2021-06-02 11:39:55 +08:00
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<?xml version="1.0" encoding="utf-8"?>
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2020-07-15 11:21:03 +08:00
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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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2022-03-31 16:15:55 +08:00
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<robot name="a1">
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2021-06-02 11:39:55 +08:00
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<!-- dynamics inertial value -->
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<!-- trunk -->
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<!-- <xacro:property name="trunk_mass" value="5.660"/>
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<xacro:property name="trunk_com_x" value="0.012731"/>
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<xacro:property name="trunk_com_y" value="0.002186"/>
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<xacro:property name="trunk_com_z" value="0.000515"/>
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<xacro:property name="trunk_ixx" value="0.016839930"/>
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<xacro:property name="trunk_ixy" value="0.000083902"/>
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<xacro:property name="trunk_ixz" value="0.000597679"/>
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<xacro:property name="trunk_iyy" value="0.056579028"/>
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<xacro:property name="trunk_iyz" value="0.000025134"/>
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<xacro:property name="trunk_izz" value="0.064713601"/> -->
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2020-07-15 11:21:03 +08:00
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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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2021-06-02 11:39:55 +08:00
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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>/a1_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="3dplotTrunk">
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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 filename="libLinkPlot3DPlugin.so" name="3dplot">
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<frequency>1000</frequency>
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<plot>
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<link>FR_calf</link>
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<pose>0 0 -0.2 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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<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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<!-- 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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<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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</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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<!-- FL leg -->
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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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</gazebo>
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<gazebo reference="FL_thigh">
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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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<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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<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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<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>
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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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<gazebo reference="FR_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="FR_foot">
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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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<!-- RL leg -->
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<gazebo reference="RL_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="RL_thigh">
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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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<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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<gazebo reference="RL_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="RL_foot">
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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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<!-- RR leg -->
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<gazebo reference="RR_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="RR_thigh">
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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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<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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<gazebo reference="RR_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="RR_foot">
