add support for anymal c
This commit is contained in:
Huang Zhenbiao
parent
0ff1b344e7
commit
85bd924bee
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@ -23,17 +23,17 @@ namespace ocs2::legged_robot {
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vector_t update(const rclcpp::Time &time, const rclcpp::Duration &period) override;
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void loadSettings(const std::string &taskFile, bool verbose);
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void loadSettings(const std::string &task_file, bool verbose);
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protected:
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nav_msgs::msg::Odometry getOdomMsg();
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vector_t feetHeights_;
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vector_t feet_heights_;
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// Config
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scalar_t footRadius_ = 0.02;
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scalar_t imuProcessNoisePosition_ = 0.02;
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scalar_t imuProcessNoiseVelocity_ = 0.02;
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scalar_t foot_radius_ = 0.02;
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scalar_t imu_process_noise_position_ = 0.02;
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scalar_t imu_process_noise_velocity_ = 0.02;
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scalar_t footProcessNoisePosition_ = 0.002;
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scalar_t footSensorNoisePosition_ = 0.005;
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scalar_t footSensorNoiseVelocity_ = 0.1;
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@ -125,6 +125,9 @@ namespace ocs2::legged_robot {
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reference_file_ = auto_declare<std::string>("reference_file", reference_file_);
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gait_file_ = auto_declare<std::string>("gait_file", gait_file_);
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get_node()->get_parameter("update_rate", ctrl_comp_.frequency_);
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RCLCPP_INFO(get_node()->get_logger(), "Controller Manager Update Rate: %d Hz", ctrl_comp_.frequency_);
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// Load verbose parameter from the task file
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verbose_ = false;
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loadData::loadCppDataType(task_file_, "legged_robot_interface.verbose", verbose_);
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@ -193,9 +196,6 @@ namespace ocs2::legged_robot {
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observation_publisher_ = get_node()->create_publisher<ocs2_msgs::msg::MpcObservation>(
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"legged_robot_mpc_observation", 10);
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get_node()->get_parameter("update_rate", ctrl_comp_.frequency_);
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RCLCPP_INFO(get_node()->get_logger(), "Controller Manager Update Rate: %d Hz", ctrl_comp_.frequency_);
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return CallbackReturn::SUCCESS;
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}
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@ -229,7 +229,7 @@ namespace ocs2::legged_robot {
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// Initial state
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ctrl_comp_.observation_.state.setZero(
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static_cast<long>(legged_interface_->getCentroidalModelInfo().stateDim));
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updateStateEstimation(get_node()->now(), rclcpp::Duration(0, 200000));
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updateStateEstimation(get_node()->now(), rclcpp::Duration(0, 1/ctrl_comp_.frequency_*1000000000));
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ctrl_comp_.observation_.input.setZero(
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static_cast<long>(legged_interface_->getCentroidalModelInfo().inputDim));
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ctrl_comp_.observation_.mode = STANCE;
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@ -33,25 +33,24 @@ namespace ocs2::legged_robot {
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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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vector_t cmdVelRot = getRotationMatrixFromZyxEulerAngles(zyx) * cmdGoal.head(3);
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vector_t cmd_vel_rot = getRotationMatrixFromZyxEulerAngles(zyx) * cmdGoal.head(3);
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const scalar_t timeToTarget = time_to_target_;
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const vector_t targetPose = [&]() {
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vector_t target(6);
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target(0) = currentPose(0) + cmdVelRot(0) * timeToTarget;
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target(1) = currentPose(1) + cmdVelRot(1) * timeToTarget;
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target(0) = currentPose(0) + cmd_vel_rot(0) * time_to_target_;
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target(1) = currentPose(1) + cmd_vel_rot(1) * time_to_target_;
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target(2) = command_height_;
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target(3) = currentPose(3) + cmdGoal(3) * timeToTarget;
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target(3) = currentPose(3) + cmdGoal(3) * time_to_target_;
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target(4) = 0;
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target(5) = 0;
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return target;
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}();
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const scalar_t targetReachingTime = ctrl_component_.observation_.time + timeToTarget;
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const scalar_t targetReachingTime = ctrl_component_.observation_.time + time_to_target_;
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auto trajectories =
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targetPoseToTargetTrajectories(targetPose, ctrl_component_.observation_, targetReachingTime);
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trajectories.stateTrajectory[0].head(3) = cmdVelRot;
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trajectories.stateTrajectory[1].head(3) = cmdVelRot;
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trajectories.stateTrajectory[0].head(3) = cmd_vel_rot;
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trajectories.stateTrajectory[1].head(3) = cmd_vel_rot;
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referenceManagerPtr_->setTargetTrajectories(std::move(trajectories));
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}
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@ -13,7 +13,8 @@
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#include <ocs2_robotic_tools/common/RotationTransforms.h>
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namespace ocs2::legged_robot {
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KalmanFilterEstimate::KalmanFilterEstimate(PinocchioInterface pinocchio_interface, CentroidalModelInfo info,
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KalmanFilterEstimate::KalmanFilterEstimate(PinocchioInterface pinocchio_interface,
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CentroidalModelInfo info,
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const PinocchioEndEffectorKinematics &ee_kinematics,
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CtrlComponent &ctrl_component,
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const rclcpp_lifecycle::LifecycleNode::SharedPtr &node)
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@ -43,7 +44,7 @@ namespace ocs2::legged_robot {
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q_.setIdentity(numState_, numState_);
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p_ = 100. * q_;
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r_.setIdentity(numObserve_, numObserve_);
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feetHeights_.setZero(numContacts_);
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feet_heights_.setZero(numContacts_);
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ee_kinematics_->setPinocchioInterface(pinocchio_interface_);
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}
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@ -85,8 +86,8 @@ namespace ocs2::legged_robot {
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const auto eeVel = ee_kinematics_->getVelocity(vector_t(), vector_t());
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matrix_t q = matrix_t::Identity(numState_, numState_);
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q.block(0, 0, 3, 3) = q_.block(0, 0, 3, 3) * imuProcessNoisePosition_;
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q.block(3, 3, 3, 3) = q_.block(3, 3, 3, 3) * imuProcessNoiseVelocity_;
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q.block(0, 0, 3, 3) = q_.block(0, 0, 3, 3) * imu_process_noise_position_;
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q.block(3, 3, 3, 3) = q_.block(3, 3, 3, 3) * imu_process_noise_velocity_;
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q.block(6, 6, dimContacts_, dimContacts_) =
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q_.block(6, 6, dimContacts_, dimContacts_) * footProcessNoisePosition_;
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@ -114,7 +115,7 @@ namespace ocs2::legged_robot {
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r(rIndex3, rIndex3) = (isContact ? 1. : high_suspect_number) * r(rIndex3, rIndex3);
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ps_.segment(3 * i, 3) = -eePos[i];
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ps_.segment(3 * i, 3)[2] += footRadius_;
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ps_.segment(3 * i, 3)[2] += foot_radius_;
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vs_.segment(3 * i, 3) = -eeVel[i];
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}
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@ -122,7 +123,7 @@ namespace ocs2::legged_robot {
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vector3_t accel = getRotationMatrixFromZyxEulerAngles(quatToZyx(quat_)) * linear_accel_local_ + g;
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vector_t y(numObserve_);
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y << ps_, vs_, feetHeights_;
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y << ps_, vs_, feet_heights_;
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xHat_ = a_ * xHat_ + b_ * accel;
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matrix_t at = a_.transpose();
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matrix_t pm = a_ * p_ * at + q;
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@ -190,18 +191,18 @@ namespace ocs2::legged_robot {
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return odom;
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}
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void KalmanFilterEstimate::loadSettings(const std::string &taskFile, bool verbose) {
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void KalmanFilterEstimate::loadSettings(const std::string &task_file, const bool verbose) {
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boost::property_tree::ptree pt;
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read_info(taskFile, pt);
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read_info(task_file, pt);
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const std::string prefix = "kalmanFilter.";
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if (verbose) {
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std::cerr << "\n #### Kalman Filter Noise:";
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std::cerr << "\n #### =============================================================================\n";
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}
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loadData::loadPtreeValue(pt, footRadius_, prefix + "footRadius", verbose);
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loadData::loadPtreeValue(pt, imuProcessNoisePosition_, prefix + "imuProcessNoisePosition", verbose);
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loadData::loadPtreeValue(pt, imuProcessNoiseVelocity_, prefix + "imuProcessNoiseVelocity", verbose);
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loadData::loadPtreeValue(pt, foot_radius_, prefix + "footRadius", verbose);
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loadData::loadPtreeValue(pt, imu_process_noise_position_, prefix + "imuProcessNoisePosition", verbose);
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loadData::loadPtreeValue(pt, imu_process_noise_velocity_, prefix + "imuProcessNoiseVelocity", verbose);
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loadData::loadPtreeValue(pt, footProcessNoisePosition_, prefix + "footProcessNoisePosition", verbose);
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loadData::loadPtreeValue(pt, footSensorNoisePosition_, prefix + "footSensorNoisePosition", verbose);
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loadData::loadPtreeValue(pt, footSensorNoiseVelocity_, prefix + "footSensorNoiseVelocity", verbose);
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@ -42,7 +42,7 @@ namespace ocs2::legged_robot {
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void StateEstimateBase::updateContact() {
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const size_t size = ctrl_component_.foot_force_state_interface_.size();
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for (int i = 0; i < size; i++) {
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contact_flag_[i] = ctrl_component_.foot_force_state_interface_[i].get().get_value() > 1;
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contact_flag_[i] = ctrl_component_.foot_force_state_interface_[i].get().get_value() > 0.1;
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}
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}
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@ -0,0 +1,11 @@
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cmake_minimum_required(VERSION 3.8)
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project(anymal_c_description)
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find_package(ament_cmake REQUIRED)
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install(
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DIRECTORY meshes xacro launch config urdf
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DESTINATION share/${PROJECT_NAME}/
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)
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ament_package()
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@ -0,0 +1,29 @@
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Copyright 2020, ANYbotics AG.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions
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are met:
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1. Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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2. Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in
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the documentation and/or other materials provided with the
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distribution.
