2022-11-16 20:18:58 +08:00
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<?xml version="1.0" ?>
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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="aliengo">
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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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2022-11-16 20:18:58 +08:00
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<color rgba="0.9137254901960784 0.9137254901960784 0.8470588235294118 1.0"/>
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2020-07-15 11:21:03 +08:00
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</material>
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<material name="orange">
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2022-11-16 20:18:58 +08:00
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<color rgba="1.0 0.4235294117647059 0.0392156862745098 1.0"/>
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2020-07-15 11:21:03 +08:00
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</material>
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<material name="brown">
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2022-11-16 20:18:58 +08:00
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<color rgba="0.8705882352941177 0.8117647058823529 0.7647058823529411 1.0"/>
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2020-07-15 11:21:03 +08:00
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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>/aliengo_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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<!-- 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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2022-11-16 20:18:58 +08:00
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<!-- Rotor related joint and link is only for demonstrate location. -->
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<!-- Actually, the rotor will rotate and the joint is not fixed. Reduction ratio should be considered. -->
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2020-07-15 11:21:03 +08:00
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<!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
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<!-- <xacro:if value="$(arg DEBUG)">
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<link name="world"/>
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<joint name="base_static_joint" type="fixed">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<parent link="world"/>
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<child link="base"/>
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</joint>
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</xacro:if> -->
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<link name="base">
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<visual>
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<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="0.647 0.15 0.112"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<!-- <collision>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<mesh filename="package://aliengo_description/meshes/trunk.dae" scale="1 1 1"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision> -->
|
|
|
|
|
<inertial>
|
2022-11-16 20:18:58 +08:00
|
|
|
<origin rpy="0 0 0" xyz="0.008811 0.003839 0.000273"/>
|
|
|
|
|
<mass value="11.644"/>
|
|
|
|
|
<inertia ixx="0.051944892" ixy="0.001703617" ixz="0.000235941" iyy="0.24693924" iyz="0.000119783" izz="0.270948307"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
</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="FR_hip_joint" type="revolute">
|
2022-11-16 20:18:58 +08:00
|
|
|
<origin rpy="0 0 0" xyz="0.2407 -0.051 0"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
<parent link="trunk"/>
|
|
|
|
|
<child link="FR_hip"/>
|
|
|
|
|
<axis xyz="1 0 0"/>
|
|
|
|
|
<dynamics damping="0" friction="0"/>
|
2022-11-16 20:18:58 +08:00
|
|
|
<limit effort="35.278" lower="-1.2217304763960306" upper="1.2217304763960306" velocity="20"/>
|
|
|
|
|
</joint>
|
|
|
|
|
<joint name="FR_hip_rotor_joint" type="fixed">
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.139985 -0.051 0"/>
|
|
|
|
|
<parent link="trunk"/>
|
|
|
|
|
<child link="FR_hip_rotor"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
