966 lines
32 KiB
Plaintext
966 lines
32 KiB
Plaintext
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<?xml version="1.0" encoding="utf-8"?>
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<!-- =================================================================================== -->
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<!-- | This document was autogenerated by xacro from robot.xacro | -->
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<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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<!-- =================================================================================== -->
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<robot name="b1_description">
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<material name="black">
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<color rgba="0.0 0.0 0.0 1.0"/>
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</material>
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<material name="blue">
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<color rgba="0.0 0.0 0.8 1.0"/>
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</material>
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<material name="green">
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<color rgba="0.0 0.8 0.0 1.0"/>
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</material>
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<material name="grey">
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<color rgba="0.2 0.2 0.2 1.0"/>
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</material>
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<material name="silver">
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<color rgba="0.913725490196 0.913725490196 0.847058823529 1.0"/>
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</material>
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<material name="orange">
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<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
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</material>
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<material name="brown">
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<color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
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</material>
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<material name="red">
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<color rgba="0.8 0.0 0.0 1.0"/>
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</material>
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<material name="white">
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<color rgba="1.0 1.0 1.0 1.0"/>
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</material>
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<!-- ros_control plugin -->
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<gazebo>
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<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
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<robotNamespace>/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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<!-- 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"/>
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<geometry>
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<box size="0.001 0.001 0.001"/>
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</geometry>
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</visual>
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</link>
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<joint name="floating_base" type="fixed">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<parent link="base"/>
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<child link="trunk"/>
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</joint>
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<link name="trunk">
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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://b1_description/meshes/trunk.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>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size="0.647 0.3 0.15"/>
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</geometry>
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</collision>
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<!-- <collision>
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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://b1_description/meshes/trunk.dae" scale="1 1 1"/>
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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="0.008465 0.004045 -0.000763"/>
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<mass value="9.041"/>
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<inertia ixx="0.033260231" ixy="-0.000451628" ixz="0.000487603" iyy="0.16117211" iyz="4.8356e-05" izz="0.17460442"/>