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3. Neither the name of the copyright holder nor the names of its
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contributors may be used to endorse or promote products derived
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from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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@ -0,0 +1,34 @@
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# Anybotics Anymal_C Description
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This repository contains the urdf model of lite3.
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Tested environment:
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* Ubuntu 24.04
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* ROS2 Jazzy
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## Build
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```bash
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cd ~/ros2_ws
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colcon build --packages-up-to anymal_c_description --symlink-install
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```
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## Visualize the robot
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To visualize and check the configuration of the robot in rviz, simply launch:
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 launch anymal_c_description visualize.launch.py
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```
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## Launch ROS2 Control
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### Mujoco Simulator
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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 anymal_c_description ocs2_control.launch.py
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```
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* Legged Gym Controller
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```bash
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source ~/ros2_ws/install/setup.bash
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ros2 launch anymal_c_description rl_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] 0.35
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[2] 0.70
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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] 0.30
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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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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] 0.27
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[2] 0.30
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[3] 0.57
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[4] 0.60
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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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{
|
||||
[0] LF_RH
|
||||
[1] FLY
|
||||
[2] LF_RH
|
||||
[3] FLY
|
||||
[4] RF_LH
|
||||
[5] FLY
|
||||
[6] RF_LH
|
||||
[7] FLY
|
||||
}
|
||||
switchingTimes
|
||||
{
|
||||
[0] 0.00
|
||||
[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 0.565;
|
||||
|
||||
defaultJointState
|
||||
{
|
||||
(0,0) -0.25 ; LF_HAA
|
||||
(1,0) 0.60 ; LF_HFE
|
||||
(2,0) -0.85 ; LF_KFE
|
||||
(3,0) -0.25 ; LH_HAA
|
||||
(4,0) -0.60 ; LH_HFE
|
||||
(5,0) 0.85 ; LH_KFE
|
||||
(6,0) 0.25 ; RF_HAA
|
||||
(7,0) 0.60 ; RF_HFE
|
||||
(8,0) -0.85 ; RF_KFE
|
||||
(9,0) 0.25 ; RH_HAA
|
||||
(10,0) -0.60 ; RH_HFE
|
||||
(11,0) 0.85 ; RH_KFE
|
||||
}
|
||||
|
||||
initialModeSchedule
|
||||
{
|
||||
modeSequence
|
||||
{
|
||||
[0] STANCE
|
||||
[1] STANCE
|
||||
}
|
||||
eventTimes
|
||||
{
|
||||
[0] 0.5
|
||||
}
|
||||
}
|
||||
|
||||
defaultModeSequenceTemplate
|
||||
{
|
||||
modeSequence
|
||||
{
|
||||
[0] STANCE
|
||||
}
|
||||
switchingTimes
|
||||
{
|
||||
[0] 0.0
|
||||
[1] 1.0
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,318 @@
|
|||
centroidalModelType 0 // 0: FullCentroidalDynamics, 1: Single Rigid Body Dynamics
|
||||
|
||||
legged_robot_interface
|
||||
{
|
||||
verbose false // show the loaded parameters
|
||||
}
|
||||
|
||||
model_settings
|
||||
{
|
||||
positionErrorGain 0.0 ; 20.0
|
||||
phaseTransitionStanceTime 0.4
|
||||
|
||||
verboseCppAd true
|
||||
recompileLibrariesCppAd false
|
||||
modelFolderCppAd /tmp/ocs2_quadruped_controller/anymal_c
|
||||
}
|
||||
|
||||
swing_trajectory_config
|
||||
{
|
||||
liftOffVelocity 0.2
|
||||
touchDownVelocity -0.4
|
||||
swingHeight 0.1
|
||||
touchdownAfterHorizon 0.2
|
||||
swingTimeScale 0.15
|
||||
}
|
||||
|
||||
; 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 true
|
||||
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 true
|
||||
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
|
||||
}
|
||||
|
||||
; 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
|
||||
|
||||
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
|
||||
}
|
||||
}
|
||||
|
||||
; 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 500 ; [Hz]
|
||||
}
|
||||
|
||||
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) 0.575 ; 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: [LF, LH, RF, RH] ;;
|
||||
(12,0) -0.25 ; LF_HAA
|
||||
(13,0) 0.60 ; LF_HFE
|
||||
(14,0) -0.85 ; LF_KFE
|
||||
(15,0) -0.25 ; LH_HAA
|
||||
(16,0) -0.60 ; LH_HFE
|
||||
(17,0) 0.85 ; LH_KFE
|
||||
(18,0) 0.25 ; RF_HAA
|
||||
(19,0) 0.60 ; RF_HFE
|
||||
(20,0) -0.85 ; RF_KFE
|
||||
(21,0) 0.25 ; RH_HAA
|
||||
(22,0) -0.60 ; RH_HFE
|
||||
(23,0) 0.85 ; RH_KFE
|
||||
}
|
||||
|
||||
; 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) 30.0 ; vcom_z
|
||||
(3,3) 5.0 ; L_x / robotMass
|
||||
(4,4) 10.0 ; L_y / robotMass
|
||||
(5,5) 10.0 ; L_z / robotMass
|
||||
|
||||
;; Base Pose: [position, orientation] ;;
|
||||
(6,6) 500.0 ; p_base_x
|
||||
(7,7) 500.0 ; p_base_y
|
||||
(8,8) 500.0 ; p_base_z
|
||||
(9,9) 100.0 ; theta_base_z
|
||||
(10,10) 200.0 ; theta_base_y
|
||||
(11,11) 200.0 ; theta_base_x
|
||||
|
||||
;; Leg Joint Positions: [LF, LH, RF, RH] ;;
|
||||
(12,12) 20.0 ; LF_HAA
|
||||
(13,13) 20.0 ; LF_HFE
|
||||
(14,14) 20.0 ; LF_KFE
|
||||
(15,15) 20.0 ; LH_HAA
|
||||
(16,16) 20.0 ; LH_HFE
|
||||
(17,17) 20.0 ; LH_KFE
|
||||
(18,18) 20.0 ; RF_HAA
|
||||
(19,19) 20.0 ; RF_HFE
|
||||
(20,20) 20.0 ; RF_KFE
|
||||
(21,21) 20.0 ; RH_HAA
|
||||
(22,22) 20.0 ; RH_HFE
|
||||
(23,23) 20.0 ; RH_KFE
|
||||
}
|
||||
|
||||
; control weight matrix
|
||||
R
|
||||
{
|
||||
scaling 1e-3
|
||||
|
||||
;; Feet Contact Forces: [LF, RF, LH, RH] ;;
|
||||
(0,0) 1.0 ; left_front_force
|
||||
(1,1) 1.0 ; left_front_force
|
||||
(2,2) 1.0 ; left_front_force
|
||||
(3,3) 1.0 ; right_front_force
|
||||
(4,4) 1.0 ; right_front_force
|
||||
(5,5) 1.0 ; right_front_force
|
||||
(6,6) 1.0 ; left_hind_force
|
||||
(7,7) 1.0 ; left_hind_force
|
||||
(8,8) 1.0 ; left_hind_force
|
||||
(9,9) 1.0 ; right_hind_force
|
||||
(10,10) 1.0 ; right_hind_force
|
||||
(11,11) 1.0 ; right_hind_force
|
||||
|
||||
;; foot velocity relative to base: [LF, LH, RF, RH] (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 0.5
|
||||
|
||||
; relaxed log barrier parameters
|
||||
mu 0.1
|
||||
delta 5.0
|
||||
}
|
||||
|
||||
selfCollision
|
||||
{
|
||||
; Self Collision raw object pairs
|
||||
collisionObjectPairs
|
||||
{
|
||||
}
|
||||
|
||||
; Self Collision pairs
|
||||
collisionLinkPairs
|
||||
{
|
||||
[0] "LF_SHANK, RF_SHANK"
|
||||
[1] "LH_SHANK, RH_SHANK"
|
||||
[2] "LF_SHANK, LH_SHANK"
|
||||
[3] "RF_SHANK, RH_SHANK"
|
||||
[4] "LF_FOOT, RF_FOOT"
|
||||
[5] "LH_FOOT, RH_FOOT"
|
||||
[6] "LF_FOOT, LH_FOOT"
|
||||
[7] "RF_FOOT, RH_FOOT"
|
||||
}
|
||||
|
||||
minimumDistance 0.05
|
||||
|
||||
; relaxed log barrier parameters
|
||||
mu 1e-2
|
||||
delta 1e-3
|
||||
}
|
||||
|
||||
; Whole body control
|
||||
torqueLimitsTask
|
||||
{
|
||||
(0,0) 80.0 ; HAA
|
||||
(1,0) 80.0 ; HFE
