add b1_description
This commit is contained in:
liang
parent
92a36c7cf2
commit
33e9c5446d
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cmake_minimum_required(VERSION 2.8.3)
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project(b1_description)
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find_package(catkin REQUIRED COMPONENTS
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genmsg
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roscpp
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std_msgs
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tf
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)
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catkin_package(
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CATKIN_DEPENDS
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)
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include_directories(
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# include
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${Boost_INCLUDE_DIR}
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${catkin_INCLUDE_DIRS}
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)
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b1_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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@ -0,0 +1,25 @@
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<launch>
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<arg name="user_debug" default="false"/>
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<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find b1_description)/xacro/robot.xacro'
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DEBUG:=$(arg user_debug)"/>
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<!-- for higher robot_state_publisher average rate-->
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<!-- <param name="rate" value="1000"/> -->
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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="joint_state_publisher_gui" type="joint_state_publisher_gui" name="joint_state_publisher"/>
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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 b1_description)/launch/check_joint.rviz"/>
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</launch>
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@ -0,0 +1,252 @@
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Panels:
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- Class: rviz/Displays
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Help Height: 78
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /Global Options1
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- /TF1/Frames1
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Splitter Ratio: 0.5
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Tree Height: 530
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- Class: rviz/Selection
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Name: Selection
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- Class: rviz/Tool Properties
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Expanded:
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- /2D Pose Estimate1
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- /2D Nav Goal1
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- /Publish Point1
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Name: Tool Properties
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Splitter Ratio: 0.5886790156364441
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- Class: rviz/Views
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Expanded:
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- /Current View1
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Name: Views
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Splitter Ratio: 0.5
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- Class: rviz/Time
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Experimental: false
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Name: Time
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SyncMode: 0
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SyncSource: ""
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Preferences:
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PromptSaveOnExit: true
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Toolbars:
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toolButtonStyle: 2
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Visualization Manager:
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Class: ""
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Displays:
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- Alpha: 0.5
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Cell Size: 1
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Class: rviz/Grid
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Color: 160; 160; 164
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Enabled: true
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Line Style:
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Line Width: 0.029999999329447746
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Value: Lines
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Name: Grid
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Normal Cell Count: 0
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Offset:
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X: 0
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Y: 0
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Z: 0
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Plane: XY
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Plane Cell Count: 10
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Reference Frame: <Fixed Frame>
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Value: true
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- Alpha: 1
