can visualize mujoco simulation
This commit is contained in:
Huang Zhenbiao
parent
2e94c2eb32
commit
acc6540534
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@ -36,10 +36,10 @@ def launch_setup(context, *args, **kwargs):
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name='robot_state_publisher',
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parameters=[
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{
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'use_sim_time': True,
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'publish_frequency': 100.0,
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'use_tf_static': True,
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'robot_description': robot_description
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'robot_description': robot_description,
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'ignore_timestamp': True
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}
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],
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),
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@ -47,6 +47,9 @@ def launch_setup(context, *args, **kwargs):
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package="controller_manager",
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executable="ros2_control_node",
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parameters=[robot_controllers],
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remappings=[
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("~/robot_description", "/robot_description"),
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],
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output="both",
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),
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Node(
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@ -55,12 +58,12 @@ def launch_setup(context, *args, **kwargs):
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arguments=["joint_state_broadcaster",
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"--controller-manager", "/controller_manager"],
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),
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Node(
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package="controller_manager",
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executable="spawner",
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arguments=["imu_sensor_broadcaster",
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"--controller-manager", "/controller_manager"],
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),
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# Node(
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# package="controller_manager",
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# executable="spawner",
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# arguments=["imu_sensor_broadcaster",
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# "--controller-manager", "/controller_manager"],
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# ),
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]
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File diff suppressed because one or more lines are too long
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@ -34,8 +34,8 @@ rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn Hardwa
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}
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}
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RCLCPP_INFO(get_logger(), "Initializing Unitree SDK2 Channel");
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ChannelFactory::Instance()->Init(0, "lo");
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RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "Initializing Unitree SDK2 Channel");
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ChannelFactory::Instance()->Init(1, "lo");
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lowcmd_publisher =
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std::make_shared<ChannelPublisher<unitree_go::msg::dds_::LowCmd_> >(
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TOPIC_LOWCMD);
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@ -51,7 +51,7 @@ rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn Hardwa
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},
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1);
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init_low_cmd();
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RCLCPP_INFO(get_logger(), "Initialized Unitree SDK2 Channel");
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RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "Initialized Unitree SDK2 Channel");
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return SystemInterface::on_init(info);
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@ -1,159 +0,0 @@
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<!-- Constants for robot dimensions -->
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<xacro:property name="PI" value="3.1415926535897931"/>
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<xacro:property name="stick_mass" value="0.00001"/>
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<!-- simplified collision value -->
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<xacro:property name="trunk_width" value="0.0935"/>
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<xacro:property name="trunk_length" value="0.3762"/>
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<xacro:property name="trunk_height" value="0.114"/>
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<xacro:property name="hip_radius" value="0.046"/>
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<xacro:property name="hip_length" value="0.04"/>
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<xacro:property name="thigh_shoulder_radius" value="0.041"/>
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<xacro:property name="thigh_shoulder_length" value="0.032"/>
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<xacro:property name="thigh_width" value="0.0245"/>
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<xacro:property name="thigh_height" value="0.034"/>
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<xacro:property name="calf_width" value="0.016"/>
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<xacro:property name="calf_height" value="0.016"/>
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<xacro:property name="foot_radius" value="0.02"/>
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<xacro:property name="stick_radius" value="0.01"/>
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<xacro:property name="stick_length" value="0.2"/>
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<!-- kinematic value -->
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<xacro:property name="thigh_offset" value="0.08"/>
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<xacro:property name="thigh_length" value="0.213"/>
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<xacro:property name="calf_length" value="0.213"/>
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<!-- leg offset from trunk center value -->
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<xacro:property name="leg_offset_x" value="0.1881"/>
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<xacro:property name="leg_offset_y" value="0.04675"/>
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<!-- <xacro:property name="trunk_offset_z" value="0.01675"/> -->