</joint>
|
|
|
|
|
<link name="FR_hip">
|
|
|
|
|
<visual>
|
2022-11-16 20:18:58 +08:00
|
|
|
<origin rpy="3.141592653589793 0 0" xyz="0 0 0"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
<geometry>
|
|
|
|
|
<mesh filename="package://aliengo_description/meshes/hip.dae" scale="1 1 1"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="orange"/>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
2022-11-16 20:18:58 +08:00
|
|
|
<origin rpy="1.5707963267948966 0 0" xyz="0 -0.083 0"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
<geometry>
|
|
|
|
|
<cylinder length="0.0418" radius="0.046"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin rpy="0 0 0" xyz="-0.022191 -0.015144 -1.5e-05"/>
|
|
|
|
|
<mass value="1.993"/>
|
2022-11-16 20:18:58 +08:00
|
|
|
<inertia ixx="0.002446735" ixy="0.00059805" ixz="1.945e-06" iyy="0.003925876" iyz="-1.284e-06" izz="0.004148145"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<link name="FR_hip_rotor">
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<cylinder length="0.02" radius="0.035"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="green"/>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<cylinder length="0.02" radius="0.035"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
|
|
|
|
<mass value="0.146"/>
|
|
|
|
|
<inertia ixx="0.000138702" ixy="0.0" ixz="0.0" iyy="8.3352e-05" iyz="0.0" izz="8.3352e-05"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="FR_thigh_joint" type="continuous">
|
2022-11-16 20:18:58 +08:00
|
|
|
<origin rpy="0 0 0" xyz="0 -0.0868 0"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
<parent link="FR_hip"/>
|
|
|
|
|
<child link="FR_thigh"/>
|
|
|
|
|
<axis xyz="0 1 0"/>
|
|
|
|
|
<dynamics damping="0" friction="0"/>
|
2022-11-16 20:18:58 +08:00
|
|
|
<limit effort="35.278" velocity="20"/>
|
|
|
|
|
</joint>
|
|
|
|
|
<joint name="FR_thigh_rotor_joint" type="fixed">
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.0 -0.0298 0"/>
|
|
|
|
|
<parent link="FR_hip"/>
|
|
|
|
|
<child link="FR_thigh_rotor"/>
|
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://aliengo_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="orange"/>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
2022-11-16 20:18:58 +08:00
|
|
|
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.125"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
<geometry>
|
|
|
|
|
<box size="0.25 0.0374 0.043"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin rpy="0 0 0" xyz="-0.005607 0.003877 -0.048199"/>
|
|
|
|
|
<mass value="0.639"/>
|
2022-11-16 20:18:58 +08:00
|
|
|
<inertia ixx="0.004173855" ixy="-1.0284e-05" ixz="-0.000318874" iyy="0.004343802" iyz="-0.000109233" izz="0.000340136"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<link name="FR_thigh_rotor">
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<cylinder length="0.02" radius="0.035"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="green"/>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<cylinder length="0.02" radius="0.035"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
|
|
|
|
<mass value="0.146"/>
|
|
|
|
|
<inertia ixx="8.3352e-05" ixy="0.0" ixz="0.0" iyy="0.000138702" iyz="0.0" izz="8.3352e-05"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="FR_calf_joint" type="revolute">
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
|
|
|
|
|
<parent link="FR_thigh"/>
|
|
|
|
|
<child link="FR_calf"/>
|
|
|
|
|
<axis xyz="0 1 0"/>
|
|
|
|
|
<dynamics damping="0" friction="0"/>
|
2022-11-16 20:18:58 +08:00
|
|
|
<limit effort="44.4" lower="-2.775073510670984" upper="-0.6457718232379019" velocity="15.89"/>
|
|
|
|
|
</joint>
|
|
|
|
|
<joint name="FR_calf_rotor_joint" type="fixed">
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.0 0.0997 0"/>
|
|
|
|
|
<parent link="FR_thigh"/>
|
|
|
|
|
<child link="FR_calf_rotor"/>
|
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://aliengo_description/meshes/calf.dae" scale="1 1 1"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="orange"/>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
2022-11-16 20:18:58 +08:00
|
|
|
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.125"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
<geometry>
|
|
|
|
|
<box size="0.25 0.0208 0.016"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.002781 6.3e-05 -0.142518"/>
|
|
|
|
|
<mass value="0.207"/>
|
2022-11-16 20:18:58 +08:00
|
|
|