|
||||
(2,0) 80.0 ; KFE
|
||||
}
|
||||
|
||||
frictionConeTask
|
||||
{
|
||||
frictionCoefficient 0.3
|
||||
}
|
||||
|
||||
swingLegTask
|
||||
{
|
||||
kp 350
|
||||
kd 37
|
||||
}
|
||||
|
||||
weight
|
||||
{
|
||||
swingLeg 100
|
||||
baseAccel 1
|
||||
contactForce 0.01
|
||||
}
|
||||
|
||||
; State Estimation
|
||||
kalmanFilter
|
||||
{
|
||||
footRadius 0.03
|
||||
imuProcessNoisePosition 0.02
|
||||
imuProcessNoiseVelocity 0.02
|
||||
footProcessNoisePosition 0.002
|
||||
footSensorNoisePosition 0.005
|
||||
footSensorNoiseVelocity 0.1
|
||||
footHeightSensorNoise 0.01
|
||||
}
|
||||
|
|
@ -0,0 +1,83 @@
|
|||
# Controller Manager configuration
|
||||
controller_manager:
|
||||
ros__parameters:
|
||||
update_rate: 500 # Hz
|
||||
|
||||
# Define the available controllers
|
||||
joint_state_broadcaster:
|
||||
type: joint_state_broadcaster/JointStateBroadcaster
|
||||
|
||||
imu_sensor_broadcaster:
|
||||
type: imu_sensor_broadcaster/IMUSensorBroadcaster
|
||||
|
||||
unitree_guide_controller:
|
||||
type: unitree_guide_controller/UnitreeGuideController
|
||||
|
||||
ocs2_quadruped_controller:
|
||||
type: ocs2_quadruped_controller/Ocs2QuadrupedController
|
||||
|
||||
rl_quadruped_controller:
|
||||
type: LH_quadruped_controller/LeggedGymController
|
||||
|
||||
imu_sensor_broadcaster:
|
||||
ros__parameters:
|
||||
sensor_name: "imu_sensor"
|
||||
frame_id: "imu_link"
|
||||
|
||||
ocs2_quadruped_controller:
|
||||
ros__parameters:
|
||||
|
||||
joints:
|
||||
- LF_HAA
|
||||
- LF_HFE
|
||||
- LF_KFE
|
||||
- LH_HAA
|
||||
- LH_HFE
|
||||
- LH_KFE
|
||||
- RF_HAA
|
||||
- RF_HFE
|
||||
- RF_KFE
|
||||
- RH_HAA
|
||||
- RH_HFE
|
||||
- RH_KFE
|
||||
|
||||
command_interfaces:
|
||||
- effort
|
||||
- position
|
||||
- velocity
|
||||
- kp
|
||||
- kd
|
||||
|
||||
state_interfaces:
|
||||
- effort
|
||||
- position
|
||||
- velocity
|
||||
|
||||
feet:
|
||||
- LF_FOOT
|
||||
- RF_FOOT
|
||||
- LH_FOOT
|
||||
- RH_FOOT
|
||||
|
||||
|
||||
imu_name: "imu_sensor"
|
||||
base_name: "base"
|
||||
|
||||
imu_interfaces:
|
||||
- orientation.w
|
||||
- orientation.x
|
||||
- orientation.y
|
||||
- orientation.z
|
||||
- angular_velocity.x
|
||||
- angular_velocity.y
|
||||
- angular_velocity.z
|
||||
- linear_acceleration.x
|
||||
- linear_acceleration.y
|
||||
- linear_acceleration.z
|
||||
|
||||
foot_force_name: "foot_force"
|
||||
foot_force_interfaces:
|
||||
- LF
|
||||
- RF
|
||||
- LH
|
||||
- RH
|
||||
|
|
@ -0,0 +1,383 @@
|
|||
Panels:
|
||||
- Class: rviz_common/Displays
|
||||
Help Height: 138
|
||||
Name: Displays
|
||||
Property Tree Widget:
|
||||
Expanded:
|
||||
- /Global Options1
|
||||
- /Status1
|
||||
- /RobotModel1
|
||||
Splitter Ratio: 0.5
|
||||
Tree Height: 303
|
||||
- Class: rviz_common/Selection
|
||||
Name: Selection
|
||||
- Class: rviz_common/Tool Properties
|
||||
Expanded:
|
||||
- /2D Goal Pose1
|
||||
- /Publish Point1
|
||||
Name: Tool Properties
|
||||
Splitter Ratio: 0.5886790156364441
|
||||
- Class: rviz_common/Views
|
||||
Expanded:
|
||||
- /Current View1
|
||||
Name: Views
|
||||
Splitter Ratio: 0.5
|
||||
- Class: rviz_common/Time
|
||||
Experimental: false
|
||||
Name: Time
|
||||
SyncMode: 0
|
||||
SyncSource: ""
|
||||
Visualization Manager:
|
||||
Class: ""
|
||||
Displays:
|
||||
- Alpha: 0.5
|
||||
Cell Size: 1
|
||||
Class: rviz_default_plugins/Grid
|
||||
Color: 160; 160; 164
|
||||
Enabled: true
|
||||
Line Style:
|
||||
Line Width: 0.029999999329447746
|
||||
Value: Lines
|
||||
Name: Grid
|
||||
Normal Cell Count: 0
|
||||
Offset:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Plane: XY
|
||||
Plane Cell Count: 10
|
||||
Reference Frame: <Fixed Frame>
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Class: rviz_default_plugins/RobotModel
|
||||
Collision Enabled: false
|
||||
Description File: ""
|
||||
Description Source: Topic
|
||||
Description Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /robot_description
|
||||
Enabled: true
|
||||
Links:
|
||||
All Links Enabled: true
|
||||
Expand Joint Details: false
|
||||
Expand Link Details: false
|
||||
Expand Tree: false
|
||||
FL_calf:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
FL_calf_rotor:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
FL_foot:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
FL_hip:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
FL_hip_rotor:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
FL_thigh:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
FL_thigh_rotor:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
FR_calf:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
FR_calf_rotor:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
FR_foot:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
FR_hip:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
FR_hip_rotor:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
FR_thigh:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
FR_thigh_rotor:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
Link Tree Style: Links in Alphabetic Order
|
||||
RL_calf:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
RL_calf_rotor:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
RL_foot:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
RL_hip:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
RL_hip_rotor:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
RL_thigh:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
RL_thigh_rotor:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
RR_calf:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
RR_calf_rotor:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
RR_foot:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
RR_hip:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
RR_hip_rotor:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
RR_thigh:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
RR_thigh_rotor:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
base:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
camera_chin:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
camera_face:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
camera_laserscan_link_left:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
camera_laserscan_link_right:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
camera_left:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
camera_optical_chin:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
camera_optical_face:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
camera_optical_left:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
camera_optical_rearDown:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
camera_optical_right:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
camera_rearDown:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
camera_right:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
imu_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
trunk:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
ultraSound_face:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
ultraSound_left:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
ultraSound_right:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
Mass Properties:
|
||||
Inertia: false
|
||||
Mass: false
|
||||
Name: RobotModel
|
||||
TF Prefix: ""
|
||||
Update Interval: 0
|
||||
Value: true
|
||||
Visual Enabled: true
|
||||
Enabled: true
|
||||
Global Options:
|
||||
Background Color: 48; 48; 48
|
||||
Fixed Frame: base
|
||||
Frame Rate: 30
|
||||
Name: root
|
||||
Tools:
|
||||
- Class: rviz_default_plugins/Interact
|
||||
Hide Inactive Objects: true
|
||||
- Class: rviz_default_plugins/MoveCamera
|
||||
- Class: rviz_default_plugins/Select
|
||||
- Class: rviz_default_plugins/FocusCamera
|
||||
- Class: rviz_default_plugins/Measure
|
||||
Line color: 128; 128; 0
|
||||
- Class: rviz_default_plugins/SetInitialPose
|
||||
Covariance x: 0.25
|
||||
Covariance y: 0.25
