1532 lines
53 KiB
Plaintext
1532 lines
53 KiB
Plaintext
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<?xml version="1.0" ?>
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<!-- =================================================================================== -->
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<!-- | This document was autogenerated by xacro from robot.xacro | -->
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<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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<!-- =================================================================================== -->
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<robot name="go1_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
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<material name="black">
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<color rgba="0.0 0.0 0.0 1.0"/>
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</material>
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<material name="blue">
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<color rgba="0.0 0.0 0.8 1.0"/>
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</material>
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<material name="green">
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<color rgba="0.0 0.8 0.0 1.0"/>
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</material>
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<material name="grey">
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<color rgba="0.2 0.2 0.2 1.0"/>
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</material>
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<material name="silver">
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<color rgba="0.913725490196 0.913725490196 0.847058823529 1.0"/>
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</material>
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<material name="orange">
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<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
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</material>
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<material name="brown">
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<color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
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</material>
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<material name="red">
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<color rgba="0.8 0.0 0.0 1.0"/>
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</material>
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<material name="white">
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<color rgba="1.0 1.0 1.0 1.0"/>
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</material>
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<!-- ros_control plugin -->
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<gazebo>
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<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
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<robotNamespace>/go1_gazebo</robotNamespace>
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<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
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</plugin>
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</gazebo>
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<!-- Show the trajectory of trunk center. -->
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<gazebo>
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<plugin filename="libLinkPlot3DPlugin.so" name="3dplot">
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<frequency>10</frequency>
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<plot>
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<link>base</link>
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<pose>0 0 0 0 0 0</pose>
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<material>Gazebo/Yellow</material>
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</plot>
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</plugin>
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</gazebo>
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<!-- Show the trajectory of foot. You can add another trajectory about another foot. -->
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<!-- <gazebo>
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<plugin name="3dplot" filename="libLinkPlot3DPlugin.so">
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<frequency>100</frequency>
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<plot>
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<link>FL_foot</link>
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<pose>0 0 0 0 0 0</pose>
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<material>Gazebo/Green</material>
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</plot>
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</plugin>
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</gazebo> -->
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<gazebo>
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<plugin filename="libgazebo_ros_force.so" name="gazebo_ros_force">
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<bodyName>trunk</bodyName>
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<topicName>/apply_force/trunk</topicName>
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</plugin>
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</gazebo>
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<gazebo reference="imu_link">
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<gravity>true</gravity>
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<sensor name="imu_sensor" type="imu">
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<always_on>true</always_on>
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<update_rate>1000</update_rate>
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<visualize>true</visualize>
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<topic>__default_topic__</topic>
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<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
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<topicName>trunk_imu</topicName>
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<bodyName>imu_link</bodyName>
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<updateRateHZ>1000.0</updateRateHZ>
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<gaussianNoise>0.0</gaussianNoise>
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<xyzOffset>0 0 0</xyzOffset>
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<rpyOffset>0 0 0</rpyOffset>
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<frameName>imu_link</frameName>
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</plugin>
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<pose>0 0 0 0 0 0</pose>
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</sensor>
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</gazebo>
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<!-- Depth camera -->
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<!-- <gazebo>
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<plugin name="camera_plugin" filename="libgazebo_ros_openni_kinect.so">
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<baseline>0.025</baseline>
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<always_on>true</always_on>
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<updateRate>0.0</updateRate>
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<cameraName>unitree_camera_left</cameraName>
