Upload aliengoZ1_description
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cmake_minimum_required(VERSION 3.0.2)
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project(aliengoZ1_description)
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## Compile as C++11, supported in ROS Kinetic and newer
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# add_compile_options(-std=c++11)
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## Find catkin macros and libraries
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## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
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## is used, also find other catkin packages
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find_package(catkin REQUIRED COMPONENTS
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roscpp
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rospy
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urdf
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xacro
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)
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## System dependencies are found with CMake's conventions
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# find_package(Boost REQUIRED COMPONENTS system)
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## Uncomment this if the package has a setup.py. This macro ensures
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## modules and global scripts declared therein get installed
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## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
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# catkin_python_setup()
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################################################
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## Declare ROS messages, services and actions ##
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################################################
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## To declare and build messages, services or actions from within this
|
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## package, follow these steps:
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## * Let MSG_DEP_SET be the set of packages whose message types you use in
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## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
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## * In the file package.xml:
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## * add a build_depend tag for "message_generation"
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## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
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## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
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## but can be declared for certainty nonetheless:
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## * add a exec_depend tag for "message_runtime"
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## * In this file (CMakeLists.txt):
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## * add "message_generation" and every package in MSG_DEP_SET to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * add "message_runtime" and every package in MSG_DEP_SET to
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## catkin_package(CATKIN_DEPENDS ...)
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## * uncomment the add_*_files sections below as needed
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## and list every .msg/.srv/.action file to be processed
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## * uncomment the generate_messages entry below
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## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
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## Generate messages in the 'msg' folder
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# add_message_files(
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# FILES
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# Message1.msg
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# Message2.msg
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# )
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## Generate services in the 'srv' folder
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# add_service_files(
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# FILES
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# Service1.srv
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# Service2.srv
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# )
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## Generate actions in the 'action' folder
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# add_action_files(
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# FILES
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# Action1.action
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# Action2.action
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# )
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## Generate added messages and services with any dependencies listed here
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# generate_messages(
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# DEPENDENCIES
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# std_msgs # Or other packages containing msgs
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# )
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################################################
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## Declare ROS dynamic reconfigure parameters ##
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################################################
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## To declare and build dynamic reconfigure parameters within this
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## package, follow these steps:
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## * In the file package.xml:
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## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
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## * In this file (CMakeLists.txt):
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## * add "dynamic_reconfigure" to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * uncomment the "generate_dynamic_reconfigure_options" section below
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## and list every .cfg file to be processed
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## Generate dynamic reconfigure parameters in the 'cfg' folder
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# generate_dynamic_reconfigure_options(
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# cfg/DynReconf1.cfg
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# cfg/DynReconf2.cfg
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# )
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###################################
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## catkin specific configuration ##
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###################################
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## The catkin_package macro generates cmake config files for your package
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## Declare things to be passed to dependent projects
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## INCLUDE_DIRS: uncomment this if your package contains header files
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## LIBRARIES: libraries you create in this project that dependent projects also need
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## CATKIN_DEPENDS: catkin_packages dependent projects also need
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## DEPENDS: system dependencies of this project that dependent projects also need
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catkin_package(
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# INCLUDE_DIRS include
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# LIBRARIES aliengoAndarm
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# CATKIN_DEPENDS roscpp rospy urdf xacro
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# DEPENDS system_lib
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)
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###########
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## Build ##
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###########
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## Specify additional locations of header files
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## Your package locations should be listed before other locations
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include_directories(
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# include
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${catkin_INCLUDE_DIRS}
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)
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## Declare a C++ library
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# add_library(${PROJECT_NAME}
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# src/${PROJECT_NAME}/aliengoAndarm.cpp
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# )
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## Add cmake target dependencies of the library
|
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## as an example, code may need to be generated before libraries
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## either from message generation or dynamic reconfigure
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# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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## Declare a C++ executable
|
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## With catkin_make all packages are built within a single CMake context
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## The recommended prefix ensures that target names across packages don't collide
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# add_executable(${PROJECT_NAME}_node src/aliengoAndarm_node.cpp)
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## Rename C++ executable without prefix
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## The above recommended prefix causes long target names, the following renames the
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## target back to the shorter version for ease of user use
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## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
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# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
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## Add cmake target dependencies of the executable
|
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## same as for the library above
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# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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## Specify libraries to link a library or executable target against
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# target_link_libraries(${PROJECT_NAME}_node
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# ${catkin_LIBRARIES}
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# )
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#############
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## Install ##
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#############
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# all install targets should use catkin DESTINATION variables
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# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
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## Mark executable scripts (Python etc.) for installation
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## in contrast to setup.py, you can choose the destination
|
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# catkin_install_python(PROGRAMS
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# scripts/my_python_script
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# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark executables for installation
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## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
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# install(TARGETS ${PROJECT_NAME}_node
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# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark libraries for installation
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## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
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# install(TARGETS ${PROJECT_NAME}
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# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
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# )
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## Mark cpp header files for installation
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# install(DIRECTORY include/${PROJECT_NAME}/
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# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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# FILES_MATCHING PATTERN "*.h"
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# PATTERN ".svn" EXCLUDE
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# )
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## Mark other files for installation (e.g. launch and bag files, etc.)