|
||||
Covariance yaw: 0.06853891909122467
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /initialpose
|
||||
- Class: rviz_default_plugins/SetGoal
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /goal_pose
|
||||
- Class: rviz_default_plugins/PublishPoint
|
||||
Single click: true
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /clicked_point
|
||||
Transformation:
|
||||
Current:
|
||||
Class: rviz_default_plugins/TF
|
||||
Value: true
|
||||
Views:
|
||||
Current:
|
||||
Class: rviz_default_plugins/Orbit
|
||||
Distance: 0.8687032461166382
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.05999999865889549
|
||||
Stereo Focal Distance: 1
|
||||
Swap Stereo Eyes: false
|
||||
Value: false
|
||||
Focal Point:
|
||||
X: 0.017344314604997635
|
||||
Y: -0.0033522010780870914
|
||||
Z: -0.09058035165071487
|
||||
Focal Shape Fixed Size: true
|
||||
Focal Shape Size: 0.05000000074505806
|
||||
Invert Z Axis: false
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.009999999776482582
|
||||
Pitch: 0.49539798498153687
|
||||
Target Frame: <Fixed Frame>
|
||||
Value: Orbit (rviz)
|
||||
Yaw: 0.8403961062431335
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: true
|
||||
Height: 630
|
||||
Hide Left Dock: true
|
||||
Hide Right Dock: true
|
||||
QMainWindow State: 000000ff00000000fd0000000400000000000001f40000043cfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007300000000700000043c000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000015d0000043cfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000700000043c000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003130000005efc0100000002fb0000000800540069006d0065010000000000000313000002fb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000313000001b800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
Selection:
|
||||
collapsed: false
|
||||
Time:
|
||||
collapsed: false
|
||||
Tool Properties:
|
||||
collapsed: false
|
||||
Views:
|
||||
collapsed: true
|
||||
Width: 787
|
||||
X: 763
|
||||
Y: 351
|
||||
|
|
@ -0,0 +1,109 @@
|
|||
import os
|
||||
|
||||
import xacro
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import OpaqueFunction, RegisterEventHandler
|
||||
from launch.event_handlers import OnProcessExit
|
||||
from launch.substitutions import PathJoinSubstitution
|
||||
from launch_ros.actions import Node
|
||||
from launch_ros.substitutions import FindPackageShare
|
||||
|
||||
package_description = "anymal_c_description"
|
||||
package_controller = "ocs2_quadruped_controller"
|
||||
|
||||
|
||||
def process_xacro():
|
||||
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)
|
||||
return robot_description_config.toxml()
|
||||
|
||||
def generate_launch_description():
|
||||
rviz_config_file = os.path.join(get_package_share_directory(package_controller), "config", "visualize_ocs2.rviz")
|
||||
|
||||
robot_description = process_xacro()
|
||||
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 LaunchDescription([
|
||||
Node(
|
||||
package='rviz2',
|
||||
executable='rviz2',
|
||||
name='rviz_ocs2',
|
||||
output='screen',
|
||||
arguments=["-d", rviz_config_file]
|
||||
),
|
||||
|
||||
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],
|
||||
)
|
||||
),
|
||||
])
|
||||
|
|
@ -0,0 +1,112 @@
|
|||
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
|
||||
|
||||
package_description = "anymal_c_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],
|
||||
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"],
|
||||
)
|
||||
|
||||
unitree_guide_controller = Node(
|
||||
package="controller_manager",
|
||||
executable="spawner",
|
||||
arguments=["unitree_guide_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=[unitree_guide_controller],
|
||||
)
|
||||
),
|
||||
]
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
robot_type_arg = DeclareLaunchArgument(
|
||||
'robot_type',
|
||||
default_value='a1',
|
||||
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]
|
||||
)
|
||||
])
|
||||
|
|
@ -0,0 +1,49 @@
|
|||
import os
|
||||
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
|
||||
from launch import LaunchDescription
|
||||
from launch_ros.actions import Node
|
||||
|
||||
import xacro
|
||||
|
||||
package_description = "anymal_c_description"
|
||||
|
||||
def process_xacro():
|
||||
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)
|
||||
return robot_description_config.toxml()
|
||||
def generate_launch_description():
|
||||
|
||||
rviz_config_file = os.path.join(get_package_share_directory(package_description), "config", "visualize_urdf.rviz")
|
||||
robot_description = process_xacro()
|
||||
|
||||
return LaunchDescription([
|
||||
Node(
|
||||
package='rviz2',
|
||||
executable='rviz2',
|
||||
name='rviz_ocs2',
|
||||
output='screen',
|
||||
arguments=["-d", rviz_config_file]
|
||||
),
|
||||
Node(
|
||||
package='robot_state_publisher',
|
||||
executable='robot_state_publisher',
|
||||
name='robot_state_publisher',
|
||||
output='screen',
|
||||
parameters=[
|
||||
{
|
||||
'publish_frequency': 100.0,
|
||||
'use_tf_static': True,
|
||||
'robot_description': robot_description
|
||||
}
|
||||
],
|
||||
),
|
||||
Node(
|
||||
package='joint_state_publisher_gui',
|
||||
executable='joint_state_publisher_gui',
|
||||
name='joint_state_publisher',
|
||||
output='screen',
|
||||
)
|
||||
])
|
||||
File diff suppressed because one or more lines are too long
Binary file not shown.
|
After Width: | Height: | Size: 194 KiB |
|
|
@ -0,0 +1,115 @@
|
|||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
|
||||
<asset>
|
||||
<contributor>
|
||||
<author>Blender User</author>
|
||||
<authoring_tool>Blender 2.81.16 commit date:2019-11-20, commit time:14:27, hash:26bd5ebd42e3</authoring_tool>
|
||||
</contributor>
|
||||
<created>2020-01-07T14:47:32</created>
|
||||
<modified>2020-01-07T14:47:32</modified>
|
||||
<unit name="meter" meter="1"/>
|
||||
<up_axis>Z_UP</up_axis>
|
||||
</asset>
|
||||
<library_effects>
|
||||
<effect id="battery-effect">
|
||||
<profile_COMMON>
|
||||
<newparam sid="battery-surface">
|
||||
<surface type="2D">
|
||||
<init_from>battery</init_from>
|
||||
</surface>
|
||||
</newparam>
|
||||
<newparam sid="battery-sampler">
|
||||
<sampler2D>
|
||||
<source>battery-surface</source>
|
||||
</sampler2D>
|
||||
</newparam>
|
||||
<technique sid="common">
|
||||
<lambert>
|
||||
<emission>
|
||||
<color sid="emission">0 0 0 1</color>
|
||||
</emission>
|
||||
<diffuse>
|
||||
<texture texture="battery-sampler" texcoord="UVMap"/>
|
||||
</diffuse>
|
||||
<index_of_refraction>
|
||||
<float sid="ior">1.45</float>
|
||||
</index_of_refraction>
|
||||
</lambert>
|
||||
</technique>
|
||||
</profile_COMMON>
|
||||
</effect>
|
||||
</library_effects>
|
||||
<library_images>
|
||||
<image id="battery" name="battery">
|
||||
<init_from>battery.jpg</init_from>
|
||||
</image>
|
||||
</library_images>
|
||||
<library_materials>
|
||||
<material id="battery-material" name="battery">
|
||||
<instance_effect url="#battery-effect"/>
|
||||
</material>
|
||||
</library_materials>
|
||||
<library_geometries>
|
||||
<geometry id="Cube-mesh" name="Cube">
|
||||
<mesh>
|
||||
<source id="Cube-mesh-positions">
|
||||
<float_array id="Cube-mesh-positions-array" count="24">-0.225881 -0.06249898 -0.03684729 -0.225881 -0.06249898 0.03725165 -0.225881 0.06249898 -0.03684729 -0.225881 0.06249898 0.03725165 0.232213 -0.06249898 -0.03684729 0.232213 -0.06249898 0.03725165 0.232213 0.06249898 -0.03684729 0.232213 0.06249898 0.03725165</float_array>
|
||||
<technique_common>
|
||||
<accessor source="#Cube-mesh-positions-array" count="8" stride="3">
|
||||
<param name="X" type="float"/>
|
||||
<param name="Y" type="float"/>
|
||||
<param name="Z" type="float"/>
|
||||
</accessor>
|
||||
</technique_common>
|
||||
</source>
|
||||
<source id="Cube-mesh-normals">
|
||||
<float_array id="Cube-mesh-normals-array" count="18">-1 0 0 0 1 0 1 0 0 0 -1 0 0 0 -1 0 0 1</float_array>
|
||||
<technique_common>
|