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<frameName>depthCamera_link_left</frameName>
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<imageTopicName>rgb/imageRaw_left</imageTopicName>
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<depthImageTopicName>depth/imageRaw_left</depthImageTopicName>
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<pointCloudTopicName>depth/points_left</pointCloudTopicName>
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<cameraInfoTopicName>rgb/cameraInfo_left</cameraInfoTopicName>
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<depthImageCameraInfoTopicName>depth/cameraInfo_left</depthImageCameraInfoTopicName>
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<pointCloudCutoff>0.1</pointCloudCutoff>
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<pointCloudCutoffMax>1.5</pointCloudCutoffMax>
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<distortionK1>0.0</distortionK1>
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<distortionK2>0.0</distortionK2>
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<distortionK3>0.0</distortionK3>
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<distortionT1>0.0</distortionT1>
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<distortionT2>0.0</distortionT2>
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<CxPrime>0.0</CxPrime>
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<Cx>0.0045</Cx>
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<Cy>0.0039</Cy>
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<focalLength>0.004</focalLength>
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<hackBaseline>0.0</hackBaseline>
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</plugin>
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</gazebo> -->
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<!-- <gazebo reference="depthCamera_link_left">
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<sensor name="unitree_camera_left" type="depth_camera">
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<update_rate>16</update_rate>
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<always_on>true</always_on>
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<visualize>true</visualize>
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<camera>
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<horizontal_fov>2.094</horizontal_fov>
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<image>
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<width>928</width>
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<height>800</height>
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<format>R8G8B8</format>
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</image>
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<depth_camera></depth_camera>
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<clip>
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<near>0.1</near>
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<far>100</far>
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</clip>
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</camera>
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<plugin name="camera_plugin" filename="libgazebo_ros_openni_kinect.so">
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<baseline>0.025</baseline>
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<always_on>true</always_on>
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<updateRate>0.0</updateRate>
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<cameraName>unitree_camera_left</cameraName>
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<frameName>depthCamera_link_left</frameName>
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<imageTopicName>rgb/imageRaw_left</imageTopicName>
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<depthImageTopicName>depth/imageRaw_left</depthImageTopicName>
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<pointCloudTopicName>depth/points_left</pointCloudTopicName>
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<cameraInfoTopicName>rgb/cameraInfo_left</cameraInfoTopicName>
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<depthImageCameraInfoTopicName>depth/cameraInfo_left</depthImageCameraInfoTopicName>
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<pointCloudCutoff>0.1</pointCloudCutoff>
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<pointCloudCutoffMax>1.5</pointCloudCutoffMax>
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<distortionK1>0.0</distortionK1>
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<distortionK2>0.0</distortionK2>
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<distortionK3>0.0</distortionK3>
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<distortionT1>0.0</distortionT1>
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<distortionT2>0.0</distortionT2>
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<CxPrime>0.0</CxPrime>
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<Cx>0.0045</Cx>
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<Cy>0.0039</Cy>
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<focalLength>0.004</focalLength>
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<hackBaseline>0.0</hackBaseline>
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</plugin>
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</sensor>
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</gazebo> -->
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<gazebo reference="depthCamera_link_left">
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<sensor name="camera_link_camera" type="depth">
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<update_rate>20</update_rate>
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<camera>
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<horizontal_fov>1.047198</horizontal_fov>
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<image>
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<width>640</width>
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<height>480</height>
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<format>R8G8B8</format>
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</image>
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<clip>
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<near>0.05</near>
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<far>3</far>
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</clip>
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</camera>
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<plugin filename="libgazebo_ros_openni_kinect.so" name="camera_link_controller">
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<baseline>0.2</baseline>
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<alwaysOn>true</alwaysOn>
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<updateRate>1.0</updateRate>
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<cameraName>camera_link_ir</cameraName>
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<imageTopicName>/camera_link/color/image_raw</imageTopicName>
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<cameraInfoTopicName>/camera_link/color/camera_info</cameraInfoTopicName>
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<depthImageTopicName>/camera_link/depth/image_raw</depthImageTopicName>
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<depthImageInfoTopicName>/camera_link/depth/camera_info</depthImageInfoTopicName>
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<pointCloudTopicName>/camera_link/depth/points</pointCloudTopicName>