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# install(FILES
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# # myfile1
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# # myfile2
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# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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# )
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#############
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## Testing ##
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#############
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## Add gtest based cpp test target and link libraries
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# catkin_add_gtest(${PROJECT_NAME}-test test/test_aliengoAndarm.cpp)
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# if(TARGET ${PROJECT_NAME}-test)
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# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
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# endif()
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## Add folders to be run by python nosetests
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# catkin_add_nosetests(test)
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@ -0,0 +1,105 @@
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aliengoZ1_gazebo:
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# Publish all joint states -----------------------------------
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joint_state_controller:
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type: joint_state_controller/JointStateController
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publish_rate: 1000
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# FL Controllers ---------------------------------------
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FL_hip_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: FL_hip_joint
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pid: {p: 100.0, i: 0.0, d: 5.0}
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FL_thigh_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: FL_thigh_joint
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pid: {p: 300.0, i: 0.0, d: 8.0}
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FL_calf_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: FL_calf_joint
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pid: {p: 300.0, i: 0.0, d: 8.0}
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# FR Controllers ---------------------------------------
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FR_hip_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: FR_hip_joint
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pid: {p: 100.0, i: 0.0, d: 5.0}
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FR_thigh_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: FR_thigh_joint
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pid: {p: 300.0, i: 0.0, d: 8.0}
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FR_calf_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: FR_calf_joint
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pid: {p: 300.0, i: 0.0, d: 8.0}
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# RL Controllers ---------------------------------------
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RL_hip_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: RL_hip_joint
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pid: {p: 100.0, i: 0.0, d: 5.0}
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RL_thigh_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: RL_thigh_joint
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pid: {p: 300.0, i: 0.0, d: 8.0}
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RL_calf_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: RL_calf_joint
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pid: {p: 300.0, i: 0.0, d: 8.0}
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# RR Controllers ---------------------------------------
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RR_hip_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: RR_hip_joint
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pid: {p: 100.0, i: 0.0, d: 5.0}
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RR_thigh_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: RR_thigh_joint
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pid: {p: 300.0, i: 0.0, d: 8.0}
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RR_calf_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: RR_calf_joint
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pid: {p: 300.0, i: 0.0, d: 8.0}
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Joint01_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: joint1
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pid: {p: 300.0, i: 0.0, d: 5.0}
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Joint02_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: joint2
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pid: {p: 300.0, i: 0.0, d: 5.0}
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Joint03_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: joint3
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pid: {p: 300.0, i: 0.0, d: 5.0}
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Joint04_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: joint4
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pid: {p: 300.0, i: 0.0, d: 5.0}
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Joint05_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: joint5
