modified folder structure
This commit is contained in:
Huang Zhenbiao
parent
618742ac44
commit
b2f9f0e685
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@ -41,4 +41,4 @@ ros2 launch go2_description unitree_guide.launch.py
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source ~/ros2_ws/install/setup.bash
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ros2 run keyboard_input keyboard_input
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```
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For more details, please refer to the [unitree guide controller](controllers/unitree_guide_controller/) and [go2 description](descriptions/go2_description/).
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For more details, please refer to the [unitree guide controller](controllers/unitree_guide_controller/) and [go2 description](descriptions/unitree/go2_description/).
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@ -38,5 +38,5 @@ colcon build --packages-up-to unitree_guide_controller
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```
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## 3. Run
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* [Go2 in mujoco simulation](../../descriptions/go2_description)
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* [Go2 in mujoco simulation](../../descriptions/unitree/go2_description)
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* [Go1/A1 in gazebo simulation](../../descriptions/quadruped_gazebo)
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@ -0,0 +1,25 @@
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# Robot Descriptions
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This folder contains the URDF and SRDF files for the quadruped robot.
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* Unitree
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* [Go1](unitree/go1_description/)
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* [Go2](unitree/go2_description/)
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* [Aliengo](unitree/aliengo_description/)
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* [B2](unitree/b2_description/)
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* Xiaomi
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* [Cyberdog](xiaomi/cyberdog_description/)
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## Steps to transfer urdf to Mujoco model
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* Install [Mujoco](https://github.com/google-deepmind/mujoco)
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* Transfer the mesh files to mujoco supported format, like stl.
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* Adjust the urdf tile to match the mesh file. Transfer the mesh file from .dae to .stl may change the scale size of the mesh file.
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* use `xacro` to generate the urdf file.
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```
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xacro robot.xacro > ../urdf/robot.urdf
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```
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* use mujoco to convert the urdf file to mujoco model.
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```
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compile robot.urdf robot.xml
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```
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@ -1,95 +0,0 @@
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# Controller Manager configuration
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controller_manager:
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ros__parameters:
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update_rate: 500 # Hz
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# Define the available controllers
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joint_state_broadcaster:
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type: joint_state_broadcaster/JointStateBroadcaster
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imu_sensor_broadcaster:
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type: imu_sensor_broadcaster/IMUSensorBroadcaster
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leg_pd_controller:
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type: leg_pd_controller/LegPdController
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unitree_guide_controller:
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type: unitree_guide_controller/UnitreeGuideController
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imu_sensor_broadcaster:
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ros__parameters:
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sensor_name: "imu_sensor"
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frame_id: "imu_link"
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leg_pd_controller:
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ros__parameters:
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joints:
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- FR_abad_joint
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- FR_hip_joint
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- FR_knee_joint
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- FL_abad_joint
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- FL_hip_joint
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- FL_knee_joint
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- RR_abad_joint
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- RR_hip_joint
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- RR_knee_joint
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- RL_abad_joint
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- RL_hip_joint
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- RL_knee_joint
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command_interfaces:
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- effort
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state_interfaces:
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- position
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- velocity
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unitree_guide_controller:
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ros__parameters:
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command_prefix: "leg_pd_controller"
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joints:
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- FR_abad_joint
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- FR_hip_joint
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- FR_knee_joint
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- FL_abad_joint
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- FL_hip_joint
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- FL_knee_joint
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- RR_abad_joint
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- RR_hip_joint
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- RR_knee_joint
