1_description/meshes/depthCamera.dae" scale="1 1 1"/>
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/go1_description/share/go1_description/meshes/depthCamera.dae" scale="1 1 1"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
</visual>
|
</visual>
|
||||||
<inertial>
|
<inertial>
|
||||||
|
|
@ -1398,7 +1310,7 @@
|
||||||
<visual>
|
<visual>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<mesh filename="file:///home/biao/ros2_ws/install/go1_description/share/go1_description/meshes/depthCamera.dae" scale="1 1 1"/>
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/go1_description/share/go1_description/meshes/depthCamera.dae" scale="1 1 1"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
</visual>
|
</visual>
|
||||||
<inertial>
|
<inertial>
|
||||||
|
|
@ -1486,7 +1398,7 @@
|
||||||
<visual>
|
<visual>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<mesh filename="file:///home/biao/ros2_ws/install/go1_description/share/go1_description/meshes/ultraSound.dae" scale="1 1 1"/>
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/go1_description/share/go1_description/meshes/ultraSound.dae" scale="1 1 1"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<material name="black"/>
|
<material name="black"/>
|
||||||
</visual>
|
</visual>
|
||||||
|
|
@ -1511,7 +1423,7 @@
|
||||||
<visual>
|
<visual>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<mesh filename="file:///home/biao/ros2_ws/install/go1_description/share/go1_description/meshes/ultraSound.dae" scale="1 1 1"/>
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/go1_description/share/go1_description/meshes/ultraSound.dae" scale="1 1 1"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<material name="black"/>
|
<material name="black"/>
|
||||||
</visual>
|
</visual>
|
||||||
|
|
@ -1536,7 +1448,7 @@
|
||||||
<visual>
|
<visual>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<mesh filename="file:///home/biao/ros2_ws/install/go1_description/share/go1_description/meshes/ultraSound.dae" scale="1 1 1"/>
|
<mesh filename="file:///home/tlab-uav/ros2_ws/install/go1_description/share/go1_description/meshes/ultraSound.dae" scale="1 1 1"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<material name="black"/>
|
<material name="black"/>
|
||||||
</visual>
|
</visual>
|
||||||
|
|
|
||||||
|
|
@ -2,271 +2,253 @@
|
||||||
|
|
||||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||||
|
|
||||||
<xacro:include filename="$(find go1_description)/xacro/transmission.xacro"/>
|
<xacro:include filename="$(find go1_description)/xacro/transmission.xacro"/>
|
||||||
|
|
||||||
<xacro:macro name="leg" params="name mirror mirror_dae front_hind front_hind_dae">
|
<xacro:macro name="leg" params="name mirror mirror_dae front_hind front_hind_dae">
|
||||||
|
|
||||||
<joint name="${name}_hip_joint" type="revolute">
|
<joint name="${name}_hip_joint" type="revolute">
|
||||||
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
|
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
|
||||||
<origin rpy="0 0 0" xyz="${leg_offset_x} ${-leg_offset_y} 0"/>
|