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pid: {p: 300.0, i: 0.0, d: 5.0}
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Joint06_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: joint6
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pid: {p: 300.0, i: 0.0, d: 5.0}
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gripper_controller:
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type: unitree_legged_control/UnitreeJointController
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joint: jointGripper
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pid: {p: 300.0, i: 0.0, d: 5.0}
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@ -0,0 +1,74 @@
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<launch>
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<arg name="wname" default="earth"/>
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<arg name="rname" default="aliengoZ1"/>
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<arg name="robot_path" value="(find $(arg rname)_description)"/>
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<arg name="dollar" value="$"/>
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<arg name="UnitreeGripperYN" default="true"/>
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<arg name="paused" default="true"/>
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<arg name="use_sim_time" default="true"/>
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<arg name="gui" default="true"/>
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<arg name="headless" default="false"/>
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<arg name="debug" default="false"/>
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<!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
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<arg name="user_debug" default="false"/>
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
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<arg name="world_name" value="$(find unitree_gazebo)/worlds/$(arg wname).world"/>
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<arg name="debug" value="$(arg debug)"/>
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<arg name="gui" value="$(arg gui)"/>
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<arg name="paused" value="$(arg paused)"/>
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<arg name="use_sim_time" value="$(arg use_sim_time)"/>
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<arg name="headless" value="$(arg headless)"/>
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</include>
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<!-- Load the URDF into the ROS Parameter Server -->
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<param name="robot_description"
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command="$(find xacro)/xacro --inorder '$(arg dollar)$(arg robot_path)/xacro/robot.xacro'
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DEBUG:=$(arg user_debug)"/>
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<!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
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<!-- Set trunk and joint positions at startup -->
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<node pkg="gazebo_ros" type="spawn_model" name="urdf_spawner" respawn="false" output="screen"
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args="-urdf -z 0.6 -model $(arg rname)_gazebo -param robot_description -unpause"/>
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<!-- Load joint controller configurations from YAML file to parameter server -->
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<rosparam file="$(arg dollar)$(arg robot_path)/config/robot_control.yaml" command="load"/>
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<!-- load the controllers -->
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<group unless="$(arg UnitreeGripperYN)">
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<node pkg="controller_manager" type="spawner" name="controller_spawner" respawn="false"
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output="screen" ns="/$(arg rname)_gazebo" args="joint_state_controller
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Joint01_controller Joint02_controller Joint03_controller
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Joint04_controller Joint05_controller Joint06_controller
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FL_hip_controller FL_thigh_controller FL_calf_controller
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FR_hip_controller FR_thigh_controller FR_calf_controller
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RL_hip_controller RL_thigh_controller RL_calf_controller
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RR_hip_controller RR_thigh_controller RR_calf_controller"/>
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</group>
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<group if="$(arg UnitreeGripperYN)">
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<node pkg="controller_manager" type="spawner" name="controller_spawner" respawn="false"
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output="screen" ns="/$(arg rname)_gazebo" args="joint_state_controller
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Joint01_controller Joint02_controller Joint03_controller
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Joint04_controller Joint05_controller Joint06_controller
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gripper_controller