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- RL_abad_joint
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- RL_hip_joint
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- RL_knee_joint
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command_interfaces:
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- effort
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- position
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- velocity
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- kp
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- kd
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state_interfaces:
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- effort
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- position
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- velocity
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feet_names:
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- FR_foot
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- FL_foot
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- RR_foot
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- RL_foot
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imu_name: "imu_sensor"
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base_name: "base_link"
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imu_interfaces:
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- orientation.w
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- orientation.x
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- orientation.y
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- orientation.z
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- angular_velocity.x
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- angular_velocity.y
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- angular_velocity.z
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- linear_acceleration.x
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- linear_acceleration.y
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- linear_acceleration.z
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@ -1,125 +0,0 @@
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<?xml version="1.0"?>
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<robot name="cyberdog" xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:property name="PI" value="3.1415926535897931" />
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<!-- dimension -->
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<!-- body -->
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<xacro:property name="body_width" value="0.190" />
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<xacro:property name="body_length" value="0.236" />
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<xacro:property name="body_height" value="0.109" />
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<!-- abad -->
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<xacro:property name="abad_radius" value="0.039" />
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<xacro:property name="abad_length" value="0.035" />
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<xacro:property name="abad_offset_x" value="0.164" />
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<xacro:property name="abad_offset_y" value="0.042" />
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<xacro:property name="abad_rotor_offset" value="0.0642303" />
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<xacro:property name="abad_max" value="39" />
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<xacro:property name="abad_min" value="-39" />
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<!-- hip -->
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<xacro:property name="hip_shoulder_radius" value="0.039" />
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<xacro:property name="hip_shoulder_length" value="0.035" />
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<xacro:property name="hip_width" value="0.0250" />
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<xacro:property name="hip_height" value="0.034" />
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<xacro:property name="hip_offset" value="0.094" />
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<xacro:property name="hip_length" value="0.12" />
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<xacro:property name="hip_rotor_offset" value="-0.07577" />
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<xacro:property name="hip_f_max" value="160" />
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<xacro:property name="hip_f_min" value="-76" />
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<xacro:property name="hip_h_max" value="180" />
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<xacro:property name="hip_h_min" value="-56" />
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<!-- knee -->
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<xacro:property name="knee_width" value="0.016" />
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<xacro:property name="knee_height" value="0.016" />
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<xacro:property name="knee_length" value="0.18341" />
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<xacro:property name="knee_rotor_offset" value="-0.0342303" />
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<xacro:property name="knee_max" value="-30" />
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<xacro:property name="knee_min" value="-145" />
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<xacro:property name="knee_rubber" value="0.02" />
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<!-- foot -->
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<xacro:property name="foot_radius" value="0.019" />
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<!-- acuator atribute -->
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<xacro:property name="abadGearRatio" value="7.75" />
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<xacro:property name="hipGearRatio" value="7.75" />
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<xacro:property name="kneeGearRatio" value="7.75" />
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<xacro:property name="abad_motorTauMax" value="1.5484" />
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<xacro:property name="hip_motorTauMax" value="1.5484" />
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<xacro:property name="knee_motorTauMax" value="1.5484" />
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<xacro:property name="abad_motorVelMax" value="30.9971" />
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<xacro:property name="hip_motorVelMax" value="30.9971" />
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<xacro:property name="knee_motorVelMax" value="30.9971" />
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<xacro:property name="abad_damping" value="0.01" />
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<xacro:property name="hip_damping" value="0.01" />