||||
<accessor source="#Cube-mesh-normals-array" count="6" stride="3">
|
||||
<param name="X" type="float"/>
|
||||
<param name="Y" type="float"/>
|
||||
<param name="Z" type="float"/>
|
||||
</accessor>
|
||||
</technique_common>
|
||||
</source>
|
||||
<source id="Cube-mesh-map">
|
||||
<float_array id="Cube-mesh-map-array" count="72">0.8431081 0.2728654 1 0 1 0.2728654 0.6862162 1 0.8431079 0 0.8431081 1 0.8431081 0.5457308 1 0.2728654 1 0.5457308 0.6862159 0 0.5293241 1 0.5293239 0 0.264662 0 0.5293239 0.9999999 0.2646622 0.9999999 0.264662 0.9999999 0 0 0.2646618 0 0.8431081 0.2728654 0.8431081 0 1 0 0.6862162 1 0.6862161 0 0.8431079 0 0.8431081 0.5457308 0.8431081 0.2728654 1 0.2728654 0.6862159 0 0.6862161 1 0.5293241 1 0.264662 0 0.5293238 0 0.5293239 0.9999999 0.264662 0.9999999 1.73529e-7 0.9999999 0 0</float_array>
|
||||
<technique_common>
|
||||
<accessor source="#Cube-mesh-map-array" count="36" stride="2">
|
||||
<param name="S" type="float"/>
|
||||
<param name="T" type="float"/>
|
||||
</accessor>
|
||||
</technique_common>
|
||||
</source>
|
||||
<vertices id="Cube-mesh-vertices">
|
||||
<input semantic="POSITION" source="#Cube-mesh-positions"/>
|
||||
</vertices>
|
||||
<triangles material="battery-material" count="12">
|
||||
<input semantic="VERTEX" source="#Cube-mesh-vertices" offset="0"/>
|
||||
<input semantic="NORMAL" source="#Cube-mesh-normals" offset="1"/>
|
||||
<input semantic="TEXCOORD" source="#Cube-mesh-map" offset="2" set="0"/>
|
||||
<p>1 0 0 2 0 1 0 0 2 3 1 3 6 1 4 2 1 5 7 2 6 4 2 7 6 2 8 5 3 9 0 3 10 4 3 11 6 4 12 0 4 13 2 4 14 3 5 15 5 5 16 7 5 17 1 0 18 3 0 19 2 0 20 3 1 21 7 1 22 6 1 23 7 2 24 5 2 25 4 2 26 5 3 27 1 3 28 0 3 29 6 4 30 4 4 31 0 4 32 3 5 33 1 5 34 5 5 35</p>
|
||||
</triangles>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</library_geometries>
|
||||
<library_visual_scenes>
|
||||
<visual_scene id="Scene" name="Scene">
|
||||
<node id="AM3_Battery_LP" name="AM3 Battery LP" type="NODE">
|
||||
<matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 -0.03329167 0 0 0 1</matrix>
|
||||
<instance_geometry url="#Cube-mesh" name="AM3 Battery LP">
|
||||
<bind_material>
|
||||
<technique_common>
|
||||
<instance_material symbol="battery-material" target="#battery-material">
|
||||
<bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
|
||||
</instance_material>
|
||||
</technique_common>
|
||||
</bind_material>
|
||||
</instance_geometry>
|
||||
</node>
|
||||
</visual_scene>
|
||||
</library_visual_scenes>
|
||||
<scene>
|
||||
<instance_visual_scene url="#Scene"/>
|
||||
</scene>
|
||||
</COLLADA>
|
||||
Binary file not shown.
|
After Width: | Height: | Size: 111 KiB |
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|
After Width: | Height: | Size: 165 KiB |
|
|
@ -0,0 +1,115 @@
|
|||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
|
||||
<asset>
|
||||
<contributor>
|
||||
<author>Blender User</author>
|
||||
<authoring_tool>Blender 2.82.7 commit date:2020-02-12, commit time:16:20, hash:77d23b0bd76f</authoring_tool>
|
||||
</contributor>
|
||||
<created>2020-02-20T10:55:16</created>
|
||||
<modified>2020-02-20T10:55:16</modified>
|
||||
<unit name="meter" meter="1"/>
|
||||
<up_axis>Z_UP</up_axis>
|
||||
</asset>
|
||||
<library_effects>
|
||||
<effect id="depth_camera-effect">
|
||||
<profile_COMMON>
|
||||
<newparam sid="depth_camera-surface">
|
||||
<surface type="2D">
|
||||
<init_from>depth_camera</init_from>
|
||||
</surface>
|
||||
</newparam>
|
||||
<newparam sid="depth_camera-sampler">
|
||||
<sampler2D>
|
||||
<source>depth_camera-surface</source>
|
||||
</sampler2D>
|
||||
</newparam>
|
||||
<technique sid="common">
|
||||
<lambert>
|
||||
<emission>
|
||||
<color sid="emission">0 0 0 1</color>
|
||||
</emission>
|
||||
<diffuse>
|
||||
<texture texture="depth_camera-sampler" texcoord="UVMap"/>
|
||||
</diffuse>
|
||||
<index_of_refraction>
|
||||
<float sid="ior">1.45</float>
|
||||
</index_of_refraction>
|
||||
</lambert>
|
||||
</technique>
|
||||
</profile_COMMON>
|
||||
</effect>
|
||||
</library_effects>
|
||||
<library_images>
|
||||
<image id="depth_camera" name="depth_camera">
|
||||
<init_from>depth_camera.jpg</init_from>
|
||||
</image>
|
||||
</library_images>
|
||||
<library_materials>
|
||||
<material id="depth_camera-material" name="depth_camera">
|
||||
<instance_effect url="#depth_camera-effect"/>
|
||||
</material>
|
||||
</library_materials>
|
||||
<library_geometries>
|
||||
<geometry id="Cube-mesh" name="Cube">
|
||||
<mesh>
|
||||
<source id="Cube-mesh-positions">
|
||||
<float_array id="Cube-mesh-positions-array" count="24">0 -0.04699999 -0.01968461 0 -0.04699999 0.01951932 0 0.04699999 -0.01968461 0 0.04699999 0.01951932 0.03039997 -0.04699999 -0.01968461 0.03039997 -0.04699999 0.01951932 0.03039997 0.04699999 -0.01968461 0.03039997 0.04699999 0.01951932</float_array>
|
||||
<technique_common>
|
||||
<accessor source="#Cube-mesh-positions-array" count="8" stride="3">
|
||||
<param name="X" type="float"/>
|
||||
<param name="Y" type="float"/>
|
||||
<param name="Z" type="float"/>
|
||||
</accessor>
|
||||
</technique_common>
|
||||
</source>
|
||||
<source id="Cube-mesh-normals">
|
||||
<float_array id="Cube-mesh-normals-array" count="18">-1 0 0 1 0 0 0 0 1 0 -1 0 0 1 0 0 0 -1</float_array>
|
||||
<technique_common>
|
||||
<accessor source="#Cube-mesh-normals-array" count="6" stride="3">
|
||||
<param name="X" type="float"/>
|
||||
<param name="Y" type="float"/>
|
||||
<param name="Z" type="float"/>
|
||||
</accessor>
|
||||
</technique_common>
|
||||
</source>
|
||||
<source id="Cube-mesh-map">
|
||||
<float_array id="Cube-mesh-map-array" count="72">0.2816218 0.7056847 0.5632433 0 0.5632433 0.7056847 1.60564e-7 0.7056847 0.2816215 0 0.2816217 0.7056847 0.7816217 0.7056846 1 0 1 0.7056846 0.5632433 0.7056847 0.344865 1 0.344865 0.7056847 0.7816216 0.7056847 0.5632434 1 0.5632433 0.7056847 0.7816217 0 0.5632433 0.7056846 0.5632434 0 0.2816218 0.7056847 0.2816217 0 0.5632433 0 1.60564e-7 0.7056847 0 0 0.2816215 0 0.7816217 0.7056846 0.7816217 0 1 0 0.5632433 0.7056847 0.5632433 1 0.344865 1 0.7816216 0.7056847 0.7816218 1 0.5632434 1 0.7816217 0 0.7816216 0.7056846 0.5632433 0.7056846</float_array>
|
||||
<technique_common>
|
||||
<accessor source="#Cube-mesh-map-array" count="36" stride="2">
|
||||
<param name="S" type="float"/>
|
||||
<param name="T" type="float"/>
|
||||
</accessor>
|
||||
</technique_common>
|
||||
</source>
|
||||
<vertices id="Cube-mesh-vertices">
|
||||
<input semantic="POSITION" source="#Cube-mesh-positions"/>
|
||||
</vertices>
|
||||
<triangles material="depth_camera-material" count="12">
|
||||
<input semantic="VERTEX" source="#Cube-mesh-vertices" offset="0"/>
|
||||
<input semantic="NORMAL" source="#Cube-mesh-normals" offset="1"/>
|
||||
<input semantic="TEXCOORD" source="#Cube-mesh-map" offset="2" set="0"/>
|
||||
<p>1 0 0 2 0 1 0 0 2 7 1 3 4 1 4 6 1 5 3 2 6 5 2 7 7 2 8 1 3 9 4 3 10 5 3 11 7 4 12 2 4 13 3 4 14 6 5 15 0 5 16 2 5 17 1 0 18 3 0 19 2 0 20 7 1 21 5 1 22 4 1 23 3 2 24 1 2 25 5 2 26 1 3 27 0 3 28 4 3 29 7 4 30 6 4 31 2 4 32 6 5 33 4 5 34 0 5 35</p>
|
||||
</triangles>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</library_geometries>
|
||||
<library_visual_scenes>
|
||||
<visual_scene id="Scene" name="Scene">
|
||||
<node id="Realsense_LP" name="Realsense LP" type="NODE">
|
||||
<matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
|
||||
<instance_geometry url="#Cube-mesh" name="Realsense LP">
|
||||
<bind_material>
|
||||
<technique_common>
|
||||
<instance_material symbol="depth_camera-material" target="#depth_camera-material">
|
||||
<bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
|
||||
</instance_material>
|
||||
</technique_common>
|
||||
</bind_material>
|
||||
</instance_geometry>
|
||||
</node>
|
||||
</visual_scene>
|
||||
</library_visual_scenes>
|
||||
<scene>
|
||||
<instance_visual_scene url="#Scene"/>
|
||||
</scene>
|
||||
</COLLADA>
|
||||
Binary file not shown.