<inertia ixx="0.002129279" ixy="3.9e-08" ixz="5.757e-06" iyy="0.002141463" iyz="-5.16e-07" izz="3.7583e-05"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<link name="FR_calf_rotor">
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<cylinder length="0.02" radius="0.035"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="green"/>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<cylinder length="0.02" radius="0.035"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
|
|
|
|
<mass value="0.132"/>
|
|
|
|
|
<inertia ixx="0.000145463" ixy="0.0" ixz="0.0" iyy="0.000133031" iyz="0.0" izz="0.000145463"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="FR_foot_fixed" type="fixed">
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
|
|
|
|
|
<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="0.0165"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="green"/>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<sphere radius="0.0265"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
|
|
|
|
<mass value="0.06"/>
|
2022-11-16 20:18:58 +08:00
|
|
|
<inertia ixx="1.6853999999999998e-05" ixy="0.0" ixz="0.0" iyy="1.6853999999999998e-05" iyz="0.0" izz="1.6853999999999998e-05"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
</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">
|
2022-11-16 20:18:58 +08:00
|
|
|
<origin rpy="0 0 0" xyz="0.2407 0.051 0"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
<parent link="trunk"/>
|
|
|
|
|
<child link="FL_hip"/>
|
|
|
|
|
<axis xyz="1 0 0"/>
|
|
|
|
|
<dynamics damping="0" friction="0"/>
|
2022-11-16 20:18:58 +08:00
|
|
|
<limit effort="35.278" lower="-1.2217304763960306" upper="1.2217304763960306" velocity="20"/>
|
|
|
|
|
</joint>
|
|
|
|
|
<joint name="FL_hip_rotor_joint" type="fixed">
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.139985 0.051 0"/>
|
|
|
|
|
<parent link="trunk"/>
|
|
|
|
|
<child link="FL_hip_rotor"/>
|
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://aliengo_description/meshes/hip.dae" scale="1 1 1"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="orange"/>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
2022-11-16 20:18:58 +08:00
|
|
|
<origin rpy="1.5707963267948966 0 0" xyz="0 0.083 0"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
<geometry>
|
|
|
|
|
<cylinder length="0.0418" radius="0.046"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin rpy="0 0 0" xyz="-0.022191 0.015144 -1.5e-05"/>
|
|
|
|
|
<mass value="1.993"/>
|
2022-11-16 20:18:58 +08:00
|
|
|
<inertia ixx="0.002446735" ixy="-0.00059805" ixz="1.945e-06" iyy="0.003925876" iyz="1.284e-06" izz="0.004148145"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<link name="FL_hip_rotor">
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<cylinder length="0.02" radius="0.035"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="green"/>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<cylinder length="0.02" radius="0.035"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
|
|
|
|
<mass value="0.146"/>
|
|
|
|
|
<inertia ixx="0.000138702" ixy="0.0" ixz="0.0" iyy="8.3352e-05" iyz="0.0" izz="8.3352e-05"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="FL_thigh_joint" type="continuous">
|
2022-11-16 20:18:58 +08:00
|
|
|
<origin rpy="0 0 0" xyz="0 0.0868 0"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
<parent link="FL_hip"/>
|
|
|
|
|
<child link="FL_thigh"/>
|
|
|
|
|
<axis xyz="0 1 0"/>
|
|
|
|
|
<dynamics damping="0" friction="0"/>
|
2022-11-16 20:18:58 +08:00
|
|
|
<limit effort="35.278" velocity="20"/>
|
|
|
|
|
</joint>
|
|
|
|
|
<joint name="FL_thigh_rotor_joint" type="fixed">
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.0 0.0298 0"/>
|
|
|
|
|
<parent link="FL_hip"/>
|
|
|
|
|
<child link="FL_thigh_rotor"/>
|
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://aliengo_description/meshes/thigh.dae" scale="1 1 1"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="orange"/>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
2022-11-16 20:18:58 +08:00
|
|
|
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.125"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
<geometry>
|
|
|
|
|
<box size="0.25 0.0374 0.043"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin rpy="0 0 0" xyz="-0.005607 -0.003877 -0.048199"/>
|
|
|
|
|
<mass value="0.639"/>
|
2022-11-16 20:18:58 +08:00
|
|
|