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Class: rviz/RobotModel
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Collision Enabled: false
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Enabled: true
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Links:
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All Links Enabled: true
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Expand Joint Details: false
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Expand Link Details: false
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Expand Tree: false
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FL_calf:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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FL_foot:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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FL_hip:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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FL_thigh:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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FR_calf:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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FR_foot:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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FR_hip:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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FR_thigh:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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Link Tree Style: Links in Alphabetic Order
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RL_calf:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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RL_foot:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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RL_hip:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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RL_thigh:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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RR_calf:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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RR_foot:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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RR_hip:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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RR_thigh:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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base:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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imu_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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trunk:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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Name: RobotModel
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Robot Description: robot_description
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TF Prefix: ""
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Update Interval: 0
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Value: true
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Visual Enabled: true
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- Class: rviz/Axes
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Enabled: false
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Length: 1
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Name: Axes
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Radius: 0.10000000149011612
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Reference Frame: <Fixed Frame>
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Value: false
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- Class: rviz/TF
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Enabled: false
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Frame Timeout: 15
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Frames:
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All Enabled: false
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Marker Scale: 1
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Name: TF
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Show Arrows: true
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Show Axes: true
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Show Names: true
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Tree:
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{}
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Update Interval: 0
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Value: false
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Enabled: true
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Global Options:
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Background Color: 238; 238; 238
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Default Light: true
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Fixed Frame: base
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Frame Rate: 30
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Name: root
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Tools:
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- Class: rviz/Interact
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Hide Inactive Objects: true
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- Class: rviz/MoveCamera
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- Class: rviz/Select
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- Class: rviz/FocusCamera
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- Class: rviz/Measure
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- Class: rviz/SetInitialPose
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Theta std deviation: 0.2617993950843811
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Topic: /initialpose