|
After Width: | Height: | Size: 186 KiB |
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|
After Width: | Height: | Size: 174 KiB |
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|
After Width: | Height: | Size: 295 KiB |
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|
After Width: | Height: | Size: 185 KiB |
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|
After Width: | Height: | Size: 166 KiB |
|
|
@ -0,0 +1,115 @@
|
|||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
|
||||
<asset>
|
||||
<contributor>
|
||||
<author>Blender User</author>
|
||||
<authoring_tool>Blender 2.81.16 commit date:2019-11-20, commit time:14:27, hash:26bd5ebd42e3</authoring_tool>
|
||||
</contributor>
|
||||
<created>2020-01-13T19:28:23</created>
|
||||
<modified>2020-01-13T19:28:23</modified>
|
||||
<unit name="meter" meter="1"/>
|
||||
<up_axis>Z_UP</up_axis>
|
||||
</asset>
|
||||
<library_effects>
|
||||
<effect id="hatch-effect">
|
||||
<profile_COMMON>
|
||||
<newparam sid="hatch-surface">
|
||||
<surface type="2D">
|
||||
<init_from>hatch</init_from>
|
||||
</surface>
|
||||
</newparam>
|
||||
<newparam sid="hatch-sampler">
|
||||
<sampler2D>
|
||||
<source>hatch-surface</source>
|
||||
</sampler2D>
|
||||
</newparam>
|
||||
<technique sid="common">
|
||||
<lambert>
|
||||
<emission>
|
||||
<color sid="emission">0 0 0 1</color>
|
||||
</emission>
|
||||
<diffuse>
|
||||
<texture texture="hatch-sampler" texcoord="UVMap"/>
|
||||
</diffuse>
|
||||
<index_of_refraction>
|
||||
<float sid="ior">1.45</float>
|
||||
</index_of_refraction>
|
||||
</lambert>
|
||||
</technique>
|
||||
</profile_COMMON>
|
||||
</effect>
|
||||
</library_effects>
|
||||
<library_images>
|
||||
<image id="hatch" name="hatch">
|
||||
<init_from>hatch.jpg</init_from>
|
||||
</image>
|
||||
</library_images>
|
||||
<library_materials>
|
||||
<material id="hatch-material" name="hatch">
|
||||
<instance_effect url="#hatch-effect"/>
|
||||
</material>
|
||||
</library_materials>
|
||||
<library_geometries>
|
||||
<geometry id="AM3_Application_Hatch_Detailed_HD_002-mesh" name="AM3 Application Hatch Detailed HD.002">
|
||||
<mesh>
|
||||
<source id="AM3_Application_Hatch_Detailed_HD_002-mesh-positions">
|
||||
<float_array id="AM3_Application_Hatch_Detailed_HD_002-mesh-positions-array" count="96">-76.90127 -64.71254 0 -76.90127 -64.71254 5.500071 -76.90127 64.71254 0 -76.90127 64.71254 5.500071 76.90133 -64.71254 0 76.90133 -64.71254 5.500071 76.90133 64.71254 0 76.90133 64.71254 5.500071 -80.46286 11.54165 0 -91.00833 3.847216 0 -91.00833 -3.847217 0 -80.46286 -11.54165 0 -80.46286 -11.54165 5.500071 -91.00833 -3.847217 5.500071 -91.00833 3.847217 5.500071 -80.46286 11.54165 5.500071 80.46292 -11.54165 0 91.00839 -3.847217 0 91.00839 3.847217 0 80.46292 11.54165 0 80.46292 11.54165 5.500071 91.00839 3.847216 5.500071 91.00839 -3.847217 5.500071 80.46292 -11.54165 5.500071 -80.46286 38.12709 5.500071 80.46292 38.12709 0 -80.46286 38.12709 0 80.46292 38.12709 5.500071 -80.46286 -38.12709 0 80.46292 -38.12709 5.500071 -80.46286 -38.12709 5.500071 80.46292 -38.12709 0</float_array>
|
||||
<technique_common>
|
||||
<accessor source="#AM3_Application_Hatch_Detailed_HD_002-mesh-positions-array" count="32" stride="3">
|
||||
<param name="X" type="float"/>
|
||||
<param name="Y" type="float"/>
|
||||
<param name="Z" type="float"/>
|
||||
</accessor>
|
||||
</technique_common>
|
||||
</source>
|
||||
<source id="AM3_Application_Hatch_Detailed_HD_002-mesh-normals">
|
||||
<float_array id="AM3_Application_Hatch_Detailed_HD_002-mesh-normals-array" count="63">-0.9911455 0.1327809 0 0 1 0 0.9911455 -0.1327809 0 0 -1 0 0 0 1 0 0 1 1 0 0 0.5894234 0.8078244 0 0.5894234 -0.8078244 0 -1 0 0 -0.5894234 -0.8078244 0 -0.5894234 0.8078243 -2.12521e-7 0.9911454 0.1327813 0 -0.9911454 -0.1327813 0 -0.9911454 0.1327813 0 0.9911454 -0.1327813 0 0 0 1 0.5894235 0.8078243 2.12521e-7 -0.5894234 0.8078244 0 0.9911455 0.1327809 0 -0.9911455 -0.1327809 0</float_array>
|
||||
<technique_common>
|
||||
<accessor source="#AM3_Application_Hatch_Detailed_HD_002-mesh-normals-array" count="21" stride="3">
|
||||
<param name="X" type="float"/>
|
||||
<param name="Y" type="float"/>
|
||||
<param name="Z" type="float"/>
|
||||
</accessor>
|
||||
</technique_common>
|
||||
</source>
|
||||
<source id="AM3_Application_Hatch_Detailed_HD_002-mesh-map">
|
||||
<float_array id="AM3_Application_Hatch_Detailed_HD_002-mesh-map-array" count="276">0.8547119 0.7845032 0.8910338 0.6826047 0.8910338 0.7845032 0.8547118 0.6826048 0.8910338 0 0.8910338 0.6826047 0.963678 0.5650011 0.927356 0.7110616 0.927356 0.5650011 0.891034 0.7845032 0.927356 0.1018984 0.927356 0.7845032 0.1755681 0.9420632 0 0.07750421 0.1755678 0.05793678 0.679144 0.9420632 0.5035759 0.05793678 0.6791438 0.05793678 0.503576 0.9420632 0.4527625 0 0.5035759 0.05793678 0.4527627 1 0.4019491 0 0.4527625 0 0.4019494 1 0.3511358 0.05793678 0.4019491 0 0.963678 0.1460605 0.927356 0.2921209 0.927356 0.1460605 0.963678 0.2921209 0.927356 0.3343942 0.927356 0.2921209 0.963678 0.3343942 0.927356 0.3766674 0.927356 0.3343942 0.963678 0.3766674 0.927356 0.4189407 0.927356 0.3766674 0.927356 0.7971531 0.963678 0.7110617 0.963678 0.7971532 0.963678 0.07171952 1 0 1 0.07171952 0.8547119 0.9672312 0.8910339 0.9423143 0.8910339 0.9672312 0.8547119 0.9423143 0.8910339 0.8705947 0.8910339 0.9423143 0.963678 0 0.927356 0.1460605 0.9273561 0 0.8547118 0.9224958 0.6791438 0.05793678 0.8547117 0.07750409 0.8547119 0.8705947 0.8910338 0.7845032 0.8910339 0.8705947 0.891034 0.1018984 0.927356 0 0.927356 0.1018984 0.351136 0.9420632 0.1755678 0.05793678 0.3511358 0.05793678 0.963678 0.4189407 0.927356 0.5650011 0.927356 0.4189407 0.8547119 0.7845032 0.8547118 0.6826048 0.8910338 0.6826047 0.8547118 0.6826048 0.8547118 0 0.8910338 0 0.963678 0.5650011 0.963678 0.7110616 0.927356 0.7110616 0.891034 0.7845032 0.891034 0.1018984 0.927356 0.1018984 0.1755681 0.9420632 0 0.9224959 0 0.07750421 0.679144 0.9420632 0.503576 0.9420632 0.5035759 0.05793678 0.503576 0.9420632 0.4527627 1 0.4527625 0 0.4527627 1 0.4019494 1 0.4019491 0 0.4019494 1 0.351136 0.9420632 0.3511358 0.05793678 0.963678 0.1460605 0.963678 0.2921209 0.927356 0.2921209 0.963678 0.2921209 0.963678 0.3343942 0.927356 0.3343942 0.963678 0.3343942 0.963678 0.3766674 0.927356 0.3766674 0.963678 0.3766674 0.963678 0.4189407 0.927356 0.4189407 0.927356 0.7971531 0.927356 0.7110616 0.963678 0.7110617 0.963678 0.07171952 0.963678 0 1 0 0.8547119 0.9672312 0.8547119 0.9423143 0.8910339 0.9423143 0.8547119 0.9423143 0.8547119 0.8705947 0.8910339 0.8705947 0.963678 0 0.963678 0.1460605 0.927356 0.1460605 0.8547118 0.9224958 0.679144 0.9420632 0.6791438 0.05793678 0.8547119 0.8705947 0.8547119 0.7845032 0.8910338 0.7845032 0.891034 0.1018984 0.891034 0 0.927356 0 0.351136 0.9420632 0.1755681 0.9420632 0.1755678 0.05793678 0.963678 0.4189407 0.963678 0.5650011 0.927356 0.5650011</float_array>