<origin rpy="0 0 0" xyz="${leg_offset_x} ${-leg_offset_y} 0"/>
|
||||||
</xacro:if>
|
</xacro:if>
|
||||||
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
|
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
|
||||||
<origin rpy="0 0 0" xyz="${leg_offset_x} ${leg_offset_y} 0"/>
|
<origin rpy="0 0 0" xyz="${leg_offset_x} ${leg_offset_y} 0"/>
|
||||||
</xacro:if>
|
</xacro:if>
|
||||||
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
|
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
|
||||||
<origin rpy="0 0 0" xyz="${-leg_offset_x} ${-leg_offset_y} 0"/>
|
<origin rpy="0 0 0" xyz="${-leg_offset_x} ${-leg_offset_y} 0"/>
|
||||||
</xacro:if>
|
</xacro:if>
|
||||||
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
|
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
|
||||||
<origin rpy="0 0 0" xyz="${-leg_offset_x} ${leg_offset_y} 0"/>
|
<origin rpy="0 0 0" xyz="${-leg_offset_x} ${leg_offset_y} 0"/>
|
||||||
</xacro:if>
|
</xacro:if>
|
||||||
<parent link="trunk"/>
|
<parent link="trunk"/>
|
||||||
<child link="${name}_hip"/>
|
<child link="${name}_hip"/>
|
||||||
<axis xyz="1 0 0"/>
|
<axis xyz="1 0 0"/>
|
||||||
<dynamics damping="${damping}" friction="${friction}"/>
|
<dynamics damping="${damping}" friction="${friction}"/>
|
||||||
<xacro:if value="${(mirror_dae == True)}">
|
<xacro:if value="${(mirror_dae == True)}">
|
||||||
<limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${hip_position_min}" upper="${hip_position_max}"/>
|
<limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${hip_position_min}"
|
||||||
</xacro:if>
|
upper="${hip_position_max}"/>
|
||||||
<xacro:if value="${(mirror_dae == False)}">
|
</xacro:if>
|
||||||
<limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${-hip_position_max}" upper="${-hip_position_min}"/>
|
<xacro:if value="${(mirror_dae == False)}">
|
||||||
</xacro:if>
|
<limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${-hip_position_max}"
|
||||||
</joint>
|
upper="${-hip_position_min}"/>
|
||||||
|
</xacro:if>
|
||||||
|
</joint>
|
||||||
|
|
||||||
<joint name="${name}_hip_rotor_joint" type="fixed">
|
<joint name="${name}_hip_rotor_joint" type="fixed">
|
||||||
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
|
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
|
||||||
<origin rpy="0 0 0" xyz="${hip_rotor_offset_x} ${-hip_rotor_offset_y} 0"/>
|
<origin rpy="0 0 0" xyz="${hip_rotor_offset_x} ${-hip_rotor_offset_y} 0"/>
|
||||||
</xacro:if>
|
</xacro:if>
|
||||||
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
|
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
|
||||||
<origin rpy="0 0 0" xyz="${hip_rotor_offset_x} ${hip_rotor_offset_y} 0"/>
|
<origin rpy="0 0 0" xyz="${hip_rotor_offset_x} ${hip_rotor_offset_y} 0"/>
|
||||||
</xacro:if>
|
</xacro:if>
|
||||||
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
|
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
|
||||||
<origin rpy="0 0 0" xyz="${-hip_rotor_offset_x} ${-hip_rotor_offset_y} 0"/>
|
<origin rpy="0 0 0" xyz="${-hip_rotor_offset_x} ${-hip_rotor_offset_y} 0"/>
|
||||||
</xacro:if>
|
</xacro:if>
|
||||||