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<xacro:property name="hip_offset" value="0.08"/>
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<!-- offset of link and rotor locations (left front) -->
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<xacro:property name="hip_offset_x" value="0.1881"/>
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<xacro:property name="hip_offset_y" value="0.04675"/>
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<xacro:property name="hip_offset_z" value="0.0"/>
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<xacro:property name="hip_rotor_offset_x" value="0.11215"/>
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<xacro:property name="hip_rotor_offset_y" value="0.04675"/>
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<xacro:property name="hip_rotor_offset_z" value="0.0"/>
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<xacro:property name="thigh_offset_x" value="0"/>
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<xacro:property name="thigh_offset_y" value="0.08"/>
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<xacro:property name="thigh_offset_z" value="0.0"/>
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<xacro:property name="thigh_rotor_offset_x" value="0.0"/>
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<xacro:property name="thigh_rotor_offset_y" value="-0.00015"/>
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<xacro:property name="thigh_rotor_offset_z" value="0.0"/>
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<xacro:property name="calf_offset_x" value="0.0"/>
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<xacro:property name="calf_offset_y" value="0.0"/>
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<xacro:property name="calf_offset_z" value="-0.213"/>
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<xacro:property name="calf_rotor_offset_x" value="0.0"/>
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<xacro:property name="calf_rotor_offset_y" value="-0.03235"/>
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<xacro:property name="calf_rotor_offset_z" value="0.0"/>
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<!-- joint limits -->
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<xacro:property name="damping" value="0.0"/>
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<xacro:property name="friction" value="0.0"/>
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<xacro:property name="hip_position_max" value="0.863"/>
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<xacro:property name="hip_position_min" value="-0.863"/>
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<xacro:property name="hip_velocity_max" value="30.1"/>
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<xacro:property name="hip_torque_max" value="23.7"/>
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<xacro:property name="thigh_position_max" value="4.501"/>
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<xacro:property name="thigh_position_min" value="-0.686"/>
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<xacro:property name="thigh_velocity_max" value="30.1"/>
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<xacro:property name="thigh_torque_max" value="23.7"/>
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<xacro:property name="calf_position_max" value="-0.888"/>
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<xacro:property name="calf_position_min" value="-2.818"/>
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<xacro:property name="calf_velocity_max" value="20.06"/>
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<xacro:property name="calf_torque_max" value="35.55"/>
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<!-- dynamics inertial value total 12.84kg -->
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<!-- trunk -->
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<xacro:property name="trunk_mass" value="5.204"/>
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<xacro:property name="trunk_com_x" value="0.0223"/>
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<xacro:property name="trunk_com_y" value="0.002"/>
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<xacro:property name="trunk_com_z" value="-0.0005"/>
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<xacro:property name="trunk_ixx" value="0.0168128557"/>
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<xacro:property name="trunk_ixy" value="-0.0002296769"/>
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<xacro:property name="trunk_ixz" value="-0.0002945293"/>
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<xacro:property name="trunk_iyy" value="0.063009565"/>
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<xacro:property name="trunk_iyz" value="-0.0000418731"/>
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<xacro:property name="trunk_izz" value="0.0716547275"/>
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<!-- hip (left front) -->
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<xacro:property name="hip_mass" value="0.591"/>
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<xacro:property name="hip_com_x" value="-0.005657"/>
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<xacro:property name="hip_com_y" value="-0.008752"/>
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<xacro:property name="hip_com_z" value="-0.000102"/>
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<xacro:property name="hip_ixx" value="0.000334008405"/>
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<xacro:property name="hip_ixy" value="-0.000010826066"/>
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<xacro:property name="hip_ixz" value="0.000001290732"/>
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<xacro:property name="hip_iyy" value="0.000619101213"/>
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<xacro:property name="hip_iyz" value="0.000001643194"/>
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<xacro:property name="hip_izz" value="0.00040057614"/>
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<xacro:property name="hip_rotor_mass" value="0.089"/>
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<xacro:property name="hip_rotor_com_x" value="0.0"/>
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<xacro:property name="hip_rotor_com_y" value="0.0"/>
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<xacro:property name="hip_rotor_com_z" value="0.0"/>
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<xacro:property name="hip_rotor_ixx" value="0.000111842"/>
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<xacro:property name="hip_rotor_ixy" value="0.0"/>
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<xacro:property name="hip_rotor_ixz" value="0.0"/>
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<xacro:property name="hip_rotor_iyy" value="0.000059647"/>
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<xacro:property name="hip_rotor_iyz" value="0.0"/>
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<xacro:property name="hip_rotor_izz" value="0.000059647"/>
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<!-- thigh -->
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<xacro:property name="thigh_mass" value="0.92"/>
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<xacro:property name="thigh_com_x" value="-0.003342"/>
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<xacro:property name="thigh_com_y" value="-0.018054"/>
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<xacro:property name="thigh_com_z" value="-0.033451"/>