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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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<!-- <xacro:include filename="$(find a1_gazebo)/launch/stairs.urdf.xacro"/> -->
|
|
|
|
|
<!-- <xacro:stairs stairs="15" xpos="0" ypos="0" zpos="0" /> -->
|
|
|
|
|
<!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
|
|
|
|
|
<!-- <xacro:if value="$(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> -->
|
2020-07-15 11:21:03 +08:00
|
|
|
<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"/>
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|
|
|
|
</joint>
|
|
|
|
|
<link name="trunk">
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|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<mesh filename="package://a1_description/meshes/trunk.dae" scale="1 1 1"/>
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|
|
|
|
</geometry>
|
|
|
|
|
<material name="orange"/>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box size="0.267 0.194 0.114"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
2021-06-02 11:39:55 +08:00
|
|
|
<origin rpy="0 0 0" xyz="0.0 0.0041 -0.0005"/>
|
|
|
|
|
<mass value="6.0"/>
|
|
|
|
|
<inertia ixx="0.0158533" ixy="-3.66e-05" ixz="-6.11e-05" iyy="0.0377999" iyz="-2.75e-05" izz="0.0456542"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="imu_joint" type="fixed">
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|
|
|
|
<parent link="trunk"/>
|
|
|
|
|
<child link="imu_link"/>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
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|
|
|
|
</joint>
|
|
|
|
|
<link name="imu_link">
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|
|
|
|
<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">
|
2021-06-02 11:39:55 +08:00
|
|
|
<origin rpy="0 0 0" xyz="0.1805 -0.047 0"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
<parent link="trunk"/>
|
|
|
|
|
<child link="FR_hip"/>
|
|
|
|
|
<axis xyz="1 0 0"/>
|
2021-06-02 11:39:55 +08:00
|
|
|
<dynamics damping="0.01" friction="0.2"/>
|
|
|
|
|
<limit effort="33.5" lower="-0.802851455917" upper="0.802851455917" velocity="21"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
</joint>
|
|
|
|
|
<link name="FR_hip">
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="3.14159265359 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<mesh filename="package://a1_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="-0.003311 -0.000635 3.1e-05"/>
|
|
|
|
|
<mass value="0.696"/>
|
|
|
|
|
<inertia ixx="0.000469246" ixy="9.409e-06" ixz="-3.42e-07" iyy="0.00080749" iyz="4.66e-07" izz="0.000552929"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="FR_hip_fixed" type="fixed">
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 -0.081 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">
|
2021-06-02 11:39:55 +08:00
|
|
|
<origin rpy="0 0 0" xyz="0 -0.0838 0"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
<parent link="FR_hip"/>
|
|
|
|
|
<child link="FR_thigh"/>
|
|
|
|
|
<axis xyz="0 1 0"/>
|
2021-06-02 11:39:55 +08:00
|
|
|
<dynamics damping="0.01" friction="0.2"/>
|
|
|
|
|
<limit effort="33.5" lower="-1.0471975512" upper="4.18879020479" velocity="21"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
</joint>
|
|
|
|
|
<link name="FR_thigh">
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<mesh filename="package://a1_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="orange"/>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box size="0.2 0.0245 0.034"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin rpy="0 0 0" xyz="-0.003237 0.022327 -0.027326"/>
|
|
|
|
|
<mass value="1.013"/>
|
|
|
|
|
<inertia ixx="0.005529065" ixy="-4.825e-06" ixz="0.000343869" iyy="0.005139339" iyz="-2.2448e-05" izz="0.001367788"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="FR_calf_joint" type="revolute">
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 -0.2"/>
|
|
|
|
|
<parent link="FR_thigh"/>
|
|
|
|
|
<child link="FR_calf"/>
|
|
|
|
|
<axis xyz="0 1 0"/>
|
2021-06-02 11:39:55 +08:00
|
|
|
<dynamics damping="0.01" friction="0.2"/>
|
|
|
|
|
<limit effort="33.5" lower="-2.69653369433" upper="-0.916297857297" velocity="21"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
</joint>
|
|
|
|
|
<link name="FR_calf">
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<mesh filename="package://a1_description/meshes/calf.dae" scale="1 1 1"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="orange"/>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box size="0.2 0.016 0.016"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.006435 0.0 -0.107388"/>
|
|
|
|
|
<mass value="0.166"/>
|
|
|
|
|
<inertia ixx="0.002997972" ixy="0.0" ixz="-0.000141163" iyy="0.003014022" iyz="0.0" izz="3.2426e-05"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="FR_foot_fixed" type="fixed">
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 -0.2"/>
|
|
|
|
|
<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">
|
2021-06-02 11:39:55 +08:00
|
|
|
<origin rpy="0 0 0" xyz="0.1805 0.047 0"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