<inertia ixx="0.004173855" ixy="1.0284e-05" ixz="-0.000318874" iyy="0.004343802" iyz="0.000109233" izz="0.000340136"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<link name="FL_thigh_rotor">
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<cylinder length="0.02" radius="0.035"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="green"/>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<cylinder length="0.02" radius="0.035"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
|
|
|
|
<mass value="0.146"/>
|
|
|
|
|
<inertia ixx="8.3352e-05" ixy="0.0" ixz="0.0" iyy="0.000138702" iyz="0.0" izz="8.3352e-05"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="FL_calf_joint" type="revolute">
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
|
|
|
|
|
<parent link="FL_thigh"/>
|
|
|
|
|
<child link="FL_calf"/>
|
|
|
|
|
<axis xyz="0 1 0"/>
|
|
|
|
|
<dynamics damping="0" friction="0"/>
|
2022-11-16 20:18:58 +08:00
|
|
|
<limit effort="44.4" lower="-2.775073510670984" upper="-0.6457718232379019" velocity="15.89"/>
|
|
|
|
|
</joint>
|
|
|
|
|
<joint name="FL_calf_rotor_joint" type="fixed">
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.0 -0.0997 0"/>
|
|
|
|
|
<parent link="FL_thigh"/>
|
|
|
|
|
<child link="FL_calf_rotor"/>
|
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://aliengo_description/meshes/calf.dae" scale="1 1 1"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="orange"/>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
2022-11-16 20:18:58 +08:00
|
|
|
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.125"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
<geometry>
|
|
|
|
|
<box size="0.25 0.0208 0.016"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.002781 6.3e-05 -0.142518"/>
|
|
|
|
|
<mass value="0.207"/>
|
2022-11-16 20:18:58 +08:00
|
|
|
<inertia ixx="0.002129279" ixy="3.9e-08" ixz="5.757e-06" iyy="0.002141463" iyz="-5.16e-07" izz="3.7583e-05"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<link name="FL_calf_rotor">
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<cylinder length="0.02" radius="0.035"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="green"/>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<cylinder length="0.02" radius="0.035"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
|
|
|
|
<mass value="0.132"/>
|
|
|
|
|
<inertia ixx="0.000145463" ixy="0.0" ixz="0.0" iyy="0.000133031" iyz="0.0" izz="0.000145463"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="FL_foot_fixed" type="fixed">
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
|
|
|
|
|
<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="0.0165"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="green"/>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<sphere radius="0.0265"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
|
|
|
|
<mass value="0.06"/>
|
2022-11-16 20:18:58 +08:00
|
|
|
<inertia ixx="1.6853999999999998e-05" ixy="0.0" ixz="0.0" iyy="1.6853999999999998e-05" iyz="0.0" izz="1.6853999999999998e-05"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
</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">
|
2022-11-16 20:18:58 +08:00
|
|
|
<origin rpy="0 0 0" xyz="-0.2407 -0.051 0"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
<parent link="trunk"/>
|
|
|
|
|
<child link="RR_hip"/>
|
|
|
|
|
<axis xyz="1 0 0"/>
|
|
|
|
|
<dynamics damping="0" friction="0"/>
|
2022-11-16 20:18:58 +08:00
|
|
|
<limit effort="35.278" lower="-1.2217304763960306" upper="1.2217304763960306" velocity="20"/>
|
|
|
|
|
</joint>
|
|
|
|
|
<joint name="RR_hip_rotor_joint" type="fixed">
|
|
|
|
|
<origin rpy="0 0 0" xyz="-0.139985 -0.051 0"/>
|
|
|
|
|
<parent link="trunk"/>
|
|
|
|
|
<child link="RR_hip_rotor"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
</joint>
|
|
|
|
|
<link name="RR_hip">
|
|
|
|
|
<visual>
|
2022-11-16 20:18:58 +08:00
|
|
|
<origin rpy="3.141592653589793 3.141592653589793 0" xyz="0 0 0"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
<geometry>
|
|
|
|
|
<mesh filename="package://aliengo_description/meshes/hip.dae" scale="1 1 1"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="orange"/>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
2022-11-16 20:18:58 +08:00
|
|
|
<origin rpy="1.5707963267948966 0 0" xyz="0 -0.083 0"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
<geometry>
|
|
|
|
|
<cylinder length="0.0418" radius="0.046"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.022191 -0.015144 -1.5e-05"/>