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<frameName>depthCamera_link_left</frameName>
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<pointCloudCutoff>0.5</pointCloudCutoff>
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<pointCloudCutoffMax>3.0</pointCloudCutoffMax>
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<distortionK1>0.00000001</distortionK1>
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<distortionK2>0.00000001</distortionK2>
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<distortionK3>0.00000001</distortionK3>
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<distortionT1>0.00000001</distortionT1>
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<distortionT2>0.00000001</distortionT2>
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<CxPrime>0</CxPrime>
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<Cx>0</Cx>
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<Cy>0</Cy>
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<focalLength>0</focalLength>
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<hackBaseline>0</hackBaseline>
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</plugin>
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</sensor>
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</gazebo>
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<!-- Foot contacts. -->
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<gazebo reference="FR_calf">
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<sensor name="FR_foot_contact" type="contact">
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<update_rate>100</update_rate>
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<plugin filename="libunitreeFootContactPlugin.so" name="contactPlugin"/>
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<contact>
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<collision>FR_calf_fixed_joint_lump__FR_foot_collision_1</collision>
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</contact>
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</sensor>
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</gazebo>
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<gazebo reference="FL_calf">
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<sensor name="FL_foot_contact" type="contact">
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<update_rate>100</update_rate>
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<plugin filename="libunitreeFootContactPlugin.so" name="contactPlugin"/>
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<contact>
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<collision>FL_calf_fixed_joint_lump__FL_foot_collision_1</collision>
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</contact>
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</sensor>
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</gazebo>
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<gazebo reference="RR_calf">
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<sensor name="RR_foot_contact" type="contact">
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<update_rate>100</update_rate>
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<plugin filename="libunitreeFootContactPlugin.so" name="contactPlugin"/>
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<contact>
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<collision>RR_calf_fixed_joint_lump__RR_foot_collision_1</collision>
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</contact>
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</sensor>
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</gazebo>
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<gazebo reference="RL_calf">
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<sensor name="RL_foot_contact" type="contact">
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<update_rate>100</update_rate>
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<plugin filename="libunitreeFootContactPlugin.so" name="contactPlugin"/>
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<contact>
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<collision>RL_calf_fixed_joint_lump__RL_foot_collision_1</collision>
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</contact>
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</sensor>
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</gazebo>
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<!-- Visualization of Foot contacts. -->
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<gazebo reference="FR_foot">
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<visual>
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<plugin filename="libunitreeDrawForcePlugin.so" name="drawForcePlugin">
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<topicName>FR_foot_contact</topicName>
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</plugin>
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</visual>
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</gazebo>
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<gazebo reference="FL_foot">
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<visual>
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<plugin filename="libunitreeDrawForcePlugin.so" name="drawForcePlugin">
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<topicName>FL_foot_contact</topicName>
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</plugin>
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</visual>
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</gazebo>
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<gazebo reference="RR_foot">
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<visual>
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<plugin filename="libunitreeDrawForcePlugin.so" name="drawForcePlugin">
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<topicName>RR_foot_contact</topicName>
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</plugin>
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</visual>
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</gazebo>
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<gazebo reference="RL_foot">
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<visual>
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<plugin filename="libunitreeDrawForcePlugin.so" name="drawForcePlugin">
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<topicName>RL_foot_contact</topicName>
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</plugin>
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</visual>
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</gazebo>
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<gazebo reference="base">
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<material>Gazebo/Green</material>
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<turnGravityOff>false</turnGravityOff>
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</gazebo>
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<gazebo reference="trunk">
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||
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|
<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<kp value="1000000.0"/>
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<kd value="1.0"/>
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</gazebo>
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<gazebo reference="stick_link">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<material>Gazebo/White</material>
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||
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</gazebo>
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<gazebo reference="imu_link">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<material>Gazebo/Red</material>