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FL_hip_controller FL_thigh_controller FL_calf_controller
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FR_hip_controller FR_thigh_controller FR_calf_controller
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RL_hip_controller RL_thigh_controller RL_calf_controller
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RR_hip_controller RR_thigh_controller RR_calf_controller"/>
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</group>
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<!-- convert joint states to TF transforms for rviz, etc -->
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<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher"
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respawn="false" output="screen">
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<remap from="/joint_states" to="/$(arg rname)_gazebo/joint_states"/>
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</node>
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<!-- load the parameter unitree_controller -->
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<include file="$(find unitree_controller)/launch/set_ctrl.launch">
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<arg name="rname" value="$(arg rname)"/>
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</include>
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</launch>
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<launch>
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<arg name="user_debug" default="true"/>
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<arg name="UnitreeGripperYN" default="true"/>
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<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find aliengoZ1_description)/xacro/robot.xacro'
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DEBUG:=$(arg user_debug) UnitreeGripper:=$(arg UnitreeGripperYN)"/>
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<!-- send fake joint values -->
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<node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher">
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<param name="use_gui" value="TRUE"/>
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</node>
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<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
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<param name="publish_frequency" type="double" value="1000.0"/>
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</node>
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<node pkg="rviz" type="rviz" name="rviz" respawn="false" output="screen"
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args="-d $(find aliengo_description)/launch/check_joint.rviz"/>
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</launch>
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<?xml version="1.0"?>
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<package format="2">
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<name>aliengoZ1_description</name>
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<version>0.0.0</version>
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<description>The aliengoZ1_description package</description>
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<maintainer email="laikago@unitree.cc">unitree</maintainer>
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<license>TODO</license>
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||||
<buildtool_depend>catkin</buildtool_depend>
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||||
<build_depend>urdf</build_depend>
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<build_depend>xacro</build_depend>
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<build_export_depend>urdf</build_export_depend>
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<build_export_depend>xacro</build_export_depend>
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<exec_depend>urdf</exec_depend>
|
||||
<exec_depend>xacro</exec_depend>
|
||||
</package>
|
||||
|
|
@ -0,0 +1,24 @@
|
|||
<?xml version="1.0" ?>
|
||||
<sdf version="1.4">
|
||||
<!-- We use a custom world for the rrbot so that the camera angle is launched correctly -->
|
||||
|
||||
<world name="default">
|
||||
<include>
|
||||
<uri>model://ground_plane</uri>
|
||||
</include>
|
||||
|
||||
<!-- Global light source -->
|
||||
<include>
|
||||
<uri>model://sun</uri>
|
||||
</include>
|
||||
|
||||
<!-- Focus camera on tall pendulum -->
|
||||
<gui fullscreen='0'>
|
||||
<camera name='user_camera'>
|
||||
<pose>4.927360 -4.376610 3.740080 0.000000 0.275643 2.356190</pose>
|
||||
<view_controller>orbit</view_controller>
|
||||
</camera>
|
||||
</gui>
|
||||
|
||||
</world>
|
||||
</sdf>
|
||||
|
|
@ -0,0 +1,15 @@
|
|||
<?xml version="1.0"?>
|
||||
|
||||
<robot name="aliengoZ1_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
|
||||
<xacro:include filename="$(find aliengo_description)/xacro/const.xacro"/>
|
||||
|
||||
<!-- the base of arm offset -->
|
||||
<xacro:property name="arm_offset_x" value="${trunk_length/2.0 - 0.07}"/>
|
||||
<xacro:property name="arm_offset_y" value="0"/>
|
||||
<xacro:property name="arm_offset_z" value="${trunk_height/2.0}"/>
|
||||
<xacro:property name="arm_offset_r" value="0"/>
|
||||
<xacro:property name="arm_offset_p" value="0"/>
|
||||
<xacro:property name="arm_offset_yaw" value="0"/>
|
||||
|
||||
</robot>
|
||||
|
|
@ -0,0 +1,281 @@
|
|||
<?xml version="1.0"?>
|
||||
<robot>
|
||||
<!-- ros_control plugin -->
|
||||
<gazebo>
|
||||
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
|
||||