|
|
|
|
|
<mass value="1.993"/>
|
2022-11-16 20:18:58 +08:00
|
|
|
<inertia ixx="0.002446735" ixy="-0.00059805" ixz="-1.945e-06" iyy="0.003925876" iyz="-1.284e-06" izz="0.004148145"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<link name="RR_hip_rotor">
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<cylinder length="0.02" radius="0.035"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="green"/>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<cylinder length="0.02" radius="0.035"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
|
|
|
|
<mass value="0.146"/>
|
|
|
|
|
<inertia ixx="0.000138702" ixy="0.0" ixz="0.0" iyy="8.3352e-05" iyz="0.0" izz="8.3352e-05"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="RR_thigh_joint" type="continuous">
|
2022-11-16 20:18:58 +08:00
|
|
|
<origin rpy="0 0 0" xyz="0 -0.0868 0"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
<parent link="RR_hip"/>
|
|
|
|
|
<child link="RR_thigh"/>
|
|
|
|
|
<axis xyz="0 1 0"/>
|
|
|
|
|
<dynamics damping="0" friction="0"/>
|
2022-11-16 20:18:58 +08:00
|
|
|
<limit effort="35.278" velocity="20"/>
|
|
|
|
|
</joint>
|
|
|
|
|
<joint name="RR_thigh_rotor_joint" type="fixed">
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.0 -0.0298 0"/>
|
|
|
|
|
<parent link="RR_hip"/>
|
|
|
|
|
<child link="RR_thigh_rotor"/>
|
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://aliengo_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="orange"/>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
2022-11-16 20:18:58 +08:00
|
|
|
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.125"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
<geometry>
|
|
|
|
|
<box size="0.25 0.0374 0.043"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin rpy="0 0 0" xyz="-0.005607 0.003877 -0.048199"/>
|
|
|
|
|
<mass value="0.639"/>
|
2022-11-16 20:18:58 +08:00
|
|
|
<inertia ixx="0.004173855" ixy="-1.0284e-05" ixz="-0.000318874" iyy="0.004343802" iyz="-0.000109233" izz="0.000340136"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<link name="RR_thigh_rotor">
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<cylinder length="0.02" radius="0.035"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="green"/>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<cylinder length="0.02" radius="0.035"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
|
|
|
|
<mass value="0.146"/>
|
|
|
|
|
<inertia ixx="8.3352e-05" ixy="0.0" ixz="0.0" iyy="0.000138702" iyz="0.0" izz="8.3352e-05"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="RR_calf_joint" type="revolute">
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
|
|
|
|
|
<parent link="RR_thigh"/>
|
|
|
|
|
<child link="RR_calf"/>
|
|
|
|
|
<axis xyz="0 1 0"/>
|
|
|
|
|
<dynamics damping="0" friction="0"/>
|
2022-11-16 20:18:58 +08:00
|
|
|
<limit effort="44.4" lower="-2.775073510670984" upper="-0.6457718232379019" velocity="15.89"/>
|
|
|
|
|
</joint>
|
|
|
|
|
<joint name="RR_calf_rotor_joint" type="fixed">
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.0 0.0997 0"/>
|
|
|
|
|
<parent link="RR_thigh"/>
|
|
|
|
|
<child link="RR_calf_rotor"/>
|
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://aliengo_description/meshes/calf.dae" scale="1 1 1"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="orange"/>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
2022-11-16 20:18:58 +08:00
|
|
|
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.125"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
<geometry>
|
|
|
|
|
<box size="0.25 0.0208 0.016"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.002781 6.3e-05 -0.142518"/>
|
|
|
|
|
<mass value="0.207"/>
|
2022-11-16 20:18:58 +08:00
|
|
|
<inertia ixx="0.002129279" ixy="3.9e-08" ixz="5.757e-06" iyy="0.002141463" iyz="-5.16e-07" izz="3.7583e-05"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<link name="RR_calf_rotor">
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<cylinder length="0.02" radius="0.035"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="green"/>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<cylinder length="0.02" radius="0.035"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
|
|
|
|
<mass value="0.132"/>
|
|
|
|
|
<inertia ixx="0.000145463" ixy="0.0" ixz="0.0" iyy="0.000133031" iyz="0.0" izz="0.000145463"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="RR_foot_fixed" type="fixed">