<parent link="trunk"/>
|
|
|
|
|
<child link="FL_hip"/>
|
|
|
|
|
<axis xyz="1 0 0"/>
|
2021-06-02 11:39:55 +08:00
|
|
|
<dynamics damping="0.01" friction="0.2"/>
|
|
|
|
|
<limit effort="33.5" lower="-0.802851455917" upper="0.802851455917" velocity="21"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
</joint>
|
|
|
|
|
<link name="FL_hip">
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<mesh filename="package://a1_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="-0.003311 0.000635 3.1e-05"/>
|
|
|
|
|
<mass value="0.696"/>
|
|
|
|
|
<inertia ixx="0.000469246" ixy="-9.409e-06" ixz="-3.42e-07" iyy="0.00080749" iyz="-4.66e-07" izz="0.000552929"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="FL_hip_fixed" type="fixed">
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0.081 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">
|
2021-06-02 11:39:55 +08:00
|
|
|
<origin rpy="0 0 0" xyz="0 0.0838 0"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
<parent link="FL_hip"/>
|
|
|
|
|
<child link="FL_thigh"/>
|
|
|
|
|
<axis xyz="0 1 0"/>
|
2021-06-02 11:39:55 +08:00
|
|
|
<dynamics damping="0.01" friction="0.2"/>
|
|
|
|
|
<limit effort="33.5" lower="-1.0471975512" upper="4.18879020479" velocity="21"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
</joint>
|
|
|
|
|
<link name="FL_thigh">
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<mesh filename="package://a1_description/meshes/thigh.dae" scale="1 1 1"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="orange"/>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box size="0.2 0.0245 0.034"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin rpy="0 0 0" xyz="-0.003237 -0.022327 -0.027326"/>
|
|
|
|
|
<mass value="1.013"/>
|
|
|
|
|
<inertia ixx="0.005529065" ixy="4.825e-06" ixz="0.000343869" iyy="0.005139339" iyz="2.2448e-05" izz="0.001367788"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="FL_calf_joint" type="revolute">
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 -0.2"/>
|
|
|
|
|
<parent link="FL_thigh"/>
|
|
|
|
|
<child link="FL_calf"/>
|
|
|
|
|
<axis xyz="0 1 0"/>
|
2021-06-02 11:39:55 +08:00
|
|
|
<dynamics damping="0.01" friction="0.2"/>
|
|
|
|
|
<limit effort="33.5" lower="-2.69653369433" upper="-0.916297857297" velocity="21"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
</joint>
|
|
|
|
|
<link name="FL_calf">
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<mesh filename="package://a1_description/meshes/calf.dae" scale="1 1 1"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="orange"/>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box size="0.2 0.016 0.016"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.006435 0.0 -0.107388"/>
|
|
|
|
|
<mass value="0.166"/>
|
|
|
|
|
<inertia ixx="0.002997972" ixy="0.0" ixz="-0.000141163" iyy="0.003014022" iyz="0.0" izz="3.2426e-05"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="FL_foot_fixed" type="fixed">
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 -0.2"/>
|
|
|
|
|
<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">
|
2021-06-02 11:39:55 +08:00
|
|
|
<origin rpy="0 0 0" xyz="-0.1805 -0.047 0"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
<parent link="trunk"/>
|
|
|
|
|
<child link="RR_hip"/>
|
|
|
|
|
<axis xyz="1 0 0"/>
|
2021-06-02 11:39:55 +08:00
|
|
|
<dynamics damping="0.01" friction="0.2"/>
|
|
|
|
|
<limit effort="33.5" lower="-0.802851455917" upper="0.802851455917" velocity="21"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
</joint>
|
|
|
|
|
<link name="RR_hip">
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="3.14159265359 3.14159265359 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<mesh filename="package://a1_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="0.003311 -0.000635 3.1e-05"/>
|
|
|
|
|
<mass value="0.696"/>
|
|
|
|
|
<inertia ixx="0.000469246" ixy="-9.409e-06" ixz="3.42e-07" iyy="0.00080749" iyz="4.66e-07" izz="0.000552929"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="RR_hip_fixed" type="fixed">
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 -0.081 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">
|
2021-06-02 11:39:55 +08:00
|
|
|
<origin rpy="0 0 0" xyz="0 -0.0838 0"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
<parent link="RR_hip"/>
|
|
|
|
|
<child link="RR_thigh"/>
|
|
|
|
|
<axis xyz="0 1 0"/>
|
2021-06-02 11:39:55 +08:00
|
|
|
<dynamics damping="0.01" friction="0.2"/>
|
|
|
|
|
<limit effort="33.5" lower="-1.0471975512" upper="4.18879020479" velocity="21"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
</joint>
|
|
|
|
|
<link name="RR_thigh">
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<mesh filename="package://a1_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="orange"/>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box size="0.2 0.0245 0.034"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin rpy="0 0 0" xyz="-0.003237 0.022327 -0.027326"/>
|
|
|
|
|
<mass value="1.013"/>
|
|
|
|
|
<inertia ixx="0.005529065" ixy="-4.825e-06" ixz="0.000343869" iyy="0.005139339" iyz="-2.2448e-05" izz="0.001367788"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="RR_calf_joint" type="revolute">
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 -0.2"/>
|
|
|
|
|
<parent link="RR_thigh"/>