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<xacro:property name="thigh_ixx" value="0.004431760472"/>
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<xacro:property name="thigh_ixy" value="0.000057496807"/>
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<xacro:property name="thigh_ixz" value="-0.000218457134"/>
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<xacro:property name="thigh_iyy" value="0.004485671726"/>
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<xacro:property name="thigh_iyz" value="0.000572001265"/>
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<xacro:property name="thigh_izz" value="0.000740309489"/>
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<xacro:property name="thigh_rotor_mass" value="0.089"/>
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<xacro:property name="thigh_rotor_com_x" value="0.0"/>
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<xacro:property name="thigh_rotor_com_y" value="0.0"/>
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<xacro:property name="thigh_rotor_com_z" value="0.0"/>
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<xacro:property name="thigh_rotor_ixx" value="0.000059647"/>
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<xacro:property name="thigh_rotor_ixy" value="0.0"/>
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<xacro:property name="thigh_rotor_ixz" value="0.0"/>
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<xacro:property name="thigh_rotor_iyy" value="0.000111842"/>
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<xacro:property name="thigh_rotor_iyz" value="0.0"/>
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<xacro:property name="thigh_rotor_izz" value="0.000059647"/>
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<!-- calf -->
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<xacro:property name="calf_mass" value="0.135862"/>
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<xacro:property name="calf_com_x" value="0.006197"/>
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<xacro:property name="calf_com_y" value="0.001408"/>
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<xacro:property name="calf_com_z" value="-0.116695"/>
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<xacro:property name="calf_ixx" value="0.001088793059"/>
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<xacro:property name="calf_ixy" value="-0.000000255679"/>
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<xacro:property name="calf_ixz" value="0.000007117814"/>
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<xacro:property name="calf_iyy" value="0.001100428748"/>
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<xacro:property name="calf_iyz" value="0.000002077264"/>
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<xacro:property name="calf_izz" value="0.000024787446"/>
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<xacro:property name="calf_rotor_mass" value="0.089"/>
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<xacro:property name="calf_rotor_com_x" value="0.0"/>
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<xacro:property name="calf_rotor_com_y" value="0.0"/>
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<xacro:property name="calf_rotor_com_z" value="0.0"/>
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<xacro:property name="calf_rotor_ixx" value="0.000059647"/>
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<xacro:property name="calf_rotor_ixy" value="0.0"/>
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<xacro:property name="calf_rotor_ixz" value="0.0"/>
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<xacro:property name="calf_rotor_iyy" value="0.000111842"/>
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<xacro:property name="calf_rotor_iyz" value="0.0"/>
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<xacro:property name="calf_rotor_izz" value="0.000059647"/>
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<!-- foot -->
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<xacro:property name="foot_mass" value="0.06"/>
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</robot>
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@ -1,87 +0,0 @@
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:macro name="depthCamera" params="camID name *origin">
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<joint name="camera_joint_${name}" type="fixed">
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<xacro:insert_block name="origin"/>
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<parent link="trunk"/>
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<child link="camera_${name}"/>
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</joint>
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<link name="camera_${name}">
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<box size=".001 .001 .001"/>
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</geometry>
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</collision>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="package://go1_description/meshes/depthCamera.dae" scale="1 1 1"/>
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</geometry>
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</visual>
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<inertial>
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<mass value="1e-5" />
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
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</inertial>
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</link>
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<joint name="camera_optical_joint_${name}" type="fixed">
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<origin xyz="0 0 0" rpy="${-pi/2} 0 ${-pi/2}"/>
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<parent link="camera_${name}"/>
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<child link="camera_optical_${name}"/>
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</joint>
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<link name="camera_optical_${name}">
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</link>
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<gazebo reference="camera_${name}">
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<!-- <material>Gazebo/Black</material> -->
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<sensor name="camera_${name}_camera" type="depth">
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<update_rate>16</update_rate>
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<camera>
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<horizontal_fov>2.094</horizontal_fov>
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<image>
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<width>928</width>
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<height>800</height>
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<format>R8G8B8</format>
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</image>
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<clip>
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<near>0.1</near>
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<far>5</far>
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</clip>
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</camera>
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<plugin name="camera_${name}_controller" filename="libgazebo_ros_openni_kinect.so">
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<baseline>0.025</baseline>