<robotNamespace>/aliengoZ1_gazebo</robotNamespace>
|
||||
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
|
||||
</plugin>
|
||||
</gazebo>
|
||||
|
||||
<!-- Show the trajectory of trunk center. -->
|
||||
<gazebo>
|
||||
<plugin name="3dplot" filename="libLinkPlot3DPlugin.so">
|
||||
<frequency>10</frequency>
|
||||
<plot>
|
||||
<link>base</link>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<material>Gazebo/Yellow</material>
|
||||
</plot>
|
||||
</plugin>
|
||||
</gazebo>
|
||||
|
||||
<!-- Show the trajectory of foot. You can add another trajectory about another foot. -->
|
||||
<!-- <gazebo>
|
||||
<plugin name="3dplot" filename="libLinkPlot3DPlugin.so">
|
||||
<frequency>100</frequency>
|
||||
<plot>
|
||||
<link>FL_foot</link>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<material>Gazebo/Green</material>
|
||||
</plot>
|
||||
</plugin>
|
||||
</gazebo> -->
|
||||
|
||||
<gazebo>
|
||||
<plugin filename="libgazebo_ros_force.so" name="gazebo_ros_force">
|
||||
<bodyName>trunk</bodyName>
|
||||
<topicName>/apply_force/trunk</topicName>
|
||||
</plugin>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="imu_link">
|
||||
<gravity>true</gravity>
|
||||
<sensor name="imu_sensor" type="imu">
|
||||
<always_on>true</always_on>
|
||||
<update_rate>1000</update_rate>
|
||||
<visualize>true</visualize>
|
||||
<topic>__default_topic__</topic>
|
||||
<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
|
||||
<topicName>trunk_imu</topicName>
|
||||
<bodyName>imu_link</bodyName>
|
||||
<updateRateHZ>1000.0</updateRateHZ>
|
||||
<gaussianNoise>0.0</gaussianNoise>
|
||||
<xyzOffset>0 0 0</xyzOffset>
|
||||
<rpyOffset>0 0 0</rpyOffset>
|
||||
<frameName>imu_link</frameName>
|
||||
</plugin>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
</sensor>
|
||||
</gazebo>
|
||||
|
||||
<!-- Foot contacts. -->
|
||||
<gazebo reference="FR_calf">
|
||||
<sensor name="FR_foot_contact" type="contact">
|
||||
<update_rate>100</update_rate>
|
||||
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
|
||||
<contact>
|
||||
<collision>FR_calf_fixed_joint_lump__FR_foot_collision_1</collision>
|
||||
</contact>
|
||||
</sensor>
|
||||
</gazebo>
|
||||
<gazebo reference="FL_calf">
|
||||
<sensor name="FL_foot_contact" type="contact">
|
||||
<update_rate>100</update_rate>
|
||||
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
|
||||
<contact>
|
||||
<collision>FL_calf_fixed_joint_lump__FL_foot_collision_1</collision>
|
||||
</contact>
|
||||
</sensor>
|
||||
</gazebo>
|
||||
<gazebo reference="RR_calf">
|
||||
<sensor name="RR_foot_contact" type="contact">
|
||||
<update_rate>100</update_rate>
|
||||
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
|
||||
<contact>
|
||||
<collision>RR_calf_fixed_joint_lump__RR_foot_collision_1</collision>
|
||||
</contact>
|
||||
</sensor>
|
||||
</gazebo>
|
||||
<gazebo reference="RL_calf">
|
||||
<sensor name="RL_foot_contact" type="contact">
|
||||
<update_rate>100</update_rate>
|
||||
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
|
||||
<contact>
|
||||
<collision>RL_calf_fixed_joint_lump__RL_foot_collision_1</collision>
|
||||
</contact>
|
||||
</sensor>
|
||||
</gazebo>
|
||||
|
||||
<!-- Visualization of Foot contacts. -->
|
||||
<gazebo reference="FR_foot">
|
||||
<visual>
|
||||
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
|
||||
<topicName>FR_foot_contact</topicName>
|
||||
</plugin>
|
||||
</visual>
|
||||
</gazebo>
|
||||
<gazebo reference="FL_foot">
|
||||
<visual>
|
||||
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
|
||||
<topicName>FL_foot_contact</topicName>
|
||||
</plugin>
|
||||
</visual>
|
||||
</gazebo>
|
||||
<gazebo reference="RR_foot">
|
||||
<visual>
|
||||
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
|
||||
<topicName>RR_foot_contact</topicName>
|
||||
</plugin>
|
||||
</visual>
|
||||
</gazebo>
|
||||
<gazebo reference="RL_foot">
|
||||
<visual>
|
||||
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
|
||||
<topicName>RL_foot_contact</topicName>
|
||||
</plugin>
|
||||
</visual>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="base">
|
||||
<material>Gazebo/Green</material>
|
||||
<turnGravityOff>false</turnGravityOff>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="trunk">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<kp value="1000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="stick_link">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<material>Gazebo/White</material>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="imu_link">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<material>Gazebo/Red</material>
|
||||
</gazebo>
|
||||
|
||||
<!-- FL leg -->
|
||||
<gazebo reference="FL_hip">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<material>Gazebo/DarkGrey</material>
|
||||
</gazebo>
|
||||
<gazebo reference="FL_thigh">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<self_collide>1</self_collide>
|
||||
<material>Gazebo/DarkGrey</material>
|
||||
<kp value="1000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
</gazebo>
|
||||
<gazebo reference="FL_calf">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<self_collide>1</self_collide>
|
||||
</gazebo>
|
||||
<gazebo reference="FL_foot">
|
||||
<mu1>0.6</mu1>
|
||||
<mu2>0.6</mu2>
|
||||
<self_collide>1</self_collide>
|
||||
<material>Gazebo/DarkGrey</material>
|
||||
<kp value="1000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
</gazebo>
|
||||
|
||||
<!-- FR leg -->
|
||||
<gazebo reference="FR_hip">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<material>Gazebo/DarkGrey</material>
|
||||
</gazebo>
|
||||
<gazebo reference="FR_thigh">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<self_collide>1</self_collide>