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</gazebo>
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||
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<!-- FL leg -->
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||
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<gazebo reference="FL_hip">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
|
||
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<material>Gazebo/DarkGrey</material>
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||
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</gazebo>
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||
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<gazebo reference="FL_thigh">
|
||
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<mu1>0.2</mu1>
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||
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<mu2>0.2</mu2>
|
||
|
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<self_collide>1</self_collide>
|
||
|
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<material>Gazebo/DarkGrey</material>
|
||
|
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<kp value="1000000.0"/>
|
||
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<kd value="1.0"/>
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||
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</gazebo>
|
||
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<gazebo reference="FL_calf">
|
||
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<mu1>0.2</mu1>
|
||
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<mu2>0.2</mu2>
|
||
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<self_collide>1</self_collide>
|
||
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</gazebo>
|
||
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<gazebo reference="FL_foot">
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||
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<mu1>0.6</mu1>
|
||
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<mu2>0.6</mu2>
|
||
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<self_collide>1</self_collide>
|
||
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<material>Gazebo/DarkGrey</material>
|
||
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<kp value="1000000.0"/>
|
||
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<kd value="1.0"/>
|
||
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</gazebo>
|
||
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<!-- FR leg -->
|
||
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<gazebo reference="FR_hip">
|
||
|
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<mu1>0.2</mu1>
|
||
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<mu2>0.2</mu2>
|
||
|
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<material>Gazebo/DarkGrey</material>
|
||
|
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</gazebo>
|
||
|
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<gazebo reference="FR_thigh">
|
||
|
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<mu1>0.2</mu1>
|
||
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<mu2>0.2</mu2>
|
||
|
|
<self_collide>1</self_collide>
|
||
|
|
<material>Gazebo/DarkGrey</material>
|
||
|
|
<kp value="1000000.0"/>
|
||
|
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<kd value="1.0"/>
|
||
|
|
</gazebo>
|
||
|
|
<gazebo reference="FR_calf">
|
||
|
|
<mu1>0.2</mu1>
|
||
|
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<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>
|
||
|
|
<!-- <xacro:include filename="$(find go1_gazebo)/launch/stairs.urdf.xacro"/> -->
|
||
|
|
<!-- <xacro:stairs stairs="15" xpos="0" ypos="0" zpos="0" /> -->
|
||
|
|
<!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
|
||
|
|
<!-- <xacro:if value="$(arg DEBUG)">
|
||
|
|
<link name="world"/>
|
||
|
|
<joint name="base_static_joint" type="fixed">
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<parent link="world"/>
|
||
|
|
<child link="base"/>
|
||
|
|
</joint>
|
||
|
|
</xacro:if> -->
|
||
|
|
<link name="base">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.001 0.001 0.001"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
</link>
|
||
|
|
<joint name="floating_base" type="fixed">
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<parent link="base"/>
|
||
|
|
<child link="trunk"/>
|
||
|
|
</joint>
|
||
|
|
<link name="trunk">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="package://go1_description/meshes/trunk.dae" scale="1 1 1"/>
|
||
|
|
</geometry>
|
||
|
|
<!-- <material name="orange"/> -->
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.3762 0.0935 0.114"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="0.0223 0.002 -0.0005"/>
|
||
|
|
<mass value="5.204"/>
|
||
|
|
<inertia ixx="0.0168352186" ixy="0.0004636141" ixz="0.0002367952" iyy="0.0656071082" iyz="3.6671e-05" izz="0.0742720659"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="imu_joint" type="fixed">
|
||
|
|
<parent link="trunk"/>
|
||
|
|
<child link="imu_link"/>
|
||
|
|
<origin rpy="0 0 0" xyz="-0.01592 -0.06659 -0.00617"/>
|
||
|
|
</joint>
|
||
|
|
<link name="imu_link">
|
||
|
|
<inertial>
|
||
|
|
<mass value="0.001"/>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
|
||
|
|
</inertial>
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.001 0.001 0.001"/>
|
||
|
|
</geometry>
|
||
|
|
<!-- <material name="red"/> -->
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<box size=".001 .001 .001"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
<joint name="FR_hip_joint" type="revolute">
|
||
|
|
<origin rpy="0 0 0" xyz="0.1881 -0.04675 0"/>
|
||
|
|
<parent link="trunk"/>
|
||
|
|
<child link="FR_hip"/>
|
||
|
|
<axis xyz="1 0 0"/>
|
||
|
|
<dynamics damping="0.01" friction="0.2"/>
|
||
|
|
<limit effort="23.7" lower="-1.0471975512" upper="1.0471975512" velocity="30.1"/>
|
||
|
|
</joint>
|
||
|
|
<link name="FR_hip">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="3.14159265359 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="package://go1_description/meshes/hip.dae" scale="1 1 1"/>
|
||
|
|
</geometry>
|
||
|
|
<!-- <material name="orange"/> -->
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.04" radius="0.046"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="-0.00541 0.00074 6e-06"/>
|
||
|
|
<mass value="0.591"/>
|
||
|
|
<inertia ixx="0.000374268192" ixy="-3.6844422e-05" ixz="-9.86754e-07" iyy="0.000635923669" iyz="1.172894e-06" izz="0.000457647394"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="FR_hip_fixed" type="fixed">
|
||
|
|
<origin rpy="0 0 0" xyz="0 -0.08 0"/>
|
||
|
|
<parent link="FR_hip"/>
|
||
|
|
<child link="FR_thigh_shoulder"/>
|
||
|
|
</joint>
|
||
|
|
<!-- this link is only for collision -->
|
||
|
|
<link name="FR_thigh_shoulder">
|
||
|
|
<collision>
|
||
|
|
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.032" radius="0.041"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
<joint name="FR_thigh_joint" type="revolute">
|
||
|
|
<origin rpy="0 0 0" xyz="0 -0.08 0"/>
|
||
|
|
<parent link="FR_hip"/>
|
||
|
|
<child link="FR_thigh"/>
|
||
|
|
<axis xyz="0 1 0"/>
|
||
|
|
<dynamics damping="0.01" friction="0.2"/>
|
||
|
|
<limit effort="23.7" lower="-0.663225115758" upper="2.96705972839" velocity="30.1"/>
|
||
|
|
</joint>
|
||
|
|
<link name="FR_thigh">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="package://go1_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
|
||
|
|
</geometry>
|
||
|
|
<!-- <material name="orange"/> -->
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1065"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.213 0.0245 0.034"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="-0.003468 0.018947 -0.032736"/>