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<alwaysOn>true</alwaysOn>
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<updateRate>0.0</updateRate>
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<cameraName>camera_${name}_ir</cameraName>
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<imageTopicName>/camera_${name}/color/image_raw</imageTopicName>
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<cameraInfoTopicName>/camera_${name}/color/camera_info</cameraInfoTopicName>
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<depthImageTopicName>/camera_${name}/depth/image_raw</depthImageTopicName>
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<depthImageInfoTopicName>/camera_${name}/depth/camera_info</depthImageInfoTopicName>
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<!-- <pointCloudTopicName>/camera_${name}/depth/points</pointCloudTopicName> -->
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<pointCloudTopicName>/cam${camID}/point_cloud_${name}</pointCloudTopicName>
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<frameName>camera_optical_${name}</frameName>
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<pointCloudCutoff>0.1</pointCloudCutoff>
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<pointCloudCutoffMax>1.5</pointCloudCutoffMax>
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<distortionK1>0.0</distortionK1>
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<distortionK2>0.0</distortionK2>
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<distortionK3>0.0</distortionK3>
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<distortionT1>0.0</distortionT1>
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<distortionT2>0.0</distortionT2>
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<CxPrime>0</CxPrime>
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<Cx>0.0045</Cx>
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<Cy>0.0039</Cy>
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<focalLength>0</focalLength>
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<hackBaseline>0</hackBaseline>
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</plugin>
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</sensor>
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</gazebo>
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</xacro:macro>
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</robot>
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@ -1,385 +0,0 @@
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<?xml version="1.0"?>
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<robot>
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<!-- ros_control plugin -->
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<gazebo>
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<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
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<robotNamespace>/go1_gazebo</robotNamespace>
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<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
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</plugin>
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</gazebo>
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<!-- Show the trajectory of trunk center. -->
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<gazebo>
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<plugin name="3dplot" filename="libLinkPlot3DPlugin.so">
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<frequency>10</frequency>
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<plot>
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<link>base</link>
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<pose>0 0 0 0 0 0</pose>
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<material>Gazebo/Yellow</material>
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</plot>
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</plugin>
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</gazebo>
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<!-- Show the trajectory of foot. You can add another trajectory about another foot. -->
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<!-- <gazebo>
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<plugin name="3dplot" filename="libLinkPlot3DPlugin.so">
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<frequency>100</frequency>
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<plot>
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<link>FL_foot</link>
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<pose>0 0 0 0 0 0</pose>
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<material>Gazebo/Green</material>
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</plot>
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</plugin>
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</gazebo> -->
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<gazebo>
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<plugin filename="libgazebo_ros_force.so" name="gazebo_ros_force">
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<bodyName>trunk</bodyName>
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<topicName>/apply_force/trunk</topicName>
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</plugin>
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</gazebo>
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<gazebo reference="imu_link">
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<gravity>true</gravity>
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<sensor name="imu_sensor" type="imu">
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<always_on>true</always_on>
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<update_rate>1000</update_rate>
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<visualize>true</visualize>
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<topic>__default_topic__</topic>
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<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
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<topicName>trunk_imu</topicName>
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<bodyName>imu_link</bodyName>
|
||||
<updateRateHZ>1000.0</updateRateHZ>
|
||||
<gaussianNoise>0.0</gaussianNoise>
|
||||
<xyzOffset>0 0 0</xyzOffset>
|
||||
<rpyOffset>0 0 0</rpyOffset>
|
||||
<frameName>imu_link</frameName>
|
||||
</plugin>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
</sensor>
|
||||
</gazebo>
|
||||
|
||||
<!-- Depth camera -->
|
||||
<!-- <gazebo>
|
||||
<plugin name="camera_plugin" filename="libgazebo_ros_openni_kinect.so">
|
||||
<baseline>0.025</baseline>
|
||||
<always_on>true</always_on>
|
||||
<updateRate>0.0</updateRate>
|
||||
<cameraName>unitree_camera_left</cameraName>
|
||||
<frameName>depthCamera_link_left</frameName>
|
||||
<imageTopicName>rgb/imageRaw_left</imageTopicName>
|
||||
<depthImageTopicName>depth/imageRaw_left</depthImageTopicName>
|
||||
<pointCloudTopicName>depth/points_left</pointCloudTopicName>
|
||||
<cameraInfoTopicName>rgb/cameraInfo_left</cameraInfoTopicName>
|
||||
<depthImageCameraInfoTopicName>depth/cameraInfo_left</depthImageCameraInfoTopicName>
|
||||
<pointCloudCutoff>0.1</pointCloudCutoff>
|
||||
<pointCloudCutoffMax>1.5</pointCloudCutoffMax>
|
||||
<distortionK1>0.0</distortionK1>
|
||||
<distortionK2>0.0</distortionK2>
|
||||
<distortionK3>0.0</distortionK3>
|
||||
<distortionT1>0.0</distortionT1>
|
||||
<distortionT2>0.0</distortionT2>
|
||||
<CxPrime>0.0</CxPrime>
|
||||
<Cx>0.0045</Cx>
|
||||
<Cy>0.0039</Cy>
|
||||
