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add new cyberdog model

This commit is contained in:
fan-ziqi 2024-04-04 23:03:45 +08:00
parent 067baf430b
commit ed72fdc6a3
42 changed files with 8183 additions and 310 deletions
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19
src/robots/cyberdog2_description/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 2.8.3)
project(cyberdog2_description)
find_package(catkin REQUIRED COMPONENTS
genmsg
roscpp
std_msgs
tf
)
catkin_package(
CATKIN_DEPENDS
)
include_directories(
# include
${Boost_INCLUDE_DIR}
${catkin_INCLUDE_DIRS}
)

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src/robots/cyberdog2_description/launch/display.launch Normal file
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<launch>
<!-- <param name="robot_description" textfile="$(find cyberdog2_description)/urdf/cyberdog2_description.urdf"/> -->
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find cyberdog2_description)/xacro/robot.xacro'"/>
<!-- send fake joint values -->
<!-- <node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher">
<param name="use_gui" value="TRUE"/>
</node> -->
<node
name="joint_state_publisher_gui"
pkg="joint_state_publisher_gui"
type="joint_state_publisher_gui" />
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
<param name="publish_frequency" type="double" value="1000.0"/>
</node>
<node pkg="rviz" type="rviz" name="rviz" respawn="false" output="screen"
args="-d $(find cyberdog2_description)/launch/test.rviz"/>
</launch>

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src/robots/cyberdog2_description/launch/gazebo.launch Normal file
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<launch>
<include file="$(find gazebo_ros)/launch/empty_world.launch" />
<node
name="tf_footprint_base"
pkg="tf"
type="static_transform_publisher"
args="0 0 0 0 0 0 base_link base_footprint 40" />
<node
name="spawn_model"
pkg="gazebo_ros"
type="spawn_model"
args="-file $(find cyberdog_description)/urdf/cyberdog2_description.urdf -urdf -model cyberdog2_description -z 0.6 -unpause"
output="screen" />
<node
name="fake_joint_calibration"
pkg="rostopic"
type="rostopic"
args="pub /calibrated std_msgs/Bool true" />
</launch>

245
src/robots/cyberdog2_description/launch/test.rviz Normal file
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Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
Splitter Ratio: 0.5
Tree Height: 555
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Name: Time
SyncMode: 0
SyncSource: ""
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
FL_calf:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FL_foot:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FL_hip:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FL_thigh:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FR_calf:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FR_foot:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FR_hip:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FR_thigh:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Link Tree Style: Links in Alphabetic Order
RL_calf:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RL_foot:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RL_hip:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RL_thigh:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RR_calf:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RR_foot:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RR_hip:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RR_thigh:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
imu_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
trunk:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz/TF
Enabled: false
Frame Timeout: 15
Frames:
All Enabled: true
Marker Alpha: 1
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
{}
Update Interval: 0
Value: false
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: trunk
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Theta std deviation: 0.2617993950843811
Topic: /initialpose
X std deviation: 0.5
Y std deviation: 0.5
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 2.3364639282226562
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Field of View: 0.7853981852531433
Focal Point:
X: 0
Y: 0
Z: 0
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.16539815068244934
Target Frame: <Fixed Frame>
Yaw: 1.430397391319275
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 846
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd000000040000000000000156000002b4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002b4000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000002b4000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000030700fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1200
X: 739
Y: -14

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src/robots/cyberdog2_description/meshes/abad.dae Normal file
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src/robots/cyberdog2_description/meshes/body.dae Normal file
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src/robots/cyberdog2_description/meshes/hip.dae Normal file
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src/robots/cyberdog2_description/meshes/hip_mirror.dae Normal file
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src/robots/cyberdog2_description/meshes/knee.dae Normal file
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19
src/robots/cyberdog2_description/package.xml Normal file
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<?xml version="1.0"?>
<package format="2">
<name>cyberdog2_description</name>
<version>1.0.0</version>
<description>The cyberdog2_description package</description>
<author>TODO</author>
<maintainer email="TODO@email.com" />
<license>BSD</license>
<buildtool_depend>catkin</buildtool_depend>
<depend>roscpp</depend>
<depend>std_msgs</depend>
<depend>roslaunch</depend>
<depend>robot_state_publisher</depend>
<depend>rviz</depend>
<depend>joint_state_publisher_gui</depend>
<depend>gazebo</depend>
</package>

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src/robots/cyberdog2_description/rviz/cyberdog.rviz Normal file
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Panels:
- Class: rviz_common/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /Grid1
- /RobotModel1
Splitter Ratio: 0.5558823347091675
Tree Height: 719
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
Expanded:
- /2D Goal Pose1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz_common/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz_common/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz_default_plugins/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Class: rviz_default_plugins/RobotModel
Collision Enabled: false
Description File: ""
Description Source: Topic
Description Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: robot_description
Enabled: true
Links:
AI_camera_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
All Links Enabled: true
D435_camera_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
FL_abad:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FL_foot:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FL_hip:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FL_hip_shoulder:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FL_knee:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FR_abad:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FR_foot:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FR_hip:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FR_hip_shoulder:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FR_knee:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Link Tree Style: Links in Alphabetic Order
RGB_camera_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RL_abad:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RL_foot:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RL_hip:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RL_hip_shoulder:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RL_knee:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RR_abad:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RR_foot:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RR_hip:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RR_hip_shoulder:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RR_knee:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
body:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
imu_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: base_link
Frame Rate: 30
Name: root
Tools:
- Class: rviz_default_plugins/Interact
Hide Inactive Objects: true
- Class: rviz_default_plugins/MoveCamera
- Class: rviz_default_plugins/Select
- Class: rviz_default_plugins/FocusCamera
- Class: rviz_default_plugins/Measure
Line color: 128; 128; 0
- Class: rviz_default_plugins/SetInitialPose
Covariance x: 0.25
Covariance y: 0.25
Covariance yaw: 0.06853891909122467
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /initialpose
- Class: rviz_default_plugins/SetGoal
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /goal_pose
- Class: rviz_default_plugins/PublishPoint
Single click: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /clicked_point
Transformation:
Current:
Class: rviz_default_plugins/TF
Value: true
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 1.469738483428955
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
Z: 0
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.9903974533081055
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 5.3835859298706055
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1016
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd0000000400000000000001560000035afc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000035a000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000035afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000035a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004c70000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1848
X: 72
Y: 27

130
src/robots/cyberdog2_description/xacro/const.xacro Normal file
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<?xml version="1.0"?>
<robot name="cyberdog2_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:property name="PI" value="3.1415926535897931" />
<!-- dimension -->
<!-- body -->
<xacro:property name="body_width" value="0.190" />
<xacro:property name="body_length" value="0.236" />
<xacro:property name="body_height" value="0.109" />
<!-- abad -->
<xacro:property name="abad_radius" value="0.039" />
<xacro:property name="abad_length" value="0.035" />
<xacro:property name="abad_offset_x" value="0.164" />
<xacro:property name="abad_offset_y" value="0.042" />
<xacro:property name="abad_rotor_offset" value="0.0642303" />
<xacro:property name="abad_max" value="39" />
<xacro:property name="abad_min" value="-39" />
<!-- hip -->
<xacro:property name="hip_shoulder_radius" value="0.039" />
<xacro:property name="hip_shoulder_length" value="0.035" />
<xacro:property name="hip_width" value="0.0250" />
<xacro:property name="hip_height" value="0.034" />
<xacro:property name="hip_offset" value="0.094" />
<xacro:property name="hip_length" value="0.12" />
<xacro:property name="hip_rotor_offset" value="-0.07577" />
<xacro:property name="hip_f_max" value="160" />
<xacro:property name="hip_f_min" value="-76" />
<xacro:property name="hip_h_max" value="180" />
<xacro:property name="hip_h_min" value="-56" />
<!-- knee -->
<xacro:property name="knee_width" value="0.016" />
<xacro:property name="knee_height" value="0.016" />
<xacro:property name="knee_length" value="0.18341" />
<xacro:property name="knee_rotor_offset" value="-0.0342303" />
<xacro:property name="knee_max" value="-30" />
<xacro:property name="knee_min" value="-145" />
<xacro:property name="knee_rubber" value="0.02" />
<!-- foot -->
<xacro:property name="foot_radius" value="0.019" />
<!-- acuator atribute -->
<xacro:property name="abadGearRatio" value="7.75" />
<xacro:property name="hipGearRatio" value="7.75" />
<xacro:property name="kneeGearRatio" value="7.75" />
<xacro:property name="abad_motorTauMax" value="1.5484" />
<xacro:property name="hip_motorTauMax" value="1.5484" />
<xacro:property name="knee_motorTauMax" value="1.5484" />
<xacro:property name="abad_motorVelMax" value="30.9971" />
<xacro:property name="hip_motorVelMax" value="30.9971" />
<xacro:property name="knee_motorVelMax" value="30.9971" />
<!-- <xacro:property name="abad_damping" value="0.01" />
<xacro:property name="hip_damping" value="0.01" />
<xacro:property name="knee_damping" value="0.01" />
<xacro:property name="abad_friction" value="0.1" />
<xacro:property name="hip_friction" value="0.1" />
<xacro:property name="knee_friction" value="0.1" /> -->
<xacro:property name="abad_damping" value="0" />
<xacro:property name="hip_damping" value="0" />
<xacro:property name="knee_damping" value="0" />
<xacro:property name="abad_friction" value="0" />
<xacro:property name="hip_friction" value="0" />
<xacro:property name="knee_friction" value="0" />
<!-- inertial&mass value -->
<!-- body -->
<xacro:property name="body_mass" value="4.030000000" />
<xacro:property name="body_com_x" value="0.027300000" />
<xacro:property name="body_com_y" value="-0.000242000" />
<xacro:property name="body_com_z" value="0.014300000" />
<xacro:property name="body_ixx" value="0.018500000" />
<xacro:property name="body_ixy" value="-0.000173000" />
<xacro:property name="body_ixz" value="-0.010200000" />
<xacro:property name="body_iyy" value="0.051700000" />
<xacro:property name="body_iyz" value="-0.000028300" />
<xacro:property name="body_izz" value="0.048300000" />
<!-- abad -->
<xacro:property name="abad_mass" value="0.354000000" />
<xacro:property name="abad_com_x" value="-0.003920000" />
<xacro:property name="abad_com_y" value="0.015000000" />
<xacro:property name="abad_com_z" value="-0.000306000" />
<xacro:property name="abad_ixx" value="0.000190000" />
<xacro:property name="abad_ixy" value="-0.000027000" />
<xacro:property name="abad_ixz" value="-0.000000344" />
<xacro:property name="abad_iyy" value="0.000276000" />
<xacro:property name="abad_iyz" value="0.000001950" />
<xacro:property name="abad_izz" value="0.000233000" />
<!-- hip -->
<xacro:property name="hip_mass" value="0.482000000" />
<xacro:property name="hip_com_x" value="-0.002120000" />
<xacro:property name="hip_com_y" value="-0.021200000" />
<xacro:property name="hip_com_z" value="-0.018400000" />
<xacro:property name="hip_ixx" value="0.001010000" />
<xacro:property name="hip_ixy" value="0.000022300" />
<xacro:property name="hip_ixz" value="-0.000038500" />
<xacro:property name="hip_iyy" value="0.000983000" />
<xacro:property name="hip_iyz" value="0.000199000" />
<xacro:property name="hip_izz" value="0.000347000" />
<!-- knee -->
<xacro:property name="knee_mass" value="0.116000000" />
<xacro:property name="knee_com_x" value="0.000600000" />
<xacro:property name="knee_com_y" value="-0.000047200" />
<xacro:property name="knee_com_z" value="-0.089300000" />
<xacro:property name="knee_ixx" value="0.000668000" />
<xacro:property name="knee_ixy" value="0.000000003" />
<xacro:property name="knee_ixz" value="0.000023700" />
<xacro:property name="knee_iyy" value="0.000674000" />
<xacro:property name="knee_iyz" value="0.000000603" />
<xacro:property name="knee_izz" value="0.000015400" />
<!-- rotor -->
<xacro:property name="rotor_mass" value="0.056700000" />
<xacro:property name="rotor_com_x" value="0" />
<xacro:property name="rotor_com_y" value="0" />
<xacro:property name="rotor_com_z" value="0" />
<xacro:property name="rotor_ixx" value="0.000025300" />
<xacro:property name="rotor_ixy" value="0" />
<xacro:property name="rotor_ixz" value="0" />
<xacro:property name="rotor_iyy" value="0.000047800" />
<xacro:property name="rotor_iyz" value="0" />
<xacro:property name="rotor_izz" value="0.000025300" />
</robot>

