unitree_ros/robots/aliengoZ1_description/xacro/robot.xacro

<?xml version="1.0"?>

<robot name="aliengoZ1_description" xmlns:xacro="http://www.ros.org/wiki/xacro">

    <xacro:include filename="$(find aliengoZ1_description)/xacro/gazebo.xacro"/>
    <xacro:include filename="$(find aliengoZ1_description)/xacro/const.xacro"/>
    <xacro:include filename="$(find aliengo_description)/xacro/leg.xacro"/>
    <xacro:include filename="$(find aliengo_description)/xacro/const.xacro"/>
    <xacro:include filename="$(find aliengo_description)/xacro/materials.xacro"/>
    <xacro:include filename="$(find z1_description)/xacro/const.xacro"/>
    <xacro:include filename="$(find z1_description)/xacro/transmission.xacro"/>

    <xacro:arg name="UnitreeGripper" default="true"/>

    <!-- 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://aliengo_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="${trunk_length} ${trunk_width} ${trunk_height}"/>
            </geometry>
        </collision>
        <inertial>
            <origin rpy="0 0 0" xyz="${trunk_com_x} ${trunk_com_y} ${trunk_com_z}"/>
            <mass value="${trunk_mass}"/>
            <inertia
                ixx="${trunk_ixx}" ixy="${trunk_ixy}" ixz="${trunk_ixz}"
                iyy="${trunk_iyy}" iyz="${trunk_iyz}"
                izz="${trunk_izz}"/>  
        </inertial>
    </link>

    <joint name="imu_joint" type="fixed">
        <parent link="trunk"/>
        <child link="imu_link"/>
        <origin rpy="0 0 0" xyz="0 0 0"/>
    </joint>

    <link name="imu_link">
        <inertial>
            <mass value="0.001"/>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.000001" 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="trunk_arm_joint" type="fixed">
        <origin rpy="${arm_offset_r} ${arm_offset_p} ${arm_offset_yaw}" xyz="${arm_offset_x} ${arm_offset_y} ${arm_offset_z}"/>
        <parent link="trunk"/>
        <child link="link00"/>
    </joint> 

     <link name="link00">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="package://z1_description/meshes/visual/z1_Link00.dae" scale="1 1 1"/>
            </geometry>
        </visual>
        <collision>
            <geometry>
                <cylinder length="${motor_height}" radius="${motor_diameter}"/>
            </geometry>
            <origin rpy="0 0 0" xyz="0 0 ${motor_height/2.0}"/>
        </collision>
        <inertial>
            <origin rpy="0 0 0" xyz="${L00_ComX} ${L00_ComY} ${L00_ComZ}"/>
            <mass value="${L00_Mass}"/>
            <inertia
                ixx="${L00_Ixx}" ixy="${L00_Ixy}" ixz="${L00_Ixz}"
                iyy="${L00_Iyy}" iyz="${L00_Iyz}"
                izz="${L00_Izz}"/>  
        </inertial>
    </link>

   <joint name="joint1" type="revolute">
        <origin rpy="0 0 0" xyz="0 0 0.0585"/>
        <parent link="link00"/>
        <child link="link01"/>
        <axis xyz="0 0 1"/>
        <dynamics damping="${jointDamping}" friction="${jointFriction}"/>
        <limit effort="${torqueMax}" velocity="${velocityMax}" lower="${joint1_PositionMin}" upper="${joint1_PositionMax}"/>
    </joint>

    <link name="link01">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="package://z1_description/meshes/visual/z1_Link01.dae" scale="1 1 1"/>
            </geometry>
        </visual>
        <collision>
            <geometry>
                <cylinder length="${2*motor_height}" radius="${motor_diameter}"/>
            </geometry>
            <origin rpy="0 0 0" xyz="0 0 0"/>
        </collision> 
        <inertial>
            <origin rpy="0 0 0" xyz="${L01_ComX} ${L01_ComY} ${L01_ComZ}"/>
            <mass value="${L01_Mass}"/>
            <inertia
                ixx="${L01_Ixx}" ixy="${L01_Ixy}" ixz="${L01_Ixz}"
                iyy="${L01_Iyy}" iyz="${L01_Iyz}"
                izz="${L01_Izz}"/>  
        </inertial>
    </link>

    <joint name="joint2" type="revolute">
        <origin rpy="0 0 0" xyz="0 0 0.045"/>
        <parent link="link01"/>
        <child link="link02"/>
        <axis xyz="0 1 0"/>
        <dynamics damping="${2*jointDamping}" friction="${2*jointFriction}"/>
        <limit effort="${2*torqueMax}" velocity="${velocityMax}" lower="${joint2_PositionMin}" upper="${joint2_PositionMax}"/>
    </joint>