<focalLength>0.004</focalLength>
|
||||
<hackBaseline>0.0</hackBaseline>
|
||||
</plugin>
|
||||
</gazebo> -->
|
||||
|
||||
<!-- <gazebo reference="depthCamera_link_left">
|
||||
<sensor name="unitree_camera_left" type="depth_camera">
|
||||
<update_rate>16</update_rate>
|
||||
<always_on>true</always_on>
|
||||
<visualize>true</visualize>
|
||||
<camera>
|
||||
<horizontal_fov>2.094</horizontal_fov>
|
||||
<image>
|
||||
<width>928</width>
|
||||
<height>800</height>
|
||||
<format>R8G8B8</format>
|
||||
</image>
|
||||
<depth_camera></depth_camera>
|
||||
<clip>
|
||||
<near>0.1</near>
|
||||
<far>100</far>
|
||||
</clip>
|
||||
</camera>
|
||||
<plugin name="camera_plugin" filename="libgazebo_ros_openni_kinect.so">
|
||||
<baseline>0.025</baseline>
|
||||
<always_on>true</always_on>
|
||||
<updateRate>0.0</updateRate>
|
||||
<cameraName>unitree_camera_left</cameraName>
|
||||
<frameName>depthCamera_link_left</frameName>
|
||||
<imageTopicName>rgb/imageRaw_left</imageTopicName>
|
||||
<depthImageTopicName>depth/imageRaw_left</depthImageTopicName>
|
||||
<pointCloudTopicName>depth/points_left</pointCloudTopicName>
|
||||
<cameraInfoTopicName>rgb/cameraInfo_left</cameraInfoTopicName>
|
||||
<depthImageCameraInfoTopicName>depth/cameraInfo_left</depthImageCameraInfoTopicName>
|
||||
<pointCloudCutoff>0.1</pointCloudCutoff>
|
||||
<pointCloudCutoffMax>1.5</pointCloudCutoffMax>
|
||||
<distortionK1>0.0</distortionK1>
|
||||
<distortionK2>0.0</distortionK2>
|
||||
<distortionK3>0.0</distortionK3>
|
||||
<distortionT1>0.0</distortionT1>
|
||||
<distortionT2>0.0</distortionT2>
|
||||
<CxPrime>0.0</CxPrime>
|
||||
<Cx>0.0045</Cx>
|
||||
<Cy>0.0039</Cy>
|
||||
<focalLength>0.004</focalLength>
|
||||
<hackBaseline>0.0</hackBaseline>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</gazebo> -->
|
||||
|
||||
<gazebo reference="depthCamera_link_left">
|
||||
<sensor name="camera_link_camera" type="depth">
|
||||
<update_rate>20</update_rate>
|
||||
<camera>
|
||||
<horizontal_fov>1.047198</horizontal_fov>
|
||||
<image>
|
||||
<width>640</width>
|
||||
<height>480</height>
|
||||
<format>R8G8B8</format>
|
||||
</image>
|
||||
<clip>
|
||||
<near>0.05</near>
|
||||
<far>3</far>
|
||||
</clip>
|
||||
</camera>
|
||||
<plugin name="camera_link_controller" filename="libgazebo_ros_openni_kinect.so">
|
||||
<baseline>0.2</baseline>
|
||||
<alwaysOn>true</alwaysOn>
|
||||
<updateRate>1.0</updateRate>
|
||||
<cameraName>camera_link_ir</cameraName>
|
||||
<imageTopicName>/camera_link/color/image_raw</imageTopicName>
|
||||
<cameraInfoTopicName>/camera_link/color/camera_info</cameraInfoTopicName>
|
||||
<depthImageTopicName>/camera_link/depth/image_raw</depthImageTopicName>
|
||||
<depthImageInfoTopicName>/camera_link/depth/camera_info</depthImageInfoTopicName>
|
||||
<pointCloudTopicName>/camera_link/depth/points</pointCloudTopicName>
|
||||
<frameName>depthCamera_link_left</frameName>
|
||||
<pointCloudCutoff>0.5</pointCloudCutoff>
|
||||
<pointCloudCutoffMax>3.0</pointCloudCutoffMax>
|
||||
<distortionK1>0.00000001</distortionK1>
|
||||
<distortionK2>0.00000001</distortionK2>
|
||||
<distortionK3>0.00000001</distortionK3>
|
||||
<distortionT1>0.00000001</distortionT1>
|
||||
<distortionT2>0.00000001</distortionT2>
|
||||
<CxPrime>0</CxPrime>
|
||||
<Cx>0</Cx>
|
||||
<Cy>0</Cy>
|
||||
<focalLength>0</focalLength>
|
||||
<hackBaseline>0</hackBaseline>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</gazebo>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<!-- Foot contacts. -->
|
||||
<gazebo reference="FR_calf">
|
||||
<sensor name="FR_foot_contact" type="contact">
|
||||
<update_rate>100</update_rate>
|
||||
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
|
||||
<contact>
|
||||
<collision>FR_calf_fixed_joint_lump__FR_foot_collision_1</collision>
|
||||
</contact>
|
||||
</sensor>
|
||||
</gazebo>
|
||||
<gazebo reference="FL_calf">
|
||||
<sensor name="FL_foot_contact" type="contact">
|
||||
<update_rate>100</update_rate>
|
||||
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
|
||||
<contact>
|
||||
<collision>FL_calf_fixed_joint_lump__FL_foot_collision_1</collision>
|
||||
</contact>
|
||||
</sensor>
|
||||
</gazebo>
|
||||
<gazebo reference="RR_calf">
|
||||
<sensor name="RR_foot_contact" type="contact">
|
||||
<update_rate>100</update_rate>
|
||||
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
|
||||
<contact>
|
||||
<collision>RR_calf_fixed_joint_lump__RR_foot_collision_1</collision>
|
||||
</contact>
|
||||
</sensor>
|
||||
</gazebo>
|
||||
<gazebo reference="RL_calf">
|
||||
<sensor name="RL_foot_contact" type="contact">
|
||||
<update_rate>100</update_rate>
|
||||
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
|
||||
<contact>
|
||||
<collision>RL_calf_fixed_joint_lump__RL_foot_collision_1</collision>
|
||||
</contact>
|
||||
</sensor>
|
||||
</gazebo>
|
||||
|
||||
<!-- Visualization of Foot contacts. -->
|
||||
<gazebo reference="FR_foot">
|
||||
<visual>
|
||||
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
|
||||
<topicName>FR_foot_contact</topicName>
|
||||
</plugin>
|
||||
</visual>
|
||||
</gazebo>
|
||||
<gazebo reference="FL_foot">
|
||||
<visual>
|
||||
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
|
||||
<topicName>FL_foot_contact</topicName>
|
||||
</plugin>
|
||||
</visual>
|
||||
</gazebo>
|
||||
<gazebo reference="RR_foot">
|
||||
<visual>
|
||||
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
|
||||
<topicName>RR_foot_contact</topicName>
|
||||
</plugin>
|
||||
</visual>
|
||||
</gazebo>
|
||||
<gazebo reference="RL_foot">
|
||||
<visual>
|
||||
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
|
||||
<topicName>RL_foot_contact</topicName>
|
||||
</plugin>
|
||||
</visual>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="base">
|
||||
<material>Gazebo/Green</material>
|
||||
<turnGravityOff>false</turnGravityOff>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="trunk">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<kp value="1000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="stick_link">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<material>Gazebo/White</material>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="imu_link">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<material>Gazebo/Red</material>
|
||||
</gazebo>
|
||||
|
||||
<!-- FL leg -->
|
||||
<gazebo reference="FL_hip">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<material>Gazebo/DarkGrey</material>
|
||||
</gazebo>
|
||||
<gazebo reference="FL_thigh">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<self_collide>1</self_collide>
|
||||
<material>Gazebo/DarkGrey</material>
|
||||
<kp value="1000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
</gazebo>
|
||||
<gazebo reference="FL_calf">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<self_collide>1</self_collide>
|
||||
</gazebo>
|
||||
<gazebo reference="FL_foot">
|
||||
<mu1>0.6</mu1>
|
||||
<mu2>0.6</mu2>
|
||||
<self_collide>1</self_collide>
|
||||
<material>Gazebo/DarkGrey</material>
|
||||
<kp value="1000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
</gazebo>
|
||||
|
||||
<!-- FR leg -->
|
||||
<gazebo reference="FR_hip">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<material>Gazebo/DarkGrey</material>
|
||||
</gazebo>
|
||||
<gazebo reference="FR_thigh">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<self_collide>1</self_collide>
|
||||
<material>Gazebo/DarkGrey</material>
|
||||
<kp value="1000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
</gazebo>
|
||||
<gazebo reference="FR_calf">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<self_collide>1</self_collide>
|
||||
</gazebo>
|
||||