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<?xml version="1.0"?>
<robot name="cyber_dog" xmlns:xacro="http://www.ros.org/wiki/xacro">
<gazebo>
<plugin name="gazebo_rt_control" filename="liblegged_plugin.so">
</plugin>
<plugin name="gazebo_rt_control" filename="libreal_time_control.so">
<robotName>$(arg ROBOT)</robotName>
</plugin>
</gazebo>
<gazebo reference="imu_link">
<gravity>true</gravity>
<sensor name="imu_sensor" type="imu">
<always_on>true</always_on>
<update_rate>500</update_rate>
<visualize>true</visualize>
<topic>__default_topic__</topic>
<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
<topicName>body_imu</topicName>
<bodyName>imu_link</bodyName>
<updateRateHZ>500.0</updateRateHZ>
<gaussianNoise>0.0</gaussianNoise>
<xyzOffset>0 0 0</xyzOffset>
<rpyOffset>0 0 0</rpyOffset>
<frameName>imu_link</frameName>
<ros>
<remapping>~/out:=imu</remapping>
</ros>
</plugin>
<pose>0 0 0 0 0 0</pose>
</sensor>
</gazebo>
<xacro:if value="$(arg USE_LIDAR)">
<gazebo reference="lidar_link">
<sensor name="realsense" type="ray">
<always_on>true</always_on>
<visualize>true</visualize>
<pose>0.0 0 0.0 0 0 0</pose>
<update_rate>5</update_rate>
<ray>
<scan>
<horizontal>
<samples>180</samples>
<resolution>1.000000</resolution>
<min_angle>-1.5700</min_angle>
<max_angle>1.5700</max_angle>
</horizontal>
</scan>
<range>
<min>0.01</min>
<max>12.00</max>
<resolution>0.015000</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.01</stddev>
</noise>
</ray>
<plugin name="cyberdog_laserscan" filename="libgazebo_ros_ray_sensor.so">
<ros>
<remapping>~/out:=scan</remapping>
</ros>
<output_type>sensor_msgs/LaserScan</output_type>
<frame_name>lidar_link</frame_name>
</plugin>
</sensor>
</gazebo>
</xacro:if>
<!-- Foot contacts. -->
<gazebo reference="FR_knee">
<sensor name="FR_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libfoot_contact_plugin.so"/>
<contact>
<collision>FR_knee_fixed_joint_lump__FR_foot_collision_2</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="FL_knee">
<sensor name="FL_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libfoot_contact_plugin.so"/>
<contact>
<collision>FL_knee_fixed_joint_lump__FL_foot_collision_2</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="RR_knee">
<sensor name="RR_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libfoot_contact_plugin.so"/>
<contact>
<collision>RR_knee_fixed_joint_lump__RR_foot_collision_2</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="RL_knee">
<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>
<gazebo reference="base">
<material>Gazebo/Green</material>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="body">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<kp value="50000.0"/>
<kd value="5000.0"/>
</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_abad">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="FL_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="50000.0"/>
<kd value="5000.0"/>
</gazebo>
<gazebo reference="FL_knee">
<mu1>0.7</mu1>
<mu2>0.7</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="FL_foot">
<mu1>0.7</mu1>
<mu2>0.7</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="50000.0"/>
<kd value="5000.0"/>
</gazebo>
<!-- FR leg -->
<gazebo reference="FR_abad">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="FR_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="50000.0"/>
<kd value="5000.0"/>
</gazebo>
<gazebo reference="FR_knee">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="FR_foot">
<mu1>0.7</mu1>
<mu2>0.7</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="50000.0"/>
<kd value="5000.0"/>
</gazebo>
<!-- RL leg -->
<gazebo reference="RL_abad">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="RL_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="50000.0"/>
<kd value="5000.0"/>
</gazebo>
<gazebo reference="RL_knee">
<mu1>0.7</mu1>
<mu2>0.7</mu2>
<self_collide>1</self_collide>
<kp value="5000000000.0"/>
<kd value="50000.0"/>
</gazebo>
<gazebo reference="RL_foot">
<mu1>0.7</mu1>
<mu2>0.7</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="50000.0"/>
<kd value="5000.0"/>
</gazebo>
<!-- RR leg -->
<gazebo reference="RR_abad">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="RR_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="50000.0"/>
<kd value="5000.0"/>
</gazebo>
<gazebo reference="RR_knee">
<mu1>0.7</mu1>
<mu2>0.7</mu2>
<self_collide>1</self_collide>
<kp value="5000000000.0"/>
<kd value="50000.0"/>
</gazebo>
<gazebo reference="RR_foot">
<mu1>0.7</mu1>
<mu2>0.7</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="50000.0"/>
<kd value="5000.0"/>
</gazebo>
</robot>

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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="../xacro/transmission.xacro" />
<xacro:macro name="leg" params="name mirror mirror_dae front_hind front_hind_dae *origin">
<joint name="${name}_hip_joint" type="revolute">
<xacro:insert_block name="origin" />
<parent link="trunk" />
<child link="${name}_hip" />
<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="${name}_hip">
<visual>
<xacro:if value="${(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} ${PI} 0" xyz="0 0 0" />
</xacro:if>
<geometry>
<mesh filename="package://cyberdog2_description/meshes/abad.dae" scale="1 1 1" />
</geometry>
<material name="orange" />
</visual>
<collision>
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0" />
<geometry>
<cylinder length="${abad_length}" radius="${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="${name}_hip_rotor_fix" type="fixed">
<origin rpy="0 0 0" xyz="${-abad_rotor_offset*front_hind} 0 0" />
<parent link="${name}_hip" />
<child link="${name}_hip_rotor" />
</joint> -->
<!-- this link is only for abad 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}_hip_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 ${(hip_offset-hip_shoulder_length)*mirror} 0" />
<parent link="${name}_hip" />
<child link="${name}_thigh_shoulder" />
</joint> -->
<!-- <link name="${name}_thigh_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}_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 ${hip_offset*mirror} 0" />
<parent link="${name}_hip" />
<child link="${name}_thigh" />
<axis xyz="0 1 0" />
<dynamics damping="${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}_thigh">
<visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<xacro:if value="${mirror_dae == True}">
<mesh filename="package://cyberdog2_description/meshes/hip.dae"
scale="1 1 1" />
</xacro:if>
<xacro:if value="${mirror_dae == False}">
<mesh filename="package://cyberdog2_description/meshes/hip_mirror.dae"
scale="1 1 1" />
</xacro:if>
</geometry>
<material name="orange" />
</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}_thigh_rotor_fix" type="fixed">
<origin rpy="0 0 0" xyz="0 ${hip_rotor_offset*mirror} 0" />
<parent link="${name}_thigh" />
<child link="${name}_thigh_rotor" />
</joint> -->
<!-- this link is only for hip rotor inertial -->
<!-- <link name="${name}_thigh_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}_calf_rotor_fix" type="fixed">
<origin rpy="0 0 0" xyz="0 ${knee_rotor_offset*mirror} 0" />
<parent link="${name}_thigh" />
<child link="${name}_calf_rotor" />
</joint> -->
<!-- this link is only for knee rotor inertial -->
<!-- <link name="${name}_calf_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}_calf_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 ${-hip_length}" />
<parent link="${name}_thigh" />
<child link="${name}_calf" />
<axis xyz="0 1 0" />
<dynamics damping="${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}_calf">
<visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="package://cyberdog2_description/meshes/knee.dae" scale="1 1 1" />
</geometry>
<material name="orange" />
</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}_calf_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" dont_collapse="true">
<origin rpy="0 0 0" xyz="0.0055 0 ${-knee_length+foot_radius/2.0}" />
<parent link="${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>
<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}" />
</xacro:macro>
</robot>