|
||
|
|
<mass value="0.92"/>
|
||
|
|
<inertia ixx="0.005851561134" ixy="-1.783284e-06" ixz="0.000328291374" iyy="0.005596155105" iyz="-2.1430713e-05" izz="0.00107157026"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="FR_calf_joint" type="revolute">
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
|
||
|
|
<parent link="FR_thigh"/>
|
||
|
|
<child link="FR_calf"/>
|
||
|
|
<axis xyz="0 1 0"/>
|
||
|
|
<dynamics damping="0.01" friction="0.2"/>
|
||
|
|
<limit effort="23.7" lower="-2.72271363311" upper="-0.837758040957" velocity="30.1"/>
|
||
|
|
</joint>
|
||
|
|
<link name="FR_calf">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="package://go1_description/meshes/calf.dae" scale="1 1 1"/>
|
||
|
|
</geometry>
|
||
|
|
<!-- <material name="orange"/> -->
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1065"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.213 0.016 0.016"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="0.006286 0.001307 -0.122269"/>
|
||
|
|
<mass value="0.131"/>
|
||
|
|
<inertia ixx="0.002939186297" ixy="1.440899e-06" ixz="-0.00010535955" iyy="0.00295576935" iyz="-2.4397752e-05" izz="3.0273372e-05"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="FR_foot_fixed" type="fixed">
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
|
||
|
|
<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="0.01"/>
|
||
|
|
</geometry>
|
||
|
|
<!-- <material name="orange"/> -->
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<sphere radius="0.02"/>
|
||
|
|
</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>
|
||
|
|
<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 rpy="0 0 0" xyz="0.1881 0.04675 0"/>
|
||
|
|
<parent link="trunk"/>
|
||
|
|
<child link="FL_hip"/>
|
||
|
|
<axis xyz="1 0 0"/>
|
||
|
|
<dynamics damping="0.01" friction="0.2"/>
|
||
|
|
<limit effort="23.7" lower="-1.0471975512" upper="1.0471975512" velocity="30.1"/>
|
||
|
|
</joint>
|
||
|
|
<link name="FL_hip">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="package://go1_description/meshes/hip.dae" scale="1 1 1"/>
|
||
|
|
</geometry>
|
||
|
|
<!-- <material name="orange"/> -->
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.04" radius="0.046"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="-0.00541 -0.00074 6e-06"/>
|
||
|
|
<mass value="0.591"/>
|
||
|
|
<inertia ixx="0.000374268192" ixy="3.6844422e-05" ixz="-9.86754e-07" iyy="0.000635923669" iyz="-1.172894e-06" izz="0.000457647394"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="FL_hip_fixed" type="fixed">
|
||
|
|
<origin rpy="0 0 0" xyz="0 0.08 0"/>
|
||
|
|
<parent link="FL_hip"/>
|
||
|
|
<child link="FL_thigh_shoulder"/>
|
||
|
|
</joint>
|
||
|
|
<!-- this link is only for collision -->
|
||
|
|
<link name="FL_thigh_shoulder">
|
||
|
|
<collision>
|
||
|
|
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.032" radius="0.041"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
<joint name="FL_thigh_joint" type="revolute">
|
||
|
|
<origin rpy="0 0 0" xyz="0 0.08 0"/>
|
||
|
|
<parent link="FL_hip"/>
|
||
|
|
<child link="FL_thigh"/>
|
||
|
|
<axis xyz="0 1 0"/>
|
||
|
|
<dynamics damping="0.01" friction="0.2"/>
|
||
|
|
<limit effort="23.7" lower="-0.663225115758" upper="2.96705972839" velocity="30.1"/>
|
||
|
|
</joint>
|
||
|
|
<link name="FL_thigh">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="package://go1_description/meshes/thigh.dae" scale="1 1 1"/>
|
||
|
|
</geometry>
|
||
|
|
<!-- <material name="orange"/> -->
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1065"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.213 0.0245 0.034"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="-0.003468 -0.018947 -0.032736"/>
|
||
|
|
<mass value="0.92"/>
|
||
|
|
<inertia ixx="0.005851561134" ixy="1.783284e-06" ixz="0.000328291374" iyy="0.005596155105" iyz="2.1430713e-05" izz="0.00107157026"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="FL_calf_joint" type="revolute">
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
|
||
|
|
<parent link="FL_thigh"/>
|
||
|
|
<child link="FL_calf"/>
|
||
|
|
<axis xyz="0 1 0"/>
|
||
|
|
<dynamics damping="0.01" friction="0.2"/>
|
||
|
|
<limit effort="23.7" lower="-2.72271363311" upper="-0.837758040957" velocity="30.1"/>
|
||
|
|
</joint>
|
||
|
|
<link name="FL_calf">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="package://go1_description/meshes/calf.dae" scale="1 1 1"/>
|
||
|
|
</geometry>
|
||
|
|
<!-- <material name="orange"/> -->
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1065"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.213 0.016 0.016"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="0.006286 0.001307 -0.122269"/>
|
||
|
|
<mass value="0.131"/>
|
||
|
|
<inertia ixx="0.002939186297" ixy="1.440899e-06" ixz="-0.00010535955" iyy="0.00295576935" iyz="-2.4397752e-05" izz="3.0273372e-05"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="FL_foot_fixed" type="fixed">
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
|
||
|
|
<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="0.01"/>
|
||
|
|
</geometry>
|
||
|
|
<!-- <material name="orange"/> -->
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<sphere radius="0.02"/>
|
||
|
|
</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>
|
||
|
|
<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 rpy="0 0 0" xyz="-0.1881 -0.04675 0"/>
|
||
|
|
<parent link="trunk"/>
|
||
|
|
<child link="RR_hip"/>
|
||
|
|
<axis xyz="1 0 0"/>
|
||
|
|
<dynamics damping="0.01" friction="0.2"/>
|
||
|
|
<limit effort="23.7" lower="-1.0471975512" upper="1.0471975512" velocity="30.1"/>
|
||
|
|
</joint>
|
||
|
|
<link name="RR_hip">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="3.14159265359 3.14159265359 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="package://go1_description/meshes/hip.dae" scale="1 1 1"/>
|
||
|
|
</geometry>
|
||
|
|
<!-- <material name="orange"/> -->
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.04" radius="0.046"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="0.00541 0.00074 6e-06"/>
|
||
|
|
<mass value="0.591"/>
|
||
|
|
<inertia ixx="0.000374268192" ixy="3.6844422e-05" ixz="9.86754e-07" iyy="0.000635923669" iyz="1.172894e-06" izz="0.000457647394"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="RR_hip_fixed" type="fixed">
|
||
|
|
<origin rpy="0 0 0" xyz="0 -0.08 0"/>
|
||
|
|
<parent link="RR_hip"/>
|
||
|
|
<child link="RR_thigh_shoulder"/>
|
||
|
|
</joint>
|
||
|
|
<!-- this link is only for collision -->
|
||
|
|
<link name="RR_thigh_shoulder">
|
||
|
|
<collision>
|
||
|
|
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.032" radius="0.041"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
<joint name="RR_thigh_joint" type="revolute">
|
||
|
|
<origin rpy="0 0 0" xyz="0 -0.08 0"/>
|
||
|
|
<parent link="RR_hip"/>
|
||
|
|
<child link="RR_thigh"/>
|
||
|
|
<axis xyz="0 1 0"/>
|
||
|
|
<dynamics damping="0.01" friction="0.2"/>
|
||
|
|
<limit effort="23.7" lower="-0.663225115758" upper="2.96705972839" velocity="30.1"/>
|
||
|
|
</joint>
|
||
|
|
<link name="RR_thigh">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="package://go1_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
|
||
|
|
</geometry>
|
||
|
|
<!-- <material name="orange"/> -->
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1065"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.213 0.0245 0.034"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="-0.003468 0.018947 -0.032736"/>
|
||
|
|
<mass value="0.92"/>
|
||
|
|
<inertia ixx="0.005851561134" ixy="-1.783284e-06" ixz="0.000328291374" iyy="0.005596155105" iyz="-2.1430713e-05" izz="0.00107157026"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="RR_calf_joint" type="revolute">