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
|
|
|
|
|
<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="0.0165"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="green"/>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<sphere radius="0.0265"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
|
|
|
|
<mass value="0.06"/>
|
2022-11-16 20:18:58 +08:00
|
|
|
<inertia ixx="1.6853999999999998e-05" ixy="0.0" ixz="0.0" iyy="1.6853999999999998e-05" iyz="0.0" izz="1.6853999999999998e-05"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
</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">
|
2022-11-16 20:18:58 +08:00
|
|
|
<origin rpy="0 0 0" xyz="-0.2407 0.051 0"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
<parent link="trunk"/>
|
|
|
|
|
<child link="RL_hip"/>
|
|
|
|
|
<axis xyz="1 0 0"/>
|
|
|
|
|
<dynamics damping="0" friction="0"/>
|
2022-11-16 20:18:58 +08:00
|
|
|
<limit effort="35.278" lower="-1.2217304763960306" upper="1.2217304763960306" velocity="20"/>
|
|
|
|
|
</joint>
|
|
|
|
|
<joint name="RL_hip_rotor_joint" type="fixed">
|
|
|
|
|
<origin rpy="0 0 0" xyz="-0.139985 0.051 0"/>
|
|
|
|
|
<parent link="trunk"/>
|
|
|
|
|
<child link="RL_hip_rotor"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
</joint>
|
|
|
|
|
<link name="RL_hip">
|
|
|
|
|
<visual>
|
2022-11-16 20:18:58 +08:00
|
|
|
<origin rpy="0 3.141592653589793 0" xyz="0 0 0"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
<geometry>
|
|
|
|
|
<mesh filename="package://aliengo_description/meshes/hip.dae" scale="1 1 1"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="orange"/>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
2022-11-16 20:18:58 +08:00
|
|
|
<origin rpy="1.5707963267948966 0 0" xyz="0 0.083 0"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
<geometry>
|
|
|
|
|
<cylinder length="0.0418" radius="0.046"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.022191 0.015144 -1.5e-05"/>
|
|
|
|
|
<mass value="1.993"/>
|
2022-11-16 20:18:58 +08:00
|
|
|
<inertia ixx="0.002446735" ixy="0.00059805" ixz="-1.945e-06" iyy="0.003925876" iyz="1.284e-06" izz="0.004148145"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<link name="RL_hip_rotor">
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<cylinder length="0.02" radius="0.035"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="green"/>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<cylinder length="0.02" radius="0.035"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
|
|
|
|
<mass value="0.146"/>
|
|
|
|
|
<inertia ixx="0.000138702" ixy="0.0" ixz="0.0" iyy="8.3352e-05" iyz="0.0" izz="8.3352e-05"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="RL_thigh_joint" type="continuous">
|
2022-11-16 20:18:58 +08:00
|
|
|
<origin rpy="0 0 0" xyz="0 0.0868 0"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
<parent link="RL_hip"/>
|
|
|
|
|
<child link="RL_thigh"/>
|
|
|
|
|
<axis xyz="0 1 0"/>
|
|
|
|
|
<dynamics damping="0" friction="0"/>
|
2022-11-16 20:18:58 +08:00
|
|
|
<limit effort="35.278" velocity="20"/>
|
|
|
|
|
</joint>
|
|
|
|
|
<joint name="RL_thigh_rotor_joint" type="fixed">
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.0 0.0298 0"/>
|
|
|
|
|
<parent link="RL_hip"/>
|
|
|
|
|
<child link="RL_thigh_rotor"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
</joint>
|
|
|
|
|
<link name="RL_thigh">
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<mesh filename="package://aliengo_description/meshes/thigh.dae" scale="1 1 1"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="orange"/>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
2022-11-16 20:18:58 +08:00
|
|
|
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.125"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
<geometry>
|
|
|
|
|
<box size="0.25 0.0374 0.043"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin rpy="0 0 0" xyz="-0.005607 -0.003877 -0.048199"/>
|
|
|
|
|
<mass value="0.639"/>
|
2022-11-16 20:18:58 +08:00
|
|
|
<inertia ixx="0.004173855" ixy="1.0284e-05" ixz="-0.000318874" iyy="0.004343802" iyz="0.000109233" izz="0.000340136"/>
|
|
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<link name="RL_thigh_rotor">
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<cylinder length="0.02" radius="0.035"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="green"/>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<cylinder length="0.02" radius="0.035"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