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X std deviation: 0.5
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Y std deviation: 0.5
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- Class: rviz/SetGoal
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Topic: /move_base_simple/goal
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- Class: rviz/PublishPoint
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Single click: true
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Topic: /clicked_point
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Value: true
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Views:
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Current:
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Class: rviz/Orbit
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Distance: 9.812193870544434
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.05999999865889549
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Stereo Focal Distance: 1
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Swap Stereo Eyes: false
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Value: false
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Focal Point:
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X: -0.041462767869234085
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Y: -0.411843866109848
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Z: 0.29937663674354553
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Focal Shape Fixed Size: false
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Focal Shape Size: 0.05000000074505806
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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.009999999776482582
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Pitch: 0.03979745879769325
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Target Frame: <Fixed Frame>
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Value: Orbit (rviz)
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Yaw: 1.2935912609100342
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Saved: ~
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Window Geometry:
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Displays:
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collapsed: false
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Height: 759
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Hide Left Dock: false
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Hide Right Dock: true
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QMainWindow State: 000000ff00000000fd0000000400000000000001b90000029dfc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000029d000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d00650072006101000001be000001900000000000000000000000010000010f000002e2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002e2000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006400000003efc0100000002fb0000000800540069006d0065000000000000000640000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000003ae0000029d00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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Selection:
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collapsed: false
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Time:
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collapsed: false
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Tool Properties:
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collapsed: false
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Views:
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collapsed: false
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Width: 1389
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X: 472
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Y: 233
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File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
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@ -0,0 +1,14 @@
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<?xml version="1.0"?>
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<package format="2">
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<name>b1_description</name>
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<version>0.0.0</version>
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<description>The b1_description package</description>
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<maintainer email="b1@unitree.cc">unitree</maintainer>
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<license>TODO</license>
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<buildtool_depend>catkin</buildtool_depend>
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<depend>roscpp</depend>
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<depend>std_msgs</depend>
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</package>
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@ -0,0 +1,965 @@
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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">
|
||||
<update_rate>100</update_rate>
|
||||
<plugin filename="libunitreeFootContactPlugin.so" name="contactPlugin"/>
|
||||
<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 filename="libunitreeFootContactPlugin.so" name="contactPlugin"/>
|
||||
<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 filename="libunitreeFootContactPlugin.so" name="contactPlugin"/>
|
||||
<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 filename="libunitreeFootContactPlugin.so" name="contactPlugin"/>
|
||||
<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 filename="libunitreeDrawForcePlugin.so" name="drawForcePlugin">
|
||||
<topicName>FR_foot_contact</topicName>
|
||||
</plugin>
|
||||
</visual>
|
||||
</gazebo>
|
||||
<gazebo reference="FL_foot">
|
||||
<visual>
|
||||
<plugin filename="libunitreeDrawForcePlugin.so" name="drawForcePlugin">
|
||||