|
||||
<material>Gazebo/DarkGrey</material>
|
||||
<kp value="1000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
</gazebo>
|
||||
<gazebo reference="FR_calf">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<self_collide>1</self_collide>
|
||||
</gazebo>
|
||||
<gazebo reference="FR_foot">
|
||||
<mu1>0.6</mu1>
|
||||
<mu2>0.6</mu2>
|
||||
<self_collide>1</self_collide>
|
||||
<material>Gazebo/DarkGrey</material>
|
||||
<kp value="1000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
</gazebo>
|
||||
|
||||
<!-- RL leg -->
|
||||
<gazebo reference="RL_hip">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<material>Gazebo/DarkGrey</material>
|
||||
</gazebo>
|
||||
<gazebo reference="RL_thigh">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<self_collide>1</self_collide>
|
||||
<material>Gazebo/DarkGrey</material>
|
||||
<kp value="1000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
</gazebo>
|
||||
<gazebo reference="RL_calf">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<self_collide>1</self_collide>
|
||||
</gazebo>
|
||||
<gazebo reference="RL_foot">
|
||||
<mu1>0.6</mu1>
|
||||
<mu2>0.6</mu2>
|
||||
<self_collide>1</self_collide>
|
||||
<material>Gazebo/DarkGrey</material>
|
||||
<kp value="1000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
</gazebo>
|
||||
|
||||
<!-- RR leg -->
|
||||
<gazebo reference="RR_hip">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<material>Gazebo/DarkGrey</material>
|
||||
</gazebo>
|
||||
<gazebo reference="RR_thigh">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<self_collide>1</self_collide>
|
||||
<material>Gazebo/DarkGrey</material>
|
||||
<kp value="1000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
</gazebo>
|
||||
<gazebo reference="RR_calf">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<self_collide>1</self_collide>
|
||||
</gazebo>
|
||||
<gazebo reference="RR_foot">
|
||||
<mu1>0.6</mu1>
|
||||
<mu2>0.6</mu2>
|
||||
<self_collide>1</self_collide>
|
||||
<material>Gazebo/DarkGrey</material>
|
||||
<kp value="1000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
</gazebo>
|
||||
|
||||
|
||||
<!-- ros_control plugin -->
|
||||
<gazebo reference="link04">
|
||||
<self_collide>true</self_collide>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="link05">
|
||||
<self_collide>true</self_collide>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="link06">
|
||||
<self_collide>true</self_collide>
|
||||
</gazebo>
|
||||
|
||||
|
||||
</robot>
|
||||
|
|
@ -0,0 +1,416 @@
|
|||
<?xml version="1.0"?>
|
||||
|
||||
<robot name="aliengoZ1_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
|
||||
<xacro:include filename="$(find aliengoZ1_description)/xacro/gazebo.xacro"/>
|
||||
<xacro:include filename="$(find aliengoZ1_description)/xacro/const.xacro"/>
|
||||
<xacro:include filename="$(find aliengo_description)/xacro/leg.xacro"/>
|
||||
<xacro:include filename="$(find aliengo_description)/xacro/const.xacro"/>
|
||||
<xacro:include filename="$(find aliengo_description)/xacro/materials.xacro"/>
|
||||
<xacro:include filename="$(find z1_description)/xacro/const.xacro"/>
|
||||
<xacro:include filename="$(find z1_description)/xacro/transmission.xacro"/>
|
||||
|
||||
<xacro:arg name="UnitreeGripper" default="true"/>
|
||||
|
||||
<!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
|
||||
<xacro:if value="$(arg DEBUG)">
|
||||
<link name="world"/>
|
||||
<joint name="base_static_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<parent link="world"/>
|
||||
<child link="base"/>
|
||||
</joint>
|
||||
</xacro:if>
|
||||
|
||||
<link name="base">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="floating_base" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<parent link="base"/>
|
||||
<child link="trunk"/>
|
||||
</joint>
|
||||
|
||||
<link name="trunk">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://aliengo_description/meshes/trunk.dae" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="${trunk_length} ${trunk_width} ${trunk_height}"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="${trunk_com_x} ${trunk_com_y} ${trunk_com_z}"/>
|
||||
<mass value="${trunk_mass}"/>
|
||||
<inertia
|
||||
ixx="${trunk_ixx}" ixy="${trunk_ixy}" ixz="${trunk_ixz}"
|
||||
iyy="${trunk_iyy}" iyz="${trunk_iyz}"
|
||||
izz="${trunk_izz}"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="imu_joint" type="fixed">
|
||||
<parent link="trunk"/>
|
||||
<child link="imu_link"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="imu_link">
|
||||
<inertial>
|
||||
<mass value="0.001"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.0001"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="red"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size=".001 .001 .001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link> -->
|
||||
|
||||
<joint name="trunk_arm_joint" type="fixed">
|
||||
<origin rpy="${arm_offset_r} ${arm_offset_p} ${arm_offset_yaw}" xyz="${arm_offset_x} ${arm_offset_y} ${arm_offset_z}"/>
|
||||
<parent link="trunk"/>
|
||||
<child link="link00"/>
|
||||
</joint>
|
||||
|
||||
<link name="link00">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://z1_description/meshes/visual/z1_Link00.dae" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="${motor_height}" radius="${motor_diameter}"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 ${motor_height/2.0}"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="${L00_ComX} ${L00_ComY} ${L00_ComZ}"/>
|
||||
<mass value="${L00_Mass}"/>
|
||||
<inertia
|
||||
ixx="${L00_Ixx}" ixy="${L00_Ixy}" ixz="${L00_Ixz}"
|
||||
iyy="${L00_Iyy}" iyz="${L00_Iyz}"