|
|
|
|
<mass value="0.146"/>
|
|
|
|
|
<inertia ixx="8.3352e-05" ixy="0.0" ixz="0.0" iyy="0.000138702" iyz="0.0" izz="8.3352e-05"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="RL_calf_joint" type="revolute">
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
|
|
|
|
|
<parent link="RL_thigh"/>
|
|
|
|
|
<child link="RL_calf"/>
|
|
|
|
|
<axis xyz="0 1 0"/>
|
|
|
|
|
<dynamics damping="0" friction="0"/>
|
2022-11-16 20:18:58 +08:00
|
|
|
<limit effort="44.4" lower="-2.775073510670984" upper="-0.6457718232379019" velocity="15.89"/>
|
|
|
|
|
</joint>
|
|
|
|
|
<joint name="RL_calf_rotor_joint" type="fixed">
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.0 -0.0997 0"/>
|
|
|
|
|
<parent link="RL_thigh"/>
|
|
|
|
|
<child link="RL_calf_rotor"/>
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2020-07-15 11:21:03 +08:00
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</joint>
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<link name="RL_calf">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://aliengo_description/meshes/calf.dae" scale="1 1 1"/>
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</geometry>
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<material name="orange"/>
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</visual>
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<collision>
|
2022-11-16 20:18:58 +08:00
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<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.125"/>
|
2020-07-15 11:21:03 +08:00
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<geometry>
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<box size="0.25 0.0208 0.016"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0.002781 6.3e-05 -0.142518"/>
|
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|
|
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<mass value="0.207"/>
|
2022-11-16 20:18:58 +08:00
|
|
|
<inertia ixx="0.002129279" ixy="3.9e-08" ixz="5.757e-06" iyy="0.002141463" iyz="-5.16e-07" izz="3.7583e-05"/>
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</inertial>
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</link>
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<link name="RL_calf_rotor">
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<visual>
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<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
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|
<geometry>
|
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<cylinder length="0.02" radius="0.035"/>
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</geometry>
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<material name="green"/>
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</visual>
|
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<collision>
|
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|
|
|
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<cylinder length="0.02" radius="0.035"/>
|
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</geometry>
|
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|
|
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</collision>
|
|
|
|
|
<inertial>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
|
|
|
|
<mass value="0.132"/>
|
|
|
|
|
<inertia ixx="0.000145463" ixy="0.0" ixz="0.0" iyy="0.000133031" iyz="0.0" izz="0.000145463"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
</inertial>
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="RL_foot_fixed" type="fixed">
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
|
|
|
|
|
<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="0.0165"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="green"/>
|
|
|
|
|
</visual>
|
|
|
|
|
<collision>
|
|
|
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<sphere radius="0.0265"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
</collision>
|
|
|
|
|
<inertial>
|
|
|
|
|
<mass value="0.06"/>
|
2022-11-16 20:18:58 +08:00
|
|
|
<inertia ixx="1.6853999999999998e-05" ixy="0.0" ixz="0.0" iyy="1.6853999999999998e-05" iyz="0.0" izz="1.6853999999999998e-05"/>
|
2020-07-15 11:21:03 +08:00
|
|
|
</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>
|
|
|
|
|
<!-- <xacro:stairs stairs="15" xpos="0" ypos="2.0" zpos="0" /> -->
|
|
|
|
|
</robot>
|
|
|
|
|
|