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
|
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
|
||||||
<origin rpy="0 0 0" xyz="${-hip_rotor_offset_x} ${hip_rotor_offset_y} 0"/>
|
<origin rpy="0 0 0" xyz="${-hip_rotor_offset_x} ${hip_rotor_offset_y} 0"/>
|
||||||
</xacro:if>
|
</xacro:if>
|
||||||
<parent link="trunk"/>
|
<parent link="trunk"/>
|
||||||
<child link="${name}_hip_rotor"/>
|
<child link="${name}_hip_rotor"/>
|
||||||
</joint>
|
</joint>
|
||||||
|
|
||||||
<link name="${name}_hip">
|
<link name="${name}_hip">
|
||||||
<visual>
|
<visual>
|
||||||
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
|
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
</xacro:if>
|
</xacro:if>
|
||||||
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
|
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
|
||||||
<origin rpy="${PI} 0 0" xyz="0 0 0"/>
|
<origin rpy="${PI} 0 0" xyz="0 0 0"/>
|
||||||
</xacro:if>
|
</xacro:if>
|
||||||
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
|
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
|
||||||
<origin rpy="0 ${PI} 0" xyz="0 0 0"/>
|
<origin rpy="0 ${PI} 0" xyz="0 0 0"/>
|
||||||
</xacro:if>
|
</xacro:if>
|
||||||
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
|
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
|
||||||
<origin rpy="${PI} ${PI} 0" xyz="0 0 0"/>
|
<origin rpy="${PI} ${PI} 0" xyz="0 0 0"/>
|
||||||
</xacro:if>
|
</xacro:if>
|
||||||
<geometry>
|
<geometry>
|
||||||
<mesh filename="file://$(find go1_description)/meshes/hip.dae" scale="1 1 1"/>
|
<mesh filename="file://$(find go1_description)/meshes/hip.dae" scale="1 1 1"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<!-- <material name="orange"/> -->
|
<!-- <material name="orange"/> -->
|
||||||
</visual>
|
</visual>
|
||||||
<collision>
|
<collision>
|
||||||
<origin rpy="${PI/2.0} 0 0" xyz="0 ${hip_offset*mirror} 0"/>
|
<origin rpy="${PI/2.0} 0 0" xyz="0 ${hip_offset*mirror} 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<cylinder length="${hip_length}" radius="${hip_radius}"/>
|
<cylinder length="${hip_length}" radius="${hip_radius}"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
</collision>
|
</collision>
|
||||||
<inertial>
|
<inertial>
|
||||||
<origin rpy="0 0 0" xyz="${hip_com_x*front_hind} ${hip_com_y*mirror} ${hip_com_z}"/>
|
<origin rpy="0 0 0" xyz="${hip_com_x*front_hind} ${hip_com_y*mirror} ${hip_com_z}"/>
|
||||||
<mass value="${hip_mass}"/>
|
<mass value="${hip_mass}"/>
|
||||||
<inertia
|
<inertia
|
||||||
ixx="${hip_ixx}" ixy="${hip_ixy*mirror*front_hind}" ixz="${hip_ixz*front_hind}"
|
ixx="${hip_ixx}" ixy="${hip_ixy*mirror*front_hind}" ixz="${hip_ixz*front_hind}"
|
||||||
iyy="${hip_iyy}" iyz="${hip_iyz*mirror}"
|
iyy="${hip_iyy}" iyz="${hip_iyz*mirror}"
|
||||||
izz="${hip_izz}"/>
|
izz="${hip_izz}"/>
|
||||||
</inertial>
|
</inertial>
|
||||||
</link>
|
</link>
|
||||||
|
|
||||||
<link name="${name}_hip_rotor">
|
<link name="${name}_hip_rotor">
|
||||||
<visual>
|
<visual>
|
||||||
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 0"/>
|