<gazebo reference="FR_foot">
|
||||
<mu1>0.6</mu1>
|
||||
<mu2>0.6</mu2>
|
||||
<self_collide>1</self_collide>
|
||||
<material>Gazebo/DarkGrey</material>
|
||||
<kp value="1000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
</gazebo>
|
||||
|
||||
<!-- RL leg -->
|
||||
<gazebo reference="RL_hip">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<material>Gazebo/DarkGrey</material>
|
||||
</gazebo>
|
||||
<gazebo reference="RL_thigh">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<self_collide>1</self_collide>
|
||||
<material>Gazebo/DarkGrey</material>
|
||||
<kp value="1000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
</gazebo>
|
||||
<gazebo reference="RL_calf">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<self_collide>1</self_collide>
|
||||
</gazebo>
|
||||
<gazebo reference="RL_foot">
|
||||
<mu1>0.6</mu1>
|
||||
<mu2>0.6</mu2>
|
||||
<self_collide>1</self_collide>
|
||||
<material>Gazebo/DarkGrey</material>
|
||||
<kp value="1000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
</gazebo>
|
||||
|
||||
<!-- RR leg -->
|
||||
<gazebo reference="RR_hip">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<material>Gazebo/DarkGrey</material>
|
||||
</gazebo>
|
||||
<gazebo reference="RR_thigh">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<self_collide>1</self_collide>
|
||||
<material>Gazebo/DarkGrey</material>
|
||||
<kp value="1000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
</gazebo>
|
||||
<gazebo reference="RR_calf">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<self_collide>1</self_collide>
|
||||
</gazebo>
|
||||
<gazebo reference="RR_foot">
|
||||
<mu1>0.6</mu1>
|
||||
<mu2>0.6</mu2>
|
||||
<self_collide>1</self_collide>
|
||||
<material>Gazebo/DarkGrey</material>
|
||||
<kp value="1000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
</gazebo>
|
||||
|
||||
</robot>
|
||||
|
|
@ -1,272 +0,0 @@
|
|||
<?xml version="1.0"?>
|
||||
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
|
||||
<xacro:include filename="$(find go1_description)/xacro/transmission.xacro"/>
|
||||
|
||||
<xacro:macro name="leg" params="name mirror mirror_dae front_hind front_hind_dae">
|
||||
|
||||
<joint name="${name}_hip_joint" type="revolute">
|
||||
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
|
||||
<origin rpy="0 0 0" xyz="${leg_offset_x} ${-leg_offset_y} 0"/>
|
||||
</xacro:if>
|
||||
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
|
||||
<origin rpy="0 0 0" xyz="${leg_offset_x} ${leg_offset_y} 0"/>
|
||||
</xacro:if>
|
||||
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
|
||||
<origin rpy="0 0 0" xyz="${-leg_offset_x} ${-leg_offset_y} 0"/>
|
||||
</xacro:if>
|
||||
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
|
||||
<origin rpy="0 0 0" xyz="${-leg_offset_x} ${leg_offset_y} 0"/>
|
||||
</xacro:if>
|
||||
<parent link="trunk"/>
|
||||
<child link="${name}_hip"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<dynamics damping="${damping}" friction="${friction}"/>
|
||||
<xacro:if value="${(mirror_dae == True)}">
|
||||
<limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${hip_position_min}" upper="${hip_position_max}"/>
|
||||
</xacro:if>
|
||||
<xacro:if value="${(mirror_dae == False)}">
|
||||
<limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${-hip_position_max}" upper="${-hip_position_min}"/>
|
||||
</xacro:if>
|
||||
</joint>
|
||||
|
||||
<joint name="${name}_hip_rotor_joint" type="fixed">
|
||||
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
|
||||
<origin rpy="0 0 0" xyz="${hip_rotor_offset_x} ${-hip_rotor_offset_y} 0"/>
|
||||
</xacro:if>
|
||||
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
|
||||
<origin rpy="0 0 0" xyz="${hip_rotor_offset_x} ${hip_rotor_offset_y} 0"/>
|
||||
</xacro:if>
|
||||
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
|
||||
<origin rpy="0 0 0" xyz="${-hip_rotor_offset_x} ${-hip_rotor_offset_y} 0"/>
|
||||
</xacro:if>
|
||||
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
|
||||
<origin rpy="0 0 0" xyz="${-hip_rotor_offset_x} ${hip_rotor_offset_y} 0"/>
|
||||
</xacro:if>
|
||||
<parent link="trunk"/>
|
||||
<child link="${name}_hip_rotor"/>
|
||||
</joint>
|
||||
|
||||
<link name="${name}_hip">
|
||||
<visual>
|
||||
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</xacro:if>
|
||||
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
|
||||
<origin rpy="${PI} 0 0" xyz="0 0 0"/>
|
||||
</xacro:if>
|
||||
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
|
||||
<origin rpy="0 ${PI} 0" xyz="0 0 0"/>
|
||||
</xacro:if>
|
||||
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
|
||||
<origin rpy="${PI} ${PI} 0" xyz="0 0 0"/>
|
||||
</xacro:if>
|
||||
<geometry>
|
||||
<mesh filename="package://go1_description/meshes/hip.dae" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<!-- <material name="orange"/> -->
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="${PI/2.0} 0 0" xyz="0 ${hip_offset*mirror} 0"/>
|
||||
<geometry>
|
||||
<cylinder length="${hip_length}" radius="${hip_radius}"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="${hip_com_x*front_hind} ${hip_com_y*mirror} ${hip_com_z}"/>
|
||||
<mass value="${hip_mass}"/>
|
||||
<inertia
|
||||
ixx="${hip_ixx}" ixy="${hip_ixy*mirror*front_hind}" ixz="${hip_ixz*front_hind}"
|
||||
iyy="${hip_iyy}" iyz="${hip_iyz*mirror}"
|
||||
izz="${hip_izz}"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<link name="${name}_hip_rotor">
|
||||
<visual>
|
||||
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.02" radius="0.035"/>
|
||||
</geometry>
|
||||
<material name="green"/>
|
||||
</visual>
|
||||
<!-- <collision>
|
||||
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.02" radius="0.035"/>
|
||||
</geometry>
|
||||
</collision> -->
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="${hip_rotor_com_x} ${hip_rotor_com_y} ${hip_rotor_com_z}"/>
|
||||
<mass value="${hip_rotor_mass}"/>
|
||||
<inertia
|
||||
ixx="${hip_rotor_ixx}" ixy="${hip_rotor_ixy}" ixz="${hip_rotor_ixz}"
|
||||
iyy="${hip_rotor_iyy}" iyz="${hip_rotor_iyz}"
|
||||
izz="${hip_rotor_izz}"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="${name}_thigh_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 ${thigh_offset*mirror} 0"/>
|
||||
<parent link="${name}_hip"/>
|
||||
<child link="${name}_thigh"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="${damping}" friction="${friction}"/>
|
||||
<limit effort="${thigh_torque_max}" velocity="${thigh_velocity_max}" lower="${thigh_position_min}" upper="${thigh_position_max}"/>
|
||||
</joint>
|
||||
|
||||
<joint name="${name}_thigh_rotor_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="${thigh_rotor_offset_x} ${thigh_rotor_offset_y*mirror} 0"/>
|
||||
<parent link="${name}_hip"/>
|
||||
<child link="${name}_thigh_rotor"/>
|
||||
</joint>
|
||||
|
||||
<link name="${name}_thigh">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<xacro:if value="${mirror_dae == True}">
|
||||
<mesh filename="package://go1_description/meshes/thigh.dae" scale="1 1 1"/>
|
||||
</xacro:if>
|
||||
<xacro:if value="${mirror_dae == False}">
|
||||
<mesh filename="package://go1_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
|
||||
</xacro:if>
|
||||
</geometry>
|
||||
<!-- <material name="orange"/> -->
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-thigh_length/2.0}"/>
|
||||
<geometry>
|
||||
<box size="${thigh_length} ${thigh_width} ${thigh_height}"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="${thigh_com_x} ${thigh_com_y*mirror} ${thigh_com_z}"/>
|
||||
<mass value="${thigh_mass}"/>
|
||||
<inertia
|
||||
ixx="${thigh_ixx}" ixy="${thigh_ixy*mirror}" ixz="${thigh_ixz}"
|
||||