|
||||
<technique_common>
|
||||
<accessor source="#AM3_Application_Hatch_Detailed_HD_002-mesh-map-array" count="138" stride="2">
|
||||
<param name="S" type="float"/>
|
||||
<param name="T" type="float"/>
|
||||
</accessor>
|
||||
</technique_common>
|
||||
</source>
|
||||
<vertices id="AM3_Application_Hatch_Detailed_HD_002-mesh-vertices">
|
||||
<input semantic="POSITION" source="#AM3_Application_Hatch_Detailed_HD_002-mesh-positions"/>
|
||||
</vertices>
|
||||
<triangles material="hatch-material" count="46">
|
||||
<input semantic="VERTEX" source="#AM3_Application_Hatch_Detailed_HD_002-mesh-vertices" offset="0"/>
|
||||
<input semantic="NORMAL" source="#AM3_Application_Hatch_Detailed_HD_002-mesh-normals" offset="1"/>
|
||||
<input semantic="TEXCOORD" source="#AM3_Application_Hatch_Detailed_HD_002-mesh-map" offset="2" set="0"/>
|
||||
<p>24 0 0 2 0 1 26 0 2 3 1 3 6 1 4 2 1 5 29 2 6 4 2 7 31 2 8 5 3 9 0 3 10 4 3 11 30 4 12 5 4 13 29 4 14 24 4 15 20 4 16 27 4 17 15 4 18 21 4 19 20 4 20 14 5 21 22 5 22 21 5 23 13 4 24 23 4 25 22 4 26 27 6 27 19 6 28 25 6 29 20 7 30 18 7 31 19 7 32 21 6 33 17 6 34 18 6 35 22 8 36 16 8 37 17 8 38 30 9 39 11 9 40 28 9 41 12 10 42 10 10 43 11 10 44 13 9 45 9 9 46 10 9 47 14 11 48 8 11 49 9 11 50 7 12 51 25 12 52 6 12 53 3 4 54 27 4 55 7 4 56 15 9 57 26 9 58 8 9 59 1 13 60 28 13 61 0 13 62 12 4 63 29 4 64 23 4 65 23 6 66 31 6 67 16 6 68 24 14 69 3 14 70 2 14 71 3 1 72 7 1 73 6 1 74 29 15 75 5 15 76 4 15 77 5 3 78 1 3 79 0 3 80 30 4 81 1 4 82 5 4 83 24 4 84 15 4 85 20 4 86 15 16 87 14 16 88 21 16 89 14 4 90 13 4 91 22 4 92 13 4 93 12 4 94 23 4 95 27 6 96 20 6 97 19 6 98 20 17 99 21 17 100 18 17 101 21 6 102 22 6 103 17 6 104 22 8 105 23 8 106 16 8 107 30 9 108 12 9 109 11 9 110 12 10 111 13 10 112 10 10 113 13 9 114 14 9 115 9 9 116 14 18 117 15 18 118 8 18 119 7 19 120 27 19 121 25 19 122 3 4 123 24 4 124 27 4 125 15 9 126 24 9 127 26 9 128 1 20 129 30 20 130 28 20 131 12 4 132 30 4 133 29 4 134 23 6 135 29 6 136 31 6 137</p>
|
||||
</triangles>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</library_geometries>
|
||||
<library_visual_scenes>
|
||||
<visual_scene id="Scene" name="Scene">
|
||||
<node id="AM3_Application_Hatch_LP" name="AM3 Application Hatch LP" type="NODE">
|
||||
<matrix sid="transform">0.001006675 0 0 0 0 9.99987e-4 0 0 0 0 9.99987e-4 0 0 0 0 1</matrix>
|
||||
<instance_geometry url="#AM3_Application_Hatch_Detailed_HD_002-mesh" name="AM3 Application Hatch LP">
|
||||
<bind_material>
|
||||
<technique_common>
|
||||
<instance_material symbol="hatch-material" target="#hatch-material">
|
||||
<bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
|
||||
</instance_material>
|
||||
</technique_common>
|
||||
</bind_material>
|
||||
</instance_geometry>
|
||||
</node>
|
||||
</visual_scene>
|
||||
</library_visual_scenes>
|
||||
<scene>
|
||||
<instance_visual_scene url="#Scene"/>
|
||||
</scene>
|
||||
</COLLADA>
|
||||
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|
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|
After Width: | Height: | Size: 152 KiB |
|
|
@ -0,0 +1,21 @@
|
|||
<?xml version="1.0"?>
|
||||
<package format="2">
|
||||
<name>anymal_c_description</name>
|
||||
<version>0.0.0</version>
|
||||
<description>The anymal_c_description package</description>
|
||||
|
||||
<license>BSD-3</license>
|
||||
|
||||
<author email="lisler@anybotics.com">Linus Isler</author>
|
||||
<maintainer email="lisler@anybotics.com">Linus Isler</maintainer>
|
||||
<maintainer email="rdiethelm@anybotics.com">Remo Diethelm</maintainer>
|
||||
|
||||
<exec_depend>xacro</exec_depend>
|
||||
<exec_depend>joint_state_publisher</exec_depend>
|
||||
<exec_depend>robot_state_publisher</exec_depend>
|
||||
<exec_depend>imu_sensor_broadcaster</exec_depend>
|
||||
<export>
|
||||
<build_type>ament_cmake</build_type>
|
||||
</export>
|
||||
|
||||
</package>
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
|
|
@ -0,0 +1,195 @@
|
|||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
|
||||
<ros2_control name="GazeboSystem" type="system">
|
||||
<hardware>
|
||||
<plugin>gz_ros2_control/GazeboSimSystem</plugin>
|
||||
</hardware>
|
||||
|
||||
<joint name="FR_HipX">
|
||||
<command_interface name="effort" initial_value="0.0"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
|
||||
<joint name="FR_HipY">
|
||||
<command_interface name="effort" initial_value="0.0"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
|
||||
<joint name="FR_Knee">
|
||||
<command_interface name="effort" initial_value="0.0"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
|
||||
<joint name="FL_HipX">
|
||||
<command_interface name="effort" initial_value="0.0"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
|
||||
<joint name="FL_HipY">
|
||||
<command_interface name="effort" initial_value="0.0"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
|
||||
<joint name="FL_Knee">
|
||||
<command_interface name="effort" initial_value="0.0"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
|
||||
<joint name="HR_HipX">
|
||||
<command_interface name="effort" initial_value="0.0"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
|
||||
<joint name="HR_HipY">
|
||||
<command_interface name="effort" initial_value="0.0"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
|
||||
<joint name="HR_Knee">
|
||||
<command_interface name="effort" initial_value="0.0"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
|
||||
<joint name="HL_HipX">
|
||||
<command_interface name="effort" initial_value="0.0"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
|
||||
<joint name="HL_HipY">
|
||||
<command_interface name="effort" initial_value="0.0"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
|
||||
<joint name="HL_Knee">
|
||||
<command_interface name="effort" initial_value="0.0"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
|
||||
<sensor name="imu_sensor">
|
||||
<state_interface name="orientation.x"/>
|
||||