    <link name="link02">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="package://z1_description/meshes/visual/z1_Link02.dae" scale="1 1 1"/>
            </geometry>
        </visual>
        <collision>
            <geometry>
                <cylinder length="${2.0*motor_height}" radius="${motor_diameter}"/>
            </geometry>
            <origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
        </collision>
        <collision>
            <geometry>
                <cylinder length="${arm1_height}" radius="${arm1_diameter}"/>
            </geometry>
            <origin rpy="0 ${PI/2.0} 0" xyz="${-0.045-arm1_height/2.0} 0 0"/>
        </collision>
        <collision>
            <geometry>
                <cylinder length="${motor_height}" radius="${motor_diameter}"/>
            </geometry>
            <origin rpy="${PI/2.0} 0 0" xyz="-0.35 0 0"/>
        </collision>
        <inertial>
            <origin rpy="0 0 0" xyz="${L02_ComX} ${L02_ComY} ${L02_ComZ}"/>
            <mass value="${L02_Mass}"/>
            <inertia
                ixx="${L02_Ixx}" ixy="${L02_Ixy}" ixz="${L02_Ixz}"
                iyy="${L02_Iyy}" iyz="${L02_Iyz}"
                izz="${L02_Izz}"/>  
        </inertial>
    </link>
 
    <joint name="joint3" type="revolute">
        <origin rpy="0 0 0" xyz="-0.35 0 0"/>
        <parent link="link02"/>
        <child link="link03"/>
        <axis xyz="0 1 0"/>
        <dynamics damping="${jointDamping}" friction="${jointFriction}"/>
        <limit effort="${torqueMax}" velocity="${velocityMax}" lower="${joint3_PositionMin}" upper="${joint3_PositionMax}"/>
    </joint>

    <link name="link03">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="package://z1_description/meshes/visual/z1_Link03.dae" scale="1 1 1"/>
            </geometry>
        </visual>
        <collision>
            <geometry>
                <cylinder length="${arm2_height-0.01}" radius="${arm2_diameter}"/>
            </geometry>
            <origin rpy="0 ${PI/2.0} 0" xyz="${0.065+arm2_height/2.0} 0 0.055"/>
        </collision>
        <collision>
            <geometry>
                <cylinder length="0.059" radius="${motor_diameter}"/>
            </geometry>
            <origin rpy="0 ${PI/2.0} ${PI/2.0}" xyz="${0.065+0.185-0.059/2.0} 0 0.055"/>
        </collision>
        <inertial>
            <origin rpy="0 0 0" xyz="${L03_ComX} ${L03_ComY} ${L03_ComZ}"/>
            <mass value="${L03_Mass}"/>
            <inertia
                ixx="${L03_Ixx}" ixy="${L03_Ixy}" ixz="${L03_Ixz}"
                iyy="${L03_Iyy}" iyz="${L03_Iyz}"
                izz="${L03_Izz}"/>  
        </inertial>
    </link>

    <joint name="joint4" type="revolute">
        <origin rpy="0 0 0" xyz="0.218 0 0.057"/>
        <parent link="link03"/>
        <child link="link04"/>
        <axis xyz="0 1 0"/>
        <dynamics damping="${jointDamping}" friction="${jointFriction}"/>
        <limit effort="${torqueMax}" velocity="${velocityMax}" lower="${joint4_PositionMin}" upper="${joint4_PositionMax}"/>
    </joint>

    <link name="link04">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="package://z1_description/meshes/visual/z1_Link04.dae" scale="1 1 1"/>
            </geometry>
        </visual>
        <collision>
            <geometry>
                <cylinder length="${motor_height + 2*0.008}" radius="${motor_diameter}"/>
            </geometry>
            <origin rpy="0 0 0" xyz="0.072 0 0"/>
        </collision>
        <inertial>
            <origin rpy="0 0 0" xyz="${L04_ComX} ${L04_ComY} ${L04_ComZ}"/>
            <mass value="${L04_Mass}"/>
            <inertia
                ixx="${L04_Ixx}" ixy="${L04_Ixy}" ixz="${L04_Ixz}"
                iyy="${L04_Iyy}" iyz="${L04_Iyz}"
                izz="${L04_Izz}"/>  
        </inertial>
    </link>

    <joint name="joint5" type="revolute">
        <origin rpy="0 0 0" xyz="0.07 0.0 0.0"/>
        <parent link="link04"/>
        <child link="link05"/>
        <axis xyz="0 0 1"/>
        <dynamics damping="${jointDamping}" friction="${jointFriction}"/>
        <limit effort="${torqueMax}" velocity="${velocityMax}" lower="${joint5_PositionMin}" upper="${joint5_PositionMax}"/>
    </joint>

    <link name="link05">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="package://z1_description/meshes/visual/z1_Link05.dae" scale="1 1 1"/>
            </geometry>
        </visual>
        <inertial>
            <origin rpy="0 0 0" xyz="${L05_ComX} ${L05_ComY} ${L05_ComZ}"/>
            <mass value="${L05_Mass}"/>
            <inertia
                ixx="${L05_Ixx}" ixy="${L05_Ixy}" ixz="${L05_Ixz}"
                iyy="${L05_Iyy}" iyz="${L05_Iyz}"
                izz="${L05_Izz}"/>  
        </inertial>
    </link>