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</inertial>
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</link>
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<joint name="imu_joint" type="fixed">
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<parent link="trunk"/>
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<child link="imu_link"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</joint>
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||
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<link name="imu_link">
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<inertial>
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||
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<mass value="0.001"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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||
|
|
<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">
|
||
|
|
<origin rpy="0 0 0" xyz="0.3455 -0.072 0"/>
|
||
|
|
<parent link="trunk"/>
|
||
|
|
<child link="FR_hip"/>
|
||
|
|
<axis xyz="1 0 0"/>
|
||
|
|
<dynamics damping="0" friction="0"/>
|
||
|
|
<limit effort="100" lower="-0.75" upper="0.75" velocity="20"/>
|
||
|
|
</joint>
|
||
|
|
<link name="FR_hip">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="3.14159265359 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="package://b1_description/meshes/hip.dae" scale="1 1 1"/>
|
||
|
|
</geometry>
|
||
|
|
<material name="orange"/>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="1.57079632679 0 0" xyz="0 -0.12675 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.04" radius="0.09"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="-0.022191 -0.015144 -1.5e-05"/>
|
||
|
|
<mass value="1.993"/>
|
||
|
|
<inertia ixx="0.002903894" ixy="7.185e-05" ixz="-1.262e-06" iyy="0.004907517" iyz="1.75e-06" izz="0.005586944"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<!-- <joint name="${name}_hip_fixed" type="fixed">
|
||
|
|
<origin rpy="0 0 0" xyz="0 ${(thigh_shoulder_length/2.0+hip_offset)*mirror} 0"/>
|
||
|
|
<parent link="${name}_hip"/>
|
||
|
|
<child link="${name}_thigh_shoulder"/>
|
||
|
|
</joint> -->
|
||
|
|
<!-- this link is only for collision -->
|
||
|
|
<!-- <link name="${name}_thigh_shoulder">
|
||
|
|
<collision>
|
||
|
|
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="${thigh_shoulder_length}" radius="${thigh_shoulder_radius}"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
</link> -->
|
||
|
|
<joint name="FR_thigh_joint" type="continuous">
|
||
|
|
<origin rpy="0 0 0" xyz="0 -0.12675 0"/>
|
||
|
|
<parent link="FR_hip"/>
|
||
|
|
<child link="FR_thigh"/>
|
||
|
|
<axis xyz="0 1 0"/>
|
||
|
|
<dynamics damping="0" friction="0"/>
|
||
|
|
<limit effort="100" lower="-1.0" upper="3.5" velocity="20"/>
|
||
|
|
</joint>
|
||
|
|
<link name="FR_thigh">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="package://b1_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
|
||
|
|
</geometry>
|
||
|
|
<material name="orange"/>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.175"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.35 0.05 0.08"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="-0.005607 0.003877 -0.048199"/>
|
||
|
|
<mass value="0.639"/>
|
||
|
|
<inertia ixx="0.005666803" ixy="-3.597e-06" ixz="0.000491446" iyy="0.005847229" iyz="-1.0086e-05" izz="0.000369811"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="FR_calf_joint" type="revolute">
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 -0.35"/>
|
||
|
|
<parent link="FR_thigh"/>
|
||
|
|
<child link="FR_calf"/>
|
||
|
|
<axis xyz="0 1 0"/>
|
||
|
|
<dynamics damping="0" friction="0"/>
|
||
|
|
<limit effort="100" lower="-2.6" upper="-0.6" velocity="20"/>
|
||
|
|
</joint>
|
||
|
|
<link name="FR_calf">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="package://b1_description/meshes/calf.dae" scale="1 1 1"/>
|
||
|
|
</geometry>
|
||
|
|
<material name="orange"/>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.175"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.35 0.04 0.03"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="0.002781 6.3e-05 -0.142518"/>
|
||
|
|
<mass value="0.207"/>
|
||
|
|
<inertia ixx="0.006341369" ixy="-3e-09" ixz="-8.7951e-05" iyy="0.006355157" iyz="-1.336e-06" izz="3.9188e-05"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="FR_foot_fixed" type="fixed">
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 -0.35"/>
|
||
|
|
<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="0.03"/>
|
||
|
|
</geometry>
|
||
|
|
<material name="green"/>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<sphere radius="0.04"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<mass value="0.06"/>
|
||
|
|
<inertia ixx="3.84e-05" ixy="0.0" ixz="0.0" iyy="3.84e-05" iyz="0.0" izz="3.84e-05"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<transmission name="FR_hip_tran">
|
||
|
|
<type>transmission_interface/SimpleTransmission</type>
|
||
|
|
<joint name="FR_hip_joint">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
</joint>
|
||
|
|
<actuator name="FR_hip_motor">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