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<?xml version="1.0"?>
<robot name="cyberdog2_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:arg name="ROBOT" default="cyberdog2_description" />
<xacro:arg name="USE_LIDAR" default="false" />
<xacro:include filename="const.xacro" />
<xacro:include filename="leg.xacro" />
<!-- <xacro:include filename="gazebo.xacro" /> -->
<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="0.913725490196 0.913725490196 0.847058823529 1.0"/>
</material>
<material name="orange">
<color rgba="0.12 0.15 0.2 1.0"/>
</material>
<material name="brown">
<color rgba="0.870588235294 0.811764705882 0.764705882353 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>
<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://cyberdog2_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="trunk" />
<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="trunk" />
<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> -->
</robot>

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<?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="${name}_hip_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>"${abadGearRatio}"</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="${name}_thigh_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>"${hipGearRatio}"</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="${name}_calf_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>"${kneeGearRatio}"</mechanicalReduction>
</actuator>
</transmission>
</xacro:macro>
</robot>

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<launch>
<param name="robot_description" textfile="$(find cyberdog_description)/urdf/cyberdog_description.urdf"/>
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find cyberdog_description)/xacro/robot.xacro'"/>
<!-- send fake joint values -->
<!-- <node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher">
<param name="use_gui" value="TRUE"/>

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src/robots/cyberdog_description/package.xml
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<?xml version="1.0"?>
<package format="2">
<name>cyberdog_description</name>
<version>1.0.0</version>
<version>2.0.0</version>
<description>The cyberdog_description package</description>
<author>TODO</author>
<maintainer email="TODO@email.com" />