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<xacro:property name="knee_damping" value="0.01" />
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<xacro:property name="abad_friction" value="0.1" />
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<xacro:property name="hip_friction" value="0.1" />
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<xacro:property name="knee_friction" value="0.1" />
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<!-- inertial&mass value -->
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<!-- body -->
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<xacro:property name="body_mass" value="4.030000000" />
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<xacro:property name="body_com_x" value="0.027300000" />
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<xacro:property name="body_com_y" value="-0.000242000" />
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<xacro:property name="body_com_z" value="0.014300000" />
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<xacro:property name="body_ixx" value="0.018500000" />
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<xacro:property name="body_ixy" value="-0.000173000" />
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<xacro:property name="body_ixz" value="-0.010200000" />
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<xacro:property name="body_iyy" value="0.051700000" />
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<xacro:property name="body_iyz" value="-0.000028300" />
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<xacro:property name="body_izz" value="0.048300000" />
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<!-- abad -->
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<xacro:property name="abad_mass" value="0.354000000" />
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<xacro:property name="abad_com_x" value="-0.003920000" />
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<xacro:property name="abad_com_y" value="0.015000000" />
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<xacro:property name="abad_com_z" value="-0.000306000" />
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<xacro:property name="abad_ixx" value="0.000190000" />
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<xacro:property name="abad_ixy" value="-0.000027000" />
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<xacro:property name="abad_ixz" value="-0.000000344" />
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<xacro:property name="abad_iyy" value="0.000276000" />
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<xacro:property name="abad_iyz" value="0.000001950" />
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<xacro:property name="abad_izz" value="0.000233000" />
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<!-- hip -->
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<xacro:property name="hip_mass" value="0.482000000" />
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<xacro:property name="hip_com_x" value="-0.002120000" />
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<xacro:property name="hip_com_y" value="-0.021200000" />
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<xacro:property name="hip_com_z" value="-0.018400000" />
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<xacro:property name="hip_ixx" value="0.001010000" />
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<xacro:property name="hip_ixy" value="0.000022300" />
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<xacro:property name="hip_ixz" value="-0.000038500" />
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<xacro:property name="hip_iyy" value="0.000983000" />
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<xacro:property name="hip_iyz" value="0.000199000" />
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<xacro:property name="hip_izz" value="0.000347000" />
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<!-- knee -->
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<xacro:property name="knee_mass" value="0.116000000" />
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<xacro:property name="knee_com_x" value="0.000600000" />
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<xacro:property name="knee_com_y" value="-0.000047200" />
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<xacro:property name="knee_com_z" value="-0.089300000" />
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<xacro:property name="knee_ixx" value="0.000668000" />
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<xacro:property name="knee_ixy" value="0.000000003" />
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<xacro:property name="knee_ixz" value="0.000023700" />
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<xacro:property name="knee_iyy" value="0.000674000" />
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<xacro:property name="knee_iyz" value="0.000000603" />
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<xacro:property name="knee_izz" value="0.000015400" />
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<!-- rotor -->
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<xacro:property name="rotor_mass" value="0.056700000" />
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<xacro:property name="rotor_com_x" value="0" />
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<xacro:property name="rotor_com_y" value="0" />
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<xacro:property name="rotor_com_z" value="0" />
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<xacro:property name="rotor_ixx" value="0.000025300" />
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<xacro:property name="rotor_ixy" value="0" />
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<xacro:property name="rotor_ixz" value="0" />
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<xacro:property name="rotor_iyy" value="0.000047800" />
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<xacro:property name="rotor_iyz" value="0" />
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<xacro:property name="rotor_izz" value="0.000025300" />
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</robot>
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@ -1,154 +0,0 @@
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<?xml version="1.0"?>
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<robot name="cyber_dog" xmlns:xacro="http://www.ros.org/wiki/xacro">
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<!-- <gazebo>-->
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<!-- <plugin name="gazebo_rt_control" filename="liblegged_plugin.so">-->
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<!-- </plugin>-->
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<!-- <plugin name="gazebo_rt_control" filename="libreal_time_control.so">-->
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<!-- <robotName>$(arg ROBOT)</robotName>-->
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<!-- </plugin>-->
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<!-- </gazebo>-->