<mechanicalReduction>1</mechanicalReduction>
|
||
|
|
</actuator>
|
||
|
|
</transmission>
|
||
|
|
<transmission name="FR_thigh_tran">
|
||
|
|
<type>transmission_interface/SimpleTransmission</type>
|
||
|
|
<joint name="FR_thigh_joint">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
</joint>
|
||
|
|
<actuator name="FR_thigh_motor">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
<mechanicalReduction>1</mechanicalReduction>
|
||
|
|
</actuator>
|
||
|
|
</transmission>
|
||
|
|
<transmission name="FR_calf_tran">
|
||
|
|
<type>transmission_interface/SimpleTransmission</type>
|
||
|
|
<joint name="FR_calf_joint">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
</joint>
|
||
|
|
<actuator name="FR_calf_motor">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
<mechanicalReduction>1</mechanicalReduction>
|
||
|
|
</actuator>
|
||
|
|
</transmission>
|
||
|
|
<joint name="FL_hip_joint" type="revolute">
|
||
|
|
<origin rpy="0 0 0" xyz="0.3455 0.072 0"/>
|
||
|
|
<parent link="trunk"/>
|
||
|
|
<child link="FL_hip"/>
|
||
|
|
<axis xyz="1 0 0"/>
|
||
|
|
<dynamics damping="0" friction="0"/>
|
||
|
|
<limit effort="100" lower="-0.75" upper="0.75" velocity="20"/>
|
||
|
|
</joint>
|
||
|
|
<link name="FL_hip">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="package://b1_description/meshes/hip.dae" scale="1 1 1"/>
|
||
|
|
</geometry>
|
||
|
|
<material name="orange"/>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="1.57079632679 0 0" xyz="0 0.12675 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.04" radius="0.09"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="-0.022191 0.015144 -1.5e-05"/>
|
||
|
|
<mass value="1.993"/>
|
||
|
|
<inertia ixx="0.002903894" ixy="-7.185e-05" ixz="-1.262e-06" iyy="0.004907517" iyz="-1.75e-06" izz="0.005586944"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<!-- <joint name="${name}_hip_fixed" type="fixed">
|
||
|
|
<origin rpy="0 0 0" xyz="0 ${(thigh_shoulder_length/2.0+hip_offset)*mirror} 0"/>
|
||
|
|
<parent link="${name}_hip"/>
|
||
|
|
<child link="${name}_thigh_shoulder"/>
|
||
|
|
</joint> -->
|
||
|
|
<!-- this link is only for collision -->
|
||
|
|
<!-- <link name="${name}_thigh_shoulder">
|
||
|
|
<collision>
|
||
|
|
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="${thigh_shoulder_length}" radius="${thigh_shoulder_radius}"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
</link> -->
|
||
|
|
<joint name="FL_thigh_joint" type="continuous">
|
||
|
|
<origin rpy="0 0 0" xyz="0 0.12675 0"/>
|
||
|
|
<parent link="FL_hip"/>
|
||
|
|
<child link="FL_thigh"/>
|
||
|
|
<axis xyz="0 1 0"/>
|
||
|
|
<dynamics damping="0" friction="0"/>
|
||
|
|
<limit effort="100" lower="-1.0" upper="3.5" velocity="20"/>
|
||
|
|
</joint>
|
||
|
|
<link name="FL_thigh">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="package://b1_description/meshes/thigh.dae" scale="1 1 1"/>
|
||
|
|
</geometry>
|
||
|
|
<material name="orange"/>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.175"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.35 0.05 0.08"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="-0.005607 -0.003877 -0.048199"/>
|
||
|
|
<mass value="0.639"/>
|
||
|
|
<inertia ixx="0.005666803" ixy="3.597e-06" ixz="0.000491446" iyy="0.005847229" iyz="1.0086e-05" izz="0.000369811"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="FL_calf_joint" type="revolute">
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 -0.35"/>
|
||
|
|
<parent link="FL_thigh"/>
|
||
|
|
<child link="FL_calf"/>
|
||
|
|
<axis xyz="0 1 0"/>
|
||
|
|
<dynamics damping="0" friction="0"/>
|
||
|
|
<limit effort="100" lower="-2.6" upper="-0.6" velocity="20"/>
|
||
|
|
</joint>
|
||
|
|
<link name="FL_calf">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="package://b1_description/meshes/calf.dae" scale="1 1 1"/>
|
||
|
|
</geometry>
|
||
|
|
<material name="orange"/>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.175"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.35 0.04 0.03"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="0.002781 6.3e-05 -0.142518"/>
|
||
|
|
<mass value="0.207"/>
|
||
|
|
<inertia ixx="0.006341369" ixy="-3e-09" ixz="-8.7951e-05" iyy="0.006355157" iyz="-1.336e-06" izz="3.9188e-05"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="FL_foot_fixed" type="fixed">
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 -0.35"/>
|
||
|
|
<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="0.03"/>
|
||
|
|
</geometry>
|
||
|
|
<material name="green"/>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<sphere radius="0.04"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<mass value="0.06"/>
|
||
|
|
<inertia ixx="3.84e-05" ixy="0.0" ixz="0.0" iyy="3.84e-05" iyz="0.0" izz="3.84e-05"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<transmission name="FL_hip_tran">
|
||
|
|
<type>transmission_interface/SimpleTransmission</type>
|
||
|
|
<joint name="FL_hip_joint">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
</joint>
|
||
|
|
<actuator name="FL_hip_motor">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