<topicName>FL_foot_contact</topicName>
|
||||
</plugin>
|
||||
</visual>
|
||||
</gazebo>
|
||||
<gazebo reference="RR_foot">
|
||||
<visual>
|
||||
<plugin filename="libunitreeDrawForcePlugin.so" name="drawForcePlugin">
|
||||
<topicName>RR_foot_contact</topicName>
|
||||
</plugin>
|
||||
</visual>
|
||||
</gazebo>
|
||||
<gazebo reference="RL_foot">
|
||||
<visual>
|
||||
<plugin filename="libunitreeDrawForcePlugin.so" name="drawForcePlugin">
|
||||
<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>
|
||||
<!-- 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://b1_description/meshes/trunk.dae" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.647 0.3 0.15"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<!-- <collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://b1_description/meshes/trunk.dae" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision> -->
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.008465 0.004045 -0.000763"/>
|
||||
<mass value="9.041"/>
|
||||
<inertia ixx="0.033260231" ixy="-0.000451628" ixz="0.000487603" iyy="0.16117211" iyz="4.8356e-05" izz="0.17460442"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="imu_joint" type="fixed">
|
||||
<parent link="trunk"/>
|
||||
<child link="imu_link"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</joint>
|
||||
<link name="imu_link">
|
||||
<inertial>
|
||||
<mass value="0.001"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.0001"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="red"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size=".001 .001 .001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="FR_hip_joint" type="revolute">
|
||||
<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>
|
||||
|
||||
|
|
@ -0,0 +1,104 @@
|
|||
<?xml version="1.0"?>
|
||||
|
||||
<robot name="b1_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
|
||||
<!-- Constants for robot dimensions -->
|
||||
<xacro:property name="PI" value="3.1415926535897931"/>
|
||||
<xacro:property name="stick_mass" value="0.00001"/>
|
||||
|
||||
<!-- simplified collision value -->
|
||||
<xacro:property name="trunk_width" value="0.30"/>
|
||||
<xacro:property name="trunk_length" value="0.647"/>
|
||||
<xacro:property name="trunk_height" value="0.15"/>
|
||||
<xacro:property name="hip_radius" value="0.09"/>
|
||||
<xacro:property name="hip_length" value="0.04"/>
|
||||
<xacro:property name="thigh_shoulder_radius" value="0.044"/>
|
||||
<xacro:property name="thigh_shoulder_length" value="0.08"/>
|
||||
<xacro:property name="thigh_width" value="0.05"/>
|
||||
<xacro:property name="thigh_height" value="0.08"/>
|
||||
<xacro:property name="calf_width" value="0.04"/>
|
||||
<xacro:property name="calf_height" value="0.05"/>
|
||||
<xacro:property name="foot_radius" value="0.04"/>
|
||||
<xacro:property name="stick_radius" value="0.01"/>
|
||||
<xacro:property name="stick_length" value="0.2"/>
|
||||
|
||||
<!-- kinematic value -->
|
||||
<xacro:property name="thigh_offset" value="0.12675"/>
|
||||
<xacro:property name="thigh_length" value="0.35"/>
|
||||
<xacro:property name="calf_length" value="0.35"/>
|
||||
|
||||
<!-- leg offset from trunk center value -->
|
||||
<xacro:property name="leg_offset_x" value="0.3455"/>
|
||||
<xacro:property name="leg_offset_y" value="0.072"/>
|
||||
<xacro:property name="trunk_offset_z" value="0.01675"/>
|
||||
<xacro:property name="hip_offset" value="0.12675"/>
|
||||
|
||||
<!-- joint limits -->
|
||||
<xacro:property name="damping" value="0"/>
|
||||
<xacro:property name="friction" value="0"/>
|
||||
<xacro:property name="hip_position_max" value="0.75"/>
|
||||
<xacro:property name="hip_position_min" value="-0.75"/>
|
||||
<xacro:property name="hip_velocity_max" value="20"/>
|
||||
<xacro:property name="hip_torque_max" value="100"/>
|
||||
<xacro:property name="thigh_position_max" value="3.5"/>
|
||||
<xacro:property name="thigh_position_min" value="-1.0"/>
|
||||
<xacro:property name="thigh_velocity_max" value="20"/>
|
||||
<xacro:property name="thigh_torque_max" value="100"/>
|
||||
<xacro:property name="calf_position_max" value="-0.6"/>
|
||||
<xacro:property name="calf_position_min" value="-2.6"/>
|
||||
<xacro:property name="calf_velocity_max" value="20"/>
|
||||
<xacro:property name="calf_torque_max" value="100"/>
|
||||
|
||||
<!-- dynamics inertial value -->
|
||||
<!-- trunk -->
|
||||
<xacro:property name="trunk_mass" value="18.276"/>
|
||||
<xacro:property name="trunk_com_x" value="-0.01"/>
|
||||
<xacro:property name="trunk_com_y" value="0.0"/>
|
||||
<xacro:property name="trunk_com_z" value="0.00"/>
|
||||
<xacro:property name="trunk_ixx" value="0.174426"/>
|
||||
<xacro:property name="trunk_ixy" value="0.005544"/>
|
||||
<xacro:property name="trunk_ixz" value="0.003278"/>
|
||||
<xacro:property name="trunk_iyy" value="0.700100"/>
|
||||
<xacro:property name="trunk_iyz" value="0.000007"/>
|
||||
<xacro:property name="trunk_izz" value="0.785955"/>
|
||||
|
||||
<!-- hip (left front) -->
|
||||
<xacro:property name="hip_mass" value="1.998"/>
|
||||
<xacro:property name="hip_com_x" value="-0.020298"/>
|
||||
<xacro:property name="hip_com_y" value="-0.009758"/>
|
||||
<xacro:property name="hip_com_z" value="-0.000109"/>
|
||||
<xacro:property name="hip_ixx" value="0.004066"/>
|
||||
<xacro:property name="hip_ixy" value="-0.000288"/>
|
||||
<xacro:property name="hip_ixz" value="0.000000"/>
|
||||
<xacro:property name="hip_iyy" value="0.008775"/>
|
||||
<xacro:property name="hip_iyz" value="-0.000000"/>
|
||||
<xacro:property name="hip_izz" value="0.006060"/>
|
||||
|
||||
<!-- thigh -->
|
||||
<xacro:property name="thigh_mass" value="3.444"/>
|
||||
<xacro:property name="thigh_com_x" value="0.0050"/>
|
||||
<xacro:property name="thigh_com_y" value="-0.0250"/>
|
||||
<xacro:property name="thigh_com_z" value="-0.0512"/>
|
||||
<xacro:property name="thigh_ixx" value="0.035982"/>
|
||||
<xacro:property name="thigh_ixy" value="0.000032"/>
|
||||
<xacro:property name="thigh_ixz" value="0.001385"/>