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<gazebo reference="imu_link">
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<sensor name="imu_sensor" type="imu">
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<always_on>1</always_on>
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<update_rate>500</update_rate>
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<visualize>true</visualize>
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<topic>imu</topic>
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<imu>
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<angular_velocity>
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<x>
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<noise type="gaussian">
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<mean>0.0</mean>
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<stddev>2e-4</stddev>
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<bias_mean>0.0000075</bias_mean>
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<bias_stddev>0.0000008</bias_stddev>
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</noise>
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</x>
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<y>
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<noise type="gaussian">
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<mean>0.0</mean>
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<stddev>2e-4</stddev>
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<bias_mean>0.0000075</bias_mean>
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<bias_stddev>0.0000008</bias_stddev>
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</noise>
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</y>
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<z>
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<noise type="gaussian">
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<mean>0.0</mean>
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<stddev>2e-4</stddev>
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<bias_mean>0.0000075</bias_mean>
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<bias_stddev>0.0000008</bias_stddev>
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</noise>
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</z>
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</angular_velocity>
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<linear_acceleration>
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<x>
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<noise type="gaussian">
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<mean>0.0</mean>
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<stddev>1.7e-2</stddev>
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<bias_mean>0.1</bias_mean>
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<bias_stddev>0.001</bias_stddev>
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</noise>
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</x>
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<y>
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<noise type="gaussian">
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<mean>0.0</mean>
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<stddev>1.7e-2</stddev>
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<bias_mean>0.1</bias_mean>
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<bias_stddev>0.001</bias_stddev>
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</noise>
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</y>
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<z>
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<noise type="gaussian">
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<mean>0.0</mean>
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<stddev>1.7e-2</stddev>
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<bias_mean>0.1</bias_mean>
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<bias_stddev>0.001</bias_stddev>
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</noise>
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</z>
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</linear_acceleration>
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</imu>
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</sensor>
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</gazebo>
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<gazebo reference="imu_joint">
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<disableFixedJointLumping>true</disableFixedJointLumping>
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</gazebo>
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<!-- <xacro:if value="$(arg USE_LIDAR)">-->
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<!-- <gazebo reference="lidar_link">-->
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<!-- <sensor name="realsense" type="ray">-->
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<!-- <always_on>true</always_on>-->
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<!-- <visualize>true</visualize>-->
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<!-- <pose>0.0 0 0.0 0 0 0</pose>-->
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<!-- <update_rate>5</update_rate>-->
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<!-- <ray>-->
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<!-- <scan>-->
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<!-- <horizontal>-->
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<!-- <samples>180</samples>-->
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<!-- <resolution>1.000000</resolution>-->
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<!-- <min_angle>-1.5700</min_angle>-->
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<!-- <max_angle>1.5700</max_angle>-->
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<!-- </horizontal>-->
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<!-- </scan>-->
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<!-- <range>-->
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<!-- <min>0.01</min>-->
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<!-- <max>12.00</max>-->
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<!-- <resolution>0.015000</resolution>-->
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<!-- </range>-->
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<!-- <noise>-->
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<!-- <type>gaussian</type>-->
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<!-- <mean>0.0</mean>-->
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<!-- <stddev>0.01</stddev>-->
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<!-- </noise>-->
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<!-- </ray>-->
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<!-- <plugin name="cyberdog_laserscan" filename="libgazebo_ros_ray_sensor.so">-->
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<!-- <ros>-->
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<!-- <remapping>~/out:=scan</remapping>-->