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
|
||
|
|
<parent link="RR_thigh"/>
|
||
|
|
<child link="RR_calf"/>
|
||
|
|
<axis xyz="0 1 0"/>
|
||
|
|
<dynamics damping="0.01" friction="0.2"/>
|
||
|
|
<limit effort="23.7" lower="-2.72271363311" upper="-0.837758040957" velocity="30.1"/>
|
||
|
|
</joint>
|
||
|
|
<link name="RR_calf">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="package://go1_description/meshes/calf.dae" scale="1 1 1"/>
|
||
|
|
</geometry>
|
||
|
|
<!-- <material name="orange"/> -->
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1065"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.213 0.016 0.016"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="0.006286 0.001307 -0.122269"/>
|
||
|
|
<mass value="0.131"/>
|
||
|
|
<inertia ixx="0.002939186297" ixy="1.440899e-06" ixz="-0.00010535955" iyy="0.00295576935" iyz="-2.4397752e-05" izz="3.0273372e-05"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="RR_foot_fixed" type="fixed">
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
|
||
|
|
<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="0.01"/>
|
||
|
|
</geometry>
|
||
|
|
<!-- <material name="orange"/> -->
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<sphere radius="0.02"/>
|
||
|
|
</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>
|
||
|
|
<transmission name="RR_hip_tran">
|
||
|
|
<type>transmission_interface/SimpleTransmission</type>
|
||
|
|
<joint name="RR_hip_joint">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
</joint>
|
||
|
|
<actuator name="RR_hip_motor">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
<mechanicalReduction>1</mechanicalReduction>
|
||
|
|
</actuator>
|
||
|
|
</transmission>
|
||
|
|
<transmission name="RR_thigh_tran">
|
||
|
|
<type>transmission_interface/SimpleTransmission</type>
|
||
|
|
<joint name="RR_thigh_joint">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
</joint>
|
||
|
|
<actuator name="RR_thigh_motor">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
<mechanicalReduction>1</mechanicalReduction>
|
||
|
|
</actuator>
|
||
|
|
</transmission>
|
||
|
|
<transmission name="RR_calf_tran">
|
||
|
|
<type>transmission_interface/SimpleTransmission</type>
|
||
|
|
<joint name="RR_calf_joint">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
</joint>
|
||
|
|
<actuator name="RR_calf_motor">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
<mechanicalReduction>1</mechanicalReduction>
|
||
|
|
</actuator>
|
||
|
|
</transmission>
|
||
|
|
<joint name="RL_hip_joint" type="revolute">
|
||
|
|
<origin rpy="0 0 0" xyz="-0.1881 0.04675 0"/>
|
||
|
|
<parent link="trunk"/>
|
||
|
|
<child link="RL_hip"/>
|
||
|
|
<axis xyz="1 0 0"/>
|
||
|
|
<dynamics damping="0.01" friction="0.2"/>
|
||
|
|
<limit effort="23.7" lower="-1.0471975512" upper="1.0471975512" velocity="30.1"/>
|
||
|
|
</joint>
|
||
|
|
<link name="RL_hip">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 3.14159265359 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="package://go1_description/meshes/hip.dae" scale="1 1 1"/>
|
||
|
|
</geometry>
|
||
|
|
<!-- <material name="orange"/> -->
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.04" radius="0.046"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="0.00541 -0.00074 6e-06"/>
|
||
|
|
<mass value="0.591"/>
|
||
|
|
<inertia ixx="0.000374268192" ixy="-3.6844422e-05" ixz="9.86754e-07" iyy="0.000635923669" iyz="-1.172894e-06" izz="0.000457647394"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="RL_hip_fixed" type="fixed">
|
||
|
|
<origin rpy="0 0 0" xyz="0 0.08 0"/>
|
||
|
|
<parent link="RL_hip"/>
|
||
|
|
<child link="RL_thigh_shoulder"/>
|
||
|
|
</joint>
|
||
|
|
<!-- this link is only for collision -->
|
||
|
|
<link name="RL_thigh_shoulder">
|
||
|
|
<collision>
|
||
|
|
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.032" radius="0.041"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
<joint name="RL_thigh_joint" type="revolute">
|
||
|
|
<origin rpy="0 0 0" xyz="0 0.08 0"/>
|
||
|
|
<parent link="RL_hip"/>
|
||
|
|
<child link="RL_thigh"/>
|
||
|
|
<axis xyz="0 1 0"/>
|
||
|
|
<dynamics damping="0.01" friction="0.2"/>
|
||
|
|
<limit effort="23.7" lower="-0.663225115758" upper="2.96705972839" velocity="30.1"/>
|
||
|
|
</joint>
|
||
|
|
<link name="RL_thigh">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="package://go1_description/meshes/thigh.dae" scale="1 1 1"/>
|
||
|
|
</geometry>
|
||
|
|
<!-- <material name="orange"/> -->
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1065"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.213 0.0245 0.034"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="-0.003468 -0.018947 -0.032736"/>
|
||
|
|
<mass value="0.92"/>
|
||
|
|
<inertia ixx="0.005851561134" ixy="1.783284e-06" ixz="0.000328291374" iyy="0.005596155105" iyz="2.1430713e-05" izz="0.00107157026"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="RL_calf_joint" type="revolute">
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
|
||
|
|
<parent link="RL_thigh"/>
|
||
|
|
<child link="RL_calf"/>
|
||
|
|
<axis xyz="0 1 0"/>
|
||
|
|
<dynamics damping="0.01" friction="0.2"/>
|
||
|
|
<limit effort="23.7" lower="-2.72271363311" upper="-0.837758040957" velocity="30.1"/>
|
||
|
|
</joint>
|
||
|
|
<link name="RL_calf">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="package://go1_description/meshes/calf.dae" scale="1 1 1"/>
|
||
|
|
</geometry>
|
||
|
|
<!-- <material name="orange"/> -->
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1065"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.213 0.016 0.016"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="0.006286 0.001307 -0.122269"/>
|
||
|
|
<mass value="0.131"/>
|
||
|
|
<inertia ixx="0.002939186297" ixy="1.440899e-06" ixz="-0.00010535955" iyy="0.00295576935" iyz="-2.4397752e-05" izz="3.0273372e-05"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="RL_foot_fixed" type="fixed">
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
|
||
|
|
<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="0.01"/>
|
||
|
|
</geometry>
|
||
|
|
<!-- <material name="orange"/> -->
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<sphere radius="0.02"/>
|
||
|
|
</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>
|
||
|
|
<transmission name="RL_hip_tran">
|
||
|
|
<type>transmission_interface/SimpleTransmission</type>
|
||
|
|
<joint name="RL_hip_joint">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
</joint>
|
||
|
|
<actuator name="RL_hip_motor">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
<mechanicalReduction>1</mechanicalReduction>
|
||
|
|
</actuator>
|
||
|
|
</transmission>
|
||
|
|
<transmission name="RL_thigh_tran">
|
||
|
|
<type>transmission_interface/SimpleTransmission</type>
|
||
|
|
<joint name="RL_thigh_joint">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
</joint>
|
||
|
|
<actuator name="RL_thigh_motor">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
<mechanicalReduction>1</mechanicalReduction>
|
||
|
|
</actuator>
|
||
|
|
</transmission>
|
||
|
|
<transmission name="RL_calf_tran">
|
||
|
|
<type>transmission_interface/SimpleTransmission</type>
|
||
|
|
<joint name="RL_calf_joint">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
</joint>
|
||
|
|
<actuator name="RL_calf_motor">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
<mechanicalReduction>1</mechanicalReduction>
|
||
|
|
</actuator>
|
||
|
|
</transmission>
|
||
|
|
<joint name="camera_joint_face" type="fixed">
|
||
|
|
<origin rpy="3.14159265359 0 0" xyz="0.2785 0.0125 0.0167"/>
|
||
|
|
<parent link="trunk"/>
|
||
|
|
<child link="camera_face"/>
|
||
|
|
</joint>
|
||
|
|
<link name="camera_face">