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<?xml version="1.0" ?>
<robot name="cyberdog_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
<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="0.913725490196 0.913725490196 0.847058823529 1.0"/>
</material>
<material name="orange">
<color rgba="0.12 0.15 0.2 1.0"/>
</material>
<material name="brown">
<color rgba="0.870588235294 0.811764705882 0.764705882353 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>
<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>
<box size="0.36 0.23 0.15"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.36 0.23 0.15"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.018785003 0.003291012 -0.000925646"/>
<mass value="6.248410872"/>
<inertia ixx="0.032143039" ixy="-0.000268204" ixz="-0.00241341" iyy="0.13578316" iyz="8.0244e-05" izz="0.14828095"/>
</inertial>
</link>
<joint name="imu_joint" type="fixed">
<parent link="trunk"/>
<child link="imu_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<link name="imu_link">
</link>
<joint name="FR_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="0.23035 -0.05 0"/>
<parent link="trunk"/>
<child link="FR_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="24" lower="-0.76096355387" upper="0.76096355387" velocity="31"/>
</joint>
<link name="FR_hip">
<visual>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.052" radius="0.047"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.052" radius="0.047"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.001597914 -0.001680938 2.253e-06"/>
<mass value="0.537806728"/>
<inertia ixx="0.000403612" ixy="9.337e-06" ixz="5.36e-07" iyy="0.000600779" iyz="6.3e-08" izz="0.000417249"/>
</inertial>
</link>
<joint name="FR_hip_rotor_fix" type="fixed">
<origin rpy="0 0 0" xyz="-0.0832504 0 0"/>
<parent link="FR_hip"/>
<child link="FR_hip_rotor"/>
</joint>
<!-- this link is only for abad rotor inertial -->
<link name="FR_hip_rotor">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.076506382"/>
<inertia ixx="4.5843e-05" ixy="0" ixz="0" iyy="4.5871e-05" iyz="0" izz="8.9031e-05"/>
</inertial>
</link>
<joint name="FR_hip_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 -0.053076000000000005 0"/>
<parent link="FR_hip"/>
<child link="FR_thigh_shoulder"/>
</joint>
<link name="FR_thigh_shoulder">
<visual>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.052" radius="0.047"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.052" radius="0.047"/>
</geometry>
</collision>
</link>
<joint name="FR_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 -0.105076 0"/>
<parent link="FR_hip"/>
<child link="FR_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="24" lower="-1.88495559215" upper="3.76991118431" velocity="31"/>
</joint>
<link name="FR_thigh">
<visual>
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1"/>
<geometry>
<box size="0.2 0.035 0.05"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1"/>
<geometry>
<box size="0.2 0.035 0.05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.003205778 0.027811623 -0.027767048"/>
<mass value="0.950266218"/>
<inertia ixx="0.004811898" ixy="-9.3647e-05" ixz="-0.000208709" iyy="0.004752366" iyz="-0.000813258" izz="0.001079691"/>
</inertial>
</link>
<joint name="FR_thigh_rotor_fix" type="fixed">
<origin rpy="0 0 0" xyz="0 0.107226 0"/>
<parent link="FR_thigh"/>
<child link="FR_thigh_rotor"/>
</joint>
<!-- this link is only for hip rotor inertial -->
<link name="FR_thigh_rotor">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.076506382"/>
<inertia ixx="4.5843e-05" ixy="0" ixz="0" iyy="4.5871e-05" iyz="0" izz="8.9031e-05"/>
</inertial>
</link>
<joint name="FR_calf_rotor_fix" type="fixed">
<origin rpy="0 0 0" xyz="0 0.0426259 0"/>
<parent link="FR_thigh"/>
<child link="FR_calf_rotor"/>
</joint>
<!-- this link is only for knee rotor inertial -->
<link name="FR_calf_rotor">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.076506382"/>
<inertia ixx="4.5843e-05" ixy="0" ixz="0" iyy="4.5871e-05" iyz="0" izz="8.9031e-05"/>
</inertial>
</link>
<joint name="FR_calf_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 -0.2"/>
<parent link="FR_thigh"/>
<child link="FR_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="24" lower="-2.49582083035" upper="-0.717155789644" velocity="31"/>
</joint>
<link name="FR_calf">
<visual>
<origin rpy="0 3.141592653589793 0" xyz="0 0 -0.1045"/>
<geometry>
<box size="0.016 0.016 0.209"/>
</geometry>
<material name="silver"/>
</visual>
<visual name="FR_calf_rubber">
<origin rpy="0 3.141592653589793 0" xyz="-0.0125 0 -0.007"/>
<geometry>
<sphere radius="0.016"/>
</geometry>
</visual>
<collision>
<origin rpy="0 3.141592653589793 0" xyz="0 0 -0.1045"/>
<geometry>
<box size="0.016 0.016 0.209"/>
</geometry>
</collision>
<collision name="FR_calf_rubber">
<origin rpy="0 3.141592653589793 0" xyz="-0.0125 0 -0.007"/>
<geometry>
<sphere radius="0.016"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.007372358 0.000122423 -0.10769301"/>
<mass value="0.1135916"/>
<inertia ixx="0.000667971" ixy="-1e-09" ixz="5.356e-06" iyy="0.000674399" iyz="-1.5e-08" izz="1.4181e-05"/>
</inertial>
</link>
<joint name="FR_foot_fixed" type="fixed" dont_collapse="true">
<origin rpy="0 0 0" xyz="0 0 -0.19999999999999998"/>
<parent link="FR_calf"/>
<child link="FR_foot"/>
</joint>
<link name="FR_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.018"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.018"/>
</geometry>
</collision>
</link>
<joint name="FL_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="0.23035 0.05 0"/>
<parent link="trunk"/>
<child link="FL_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="24" lower="-0.76096355387" upper="0.76096355387" velocity="31"/>
</joint>
<link name="FL_hip">
<visual>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.052" radius="0.047"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.052" radius="0.047"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.001597914 0.001680938 2.253e-06"/>
<mass value="0.537806728"/>
<inertia ixx="0.000403612" ixy="-9.337e-06" ixz="5.36e-07" iyy="0.000600779" iyz="-6.3e-08" izz="0.000417249"/>
</inertial>
</link>
<joint name="FL_hip_rotor_fix" type="fixed">
<origin rpy="0 0 0" xyz="-0.0832504 0 0"/>
<parent link="FL_hip"/>
<child link="FL_hip_rotor"/>
</joint>
<!-- this link is only for abad rotor inertial -->
<link name="FL_hip_rotor">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.076506382"/>
<inertia ixx="4.5843e-05" ixy="0" ixz="0" iyy="4.5871e-05" iyz="0" izz="8.9031e-05"/>
</inertial>
</link>
<joint name="FL_hip_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0.053076000000000005 0"/>
<parent link="FL_hip"/>
<child link="FL_thigh_shoulder"/>
</joint>
<link name="FL_thigh_shoulder">
<visual>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.052" radius="0.047"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.052" radius="0.047"/>
</geometry>
</collision>
</link>
<joint name="FL_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0.105076 0"/>
<parent link="FL_hip"/>
<child link="FL_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="24" lower="-1.88495559215" upper="3.76991118431" velocity="31"/>
</joint>
<link name="FL_thigh">
<visual>
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1"/>
<geometry>
<box size="0.2 0.035 0.05"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1"/>
<geometry>
<box size="0.2 0.035 0.05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.003205778 -0.027811623 -0.027767048"/>
<mass value="0.950266218"/>
<inertia ixx="0.004811898" ixy="9.3647e-05" ixz="-0.000208709" iyy="0.004752366" iyz="0.000813258" izz="0.001079691"/>
</inertial>
</link>
<joint name="FL_thigh_rotor_fix" type="fixed">
<origin rpy="0 0 0" xyz="0 -0.107226 0"/>
<parent link="FL_thigh"/>
<child link="FL_thigh_rotor"/>
</joint>
<!-- this link is only for hip rotor inertial -->
<link name="FL_thigh_rotor">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.076506382"/>
<inertia ixx="4.5843e-05" ixy="0" ixz="0" iyy="4.5871e-05" iyz="0" izz="8.9031e-05"/>
</inertial>
</link>
<joint name="FL_calf_rotor_fix" type="fixed">
<origin rpy="0 0 0" xyz="0 -0.0426259 0"/>
<parent link="FL_thigh"/>
<child link="FL_calf_rotor"/>
</joint>
<!-- this link is only for knee rotor inertial -->
<link name="FL_calf_rotor">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.076506382"/>
<inertia ixx="4.5843e-05" ixy="0" ixz="0" iyy="4.5871e-05" iyz="0" izz="8.9031e-05"/>
</inertial>
</link>
<joint name="FL_calf_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 -0.2"/>
<parent link="FL_thigh"/>
<child link="FL_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="24" lower="-2.49582083035" upper="-0.717155789644" velocity="31"/>
</joint>
<link name="FL_calf">
<visual>
<origin rpy="0 3.141592653589793 0" xyz="0 0 -0.1045"/>
<geometry>
<box size="0.016 0.016 0.209"/>
</geometry>
<material name="silver"/>
</visual>
<visual name="FL_calf_rubber">
<origin rpy="0 3.141592653589793 0" xyz="-0.0125 0 -0.007"/>
<geometry>
<sphere radius="0.016"/>
</geometry>
</visual>
<collision>
<origin rpy="0 3.141592653589793 0" xyz="0 0 -0.1045"/>
<geometry>
<box size="0.016 0.016 0.209"/>
</geometry>
</collision>
<collision name="FL_calf_rubber">
<origin rpy="0 3.141592653589793 0" xyz="-0.0125 0 -0.007"/>
<geometry>
<sphere radius="0.016"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.007372358 0.000122423 -0.10769301"/>
<mass value="0.1135916"/>
<inertia ixx="0.000667971" ixy="-1e-09" ixz="5.356e-06" iyy="0.000674399" iyz="-1.5e-08" izz="1.4181e-05"/>
</inertial>
</link>
<joint name="FL_foot_fixed" type="fixed" dont_collapse="true">
<origin rpy="0 0 0" xyz="0 0 -0.19999999999999998"/>
<parent link="FL_calf"/>
<child link="FL_foot"/>
</joint>
<link name="FL_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.018"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.018"/>
</geometry>
</collision>
</link>
<joint name="RR_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="-0.23035 -0.05 0"/>
<parent link="trunk"/>
<child link="RR_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="24" lower="-0.76096355387" upper="0.76096355387" velocity="31"/>
</joint>
<link name="RR_hip">
<visual>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.052" radius="0.047"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.052" radius="0.047"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.001597914 -0.001680938 2.253e-06"/>
<mass value="0.537806728"/>
<inertia ixx="0.000403612" ixy="-9.337e-06" ixz="-5.36e-07" iyy="0.000600779" iyz="6.3e-08" izz="0.000417249"/>
</inertial>
</link>
<joint name="RR_hip_rotor_fix" type="fixed">
<origin rpy="0 0 0" xyz="0.0832504 0 0"/>
<parent link="RR_hip"/>
<child link="RR_hip_rotor"/>
</joint>
<!-- this link is only for abad rotor inertial -->
<link name="RR_hip_rotor">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.076506382"/>
<inertia ixx="4.5843e-05" ixy="0" ixz="0" iyy="4.5871e-05" iyz="0" izz="8.9031e-05"/>
</inertial>
</link>
<joint name="RR_hip_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 -0.053076000000000005 0"/>
<parent link="RR_hip"/>
<child link="RR_thigh_shoulder"/>
</joint>
<link name="RR_thigh_shoulder">
<visual>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.052" radius="0.047"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.052" radius="0.047"/>
</geometry>
</collision>
</link>
<joint name="RR_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 -0.105076 0"/>
<parent link="RR_hip"/>
<child link="RR_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="24" lower="-1.88495559215" upper="3.76991118431" velocity="31"/>
</joint>
<link name="RR_thigh">
<visual>
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1"/>
<geometry>
<box size="0.2 0.035 0.05"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1"/>
<geometry>
<box size="0.2 0.035 0.05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.003205778 0.027811623 -0.027767048"/>
<mass value="0.950266218"/>
<inertia ixx="0.004811898" ixy="-9.3647e-05" ixz="-0.000208709" iyy="0.004752366" iyz="-0.000813258" izz="0.001079691"/>
</inertial>
</link>
<joint name="RR_thigh_rotor_fix" type="fixed">
<origin rpy="0 0 0" xyz="0 0.107226 0"/>
<parent link="RR_thigh"/>
<child link="RR_thigh_rotor"/>
</joint>
<!-- this link is only for hip rotor inertial -->
<link name="RR_thigh_rotor">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.076506382"/>
<inertia ixx="4.5843e-05" ixy="0" ixz="0" iyy="4.5871e-05" iyz="0" izz="8.9031e-05"/>
</inertial>
</link>
<joint name="RR_calf_rotor_fix" type="fixed">
<origin rpy="0 0 0" xyz="0 0.0426259 0"/>
<parent link="RR_thigh"/>
<child link="RR_calf_rotor"/>
</joint>
<!-- this link is only for knee rotor inertial -->
<link name="RR_calf_rotor">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.076506382"/>
<inertia ixx="4.5843e-05" ixy="0" ixz="0" iyy="4.5871e-05" iyz="0" izz="8.9031e-05"/>
</inertial>
</link>
<joint name="RR_calf_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 -0.2"/>
<parent link="RR_thigh"/>
<child link="RR_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="24" lower="-2.49582083035" upper="-0.717155789644" velocity="31"/>
</joint>
<link name="RR_calf">
<visual>
<origin rpy="0 3.141592653589793 0" xyz="0 0 -0.1045"/>
<geometry>
<box size="0.016 0.016 0.209"/>
</geometry>
<material name="silver"/>
</visual>
<visual name="RR_calf_rubber">
<origin rpy="0 3.141592653589793 0" xyz="-0.0125 0 -0.007"/>
<geometry>
<sphere radius="0.016"/>
</geometry>
</visual>
<collision>
<origin rpy="0 3.141592653589793 0" xyz="0 0 -0.1045"/>
<geometry>
<box size="0.016 0.016 0.209"/>
</geometry>
</collision>
<collision name="RR_calf_rubber">
<origin rpy="0 3.141592653589793 0" xyz="-0.0125 0 -0.007"/>
<geometry>
<sphere radius="0.016"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.007372358 0.000122423 -0.10769301"/>
<mass value="0.1135916"/>
<inertia ixx="0.000667971" ixy="-1e-09" ixz="5.356e-06" iyy="0.000674399" iyz="-1.5e-08" izz="1.4181e-05"/>
</inertial>
</link>
<joint name="RR_foot_fixed" type="fixed" dont_collapse="true">
<origin rpy="0 0 0" xyz="0 0 -0.19999999999999998"/>
<parent link="RR_calf"/>
<child link="RR_foot"/>
</joint>
<link name="RR_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.018"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.018"/>
</geometry>
</collision>
</link>
<!-- <xacro:leg_transmission name="${name}" /> -->
<joint name="RL_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="-0.23035 0.05 0"/>
<parent link="trunk"/>
<child link="RL_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="24" lower="-0.76096355387" upper="0.76096355387" velocity="31"/>
</joint>
<link name="RL_hip">
<visual>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.052" radius="0.047"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.052" radius="0.047"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.001597914 0.001680938 2.253e-06"/>
<mass value="0.537806728"/>
<inertia ixx="0.000403612" ixy="9.337e-06" ixz="-5.36e-07" iyy="0.000600779" iyz="-6.3e-08" izz="0.000417249"/>
</inertial>
</link>
<joint name="RL_hip_rotor_fix" type="fixed">
<origin rpy="0 0 0" xyz="0.0832504 0 0"/>
<parent link="RL_hip"/>
<child link="RL_hip_rotor"/>
</joint>
<!-- this link is only for abad rotor inertial -->
<link name="RL_hip_rotor">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.076506382"/>
<inertia ixx="4.5843e-05" ixy="0" ixz="0" iyy="4.5871e-05" iyz="0" izz="8.9031e-05"/>
</inertial>
</link>
<joint name="RL_hip_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0.053076000000000005 0"/>
<parent link="RL_hip"/>
<child link="RL_thigh_shoulder"/>
</joint>
<link name="RL_thigh_shoulder">
<visual>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.052" radius="0.047"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.052" radius="0.047"/>
</geometry>
</collision>
</link>
<joint name="RL_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0.105076 0"/>
<parent link="RL_hip"/>
<child link="RL_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="24" lower="-1.88495559215" upper="3.76991118431" velocity="31"/>
</joint>
<link name="RL_thigh">
<visual>
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1"/>
<geometry>
<box size="0.2 0.035 0.05"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1"/>
<geometry>
<box size="0.2 0.035 0.05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.003205778 -0.027811623 -0.027767048"/>
<mass value="0.950266218"/>
<inertia ixx="0.004811898" ixy="9.3647e-05" ixz="-0.000208709" iyy="0.004752366" iyz="0.000813258" izz="0.001079691"/>
</inertial>
</link>
<joint name="RL_thigh_rotor_fix" type="fixed">
<origin rpy="0 0 0" xyz="0 -0.107226 0"/>
<parent link="RL_thigh"/>
<child link="RL_thigh_rotor"/>
</joint>
<!-- this link is only for hip rotor inertial -->
<link name="RL_thigh_rotor">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.076506382"/>
<inertia ixx="4.5843e-05" ixy="0" ixz="0" iyy="4.5871e-05" iyz="0" izz="8.9031e-05"/>
</inertial>
</link>
<joint name="RL_calf_rotor_fix" type="fixed">
<origin rpy="0 0 0" xyz="0 -0.0426259 0"/>
<parent link="RL_thigh"/>
<child link="RL_calf_rotor"/>
</joint>
<!-- this link is only for knee rotor inertial -->
<link name="RL_calf_rotor">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.076506382"/>
<inertia ixx="4.5843e-05" ixy="0" ixz="0" iyy="4.5871e-05" iyz="0" izz="8.9031e-05"/>
</inertial>
</link>
<joint name="RL_calf_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 -0.2"/>
<parent link="RL_thigh"/>
<child link="RL_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="24" lower="-2.49582083035" upper="-0.717155789644" velocity="31"/>
</joint>
<link name="RL_calf">
<visual>
<origin rpy="0 3.141592653589793 0" xyz="0 0 -0.1045"/>
<geometry>
<box size="0.016 0.016 0.209"/>
</geometry>
<material name="silver"/>
</visual>
<visual name="RL_calf_rubber">
<origin rpy="0 3.141592653589793 0" xyz="-0.0125 0 -0.007"/>
<geometry>
<sphere radius="0.016"/>
</geometry>
</visual>
<collision>
<origin rpy="0 3.141592653589793 0" xyz="0 0 -0.1045"/>
<geometry>
<box size="0.016 0.016 0.209"/>
</geometry>
</collision>
<collision name="RL_calf_rubber">
<origin rpy="0 3.141592653589793 0" xyz="-0.0125 0 -0.007"/>
<geometry>
<sphere radius="0.016"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.007372358 0.000122423 -0.10769301"/>
<mass value="0.1135916"/>
<inertia ixx="0.000667971" ixy="-1e-09" ixz="5.356e-06" iyy="0.000674399" iyz="-1.5e-08" izz="1.4181e-05"/>
</inertial>
</link>
<joint name="RL_foot_fixed" type="fixed" dont_collapse="true">
<origin rpy="0 0 0" xyz="0 0 -0.19999999999999998"/>
<parent link="RL_calf"/>
<child link="RL_foot"/>
</joint>
<link name="RL_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.018"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.018"/>
</geometry>
</collision>
</link>
</robot>