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<!-- </ros>-->
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<!-- <output_type>sensor_msgs/LaserScan</output_type>-->
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<!-- <frame_name>lidar_link</frame_name>-->
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<!-- </plugin>-->
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<!-- </sensor>-->
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<!-- </gazebo>-->
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<!-- </xacro:if>-->
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<!-- <!– Foot contacts. –>-->
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<!-- <gazebo reference="FR_knee">-->
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<!-- <sensor name="FR_foot_contact" type="contact">-->
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<!-- <update_rate>100</update_rate>-->
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<!-- <plugin name="contactPlugin" filename="libfoot_contact_plugin.so"/>-->
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<!-- <contact>-->
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<!-- <collision>FR_knee_fixed_joint_lump__FR_foot_collision_2</collision>-->
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<!-- </contact>-->
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<!-- </sensor>-->
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<!-- </gazebo>-->
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<!-- <gazebo reference="FL_knee">-->
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<!-- <sensor name="FL_foot_contact" type="contact">-->
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<!-- <update_rate>100</update_rate>-->
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<!-- <plugin name="contactPlugin" filename="libfoot_contact_plugin.so"/>-->
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<!-- <contact>-->
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<!-- <collision>FL_knee_fixed_joint_lump__FL_foot_collision_2</collision>-->
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<!-- </contact>-->
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<!-- </sensor>-->
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<!-- </gazebo>-->
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<!-- <gazebo reference="RR_knee">-->
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<!-- <sensor name="RR_foot_contact" type="contact">-->
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<!-- <update_rate>100</update_rate>-->
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<!-- <plugin name="contactPlugin" filename="libfoot_contact_plugin.so"/>-->
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<!-- <contact>-->
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<!-- <collision>RR_knee_fixed_joint_lump__RR_foot_collision_2</collision>-->
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<!-- </contact>-->
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<!-- </sensor>-->
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<!-- </gazebo>-->
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<!-- <gazebo reference="RL_knee">-->
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<!-- <sensor name="RL_foot_contact" type="contact">-->
|
||||
<!-- <update_rate>100</update_rate>-->
|
||||
<!-- <plugin name="contactPlugin" filename="libfoot_contact_plugin.so"/>-->
|
||||
<!-- <contact>-->
|
||||
<!-- <collision>RL_knee_fixed_joint_lump__RL_foot_collision_2</collision>-->
|
||||
<!-- </contact>-->
|
||||
<!-- </sensor>-->
|
||||
<!-- </gazebo>-->
|
||||
|
||||
</robot>
|
||||
|
|
@ -1,295 +0,0 @@
|
|||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
|
||||
<xacro:include filename="$(find cyberdog_description)/xacro/transmission.xacro"/>
|
||||
|
||||
<xacro:macro name="leg" params="name mirror mirror_dae front_hind front_hind_dae *origin">
|
||||
|
||||
<joint name="${name}_abad_joint" type="revolute">
|
||||
<xacro:insert_block name="origin"/>
|
||||
<parent link="body"/>
|
||||
<child link="${name}_abad"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<dynamics damping="${abad_damping}" friction="${abad_friction}"/>
|
||||
<xacro:if value="${(mirror_dae == True)}">
|
||||
<limit effort="${abad_motorTauMax*abadGearRatio}"
|
||||
velocity="${abad_motorVelMax}" lower="${abad_min*PI/180.0}"
|
||||
upper="${abad_max*PI/180.0}"/>
|
||||
</xacro:if>
|
||||
<xacro:if value="${(mirror_dae == False)}">
|
||||
<limit effort="${abad_motorTauMax*abadGearRatio}"
|
||||
velocity="${abad_motorVelMax}" lower="${-abad_max*PI/180.0}"
|
||||
upper="${-abad_min*PI/180.0}"/>
|
||||
</xacro:if>
|
||||
</joint>
|
||||
|
||||
<link name="${name}_abad">
|
||||
<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} ${PI} 0" xyz="0 0 0"/>
|
||||
</xacro:if>
|
||||
<geometry>
|
||||
<mesh filename="file://$(find cyberdog_description)/meshes/abad.dae" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="${abad_length}" radius="${abad_radius}"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0"
|
||||
xyz="${abad_com_x*front_hind} ${abad_com_y*mirror} ${abad_com_z}"/>
|
||||
<mass value="${abad_mass}"/>
|
||||
<inertia ixx="${abad_ixx}" ixy="${abad_ixy*mirror*front_hind}"
|
||||
ixz="${abad_ixz*front_hind}" iyy="${abad_iyy}" iyz="${abad_iyz*mirror}"
|
||||
izz="${abad_izz}"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="${name}_abad_rotor_fix" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="${-abad_rotor_offset*front_hind} 0 0"/>
|
||||
<parent link="${name}_abad"/>
|
||||
<child link="${name}_abad_rotor"/>
|
||||
</joint>
|
||||
|
||||
<!-- this link is only for abad rotor inertial -->
|
||||
<link name="${name}_abad_rotor">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="${rotor_com_x} ${rotor_com_y} ${rotor_com_z}"/>
|
||||
<mass value="${rotor_mass}"/>
|
||||
<inertia ixx="${rotor_ixx}" ixy="${rotor_ixy}" ixz="${rotor_ixz}" iyy="${rotor_iyy}" iyz="${rotor_iyz}"
|
||||
izz="${rotor_izz}"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="${name}_abad_fixed" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 ${(hip_offset-hip_shoulder_length)*mirror} 0"/>
|
||||
<parent link="${name}_abad"/>
|
||||
<child link="${name}_hip_shoulder"/>
|
||||
</joint>
|
||||
|
||||
<link name="${name}_hip_shoulder">
|
||||
<collision>
|
||||
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="${hip_shoulder_length}" radius="${hip_shoulder_radius}"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="${name}_hip_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 ${hip_offset*mirror} 0"/>
|
||||
<parent link="${name}_abad"/>
|
||||
<child link="${name}_hip"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="${hip_damping}" friction="${hip_friction}"/>
|
||||
<xacro:if value="${front_hind_dae == True}">
|
||||
<limit effort="${hip_motorTauMax*hipGearRatio}"
|
||||
velocity="${hip_motorVelMax}" lower="${hip_f_min*PI/180.0}"
|
||||
upper="${hip_f_max*PI/180.0}"/>
|
||||
</xacro:if>
|
||||
<xacro:if value="${front_hind_dae == False}">
|
||||
<limit effort="${hip_motorTauMax*hipGearRatio}"
|
||||
velocity="${hip_motorVelMax}" lower="${hip_h_min*PI/180.0}"