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<box size=".001 .001 .001"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="package://go1_description/meshes/depthCamera.dae" scale="1 1 1"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<inertial>
|
||
|
|
<mass value="1e-5"/>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="camera_optical_joint_face" type="fixed">
|
||
|
|
<origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
|
||
|
|
<parent link="camera_face"/>
|
||
|
|
<child link="camera_optical_face"/>
|
||
|
|
</joint>
|
||
|
|
<link name="camera_optical_face">
|
||
|
|
</link>
|
||
|
|
<gazebo reference="camera_face">
|
||
|
|
<!-- <material>Gazebo/Black</material> -->
|
||
|
|
<sensor name="camera_face_camera" type="depth">
|
||
|
|
<update_rate>16</update_rate>
|
||
|
|
<camera>
|
||
|
|
<horizontal_fov>2.094</horizontal_fov>
|
||
|
|
<image>
|
||
|
|
<width>928</width>
|
||
|
|
<height>800</height>
|
||
|
|
<format>R8G8B8</format>
|
||
|
|
</image>
|
||
|
|
<clip>
|
||
|
|
<near>0.1</near>
|
||
|
|
<far>5</far>
|
||
|
|
</clip>
|
||
|
|
</camera>
|
||
|
|
<plugin filename="libgazebo_ros_openni_kinect.so" name="camera_face_controller">
|
||
|
|
<baseline>0.025</baseline>
|
||
|
|
<alwaysOn>true</alwaysOn>
|
||
|
|
<updateRate>0.0</updateRate>
|
||
|
|
<cameraName>camera_face_ir</cameraName>
|
||
|
|
<imageTopicName>/camera_face/color/image_raw</imageTopicName>
|
||
|
|
<cameraInfoTopicName>/camera_face/color/camera_info</cameraInfoTopicName>
|
||
|
|
<depthImageTopicName>/camera_face/depth/image_raw</depthImageTopicName>
|
||
|
|
<depthImageInfoTopicName>/camera_face/depth/camera_info</depthImageInfoTopicName>
|
||
|
|
<!-- <pointCloudTopicName>/camera_${name}/depth/points</pointCloudTopicName> -->
|
||
|
|
<pointCloudTopicName>/cam1/point_cloud_face</pointCloudTopicName>
|
||
|
|
<frameName>camera_optical_face</frameName>
|
||
|
|
<pointCloudCutoff>0.1</pointCloudCutoff>
|
||
|
|
<pointCloudCutoffMax>1.5</pointCloudCutoffMax>
|
||
|
|
<distortionK1>0.0</distortionK1>
|
||
|
|
<distortionK2>0.0</distortionK2>
|
||
|
|
<distortionK3>0.0</distortionK3>
|
||
|
|
<distortionT1>0.0</distortionT1>
|
||
|
|
<distortionT2>0.0</distortionT2>
|
||
|
|
<CxPrime>0</CxPrime>
|
||
|
|
<Cx>0.0045</Cx>
|
||
|
|
<Cy>0.0039</Cy>
|
||
|
|
<focalLength>0</focalLength>
|
||
|
|
<hackBaseline>0</hackBaseline>
|
||
|
|
</plugin>
|
||
|
|
</sensor>
|
||
|
|
</gazebo>
|
||
|
|
<joint name="camera_joint_chin" type="fixed">
|
||
|
|
<origin rpy="3.14159265359 1.57079632679 0" xyz="0.2522 0.0125 -0.0436"/>
|
||
|
|
<parent link="trunk"/>
|
||
|
|
<child link="camera_chin"/>
|
||
|
|
</joint>
|
||
|
|
<link name="camera_chin">
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<box size=".001 .001 .001"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="package://go1_description/meshes/depthCamera.dae" scale="1 1 1"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<inertial>
|
||
|
|
<mass value="1e-5"/>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="camera_optical_joint_chin" type="fixed">
|
||
|
|
<origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
|
||
|
|
<parent link="camera_chin"/>
|
||
|
|
<child link="camera_optical_chin"/>
|
||
|
|
</joint>
|
||
|
|
<link name="camera_optical_chin">
|
||
|
|
</link>
|
||
|
|
<gazebo reference="camera_chin">
|
||
|
|
<!-- <material>Gazebo/Black</material> -->
|
||
|
|
<sensor name="camera_chin_camera" type="depth">
|
||
|
|
<update_rate>16</update_rate>
|
||
|
|
<camera>
|
||
|
|
<horizontal_fov>2.094</horizontal_fov>
|
||
|
|
<image>
|
||
|
|
<width>928</width>
|
||
|
|
<height>800</height>
|
||
|
|
<format>R8G8B8</format>
|
||
|
|
</image>
|
||
|
|
<clip>
|
||
|
|
<near>0.1</near>
|
||
|
|
<far>5</far>
|
||
|
|
</clip>
|
||
|
|
</camera>
|
||
|
|
<plugin filename="libgazebo_ros_openni_kinect.so" name="camera_chin_controller">
|
||
|
|
<baseline>0.025</baseline>
|
||
|
|
<alwaysOn>true</alwaysOn>
|
||
|
|
<updateRate>0.0</updateRate>
|
||
|
|
<cameraName>camera_chin_ir</cameraName>
|
||
|
|
<imageTopicName>/camera_chin/color/image_raw</imageTopicName>
|
||
|
|
<cameraInfoTopicName>/camera_chin/color/camera_info</cameraInfoTopicName>
|
||
|
|
<depthImageTopicName>/camera_chin/depth/image_raw</depthImageTopicName>
|
||
|
|
<depthImageInfoTopicName>/camera_chin/depth/camera_info</depthImageInfoTopicName>
|
||
|
|
<!-- <pointCloudTopicName>/camera_${name}/depth/points</pointCloudTopicName> -->
|
||
|
|
<pointCloudTopicName>/cam2/point_cloud_chin</pointCloudTopicName>
|
||
|
|
<frameName>camera_optical_chin</frameName>
|
||
|
|
<pointCloudCutoff>0.1</pointCloudCutoff>
|
||
|
|
<pointCloudCutoffMax>1.5</pointCloudCutoffMax>
|
||
|
|
<distortionK1>0.0</distortionK1>
|
||
|
|
<distortionK2>0.0</distortionK2>
|
||
|
|
<distortionK3>0.0</distortionK3>
|
||
|
|
<distortionT1>0.0</distortionT1>
|
||
|
|
<distortionT2>0.0</distortionT2>
|
||
|
|
<CxPrime>0</CxPrime>
|
||
|
|
<Cx>0.0045</Cx>
|
||
|
|
<Cy>0.0039</Cy>
|
||
|
|
<focalLength>0</focalLength>
|
||
|
|
<hackBaseline>0</hackBaseline>
|
||
|
|
</plugin>
|
||
|
|
</sensor>
|
||
|
|
</gazebo>
|
||
|
|
<joint name="camera_joint_left" type="fixed">
|
||
|
|
<origin rpy="3.14159265359 0.2618 1.57079632679" xyz="-0.066 0.082 -0.0176"/>
|
||
|
|
<parent link="trunk"/>
|
||
|
|
<child link="camera_left"/>
|
||
|
|
</joint>
|
||
|
|
<link name="camera_left">
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<box size=".001 .001 .001"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="package://go1_description/meshes/depthCamera.dae" scale="1 1 1"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<inertial>
|
||
|
|
<mass value="1e-5"/>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="camera_optical_joint_left" type="fixed">
|
||
|
|
<origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
|
||
|
|
<parent link="camera_left"/>
|
||
|
|
<child link="camera_optical_left"/>
|
||
|
|
</joint>
|
||
|
|
<link name="camera_optical_left">
|
||
|
|
</link>
|
||
|
|
<gazebo reference="camera_left">
|
||
|
|
<!-- <material>Gazebo/Black</material> -->
|
||
|
|
<sensor name="camera_left_camera" type="depth">
|
||
|
|
<update_rate>16</update_rate>
|
||
|
|
<camera>
|
||
|
|
<horizontal_fov>2.094</horizontal_fov>
|
||
|
|
<image>
|
||
|
|
<width>928</width>
|
||
|
|
<height>800</height>
|
||
|
|
<format>R8G8B8</format>
|
||
|
|
</image>
|
||
|
|
<clip>
|
||
|
|
<near>0.1</near>
|
||
|
|
<far>5</far>
|
||
|
|
</clip>
|
||
|
|
</camera>
|
||
|
|
<plugin filename="libgazebo_ros_openni_kinect.so" name="camera_left_controller">
|
||
|
|
<baseline>0.025</baseline>
|
||
|
|
<alwaysOn>true</alwaysOn>
|
||
|
|
<updateRate>0.0</updateRate>
|
||
|
|
<cameraName>camera_left_ir</cameraName>
|
||
|
|
<imageTopicName>/camera_left/color/image_raw</imageTopicName>
|
||
|
|
<cameraInfoTopicName>/camera_left/color/camera_info</cameraInfoTopicName>
|
||
|
|
<depthImageTopicName>/camera_left/depth/image_raw</depthImageTopicName>
|
||
|
|
<depthImageInfoTopicName>/camera_left/depth/camera_info</depthImageInfoTopicName>
|
||
|
|
<!-- <pointCloudTopicName>/camera_${name}/depth/points</pointCloudTopicName> -->
|
||
|
|
<pointCloudTopicName>/cam3/point_cloud_left</pointCloudTopicName>
|
||
|
|
<frameName>camera_optical_left</frameName>
|
||
|
|
<pointCloudCutoff>0.1</pointCloudCutoff>
|
||
|
|
<pointCloudCutoffMax>1.5</pointCloudCutoffMax>
|
||
|
|
<distortionK1>0.0</distortionK1>
|
||
|
|
<distortionK2>0.0</distortionK2>
|
||
|
|
<distortionK3>0.0</distortionK3>
|
||
|
|
<distortionT1>0.0</distortionT1>
|
||
|
|
<distortionT2>0.0</distortionT2>
|
||
|
|
<CxPrime>0</CxPrime>
|
||
|
|
<Cx>0.0045</Cx>
|
||
|
|
<Cy>0.0039</Cy>
|
||
|
|
<focalLength>0</focalLength>
|
||
|
|
<hackBaseline>0</hackBaseline>
|
||
|
|
</plugin>
|
||
|
|
</sensor>
|
||
|
|
</gazebo>
|
||
|
|
<joint name="camera_joint_right" type="fixed">
|
||
|
|
