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fix cyberdog model

This commit is contained in:
fan-ziqi 2024-04-05 20:28:43 +08:00
parent d709013bf4
commit f6fe3071d6
13 changed files with 142 additions and 1278 deletions
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18
src/rl_sar/src/rl_real_cyberdog.cpp
View File

@ -21,7 +21,7 @@ RL_Real::RL_Real() : CustomInterface(500)
this->params.clip_obs = 100.0;
this->params.clip_actions = 100.0;
this->params.damping = 0.5;
this->params.stiffness = 25;
this->params.stiffness = 20;
this->params.d_gains = torch::ones(12) * this->params.damping;
this->params.p_gains = torch::ones(12) * this->params.stiffness;
this->params.action_scale = 0.25;
@ -33,10 +33,10 @@ RL_Real::RL_Real() : CustomInterface(500)
this->params.dof_vel_scale = 0.05;
this->params.commands_scale = torch::tensor({this->params.lin_vel_scale, this->params.lin_vel_scale, this->params.ang_vel_scale});
this->params.torque_limits = torch::tensor({{17.0, 24.0, 24.0,
17.0, 24.0, 24.0,
17.0, 24.0, 24.0,
17.0, 24.0, 24.0}});
this->params.torque_limits = torch::tensor({{24.0, 24.0, 24.0,
24.0, 24.0, 24.0,
24.0, 24.0, 24.0,
24.0, 24.0, 24.0}});
// hip, thigh, calf
this->params.default_dof_pos = torch::tensor({{ 0.1000, 0.8000, -1.5000, // FL
@ -167,10 +167,10 @@ void RL_Real::RobotControl()
// cyberdogCmd.q_des[i] = 0;
cyberdogCmd.q_des[i] = output_dof_pos[0][dof_mapping[i]].item<double>();
cyberdogCmd.qd_des[i] = 0;
// cyberdogCmd.kp_des[i] = params.stiffness;
// cyberdogCmd.kd_des[i] = params.damping;
cyberdogCmd.kp_des[i] = Kp[dof_mapping[i]];
cyberdogCmd.kd_des[i] = Kd[dof_mapping[i]];
cyberdogCmd.kp_des[i] = params.stiffness;
cyberdogCmd.kd_des[i] = params.damping;
// cyberdogCmd.kp_des[i] = Kp[dof_mapping[i]];
// cyberdogCmd.kd_des[i] = Kd[dof_mapping[i]];
// cyberdogCmd.tau_des[i] = output_torques[0][dof_mapping[i]].item<double>();
cyberdogCmd.tau_des[i] = 0;
}

2
src/rl_sar/src/rl_sim.cpp
View File

@ -24,7 +24,7 @@ RL_Sim::RL_Sim()
this->params.clip_obs = 100.0;
this->params.clip_actions = 100.0;
this->params.damping = 0.5;
this->params.stiffness = 25;
this->params.stiffness = 20;
this->params.d_gains = torch::ones(12) * this->params.damping;
this->params.p_gains = torch::ones(12) * this->params.stiffness;
this->params.action_scale = 0.25;

188
src/robots/cyberdog1_description/meshes/abad.dae
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59
src/robots/cyberdog1_description/meshes/body.dae
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391
src/robots/cyberdog1_description/meshes/hip.dae
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391
src/robots/cyberdog1_description/meshes/hip_mirror.dae
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130
src/robots/cyberdog1_description/meshes/knee.dae
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71
src/robots/cyberdog1_description/urdf/cyberdog_description.urdf
View File