iyy="${thigh_iyy}" iyz="${thigh_iyz*mirror}"
|
||||
izz="${thigh_izz}"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<link name="${name}_thigh_rotor">
|
||||
<visual>
|
||||
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.02" radius="0.035"/>
|
||||
</geometry>
|
||||
<material name="green"/>
|
||||
</visual>
|
||||
<!-- <collision>
|
||||
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.02" radius="0.035"/>
|
||||
</geometry>
|
||||
</collision> -->
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="${thigh_rotor_com_x} ${thigh_rotor_com_y} ${thigh_rotor_com_z}"/>
|
||||
<mass value="${thigh_rotor_mass}"/>
|
||||
<inertia
|
||||
ixx="${thigh_rotor_ixx}" ixy="${thigh_rotor_ixy}" ixz="${thigh_rotor_ixz}"
|
||||
iyy="${thigh_rotor_iyy}" iyz="${thigh_rotor_iyz}"
|
||||
izz="${thigh_rotor_izz}"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="${name}_calf_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 0 ${-thigh_length}"/>
|
||||
<parent link="${name}_thigh"/>
|
||||
<child link="${name}_calf"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="${damping}" friction="${friction}"/>
|
||||
<limit effort="${calf_torque_max}" velocity="${calf_velocity_max}" lower="${calf_position_min}" upper="${calf_position_max}"/>
|
||||
</joint>
|
||||
|
||||
<joint name="${name}_calf_rotor_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="${calf_rotor_offset_x} ${calf_rotor_offset_y*mirror} 0"/>
|
||||
<parent link="${name}_thigh"/>
|
||||
<child link="${name}_calf_rotor"/>
|
||||
</joint>
|
||||
|
||||
<link name="${name}_calf">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://go1_description/meshes/calf.dae" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<!-- <material name="orange"/> -->
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-calf_length/2.0}"/>
|
||||
<geometry>
|
||||
<box size="${calf_length} ${calf_width} ${calf_height}"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="${calf_com_x} ${calf_com_y} ${calf_com_z}"/>
|
||||
<mass value="${calf_mass}"/>
|
||||
<inertia
|
||||
ixx="${calf_ixx}" ixy="${calf_ixy}" ixz="${calf_ixz}"
|
||||
iyy="${calf_iyy}" iyz="${calf_iyz}"
|
||||
izz="${calf_izz}"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<link name="${name}_calf_rotor">
|
||||
<visual>
|
||||
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.02" radius="0.035"/>
|
||||
</geometry>
|
||||
<material name="green"/>
|
||||
</visual>
|
||||
<!-- <collision>
|
||||
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.02" radius="0.035"/>
|
||||
</geometry>
|
||||
</collision> -->
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="${calf_rotor_com_x} ${calf_rotor_com_y} ${calf_rotor_com_z}"/>
|
||||
<mass value="${calf_rotor_mass}"/>
|
||||
<inertia
|
||||
ixx="${calf_rotor_ixx}" ixy="${calf_rotor_ixy}" ixz="${calf_rotor_ixz}"
|
||||
iyy="${calf_rotor_iyy}" iyz="${calf_rotor_iyz}"
|
||||
izz="${calf_rotor_izz}"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="${name}_foot_fixed" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 ${-(calf_length)}"/>
|
||||
<parent link="${name}_calf"/>
|
||||
<child link="${name}_foot"/>
|
||||
</joint>
|
||||
|
||||
<link name="${name}_foot">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="${foot_radius-0.01}"/>
|
||||
</geometry>
|
||||
<!-- <material name="orange"/> -->
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="${foot_radius}"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="${foot_mass}"/>
|
||||
<inertia
|
||||
ixx="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}" ixy="0.0" ixz="0.0"
|
||||
iyy="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}" iyz="0.0"
|
||||
izz="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<xacro:leg_transmission name="${name}"/>
|
||||
</xacro:macro>
|
||||
</robot>
|
||||
|
|
@ -1,40 +0,0 @@
|
|||
<?xml version="1.0"?>
|
||||
<robot>
|
||||
|
||||
<material name="black">
|
||||
<color rgba="0.0 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="blue">
|
||||
<color rgba="0.0 0.0 0.8 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="green">
|
||||
<color rgba="0.0 0.8 0.0 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="grey">
|
||||
<color rgba="0.2 0.2 0.2 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="silver">
|
||||
<color rgba="${233/255} ${233/255} ${216/255} 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="orange">
|
||||
<color rgba="${255/255} ${108/255} ${10/255} 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="brown">
|
||||
<color rgba="${222/255} ${207/255} ${195/255} 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="red">
|
||||
<color rgba="0.8 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="white">
|
||||
<color rgba="1.0 1.0 1.0 1.0"/>
|
||||
</material>
|
||||
|
||||
</robot>
|
||||
|
|
@ -1,151 +0,0 @@
|
|||
<?xml version="1.0"?>
|
||||
|
||||
<robot name="go1" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
|
||||
<xacro:arg name="DEBUG" default="false"/>
|
||||
|
||||
<xacro:include filename="$(find go1_description)/xacro/const.xacro"/>
|
||||
<xacro:include filename="$(find go1_description)/xacro/materials.xacro"/>
|
||||
<xacro:include filename="$(find go1_description)/xacro/leg.xacro"/>
|
||||
<!-- <xacro:include filename="$(find go1_description)/xacro/stairs.xacro"/> -->
|
||||
<xacro:include filename="$(find go1_description)/xacro/gazebo.xacro"/>
|
||||
<xacro:include filename="$(find go1_description)/xacro/depthCamera.xacro"/>
|
||||
<xacro:include filename="$(find go1_description)/xacro/ultraSound.xacro"/>
|
||||
<!-- <xacro:include filename="$(find go1_gazebo)/launch/stairs.urdf.xacro"/> -->
|
||||
|
||||
<!-- <xacro:stairs stairs="15" xpos="0" ypos="0" zpos="0" /> -->
|
||||
|
||||
<!-- Rotor related joint and link is only for demonstrate location. -->
|
||||
<!-- Actually, the rotor will rotate and the joint is not fixed. Reduction ratio should be considered. -->
|
||||
|
||||
<!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
|
||||
<xacro:if value="$(arg DEBUG)">
|
||||
<link name="world"/>
|
||||
<joint name="base_static_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<parent link="world"/>
|
||||
<child link="base"/>
|
||||
</joint>
|
||||
</xacro:if>
|
||||
|
||||
<link name="base">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="floating_base" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<parent link="base"/>
|
||||
<child link="trunk"/>
|
||||
</joint>
|
||||
|
||||
<link name="trunk">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://go1_description/meshes/trunk.dae" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<!-- <material name="orange"/> -->
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="${trunk_length} ${trunk_width} ${trunk_height}"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="${trunk_com_x} ${trunk_com_y} ${trunk_com_z}"/>
|
||||
<mass value="${trunk_mass}"/>
|
||||
<inertia
|
||||
ixx="${trunk_ixx}" ixy="${trunk_ixy}" ixz="${trunk_ixz}"
|
||||
iyy="${trunk_iyy}" iyz="${trunk_iyz}"
|
||||
izz="${trunk_izz}"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="imu_joint" type="fixed">
|
||||
<parent link="trunk"/>
|
||||
<child link="imu_link"/>
|
||||
<origin rpy="0 0 0" xyz="-0.01592 -0.06659 -0.00617"/>
|
||||
</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>
|
||||
<!-- <material name="red"/> -->
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size=".001 .001 .001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<xacro:leg name="FR" mirror="-1" mirror_dae= "False" front_hind="1" front_hind_dae="True" />
|
||||
<xacro:leg name="FL" mirror="1" mirror_dae="True" front_hind="1" front_hind_dae="True" />
|
||||