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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:property name="PI" value="3.1415926535897931" />
<!-- dimension -->
<!-- body -->
<xacro:property name="body_width" value="0.23" />
<xacro:property name="body_length" value="0.36" />
<xacro:property name="body_height" value="0.15" />
<!-- abad -->
<xacro:property name="abad_radius" value="0.047" />
<xacro:property name="abad_length" value="0.052" />
<xacro:property name="abad_offset_x" value="0.23035" />
<xacro:property name="abad_offset_y" value="0.05" />
<xacro:property name="abad_rotor_offset" value="0.0832504" />
<xacro:property name="abad_max" value="0.76096355387" />
<xacro:property name="abad_min" value="-0.76096355387" />
<!-- hip -->
<xacro:property name="hip_shoulder_radius" value="0.047" />
<xacro:property name="hip_shoulder_length" value="0.052" />
<xacro:property name="hip_width" value="0.035" />
<xacro:property name="hip_height" value="0.050" />
<xacro:property name="hip_offset" value="0.105076" />
<xacro:property name="hip_length" value="0.2" />
<xacro:property name="hip_rotor_offset" value="-0.107226" />
<xacro:property name="hip_f_max" value="3.76991118431" />
<xacro:property name="hip_f_min" value="-1.88495559215" />
<xacro:property name="hip_h_max" value="3.76991118431" />
<xacro:property name="hip_h_min" value="-1.88495559215" />
<!-- knee -->
<xacro:property name="knee_width" value="0.016" />
<xacro:property name="knee_height" value="0.016" />
<xacro:property name="knee_length" value="0.209" />
<xacro:property name="knee_rotor_offset" value="-0.0426259" />
<xacro:property name="knee_max" value="-0.717155789644" />
<xacro:property name="knee_min" value="-2.49582083035" />
<xacro:property name="knee_rubber" value="0.025" />
<!-- foot -->
<xacro:property name="foot_radius" value="0.018" />
<!-- acuator atribute -->
<xacro:property name="abadGearRatio" value="1" />
<xacro:property name="hipGearRatio" value="1" />
<xacro:property name="kneeGearRatio" value="1" />
<xacro:property name="abad_motorTauMax" value="24" />
<xacro:property name="hip_motorTauMax" value="24" />
<xacro:property name="knee_motorTauMax" value="24" />
<xacro:property name="abad_motorVelMax" value="31" />
<xacro:property name="hip_motorVelMax" value="31" />
<xacro:property name="knee_motorVelMax" value="31" />
<xacro:property name="abad_damping" value="0" />
<xacro:property name="hip_damping" value="0" />
<xacro:property name="knee_damping" value="0" />
<xacro:property name="abad_friction" value="0" />
<xacro:property name="hip_friction" value="0" />
<xacro:property name="knee_friction" value="0" />
<!-- inertial&mass value -->
<!-- body -->
<xacro:property name="body_mass" value="6.248410872" />
<xacro:property name="body_com_x" value="0.018785003" />
<xacro:property name="body_com_y" value="0.003291012" />
<xacro:property name="body_com_z" value="-0.000925646" />
<xacro:property name="body_ixx" value="0.032143039" />
<xacro:property name="body_ixy" value="-0.000268204" />
<xacro:property name="body_ixz" value="-0.00241341" />
<xacro:property name="body_iyy" value="0.13578316" />
<xacro:property name="body_iyz" value="0.000080244" />
<xacro:property name="body_izz" value="0.14828095" />
<!-- abad -->
<xacro:property name="abad_mass" value="0.537806728" />
<xacro:property name="abad_com_x" value="-0.001597914" />
<xacro:property name="abad_com_y" value="0.001680938" />
<xacro:property name="abad_com_z" value="0.000002253" />
<xacro:property name="abad_ixx" value="0.000403612" />
<xacro:property name="abad_ixy" value="-0.000009337" />
<xacro:property name="abad_ixz" value="0.000000536" />
<xacro:property name="abad_iyy" value="0.000600779" />
<xacro:property name="abad_iyz" value="-0.000000063" />
<xacro:property name="abad_izz" value="0.000417249" />
<!-- hip -->
<xacro:property name="hip_mass" value="0.950266218" />
<xacro:property name="hip_com_x" value="-0.003205778" />
<xacro:property name="hip_com_y" value="-0.027811623" />
<xacro:property name="hip_com_z" value="-0.027767048" />
<xacro:property name="hip_ixx" value="0.004811898" />
<xacro:property name="hip_ixy" value="0.000093647" />
<xacro:property name="hip_ixz" value="-0.000208709" />
<xacro:property name="hip_iyy" value="0.004752366" />
<xacro:property name="hip_iyz" value="0.000813258" />
<xacro:property name="hip_izz" value="0.001079691" />
<!-- knee -->
<xacro:property name="knee_mass" value="0.1135916" />
<xacro:property name="knee_com_x" value="0.007372358" />
<xacro:property name="knee_com_y" value="0.000122423" />
<xacro:property name="knee_com_z" value="-0.10769301" />
<xacro:property name="knee_ixx" value="0.000667971" />
<xacro:property name="knee_ixy" value="-0.000000001" />
<xacro:property name="knee_ixz" value="0.000005356" />
<xacro:property name="knee_iyy" value="0.000674399" />
<xacro:property name="knee_iyz" value="-0.000000015" />
<xacro:property name="knee_izz" value="0.000014181" />
<!-- rotor -->
<xacro:property name="rotor_mass" value="0.076506382" />
<xacro:property name="rotor_com_x" value="0" />
<xacro:property name="rotor_com_y" value="0" />
<xacro:property name="rotor_com_z" value="0" />
<xacro:property name="rotor_ixx" value="0.000045843" />
<xacro:property name="rotor_ixy" value="0" />
<xacro:property name="rotor_ixz" value="0" />
<xacro:property name="rotor_iyy" value="0.000045871" />
<xacro:property name="rotor_iyz" value="0" />
<xacro:property name="rotor_izz" value="0.000089031" />
</robot>