@ -1,6 +1,6 @@
<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from /Repository/我的文件/研究生/四足项目/RL/BlindDog/rl_sar/src/robots/cyberdog_description/xacro/robot.xacro | -->
<!-- | This document was autogenerated by xacro from rl_sar/src/robots/cyberdog1_description/xacro/robot.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="cyberdog_description">
@ -12,16 +12,16 @@
</plugin>
</gazebo>
<!-- Show the trajectory of trunk center. -->
<gazebo>
<plugin filename="libLinkPlot3DPlugin.so" name="3dplot">
<frequency>10</frequency>
<plot>
<link>base</link>
<pose>0 0 0 0 0 0</pose>
<material>Gazebo/Yellow</material>
</plot>
</plugin>
</gazebo>
<!-- <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">
@ -324,18 +324,19 @@
<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>
<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" />
@ -388,7 +389,7 @@
<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">
<joint dont_collapse="true" 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"/>
@ -463,7 +464,7 @@
<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">
<joint dont_collapse="true" 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"/>
@ -476,7 +477,7 @@
<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">
<joint dont_collapse="true" 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"/>
@ -648,7 +649,7 @@
<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">
<joint dont_collapse="true" 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"/>
@ -723,7 +724,7 @@
<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">
<joint dont_collapse="true" 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"/>
@ -736,7 +737,7 @@
<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">
<joint dont_collapse="true" 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"/>
@ -908,7 +909,7 @@
<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">
<joint dont_collapse="true" 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"/>
@ -983,7 +984,7 @@
<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">
<joint dont_collapse="true" 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"/>
@ -996,7 +997,7 @@
<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">
<joint dont_collapse="true" 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"/>
@ -1168,7 +1169,7 @@
<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">
<joint dont_collapse="true" 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"/>
@ -1243,7 +1244,7 @@
<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">
<joint dont_collapse="true" 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"/>
@ -1256,7 +1257,7 @@
<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">
<joint dont_collapse="true" 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"/>

103
src/robots/cyberdog1_description/urdf_for_isaacgym/cyberdog_description.urdf → src/robots/cyberdog1_description/urdf_for_isaacgym/cyberdog.urdf
View File

@ -67,6 +67,24 @@
<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">
@ -85,24 +103,23 @@
</geometry>
<material name="silver"/>
</visual>
<collision>
<!-- <collision>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.052" radius="0.047"/>
</geometry>
</collision>
</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">
<joint name="FR_hip_rotor_fix" type="fixed" dont_collapse="true">
<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"/>
@ -123,12 +140,12 @@
</geometry>
<material name="silver"/>
</visual>
<collision>
<!-- <collision>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.052" radius="0.047"/>
</geometry>
</collision>
</collision> -->
</link>
<joint name="FR_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 -0.105076 0"/>
@ -158,12 +175,11 @@
<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">
<joint name="FR_thigh_rotor_fix" type="fixed" dont_collapse="true">
<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"/>
@ -171,12 +187,11 @@
<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">
<joint name="FR_calf_rotor_fix" type="fixed" dont_collapse="true">
<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"/>
@ -243,6 +258,10 @@
<sphere radius="0.018"/>
</geometry>
</collision>
<inertial>
<mass value="0.06"/>
<inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06"/>
</inertial>
</link>
<joint name="FL_hip_joint" type="revolute">
@ -261,24 +280,23 @@
</geometry>
<material name="silver"/>
</visual>
<collision>
<!-- <collision>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.052" radius="0.047"/>
</geometry>
</collision>
</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">
<joint name="FL_hip_rotor_fix" type="fixed" dont_collapse="true">
<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"/>
@ -299,12 +317,12 @@
</geometry>
<material name="silver"/>
</visual>
<collision>
<!-- <collision>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.052" radius="0.047"/>
</geometry>
</collision>
</collision> -->
</link>
<joint name="FL_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0.105076 0"/>
@ -334,12 +352,11 @@
<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">
<joint name="FL_thigh_rotor_fix" type="fixed" dont_collapse="true">
<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"/>
@ -347,12 +364,11 @@
<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">
<joint name="FL_calf_rotor_fix" type="fixed" dont_collapse="true">
<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"/>
@ -419,6 +435,10 @@
<sphere radius="0.018"/>
</geometry>
</collision>
<inertial>
<mass value="0.06"/>
<inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06"/>
</inertial>
</link>
<joint name="RR_hip_joint" type="revolute">
@ -437,24 +457,23 @@
</geometry>
<material name="silver"/>
</visual>
<collision>
<!-- <collision>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.052" radius="0.047"/>
</geometry>
</collision>
</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">
<joint name="RR_hip_rotor_fix" type="fixed" dont_collapse="true">
<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"/>
@ -475,12 +494,12 @@
</geometry>
<material name="silver"/>
</visual>
<collision>
<!-- <collision>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.052" radius="0.047"/>
</geometry>
</collision>
</collision> -->
</link>
<joint name="RR_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 -0.105076 0"/>
@ -510,12 +529,11 @@
<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">
<joint name="RR_thigh_rotor_fix" type="fixed" dont_collapse="true">
<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"/>
@ -523,12 +541,11 @@
<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">
<joint name="RR_calf_rotor_fix" type="fixed" dont_collapse="true">
<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"/>
@ -595,8 +612,11 @@
<sphere radius="0.018"/>
</geometry>
</collision>
<inertial>
<mass value="0.06"/>
<inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06"/>
</inertial>
</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"/>
@ -613,24 +633,23 @@
</geometry>
<material name="silver"/>
</visual>
<collision>
<!-- <collision>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.052" radius="0.047"/>
</geometry>
</collision>
</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">
<joint name="RL_hip_rotor_fix" type="fixed" dont_collapse="true">
<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"/>
@ -651,12 +670,12 @@
</geometry>
<material name="silver"/>
</visual>
<collision>
<!-- <collision>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.052" radius="0.047"/>
</geometry>
</collision>
</collision> -->
</link>
<joint name="RL_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0.105076 0"/>
@ -686,12 +705,11 @@
<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">
<joint name="RL_thigh_rotor_fix" type="fixed" dont_collapse="true">
<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"/>
@ -699,12 +717,11 @@
<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">
<joint name="RL_calf_rotor_fix" type="fixed" dont_collapse="true">
<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"/>
@ -771,5 +788,9 @@
<sphere radius="0.018"/>
</geometry>
</collision>
<inertial>
<mass value="0.06"/>
<inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06"/>
</inertial>
</link>
</robot>