|
|
|
|
|
<child link="RR_calf"/>
|
|
|
|
|
<axis xyz="0 1 0"/>
|
2021-06-02 11:39:55 +08:00
|
|
|
<dynamics damping="0.01" friction="0.2"/>
|
|
|
|
|
<limit effort="33.5" lower="-2.69653369433" upper="-0.916297857297" velocity="21"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
</joint>
|
|
|
|
|
<link name="RR_calf">
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<mesh filename="package://a1_description/meshes/calf.dae" scale="1 1 1"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="orange"/>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box size="0.2 0.016 0.016"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.006435 0.0 -0.107388"/>
|
|
|
|
|
<mass value="0.166"/>
|
|
|
|
|
<inertia ixx="0.002997972" ixy="0.0" ixz="-0.000141163" iyy="0.003014022" iyz="0.0" izz="3.2426e-05"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="RR_foot_fixed" type="fixed">
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 -0.2"/>
|
|
|
|
|
<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">
|
2021-06-02 11:39:55 +08:00
|
|
|
<origin rpy="0 0 0" xyz="-0.1805 0.047 0"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
<parent link="trunk"/>
|
|
|
|
|
<child link="RL_hip"/>
|
|
|
|
|
<axis xyz="1 0 0"/>
|
2021-06-02 11:39:55 +08:00
|
|
|
<dynamics damping="0.01" friction="0.2"/>
|
|
|
|
|
<limit effort="33.5" lower="-0.802851455917" upper="0.802851455917" velocity="21"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
</joint>
|
|
|
|
|
<link name="RL_hip">
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="0 3.14159265359 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<mesh filename="package://a1_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="0.003311 0.000635 3.1e-05"/>
|
|
|
|
|
<mass value="0.696"/>
|
|
|
|
|
<inertia ixx="0.000469246" ixy="9.409e-06" ixz="3.42e-07" iyy="0.00080749" iyz="-4.66e-07" izz="0.000552929"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="RL_hip_fixed" type="fixed">
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0.081 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"/>
|
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|
|
</geometry>
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|
|
|
|
</collision>
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|
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</link>
|
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|
|
|
<joint name="RL_thigh_joint" type="revolute">
|
2021-06-02 11:39:55 +08:00
|
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|
<origin rpy="0 0 0" xyz="0 0.0838 0"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
<parent link="RL_hip"/>
|
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|
|
|
<child link="RL_thigh"/>
|
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|
|
|
<axis xyz="0 1 0"/>
|
2021-06-02 11:39:55 +08:00
|
|
|
<dynamics damping="0.01" friction="0.2"/>
|
|
|
|
|
<limit effort="33.5" lower="-1.0471975512" upper="4.18879020479" velocity="21"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
</joint>
|
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|
<link name="RL_thigh">
|
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|
|
|
<visual>
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|
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<origin rpy="0 0 0" xyz="0 0 0"/>
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|
|
<geometry>
|
|
|
|
|
<mesh filename="package://a1_description/meshes/thigh.dae" scale="1 1 1"/>
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|
|
|
</geometry>
|
|
|
|
|
<material name="orange"/>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box size="0.2 0.0245 0.034"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin rpy="0 0 0" xyz="-0.003237 -0.022327 -0.027326"/>
|
|
|
|
|
<mass value="1.013"/>
|
|
|
|
|
<inertia ixx="0.005529065" ixy="4.825e-06" ixz="0.000343869" iyy="0.005139339" iyz="2.2448e-05" izz="0.001367788"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="RL_calf_joint" type="revolute">
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 -0.2"/>
|
|
|
|
|
<parent link="RL_thigh"/>
|
|
|
|
|
<child link="RL_calf"/>
|
|
|
|
|
<axis xyz="0 1 0"/>
|
2021-06-02 11:39:55 +08:00
|
|
|
<dynamics damping="0.01" friction="0.2"/>
|
|
|
|
|
<limit effort="33.5" lower="-2.69653369433" upper="-0.916297857297" velocity="21"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
</joint>
|
|
|
|
|
<link name="RL_calf">
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<mesh filename="package://a1_description/meshes/calf.dae" scale="1 1 1"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="orange"/>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<box size="0.2 0.016 0.016"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.006435 0.0 -0.107388"/>
|
|
|
|
|
<mass value="0.166"/>
|
|
|
|
|
<inertia ixx="0.002997972" ixy="0.0" ixz="-0.000141163" iyy="0.003014022" iyz="0.0" izz="3.2426e-05"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="RL_foot_fixed" type="fixed">
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 -0.2"/>
|
|
|
|
|
<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>
|
2021-06-02 11:39:55 +08:00
|
|
|
<!-- <xacro:stairs stairs="15" xpos="0" ypos="2.0" zpos="0" /> -->
|
2020-07-15 11:21:03 +08:00
|
|
|
</robot>
|
|
|
|
|
|