<xacro:leg name="RR" mirror="-1" mirror_dae="False" front_hind="-1" front_hind_dae="False" />
|
||||
<xacro:leg name="RL" mirror="1" mirror_dae="True" front_hind="-1" front_hind_dae="False" />
|
||||
|
||||
<xacro:depthCamera camID="1" name="face">
|
||||
<origin rpy="${PI} 0 0" xyz="0.2785 0.0125 0.0167"/>
|
||||
</xacro:depthCamera>
|
||||
|
||||
<xacro:depthCamera camID="2" name="chin">
|
||||
<origin rpy="${PI} ${PI/2} 0" xyz="0.2522 0.0125 -0.0436"/>
|
||||
</xacro:depthCamera>
|
||||
|
||||
<xacro:depthCamera camID="3" name="left">
|
||||
<origin rpy="${PI} 0.2618 ${PI/2}" xyz="-0.066 0.082 -0.0176"/>
|
||||
</xacro:depthCamera>
|
||||
|
||||
<xacro:depthCamera camID="4" name="right">
|
||||
<origin rpy="${PI} 0.2618 ${-PI/2}" xyz="-0.041 -0.082 -0.0176"/>
|
||||
</xacro:depthCamera>
|
||||
|
||||
<xacro:depthCamera camID="5" name="rearDown">
|
||||
<origin rpy="${PI} ${PI/2} 0" xyz="-0.0825 0.0125 -0.04365"/>
|
||||
</xacro:depthCamera>
|
||||
|
||||
<joint name="camera_laserscan_joint_left" type="fixed">
|
||||
<origin rpy="0 0.2618 0" xyz="0 0 0"/>
|
||||
<parent link="camera_left"/>
|
||||
<child link="camera_laserscan_link_left"/>
|
||||
</joint>
|
||||
|
||||
<link name="camera_laserscan_link_left">
|
||||
</link>
|
||||
|
||||
<joint name="camera_laserscan_joint_right" type="fixed">
|
||||
<origin rpy="0 0.2618 0" xyz="0 0 0"/>
|
||||
<parent link="camera_right"/>
|
||||
<child link="camera_laserscan_link_right"/>
|
||||
</joint>
|
||||
|
||||
<link name="camera_laserscan_link_right">
|
||||
</link>
|
||||
|
||||
<xacro:ultraSound name="left">
|
||||
<origin rpy="0 0.2618 ${PI/2}" xyz="-0.0535 0.0826 0.00868"/>
|
||||
</xacro:ultraSound>
|
||||
|
||||
<xacro:ultraSound name="right">
|
||||
<origin rpy="0 0.2618 ${-PI/2}" xyz="-0.0535 -0.0826 0.00868"/>
|
||||
</xacro:ultraSound>
|
||||
|
||||
<xacro:ultraSound name="face">
|
||||
<origin rpy="0 0 0" xyz="0.2747 0.0 -0.0088"/>
|
||||
</xacro:ultraSound>
|
||||
</robot>
|
||||
|
|
@ -1,160 +0,0 @@
|
|||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
|
||||
<xacro:macro name="r6bot_ros2_control" params="name">
|
||||
|
||||
<ros2_control name="${name}" type="system">
|
||||
|
||||
<hardware>
|
||||
<plugin>hardware_unitree_mujoco/HardwareUnitree</plugin>
|
||||
</hardware>
|
||||
|
||||
<joint name="FR_hip_joint">
|
||||
<command_interface name="position"/>
|
||||
<command_interface name="velocity"/>
|
||||
<command_interface name="effort"/>
|
||||
<command_interface name="kp"/>
|
||||
<command_interface name="kd"/>
|
||||
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
|
||||
<joint name="FR_thigh_joint">
|
||||
<command_interface name="position"/>
|
||||
<command_interface name="velocity"/>
|
||||
<command_interface name="effort"/>
|
||||
<command_interface name="kp"/>
|
||||
<command_interface name="kd"/>
|
||||
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
|
||||
<joint name="FR_calf_joint">
|
||||
<command_interface name="position"/>
|
||||
<command_interface name="velocity"/>
|
||||
<command_interface name="effort"/>
|
||||
<command_interface name="kp"/>
|
||||
<command_interface name="kd"/>
|
||||
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
|
||||
<joint name="FL_hip_joint">
|
||||
<command_interface name="position"/>
|
||||
<command_interface name="velocity"/>
|
||||
<command_interface name="effort"/>
|
||||
<command_interface name="kp"/>
|
||||
<command_interface name="kd"/>
|
||||
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
|
||||
<joint name="FL_thigh_joint">
|
||||
<command_interface name="position"/>
|
||||
<command_interface name="velocity"/>
|
||||
<command_interface name="effort"/>
|
||||
<command_interface name="kp"/>
|
||||
<command_interface name="kd"/>
|
||||
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
|
||||
<joint name="FL_calf_joint">
|
||||
<command_interface name="position"/>
|
||||
<command_interface name="velocity"/>
|
||||
<command_interface name="effort"/>
|
||||
<command_interface name="kp"/>
|
||||
<command_interface name="kd"/>
|
||||
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
|
||||
<joint name="RR_hip_joint">
|
||||
<command_interface name="position"/>
|
||||
<command_interface name="velocity"/>
|
||||
<command_interface name="effort"/>
|
||||
<command_interface name="kp"/>
|
||||
<command_interface name="kd"/>
|
||||
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
|
||||
<joint name="RR_thigh_joint">
|
||||
<command_interface name="position"/>
|
||||
<command_interface name="velocity"/>
|
||||
<command_interface name="effort"/>
|
||||
<command_interface name="kp"/>
|
||||
<command_interface name="kd"/>
|
||||
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
|
||||
<joint name="RR_calf_joint">
|
||||
<command_interface name="position"/>
|
||||
<command_interface name="velocity"/>
|
||||
<command_interface name="effort"/>
|
||||
<command_interface name="kp"/>
|
||||
<command_interface name="kd"/>
|
||||
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
|
||||
<joint name="RL_hip_joint">
|
||||
<command_interface name="position"/>
|
||||
<command_interface name="velocity"/>
|
||||
<command_interface name="effort"/>
|
||||
<command_interface name="kp"/>
|
||||
<command_interface name="kd"/>
|
||||
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
|
||||
<joint name="RL_thigh_joint">
|
||||
<command_interface name="position"/>
|
||||
<command_interface name="velocity"/>
|
||||
<command_interface name="effort"/>
|
||||
<command_interface name="kp"/>
|
||||
<command_interface name="kd"/>
|
||||
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
|
||||
<joint name="RL_calf_joint">
|
||||
<command_interface name="position"/>
|
||||
<command_interface name="velocity"/>
|
||||
<command_interface name="effort"/>
|
||||
<command_interface name="kp"/>
|
||||
<command_interface name="kd"/>
|
||||
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
|
||||
</ros2_control>
|
||||
|
||||
</xacro:macro>
|
||||
|
||||
</robot>
|
||||
|
|
@ -1,42 +0,0 @@
|
|||
<?xml version="1.0"?>
|
||||
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
|
||||
<xacro:macro name="leg_transmission" params="name">
|
||||
|
||||
<transmission name="${name}_hip_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="${name}_hip_joint">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="${name}_hip_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<transmission name="${name}_thigh_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="${name}_thigh_joint">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="${name}_thigh_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<transmission name="${name}_calf_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="${name}_calf_joint">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="${name}_calf_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
</xacro:macro>
|
||||
|
||||
</robot>
|
||||
|
|
@ -1,33 +0,0 @@
|
|||
<?xml version="1.0"?>
|
||||
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<xacro:macro name="ultraSound" params="name *origin">
|
||||
<joint name="ultraSound_joint_${name}" type="fixed">
|
||||
<xacro:insert_block name="origin"/>
|
||||
<parent link="trunk"/>
|
||||
<child link="ultraSound_${name}"/>
|
||||
</joint>
|
||||
<link name="ultraSound_${name}">
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size=".001 .001 .001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://go1_description/meshes/ultraSound.dae" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
|
||||
<inertial>
|
||||
<mass value="1e-5" />
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
|
||||
</inertial>
|
||||
</link>
|
||||
</xacro:macro>
|
||||
</robot>
|
||||
Loading…
Reference in New Issue