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<cylinder length="0.02" radius="0.035"/>
|
<cylinder length="0.02" radius="0.035"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<material name="green"/>
|
<material name="green"/>
|
||||||
</visual>
|
</visual>
|
||||||
<!-- <collision>
|
<inertial>
|
||||||
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="${hip_rotor_com_x} ${hip_rotor_com_y} ${hip_rotor_com_z}"/>
|
||||||
<geometry>
|
<mass value="${hip_rotor_mass}"/>
|
||||||
<cylinder length="0.02" radius="0.035"/>
|
<inertia
|
||||||
</geometry>
|
ixx="${hip_rotor_ixx}" ixy="${hip_rotor_ixy}" ixz="${hip_rotor_ixz}"
|
||||||
</collision> -->
|
iyy="${hip_rotor_iyy}" iyz="${hip_rotor_iyz}"
|
||||||
<inertial>
|
izz="${hip_rotor_izz}"/>
|
||||||
<origin rpy="0 0 0" xyz="${hip_rotor_com_x} ${hip_rotor_com_y} ${hip_rotor_com_z}"/>
|
</inertial>
|
||||||
<mass value="${hip_rotor_mass}"/>
|
</link>
|
||||||
<inertia
|
|
||||||
ixx="${hip_rotor_ixx}" ixy="${hip_rotor_ixy}" ixz="${hip_rotor_ixz}"
|
|
||||||
iyy="${hip_rotor_iyy}" iyz="${hip_rotor_iyz}"
|
|
||||||
izz="${hip_rotor_izz}"/>
|
|
||||||
</inertial>
|
|
||||||
</link>
|
|
||||||
|
|
||||||
<joint name="${name}_thigh_joint" type="revolute">
|
<joint name="${name}_thigh_joint" type="revolute">
|
||||||
<origin rpy="0 0 0" xyz="0 ${thigh_offset*mirror} 0"/>
|
<origin rpy="0 0 0" xyz="0 ${thigh_offset*mirror} 0"/>
|
||||||
<parent link="${name}_hip"/>
|
<parent link="${name}_hip"/>
|
||||||
<child link="${name}_thigh"/>
|
<child link="${name}_thigh"/>
|
||||||
<axis xyz="0 1 0"/>
|
<axis xyz="0 1 0"/>
|
||||||
<dynamics damping="${damping}" friction="${friction}"/>
|
<dynamics damping="${damping}" friction="${friction}"/>
|
||||||
<limit effort="${thigh_torque_max}" velocity="${thigh_velocity_max}" lower="${thigh_position_min}" upper="${thigh_position_max}"/>
|
<limit effort="${thigh_torque_max}" velocity="${thigh_velocity_max}" lower="${thigh_position_min}"
|
||||||
</joint>
|
upper="${thigh_position_max}"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
<joint name="${name}_thigh_rotor_joint" type="fixed">
|
<joint name="${name}_thigh_rotor_joint" type="fixed">
|
||||||
<origin rpy="0 0 0" xyz="${thigh_rotor_offset_x} ${thigh_rotor_offset_y*mirror} 0"/>
|
<origin rpy="0 0 0" xyz="${thigh_rotor_offset_x} ${thigh_rotor_offset_y*mirror} 0"/>
|
||||||
<parent link="${name}_hip"/>
|
<parent link="${name}_hip"/>
|
||||||
<child link="${name}_thigh_rotor"/>
|
<child link="${name}_thigh_rotor"/>
|
||||||
</joint>
|
</joint>
|
||||||
|
|
||||||
<link name="${name}_thigh">
|
<link name="${name}_thigh">
|
||||||
<visual>
|
<visual>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<xacro:if value="${mirror_dae == True}">
|
<xacro:if value="${mirror_dae == True}">
|
||||||
<mesh filename="file://$(find go1_description)/meshes/thigh.dae" scale="1 1 1"/>
|
<mesh filename="file://$(find go1_description)/meshes/thigh.dae" scale="1 1 1"/>
|
||||||
</xacro:if>
|
</xacro:if>
|
||||||
<xacro:if value="${mirror_dae == False}">
|
<xacro:if value="${mirror_dae == False}">
|
||||||
<mesh filename="file://$(find go1_description)/meshes/thigh_mirror.dae" scale="1 1 1"/>