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<?xml version="1.0"?>
<robot>
<!-- ros_control plugin -->
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/cyberdog_gazebo</robotNamespace>
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
</plugin>
</gazebo>
<!-- Show the trajectory of trunk center. -->
<gazebo>
<plugin name="3dplot" filename="libLinkPlot3DPlugin.so">
<frequency>10</frequency>
<plot>
<link>base</link>
<pose>0 0 0 0 0 0</pose>
<material>Gazebo/Yellow</material>
</plot>
</plugin>
</gazebo>
<!-- Show the trajectory of foot. You can add another trajectory about another foot. -->
<!-- <gazebo>
<plugin name="3dplot" filename="libLinkPlot3DPlugin.so">
<frequency>100</frequency>
<plot>
<link>FL_foot</link>
<pose>0 0 0 0 0 0</pose>
<material>Gazebo/Green</material>
</plot>
</plugin>
</gazebo> -->
<gazebo>
<plugin filename="libgazebo_ros_force.so" name="gazebo_ros_force">
<bodyName>trunk</bodyName>
<topicName>/apply_force/trunk</topicName>
</plugin>
</gazebo>
<gazebo reference="imu_link">
<gravity>true</gravity>
<sensor name="imu_sensor" type="imu">
<always_on>true</always_on>
<update_rate>1000</update_rate>
<visualize>true</visualize>
<topic>__default_topic__</topic>
<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
<topicName>trunk_imu</topicName>
<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>
<!-- 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>

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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="../xacro/transmission.xacro" />
<xacro:macro name="leg" params="name mirror mirror_dae front_hind front_hind_dae *origin">
<joint name="${name}_hip_joint" type="revolute">
<xacro:insert_block name="origin" />
<parent link="trunk" />
<child link="${name}_hip" />
<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}"
upper="${abad_max}" />
</xacro:if>
<xacro:if value="${(mirror_dae == False)}">
<limit effort="${abad_motorTauMax*abadGearRatio}"
velocity="${abad_motorVelMax}" lower="${-abad_max}"
upper="${-abad_min}" />
</xacro:if>
</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} ${PI} 0" xyz="0 0 0" />
</xacro:if>
<geometry>
<mesh filename="package://cyberdog_new_description/meshes/abad.dae" scale="1 1 1" />
</geometry>
<material name="orange" />
</visual> -->
<visual>
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0" />
<geometry>
<cylinder length="${abad_length}" radius="${abad_radius}" />
</geometry>
<material name="silver" />
</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="${name}_hip_rotor_fix" type="fixed">
<origin rpy="0 0 0" xyz="${-abad_rotor_offset*front_hind} 0 0" />
<parent link="${name}_hip" />
<child link="${name}_hip_rotor" />
</joint>
<!-- this link is only for abad 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}_hip_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 ${(hip_offset-hip_shoulder_length)*mirror} 0" />
<parent link="${name}_hip" />
<child link="${name}_thigh_shoulder" />
</joint>
<link name="${name}_thigh_shoulder">
<visual>
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0" />
<geometry>
<cylinder length="${hip_shoulder_length}" radius="${hip_shoulder_radius}" />
</geometry>
<material name="silver" />
</visual>
<collision>
<origin rpy="${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}_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 ${hip_offset*mirror} 0" />
<parent link="${name}_hip" />
<child link="${name}_thigh" />
<axis xyz="0 1 0" />
<dynamics damping="${hip_damping}" friction="${hip_friction}" />
<xacro:if value="${front_hind_dae == True}">
<limit effort="${hip_motorTauMax*hipGearRatio}"
velocity="${hip_motorVelMax}" lower="${hip_f_min}"
upper="${hip_f_max}" />
</xacro:if>
<xacro:if value="${front_hind_dae == False}">
<limit effort="${hip_motorTauMax*hipGearRatio}"
velocity="${hip_motorVelMax}" lower="${hip_h_min}"
upper="${hip_h_max}" />
</xacro:if>
</joint>
<link name="${name}_thigh">
<!-- <visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<xacro:if value="${mirror_dae == True}">
<mesh filename="package://cyberdog_new_description/meshes/hip.dae"
scale="1 1 1" />
</xacro:if>
<xacro:if value="${mirror_dae == False}">
<mesh filename="package://cyberdog_new_description/meshes/hip_mirror.dae"
scale="1 1 1" />
</xacro:if>
</geometry>
<material name="orange" />
</visual> -->
<visual>
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-hip_length/2.0}" />
<geometry>
<box size="${hip_length} ${hip_width} ${hip_height}" />
</geometry>
<material name="silver" />
</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}_thigh_rotor_fix" type="fixed">
<origin rpy="0 0 0" xyz="0 ${hip_rotor_offset*mirror} 0" />
<parent link="${name}_thigh" />
<child link="${name}_thigh_rotor" />
</joint>
<!-- this link is only for hip rotor inertial -->
<link name="${name}_thigh_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}_calf_rotor_fix" type="fixed">
<origin rpy="0 0 0" xyz="0 ${knee_rotor_offset*mirror} 0" />
<parent link="${name}_thigh" />
<child link="${name}_calf_rotor" />
</joint>
<!-- this link is only for knee rotor inertial -->
<link name="${name}_calf_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}_calf_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 ${-hip_length}" />
<parent link="${name}_thigh" />
<child link="${name}_calf" />
<axis xyz="0 1 0" />
<dynamics damping="${hip_damping}" friction="${hip_friction}" />
<limit effort="${knee_motorTauMax*kneeGearRatio}"
velocity="${knee_motorVelMax}" lower="${knee_min}"
upper="${knee_max}" />
</joint>
<link name="${name}_calf">
<!-- <visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="package://cyberdog_new_description/meshes/knee.dae" scale="1 1 1" />
</geometry>
<material name="orange" />
</visual> -->
<visual>
<origin rpy="0 ${PI} 0" xyz="0 0 ${-knee_length/2.0}" />
<geometry>
<box size="${knee_height} ${knee_width} ${knee_length}" />
</geometry>
<material name="silver" />
</visual>
<visual name="${name}_calf_rubber">
<origin rpy="0 ${PI} 0" xyz="${-knee_rubber/2.0} 0 -0.007" />
<geometry>
<sphere radius="0.016" />
</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}_calf_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" dont_collapse="true">
<origin rpy="0 0 0" xyz="0 0 ${-knee_length+foot_radius/2.0}" />
<parent link="${name}_calf" />
<child link="${name}_foot" />
</joint>
<link name="${name}_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<sphere radius="${foot_radius}" />
</geometry>
<material name="silver" />
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<sphere radius="${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}" />
</xacro:macro>
</robot>

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<?xml version="1.0"?>
<robot name="cyberdog_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:arg name="ROBOT" default="cyberdog_description" />
<xacro:arg name="USE_LIDAR" default="false" />
<xacro:include filename="const.xacro" />
<xacro:include filename="leg.xacro" />
<xacro:include filename="gazebo.xacro" />
<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="0.913725490196 0.913725490196 0.847058823529 1.0"/>
</material>
<material name="orange">
<color rgba="0.12 0.15 0.2 1.0"/>
</material>
<material name="brown">
<color rgba="0.870588235294 0.811764705882 0.764705882353 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>
<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://cyberdog_new_description/meshes/body.dae" scale="1 1 1" />
</geometry>
</visual> -->
<visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<box size="${body_length} ${body_width} ${body_height}" />
</geometry>
<material name="silver" />
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<box size="${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="trunk" />
<child link="imu_link" />
<origin rpy="0 0 0" xyz="0 0 0" />
</joint>
<link name="imu_link">
<!-- <inertial>
<mass value="0.001" />
<origin rpy="0 0 0" xyz="0 0 0" />
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001" />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<box size="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<box size=".001 .001 .001" />
</geometry>
</collision> -->
</link>
<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>
</robot>

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<?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="${name}_hip_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>"${abadGearRatio}"</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="${name}_thigh_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>"${hipGearRatio}"</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="${name}_calf_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>"${kneeGearRatio}"</mechanicalReduction>
</actuator>
</transmission>
</xacro:macro>
</robot>

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cmake_minimum_required(VERSION 2.8.3)
project(cyberdog_old_description)
find_package(catkin REQUIRED COMPONENTS
genmsg
roscpp
std_msgs
tf
)
catkin_package(
CATKIN_DEPENDS
)
include_directories(
# include
${Boost_INCLUDE_DIR}
${catkin_INCLUDE_DIRS}
)

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cyberdog_gazebo:
# Publish all joint states -----------------------------------
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 1000
# FL Controllers ---------------------------------------
FL_hip_controller:
type: unitree_legged_control/UnitreeJointController
joint: FL_hip_joint
pid: {p: 100.0, i: 0.0, d: 5.0}
FL_thigh_controller:
type: unitree_legged_control/UnitreeJointController
joint: FL_thigh_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
FL_calf_controller:
type: unitree_legged_control/UnitreeJointController
joint: FL_calf_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
# FR Controllers ---------------------------------------
FR_hip_controller:
type: unitree_legged_control/UnitreeJointController
joint: FR_hip_joint
pid: {p: 100.0, i: 0.0, d: 5.0}
FR_thigh_controller:
type: unitree_legged_control/UnitreeJointController
joint: FR_thigh_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
FR_calf_controller:
type: unitree_legged_control/UnitreeJointController
joint: FR_calf_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
# RL Controllers ---------------------------------------
RL_hip_controller:
type: unitree_legged_control/UnitreeJointController
joint: RL_hip_joint
pid: {p: 100.0, i: 0.0, d: 5.0}
RL_thigh_controller:
type: unitree_legged_control/UnitreeJointController
joint: RL_thigh_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
RL_calf_controller:
type: unitree_legged_control/UnitreeJointController
joint: RL_calf_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
# RR Controllers ---------------------------------------
RR_hip_controller:
type: unitree_legged_control/UnitreeJointController
joint: RR_hip_joint
pid: {p: 100.0, i: 0.0, d: 5.0}
RR_thigh_controller:
type: unitree_legged_control/UnitreeJointController
joint: RR_thigh_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
RR_calf_controller:
type: unitree_legged_control/UnitreeJointController
joint: RR_calf_joint
pid: {p: 300.0, i: 0.0, d: 8.0}