|
||||
upper="${hip_h_max*PI/180.0}"/>
|
||||
</xacro:if>
|
||||
</joint>
|
||||
|
||||
<link name="${name}_hip">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<xacro:if value="${mirror_dae == True}">
|
||||
<mesh filename="file://$(find cyberdog_description)/meshes/hip.dae"
|
||||
scale="1 1 1"/>
|
||||
</xacro:if>
|
||||
<xacro:if value="${mirror_dae == False}">
|
||||
<mesh filename="file://$(find cyberdog_description)/meshes/hip_mirror.dae"
|
||||
scale="1 1 1"/>
|
||||
</xacro:if>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-hip_length/2.0}"/>
|
||||
<geometry>
|
||||
<box size="${hip_length} ${hip_width} ${hip_height}"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="${hip_com_x} ${hip_com_y*mirror} ${hip_com_z}"/>
|
||||
<mass value="${hip_mass}"/>
|
||||
<inertia ixx="${hip_ixx}" ixy="${hip_ixy*mirror}" ixz="${hip_ixz}" iyy="${hip_iyy}"
|
||||
iyz="${hip_iyz*mirror}" izz="${hip_izz}"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="${name}_hip_rotor_fix" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 ${hip_rotor_offset*mirror} 0"/>
|
||||
<parent link="${name}_hip"/>
|
||||
<child link="${name}_hip_rotor"/>
|
||||
</joint>
|
||||
|
||||
<!-- this link is only for hip rotor inertial -->
|
||||
<link name="${name}_hip_rotor">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="${rotor_com_x} ${rotor_com_y} ${rotor_com_z}"/>
|
||||
<mass value="${rotor_mass}"/>
|
||||
<inertia ixx="${rotor_ixx}" ixy="${rotor_ixy}" ixz="${rotor_ixz}" iyy="${rotor_iyy}" iyz="${rotor_iyz}"
|
||||
izz="${rotor_izz}"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="${name}_knee_rotor_fix" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 ${knee_rotor_offset*mirror} 0"/>
|
||||
<parent link="${name}_hip"/>
|
||||
<child link="${name}_knee_rotor"/>
|
||||
</joint>
|
||||
|
||||
<!-- this link is only for knee rotor inertial -->
|
||||
<link name="${name}_knee_rotor">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="${rotor_com_x} ${rotor_com_y} ${rotor_com_z}"/>
|
||||
<mass value="${rotor_mass}"/>
|
||||
<inertia ixx="${rotor_ixx}" ixy="${rotor_ixy}" ixz="${rotor_ixz}" iyy="${rotor_iyy}" iyz="${rotor_iyz}"
|
||||
izz="${rotor_izz}"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="${name}_knee_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 0 ${-hip_length}"/>
|
||||
<parent link="${name}_hip"/>
|
||||
<child link="${name}_knee"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="${hip_damping}" friction="${hip_friction}"/>
|
||||
<limit effort="${knee_motorTauMax*kneeGearRatio}"
|
||||
velocity="${knee_motorVelMax}" lower="${knee_min*PI/180.0}"
|
||||
upper="${knee_max*PI/180.0}"/>
|
||||
</joint>
|
||||
|
||||
<link name="${name}_knee">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://$(find cyberdog_description)/meshes/knee.dae" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 ${PI} 0" xyz="0 0 ${-knee_length/2.0}"/>
|
||||
<geometry>
|
||||
<box size="${knee_height} ${knee_width} ${knee_length}"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision name="${name}_knee_rubber">
|
||||
<origin rpy="0 ${PI} 0" xyz="${-knee_rubber/2.0} 0 -0.007"/>
|
||||
<geometry>
|
||||
<sphere radius="0.016"/>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode>
|
||||
<max_vel>0.00001</max_vel>
|
||||
<min_depth>0.0</min_depth>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="${knee_com_x} ${knee_com_y} ${knee_com_z}"/>
|
||||
<mass value="${knee_mass}"/>
|
||||
<inertia ixx="${knee_ixx}" ixy="${knee_ixy}" ixz="${knee_ixz}" iyy="${knee_iyy}"
|
||||
iyz="${knee_iyz}" izz="${knee_izz}"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="${name}_foot_fixed" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0.0055 0 ${-knee_length+foot_radius/2.0}"/>
|
||||
<parent link="${name}_knee"/>
|
||||
<child link="${name}_foot"/>
|
||||
</joint>
|
||||
|
||||
<link name="${name}_foot">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="${foot_radius-0.01}"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="${foot_radius}"/>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode>
|
||||
<max_vel>0.001</max_vel>
|
||||
<min_depth>0.0</min_depth>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<xacro:leg_transmission name="${name}"/>
|
||||
|
||||
<gazebo reference="${name}_abad">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<visual>
|
||||
<material>
|
||||
<ambient>.5 .5 .5 1.0</ambient>
|
||||
<diffuse>.5 .5 .5 1.0</diffuse>
|
||||
<specular>.5 .5 .5 1.0</specular>
|
||||
</material>
|
||||
</visual>
|
||||
</gazebo>
|
||||
<gazebo reference="${name}_hip">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<self_collide>1</self_collide>
|
||||
<visual>
|
||||
<material>
|
||||
<ambient>.05 .05 .05 1.0</ambient>
|
||||
<diffuse>.05 .05 .05 1.0</diffuse>
|
||||
<specular>.05 .05 .05 1.0</specular>
|
||||
</material>
|
||||
</visual>
|
||||
</gazebo>
|
||||
<gazebo reference="${name}_knee">
|
||||
<mu1>0.7</mu1>
|
||||
<mu2>0.7</mu2>
|
||||
<self_collide>1</self_collide>
|
||||
<visual>
|
||||
<material>
|
||||
<ambient>.5 .5 .5 1.0</ambient>
|
||||
<diffuse>.5 .5 .5 1.0</diffuse>
|
||||
<specular>.5 .5 .5 1.0</specular>
|
||||
</material>
|
||||
</visual>
|
||||
</gazebo>
|
||||
<gazebo reference="${name}_foot">
|
||||
<mu1>0.7</mu1>
|
||||
<mu2>0.7</mu2>
|
||||
<self_collide>1</self_collide>
|
||||
<visual>
|
||||
<material>
|
||||
<ambient>.5 .5 .5 1.0</ambient>
|
||||
<diffuse>.5 .5 .5 1.0</diffuse>
|
||||
<specular>.5 .5 .5 1.0</specular>
|
||||
</material>
|
||||
</visual>
|
||||
</gazebo>
|
||||
|
||||
</xacro:macro>
|
||||
</robot>
|
||||
|
|
@ -1,212 +0,0 @@
|
|||
<?xml version="1.0"?>
|
||||
<robot name="cyber_dog" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
|
||||
<xacro:arg name="ROBOT" default="cyber_dog"/>
|
||||
<xacro:arg name="USE_LIDAR" default="false"/>
|
||||
<xacro:include filename="const.xacro"/>
|
||||
<xacro:include filename="leg.xacro"/>
|
||||
<xacro:include filename="gazebo.xacro"/>
|
||||
<xacro:include filename="ros2_control.xacro"/>
|
||||
|
||||
<link name="base_link">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="floating_base" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="body"/>
|
||||
</joint>
|
||||
|
||||
<link name="body">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://$(find cyberdog_description)/meshes/body.dae" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="${body_length} ${body_width} ${body_height}"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="${body_com_x} ${body_com_y} ${body_com_z}"/>
|
||||
<mass value="${body_mass}"/>
|
||||
<inertia ixx="${body_ixx}" ixy="${body_ixy}" ixz="${body_ixz}" iyy="${body_iyy}" iyz="${body_iyz}"
|
||||
izz="${body_izz}"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="imu_joint" type="fixed">
|
||||
<parent link="body"/>
|
||||
<child link="imu_link"/>
|
||||
<origin rpy="0 0 0" xyz="33.4e-3 -17.2765e-3 51.0469e-3"/>
|
||||
</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>
|
||||
|
||||
<joint name="scan_joint" type="fixed">
|
||||
<parent link="body"/>
|
||||
<child link="lidar_link"/>
|
||||
<origin rpy="0 0 0" xyz="0.21425 0 0.0908"/>
|
||||
</joint>
|
||||
|
||||
