reconfirm Go1 inertial params
This commit is contained in:
TrivasZhang
parent
fc15975b28
commit
ca57a1857c
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@ -75,7 +75,7 @@
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<inertial>
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<mass value="0.001"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.0001"/>
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<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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@ -75,7 +75,7 @@
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<inertial>
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<mass value="0.001"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.0001"/>
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<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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@ -7,7 +7,7 @@ Panels:
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- /Global Options1
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- /RobotModel1
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Splitter Ratio: 0.5
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Tree Height: 796
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Tree Height: 523
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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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@ -23,10 +23,9 @@ Panels:
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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: PointCloud2
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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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@ -52,7 +51,7 @@ Visualization Manager:
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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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- Alpha: 0.5
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Class: rviz/RobotModel
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Collision Enabled: false
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Enabled: true
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@ -230,24 +229,42 @@ Visualization Manager:
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Show Axes: false
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Show Trail: false
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Value: true
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ultraSound_face:
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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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ultraSound_left:
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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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ultraSound_right:
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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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- Alpha: 1
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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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Show Trail: false
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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: true
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Marker Alpha: 1
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Marker Scale: 1
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Name: TF
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Show Arrows: true
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@ -272,9 +289,7 @@ Visualization Manager:
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Enabled: false
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 4096
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Min Color: 0; 0; 0
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Min Intensity: 0
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Name: PointCloud2
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Position Transformer: XYZ
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Queue Size: 10
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@ -302,9 +317,7 @@ Visualization Manager:
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Enabled: false
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 4096
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Min Color: 0; 0; 0
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Min Intensity: 0
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Name: PointCloud2
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Position Transformer: XYZ
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Queue Size: 10
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@ -332,9 +345,7 @@ Visualization Manager:
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Enabled: false
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 4096
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Min Color: 0; 0; 0
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Min Intensity: 0
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Name: PointCloud2
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Position Transformer: XYZ
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Queue Size: 10
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@ -362,9 +373,7 @@ Visualization Manager:
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Enabled: false
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 4096
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Min Color: 0; 0; 0
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Min Intensity: 0
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Name: PointCloud2
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Position Transformer: XYZ
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Queue Size: 10
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@ -392,9 +401,7 @@ Visualization Manager:
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Enabled: false
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 4096
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Min Color: 0; 0; 0
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Min Intensity: 0
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Name: PointCloud2
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Position Transformer: XYZ
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Queue Size: 10
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@ -435,33 +442,33 @@ Visualization Manager:
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Views:
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Current:
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Class: rviz/Orbit
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Distance: 3.724609613418579
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Distance: 1.0180186033248901
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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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Field of View: 0.7853981852531433
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Focal Point:
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X: 0.29964715242385864
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Y: -0.07829883694648743
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Z: -0.04122250899672508
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X: 0.10819146782159805
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Y: 0.02224866859614849
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Z: -0.08825916796922684
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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: 0.3647973835468292
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Pitch: 0.3647974133491516
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Target Frame: <Fixed Frame>
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Value: Orbit (rviz)
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Yaw: 2.6735990047454834
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Yaw: 4.123597621917725
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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: 1025
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Height: 752
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Hide Left Dock: false
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Hide Right Dock: false
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QMainWindow State: 000000ff00000000fd0000000400000000000001c7000003a7fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000003a7000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d00650072006101000001be000001900000000000000000000000010000010f000002e2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002e2000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006400000003efc0100000002fb0000000800540069006d0065000000000000000640000004f300fffffffb0000000800540069006d0065010000000000000450000000000000000000000570000003a700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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QMainWindow State: 000000ff00000000fd0000000400000000000001c700000296fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000296000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d00650072006101000001be000001900000000000000000000000010000010f000002e2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002e2000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006400000003efc0100000002fb0000000800540069006d00650000000000000006400000042800fffffffb0000000800540069006d006501000000000000045000000000000000000000039d0000029600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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Selection:
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collapsed: false
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Time:
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@ -470,6 +477,6 @@ Window Geometry:
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collapsed: false
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Views:
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collapsed: false
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Width: 1853
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X: 1987
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Y: 27
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Width: 1386
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X: 442
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Y: 159
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@ -3,7 +3,7 @@
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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="go1" xmlns:xacro="http://www.ros.org/wiki/xacro">
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<robot name="go1">
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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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@ -17,13 +17,13 @@
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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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<color rgba="0.9137254901960784 0.9137254901960784 0.8470588235294118 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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<color rgba="1.0 0.4235294117647059 0.0392156862745098 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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<color rgba="0.8705882352941177 0.8117647058823529 0.7647058823529411 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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@ -393,6 +393,8 @@
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</gazebo>
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<!-- <xacro:include filename="$(find go1_gazebo)/launch/stairs.urdf.xacro"/> -->
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<!-- <xacro:stairs stairs="15" xpos="0" ypos="0" zpos="0" /> -->
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<!-- Rotor related joint and link is only for demonstrate location. -->
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<!-- Actually, the rotor will rotate and the joint is not fixed. Reduction ratio should be considered. -->
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<!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
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<!-- <xacro:if value="$(arg DEBUG)">
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<link name="world"/>
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@ -432,7 +434,7 @@
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<inertial>
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<origin rpy="0 0 0" xyz="0.0223 0.002 -0.0005"/>
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<mass value="5.204"/>
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<inertia ixx="0.0168352186" ixy="0.0004636141" ixz="0.0002367952" iyy="0.0656071082" iyz="3.6671e-05" izz="0.0742720659"/>
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<inertia ixx="0.0168128557" ixy="-0.0002296769" ixz="-0.0002945293" iyy="0.063009565" iyz="-4.18731e-05" izz="0.0716547275"/>
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</inertial>
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</link>
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<joint name="imu_joint" type="fixed">
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@ -466,41 +468,52 @@
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<child link="FR_hip"/>
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<axis xyz="1 0 0"/>
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<dynamics damping="0.01" friction="0.2"/>
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<limit effort="23.7" lower="-1.0471975512" upper="1.0471975512" velocity="30.1"/>
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<limit effort="23.7" lower="-0.863" upper="0.863" velocity="30.1"/>
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</joint>
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<joint name="FR_hip_rotor_joint" type="fixed">
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<origin rpy="0 0 0" xyz="0.11215 -0.04675 0"/>
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<parent link="trunk"/>
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<child link="FR_hip_rotor"/>
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</joint>
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<link name="FR_hip">
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<visual>
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<origin rpy="3.14159265359 0 0" xyz="0 0 0"/>
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<origin rpy="3.141592653589793 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://go1_description/meshes/hip.dae" scale="1 1 1"/>
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</geometry>
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<!-- <material name="orange"/> -->
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</visual>
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<collision>
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<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
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<origin rpy="1.5707963267948966 0 0" xyz="0 -0.08 0"/>
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<geometry>
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<cylinder length="0.04" radius="0.046"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="-0.00541 0.00074 6e-06"/>
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<origin rpy="0 0 0" xyz="-0.005657 0.008752 -0.000102"/>
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<mass value="0.591"/>
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<inertia ixx="0.000374268192" ixy="-3.6844422e-05" ixz="-9.86754e-07" iyy="0.000635923669" iyz="1.172894e-06" izz="0.000457647394"/>
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<inertia ixx="0.000334008405" ixy="1.0826066e-05" ixz="1.290732e-06" iyy="0.000619101213" iyz="-1.643194e-06" izz="0.00040057614"/>
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</inertial>
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</link>
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<joint name="FR_hip_fixed" type="fixed">
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<origin rpy="0 0 0" xyz="0 -0.08 0"/>
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<parent link="FR_hip"/>
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<child link="FR_thigh_shoulder"/>
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</joint>
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<!-- this link is only for collision -->
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<link name="FR_thigh_shoulder">
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<collision>
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<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
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<link name="FR_hip_rotor">
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<visual>
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<origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
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<geometry>
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<cylinder length="0.032" radius="0.041"/>
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<cylinder length="0.02" radius="0.035"/>
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</geometry>
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<material name="green"/>
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</visual>
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<collision>
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<origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
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<geometry>
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<cylinder length="0.02" radius="0.035"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
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<mass value="0.089"/>
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<inertia ixx="0.000111842" ixy="0.0" ixz="0.0" iyy="5.9647e-05" iyz="0.0" izz="5.9647e-05"/>
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</inertial>
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</link>
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<joint name="FR_thigh_joint" type="revolute">
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<origin rpy="0 0 0" xyz="0 -0.08 0"/>
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@ -508,7 +521,12 @@
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<child link="FR_thigh"/>
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<axis xyz="0 1 0"/>
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<dynamics damping="0.01" friction="0.2"/>
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<limit effort="23.7" lower="-0.663225115758" upper="2.96705972839" velocity="30.1"/>
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<limit effort="23.7" lower="-0.686" upper="4.501" velocity="30.1"/>
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</joint>
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<joint name="FR_thigh_rotor_joint" type="fixed">
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<origin rpy="0 0 0" xyz="0.0 0.00015 0"/>
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<parent link="FR_hip"/>
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<child link="FR_thigh_rotor"/>
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</joint>
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<link name="FR_thigh">
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<visual>
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@ -519,15 +537,35 @@
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<!-- <material name="orange"/> -->
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</visual>
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<collision>
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<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1065"/>
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<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065"/>
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<geometry>
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<box size="0.213 0.0245 0.034"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="-0.003468 0.018947 -0.032736"/>
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<origin rpy="0 0 0" xyz="-0.003342 0.018054 -0.033451"/>
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<mass value="0.92"/>
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<inertia ixx="0.005851561134" ixy="-1.783284e-06" ixz="0.000328291374" iyy="0.005596155105" iyz="-2.1430713e-05" izz="0.00107157026"/>
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<inertia ixx="0.004431760472" ixy="-5.7496807e-05" ixz="-0.000218457134" iyy="0.004485671726" iyz="-0.000572001265" izz="0.000740309489"/>
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</inertial>
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</link>
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<link name="FR_thigh_rotor">
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<visual>
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<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
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<geometry>
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<cylinder length="0.02" radius="0.035"/>
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</geometry>
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<material name="green"/>
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</visual>
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<collision>
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<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
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<geometry>
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<cylinder length="0.02" radius="0.035"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
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<mass value="0.089"/>
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<inertia ixx="5.9647e-05" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="5.9647e-05"/>
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</inertial>
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</link>
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<joint name="FR_calf_joint" type="revolute">
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@ -536,7 +574,12 @@
|
|||
<child link="FR_calf"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="0.01" friction="0.2"/>
|
||||
<limit effort="23.7" lower="-2.72271363311" upper="-0.837758040957" velocity="30.1"/>
|
||||
<limit effort="35.55" lower="-2.818" upper="-0.888" velocity="20.06"/>
|
||||
</joint>
|
||||
<joint name="FR_calf_rotor_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0.0 0.03235 0"/>
|
||||
<parent link="FR_thigh"/>
|
||||
<child link="FR_calf_rotor"/>
|
||||
</joint>
|
||||
<link name="FR_calf">
|
||||
<visual>
|
||||
|
|
@ -547,15 +590,35 @@
|
|||
<!-- <material name="orange"/> -->
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1065"/>
|
||||
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065"/>
|
||||
<geometry>
|
||||
<box size="0.213 0.016 0.016"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.006286 0.001307 -0.122269"/>
|
||||
<mass value="0.131"/>
|
||||
<inertia ixx="0.002939186297" ixy="1.440899e-06" ixz="-0.00010535955" iyy="0.00295576935" iyz="-2.4397752e-05" izz="3.0273372e-05"/>
|
||||
<origin rpy="0 0 0" xyz="0.006197 0.001408 -0.116695"/>
|
||||
<mass value="0.135862"/>
|
||||
<inertia ixx="0.001088793059" ixy="-2.55679e-07" ixz="7.117814e-06" iyy="0.001100428748" iyz="2.077264e-06" izz="2.4787446e-05"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="FR_calf_rotor">
|
||||
<visual>
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.02" radius="0.035"/>
|
||||
</geometry>
|
||||
<material name="green"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.02" radius="0.035"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||
<mass value="0.089"/>
|
||||
<inertia ixx="5.9647e-05" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="5.9647e-05"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="FR_foot_fixed" type="fixed">
|
||||
|
|
@ -579,7 +642,7 @@
|
|||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.06"/>
|
||||
<inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06"/>
|
||||
<inertia ixx="9.600000000000001e-06" ixy="0.0" ixz="0.0" iyy="9.600000000000001e-06" iyz="0.0" izz="9.600000000000001e-06"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<transmission name="FR_hip_tran">
|
||||
|
|
@ -618,7 +681,12 @@
|
|||
<child link="FL_hip"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<dynamics damping="0.01" friction="0.2"/>
|
||||
<limit effort="23.7" lower="-1.0471975512" upper="1.0471975512" velocity="30.1"/>
|
||||
<limit effort="23.7" lower="-0.863" upper="0.863" velocity="30.1"/>
|
||||
</joint>
|
||||
<joint name="FL_hip_rotor_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0.11215 0.04675 0"/>
|
||||
<parent link="trunk"/>
|
||||
<child link="FL_hip_rotor"/>
|
||||
</joint>
|
||||
<link name="FL_hip">
|
||||
<visual>
|
||||
|
|
@ -629,30 +697,36 @@
|
|||
<!-- <material name="orange"/> -->
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0.08 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.04" radius="0.046"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.00541 -0.00074 6e-06"/>
|
||||
<origin rpy="0 0 0" xyz="-0.005657 -0.008752 -0.000102"/>
|
||||
<mass value="0.591"/>
|
||||
<inertia ixx="0.000374268192" ixy="3.6844422e-05" ixz="-9.86754e-07" iyy="0.000635923669" iyz="-1.172894e-06" izz="0.000457647394"/>
|
||||
<inertia ixx="0.000334008405" ixy="-1.0826066e-05" ixz="1.290732e-06" iyy="0.000619101213" iyz="1.643194e-06" izz="0.00040057614"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="FL_hip_fixed" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0.08 0"/>
|
||||
<parent link="FL_hip"/>
|
||||
<child link="FL_thigh_shoulder"/>
|
||||
</joint>
|
||||
<!-- this link is only for collision -->
|
||||
<link name="FL_thigh_shoulder">
|
||||
<collision>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||
<link name="FL_hip_rotor">
|
||||
<visual>
|
||||
<origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.032" radius="0.041"/>
|
||||
<cylinder length="0.02" radius="0.035"/>
|
||||
</geometry>
|
||||
<material name="green"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.02" radius="0.035"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||
<mass value="0.089"/>
|
||||
<inertia ixx="0.000111842" ixy="0.0" ixz="0.0" iyy="5.9647e-05" iyz="0.0" izz="5.9647e-05"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="FL_thigh_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 0.08 0"/>
|
||||
|
|
@ -660,7 +734,12 @@
|
|||
<child link="FL_thigh"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="0.01" friction="0.2"/>
|
||||
<limit effort="23.7" lower="-0.663225115758" upper="2.96705972839" velocity="30.1"/>
|
||||
<limit effort="23.7" lower="-0.686" upper="4.501" velocity="30.1"/>
|
||||
</joint>
|
||||
<joint name="FL_thigh_rotor_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0.0 -0.00015 0"/>
|
||||
<parent link="FL_hip"/>
|
||||
<child link="FL_thigh_rotor"/>
|
||||
</joint>
|
||||
<link name="FL_thigh">
|
||||
<visual>
|
||||
|
|
@ -671,15 +750,35 @@
|
|||
<!-- <material name="orange"/> -->
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1065"/>
|
||||
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065"/>
|
||||
<geometry>
|
||||
<box size="0.213 0.0245 0.034"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.003468 -0.018947 -0.032736"/>
|
||||
<origin rpy="0 0 0" xyz="-0.003342 -0.018054 -0.033451"/>
|
||||
<mass value="0.92"/>
|
||||
<inertia ixx="0.005851561134" ixy="1.783284e-06" ixz="0.000328291374" iyy="0.005596155105" iyz="2.1430713e-05" izz="0.00107157026"/>
|
||||
<inertia ixx="0.004431760472" ixy="5.7496807e-05" ixz="-0.000218457134" iyy="0.004485671726" iyz="0.000572001265" izz="0.000740309489"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="FL_thigh_rotor">
|
||||
<visual>
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.02" radius="0.035"/>
|
||||
</geometry>
|
||||
<material name="green"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.02" radius="0.035"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||
<mass value="0.089"/>
|
||||
<inertia ixx="5.9647e-05" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="5.9647e-05"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="FL_calf_joint" type="revolute">
|
||||
|
|
@ -688,7 +787,12 @@
|
|||
<child link="FL_calf"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="0.01" friction="0.2"/>
|
||||
<limit effort="23.7" lower="-2.72271363311" upper="-0.837758040957" velocity="30.1"/>
|
||||
<limit effort="35.55" lower="-2.818" upper="-0.888" velocity="20.06"/>
|
||||
</joint>
|
||||
<joint name="FL_calf_rotor_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0.0 -0.03235 0"/>
|
||||
<parent link="FL_thigh"/>
|
||||
<child link="FL_calf_rotor"/>
|
||||
</joint>
|
||||
<link name="FL_calf">
|
||||
<visual>
|
||||
|
|
@ -699,15 +803,35 @@
|
|||
<!-- <material name="orange"/> -->
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1065"/>
|
||||
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065"/>
|
||||
<geometry>
|
||||
<box size="0.213 0.016 0.016"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.006286 0.001307 -0.122269"/>
|
||||
<mass value="0.131"/>
|
||||
<inertia ixx="0.002939186297" ixy="1.440899e-06" ixz="-0.00010535955" iyy="0.00295576935" iyz="-2.4397752e-05" izz="3.0273372e-05"/>
|
||||
<origin rpy="0 0 0" xyz="0.006197 0.001408 -0.116695"/>
|
||||
<mass value="0.135862"/>
|
||||
<inertia ixx="0.001088793059" ixy="-2.55679e-07" ixz="7.117814e-06" iyy="0.001100428748" iyz="2.077264e-06" izz="2.4787446e-05"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="FL_calf_rotor">
|
||||
<visual>
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.02" radius="0.035"/>
|
||||
</geometry>
|
||||
<material name="green"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.02" radius="0.035"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||
<mass value="0.089"/>
|
||||
<inertia ixx="5.9647e-05" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="5.9647e-05"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="FL_foot_fixed" type="fixed">
|
||||
|
|
@ -731,7 +855,7 @@
|
|||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.06"/>
|
||||
<inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06"/>
|
||||
<inertia ixx="9.600000000000001e-06" ixy="0.0" ixz="0.0" iyy="9.600000000000001e-06" iyz="0.0" izz="9.600000000000001e-06"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<transmission name="FL_hip_tran">
|
||||
|
|
@ -770,41 +894,52 @@
|
|||
<child link="RR_hip"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<dynamics damping="0.01" friction="0.2"/>
|
||||
<limit effort="23.7" lower="-1.0471975512" upper="1.0471975512" velocity="30.1"/>
|
||||
<limit effort="23.7" lower="-0.863" upper="0.863" velocity="30.1"/>
|
||||
</joint>
|
||||
<joint name="RR_hip_rotor_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="-0.11215 -0.04675 0"/>
|
||||
<parent link="trunk"/>
|
||||
<child link="RR_hip_rotor"/>
|
||||
</joint>
|
||||
<link name="RR_hip">
|
||||
<visual>
|
||||
<origin rpy="3.14159265359 3.14159265359 0" xyz="0 0 0"/>
|
||||
<origin rpy="3.141592653589793 3.141592653589793 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://go1_description/meshes/hip.dae" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<!-- <material name="orange"/> -->
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 -0.08 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.04" radius="0.046"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.00541 0.00074 6e-06"/>
|
||||
<origin rpy="0 0 0" xyz="0.005657 0.008752 -0.000102"/>
|
||||
<mass value="0.591"/>
|
||||
<inertia ixx="0.000374268192" ixy="3.6844422e-05" ixz="9.86754e-07" iyy="0.000635923669" iyz="1.172894e-06" izz="0.000457647394"/>
|
||||
<inertia ixx="0.000334008405" ixy="-1.0826066e-05" ixz="-1.290732e-06" iyy="0.000619101213" iyz="-1.643194e-06" izz="0.00040057614"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="RR_hip_fixed" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 -0.08 0"/>
|
||||
<parent link="RR_hip"/>
|
||||
<child link="RR_thigh_shoulder"/>
|
||||
</joint>
|
||||
<!-- this link is only for collision -->
|
||||
<link name="RR_thigh_shoulder">
|
||||
<collision>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||
<link name="RR_hip_rotor">
|
||||
<visual>
|
||||
<origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.032" radius="0.041"/>
|
||||
<cylinder length="0.02" radius="0.035"/>
|
||||
</geometry>
|
||||
<material name="green"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.02" radius="0.035"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||
<mass value="0.089"/>
|
||||
<inertia ixx="0.000111842" ixy="0.0" ixz="0.0" iyy="5.9647e-05" iyz="0.0" izz="5.9647e-05"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="RR_thigh_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 -0.08 0"/>
|
||||
|
|
@ -812,7 +947,12 @@
|
|||
<child link="RR_thigh"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="0.01" friction="0.2"/>
|
||||
<limit effort="23.7" lower="-0.663225115758" upper="2.96705972839" velocity="30.1"/>
|
||||
<limit effort="23.7" lower="-0.686" upper="4.501" velocity="30.1"/>
|
||||
</joint>
|
||||
<joint name="RR_thigh_rotor_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0.0 0.00015 0"/>
|
||||
<parent link="RR_hip"/>
|
||||
<child link="RR_thigh_rotor"/>
|
||||
</joint>
|
||||
<link name="RR_thigh">
|
||||
<visual>
|
||||
|
|
@ -823,15 +963,35 @@
|
|||
<!-- <material name="orange"/> -->
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1065"/>
|
||||
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065"/>
|
||||
<geometry>
|
||||
<box size="0.213 0.0245 0.034"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.003468 0.018947 -0.032736"/>
|
||||
<origin rpy="0 0 0" xyz="-0.003342 0.018054 -0.033451"/>
|
||||
<mass value="0.92"/>
|
||||
<inertia ixx="0.005851561134" ixy="-1.783284e-06" ixz="0.000328291374" iyy="0.005596155105" iyz="-2.1430713e-05" izz="0.00107157026"/>
|
||||
<inertia ixx="0.004431760472" ixy="-5.7496807e-05" ixz="-0.000218457134" iyy="0.004485671726" iyz="-0.000572001265" izz="0.000740309489"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="RR_thigh_rotor">
|
||||
<visual>
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.02" radius="0.035"/>
|
||||
</geometry>
|
||||
<material name="green"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.02" radius="0.035"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||
<mass value="0.089"/>
|
||||
<inertia ixx="5.9647e-05" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="5.9647e-05"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="RR_calf_joint" type="revolute">
|
||||
|
|
@ -840,7 +1000,12 @@
|
|||
<child link="RR_calf"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="0.01" friction="0.2"/>
|
||||
<limit effort="23.7" lower="-2.72271363311" upper="-0.837758040957" velocity="30.1"/>
|
||||
<limit effort="35.55" lower="-2.818" upper="-0.888" velocity="20.06"/>
|
||||
</joint>
|
||||
<joint name="RR_calf_rotor_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0.0 0.03235 0"/>
|
||||
<parent link="RR_thigh"/>
|
||||
<child link="RR_calf_rotor"/>
|
||||
</joint>
|
||||
<link name="RR_calf">
|
||||
<visual>
|
||||
|
|
@ -851,15 +1016,35 @@
|
|||
<!-- <material name="orange"/> -->
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1065"/>
|
||||
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065"/>
|
||||
<geometry>
|
||||
<box size="0.213 0.016 0.016"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.006286 0.001307 -0.122269"/>
|
||||
<mass value="0.131"/>
|
||||
<inertia ixx="0.002939186297" ixy="1.440899e-06" ixz="-0.00010535955" iyy="0.00295576935" iyz="-2.4397752e-05" izz="3.0273372e-05"/>
|
||||
<origin rpy="0 0 0" xyz="0.006197 0.001408 -0.116695"/>
|
||||
<mass value="0.135862"/>
|
||||
<inertia ixx="0.001088793059" ixy="-2.55679e-07" ixz="7.117814e-06" iyy="0.001100428748" iyz="2.077264e-06" izz="2.4787446e-05"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="RR_calf_rotor">
|
||||
<visual>
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.02" radius="0.035"/>
|
||||
</geometry>
|
||||
<material name="green"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.02" radius="0.035"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||
<mass value="0.089"/>
|
||||
<inertia ixx="5.9647e-05" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="5.9647e-05"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="RR_foot_fixed" type="fixed">
|
||||
|
|
@ -883,7 +1068,7 @@
|
|||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.06"/>
|
||||
<inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06"/>
|
||||
<inertia ixx="9.600000000000001e-06" ixy="0.0" ixz="0.0" iyy="9.600000000000001e-06" iyz="0.0" izz="9.600000000000001e-06"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<transmission name="RR_hip_tran">
|
||||
|
|
@ -922,41 +1107,52 @@
|
|||
<child link="RL_hip"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<dynamics damping="0.01" friction="0.2"/>
|
||||
<limit effort="23.7" lower="-1.0471975512" upper="1.0471975512" velocity="30.1"/>
|
||||
<limit effort="23.7" lower="-0.863" upper="0.863" velocity="30.1"/>
|
||||
</joint>
|
||||
<joint name="RL_hip_rotor_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="-0.11215 0.04675 0"/>
|
||||
<parent link="trunk"/>
|
||||
<child link="RL_hip_rotor"/>
|
||||
</joint>
|
||||
<link name="RL_hip">
|
||||
<visual>
|
||||
<origin rpy="0 3.14159265359 0" xyz="0 0 0"/>
|
||||
<origin rpy="0 3.141592653589793 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://go1_description/meshes/hip.dae" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<!-- <material name="orange"/> -->
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0.08 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.04" radius="0.046"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.00541 -0.00074 6e-06"/>
|
||||
<origin rpy="0 0 0" xyz="0.005657 -0.008752 -0.000102"/>
|
||||
<mass value="0.591"/>
|
||||
<inertia ixx="0.000374268192" ixy="-3.6844422e-05" ixz="9.86754e-07" iyy="0.000635923669" iyz="-1.172894e-06" izz="0.000457647394"/>
|
||||
<inertia ixx="0.000334008405" ixy="1.0826066e-05" ixz="-1.290732e-06" iyy="0.000619101213" iyz="1.643194e-06" izz="0.00040057614"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="RL_hip_fixed" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0.08 0"/>
|
||||
<parent link="RL_hip"/>
|
||||
<child link="RL_thigh_shoulder"/>
|
||||
</joint>
|
||||
<!-- this link is only for collision -->
|
||||
<link name="RL_thigh_shoulder">
|
||||
<collision>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||
<link name="RL_hip_rotor">
|
||||
<visual>
|
||||
<origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.032" radius="0.041"/>
|
||||
<cylinder length="0.02" radius="0.035"/>
|
||||
</geometry>
|
||||
<material name="green"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.02" radius="0.035"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||
<mass value="0.089"/>
|
||||
<inertia ixx="0.000111842" ixy="0.0" ixz="0.0" iyy="5.9647e-05" iyz="0.0" izz="5.9647e-05"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="RL_thigh_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 0.08 0"/>
|
||||
|
|
@ -964,7 +1160,12 @@
|
|||
<child link="RL_thigh"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="0.01" friction="0.2"/>
|
||||
<limit effort="23.7" lower="-0.663225115758" upper="2.96705972839" velocity="30.1"/>
|
||||
<limit effort="23.7" lower="-0.686" upper="4.501" velocity="30.1"/>
|
||||
</joint>
|
||||
<joint name="RL_thigh_rotor_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0.0 -0.00015 0"/>
|
||||
<parent link="RL_hip"/>
|
||||
<child link="RL_thigh_rotor"/>
|
||||
</joint>
|
||||
<link name="RL_thigh">
|
||||
<visual>
|
||||
|
|
@ -975,15 +1176,35 @@
|
|||
<!-- <material name="orange"/> -->
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1065"/>
|
||||
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065"/>
|
||||
<geometry>
|
||||
<box size="0.213 0.0245 0.034"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.003468 -0.018947 -0.032736"/>
|
||||
<origin rpy="0 0 0" xyz="-0.003342 -0.018054 -0.033451"/>
|
||||
<mass value="0.92"/>
|
||||
<inertia ixx="0.005851561134" ixy="1.783284e-06" ixz="0.000328291374" iyy="0.005596155105" iyz="2.1430713e-05" izz="0.00107157026"/>
|
||||
<inertia ixx="0.004431760472" ixy="5.7496807e-05" ixz="-0.000218457134" iyy="0.004485671726" iyz="0.000572001265" izz="0.000740309489"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="RL_thigh_rotor">
|
||||
<visual>
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.02" radius="0.035"/>
|
||||
</geometry>
|
||||
<material name="green"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.02" radius="0.035"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||
<mass value="0.089"/>
|
||||
<inertia ixx="5.9647e-05" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="5.9647e-05"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="RL_calf_joint" type="revolute">
|
||||
|
|
@ -992,7 +1213,12 @@
|
|||
<child link="RL_calf"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="0.01" friction="0.2"/>
|
||||
<limit effort="23.7" lower="-2.72271363311" upper="-0.837758040957" velocity="30.1"/>
|
||||
<limit effort="35.55" lower="-2.818" upper="-0.888" velocity="20.06"/>
|
||||
</joint>
|
||||
<joint name="RL_calf_rotor_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0.0 -0.03235 0"/>
|
||||
<parent link="RL_thigh"/>
|
||||
<child link="RL_calf_rotor"/>
|
||||
</joint>
|
||||
<link name="RL_calf">
|
||||
<visual>
|
||||
|
|
@ -1003,15 +1229,35 @@
|
|||
<!-- <material name="orange"/> -->
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1065"/>
|
||||
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065"/>
|
||||
<geometry>
|
||||
<box size="0.213 0.016 0.016"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.006286 0.001307 -0.122269"/>
|
||||
<mass value="0.131"/>
|
||||
<inertia ixx="0.002939186297" ixy="1.440899e-06" ixz="-0.00010535955" iyy="0.00295576935" iyz="-2.4397752e-05" izz="3.0273372e-05"/>
|
||||
<origin rpy="0 0 0" xyz="0.006197 0.001408 -0.116695"/>
|
||||
<mass value="0.135862"/>
|
||||
<inertia ixx="0.001088793059" ixy="-2.55679e-07" ixz="7.117814e-06" iyy="0.001100428748" iyz="2.077264e-06" izz="2.4787446e-05"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="RL_calf_rotor">
|
||||
<visual>
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.02" radius="0.035"/>
|
||||
</geometry>
|
||||
<material name="green"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.02" radius="0.035"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||
<mass value="0.089"/>
|
||||
<inertia ixx="5.9647e-05" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="5.9647e-05"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="RL_foot_fixed" type="fixed">
|
||||
|
|
@ -1035,7 +1281,7 @@
|
|||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.06"/>
|
||||
<inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06"/>
|
||||
<inertia ixx="9.600000000000001e-06" ixy="0.0" ixz="0.0" iyy="9.600000000000001e-06" iyz="0.0" izz="9.600000000000001e-06"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<transmission name="RL_hip_tran">
|
||||
|
|
@ -1069,7 +1315,7 @@
|
|||
</actuator>
|
||||
</transmission>
|
||||
<joint name="camera_joint_face" type="fixed">
|
||||
<origin rpy="3.14159265359 0 0" xyz="0.2785 0.0125 0.0167"/>
|
||||
<origin rpy="3.141592653589793 0 0" xyz="0.2785 0.0125 0.0167"/>
|
||||
<parent link="trunk"/>
|
||||
<child link="camera_face"/>
|
||||
</joint>
|
||||
|
|
@ -1093,7 +1339,7 @@
|
|||
</inertial>
|
||||
</link>
|
||||
<joint name="camera_optical_joint_face" type="fixed">
|
||||
<origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
|
||||
<origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
|
||||
<parent link="camera_face"/>
|
||||
<child link="camera_optical_face"/>
|
||||
</joint>
|
||||
|
|
@ -1143,7 +1389,7 @@
|
|||
</sensor>
|
||||
</gazebo>
|
||||
<joint name="camera_joint_chin" type="fixed">
|
||||
<origin rpy="3.14159265359 1.57079632679 0" xyz="0.2522 0.0125 -0.0436"/>
|
||||
<origin rpy="3.141592653589793 1.5707963267948966 0" xyz="0.2522 0.0125 -0.0436"/>
|
||||
<parent link="trunk"/>
|
||||
<child link="camera_chin"/>
|
||||
</joint>
|
||||
|
|
@ -1167,7 +1413,7 @@
|
|||
</inertial>
|
||||
</link>
|
||||
<joint name="camera_optical_joint_chin" type="fixed">
|
||||
<origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
|
||||
<origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
|
||||
<parent link="camera_chin"/>
|
||||
<child link="camera_optical_chin"/>
|
||||
</joint>
|
||||
|
|
@ -1217,7 +1463,7 @@
|
|||
</sensor>
|
||||
</gazebo>
|
||||
<joint name="camera_joint_left" type="fixed">
|
||||
<origin rpy="3.14159265359 0.2618 1.57079632679" xyz="-0.066 0.082 -0.0176"/>
|
||||
<origin rpy="3.141592653589793 0.2618 1.5707963267948966" xyz="-0.066 0.082 -0.0176"/>
|
||||
<parent link="trunk"/>
|
||||
<child link="camera_left"/>
|
||||
</joint>
|
||||
|
|
@ -1241,7 +1487,7 @@
|
|||
</inertial>
|
||||
</link>
|
||||
<joint name="camera_optical_joint_left" type="fixed">
|
||||
<origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
|
||||
<origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
|
||||
<parent link="camera_left"/>
|
||||
<child link="camera_optical_left"/>
|
||||
</joint>
|
||||
|
|
@ -1291,7 +1537,7 @@
|
|||
</sensor>
|
||||
</gazebo>
|
||||
<joint name="camera_joint_right" type="fixed">
|
||||
<origin rpy="3.14159265359 0.2618 -1.57079632679" xyz="-0.041 -0.082 -0.0176"/>
|
||||
<origin rpy="3.141592653589793 0.2618 -1.5707963267948966" xyz="-0.041 -0.082 -0.0176"/>
|
||||
<parent link="trunk"/>
|
||||
<child link="camera_right"/>
|
||||
</joint>
|
||||
|
|
@ -1315,7 +1561,7 @@
|
|||
</inertial>
|
||||
</link>
|
||||
<joint name="camera_optical_joint_right" type="fixed">
|
||||
<origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
|
||||
<origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
|
||||
<parent link="camera_right"/>
|
||||
<child link="camera_optical_right"/>
|
||||
</joint>
|
||||
|
|
@ -1365,7 +1611,7 @@
|
|||
</sensor>
|
||||
</gazebo>
|
||||
<joint name="camera_joint_rearDown" type="fixed">
|
||||
<origin rpy="3.14159265359 1.57079632679 0" xyz="-0.0825 0.0125 -0.04365"/>
|
||||
<origin rpy="3.141592653589793 1.5707963267948966 0" xyz="-0.0825 0.0125 -0.04365"/>
|
||||
<parent link="trunk"/>
|
||||
<child link="camera_rearDown"/>
|
||||
</joint>
|
||||
|
|
@ -1389,7 +1635,7 @@
|
|||
</inertial>
|
||||
</link>
|
||||
<joint name="camera_optical_joint_rearDown" type="fixed">
|
||||
<origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
|
||||
<origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
|
||||
<parent link="camera_rearDown"/>
|
||||
<child link="camera_optical_rearDown"/>
|
||||
</joint>
|
||||
|
|
@ -1453,7 +1699,7 @@
|
|||
<link name="camera_laserscan_link_right">
|
||||
</link>
|
||||
<joint name="ultraSound_joint_left" type="fixed">
|
||||
<origin rpy="0 0.2618 1.57079632679" xyz="-0.0535 0.0826 0.00868"/>
|
||||
<origin rpy="0 0.2618 1.5707963267948966" xyz="-0.0535 0.0826 0.00868"/>
|
||||
<parent link="trunk"/>
|
||||
<child link="ultraSound_left"/>
|
||||
</joint>
|
||||
|
|
@ -1478,7 +1724,7 @@
|
|||
</inertial>
|
||||
</link>
|
||||
<joint name="ultraSound_joint_right" type="fixed">
|
||||
<origin rpy="0 0.2618 -1.57079632679" xyz="-0.0535 -0.0826 0.00868"/>
|
||||
<origin rpy="0 0.2618 -1.5707963267948966" xyz="-0.0535 -0.0826 0.00868"/>
|
||||
<parent link="trunk"/>
|
||||
<child link="ultraSound_right"/>
|
||||
</joint>
|
||||
|
|
|
|||
|
|
@ -33,21 +33,43 @@
|
|||
<!-- <xacro:property name="trunk_offset_z" value="0.01675"/> -->
|
||||
<xacro:property name="hip_offset" value="0.08"/>
|
||||
|
||||
<!-- offset of link and rotor locations (left front) -->
|
||||
<xacro:property name="hip_offset_x" value="0.1881"/>
|
||||
<xacro:property name="hip_offset_y" value="0.04675"/>
|
||||
<xacro:property name="hip_offset_z" value="0.0"/>
|
||||
<xacro:property name="hip_rotor_offset_x" value="0.11215"/>
|
||||
<xacro:property name="hip_rotor_offset_y" value="0.04675"/>
|
||||
<xacro:property name="hip_rotor_offset_z" value="0.0"/>
|
||||
|
||||
<xacro:property name="thigh_offset_x" value="0"/>
|
||||
<xacro:property name="thigh_offset_y" value="0.08"/>
|
||||
<xacro:property name="thigh_offset_z" value="0.0"/>
|
||||
<xacro:property name="thigh_rotor_offset_x" value="0.0"/>
|
||||
<xacro:property name="thigh_rotor_offset_y" value="-0.00015"/>
|
||||
<xacro:property name="thigh_rotor_offset_z" value="0.0"/>
|
||||
|
||||
<xacro:property name="calf_offset_x" value="0.0"/>
|
||||
<xacro:property name="calf_offset_y" value="0.0"/>
|
||||
<xacro:property name="calf_offset_z" value="-0.213"/>
|
||||
<xacro:property name="calf_rotor_offset_x" value="0.0"/>
|
||||
<xacro:property name="calf_rotor_offset_y" value="-0.03235"/>
|
||||
<xacro:property name="calf_rotor_offset_z" value="0.0"/>
|
||||
|
||||
<!-- joint limits -->
|
||||
<xacro:property name="damping" value="0.01"/>
|
||||
<xacro:property name="friction" value="0.2"/>
|
||||
<xacro:property name="hip_max" value="60"/>
|
||||
<xacro:property name="hip_min" value="-60"/>
|
||||
<xacro:property name="hip_position_max" value="0.863"/>
|
||||
<xacro:property name="hip_position_min" value="-0.863"/>
|
||||
<xacro:property name="hip_velocity_max" value="30.1"/>
|
||||
<xacro:property name="hip_torque_max" value="23.7"/>
|
||||
<xacro:property name="thigh_max" value="170"/>
|
||||
<xacro:property name="thigh_min" value="-38"/>
|
||||
<xacro:property name="thigh_position_max" value="4.501"/>
|
||||
<xacro:property name="thigh_position_min" value="-0.686"/>
|
||||
<xacro:property name="thigh_velocity_max" value="30.1"/>
|
||||
<xacro:property name="thigh_torque_max" value="23.7"/>
|
||||
<xacro:property name="calf_max" value="-48"/>
|
||||
<xacro:property name="calf_min" value="-156"/>
|
||||
<xacro:property name="calf_velocity_max" value="30.1"/>
|
||||
<xacro:property name="calf_torque_max" value="23.7"/>
|
||||
<xacro:property name="calf_position_max" value="-0.888"/>
|
||||
<xacro:property name="calf_position_min" value="-2.818"/>
|
||||
<xacro:property name="calf_velocity_max" value="20.06"/>
|
||||
<xacro:property name="calf_torque_max" value="35.55"/>
|
||||
|
||||
<!-- dynamics inertial value total 12.84kg -->
|
||||
<!-- trunk -->
|
||||
|
|
@ -55,48 +77,81 @@
|
|||
<xacro:property name="trunk_com_x" value="0.0223"/>
|
||||
<xacro:property name="trunk_com_y" value="0.002"/>
|
||||
<xacro:property name="trunk_com_z" value="-0.0005"/>
|
||||
<xacro:property name="trunk_ixx" value="0.0168352186"/>
|
||||
<xacro:property name="trunk_ixy" value="0.0004636141"/>
|
||||
<xacro:property name="trunk_ixz" value="0.0002367952"/>
|
||||
<xacro:property name="trunk_iyy" value="0.0656071082"/>
|
||||
<xacro:property name="trunk_iyz" value="0.000036671"/>
|
||||
<xacro:property name="trunk_izz" value="0.0742720659"/>
|
||||
<xacro:property name="trunk_ixx" value="0.0168128557"/>
|
||||
<xacro:property name="trunk_ixy" value="-0.0002296769"/>
|
||||
<xacro:property name="trunk_ixz" value="-0.0002945293"/>
|
||||
<xacro:property name="trunk_iyy" value="0.063009565"/>
|
||||
<xacro:property name="trunk_iyz" value="-0.0000418731"/>
|
||||
<xacro:property name="trunk_izz" value="0.0716547275"/>
|
||||
|
||||
<!-- hip (left front) -->
|
||||
<xacro:property name="hip_mass" value="0.591"/>
|
||||
<xacro:property name="hip_com_x" value="-0.00541"/>
|
||||
<xacro:property name="hip_com_y" value="-0.00074"/>
|
||||
<xacro:property name="hip_com_z" value="0.000006"/>
|
||||
<xacro:property name="hip_ixx" value="0.000374268192"/>
|
||||
<xacro:property name="hip_ixy" value="0.000036844422"/>
|
||||
<xacro:property name="hip_ixz" value="-0.000000986754"/>
|
||||
<xacro:property name="hip_iyy" value="0.000635923669"/>
|
||||
<xacro:property name="hip_iyz" value="-0.000001172894"/>
|
||||
<xacro:property name="hip_izz" value="0.000457647394"/>
|
||||
<xacro:property name="hip_com_x" value="-0.005657"/>
|
||||
<xacro:property name="hip_com_y" value="-0.008752"/>
|
||||
<xacro:property name="hip_com_z" value="-0.000102"/>
|
||||
<xacro:property name="hip_ixx" value="0.000334008405"/>
|
||||
<xacro:property name="hip_ixy" value="-0.000010826066"/>
|
||||
<xacro:property name="hip_ixz" value="0.000001290732"/>
|
||||
<xacro:property name="hip_iyy" value="0.000619101213"/>
|
||||
<xacro:property name="hip_iyz" value="0.000001643194"/>
|
||||
<xacro:property name="hip_izz" value="0.00040057614"/>
|
||||
|
||||
<xacro:property name="hip_rotor_mass" value="0.089"/>
|
||||
<xacro:property name="hip_rotor_com_x" value="0.0"/>
|
||||
<xacro:property name="hip_rotor_com_y" value="0.0"/>
|
||||
<xacro:property name="hip_rotor_com_z" value="0.0"/>
|
||||
<xacro:property name="hip_rotor_ixx" value="0.000111842"/>
|
||||
<xacro:property name="hip_rotor_ixy" value="0.0"/>
|
||||
<xacro:property name="hip_rotor_ixz" value="0.0"/>
|
||||
<xacro:property name="hip_rotor_iyy" value="0.000059647"/>
|
||||
<xacro:property name="hip_rotor_iyz" value="0.0"/>
|
||||
<xacro:property name="hip_rotor_izz" value="0.000059647"/>
|
||||
|
||||
<!-- thigh -->
|
||||
<xacro:property name="thigh_mass" value="0.92"/>
|
||||
<xacro:property name="thigh_com_x" value="-0.003468"/>
|
||||
<xacro:property name="thigh_com_y" value="-0.018947"/>
|
||||
<xacro:property name="thigh_com_z" value="-0.032736"/>
|
||||
<xacro:property name="thigh_ixx" value="0.005851561134"/>
|
||||
<xacro:property name="thigh_ixy" value="0.000001783284"/>
|
||||
<xacro:property name="thigh_ixz" value="0.000328291374"/>
|
||||
<xacro:property name="thigh_iyy" value="0.005596155105"/>
|
||||
<xacro:property name="thigh_iyz" value="0.000021430713"/>
|
||||
<xacro:property name="thigh_izz" value="0.00107157026"/>
|
||||
<xacro:property name="thigh_com_x" value="-0.003342"/>
|
||||
<xacro:property name="thigh_com_y" value="-0.018054"/>
|
||||
<xacro:property name="thigh_com_z" value="-0.033451"/>
|
||||
<xacro:property name="thigh_ixx" value="0.004431760472"/>
|
||||
<xacro:property name="thigh_ixy" value="0.000057496807"/>
|
||||
<xacro:property name="thigh_ixz" value="-0.000218457134"/>
|
||||
<xacro:property name="thigh_iyy" value="0.004485671726"/>
|
||||
<xacro:property name="thigh_iyz" value="0.000572001265"/>
|
||||
<xacro:property name="thigh_izz" value="0.000740309489"/>
|
||||
|
||||
<xacro:property name="thigh_rotor_mass" value="0.089"/>
|
||||
<xacro:property name="thigh_rotor_com_x" value="0.0"/>
|
||||
<xacro:property name="thigh_rotor_com_y" value="0.0"/>
|
||||
<xacro:property name="thigh_rotor_com_z" value="0.0"/>
|
||||
<xacro:property name="thigh_rotor_ixx" value="0.000059647"/>
|
||||
<xacro:property name="thigh_rotor_ixy" value="0.0"/>
|
||||
<xacro:property name="thigh_rotor_ixz" value="0.0"/>
|
||||
<xacro:property name="thigh_rotor_iyy" value="0.000111842"/>
|
||||
<xacro:property name="thigh_rotor_iyz" value="0.0"/>
|
||||
<xacro:property name="thigh_rotor_izz" value="0.000059647"/>
|
||||
|
||||
<!-- calf -->
|
||||
<xacro:property name="calf_mass" value="0.131"/>
|
||||
<xacro:property name="calf_com_x" value="0.006286"/>
|
||||
<xacro:property name="calf_com_y" value="0.001307"/>
|
||||
<xacro:property name="calf_com_z" value="-0.122269"/>
|
||||
<xacro:property name="calf_ixx" value="0.002939186297"/>
|
||||
<xacro:property name="calf_ixy" value="0.000001440899"/>
|
||||
<xacro:property name="calf_ixz" value="-0.000105359550"/>
|
||||
<xacro:property name="calf_iyy" value="0.00295576935"/>
|
||||
<xacro:property name="calf_iyz" value="-0.000024397752"/>
|
||||
<xacro:property name="calf_izz" value="0.000030273372"/>
|
||||
<xacro:property name="calf_mass" value="0.135862"/>
|
||||
<xacro:property name="calf_com_x" value="0.006197"/>
|
||||
<xacro:property name="calf_com_y" value="0.001408"/>
|
||||
<xacro:property name="calf_com_z" value="-0.116695"/>
|
||||
<xacro:property name="calf_ixx" value="0.001088793059"/>
|
||||
<xacro:property name="calf_ixy" value="-0.000000255679"/>
|
||||
<xacro:property name="calf_ixz" value="0.000007117814"/>
|
||||
<xacro:property name="calf_iyy" value="0.001100428748"/>
|
||||
<xacro:property name="calf_iyz" value="0.000002077264"/>
|
||||
<xacro:property name="calf_izz" value="0.000024787446"/>
|
||||
|
||||
<xacro:property name="calf_rotor_mass" value="0.089"/>
|
||||
<xacro:property name="calf_rotor_com_x" value="0.0"/>
|
||||
<xacro:property name="calf_rotor_com_y" value="0.0"/>
|
||||
<xacro:property name="calf_rotor_com_z" value="0.0"/>
|
||||
<xacro:property name="calf_rotor_ixx" value="0.000059647"/>
|
||||
<xacro:property name="calf_rotor_ixy" value="0.0"/>
|
||||
<xacro:property name="calf_rotor_ixz" value="0.0"/>
|
||||
<xacro:property name="calf_rotor_iyy" value="0.000111842"/>
|
||||
<xacro:property name="calf_rotor_iyz" value="0.0"/>
|
||||
<xacro:property name="calf_rotor_izz" value="0.000059647"/>
|
||||
|
||||
<!-- foot -->
|
||||
<xacro:property name="foot_mass" value="0.06"/>
|
||||
|
|
|
|||
|
|
@ -4,22 +4,50 @@
|
|||
|
||||
<xacro:include filename="$(find go1_description)/xacro/transmission.xacro"/>
|
||||
|
||||
<xacro:macro name="leg" params="name mirror mirror_dae front_hind front_hind_dae *origin">
|
||||
<xacro:macro name="leg" params="name mirror mirror_dae front_hind front_hind_dae">
|
||||
|
||||
<joint name="${name}_hip_joint" type="revolute">
|
||||
<xacro:insert_block name="origin"/>
|
||||
<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_min*PI/180.0}" upper="${hip_max*PI/180.0}"/>
|
||||
<limit effort="${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="${-hip_max*PI/180.0}" upper="${-hip_min*PI/180.0}"/>
|
||||
<limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${-hip_position_max}" upper="${-hip_position_min}"/>
|
||||
</xacro:if>
|
||||
</joint>
|
||||
|
||||
<joint name="${name}_hip_rotor_joint" type="fixed">
|
||||
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
|
||||
<origin rpy="0 0 0" xyz="${hip_rotor_offset_x} ${-hip_rotor_offset_y} 0"/>
|
||||
</xacro:if>
|
||||
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
|
||||
<origin rpy="0 0 0" xyz="${hip_rotor_offset_x} ${hip_rotor_offset_y} 0"/>
|
||||
</xacro:if>
|
||||
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
|
||||
<origin rpy="0 0 0" xyz="${-hip_rotor_offset_x} ${-hip_rotor_offset_y} 0"/>
|
||||
</xacro:if>
|
||||
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
|
||||
<origin rpy="0 0 0" xyz="${-hip_rotor_offset_x} ${hip_rotor_offset_y} 0"/>
|
||||
</xacro:if>
|
||||
<parent link="trunk"/>
|
||||
<child link="${name}_hip_rotor"/>
|
||||
</joint>
|
||||
|
||||
<link name="${name}_hip">
|
||||
<visual>
|
||||
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
|
||||
|
|
@ -40,7 +68,7 @@
|
|||
<!-- <material name="orange"/> -->
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
|
||||
<origin rpy="${PI/2.0} 0 0" xyz="0 ${hip_offset*mirror} 0"/>
|
||||
<geometry>
|
||||
<cylinder length="${hip_length}" radius="${hip_radius}"/>
|
||||
</geometry>
|
||||
|
|
@ -55,20 +83,28 @@
|
|||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="${name}_hip_fixed" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="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="${PI/2.0} 0 0" xyz="0 0 0"/>
|
||||
<link name="${name}_hip_rotor">
|
||||
<visual>
|
||||
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="${thigh_shoulder_length}" radius="${thigh_shoulder_radius}"/>
|
||||
<cylinder length="0.02" radius="0.035"/>
|
||||
</geometry>
|
||||
<material name="green"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.02" radius="0.035"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="${hip_rotor_com_x} ${hip_rotor_com_y} ${hip_rotor_com_z}"/>
|
||||
<mass value="${hip_rotor_mass}"/>
|
||||
<inertia
|
||||
ixx="${hip_rotor_ixx}" ixy="${hip_rotor_ixy}" ixz="${hip_rotor_ixz}"
|
||||
iyy="${hip_rotor_iyy}" iyz="${hip_rotor_iyz}"
|
||||
izz="${hip_rotor_izz}"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="${name}_thigh_joint" type="revolute">
|
||||
|
|
@ -77,7 +113,13 @@
|
|||
<child link="${name}_thigh"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="${damping}" friction="${friction}"/>
|
||||
<limit effort="${thigh_torque_max}" velocity="${thigh_velocity_max}" lower="${thigh_min*PI/180.0}" upper="${thigh_max*PI/180.0}"/>
|
||||
<limit effort="${thigh_torque_max}" velocity="${thigh_velocity_max}" lower="${thigh_position_min}" upper="${thigh_position_max}"/>
|
||||
</joint>
|
||||
|
||||
<joint name="${name}_thigh_rotor_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="${thigh_rotor_offset_x} ${thigh_rotor_offset_y*mirror} 0"/>
|
||||
<parent link="${name}_hip"/>
|
||||
<child link="${name}_thigh_rotor"/>
|
||||
</joint>
|
||||
|
||||
<link name="${name}_thigh">
|
||||
|
|
@ -109,13 +151,43 @@
|
|||
</inertial>
|
||||
</link>
|
||||
|
||||
<link name="${name}_thigh_rotor">
|
||||
<visual>
|
||||
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.02" radius="0.035"/>
|
||||
</geometry>
|
||||
<material name="green"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.02" radius="0.035"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="${thigh_rotor_com_x} ${thigh_rotor_com_y} ${thigh_rotor_com_z}"/>
|
||||
<mass value="${thigh_rotor_mass}"/>
|
||||
<inertia
|
||||
ixx="${thigh_rotor_ixx}" ixy="${thigh_rotor_ixy}" ixz="${thigh_rotor_ixz}"
|
||||
iyy="${thigh_rotor_iyy}" iyz="${thigh_rotor_iyz}"
|
||||
izz="${thigh_rotor_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_min*PI/180.0}" upper="${calf_max*PI/180.0}"/>
|
||||
<limit effort="${calf_torque_max}" velocity="${calf_velocity_max}" lower="${calf_position_min}" upper="${calf_position_max}"/>
|
||||
</joint>
|
||||
|
||||
<joint name="${name}_calf_rotor_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="${calf_rotor_offset_x} ${calf_rotor_offset_y*mirror} 0"/>
|
||||
<parent link="${name}_thigh"/>
|
||||
<child link="${name}_calf_rotor"/>
|
||||
</joint>
|
||||
|
||||
<link name="${name}_calf">
|
||||
|
|
@ -142,6 +214,30 @@
|
|||
</inertial>
|
||||
</link>
|
||||
|
||||
<link name="${name}_calf_rotor">
|
||||
<visual>
|
||||
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.02" radius="0.035"/>
|
||||
</geometry>
|
||||
<material name="green"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.02" radius="0.035"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="${calf_rotor_com_x} ${calf_rotor_com_y} ${calf_rotor_com_z}"/>
|
||||
<mass value="${calf_rotor_mass}"/>
|
||||
<inertia
|
||||
ixx="${calf_rotor_ixx}" ixy="${calf_rotor_ixy}" ixz="${calf_rotor_ixz}"
|
||||
iyy="${calf_rotor_iyy}" iyz="${calf_rotor_iyz}"
|
||||
izz="${calf_rotor_izz}"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="${name}_foot_fixed" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 ${-(calf_length)}"/>
|
||||
<parent link="${name}_calf"/>
|
||||
|
|
|
|||
|
|
@ -15,18 +15,18 @@
|
|||
|
||||
<!-- <xacro:stairs stairs="15" xpos="0" ypos="0" zpos="0" /> -->
|
||||
|
||||
<!-- Rollover Protection mode will add an additional stick on the top, use "true" or "false" to switch it. -->
|
||||
<xacro:property name="rolloverProtection" value="false"/>
|
||||
<!-- 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="$(arg DEBUG)">
|
||||
<!-- <xacro:if value="$(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>
|
||||
</xacro:if> -->
|
||||
|
||||
<link name="base">
|
||||
<visual>
|
||||
|
|
@ -67,37 +67,6 @@
|
|||
</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="${stick_mass / 12.0 * (3*stick_radius*stick_radius + stick_length*stick_length)}"/>
|
||||
</inertial>
|
||||
</link>
|
||||
</xacro:if>
|
||||
|
||||
<joint name="imu_joint" type="fixed">
|
||||
<parent link="trunk"/>
|
||||
<child link="imu_link"/>
|
||||
|
|
@ -125,21 +94,10 @@
|
|||
</collision>
|
||||
</link>
|
||||
|
||||
<xacro:leg name="FR" mirror="-1" mirror_dae="False" front_hind="1" front_hind_dae="True">
|
||||
<origin rpy="0 0 0" xyz="${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} ${leg_offset_y} 0"/>
|
||||
</xacro:leg>
|
||||
<xacro:leg name="FR" mirror="-1" mirror_dae= "False" front_hind="1" front_hind_dae="True" />
|
||||
<xacro:leg name="FL" mirror="1" mirror_dae="True" front_hind="1" front_hind_dae="True" />
|
||||
<xacro:leg name="RR" mirror="-1" mirror_dae="False" front_hind="-1" front_hind_dae="False" />
|
||||
<xacro:leg name="RL" mirror="1" mirror_dae="True" front_hind="-1" front_hind_dae="False" />
|
||||
|
||||
<xacro:depthCamera camID="1" name="face">
|
||||
<origin rpy="${PI} 0 0" xyz="0.2785 0.0125 0.0167"/>
|
||||
|
|
|
|||
|
|
@ -102,7 +102,7 @@
|
|||
<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"/>
|
||||
<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"/>
|
||||
|
|
|
|||
Loading…
Reference in New Issue