4
src/robots/cyberdog1_description/xacro/gazebo.xacro
View File

@ -9,7 +9,7 @@
</gazebo>
<!-- Show the trajectory of trunk center. -->
<gazebo>
<!-- <gazebo>
<plugin name="3dplot" filename="libLinkPlot3DPlugin.so">
<frequency>10</frequency>
<plot>
@ -18,7 +18,7 @@
<material>Gazebo/Yellow</material>
</plot>
</plugin>
</gazebo>
</gazebo> -->
<!-- Show the trajectory of foot. You can add another trajectory about another foot. -->
<!-- <gazebo>

6
src/robots/cyberdog1_description/xacro/leg.xacro
View File

@ -65,7 +65,7 @@
</inertial>
</link>
<joint name="${name}_hip_rotor_fix" type="fixed">
<joint name="${name}_hip_rotor_fix" type="fixed" dont_collapse="true">
<origin rpy="0 0 0" xyz="${-abad_rotor_offset*front_hind} 0 0" />
<parent link="${name}_hip" />
<child link="${name}_hip_rotor" />
@ -156,7 +156,7 @@
</inertial>
</link>
<joint name="${name}_thigh_rotor_fix" type="fixed">
<joint name="${name}_thigh_rotor_fix" type="fixed" dont_collapse="true">
<origin rpy="0 0 0" xyz="0 ${hip_rotor_offset*mirror} 0" />
<parent link="${name}_thigh" />
<child link="${name}_thigh_rotor" />
@ -171,7 +171,7 @@
</inertial>
</link>
<joint name="${name}_calf_rotor_fix" type="fixed">
<joint name="${name}_calf_rotor_fix" type="fixed" dont_collapse="true">
<origin rpy="0 0 0" xyz="0 ${knee_rotor_offset*mirror} 0" />
<parent link="${name}_thigh" />
<child link="${name}_calf_rotor" />

5
src/robots/cyberdog1_description/xacro/robot.xacro
View File

@ -84,7 +84,7 @@
</joint>
<link name="imu_link">
<!-- <inertial>
<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" />
@ -94,8 +94,9 @@
<geometry>
<box size="0.001 0.001 0.001" />
</geometry>
<material name="red"/>
</visual>
<collision>
<!-- <collision>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<box size=".001 .001 .001" />