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src/robots/cyberdog_old_description/launch/display.launch Normal file
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<launch>
<param name="robot_description" textfile="$(find cyberdog_old_description)/urdf/cyberdog_old_description.urdf"/>
<!-- send fake joint values -->
<!-- <node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher">
<param name="use_gui" value="TRUE"/>
</node> -->
<node
name="joint_state_publisher_gui"
pkg="joint_state_publisher_gui"
type="joint_state_publisher_gui" />
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
<param name="publish_frequency" type="double" value="1000.0"/>
</node>
<node pkg="rviz" type="rviz" name="rviz" respawn="false" output="screen"
args="-d $(find cyberdog_old_description)/launch/test.rviz"/>
</launch>

19
src/robots/cyberdog_old_description/launch/gazebo.launch Normal file
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<launch>
<include file="$(find gazebo_ros)/launch/empty_world.launch" />
<node
name="tf_footprint_base"
pkg="tf"
type="static_transform_publisher"
args="0 0 0 0 0 0 base_link base_footprint 40" />
<node
name="spawn_model"
pkg="gazebo_ros"
type="spawn_model"
args="-file $(find cyberdog_description)/urdf/cyberdog_old_description.urdf -urdf -model cyberdog_old_description -z 0.6 -unpause"
output="screen" />
<node
name="fake_joint_calibration"
pkg="rostopic"
type="rostopic"
args="pub /calibrated std_msgs/Bool true" />
</launch>

245
src/robots/cyberdog_old_description/launch/test.rviz Normal file
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Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
Splitter Ratio: 0.5
Tree Height: 555
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Name: Time
SyncMode: 0
SyncSource: ""
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
FL_calf:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FL_foot:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FL_hip:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FL_thigh:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FR_calf:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FR_foot:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FR_hip:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FR_thigh:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Link Tree Style: Links in Alphabetic Order
RL_calf:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RL_foot:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RL_hip:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RL_thigh:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RR_calf:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RR_foot:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RR_hip:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RR_thigh:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
imu_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
trunk:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz/TF
Enabled: false
Frame Timeout: 15
Frames:
All Enabled: true
Marker Alpha: 1
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
{}
Update Interval: 0
Value: false
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: trunk
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Theta std deviation: 0.2617993950843811
Topic: /initialpose
X std deviation: 0.5
Y std deviation: 0.5
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 2.3364639282226562
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Field of View: 0.7853981852531433
Focal Point:
X: 0
Y: 0
Z: 0
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.16539815068244934
Target Frame: <Fixed Frame>
Yaw: 1.430397391319275
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 846
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd000000040000000000000156000002b4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002b4000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000002b4000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000030700fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1200
X: 739
Y: -14

0
src/robots/cyberdog_description/meshes/calf.STL → src/robots/cyberdog_old_description/meshes/calf.STL
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0
src/robots/cyberdog_description/meshes/hip.STL → src/robots/cyberdog_old_description/meshes/hip.STL
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0
src/robots/cyberdog_description/meshes/hip_mirror.STL → src/robots/cyberdog_old_description/meshes/hip_mirror.STL
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0
src/robots/cyberdog_description/meshes/thigh.STL → src/robots/cyberdog_old_description/meshes/thigh.STL
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0
src/robots/cyberdog_description/meshes/trunk.STL → src/robots/cyberdog_old_description/meshes/trunk.STL
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19
src/robots/cyberdog_old_description/package.xml Normal file
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<?xml version="1.0"?>
<package format="2">
<name>cyberdog_old_description</name>
<version>1.0.0</version>
<description>The cyberdog_old_description package</description>
<author>TODO</author>
<maintainer email="TODO@email.com" />
<license>BSD</license>
<buildtool_depend>catkin</buildtool_depend>
<depend>roscpp</depend>
<depend>std_msgs</depend>
<depend>roslaunch</depend>
<depend>robot_state_publisher</depend>
<depend>rviz</depend>
<depend>joint_state_publisher_gui</depend>
<depend>gazebo</depend>
</package>