|
||||
<xacro:property name="thigh_iyy" value="0.037758"/>
|
||||
<xacro:property name="thigh_iyz" value="-0.004234"/>
|
||||
<xacro:property name="thigh_izz" value="0.006637"/>
|
||||
|
||||
<!-- calf -->
|
||||
<xacro:property name="calf_mass" value="0.803"/>
|
||||
<xacro:property name="calf_com_x" value="0.00565"/>
|
||||
<xacro:property name="calf_com_y" value="-0.000236"/>
|
||||
<xacro:property name="calf_com_z" value="-0.150538"/>
|
||||
<xacro:property name="calf_ixx" value="0.017617"/>
|
||||
<xacro:property name="calf_ixy" value="0.000000"/>
|
||||
<xacro:property name="calf_ixz" value="-0.000532"/>
|
||||
<xacro:property name="calf_iyy" value="0.017722"/>
|
||||
<xacro:property name="calf_iyz" value="-0.000030"/>
|
||||
<xacro:property name="calf_izz" value="0.000409"/>
|
||||
|
||||
<!-- foot -->
|
||||
<xacro:property name="foot_mass" value="0.05"/>
|
||||
|
||||
</robot>
|
||||
|
|
@ -0,0 +1,266 @@
|
|||
<?xml version="1.0"?>
|
||||
<robot>
|
||||
<!-- ros_control plugin -->
|
||||
<gazebo>
|
||||
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
|
||||
<robotNamespace>/aliengo_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>
|
||||
|
||||
</robot>
|
||||
|
|
@ -0,0 +1,176 @@
|
|||
<?xml version="1.0"?>
|
||||
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
|
||||
<xacro:include filename="$(find b1_description)/xacro/transmission.xacro"/>
|
||||
|
||||
<xacro:macro name="leg" params="name mirror mirror_dae front_hind front_hind_dae *origin">
|
||||
|
||||
<joint name="${name}_hip_joint" type="revolute">
|
||||
<xacro:insert_block name="origin"/>
|
||||
<parent link="trunk"/>
|
||||
<child link="${name}_hip"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<dynamics damping="${damping}" friction="${friction}"/>
|
||||
<xacro:if value="${(mirror_dae == True)}">
|
||||
<limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${hip_position_min}" upper="${hip_position_max}"/>
|
||||
</xacro:if>
|
||||
<xacro:if value="${(mirror_dae == False)}">
|
||||
<limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${-hip_position_max}" upper="${-hip_position_min}"/>
|
||||
</xacro:if>
|
||||
</joint>
|
||||
|
||||
<link name="${name}_hip">
|
||||
<visual>
|
||||
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</xacro:if>
|
||||
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
|
||||
<origin rpy="${PI} 0 0" xyz="0 0 0"/>
|
||||
</xacro:if>
|
||||
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
|
||||
<origin rpy="0 ${PI} 0" xyz="0 0 0"/>
|
||||
</xacro:if>
|
||||
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
|
||||
<origin rpy="${PI} ${PI} 0" xyz="0 0 0"/>
|
||||
</xacro:if>
|
||||
<geometry>
|
||||
<mesh filename="package://b1_description/meshes/hip.dae" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="${PI/2.0} 0 0" xyz="0 ${hip_offset*mirror} 0"/>
|
||||
<geometry>
|
||||
<cylinder length="${hip_length}" radius="${hip_radius}"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="${hip_com_x*front_hind} ${hip_com_y*mirror} ${hip_com_z}"/>
|
||||
<mass value="${hip_mass}"/>
|
||||
<inertia
|
||||
ixx="${hip_ixx}" ixy="${hip_ixy*mirror*front_hind}" ixz="${hip_ixz*front_hind}"
|
||||
iyy="${hip_iyy}" iyz="${hip_iyz*mirror}"
|
||||
izz="${hip_izz}"/>
|
||||
</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="${thigh_shoulder_radius}"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link> -->
|
||||
|
||||
<joint name="${name}_thigh_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 ${thigh_offset*mirror} 0"/>
|
||||
<parent link="${name}_hip"/>
|
||||
<child link="${name}_thigh"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="${damping}" friction="${friction}"/>
|
||||
<limit effort="${thigh_torque_max}" velocity="${thigh_velocity_max}" lower="${thigh_position_min}" upper="${thigh_position_max}"/>
|
||||
</joint>
|
||||
|
||||
<link name="${name}_thigh">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<xacro:if value="${mirror_dae == True}">
|
||||
<mesh filename="package://b1_description/meshes/thigh.dae" scale="1 1 1"/>
|
||||
</xacro:if>
|
||||
<xacro:if value="${mirror_dae == False}">
|
||||
<mesh filename="package://b1_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
|
||||
</xacro:if>
|
||||
</geometry>
|
||||
<material name="orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-thigh_length/2.0}"/>
|
||||
<geometry>
|
||||
<box size="${thigh_length} ${thigh_width} ${thigh_height}"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="${thigh_com_x} ${thigh_com_y*mirror} ${thigh_com_z}"/>
|
||||
<mass value="${thigh_mass}"/>
|
||||
<inertia
|
||||
ixx="${thigh_ixx}" ixy="${thigh_ixy*mirror}" ixz="${thigh_ixz}"
|
||||
iyy="${thigh_iyy}" iyz="${thigh_iyz*mirror}"
|
||||
izz="${thigh_izz}"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="${name}_calf_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 0 ${-thigh_length}"/>
|
||||
<parent link="${name}_thigh"/>
|
||||
<child link="${name}_calf"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="${damping}" friction="${friction}"/>
|
||||
<limit effort="${calf_torque_max}" velocity="${calf_velocity_max}" lower="${calf_position_min}" upper="${calf_position_max}"/>
|
||||
</joint>
|
||||
|
||||
<link name="${name}_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 ${PI/2.0} 0" xyz="0 0 ${-calf_length/2.0}"/>
|
||||
<geometry>
|
||||
<box size="${calf_length} ${calf_width} ${calf_height}"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="${calf_com_x} ${calf_com_y} ${calf_com_z}"/>
|
||||
<mass value="${calf_mass}"/>
|
||||
<inertia
|
||||
ixx="${calf_ixx}" ixy="${calf_ixy}" ixz="${calf_ixz}"
|
||||
iyy="${calf_iyy}" iyz="${calf_iyz}"
|
||||
izz="${calf_izz}"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="${name}_foot_fixed" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 ${-(calf_length)}"/>
|
||||
<parent link="${name}_calf"/>
|
||||
<child link="${name}_foot"/>
|
||||
</joint>
|
||||
|
||||