52
src/robots/cyberdog_old_description/urdf/cyberdog_description.urdf → src/robots/cyberdog_old_description/urdf/cyberdog_old_description.urdf
View File

@ -298,14 +298,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://cyberdog_description/meshes/trunk.STL" scale="1 1 1"/>
<mesh filename="package://cyberdog_old_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"/>
<mesh filename="package://cyberdog_old_description/meshes/trunk.STL"/>
</geometry>
</collision>
<inertial>
@ -353,14 +353,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://cyberdog_description/meshes/hip_mirror.STL" scale="1 1 1"/>
<mesh filename="package://cyberdog_old_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"/>
<mesh filename="package://cyberdog_old_description/meshes/hip_mirror.STL"/>
</geometry>
</collision>
<inertial>
@ -388,14 +388,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://cyberdog_description/meshes/thigh.STL" scale="1 1 1"/>
<mesh filename="package://cyberdog_old_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"/>
<mesh filename="package://cyberdog_old_description/meshes/thigh.STL"/>
</geometry>
</collision>
<inertial>
@ -416,14 +416,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://cyberdog_description/meshes/calf.STL" scale="1 1 1"/>
<mesh filename="package://cyberdog_old_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"/>
<mesh filename="package://cyberdog_old_description/meshes/calf.STL"/>
</geometry>
</collision>
<inertial>
@ -500,14 +500,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://cyberdog_description/meshes/hip.STL" scale="1 1 1"/>
<mesh filename="package://cyberdog_old_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"/>
<mesh filename="package://cyberdog_old_description/meshes/hip.STL"/>
</geometry>
</collision>
<inertial>
@ -535,14 +535,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://cyberdog_description/meshes/thigh.STL" scale="1 1 1"/>
<mesh filename="package://cyberdog_old_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"/>
<mesh filename="package://cyberdog_old_description/meshes/thigh.STL"/>
</geometry>
</collision>
<inertial>
@ -563,14 +563,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://cyberdog_description/meshes/calf.STL" scale="1 1 1"/>
<mesh filename="package://cyberdog_old_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"/>
<mesh filename="package://cyberdog_old_description/meshes/calf.STL"/>
</geometry>
</collision>
<inertial>
@ -647,14 +647,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://cyberdog_description/meshes/hip_mirror.STL" scale="1 1 1"/>
<mesh filename="package://cyberdog_old_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"/>
<mesh filename="package://cyberdog_old_description/meshes/hip_mirror.STL"/>
</geometry>
</collision>
<inertial>
@ -682,14 +682,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://cyberdog_description/meshes/thigh.STL" scale="1 1 1"/>
<mesh filename="package://cyberdog_old_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"/>
<mesh filename="package://cyberdog_old_description/meshes/thigh.STL"/>
</geometry>
</collision>
<inertial>
@ -710,14 +710,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://cyberdog_description/meshes/calf.STL" scale="1 1 1"/>
<mesh filename="package://cyberdog_old_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"/>
<mesh filename="package://cyberdog_old_description/meshes/calf.STL"/>
</geometry>
</collision>
<inertial>
@ -794,14 +794,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://cyberdog_description/meshes/hip.STL" scale="1 1 1"/>
<mesh filename="package://cyberdog_old_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"/>
<mesh filename="package://cyberdog_old_description/meshes/hip.STL"/>
</geometry>
</collision>
<inertial>
@ -829,14 +829,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://cyberdog_description/meshes/thigh.STL" scale="1 1 1"/>
<mesh filename="package://cyberdog_old_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"/>
<mesh filename="package://cyberdog_old_description/meshes/thigh.STL"/>
</geometry>
</collision>
<inertial>
@ -857,14 +857,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://cyberdog_description/meshes/calf.STL" scale="1 1 1"/>
<mesh filename="package://cyberdog_old_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"/>
<mesh filename="package://cyberdog_old_description/meshes/calf.STL"/>
</geometry>
</collision>
<inertial>