|
<mesh filename="file://$(find go1_description)/meshes/thigh_mirror.dae" scale="1 1 1"/>
|
||||||
</xacro:if>
|
</xacro:if>
|
||||||
</geometry>
|
</geometry>
|
||||||
<!-- <material name="orange"/> -->
|
</visual>
|
||||||
</visual>
|
<collision>
|
||||||
<collision>
|
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-thigh_length/2.0}"/>
|
||||||
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-thigh_length/2.0}"/>
|
<geometry>
|
||||||
<geometry>
|
<box size="${thigh_length} ${thigh_width} ${thigh_height}"/>
|
||||||
<box size="${thigh_length} ${thigh_width} ${thigh_height}"/>
|
</geometry>
|
||||||
</geometry>
|
</collision>
|
||||||
</collision>
|
<inertial>
|
||||||
<inertial>
|
<origin rpy="0 0 0" xyz="${thigh_com_x} ${thigh_com_y*mirror} ${thigh_com_z}"/>
|
||||||
<origin rpy="0 0 0" xyz="${thigh_com_x} ${thigh_com_y*mirror} ${thigh_com_z}"/>
|
<mass value="${thigh_mass}"/>
|
||||||
<mass value="${thigh_mass}"/>
|
<inertia
|
||||||
<inertia
|
ixx="${thigh_ixx}" ixy="${thigh_ixy*mirror}" ixz="${thigh_ixz}"
|
||||||
ixx="${thigh_ixx}" ixy="${thigh_ixy*mirror}" ixz="${thigh_ixz}"
|
iyy="${thigh_iyy}" iyz="${thigh_iyz*mirror}"
|
||||||
iyy="${thigh_iyy}" iyz="${thigh_iyz*mirror}"
|
izz="${thigh_izz}"/>
|
||||||
izz="${thigh_izz}"/>
|
</inertial>
|
||||||
</inertial>
|
</link>
|
||||||
</link>
|
|
||||||
|
|
||||||
<link name="${name}_thigh_rotor">
|
<link name="${name}_thigh_rotor">
|
||||||
<visual>
|
<visual>
|
||||||
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
|
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<cylinder length="0.02" radius="0.035"/>
|
<cylinder length="0.02" radius="0.035"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<material name="green"/>
|
<material name="green"/>
|
||||||
</visual>
|
</visual>
|
||||||
<!-- <collision>
|
<inertial>
|
||||||
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="${thigh_rotor_com_x} ${thigh_rotor_com_y} ${thigh_rotor_com_z}"/>
|
||||||
<geometry>
|
<mass value="${thigh_rotor_mass}"/>
|
||||||
<cylinder length="0.02" radius="0.035"/>
|
<inertia
|
||||||
</geometry>
|
ixx="${thigh_rotor_ixx}" ixy="${thigh_rotor_ixy}" ixz="${thigh_rotor_ixz}"
|
||||||
</collision> -->
|
iyy="${thigh_rotor_iyy}" iyz="${thigh_rotor_iyz}"
|
||||||
<inertial>
|
izz="${thigh_rotor_izz}"/>
|
||||||
<origin rpy="0 0 0" xyz="${thigh_rotor_com_x} ${thigh_rotor_com_y} ${thigh_rotor_com_z}"/>
|
</inertial>
|
||||||
<mass value="${thigh_rotor_mass}"/>
|
</link>
|
||||||
<inertia
|
|
||||||
ixx="${thigh_rotor_ixx}" ixy="${thigh_rotor_ixy}" ixz="${thigh_rotor_ixz}"
|
|
||||||
iyy="${thigh_rotor_iyy}" iyz="${thigh_rotor_iyz}"
|
|
||||||
izz="${thigh_rotor_izz}"/>
|
|
||||||
</inertial>
|
|
||||||
</link>
|
|
||||||
|
|
||||||
<joint name="${name}_calf_joint" type="revolute">
|
<joint name="${name}_calf_joint" type="revolute">
|
||||||
<origin rpy="0 0 0" xyz="0 0 ${-thigh_length}"/>
|
<origin rpy="0 0 0" xyz="0 0 ${-thigh_length}"/>
|
||||||
<parent link="${name}_thigh"/>
|
<parent link="${name}_thigh"/>
|
||||||
<child link="${name}_calf"/>
|