    <joint name="joint6" type="revolute">
        <origin rpy="0 0 0" xyz="0.0492 0.0 0.0"/>
        <parent link="link05"/>
        <child link="link06"/>
        <axis xyz="1 0 0"/>
        <dynamics damping="${jointDamping}" friction="${jointFriction}"/>
        <limit effort="${torqueMax}" velocity="${velocityMax}" lower="${joint6_PositionMin}" upper="${joint6_PositionMax}"/>
    </joint>

    <link name="link06">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="package://z1_description/meshes/visual/z1_Link06.dae" scale="1 1 1"/>
            </geometry>
        </visual>
        <collision>
            <geometry>
                <cylinder length="${motor_height}" radius="${motor_diameter}"/>
            </geometry>
            <origin rpy="0 ${PI/2.0} 0" xyz="${motor_height/2.0} 0 0"/>
        </collision>
        <inertial>
            <origin rpy="0 0 0" xyz="${L06_ComX} ${L06_ComY} ${L06_ComZ}"/>
            <mass value="${L06_Mass}"/>
            <inertia
                ixx="${L06_Ixx}" ixy="${L06_Ixy}" ixz="${L06_Ixz}"
                iyy="${L06_Iyy}" iyz="${L06_Iyz}"
                izz="${L06_Izz}"/> 
        </inertial>
    </link>
 
    <xacro:if value="$(arg UnitreeGripper)">
        <joint name="gripperStator" type="fixed">
            <origin rpy="0 0 0" xyz="0.051 0.0 0.0"/>
            <parent link="link06"/>
            <child link="gripperStator"/>
        </joint>

        <link name="gripperStator">
            <visual>
                <geometry>
                    <mesh filename="package://z1_description/meshes/visual/z1_GripperStator.dae" scale="1 1 1"/>
                </geometry>
            </visual>
            <collision>
                <geometry>
                    <mesh filename="package://z1_description/meshes/collision/z1_GripperStator.STL" scale="1 1 1"/>
                </geometry>
            </collision>
            <inertial>
                <origin rpy="0 0 0" xyz="${GripperStator_ComX} ${GripperStator_ComY} ${GripperStator_ComZ}"/>
                <mass value="${GripperStator_Mass}"/>
                <inertia
                    ixx="${GripperStator_Ixx}" ixy="${GripperStator_Ixy}" ixz="${GripperStator_Ixz}"
                    iyy="${GripperStator_Iyy}" iyz="${GripperStator_Iyz}"
                    izz="${GripperStator_Izz}"/> 
            </inertial>
        </link>

        <joint name="jointGripper" type="revolute">
            <origin rpy="0 0 0" xyz="0.049 0.0 0"/>
            <parent link="gripperStator"/>
            <child link="gripperMover"/>
            <axis xyz="0 1 0"/>
            <dynamics damping="${jointDamping}" friction="${jointFriction}"/>
            <limit effort="${torqueMax}" velocity="${velocityMax}" lower="${Gripper_PositionMin}" upper="${Gripper_PositionMax}"/>
        </joint>

        <link name="gripperMover">
            <visual>
                <geometry>
                    <mesh filename="package://z1_description/meshes/visual/z1_GripperMover.dae" scale="1 1 1"/>
                </geometry>
            </visual>
            <collision>
                <geometry>
                    <mesh filename="package://z1_description/meshes/collision/z1_GripperMover.STL" scale="1 1 1"/>
                </geometry>
            </collision>
            <inertial>
                <origin rpy="0 0 0" xyz="${GripperMover_ComX} ${GripperMover_ComY} ${GripperMover_ComZ}"/>
                <mass value="${GripperMover_Mass}"/>
                <inertia
                    ixx="${GripperMover_Ixx}" ixy="${GripperMover_Ixy}" ixz="${GripperMover_Ixz}"
                    iyy="${GripperMover_Iyy}" iyz="${GripperMover_Iyz}"
                    izz="${GripperMover_Izz}"/> 
            </inertial>
        </link>

        <xacro:motorTransmission name="Gripper"/>

        <gazebo reference="gripperStator">
            <self_collide>true</self_collide>
        </gazebo>

        <gazebo reference="gripperMover">
            <self_collide>true</self_collide>
        </gazebo>
    </xacro:if>

    <xacro:motorTransmission name="1"/>
    <xacro:motorTransmission name="2"/>
    <xacro:motorTransmission name="3"/>
    <xacro:motorTransmission name="4"/>
    <xacro:motorTransmission name="5"/>
    <xacro:motorTransmission name="6"/>

    <xacro:leg name="FR" mirror="-1" mirror_dae= "False" front_hind="1"  front_hind_dae="True"  />
    <xacro:leg name="FL" mirror="1"  mirror_dae="True"   front_hind="1"  front_hind_dae="True"  />
    <xacro:leg name="RR" mirror="-1" mirror_dae="False"  front_hind="-1" front_hind_dae="False" />
    <xacro:leg name="RL" mirror="1"  mirror_dae="True"   front_hind="-1" front_hind_dae="False" />

</robot>