|
||||
izz="${L00_Izz}"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="joint1" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 0 0.0585"/>
|
||||
<parent link="link00"/>
|
||||
<child link="link01"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="${jointDamping}" friction="${jointFriction}"/>
|
||||
<limit effort="${torqueMax}" velocity="${velocityMax}" lower="${joint1_PositionMin}" upper="${joint1_PositionMax}"/>
|
||||
</joint>
|
||||
|
||||
<link name="link01">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://z1_description/meshes/visual/z1_Link01.dae" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<!-- <collision>
|
||||
<geometry>
|
||||
<cylinder length="${2*motor_height}" radius="${motor_diameter}"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</collision> -->
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="${L01_ComX} ${L01_ComY} ${L01_ComZ}"/>
|
||||
<mass value="${L01_Mass}"/>
|
||||
<inertia
|
||||
ixx="${L01_Ixx}" ixy="${L01_Ixy}" ixz="${L01_Ixz}"
|
||||
iyy="${L01_Iyy}" iyz="${L01_Iyz}"
|
||||
izz="${L01_Izz}"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="joint2" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 0 0.045"/>
|
||||
<parent link="link01"/>
|
||||
<child link="link02"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="${2*jointDamping}" friction="${2*jointFriction}"/>
|
||||
<limit effort="${2*torqueMax}" velocity="${velocityMax}" lower="${joint2_PositionMin}" upper="${joint2_PositionMax}"/>
|
||||
</joint>
|
||||
|
||||
<link name="link02">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://z1_description/meshes/visual/z1_Link02.dae" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="${2.0*motor_height}" radius="${motor_diameter}"/>
|
||||
</geometry>
|
||||
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
|
||||
</collision>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="${arm1_height}" radius="${arm1_diameter}"/>
|
||||
</geometry>
|
||||
<origin rpy="0 ${PI/2.0} 0" xyz="${-0.045-arm1_height/2.0} 0 0"/>
|
||||
</collision>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="${motor_height}" radius="${motor_diameter}"/>
|
||||
</geometry>
|
||||
<origin rpy="${PI/2.0} 0 0" xyz="-0.35 0 0"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="${L02_ComX} ${L02_ComY} ${L02_ComZ}"/>
|
||||
<mass value="${L02_Mass}"/>
|
||||
<inertia
|
||||
ixx="${L02_Ixx}" ixy="${L02_Ixy}" ixz="${L02_Ixz}"
|
||||
iyy="${L02_Iyy}" iyz="${L02_Iyz}"
|
||||
izz="${L02_Izz}"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="joint3" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="-0.35 0 0"/>
|
||||
<parent link="link02"/>
|
||||
<child link="link03"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="${jointDamping}" friction="${jointFriction}"/>
|
||||
<limit effort="${torqueMax}" velocity="${velocityMax}" lower="${joint3_PositionMin}" upper="${joint3_PositionMax}"/>
|
||||
</joint>
|
||||
|
||||
<link name="link03">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://z1_description/meshes/visual/z1_Link03.dae" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="${arm2_height-0.01}" radius="${arm2_diameter}"/>
|
||||
</geometry>
|
||||
<origin rpy="0 ${PI/2.0} 0" xyz="${0.065+arm2_height/2.0} 0 0.055"/>
|
||||
</collision>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.059" radius="${motor_diameter}"/>
|
||||
</geometry>
|
||||
<origin rpy="0 ${PI/2.0} 0" xyz="${0.065+0.185-0.059/2.0} 0 0.055"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="${L03_ComX} ${L03_ComY} ${L03_ComZ}"/>
|
||||
<mass value="${L03_Mass}"/>
|
||||
<inertia
|
||||
ixx="${L03_Ixx}" ixy="${L03_Ixy}" ixz="${L03_Ixz}"
|
||||
iyy="${L03_Iyy}" iyz="${L03_Iyz}"
|
||||
izz="${L03_Izz}"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="joint4" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0.218 0 0.057"/>
|
||||
<parent link="link03"/>
|
||||
<child link="link04"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="${jointDamping}" friction="${jointFriction}"/>
|
||||
<limit effort="${torqueMax}" velocity="${velocityMax}" lower="${joint4_PositionMin}" upper="${joint4_PositionMax}"/>
|
||||
</joint>
|
||||
|
||||
<link name="link04">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://z1_description/meshes/visual/z1_Link04.dae" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.073" radius="${motor_diameter}"/>
|
||||
</geometry>
|
||||
<origin rpy="${PI/2.0} 0 0" xyz="0.0472 0 0"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="${L04_ComX} ${L04_ComY} ${L04_ComZ}"/>
|
||||
<mass value="${L04_Mass}"/>
|
||||
<inertia
|
||||
ixx="${L04_Ixx}" ixy="${L04_Ixy}" ixz="${L04_Ixz}"
|
||||
iyy="${L04_Iyy}" iyz="${L04_Iyz}"
|
||||
izz="${L04_Izz}"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="joint5" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0.07 0.0 0.0"/>
|
||||
<parent link="link04"/>
|
||||
<child link="link05"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="${jointDamping}" friction="${jointFriction}"/>
|
||||
<limit effort="${torqueMax}" velocity="${velocityMax}" lower="${joint5_PositionMin}" upper="${joint5_PositionMax}"/>
|
||||
</joint>
|
||||
|
||||
<link name="link05">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://z1_description/meshes/visual/z1_Link05.dae" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="${L05_ComX} ${L05_ComY} ${L05_ComZ}"/>
|
||||
<mass value="${L05_Mass}"/>
|
||||
<inertia
|
||||
ixx="${L05_Ixx}" ixy="${L05_Ixy}" ixz="${L05_Ixz}"
|
||||
iyy="${L05_Iyy}" iyz="${L05_Iyz}"
|
||||
izz="${L05_Izz}"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="joint6" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0.0492 0.0 0.0"/>
|
||||