<child link="${name}_calf"/>
|
||||||
<axis xyz="0 1 0"/>
|
<axis xyz="0 1 0"/>
|
||||||
<dynamics damping="${damping}" friction="${friction}"/>
|
<dynamics damping="${damping}" friction="${friction}"/>
|
||||||
<limit effort="${calf_torque_max}" velocity="${calf_velocity_max}" lower="${calf_position_min}" upper="${calf_position_max}"/>
|
<limit effort="${calf_torque_max}" velocity="${calf_velocity_max}" lower="${calf_position_min}"
|
||||||
</joint>
|
upper="${calf_position_max}"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
<joint name="${name}_calf_rotor_joint" type="fixed">
|
<joint name="${name}_calf_rotor_joint" type="fixed">
|
||||||
<origin rpy="0 0 0" xyz="${calf_rotor_offset_x} ${calf_rotor_offset_y*mirror} 0"/>
|
<origin rpy="0 0 0" xyz="${calf_rotor_offset_x} ${calf_rotor_offset_y*mirror} 0"/>
|
||||||
<parent link="${name}_thigh"/>
|
<parent link="${name}_thigh"/>
|
||||||
<child link="${name}_calf_rotor"/>
|
<child link="${name}_calf_rotor"/>
|
||||||
</joint>
|
</joint>
|
||||||
|
|
||||||
<link name="${name}_calf">
|
<link name="${name}_calf">
|
||||||
<visual>
|
<visual>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<mesh filename="file://$(find go1_description)/meshes/calf.dae" scale="1 1 1"/>
|
<mesh filename="file://$(find go1_description)/meshes/calf.dae" scale="1 1 1"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<!-- <material name="orange"/> -->
|
</visual>
|
||||||
</visual>
|
<collision>
|
||||||
<collision>
|
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-calf_length/2.0}"/>
|
||||||
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-calf_length/2.0}"/>
|
<geometry>
|
||||||
<geometry>
|
<box size="${calf_length} ${calf_width} ${calf_height}"/>
|
||||||
<box size="${calf_length} ${calf_width} ${calf_height}"/>
|
</geometry>
|
||||||
</geometry>
|
</collision>
|
||||||
</collision>
|
<inertial>
|
||||||
<inertial>
|
<origin rpy="0 0 0" xyz="${calf_com_x} ${calf_com_y} ${calf_com_z}"/>
|
||||||
<origin rpy="0 0 0" xyz="${calf_com_x} ${calf_com_y} ${calf_com_z}"/>
|
<mass value="${calf_mass}"/>
|
||||||
<mass value="${calf_mass}"/>
|
<inertia
|
||||||
<inertia
|
ixx="${calf_ixx}" ixy="${calf_ixy}" ixz="${calf_ixz}"
|
||||||
ixx="${calf_ixx}" ixy="${calf_ixy}" ixz="${calf_ixz}"
|
iyy="${calf_iyy}" iyz="${calf_iyz}"
|
||||||
iyy="${calf_iyy}" iyz="${calf_iyz}"
|
izz="${calf_izz}"/>
|
||||||
izz="${calf_izz}"/>
|
</inertial>
|
||||||
</inertial>
|
</link>
|
||||||
</link>
|
|
||||||
|
|
||||||
<link name="${name}_calf_rotor">
|
<link name="${name}_calf_rotor">
|
||||||
<visual>
|
<visual>
|
||||||
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
|
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<cylinder length="0.02" radius="0.035"/>
|
<cylinder length="0.02" radius="0.035"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<material name="green"/>
|
</visual>
|
||||||
</visual>
|
<inertial>
|
||||||
<!-- <collision>
|
<origin rpy="0 0 0" xyz="${calf_rotor_com_x} ${calf_rotor_com_y} ${calf_rotor_com_z}"/>
|
||||||
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
|
<mass value="${calf_rotor_mass}"/>
