241 lines
9.6 KiB
XML
241 lines
9.6 KiB
XML
<?xml version="1.0"?>
|
|
|
|
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
|
|
|
<xacro:include filename="$(find quadruped_gazebo)/urdf/common/transmission.xacro"/>
|
|
|
|
<xacro:macro name="leg" params="prefix mesh_path mirror mirror_dae front_hind front_hind_dae *origin">
|
|
|
|
<joint name="${prefix}_HAA" type="revolute">
|
|
<xacro:insert_block name="origin"/>
|
|
<parent link="trunk"/>
|
|
<child link="${prefix}_hip"/>
|
|
<axis xyz="1 0 0"/>
|
|
<dynamics damping="${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="${-hip_position_min}"/>
|
|
</xacro:if>
|
|
</joint>
|
|
|
|
<link name="${prefix}_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} ${pi} 0" xyz="0 0 0"/>
|
|
</xacro:if>
|
|
<geometry>
|
|
<mesh filename="${mesh_path}/hip.dae"
|
|
scale="1 1 1"/>
|
|
</geometry>
|
|
<!-- <material name="orange"/>-->
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="${pi/2.0} 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<cylinder length="${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>
|
|
|
|
<joint name="${prefix}_HFE" type="revolute">
|
|
<origin rpy="0 0 0" xyz="0 ${thigh_offset*mirror} 0"/>
|
|
<parent link="${prefix}_hip"/>
|
|
<child link="${prefix}_thigh"/>
|
|
<axis xyz="0 1 0"/>
|
|
<dynamics damping="${damping}" friction="${friction}"/>
|
|
<limit effort="${thigh_torque_max}" velocity="${thigh_velocity_max}" lower="${thigh_position_min}"
|
|
upper="${thigh_position_max}"/>
|
|
</joint>
|
|
|
|
<link name="${prefix}_thigh">
|
|
<visual>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<xacro:if value="${mirror_dae == True}">
|
|
<mesh filename="${mesh_path}/thigh.dae"
|
|
scale="1 1 1"/>
|
|
</xacro:if>
|
|
<xacro:if value="${mirror_dae == False}">
|
|
<mesh filename="${mesh_path}/thigh_mirror.dae"
|
|
scale="1 1 1"/>
|
|
</xacro:if>
|
|
</geometry>
|
|
<!-- <material name="orange"/>-->
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 ${pi/2.0+0.1} 0" xyz="${thigh_x_offset} 0 ${-thigh_length/2.0}"/>
|
|
<geometry>
|
|
<box size="${thigh_length} ${thigh_width} ${thigh_height}"/>
|
|
</geometry>
|
|
</collision>
|
|
<collision>
|
|
<origin rpy="${pi/2.0} 0 0" xyz="0 ${mirror*thigh_shoulder_y_offset} 0"/>
|
|
<geometry>
|
|
<cylinder length="${thigh_shoulder_length}" radius="${thigh_shoulder_radius}"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<origin rpy="0 0 0" xyz="${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>
|
|
|
|
<joint name="${prefix}_KFE" type="revolute">
|
|
<origin rpy="0 0 0" xyz="0 0 ${-thigh_length}"/>
|
|
<parent link="${prefix}_thigh"/>
|
|
<child link="${prefix}_calf"/>
|
|
<axis xyz="0 1 0"/>
|
|
<dynamics damping="${damping}" friction="${friction}"/>
|
|
<limit effort="${calf_torque_max}" velocity="${calf_velocity_max}" lower="${calf_position_min}" upper="${calf_position_max}"/>
|
|
</joint>
|
|
|
|
<link name="${prefix}_calf">
|
|
<visual>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<mesh filename="${mesh_path}/calf.dae"
|
|
scale="1 1 1"/>
|
|
</geometry>
|
|
<!-- <material name="orange"/>-->
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 ${pi/2.0} 0" xyz="${calf_x_offset} 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>
|
|
|
|
<joint name="${prefix}_foot_fixed" type="fixed" dont_collapse="true">
|
|
<origin rpy="0 0 0" xyz="0 0 ${-(calf_length)}"/>
|
|
<parent link="${prefix}_calf"/>
|
|
<child link="${prefix}_FOOT"/>
|
|
</joint>
|
|
|
|
<link name="${prefix}_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>
|
|
|
|
<gazebo reference="${prefix}_foot_fixed">
|
|
<disableFixedJointLumping>true</disableFixedJointLumping>
|
|
<sensor name="${prefix}_foot_end" type="force_torque">
|
|
<update_rate>30</update_rate>
|
|
</sensor>
|
|
</gazebo>
|
|
|
|
<gazebo reference="${prefix}_hip">
|
|
<mu1>0.2</mu1>
|
|
<mu2>0.2</mu2>
|
|
<visual>
|
|
<material>
|
|
<ambient>.5 .5 .5 1.0</ambient>
|
|
<diffuse>.5 .5 .5 1.0</diffuse>
|
|
<specular>.5 .5 .5 1.0</specular>
|
|
</material>
|
|
</visual>
|
|
</gazebo>
|
|
<gazebo reference="${prefix}_thigh">
|
|
<mu1>0.2</mu1>
|
|
<mu2>0.2</mu2>
|
|
<self_collide>0</self_collide>
|
|
<visual>
|
|
<material>
|
|
<ambient>.175 .175 .175 1.0</ambient>
|
|
<diffuse>.175 .175 .175 1.0</diffuse>
|
|
<specular>.175 .175 .175 1.0</specular>
|
|
</material>
|
|
</visual>
|
|
<kp value="1000000.0"/>
|
|
<kd value="100.0"/>
|
|
</gazebo>
|
|
|
|
<gazebo reference="${prefix}_calf">
|
|
<mu1>0.6</mu1>
|
|
<mu2>0.6</mu2>
|
|
<self_collide>1</self_collide>
|
|
<visual>
|
|
<material>
|
|
<ambient>.5 .5 .5 1.0</ambient>
|
|
<diffuse>.5 .5 .5 1.0</diffuse>
|
|
<specular>.5 .5 .5 1.0</specular>
|
|
</material>
|
|
</visual>
|
|
</gazebo>
|
|
|
|
<gazebo reference="${prefix}_FOOT">
|
|
<mu1>0.6</mu1>
|
|
<mu2>0.6</mu2>
|
|
<self_collide>1</self_collide>
|
|
<visual>
|
|
<material>
|
|
<ambient>.175 .175 .175 1.0</ambient>
|
|
<diffuse>.175 .175 .175 1.0</diffuse>
|
|
<specular>.175 .175 .175 1.0</specular>
|
|
</material>
|
|
</visual>
|
|
<kp value="1000000.0"/>
|
|
<kd value="100.0"/>
|
|
|
|
<sensor name='${prefix}_Foot_Contact_Sensor' type='contact'>
|
|
<contact>
|
|
<collision>${prefix}_FOOT_collision</collision>
|
|
</contact>
|
|
</sensor>
|
|
</gazebo>
|
|
|
|
<xacro:leg_transmission name="${prefix}"/>
|
|
</xacro:macro>
|
|
</robot>
|