<link name="lidar_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>
|
||||
</link>
|
||||
|
||||
<joint name="D435_camera_joint" type="fixed">
|
||||
<parent link="body"/>
|
||||
<child link="D435_camera_link"/>
|
||||
<origin rpy="0 0 0" xyz="271.994e-3 25e-3 114.912e-3"/>
|
||||
</joint>
|
||||
|
||||
<link name="D435_camera_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>
|
||||
|
||||
<joint name="RGB_camera_joint" type="fixed">
|
||||
<parent link="body"/>
|
||||
<child link="RGB_camera_link"/>
|
||||
<origin rpy="0 0 0" xyz="275.76e-3 0 125.794e-3"/>
|
||||
</joint>
|
||||
|
||||
<link name="RGB_camera_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>
|
||||
|
||||
<joint name="AI_camera_joint" type="fixed">
|
||||
<parent link="body"/>
|
||||
<child link="AI_camera_link"/>
|
||||
<origin rpy="0 0 0" xyz="290.228e-3 0 147.420e-3"/>
|
||||
</joint>
|
||||
|
||||
<link name="AI_camera_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>
|
||||
|
||||
<xacro:leg name="FR" mirror="-1" mirror_dae="False" front_hind="1" front_hind_dae="True">
|
||||
<origin rpy="0 0 0" xyz="${abad_offset_x} ${-abad_offset_y} 0"/>
|
||||
</xacro:leg>
|
||||
|
||||
<xacro:leg name="FL" mirror="1" mirror_dae="True" front_hind="1" front_hind_dae="True">
|
||||
<origin rpy="0 0 0" xyz="${abad_offset_x} ${abad_offset_y} 0"/>
|
||||
</xacro:leg>
|
||||
|
||||
<xacro:leg name="RR" mirror="-1" mirror_dae="False" front_hind="-1" front_hind_dae="False">
|
||||
<origin rpy="0 0 0" xyz="${-abad_offset_x} ${-abad_offset_y} 0"/>
|
||||
</xacro:leg>
|
||||
|
||||
<xacro:leg name="RL" mirror="1" mirror_dae="True" front_hind="-1" front_hind_dae="False">
|
||||
<origin rpy="0 0 0" xyz="${-abad_offset_x} ${abad_offset_y} 0"/>
|
||||
</xacro:leg>
|
||||
|
||||
<!-- This link is only for head collision -->
|
||||
<joint name="head_joint" type="fixed">
|
||||
<parent link="body"/>
|
||||
<child link="head"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</joint>
|
||||
<link name="head">
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0.256 0 0.120"/>
|
||||
<geometry>
|
||||
<box size="0.076 0.060 0.040"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0.225 0 0.150"/>
|
||||
<geometry>
|
||||
<box size="0.020 0.080 0.100"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<gazebo reference="body">
|
||||
<visual>
|
||||
<material>
|
||||
<ambient>.1 .1 .1 1.0</ambient>
|
||||
<diffuse>.1 .1 .1 1.0</diffuse>
|
||||
<specular>.1 .1 .1 1.0</specular>
|
||||
</material>
|
||||
</visual>
|
||||
</gazebo>
|
||||
|
||||
</robot>
|
||||
|
|
@ -1,149 +0,0 @@
|
|||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
|
||||
<!-- <xacro:macro name="leg" params="name mirror mirror_dae front_hind front_hind_dae"> -->
|
||||
<ros2_control name="GazeboSystem" type="system">
|
||||
<hardware>
|
||||
<plugin>gz_ros2_control/GazeboSimSystem</plugin>
|
||||
</hardware>
|
||||
|
||||
<joint name="FR_abad_joint">
|
||||
<command_interface name="effort" initial_value="0.0"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
|
||||
<joint name="FR_hip_joint">
|
||||
<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_joint">
|
||||
<command_interface name="effort" initial_value="0.0"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
|
||||
<joint name="FL_abad_joint">
|
||||
<command_interface name="effort" initial_value="0.0"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
|
||||
<joint name="FL_hip_joint">
|
||||
<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_joint">
|
||||
<command_interface name="effort" initial_value="0.0"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
|
||||
<joint name="RR_abad_joint">
|
||||
<command_interface name="effort" initial_value="0.0"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
|
||||
<joint name="RR_hip_joint">
|
||||
<command_interface name="effort" initial_value="0.0"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
|
||||
<joint name="RR_knee_joint">
|
||||
<command_interface name="effort" initial_value="0.0"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
|
||||
<joint name="RL_abad_joint">
|
||||
<command_interface name="effort" initial_value="0.0"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
|
||||
<joint name="RL_hip_joint">
|
||||
<command_interface name="effort" initial_value="0.0"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
|
||||
<joint name="RL_knee_joint">
|
||||
<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>
|
||||
|
||||
<sensor name="LF_foot_end">
|
||||
<state_interface name="force.x"/>
|
||||
<state_interface name="force.y"/>
|
||||
<state_interface name="force.z"/>
|
||||
<param name="frame_id">LF_FOOT</param>
|
||||
</sensor>
|
||||
<sensor name="RF_foot_end">
|
||||
<state_interface name="force.x"/>
|
||||
<state_interface name="force.y"/>
|
||||
<state_interface name="force.z"/>
|
||||
<param name="frame_id">RF_FOOT</param>
|
||||
</sensor>
|
||||
<sensor name="LH_foot_end">
|
||||
<state_interface name="force.x"/>
|
||||
<state_interface name="force.y"/>
|
||||
<state_interface name="force.z"/>
|
||||
<param name="frame_id">LH_FOOT</param>
|
||||
</sensor>
|
||||
<sensor name="RH_foot_end">
|
||||
<state_interface name="force.x"/>
|
||||
<state_interface name="force.y"/>
|
||||
<state_interface name="force.z"/>
|
||||
<param name="frame_id">LH_FOOT</param>
|
||||
</sensor>
|
||||
</ros2_control>
|
||||
|
||||
<!-- Gazebo's ros2_control plugin -->
|
||||
<gazebo>
|
||||
<plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
|
||||
<parameters>$(find cyberdog_description)/config/robot_control.yaml</parameters>
|
||||
</plugin>
|
||||
<plugin filename="gz-sim-imu-system"
|
||||
name="gz::sim::systems::Imu">
|
||||
</plugin>
|
||||
<plugin filename="gz-sim-contact-system"
|
||||
name="gz::sim::systems::Contact">
|
||||
</plugin>
|
||||
<plugin filename="gz-sim-forcetorque-system"
|
||||
name="gz::sim::systems::ForceTorque">
|
||||
</plugin>
|
||||
</gazebo>
|
||||
|
||||
</robot>
|
||||
|
|
@ -1,41 +0,0 @@
|
|||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
|
||||
<xacro:macro name="leg_transmission" params="name">
|
||||
|
||||
<transmission name="${name}_abad_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="${name}_abad_joint">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="${name}_abad_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>"${abadGearRatio}"</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<transmission name="${name}_hip_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="${name}_hip_joint">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="${name}_hip_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>"${abadGearRatio}"</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<transmission name="${name}_knee_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="${name}_knee_joint">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="${name}_knee_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>"${kneeGearRatio}"</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
</xacro:macro>
|
||||
|
||||
</robot>
|
||||
|
|
@ -1,7 +1,7 @@
|
|||
# Unitree AlienGo Description
|
||||
This repository contains the urdf model of Aliengo.