|
||||||
<geometry>
|
<inertia
|
||||||
<cylinder length="0.02" radius="0.035"/>
|
ixx="${calf_rotor_ixx}" ixy="${calf_rotor_ixy}" ixz="${calf_rotor_ixz}"
|
||||||
</geometry>
|
iyy="${calf_rotor_iyy}" iyz="${calf_rotor_iyz}"
|
||||||
</collision> -->
|
izz="${calf_rotor_izz}"/>
|
||||||
<inertial>
|
</inertial>
|
||||||
<origin rpy="0 0 0" xyz="${calf_rotor_com_x} ${calf_rotor_com_y} ${calf_rotor_com_z}"/>
|
</link>
|
||||||
<mass value="${calf_rotor_mass}"/>
|
|
||||||
<inertia
|
|
||||||
ixx="${calf_rotor_ixx}" ixy="${calf_rotor_ixy}" ixz="${calf_rotor_ixz}"
|
|
||||||
iyy="${calf_rotor_iyy}" iyz="${calf_rotor_iyz}"
|
|
||||||
izz="${calf_rotor_izz}"/>
|
|
||||||
</inertial>
|
|
||||||
</link>
|
|
||||||
|
|
||||||
<joint name="${name}_foot_fixed" type="fixed">
|
<joint name="${name}_foot_fixed" type="fixed">
|
||||||
<origin rpy="0 0 0" xyz="0 0 ${-(calf_length)}"/>
|
<origin rpy="0 0 0" xyz="0 0 ${-(calf_length)}"/>
|
||||||
<parent link="${name}_calf"/>
|
<parent link="${name}_calf"/>
|
||||||
<child link="${name}_foot"/>
|
<child link="${name}_foot"/>
|
||||||
</joint>
|
</joint>
|
||||||
|
|
||||||
<link name="${name}_foot">
|
<link name="${name}_foot">
|
||||||
<visual>
|
<visual>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
<geometry>
|
<geometry>
|
||||||
<sphere radius="${foot_radius-0.01}"/>
|
<sphere radius="${foot_radius-0.01}"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<!-- <material name="orange"/> -->
|
</visual>
|
||||||
</visual>
|
<collision>
|
||||||
<collision>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<geometry>
|
||||||
<geometry>
|
<sphere radius="${foot_radius}"/>
|
||||||
<sphere radius="${foot_radius}"/>
|
</geometry>
|
||||||
</geometry>
|
</collision>
|
||||||
</collision>
|
<inertial>
|
||||||
<inertial>
|
<mass value="${foot_mass}"/>
|
||||||
<mass value="${foot_mass}"/>
|
<inertia
|
||||||
<inertia
|
ixx="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}" ixy="0.0" ixz="0.0"
|
||||||
ixx="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}" ixy="0.0" ixz="0.0"
|
iyy="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}" iyz="0.0"
|
||||||
iyy="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}" iyz="0.0"
|
izz="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}"/>
|
||||||
izz="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}"/>
|
</inertial>
|
||||||
</inertial>
|
</link>
|
||||||
</link>
|
|
||||||
|
|
||||||
<xacro:leg_transmission name="${name}"/>
|
<xacro:leg_transmission name="${name}"/>
|
||||||
</xacro:macro>
|
</xacro:macro>
|
||||||
</robot>
|
</robot>
|
||||||
|
|
|
||||||
|
|
@ -24,7 +24,7 @@ ros2 launch go2_description visualize.launch.py
|
||||||
* Unitree Guide Controller
|
* Unitree Guide Controller
|
||||||
```bash
|
```bash
|
||||||
source ~/ros2_ws/install/setup.bash
|
source ~/ros2_ws/install/setup.bash
|
||||||
ros2 launch go2_description hardware.launch.py
|
ros2 launch go2_description unitree_guide.launch.py
|
||||||
```
|
```
|
||||||
* OCS2 Quadruped Controller
|
* OCS2 Quadruped Controller
|
||||||
```bash
|
```bash
|
||||||
|
|
|
||||||
|