<parent link="link05"/>
|
||||
<child link="link06"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<dynamics damping="${jointDamping}" friction="${jointFriction}"/>
|
||||
<limit effort="${torqueMax}" velocity="${velocityMax}" lower="${joint6_PositionMin}" upper="${joint6_PositionMax}"/>
|
||||
</joint>
|
||||
|
||||
<link name="link06">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://z1_description/meshes/visual/z1_Link06.dae" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="${motor_height}" radius="${motor_diameter}"/>
|
||||
</geometry>
|
||||
<origin rpy="0 ${PI/2.0} 0" xyz="${motor_height/2.0} 0 0"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="${L06_ComX} ${L06_ComY} ${L06_ComZ}"/>
|
||||
<mass value="${L06_Mass}"/>
|
||||
<inertia
|
||||
ixx="${L06_Ixx}" ixy="${L06_Ixy}" ixz="${L06_Ixz}"
|
||||
iyy="${L06_Iyy}" iyz="${L06_Iyz}"
|
||||
izz="${L06_Izz}"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<xacro:if value="$(arg UnitreeGripper)">
|
||||
<joint name="gripperStator" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0.051 0.0 0.0"/>
|
||||
<parent link="link06"/>
|
||||
<child link="gripperStator"/>
|
||||
</joint>
|
||||
|
||||
<link name="gripperStator">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://z1_description/meshes/visual/z1_GripperStator.dae" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://z1_description/meshes/collision/z1_GripperStator.STL" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="${GripperStator_ComX} ${GripperStator_ComY} ${GripperStator_ComZ}"/>
|
||||
<mass value="${GripperStator_Mass}"/>
|
||||
<inertia
|
||||
ixx="${GripperStator_Ixx}" ixy="${GripperStator_Ixy}" ixz="${GripperStator_Ixz}"
|
||||
iyy="${GripperStator_Iyy}" iyz="${GripperStator_Iyz}"
|
||||
izz="${GripperStator_Izz}"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="jointGripper" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0.049 0.0 0"/>
|
||||
<parent link="gripperStator"/>
|
||||
<child link="gripperMover"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="${jointDamping}" friction="${jointFriction}"/>
|
||||
<limit effort="${torqueMax}" velocity="${velocityMax}" lower="${Gripper_PositionMin}" upper="${Gripper_PositionMax}"/>
|
||||
</joint>
|
||||
|
||||
<link name="gripperMover">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://z1_description/meshes/visual/z1_GripperMover.dae" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://z1_description/meshes/collision/z1_GripperMover.STL" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="${GripperMover_ComX} ${GripperMover_ComY} ${GripperMover_ComZ}"/>
|
||||
<mass value="${GripperMover_Mass}"/>
|
||||
<inertia
|
||||
ixx="${GripperMover_Ixx}" ixy="${GripperMover_Ixy}" ixz="${GripperMover_Ixz}"
|
||||
iyy="${GripperMover_Iyy}" iyz="${GripperMover_Iyz}"
|
||||
izz="${GripperMover_Izz}"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<xacro:motorTransmission name="Gripper"/>
|
||||
|
||||
<gazebo reference="gripperStator">
|
||||
<self_collide>true</self_collide>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="gripperMover">
|
||||
<self_collide>true</self_collide>
|
||||
</gazebo>
|
||||
</xacro:if>
|
||||
|
||||
<xacro:motorTransmission name="1"/>
|
||||
<xacro:motorTransmission name="2"/>
|
||||
<xacro:motorTransmission name="3"/>
|
||||
<xacro:motorTransmission name="4"/>
|
||||
<xacro:motorTransmission name="5"/>
|
||||
<xacro:motorTransmission name="6"/>
|
||||
|
||||
<xacro:leg name="FR" mirror="-1" mirror_dae= "False" front_hind="1" front_hind_dae="True">
|
||||
<origin rpy="0 0 0" xyz="${leg_offset_x} ${-leg_offset_y} 0"/>
|
||||
</xacro:leg>
|
||||
|
||||
<xacro:leg name="FL" mirror="1" mirror_dae="True" front_hind="1" front_hind_dae="True">
|
||||
<origin rpy="0 0 0" xyz="${leg_offset_x} ${leg_offset_y} 0"/>
|
||||
</xacro:leg>
|
||||
|
||||
<xacro:leg name="RR" mirror="-1" mirror_dae="False" front_hind="-1" front_hind_dae="False">
|
||||
<origin rpy="0 0 0" xyz="${-leg_offset_x} ${-leg_offset_y} 0"/>
|
||||
</xacro:leg>
|
||||
|
||||
<xacro:leg name="RL" mirror="1" mirror_dae="True" front_hind="-1" front_hind_dae="False">
|
||||
<origin rpy="0 0 0" xyz="${-leg_offset_x} ${leg_offset_y} 0"/>
|
||||
</xacro:leg>
|
||||
|
||||
</robot>
|
||||
|
|
@ -0,0 +1,46 @@
|
|||
<?xml version="1.0"?>
|
||||
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
|
||||
<xacro:property name="stair_length" value="0.640" />
|
||||
<xacro:property name="stair_width" value="0.310" />
|
||||
<xacro:property name="stair_height" value="0.170" />
|
||||
|
||||
<xacro:macro name="stairs" params="stairs xpos ypos zpos">
|
||||
|
||||
<joint name="stair_joint_origin" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<parent link="world"/>
|
||||
<child link="stair_link_${stairs}"/>
|
||||
</joint>
|
||||
|
||||
<link name="stair_link_${stairs}">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size="${stair_length} ${stair_width} ${stair_height}"/>
|
||||
</geometry>
|
||||
<material name="grey"/>
|
||||
<origin rpy="0 0 0" xyz="${xpos} ${ypos} ${zpos}"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size="${stair_length} ${stair_width} ${stair_height}"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.80"/>
|
||||
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<xacro:if value="${stairs}">
|
||||
<xacro:stairs stairs="${stairs-1}" xpos="0" ypos="${ypos-stair_width/2}" zpos="${zpos+stair_height}"/>
|
||||
<joint name="stair_joint_${stairs}" type="fixed">
|
||||
<parent link="stair_link_${stairs}"/>
|
||||
<child link="stair_link_${stairs-1}"/>
|
||||
</joint>
|
||||
</xacro:if>
|
||||
|
||||
</xacro:macro>
|
||||
|
||||
</robot>
|
||||
Loading…
Reference in New Issue