<state_interface name="orientation.y"/>
|
||||
<state_interface name="orientation.z"/>
|
||||
<state_interface name="orientation.w"/>
|
||||
<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>
|
||||
</ros2_control>
|
||||
|
||||
<gazebo>
|
||||
<plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
|
||||
<parameters>$(find anymal_c_description)/config/gazebo.yaml</parameters>
|
||||
</plugin>
|
||||
<plugin filename="gz-sim-imu-system"
|
||||
name="gz::sim::systems::Imu">
|
||||
</plugin>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="trunk">
|
||||
<mu1>0.6</mu1>
|
||||
<mu2>0.6</mu2>
|
||||
<self_collide>1</self_collide>
|
||||
<visual>
|
||||
<material>
|
||||
<ambient>.05 .05 .05 1.0</ambient>
|
||||
<diffuse>.05 .05 .05 1.0</diffuse>
|
||||
<specular>.05 .05 .05 1.0</specular>
|
||||
</material>
|
||||
</visual>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="imu_link">
|
||||
<sensor name="imu_sensor" type="imu">
|
||||
<always_on>1</always_on>
|
||||
<update_rate>500</update_rate>
|
||||
<visualize>true</visualize>
|
||||
<topic>imu</topic>
|
||||
<imu>
|
||||
<angular_velocity>
|
||||
<x>
|
||||
<!-- <noise type="gaussian">-->
|
||||
<!-- <mean>0.0</mean>-->
|
||||
<!-- <stddev>2e-4</stddev>-->
|
||||
<!-- <bias_mean>0.0000075</bias_mean>-->
|
||||
<!-- <bias_stddev>0.0000008</bias_stddev>-->
|
||||
<!-- </noise>-->
|
||||
</x>
|
||||
<y>
|
||||
<!-- <noise type="gaussian">-->
|
||||
<!-- <mean>0.0</mean>-->
|
||||
<!-- <stddev>2e-4</stddev>-->
|
||||
<!-- <bias_mean>0.0000075</bias_mean>-->
|
||||
<!-- <bias_stddev>0.0000008</bias_stddev>-->
|
||||
<!-- </noise>-->
|
||||
</y>
|
||||
<z>
|
||||
<!-- <noise type="gaussian">-->
|
||||
<!-- <mean>0.0</mean>-->
|
||||
<!-- <stddev>2e-4</stddev>-->
|
||||
<!-- <bias_mean>0.0000075</bias_mean>-->
|
||||
<!-- <bias_stddev>0.0000008</bias_stddev>-->
|
||||
<!-- </noise>-->
|
||||
</z>
|
||||
</angular_velocity>
|
||||
<linear_acceleration>
|
||||
<x>
|
||||
<!-- <noise type="gaussian">-->
|
||||
<!-- <mean>0.0</mean>-->
|
||||
<!-- <stddev>1.7e-2</stddev>-->
|
||||
<!-- <bias_mean>0.1</bias_mean>-->
|
||||
<!-- <bias_stddev>0.001</bias_stddev>-->
|
||||
<!-- </noise>-->
|
||||
</x>
|
||||
<y>
|
||||
<!-- <noise type="gaussian">-->
|
||||
<!-- <mean>0.0</mean>-->
|
||||
<!-- <stddev>1.7e-2</stddev>-->
|
||||
<!-- <bias_mean>0.1</bias_mean>-->
|
||||
<!-- <bias_stddev>0.001</bias_stddev>-->
|
||||
<!-- </noise>-->
|
||||
</y>
|
||||
<z>
|
||||
<!-- <noise type="gaussian">-->
|
||||
<!-- <mean>0.0</mean>-->
|
||||
<!-- <stddev>1.7e-2</stddev>-->
|
||||
<!-- <bias_mean>0.1</bias_mean>-->
|
||||
<!-- <bias_stddev>0.001</bias_stddev>-->
|
||||
<!-- </noise>-->
|
||||
</z>
|
||||
</linear_acceleration>
|
||||
</imu>
|
||||
</sensor>
|
||||
</gazebo>
|
||||
<gazebo reference="imu_joint">
|
||||
<disableFixedJointLumping>true</disableFixedJointLumping>
|
||||
</gazebo>
|
||||
|
||||
</robot>
|
||||
|
|
@ -0,0 +1,30 @@
|
|||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
|
||||
<joint name="imu_joint" type="fixed">
|
||||
<parent link="TORSO"/>
|
||||
<child link="imu_link"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="imu_link">
|
||||
<inertial>
|
||||
<mass value="0.001"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size=".001 .001 .001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
</robot>
|
||||
|
|
@ -0,0 +1,36 @@
|
|||
<?xml version="1.0"?>
|
||||
<robot>
|
||||
|
||||
<material name="black">
|
||||
<color rgba="0.0 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="blue">
|
||||
<color rgba="0.0 0.0 0.8 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="green">
|
||||
<color rgba="0.0 0.8 0.0 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="deep-grey">
|
||||
<color rgba="0.1 0.1 0.1 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="grey">
|
||||
<color rgba="0.2 0.2 0.2 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="light-grey">
|
||||
<color rgba="0.35 0.35 0.35 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="silver">
|
||||
<color rgba="${233/255} ${233/255} ${216/255} 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="white">
|
||||
<color rgba="1.0 1.0 1.0 1.0"/>
|
||||
</material>
|
||||
|
||||
</robot>
|
||||
|
|
@ -0,0 +1,16 @@
|
|||
<?xml version="1.0"?>
|
||||
|
||||
<robot name="x30" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
|
||||
<xacro:include filename="$(find anymal_c_description)/xacro/body.xacro"/>
|
||||
<xacro:include filename="$(find anymal_c_description)/xacro/materials.xacro"/>
|
||||
|
||||
<xacro:arg name="GAZEBO" default="false"/>
|
||||
<xacro:if value="$(arg GAZEBO)">
|
||||
<xacro:include filename="$(find anymal_c_description)/xacro/gazebo.xacro"/>
|
||||
</xacro:if>
|
||||
<xacro:unless value="$(arg GAZEBO)">
|
||||
<xacro:include filename="$(find anymal_c_description)/xacro/ros2_control.xacro"/>
|
||||
</xacro:unless>
|
||||
|
||||
</robot>
|
||||
|
|
@ -0,0 +1,176 @@
|
|||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
|
||||
<ros2_control name="UnitreeSystem" type="system">
|
||||
|
||||
<hardware>
|
||||
<plugin>hardware_unitree_mujoco/HardwareUnitree</plugin>
|
||||
</hardware>
|
||||
|
||||
<joint name="RF_HAA">
|
||||
<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="RF_HFE">
|
||||
<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="RF_KFE">
|
||||
<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="LF_HAA">
|
||||
<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="LF_HFE">
|
||||
<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="LF_KFE">
|
||||
<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="RH_HAA">
|
||||
<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="RH_HFE">
|
||||
<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="RH_KFE">
|
||||
<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="LH_HAA">
|
||||
<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="LH_HFE">
|
||||
<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="LH_KFE">
|
||||
<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 name="foot_force">
|
||||
<state_interface name="RF"/>
|
||||
<state_interface name="LF"/>
|
||||
<state_interface name="RH"/>
|
||||
<state_interface name="LH"/>
|
||||
</sensor>
|
||||
|
||||
</ros2_control>
|
||||
|
||||
</robot>
|
||||
|
|
@ -1,4 +1,4 @@
|
|||
model_name: "model_0702.pt"
|
||||
model_name: "rl_sar.pt"
|
||||
framework: "isaacgym"
|
||||
rows: 4
|
||||
cols: 3
|
||||
|
|
|
|||
Loading…
Reference in New Issue