<link name="${name}_foot">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="${foot_radius-0.01}"/>
|
||||
</geometry>
|
||||
<material name="green"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="${foot_radius}"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="${foot_mass}"/>
|
||||
<inertia
|
||||
ixx="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}" ixy="0.0" ixz="0.0"
|
||||
iyy="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}" iyz="0.0"
|
||||
izz="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<xacro:leg_transmission name="${name}"/>
|
||||
</xacro:macro>
|
||||
</robot>
|
||||
|
|
@ -0,0 +1,40 @@
|
|||
<?xml version="1.0"?>
|
||||
<robot>
|
||||
|
||||
<material name="black">
|
||||
<color rgba="0.0 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="blue">
|
||||
<color rgba="0.0 0.0 0.8 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="green">
|
||||
<color rgba="0.0 0.8 0.0 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="grey">
|
||||
<color rgba="0.2 0.2 0.2 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="silver">
|
||||
<color rgba="${233/255} ${233/255} ${216/255} 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="orange">
|
||||
<color rgba="${255/255} ${108/255} ${10/255} 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="brown">
|
||||
<color rgba="${222/255} ${207/255} ${195/255} 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="red">
|
||||
<color rgba="0.8 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="white">
|
||||
<color rgba="1.0 1.0 1.0 1.0"/>
|
||||
</material>
|
||||
|
||||
</robot>
|
||||
|
|
@ -0,0 +1,144 @@
|
|||
<?xml version="1.0"?>
|
||||
|
||||
<robot name="b1_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
|
||||
<xacro:include filename="$(find b1_description)/xacro/const.xacro"/>
|
||||
<xacro:include filename="$(find b1_description)/xacro/materials.xacro"/>
|
||||
<xacro:include filename="$(find b1_description)/xacro/leg.xacro"/>
|
||||
<xacro:include filename="$(find b1_description)/xacro/gazebo.xacro"/>
|
||||
|
||||
<!-- Rollover Protection mode will add an additional stick on the top, use "true" or "false" to switch it. -->
|
||||
<xacro:property name="rolloverProtection" value="false"/>
|
||||
|
||||
<!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
|
||||
<!-- <xacro:if value="$(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://b1_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} ${trunk_height}"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<!-- <collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://b1_description/meshes/trunk.dae" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision> -->
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="${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>
|
||||
|
||||
<xacro:if value="${(rolloverProtection == 'true')}">
|
||||
<joint name="stick_joint" type="fixed">
|
||||
<parent link="trunk"/>
|
||||
<child link="stick_link"/>
|
||||
<origin rpy="0 0 0" xyz="${0.18} 0 ${stick_length/2.0+0.08}"/>
|
||||
</joint>
|
||||
|
||||
<link name="stick_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="${stick_length}" radius="${stick_radius}"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="${stick_length}" radius="${stick_radius}"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="${stick_mass}"/>
|
||||
<inertia
|
||||
ixx="${stick_mass / 2.0 * (stick_radius*stick_radius)}" ixy="0.0" ixz="0.0"
|
||||
iyy="${stick_mass / 12.0 * (3*stick_radius*stick_radius + stick_length*stick_length)}" iyz="0.0"
|
||||
izz="${stick_mass / 12.0 * (3*stick_radius*stick_radius + stick_length*stick_length)}"/>
|
||||
</inertial>
|
||||
</link>
|
||||
</xacro:if>
|
||||
|
||||
<joint name="imu_joint" type="fixed">
|
||||
<parent link="trunk"/>
|
||||
<child link="imu_link"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="imu_link">
|
||||
<inertial>
|
||||
<mass value="0.001"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.0001"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="red"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size=".001 .001 .001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<xacro:leg name="FR" mirror="-1" mirror_dae= "False" front_hind="1" front_hind_dae="True">
|
||||
<origin rpy="0 0 0" xyz="${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} ${leg_offset_y} 0"/>
|
||||
</xacro:leg>
|
||||
|
||||
<!-- <xacro:stairs stairs="15" xpos="0" ypos="2.0" zpos="0" /> -->
|
||||
|
||||
</robot>
|
||||
|
|
@ -0,0 +1,46 @@
|
|||
<?xml version="1.0"?>
|
||||
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
|
||||
<xacro:property name="stair_length" value="0.640" />
|
||||
<xacro:property name="stair_width" value="0.310" />
|
||||
<xacro:property name="stair_height" value="0.170" />
|
||||
|
||||
<xacro:macro name="stairs" params="stairs xpos ypos zpos">
|
||||
|
||||
<joint name="stair_joint_origin" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<parent link="world"/>
|
||||
<child link="stair_link_${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>
|
||||
|
|
@ -0,0 +1,42 @@
|
|||
<?xml version="1.0"?>
|
||||
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
|
||||
<xacro:macro name="leg_transmission" params="name">
|
||||
|
||||
<transmission name="${name}_hip_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="${name}_hip_joint">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="${name}_hip_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<transmission name="${name}_thigh_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="${name}_thigh_joint">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="${name}_thigh_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<transmission name="${name}_calf_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="${name}_calf_joint">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="${name}_calf_motor">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
</xacro:macro>
|
||||
|
||||
</robot>
|
||||
Loading…
Reference in New Issue