|
||||
|
||||
|
||||
|
||||
|
||||
Tested environment:
|
||||
* Ubuntu 24.04
|
||||
|
|
@ -283,9 +283,9 @@ selfCollision
|
|||
; Whole body control
|
||||
torqueLimitsTask
|
||||
{
|
||||
(0,0) 35.278 ; HAA
|
||||
(1,0) 35.278 ; HFE
|
||||
(2,0) 44.4 ; KFE
|
||||
(0,0) 12.0 ; HAA
|
||||
(1,0) 12.0 ; HFE
|
||||
(2,0) 12.0 ; KFE
|
||||
}
|
||||
|
||||
frictionConeTask
|
||||
|
Before Width: | Height: | Size: 130 KiB After Width: | Height: | Size: 130 KiB |
|
|
@ -1,12 +1,12 @@
|
|||
cmake_minimum_required(VERSION 3.8)
|
||||
|
||||
project(b2_description)
|
||||
|
||||
find_package(ament_cmake REQUIRED)
|
||||
|
||||
install(
|
||||
DIRECTORY meshes xacro launch config urdf
|
||||
DESTINATION share/${PROJECT_NAME}/
|
||||
)
|
||||
|
||||
ament_package()
|
||||
cmake_minimum_required(VERSION 3.8)
|
||||
|
||||
project(b2_description)
|
||||
|
||||
find_package(ament_cmake REQUIRED)
|
||||
|
||||
install(
|
||||
DIRECTORY meshes xacro launch config urdf
|
||||
DESTINATION share/${PROJECT_NAME}/
|
||||
)
|
||||
|
||||
ament_package()
|
||||
|
|
@ -1,7 +1,7 @@
|
|||
# Unitree B2 Description
|
||||
This repository contains the urdf model of b2.
|
||||
|
||||
|
||||
|
||||
|
||||
## Build
|
||||
```bash
|
||||
|
|
@ -1,20 +1,20 @@
|
|||
<package format="2">
|
||||
<name>b2_description</name>
|
||||
<version>1.0.0</version>
|
||||
<description>
|
||||
<p>URDF Description package for b2_description</p>
|
||||
<p>This package contains configuration data, 3D models and launch files
|
||||
for b2_description robot</p>
|
||||
</description>
|
||||
<author>Unitree Robotics</author>
|
||||
<maintainer email="TODO@email.com" />
|
||||
<license>BSD</license>
|
||||
|
||||
<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 format="2">
|
||||
<name>b2_description</name>
|
||||
<version>1.0.0</version>
|
||||
<description>
|
||||
<p>URDF Description package for b2_description</p>
|
||||
<p>This package contains configuration data, 3D models and launch files
|
||||
for b2_description robot</p>
|
||||
</description>
|
||||
<author>Unitree Robotics</author>
|
||||
<maintainer email="TODO@email.com" />
|
||||
<license>BSD</license>
|
||||
|
||||
<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
|
|
@ -1,7 +1,7 @@
|
|||
# Unitree Go1 Description
|
||||
This repository contains the urdf model of go1.
|
||||
|
||||
|
||||
|
||||
|
||||
## Build
|
||||
```bash
|
||||
|
|
@ -1,21 +1,21 @@
|
|||
targetDisplacementVelocity 0.5;
|
||||
targetRotationVelocity 1.57;
|
||||
|
||||
comHeight 0.3
|
||||
comHeight 0.307
|
||||
|
||||
defaultJointState
|
||||
{
|
||||
(0,0) -0.10 ; FL_hip_joint
|
||||
(1,0) 0.72 ; FL_thigh_joint
|
||||
(0,0) -0.20 ; FL_hip_joint
|
||||
(1,0) 0.7 ; FL_thigh_joint
|
||||
(2,0) -1.44 ; FL_calf_joint
|
||||
(3,0) 0.10 ; FR_hip_joint
|
||||
(4,0) 0.72 ; FR_thigh_joint
|
||||
(3,0) 0.20 ; FR_hip_joint
|
||||
(4,0) 0.7 ; FR_thigh_joint
|
||||
(5,0) -1.44 ; FR_calf_joint
|
||||
(6,0) -0.10 ; RL_hip_joint
|
||||
(7,0) 0.72 ; RL_thigh_joint
|
||||
(6,0) -0.20 ; RL_hip_joint
|
||||
(7,0) 0.7 ; RL_thigh_joint
|
||||
(8,0) -1.44 ; RL_calf_joint
|
||||
(9,0) 0.10 ; RR_hip_joint
|
||||
(10,0) 0.72 ; RR_thigh_joint
|
||||
(9,0) 0.20 ; RR_hip_joint
|
||||
(10,0) 0.7 ; RR_thigh_joint
|
||||
(11,0) -1.44 ; RR_calf_joint
|
||||
}
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Loading…
Reference in New Issue