<origin rpy="3.14159265359 0.2618 -1.57079632679" xyz="-0.041 -0.082 -0.0176"/>
|
||
|
|
<parent link="trunk"/>
|
||
|
|
<child link="camera_right"/>
|
||
|
|
</joint>
|
||
|
|
<link name="camera_right">
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<box size=".001 .001 .001"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="package://go1_description/meshes/depthCamera.dae" scale="1 1 1"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<inertial>
|
||
|
|
<mass value="1e-5"/>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="camera_optical_joint_right" type="fixed">
|
||
|
|
<origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
|
||
|
|
<parent link="camera_right"/>
|
||
|
|
<child link="camera_optical_right"/>
|
||
|
|
</joint>
|
||
|
|
<link name="camera_optical_right">
|
||
|
|
</link>
|
||
|
|
<gazebo reference="camera_right">
|
||
|
|
<!-- <material>Gazebo/Black</material> -->
|
||
|
|
<sensor name="camera_right_camera" type="depth">
|
||
|
|
<update_rate>16</update_rate>
|
||
|
|
<camera>
|
||
|
|
<horizontal_fov>2.094</horizontal_fov>
|
||
|
|
<image>
|
||
|
|
<width>928</width>
|
||
|
|
<height>800</height>
|
||
|
|
<format>R8G8B8</format>
|
||
|
|
</image>
|
||
|
|
<clip>
|
||
|
|
<near>0.1</near>
|
||
|
|
<far>5</far>
|
||
|
|
</clip>
|
||
|
|
</camera>
|
||
|
|
<plugin filename="libgazebo_ros_openni_kinect.so" name="camera_right_controller">
|
||
|
|
<baseline>0.025</baseline>
|
||
|
|
<alwaysOn>true</alwaysOn>
|
||
|
|
<updateRate>0.0</updateRate>
|
||
|
|
<cameraName>camera_right_ir</cameraName>
|
||
|
|
<imageTopicName>/camera_right/color/image_raw</imageTopicName>
|
||
|
|
<cameraInfoTopicName>/camera_right/color/camera_info</cameraInfoTopicName>
|
||
|
|
<depthImageTopicName>/camera_right/depth/image_raw</depthImageTopicName>
|
||
|
|
<depthImageInfoTopicName>/camera_right/depth/camera_info</depthImageInfoTopicName>
|
||
|
|
<!-- <pointCloudTopicName>/camera_${name}/depth/points</pointCloudTopicName> -->
|
||
|
|
<pointCloudTopicName>/cam4/point_cloud_right</pointCloudTopicName>
|
||
|
|
<frameName>camera_optical_right</frameName>
|
||
|
|
<pointCloudCutoff>0.1</pointCloudCutoff>
|
||
|
|
<pointCloudCutoffMax>1.5</pointCloudCutoffMax>
|
||
|
|
<distortionK1>0.0</distortionK1>
|
||
|
|
<distortionK2>0.0</distortionK2>
|
||
|
|
<distortionK3>0.0</distortionK3>
|
||
|
|
<distortionT1>0.0</distortionT1>
|
||
|
|
<distortionT2>0.0</distortionT2>
|
||
|
|
<CxPrime>0</CxPrime>
|
||
|
|
<Cx>0.0045</Cx>
|
||
|
|
<Cy>0.0039</Cy>
|
||
|
|
<focalLength>0</focalLength>
|
||
|
|
<hackBaseline>0</hackBaseline>
|
||
|
|
</plugin>
|
||
|
|
</sensor>
|
||
|
|
</gazebo>
|
||
|
|
<joint name="camera_joint_rearDown" type="fixed">
|
||
|
|
<origin rpy="3.14159265359 1.57079632679 0" xyz="-0.0825 0.0125 -0.04365"/>
|
||
|
|
<parent link="trunk"/>
|
||
|
|
<child link="camera_rearDown"/>
|
||
|
|
</joint>
|
||
|
|
<link name="camera_rearDown">
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<box size=".001 .001 .001"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="package://go1_description/meshes/depthCamera.dae" scale="1 1 1"/>
|
||
|
|
</geometry>
|
||
|
|
</visual>
|
||
|
|
<inertial>
|
||
|
|
<mass value="1e-5"/>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="camera_optical_joint_rearDown" type="fixed">
|
||
|
|
<origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
|
||
|
|
<parent link="camera_rearDown"/>
|
||
|
|
<child link="camera_optical_rearDown"/>
|
||
|
|
</joint>
|
||
|
|
<link name="camera_optical_rearDown">
|
||
|
|
</link>
|
||
|
|
<gazebo reference="camera_rearDown">
|
||
|
|
<!-- <material>Gazebo/Black</material> -->
|
||
|
|
<sensor name="camera_rearDown_camera" type="depth">
|
||
|
|
<update_rate>16</update_rate>
|
||
|
|
<camera>
|
||
|
|
<horizontal_fov>2.094</horizontal_fov>
|
||
|
|
<image>
|
||
|
|
<width>928</width>
|
||
|
|
<height>800</height>
|
||
|
|
<format>R8G8B8</format>
|
||
|
|
</image>
|
||
|
|
<clip>
|
||
|
|
<near>0.1</near>
|
||
|
|
<far>5</far>
|
||
|
|
</clip>
|
||
|
|
</camera>
|
||
|
|
<plugin filename="libgazebo_ros_openni_kinect.so" name="camera_rearDown_controller">
|
||
|
|
<baseline>0.025</baseline>
|
||
|
|
<alwaysOn>true</alwaysOn>
|
||
|
|
<updateRate>0.0</updateRate>
|
||
|
|
<cameraName>camera_rearDown_ir</cameraName>
|
||
|
|
<imageTopicName>/camera_rearDown/color/image_raw</imageTopicName>
|
||
|
|
<cameraInfoTopicName>/camera_rearDown/color/camera_info</cameraInfoTopicName>
|
||
|
|
<depthImageTopicName>/camera_rearDown/depth/image_raw</depthImageTopicName>
|
||
|
|
<depthImageInfoTopicName>/camera_rearDown/depth/camera_info</depthImageInfoTopicName>
|
||
|
|
<!-- <pointCloudTopicName>/camera_${name}/depth/points</pointCloudTopicName> -->
|
||
|
|
<pointCloudTopicName>/cam5/point_cloud_rearDown</pointCloudTopicName>
|
||
|
|
<frameName>camera_optical_rearDown</frameName>
|
||
|
|
<pointCloudCutoff>0.1</pointCloudCutoff>
|
||
|
|
<pointCloudCutoffMax>1.5</pointCloudCutoffMax>
|
||
|
|
<distortionK1>0.0</distortionK1>
|
||
|
|
<distortionK2>0.0</distortionK2>
|
||
|
|
<distortionK3>0.0</distortionK3>
|
||
|
|
<distortionT1>0.0</distortionT1>
|
||
|
|
<distortionT2>0.0</distortionT2>
|
||
|
|
<CxPrime>0</CxPrime>
|
||
|
|
<Cx>0.0045</Cx>
|
||
|
|
<Cy>0.0039</Cy>
|
||
|
|
<focalLength>0</focalLength>
|
||
|
|
<hackBaseline>0</hackBaseline>
|
||
|
|
</plugin>
|
||
|
|
</sensor>
|
||
|
|
</gazebo>
|
||
|
|
<joint name="camera_laserscan_joint_left" type="fixed">
|
||
|
|
<origin rpy="0 0.2618 0" xyz="0 0 0"/>
|
||
|
|
<parent link="camera_left"/>
|
||
|
|
<child link="camera_laserscan_link_left"/>
|
||
|
|
</joint>
|
||
|
|
<link name="camera_laserscan_link_left">
|
||
|
|
</link>
|
||
|
|
<joint name="camera_laserscan_joint_right" type="fixed">
|
||
|
|
<origin rpy="0 0.2618 0" xyz="0 0 0"/>
|
||
|
|
<parent link="camera_right"/>
|
||
|
|
<child link="camera_laserscan_link_right"/>
|
||
|
|
</joint>
|
||
|
|
<link name="camera_laserscan_link_right">
|
||
|
|
</link>
|
||
|
|
<joint name="ultraSound_joint_left" type="fixed">
|
||
|
|
<origin rpy="0 0.2618 1.57079632679" xyz="-0.0535 0.0826 0.00868"/>
|
||
|
|
<parent link="trunk"/>
|
||
|
|
<child link="ultraSound_left"/>
|
||
|
|
</joint>
|
||
|
|
<link name="ultraSound_left">
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<box size=".001 .001 .001"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="package://go1_description/meshes/ultraSound.dae" scale="1 1 1"/>
|
||
|
|
</geometry>
|
||
|
|
<material name="black"/>
|
||
|
|
</visual>
|
||
|
|
<inertial>
|
||
|
|
<mass value="1e-5"/>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="ultraSound_joint_right" type="fixed">
|
||
|
|
<origin rpy="0 0.2618 -1.57079632679" xyz="-0.0535 -0.0826 0.00868"/>
|
||
|
|
<parent link="trunk"/>
|
||
|
|
<child link="ultraSound_right"/>
|
||
|
|
</joint>
|
||
|
|
<link name="ultraSound_right">
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<box size=".001 .001 .001"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="package://go1_description/meshes/ultraSound.dae" scale="1 1 1"/>
|
||
|
|
</geometry>
|
||
|
|
<material name="black"/>
|
||
|
|
</visual>
|
||
|
|
<inertial>
|
||
|
|
<mass value="1e-5"/>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="ultraSound_joint_face" type="fixed">
|
||
|
|
<origin rpy="0 0 0" xyz="0.2747 0.0 -0.0088"/>
|
||
|
|
<parent link="trunk"/>
|
||
|
|
<child link="ultraSound_face"/>
|
||
|
|
</joint>
|
||
|
|
<link name="ultraSound_face">
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<box size=".001 .001 .001"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="package://go1_description/meshes/ultraSound.dae" scale="1 1 1"/>
|
||
|
|
</geometry>
|
||
|
|
<material name="black"/>
|
||
|
|
</visual>
|
||
|
|
<inertial>
|
||
|
|
<mass value="1e-5"/>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
</robot>
|
||
|
|
|