|
@ -1,20 +1,20 @@
|
||||||
targetDisplacementVelocity 0.5;
|
targetDisplacementVelocity 0.5;
|
||||||
targetRotationVelocity 1.57;
|
targetRotationVelocity 1.57;
|
||||||
|
|
||||||
comHeight 0.3
|
comHeight 0.29
|
||||||
|
|
||||||
defaultJointState
|
defaultJointState
|
||||||
{
|
{
|
||||||
(0,0) -0.20 ; FL_hip_joint
|
(0,0) -0.10 ; FL_hip_joint
|
||||||
(1,0) 0.72 ; FL_thigh_joint
|
(1,0) 0.72 ; FL_thigh_joint
|
||||||
(2,0) -1.44 ; FL_calf_joint
|
(2,0) -1.44 ; FL_calf_joint
|
||||||
(3,0) -0.20 ; RL_hip_joint
|
(3,0) 0.10 ; FR_hip_joint
|
||||||
(4,0) 0.72 ; RL_thigh_joint
|
(4,0) 0.72 ; FR_thigh_joint
|
||||||
(5,0) -1.44 ; RL_calf_joint
|
(5,0) -1.44 ; FR_calf_joint
|
||||||
(6,0) 0.20 ; FR_hip_joint
|
(6,0) -0.10 ; RL_hip_joint
|
||||||
(7,0) 0.72 ; FR_thigh_joint
|
(7,0) 0.72 ; RL_thigh_joint
|
||||||
(8,0) -1.44 ; FR_calf_joint
|
(8,0) -1.44 ; RL_calf_joint
|
||||||
(9,0) 0.20 ; RR_hip_joint
|
(9,0) 0.10 ; RR_hip_joint
|
||||||
(10,0) 0.72 ; RR_thigh_joint
|
(10,0) 0.72 ; RR_thigh_joint
|
||||||
(11,0) -1.44 ; RR_calf_joint
|
(11,0) -1.44 ; RR_calf_joint
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -51,7 +51,6 @@
|
||||||
<geometry>
|
<geometry>
|
||||||
<mesh filename="file://$(find go2_description)/meshes/hip.dae" scale="1 1 1"/>
|
<mesh filename="file://$(find go2_description)/meshes/hip.dae" scale="1 1 1"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<!-- <material name="orange"/> -->
|
|
||||||
</visual>
|
</visual>
|
||||||
<collision>
|
<collision>
|
||||||
<origin rpy="${PI/2.0} 0 0" xyz="0 ${hip_offset*mirror} 0"/>
|
<origin rpy="${PI/2.0} 0 0" xyz="0 ${hip_offset*mirror} 0"/>
|
||||||
|
|
@ -91,7 +90,6 @@
|
||||||
<mesh filename="file://$(find go2_description)/meshes/thigh_mirror.dae" scale="1 1 1"/>
|
<mesh filename="file://$(find go2_description)/meshes/thigh_mirror.dae" scale="1 1 1"/>
|
||||||
</xacro:if>
|
</xacro:if>
|
||||||
</geometry>
|
</geometry>
|
||||||
<!-- <material name="orange"/> -->
|
|
||||||
</visual>
|
</visual>
|
||||||
<collision>
|
<collision>
|
||||||
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-thigh_length/2.0}"/>
|
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-thigh_length/2.0}"/>
|
||||||
|
|
@ -127,7 +125,6 @@
|
||||||
<geometry>
|
<geometry>
|
||||||
<mesh filename="file://$(find go2_description)/meshes/calf.dae" scale="1 1 1"/>
|
<mesh filename="file://$(find go2_description)/meshes/calf.dae" scale="1 1 1"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<!-- <material name="orange"/> -->
|
|
||||||
</visual>
|
</visual>
|
||||||
<collision>
|
<collision>
|
||||||
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-calf_length/2.0}"/>
|
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-calf_length/2.0}"/>
|
||||||
|
|
@ -158,7 +155,6 @@
|
||||||
<geometry>
|
<geometry>
|
||||||
<sphere radius="${foot_radius-0.01}"/>
|
<sphere radius="${foot_radius-0.01}"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<!-- <material name="orange"/> -->
|
|
||||||
</visual>
|
</visual>
|
||||||
<collision>
|
<collision>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue