add go2's xacro file
This commit is contained in:
BDLUO
parent
79f054ec27
commit
69795ef9df
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go2_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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File diff suppressed because one or more lines are too long
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<!-- Constants for robot dimensions -->
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<xacro:property name="PI" value="3.1415926535897931"/>
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<xacro:property name="stick_mass" value="0.00001"/>
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<!-- simplified collision value -->
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<xacro:property name="trunk_width" value="0.0935"/>
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<xacro:property name="trunk_length" value="0.3762"/>
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<xacro:property name="trunk_height" value="0.114"/>
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<xacro:property name="hip_radius" value="0.046"/>
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<xacro:property name="hip_length" value="0.04"/>
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<xacro:property name="thigh_shoulder_radius" value="0.041"/>
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<xacro:property name="thigh_shoulder_length" value="0.032"/>
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<xacro:property name="thigh_width" value="0.0245"/>
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<xacro:property name="thigh_height" value="0.034"/>
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<xacro:property name="calf_width" value="0.016"/>
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<xacro:property name="calf_height" value="0.016"/>
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<xacro:property name="foot_radius" value="0.02"/>
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<xacro:property name="stick_radius" value="0.01"/>
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<xacro:property name="stick_length" value="0.2"/>
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<!-- kinematic value -->
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<xacro:property name="thigh_offset" value="0.0955"/>
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<xacro:property name="thigh_length" value="0.213"/>
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<xacro:property name="calf_length" value="0.213"/>
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<!-- leg offset from trunk center value -->
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<xacro:property name="leg_offset_x" value="0.1934"/>
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<xacro:property name="leg_offset_y" value="0.0465"/>
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<!-- <xacro:property name="trunk_offset_z" value="0.01675"/> -->
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<xacro:property name="hip_offset" value="0.0955"/>
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<!-- offset of link locations (left front) -->
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<xacro:property name="hip_offset_x" value="0.1934"/>
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<xacro:property name="hip_offset_y" value="0.0465"/>
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<xacro:property name="hip_offset_z" value="0.0"/>
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<xacro:property name="thigh_offset_x" value="0"/>
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<xacro:property name="thigh_offset_y" value="0.0955"/>
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<xacro:property name="thigh_offset_z" value="0.0"/>
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<xacro:property name="calf_offset_x" value="0.0"/>
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<xacro:property name="calf_offset_y" value="0.0"/>
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<xacro:property name="calf_offset_z" value="-0.213"/>
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<!-- joint limits -->
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<xacro:property name="damping" value="0.01"/>
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<xacro:property name="friction" value="0.2"/>
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<xacro:property name="hip_position_max" value="1.0472"/>
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<xacro:property name="hip_position_min" value="-1.0472"/>
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<xacro:property name="hip_velocity_max" value="30.1"/>
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<xacro:property name="hip_torque_max" value="23.7"/>
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<xacro:property name="thigh_position_max" value="3.4907"/>
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<xacro:property name="thigh_position_min" value="-1.5708"/>
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<xacro:property name="thigh_velocity_max" value="30.1"/>
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<xacro:property name="thigh_torque_max" value="23.7"/>
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<xacro:property name="calf_position_max" value="-0.83776"/>
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<xacro:property name="calf_position_min" value="-2.7227"/>
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<xacro:property name="calf_velocity_max" value="20.06"/>
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<xacro:property name="calf_torque_max" value="35.55"/>
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<!-- dynamics inertial value -->
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<!-- trunk -->
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<xacro:property name="trunk_mass" value="6.921"/>
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<xacro:property name="trunk_com_x" value="0.021112"/>
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<xacro:property name="trunk_com_y" value="0.00"/>
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<xacro:property name="trunk_com_z" value="-0.005366"/>
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<xacro:property name="trunk_ixx" value="0.02448"/>
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<xacro:property name="trunk_ixy" value="0.00012166"/>
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<xacro:property name="trunk_ixz" value="0.0014849"/>
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<xacro:property name="trunk_iyy" value="0.098077"/>
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<xacro:property name="trunk_iyz" value="-3.12E-05"/>
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<xacro:property name="trunk_izz" value="0.107"/>
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<!-- hip (left front) -->
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<xacro:property name="hip_mass" value="0.678"/>
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<xacro:property name="hip_com_x" value="-0.0054"/>
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<xacro:property name="hip_com_y" value="0.00194"/>
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<xacro:property name="hip_com_z" value="-0.000105"/>
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<xacro:property name="hip_ixx" value="0.00048"/>
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<xacro:property name="hip_ixy" value="-3.01E-06"/>
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<xacro:property name="hip_ixz" value="1.11E-06"/>
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<xacro:property name="hip_iyy" value="0.000884"/>
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<xacro:property name="hip_iyz" value="-1.42E-06"/>
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<xacro:property name="hip_izz" value="0.000596"/>
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<!-- thigh -->
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<xacro:property name="thigh_mass" value="1.152"/>
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<xacro:property name="thigh_com_x" value="-0.00374"/>
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<xacro:property name="thigh_com_y" value="-0.0223"/>
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<xacro:property name="thigh_com_z" value="-0.0327"/>
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<xacro:property name="thigh_ixx" value="0.00584"/>
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<xacro:property name="thigh_ixy" value="8.72E-05"/>
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<xacro:property name="thigh_ixz" value="-0.000289"/>
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<xacro:property name="thigh_iyy" value="0.0058"/>
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<xacro:property name="thigh_iyz" value="0.000808"/>
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<xacro:property name="thigh_izz" value="0.00103"/>
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<!-- calf -->
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<xacro:property name="calf_mass" value="0.154"/>
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<xacro:property name="calf_com_x" value="0.00548"/>
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<xacro:property name="calf_com_y" value="-0.000975"/>
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<xacro:property name="calf_com_z" value="-0.115"/>
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<xacro:property name="calf_ixx" value="0.00108"/>
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<xacro:property name="calf_ixy" value="3.4E-07"/>
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<xacro:property name="calf_ixz" value="1.72E-05"/>
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<xacro:property name="calf_iyy" value="0.0011"/>
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<xacro:property name="calf_iyz" value="8.28E-06"/>
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<xacro:property name="calf_izz" value="3.29E-05"/>
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<!-- foot -->
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<xacro:property name="foot_mass" value="0.06"/>
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</robot>
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<?xml version="1.0"?>
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<robot>
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<!-- ros_control plugin -->
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<gazebo>
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<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
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<robotNamespace>/go2_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 name="3dplot" filename="libLinkPlot3DPlugin.so">
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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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</plot>
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</plugin>
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</gazebo>
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<gazebo>
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<plugin filename="libgazebo_ros_force.so" name="gazebo_ros_force">
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<bodyName>trunk</bodyName>
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<topicName>/apply_force/trunk</topicName>
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</plugin>
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</gazebo>
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<gazebo reference="imu_link">
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<gravity>true</gravity>
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<sensor name="imu_sensor" type="imu">
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<always_on>true</always_on>
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<update_rate>1000</update_rate>
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<visualize>true</visualize>
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<topic>__default_topic__</topic>
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<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
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<topicName>trunk_imu</topicName>
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<bodyName>imu_link</bodyName>
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<updateRateHZ>1000.0</updateRateHZ>
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<gaussianNoise>0.0</gaussianNoise>
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<xyzOffset>0 0 0</xyzOffset>
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<rpyOffset>0 0 0</rpyOffset>
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<frameName>imu_link</frameName>
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</plugin>
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<pose>0 0 0 0 0 0</pose>
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</sensor>
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</gazebo>
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<!-- Foot contacts. -->
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<gazebo reference="FR_calf">
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<sensor name="FR_foot_contact" type="contact">
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<update_rate>100</update_rate>
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<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
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<contact>
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<collision>FR_calf_fixed_joint_lump__FR_foot_collision_1</collision>
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</contact>
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</sensor>
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</gazebo>
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<gazebo reference="FL_calf">
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<sensor name="FL_foot_contact" type="contact">
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<update_rate>100</update_rate>
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<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
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<contact>
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<collision>FL_calf_fixed_joint_lump__FL_foot_collision_1</collision>
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</contact>
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</sensor>
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</gazebo>
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<gazebo reference="RR_calf">
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<sensor name="RR_foot_contact" type="contact">
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<update_rate>100</update_rate>
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<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
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<contact>
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<collision>RR_calf_fixed_joint_lump__RR_foot_collision_1</collision>
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</contact>
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</sensor>
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</gazebo>
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<gazebo reference="RL_calf">
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<sensor name="RL_foot_contact" type="contact">
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<update_rate>100</update_rate>
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<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
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<contact>
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<collision>RL_calf_fixed_joint_lump__RL_foot_collision_1</collision>
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</contact>
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</sensor>
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</gazebo>
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<!-- Visualization of Foot contacts. -->
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<gazebo reference="FR_foot">
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<visual>
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<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
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<topicName>FR_foot_contact</topicName>
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</plugin>
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</visual>
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</gazebo>
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<gazebo reference="FL_foot">
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<visual>
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<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
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<topicName>FL_foot_contact</topicName>
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</plugin>
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</visual>
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</gazebo>
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<gazebo reference="RR_foot">
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<visual>
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<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
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<topicName>RR_foot_contact</topicName>
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</plugin>
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</visual>
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</gazebo>
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<gazebo reference="RL_foot">
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<visual>
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<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
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<topicName>RL_foot_contact</topicName>
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</plugin>
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</visual>
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</gazebo>
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<gazebo reference="base">
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<turnGravityOff>false</turnGravityOff>
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</gazebo>
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<gazebo reference="trunk">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<kp value="1000000.0"/>
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<kd value="1.0"/>
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</gazebo>
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<gazebo reference="stick_link">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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</gazebo>
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<gazebo reference="imu_link">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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</gazebo>
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<!-- FL leg -->
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<gazebo reference="FL_hip">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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</gazebo>
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<gazebo reference="FL_thigh">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<self_collide>1</self_collide>
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<kp value="1000000.0"/>
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<kd value="1.0"/>
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</gazebo>
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<gazebo reference="FL_calf">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<self_collide>1</self_collide>
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</gazebo>
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<gazebo reference="FL_foot">
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<mu1>0.6</mu1>
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<mu2>0.6</mu2>
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<self_collide>1</self_collide>
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<kp value="1000000.0"/>
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<kd value="1.0"/>
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</gazebo>
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<!-- FR leg -->
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<gazebo reference="FR_hip">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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</gazebo>
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<gazebo reference="FR_thigh">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<self_collide>1</self_collide>
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<kp value="1000000.0"/>
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<kd value="1.0"/>
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</gazebo>
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<gazebo reference="FR_calf">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<self_collide>1</self_collide>
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</gazebo>
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<gazebo reference="FR_foot">
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<mu1>0.6</mu1>
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<mu2>0.6</mu2>
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<self_collide>1</self_collide>
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<kp value="1000000.0"/>
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<kd value="1.0"/>
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</gazebo>
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<!-- RL leg -->
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<gazebo reference="RL_hip">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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</gazebo>
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<gazebo reference="RL_thigh">
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<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<self_collide>1</self_collide>
|
||||
<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>
|
||||
<kp value="1000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
</gazebo>
|
||||
|
||||
<!-- RR leg -->
|
||||
<gazebo reference="RR_hip">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
</gazebo>
|
||||
<gazebo reference="RR_thigh">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<self_collide>1</self_collide>
|
||||
<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>
|
||||
<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="$(find go2_description)/xacro/transmission.xacro"/>
|
||||
|
||||
<xacro:macro name="leg" params="name mirror mirror_dae front_hind front_hind_dae">
|
||||
|
||||
<joint name="${name}_hip_joint" type="revolute">
|
||||
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
|
||||
<origin rpy="0 0 0" xyz="${leg_offset_x} ${-leg_offset_y} 0"/>
|
||||
</xacro:if>
|
||||
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
|
||||
<origin rpy="0 0 0" xyz="${leg_offset_x} ${leg_offset_y} 0"/>
|
||||
</xacro:if>
|
||||
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
|
||||
<origin rpy="0 0 0" xyz="${-leg_offset_x} ${-leg_offset_y} 0"/>
|
||||
</xacro:if>
|
||||
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
|
||||
<origin rpy="0 0 0" xyz="${-leg_offset_x} ${leg_offset_y} 0"/>
|
||||
</xacro:if>
|
||||
<parent link="trunk"/>
|
||||
<child link="${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} ${PI} 0" xyz="0 0 0"/>
|
||||
</xacro:if>
|
||||
<geometry>
|
||||
<mesh filename="package://go2_description/meshes/hip.dae" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<!-- <material name="orange"/> -->
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="${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}_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="${mirror_dae == True}">
|
||||
<mesh filename="package://go2_description/meshes/thigh.dae" scale="1 1 1"/>
|
||||
</xacro:if>
|
||||
<xacro:if value="${mirror_dae == False}">
|
||||
<mesh filename="package://go2_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://go2_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">0
|
||||
<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="${foot_radius-0.01}"/>
|
||||
</geometry>
|
||||
<!-- <material name="orange"/> -->
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="${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="${name}"/>
|
||||
</xacro:macro>
|
||||
</robot>
|
||||
|
|
@ -0,0 +1,40 @@
|
|||
<?xml version="1.0"?>
|
||||
<robot>
|
||||
|
||||
<material name="black">
|
||||
<color rgba="0.0 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="blue">
|
||||
<color rgba="0.0 0.0 0.8 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="green">
|
||||
<color rgba="0.0 0.8 0.0 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="grey">
|
||||
<color rgba="0.2 0.2 0.2 0.0"/>
|
||||
</material>
|
||||
|
||||
<material name="silver">
|
||||
<color rgba="${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} ${195/255} 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="red">
|
||||
<color rgba="0.8 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="white">
|
||||
<color rgba="1.0 1.0 1.0 1.0"/>
|
||||
</material>
|
||||
|
||||
</robot>
|
||||
|
|
@ -0,0 +1,125 @@
|
|||
<?xml version="1.0"?>
|
||||
|
||||
<robot name="go2" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
|
||||
<xacro:arg name="DEBUG" default="false"/>
|
||||
|
||||
<xacro:include filename="$(find go2_description)/xacro/const.xacro"/>
|
||||
<xacro:include filename="$(find go2_description)/xacro/materials.xacro"/>
|
||||
<xacro:include filename="$(find go2_description)/xacro/leg.xacro"/>
|
||||
<!-- <xacro:include filename="$(find go2_description)/xacro/stairs.xacro"/> -->
|
||||
<xacro:include filename="$(find go2_description)/xacro/gazebo.xacro"/>
|
||||
<!-- <xacro:include filename="$(find go2_gazebo)/launch/stairs.urdf.xacro"/> -->
|
||||
|
||||
<!-- <xacro:stairs stairs="15" xpos="0" ypos="0" zpos="0" /> -->
|
||||
|
||||
<!-- Rotor related joint and link is only for demonstrate location. -->
|
||||
<!-- Actually, the rotor will rotate and the joint is not fixed. Reduction ratio should be considered. -->
|
||||
|
||||
<!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
|
||||
<xacro:if value="$(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://go2_description/meshes/trunk.dae" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<!-- <material name="orange"/> -->
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="${trunk_length} ${trunk_width} ${trunk_height}"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="${trunk_com_x} ${trunk_com_y} ${trunk_com_z}"/>
|
||||
<mass value="${trunk_mass}"/>
|
||||
<inertia
|
||||
ixx="${trunk_ixx}" ixy="${trunk_ixy}" ixz="${trunk_ixz}"
|
||||
iyy="${trunk_iyy}" iyz="${trunk_iyz}"
|
||||
izz="${trunk_izz}"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="imu_joint" type="fixed">
|
||||
<parent link="trunk"/>
|
||||
<child link="imu_link"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="imu_link">
|
||||
<inertial>
|
||||
<mass value="0.001"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" 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="load_joint" type="fixed">
|
||||
<parent link="trunk"/>
|
||||
<child link="load_link"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="load_link">
|
||||
<inertial>
|
||||
<mass value="5"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.2"/>
|
||||
<geometry>
|
||||
<box size="0.5 0.3 0.2"/>
|
||||
</geometry>
|
||||
</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" />
|
||||
<xacro:leg name="FL" mirror="1" mirror_dae="True" front_hind="1" front_hind_dae="True" />
|
||||
<xacro:leg name="RR" mirror="-1" mirror_dae="False" front_hind="-1" front_hind_dae="False" />
|
||||
<xacro:leg name="RL" mirror="1" mirror_dae="True" front_hind="-1" front_hind_dae="False" />
|
||||
</robot>
|
||||
|
|
@ -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