<mechanicalReduction>1</mechanicalReduction>
|
||
|
|
</actuator>
|
||
|
|
</transmission>
|
||
|
|
<transmission name="FL_thigh_tran">
|
||
|
|
<type>transmission_interface/SimpleTransmission</type>
|
||
|
|
<joint name="FL_thigh_joint">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
</joint>
|
||
|
|
<actuator name="FL_thigh_motor">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
<mechanicalReduction>1</mechanicalReduction>
|
||
|
|
</actuator>
|
||
|
|
</transmission>
|
||
|
|
<transmission name="FL_calf_tran">
|
||
|
|
<type>transmission_interface/SimpleTransmission</type>
|
||
|
|
<joint name="FL_calf_joint">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
</joint>
|
||
|
|
<actuator name="FL_calf_motor">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
<mechanicalReduction>1</mechanicalReduction>
|
||
|
|
</actuator>
|
||
|
|
</transmission>
|
||
|
|
<joint name="RR_hip_joint" type="revolute">
|
||
|
|
<origin rpy="0 0 0" xyz="-0.3455 -0.072 0"/>
|
||
|
|
<parent link="trunk"/>
|
||
|
|
<child link="RR_hip"/>
|
||
|
|
<axis xyz="1 0 0"/>
|
||
|
|
<dynamics damping="0" friction="0"/>
|
||
|
|
<limit effort="100" lower="-0.75" upper="0.75" velocity="20"/>
|
||
|
|
</joint>
|
||
|
|
<link name="RR_hip">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="3.14159265359 3.14159265359 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="package://b1_description/meshes/hip.dae" scale="1 1 1"/>
|
||
|
|
</geometry>
|
||
|
|
<material name="orange"/>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="1.57079632679 0 0" xyz="0 -0.12675 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.04" radius="0.09"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="0.022191 -0.015144 -1.5e-05"/>
|
||
|
|
<mass value="1.993"/>
|
||
|
|
<inertia ixx="0.002903894" ixy="-7.185e-05" ixz="1.262e-06" iyy="0.004907517" iyz="1.75e-06" izz="0.005586944"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<!-- <joint name="${name}_hip_fixed" type="fixed">
|
||
|
|
<origin rpy="0 0 0" xyz="0 ${(thigh_shoulder_length/2.0+hip_offset)*mirror} 0"/>
|
||
|
|
<parent link="${name}_hip"/>
|
||
|
|
<child link="${name}_thigh_shoulder"/>
|
||
|
|
</joint> -->
|
||
|
|
<!-- this link is only for collision -->
|
||
|
|
<!-- <link name="${name}_thigh_shoulder">
|
||
|
|
<collision>
|
||
|
|
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="${thigh_shoulder_length}" radius="${thigh_shoulder_radius}"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
</link> -->
|
||
|
|
<joint name="RR_thigh_joint" type="continuous">
|
||
|
|
<origin rpy="0 0 0" xyz="0 -0.12675 0"/>
|
||
|
|
<parent link="RR_hip"/>
|
||
|
|
<child link="RR_thigh"/>
|
||
|
|
<axis xyz="0 1 0"/>
|
||
|
|
<dynamics damping="0" friction="0"/>
|
||
|
|
<limit effort="100" lower="-1.0" upper="3.5" velocity="20"/>
|
||
|
|
</joint>
|
||
|
|
<link name="RR_thigh">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="package://b1_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
|
||
|
|
</geometry>
|
||
|
|
<material name="orange"/>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.175"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.35 0.05 0.08"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="-0.005607 0.003877 -0.048199"/>
|
||
|
|
<mass value="0.639"/>
|
||
|
|
<inertia ixx="0.005666803" ixy="-3.597e-06" ixz="0.000491446" iyy="0.005847229" iyz="-1.0086e-05" izz="0.000369811"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="RR_calf_joint" type="revolute">
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 -0.35"/>
|
||
|
|
<parent link="RR_thigh"/>
|
||
|
|
<child link="RR_calf"/>
|
||
|
|
<axis xyz="0 1 0"/>
|
||
|
|
<dynamics damping="0" friction="0"/>
|
||
|
|
<limit effort="100" lower="-2.6" upper="-0.6" velocity="20"/>
|
||
|
|
</joint>
|
||
|
|
<link name="RR_calf">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="package://b1_description/meshes/calf.dae" scale="1 1 1"/>
|
||
|
|
</geometry>
|
||
|
|
<material name="orange"/>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.175"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.35 0.04 0.03"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="0.002781 6.3e-05 -0.142518"/>
|
||
|
|
<mass value="0.207"/>
|
||
|
|
<inertia ixx="0.006341369" ixy="-3e-09" ixz="-8.7951e-05" iyy="0.006355157" iyz="-1.336e-06" izz="3.9188e-05"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="RR_foot_fixed" type="fixed">
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 -0.35"/>
|
||
|
|
<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="0.03"/>
|
||
|
|
</geometry>
|
||
|
|
<material name="green"/>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<sphere radius="0.04"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<mass value="0.06"/>
|
||
|
|
<inertia ixx="3.84e-05" ixy="0.0" ixz="0.0" iyy="3.84e-05" iyz="0.0" izz="3.84e-05"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<transmission name="RR_hip_tran">
|
||
|
|
<type>transmission_interface/SimpleTransmission</type>
|
||
|
|
<joint name="RR_hip_joint">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