933
src/robots/cyberdog_old_description/urdf/cyberdog_description.urdf Normal file
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<?xml version="1.0" encoding="utf-8"?>
<robot name="cyberdog_old_description">
<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="0.913725490196 0.913725490196 0.847058823529 1.0"/>
</material>
<material name="orange">
<!-- <color rgba="1.0 0.423529411765 0.0392156862745 1.0"/> -->
<color rgba="0.12 0.15 0.2 1.0"/>
</material>
<material name="brown">
<color rgba="0.870588235294 0.811764705882 0.764705882353 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>
<!-- ros_control plugin -->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<robotNamespace>/cyberdog_gazebo</robotNamespace>
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
</plugin>
</gazebo>
<!-- Show the trajectory of body center. -->
<gazebo>
<plugin filename="libLinkPlot3DPlugin.so" name="3dplotbody">
<frequency>10</frequency>
<plot>
<link>base</link>
<pose>0 0 0 0 0 0</pose>
<material>Gazebo/Yellow</material>
</plot>
</plugin>
</gazebo>
<!-- Show the trajectory of foot. You can add another trajectory about another foot. -->
<gazebo>
<plugin filename="libLinkPlot3DPlugin.so" name="3dplot">
<frequency>1000</frequency>
<plot>
<link>FR_calf</link>
<pose>0 0 -0.217 0 0 0</pose>
<material>Gazebo/Yellow</material>
</plot>
</plugin>
</gazebo>
<gazebo>
<plugin filename="libgazebo_ros_force.so" name="gazebo_ros_force">
<bodyName>trunk</bodyName>
<topicName>/apply_force/trunk</topicName>
</plugin>
</gazebo>
<gazebo reference="imu_link">
<gravity>true</gravity>
<sensor name="imu_sensor" type="imu">
<always_on>true</always_on>
<update_rate>1000</update_rate>
<visualize>true</visualize>
<topic>__default_topic__</topic>
<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
<topicName>trunk_imu</topicName>
<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>
<!-- Foot contacts. -->
<gazebo reference="FR_calf">
<sensor name="FR_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin filename="libunitreeFootContactPlugin.so" name="contactPlugin"/>
<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 filename="libunitreeFootContactPlugin.so" name="contactPlugin"/>
<contact>
<collision>FL_calf_fixed_joint_lump__FL_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="RR_calf">
<sensor name="RR_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin filename="libunitreeFootContactPlugin.so" name="contactPlugin"/>
<contact>
<collision>RR_calf_fixed_joint_lump__RR_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="RL_calf">
<sensor name="RL_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin filename="libunitreeFootContactPlugin.so" name="contactPlugin"/>
<contact>
<collision>RL_calf_fixed_joint_lump__RL_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<!-- Visualization of Foot contacts. -->
<gazebo reference="FR_foot">
<visual>
<plugin filename="libunitreeDrawForcePlugin.so" name="drawForcePlugin">
<topicName>FR_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="FL_foot">
<visual>
<plugin filename="libunitreeDrawForcePlugin.so" name="drawForcePlugin">
<topicName>FL_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="RR_foot">
<visual>
<plugin filename="libunitreeDrawForcePlugin.so" name="drawForcePlugin">
<topicName>RR_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="RL_foot">
<visual>
<plugin filename="libunitreeDrawForcePlugin.so" name="drawForcePlugin">
<topicName>RL_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="base">
<material>Gazebo/Green</material>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="trunk">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="imu_link">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/Red</material>
</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>0.9</mu1>
<mu2>0.9</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</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>0.9</mu1>
<mu2>0.9</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>0.9</mu1>
<mu2>0.9</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>0.9</mu1>
<mu2>0.9</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- 悬挂 -->
<!-- <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> -->
<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://cyberdog_description/meshes/trunk.STL" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://cyberdog_description/meshes/trunk.STL"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="8.78"/>
<inertia ixx="0.032051" ixy="-0.00023217" ixz="0.002728" iyy="0.13707" iyz="5.6623E-05" izz="0.14946"/>
</inertial>
</link>
<joint name="imu_joint" type="fixed">
<parent link="trunk"/>
<child link="imu_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<link name="imu_link">
<inertial>
<mass value="0.001"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
<material name="red"/>
</visual>
<!-- <collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".001 .001 .001"/>
</geometry>
</collision> -->
</link>
<joint name="FR_hip_joint" type="revolute">
<origin xyz="0.23536 -0.05 0" rpy="0 0 0"/>
<parent link="trunk"/>
<child link="FR_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="17" lower="-0.75" upper="0.75" velocity="12"/>
</joint>
<link name="FR_hip">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://cyberdog_description/meshes/hip_mirror.STL" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://cyberdog_description/meshes/hip_mirror.STL"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 -0.053575 0" rpy="0 0 0"/>
<mass value="0.509"/>
<inertia ixx="0.00038097" ixy="1.2523E-05" ixz="-1.1653E-05" iyy="0.00069383" iyz="5.071E-06" izz="0.00047336"/>
</inertial>
</link>
<joint name="FR_hip_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 -0.10 0"/>
<parent link="FR_hip"/>
<child link="FR_thigh_shoulder"/>
</joint>
<link name="FR_thigh_shoulder">
</link>
<joint name="FR_thigh_joint" type="revolute">
<origin xyz="0 -0.10715 0" rpy="0 0 0"/>
<parent link="FR_hip"/>
<child link="FR_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit lower="-1.257" upper="4.363" effort="24" velocity="12"/>
</joint>
<link name="FR_thigh">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://cyberdog_description/meshes/thigh.STL" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://cyberdog_description/meshes/thigh.STL"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 -0.1" rpy="0 0 0"/>
<mass value="0.664"/>
<inertia ixx="0.0033376" ixy="-7.1504E-07" ixz="-0.00019282" iyy="0.0026385" iyz="-9.3033E-06" izz="0.0013093"/>
</inertial>
</link>
<joint name="FR_calf_joint" type="revolute">
<origin xyz="0 0 -0.2" rpy="0 0 0"/>
<parent link="FR_thigh"/>
<child link="FR_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit lower="-2.478" upper="-0.506" effort="24" velocity="12"/>
</joint>
<link name="FR_calf">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://cyberdog_description/meshes/calf.STL" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://cyberdog_description/meshes/calf.STL"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 -0.11439" rpy="0 0 0"/>
<mass value="0.114"/>
<inertia ixx="0.0014553" ixy="-3.2376E-08" ixz="8.3885E-05" iyy="0.0021522" iyz="5.1259E-07" izz="0.00070545"/>
</inertial>
</link>
<joint name="FR_foot_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.217"/>
<parent link="FR_calf"/>
<child link="FR_foot"/>
</joint>
<link name="FR_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.025"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.025"/>
</geometry>
</collision>
<inertial>
<mass value="0.026"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
</inertial>
</link>
<transmission name="FR_hip_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FR_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="FR_hip_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="FR_thigh_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FR_thigh_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="FR_thigh_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="FR_calf_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FR_calf_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="FR_calf_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="FL_hip_joint" type="revolute">
<origin xyz="0.23536 0.05 0" rpy="0 0 0"/>
<parent link="trunk"/>
<child link="FL_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0" friction="0"/>
<limit lower="-0.75" upper="0.75" effort="17" velocity="12"/>
</joint>
<link name="FL_hip">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://cyberdog_description/meshes/hip.STL" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://cyberdog_description/meshes/hip.STL"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0.053575 0" rpy="0 0 0"/>
<mass value="0.509"/>
<inertia ixx="0.00038097" ixy="1.2523E-05" ixz="-1.1653E-05" iyy="0.00069383" iyz="5.071E-06" izz="0.00047336"/>
</inertial>
</link>
<joint name="FL_hip_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0.10 0"/>
<parent link="FL_hip"/>
<child link="FL_thigh_shoulder"/>
</joint>
<link name="FL_thigh_shoulder">
</link>
<joint name="FL_thigh_joint" type="revolute">
<origin xyz="0 0.10715 0" rpy="0 0 0"/>
<parent link="FL_hip"/>
<child link="FL_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit lower="-1.257" upper="4.363" effort="24" velocity="12"/>
</joint>
<link name="FL_thigh">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://cyberdog_description/meshes/thigh.STL" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://cyberdog_description/meshes/thigh.STL"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 -0.1" rpy="0 0 0"/>
<mass value="0.664"/>
<inertia ixx="0.0033376" ixy="-7.150375E-07" ixz="-0.00019282" iyy="0.0026385" iyz="-9.3033E-06" izz="0.0013093"/>
</inertial>
</link>
<joint name="FL_calf_joint" type="revolute">
<origin xyz="0 0 -0.2" rpy="0 0 0"/>
<parent link="FL_thigh"/>
<child link="FL_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit lower="-2.478" upper="-0.506" effort="24" velocity="12"/>
</joint>
<link name="FL_calf">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://cyberdog_description/meshes/calf.STL" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://cyberdog_description/meshes/calf.STL"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 -0.11439" rpy="0 0 0"/>
<mass value="0.114"/>
<inertia ixx="0.0014553" ixy="-3.2376E-08" ixz="8.3885E-05" iyy="0.0021522" iyz="5.1259E-07" izz="0.00070545"/>
</inertial>
</link>
<joint name="FL_foot_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.217"/>
<parent link="FL_calf"/>
<child link="FL_foot"/>
</joint>
<link name="FL_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.025"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.025"/>
</geometry>
</collision>
<inertial>
<mass value="0.026"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
</inertial>
</link>
<transmission name="FL_hip_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FL_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="FL_hip_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="FL_thigh_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FL_thigh_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="FL_thigh_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="FL_calf_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FL_calf_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="FL_calf_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="RR_hip_joint" type="revolute">
<origin xyz="-0.23536 -0.05 0" rpy="0 0 0"/>
<parent link="trunk"/>
<child link="RR_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0" friction="0"/>
<limit lower="-0.75" upper="0.75" effort="17" velocity="12"/>
</joint>
<link name="RR_hip">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://cyberdog_description/meshes/hip_mirror.STL" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://cyberdog_description/meshes/hip_mirror.STL"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 -0.053575 0" rpy="0 0 0"/>
<mass value="0.509"/>
<inertia ixx="0.00038097" ixy="1.2523E-05" ixz="-1.1653E-05" iyy="0.00069383" iyz="5.071E-06" izz="0.00047336"/>
</inertial>
</link>
<joint name="RR_hip_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 -0.10 0"/>
<parent link="RR_hip"/>
<child link="RR_thigh_shoulder"/>
</joint>
<link name="RR_thigh_shoulder">
</link>
<joint name="RR_thigh_joint" type="revolute">
<origin xyz="0 -0.10715 0" rpy="0 0 0"/>
<parent link="RR_hip"/>
<child link="RR_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit lower="-2.01" upper="3.49" effort="24" velocity="12"/>
</joint>
<link name="RR_thigh">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://cyberdog_description/meshes/thigh.STL" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://cyberdog_description/meshes/thigh.STL"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 -0.1" rpy="0 0 0"/>
<mass value="0.664"/>
<inertia ixx="0.0033376" ixy="-7.150375E-07" ixz="-0.00019282" iyy="0.0026385" iyz="-9.3033E-06" izz="0.0013093"/>
</inertial>
</link>
<joint name="RR_calf_joint" type="revolute">
<origin xyz="0 0 -0.2" rpy="0 0 0"/>
<parent link="RR_thigh"/>
<child link="RR_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit lower="-2.478" upper="-0.506" effort="24" velocity="12"/>
</joint>
<link name="RR_calf">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://cyberdog_description/meshes/calf.STL" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://cyberdog_description/meshes/calf.STL"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 -0.11439" rpy="0 0 0"/>
<mass value="0.114"/>
<inertia ixx="0.0014553" ixy="-3.2376E-08" ixz="8.3885E-05" iyy="0.0021522" iyz="5.1259E-07" izz="0.00070545"/>
</inertial>
</link>
<joint name="RR_foot_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.217"/>
<parent link="RR_calf"/>
<child link="RR_foot"/>
</joint>
<link name="RR_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.025"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.025"/>
</geometry>
</collision>
<inertial>
<mass value="0.026"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
</inertial>
</link>
<transmission name="BR_hip_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RR_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="BR_hip_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="BR_thigh_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RR_thigh_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="BR_thigh_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="BR_calf_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RR_calf_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="BR_calf_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="RL_hip_joint" type="revolute">
<origin xyz="-0.23536 0.05 0" rpy="0 0 0"/>
<parent link="trunk"/>
<child link="RL_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0" friction="0"/>
<limit lower="-0.75" upper="0.75" effort="17" velocity="12"/>
</joint>
<link name="RL_hip">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://cyberdog_description/meshes/hip.STL" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://cyberdog_description/meshes/hip.STL"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0.053575 0" rpy="0 0 0"/>
<mass value="0.509"/>
<inertia ixx="0.00038097" ixy="1.2523E-05" ixz="-1.1653E-05" iyy="0.00069383" iyz="5.071E-06" izz="0.00047336"/>
</inertial>
</link>
<joint name="RL_hip_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0.10 0"/>
<parent link="RL_hip"/>
<child link="RL_thigh_shoulder"/>
</joint>
<link name="RL_thigh_shoulder">
</link>
<joint name="RL_thigh_joint" type="revolute">
<origin xyz="0 0.10715 0" rpy="0 0 0"/>
<parent link="RL_hip"/>
<child link="RL_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit lower="-2.01" upper="3.49" effort="24" velocity="12"/>
</joint>
<link name="RL_thigh">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://cyberdog_description/meshes/thigh.STL" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://cyberdog_description/meshes/thigh.STL"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 -0.1" rpy="0 0 0"/>
<mass value="0.664"/>
<inertia ixx="0.0033376" ixy="-7.1504E-07" ixz="-0.00019282" iyy="0.0026385" iyz="-9.3033E-06" izz="0.0013093"/>
</inertial>
</link>
<joint name="RL_calf_joint" type="revolute">
<origin xyz="0 0 -0.2" rpy="0 0 0"/>
<parent link="RL_thigh"/>
<child link="RL_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit lower="-2.478" upper="-0.506" effort="24" velocity="12"/>
</joint>
<link name="RL_calf">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://cyberdog_description/meshes/calf.STL" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://cyberdog_description/meshes/calf.STL"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 -0.11439" rpy="0 0 0"/>
<mass value="0.114"/>
<inertia ixx="0.0014553" ixy="-3.2376E-08" ixz="8.3885E-05" iyy="0.0021522" iyz="5.1259E-07" izz="0.00070545"/>
</inertial>
</link>
<joint name="RL_foot_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.217"/>
<parent link="RL_calf"/>
<child link="RL_foot"/>
</joint>
<link name="RL_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.025"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.025"/>
</geometry>
</collision>
<inertial>
<mass value="0.026"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
</inertial>
</link>
<transmission name="BL_hip_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RL_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="BL_hip_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="BL_thigh_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RL_thigh_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="BL_thigh_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="BL_calf_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RL_calf_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="BL_calf_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</robot>