</joint>
|
||
|
|
<actuator name="RR_hip_motor">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
<mechanicalReduction>1</mechanicalReduction>
|
||
|
|
</actuator>
|
||
|
|
</transmission>
|
||
|
|
<transmission name="RR_thigh_tran">
|
||
|
|
<type>transmission_interface/SimpleTransmission</type>
|
||
|
|
<joint name="RR_thigh_joint">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
</joint>
|
||
|
|
<actuator name="RR_thigh_motor">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
<mechanicalReduction>1</mechanicalReduction>
|
||
|
|
</actuator>
|
||
|
|
</transmission>
|
||
|
|
<transmission name="RR_calf_tran">
|
||
|
|
<type>transmission_interface/SimpleTransmission</type>
|
||
|
|
<joint name="RR_calf_joint">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
</joint>
|
||
|
|
<actuator name="RR_calf_motor">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
<mechanicalReduction>1</mechanicalReduction>
|
||
|
|
</actuator>
|
||
|
|
</transmission>
|
||
|
|
<joint name="RL_hip_joint" type="revolute">
|
||
|
|
<origin rpy="0 0 0" xyz="-0.3455 0.072 0"/>
|
||
|
|
<parent link="trunk"/>
|
||
|
|
<child link="RL_hip"/>
|
||
|
|
<axis xyz="1 0 0"/>
|
||
|
|
<dynamics damping="0" friction="0"/>
|
||
|
|
<limit effort="100" lower="-0.75" upper="0.75" velocity="20"/>
|
||
|
|
</joint>
|
||
|
|
<link name="RL_hip">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 3.14159265359 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="package://b1_description/meshes/hip.dae" scale="1 1 1"/>
|
||
|
|
</geometry>
|
||
|
|
<material name="orange"/>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="1.57079632679 0 0" xyz="0 0.12675 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="0.04" radius="0.09"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="0.022191 0.015144 -1.5e-05"/>
|
||
|
|
<mass value="1.993"/>
|
||
|
|
<inertia ixx="0.002903894" ixy="7.185e-05" ixz="1.262e-06" iyy="0.004907517" iyz="-1.75e-06" izz="0.005586944"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<!-- <joint name="${name}_hip_fixed" type="fixed">
|
||
|
|
<origin rpy="0 0 0" xyz="0 ${(thigh_shoulder_length/2.0+hip_offset)*mirror} 0"/>
|
||
|
|
<parent link="${name}_hip"/>
|
||
|
|
<child link="${name}_thigh_shoulder"/>
|
||
|
|
</joint> -->
|
||
|
|
<!-- this link is only for collision -->
|
||
|
|
<!-- <link name="${name}_thigh_shoulder">
|
||
|
|
<collision>
|
||
|
|
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="${thigh_shoulder_length}" radius="${thigh_shoulder_radius}"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
</link> -->
|
||
|
|
<joint name="RL_thigh_joint" type="continuous">
|
||
|
|
<origin rpy="0 0 0" xyz="0 0.12675 0"/>
|
||
|
|
<parent link="RL_hip"/>
|
||
|
|
<child link="RL_thigh"/>
|
||
|
|
<axis xyz="0 1 0"/>
|
||
|
|
<dynamics damping="0" friction="0"/>
|
||
|
|
<limit effort="100" lower="-1.0" upper="3.5" velocity="20"/>
|
||
|
|
</joint>
|
||
|
|
<link name="RL_thigh">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="package://b1_description/meshes/thigh.dae" scale="1 1 1"/>
|
||
|
|
</geometry>
|
||
|
|
<material name="orange"/>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.175"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.35 0.05 0.08"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="-0.005607 -0.003877 -0.048199"/>
|
||
|
|
<mass value="0.639"/>
|
||
|
|
<inertia ixx="0.005666803" ixy="3.597e-06" ixz="0.000491446" iyy="0.005847229" iyz="1.0086e-05" izz="0.000369811"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="RL_calf_joint" type="revolute">
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 -0.35"/>
|
||
|
|
<parent link="RL_thigh"/>
|
||
|
|
<child link="RL_calf"/>
|
||
|
|
<axis xyz="0 1 0"/>
|
||
|
|
<dynamics damping="0" friction="0"/>
|
||
|
|
<limit effort="100" lower="-2.6" upper="-0.6" velocity="20"/>
|
||
|
|
</joint>
|
||
|
|
<link name="RL_calf">
|
||
|
|
<visual>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh filename="package://b1_description/meshes/calf.dae" scale="1 1 1"/>
|
||
|
|
</geometry>
|
||
|
|
<material name="orange"/>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.175"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.35 0.04 0.03"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<origin rpy="0 0 0" xyz="0.002781 6.3e-05 -0.142518"/>
|
||
|
|
<mass value="0.207"/>
|
||
|
|
<inertia ixx="0.006341369" ixy="-3e-09" ixz="-8.7951e-05" iyy="0.006355157" iyz="-1.336e-06" izz="3.9188e-05"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
<joint name="RL_foot_fixed" type="fixed">
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 -0.35"/>
|
||
|
|
<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="0.03"/>
|
||
|
|
</geometry>
|
||
|
|
<material name="green"/>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<sphere radius="0.04"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
<inertial>
|
||
|
|
<mass value="0.06"/>
|
||
|
|
<inertia ixx="3.84e-05" ixy="0.0" ixz="0.0" iyy="3.84e-05" iyz="0.0" izz="3.84e-05"/>
|
||
|
|
</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>
|
||
|
|
|