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add b2w description

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BDLUO 2024-03-18 16:02:44 +08:00
parent 67ac212449
commit cea22a6f43
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robots/b2w_description/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 2.8.3)
project(b2w_description)
find_package(catkin REQUIRED)
catkin_package()
find_package(roslaunch)
foreach(dir config launch meshes urdf)
install(DIRECTORY ${dir}/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
endforeach(dir)

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robots/b2w_description/README.md Normal file
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## b2w_urdf
This repository contains the urdf model of b2w.
## Build the library
Create a new catkin workspace:
```
# Create the directories
# Do not forget to change <...> parts
mkdir -p <directory_to_ws>/<catkin_ws_name>/src
cd <directory_to_ws>/<catkin_ws_name>/
# Initialize the catkin workspace
catkin init
```
Clone library:
```
# Navigate to the directory of src
# Do not forget to change <...> parts
cd <directory_to_ws>/<catkin_ws_name>/src
git clone git@github.com:unitreerobotics
```
Build:
```
# Build it
catkin build
# Source it
source <directory_to_ws>/<catkin_ws_name>/devel/setup.bash
```
## Run the library
```
# Show urdf model of b2w in Rviz
roslaunch b2w_description display.launch
```
## support issac

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robots/b2w_description/config/b2w.rviz Normal file
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Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
Splitter Ratio: 0.5
Tree Height: 1079
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Name: Time
SyncMode: 0
SyncSource: ""
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
FL_calf:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FL_foot:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FL_hip:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FL_thigh:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FR_calf:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FR_foot:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FR_hip:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FR_thigh:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Link Tree Style: Links in Alphabetic Order
RL_calf:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RL_foot:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RL_hip:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RL_thigh:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RR_calf:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RR_foot:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RR_hip:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RR_thigh:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
f_dc_link:
Alpha: 1
Show Axes: false
Show Trail: false
f_oc_link:
Alpha: 1
Show Axes: false
Show Trail: false
head_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
imu_link:
Alpha: 1
Show Axes: false
Show Trail: false
lidar_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
logo_link:
Alpha: 1
Show Axes: false
Show Trail: false
r_dc_link:
Alpha: 1
Show Axes: false
Show Trail: false
r_oc_ink:
Alpha: 1
Show Axes: false
Show Trail: false
tail_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: base_link
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Theta std deviation: 0.2617993950843811
Topic: /initialpose
X std deviation: 0.5
Y std deviation: 0.5
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 2.1567115783691406
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Field of View: 0.7853981852531433
Focal Point:
X: 0.1668100506067276
Y: 0.024347694590687752
Z: -0.19685064256191254
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.38039839267730713
Target Frame: <Fixed Frame>
Yaw: 1.0103977918624878
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1376
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd000000040000000000000156000004c2fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000004c2000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000004c2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000004c2000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000009b80000003efc0100000002fb0000000800540069006d00650100000000000009b8000003bc00fffffffb0000000800540069006d0065010000000000000450000000000000000000000747000004c200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 2488
X: 72
Y: 27

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controller_joint_names: ['', 'joint_fl_h', 'joint_fl_t', 'joint_fl_c', 'joint_fl_f', 'joint_fr_h', 'joint_fr_t', 'joint_fr_c', 'joint_fr_f', 'joint_rl_h', 'joint_rl_t', 'joint_rl_c', 'joint_rl_f', 'joint_rr_h', 'joint_rr_t', 'rr_c_link', 'rr_f_link', ]

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<launch>
<arg
name="model" />
<param
name="robot_description"
textfile="$(find b2w_description)/urdf/b2w_description.urdf" />
<node
name="joint_state_publisher_gui"
pkg="joint_state_publisher_gui"
type="joint_state_publisher_gui" />
<node
name="robot_state_publisher"
pkg="robot_state_publisher"
type="robot_state_publisher" />
<node
name="rviz"
pkg="rviz"
type="rviz"
args="-d $(find b2w_description)/config/b2w.rviz" />
</launch>

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<launch>
<include
file="$(find gazebo_ros)/launch/empty_world.launch" />
<node
name="tf_footprint_base"
pkg="tf"
type="static_transform_publisher"
args="0 0 0 0 0 0 base_link base_footprint 40" />
<node
name="spawn_model"
pkg="gazebo_ros"
type="spawn_model"
args="-file $(find b2w_description)/urdf/b2w_description.urdf -urdf -model b2w_description"
output="screen" />
<node
name="fake_joint_calibration"
pkg="rostopic"
type="rostopic"
args="pub /calibrated std_msgs/Bool true" />
</launch>

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<package format="2">
<name>b2w_description</name>
<version>1.0.0</version>
<description>
<p>URDF Description package for b2w_description</p>
<p>This package contains configuration data, 3D models and launch files
for b2w_description robot</p>
</description>
<author>TODO</author>
<maintainer email="TODO@email.com" />
<license>BSD</license>
<buildtool_depend>catkin</buildtool_depend>
<depend>roslaunch</depend>
<depend>robot_state_publisher</depend>
<depend>rviz</depend>
<depend>joint_state_publisher_gui</depend>
<depend>gazebo</depend>
<export>
<architecture_independent />
</export>
</package>

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robots/b2w_description/urdf/b2w_description.urdf Normal file
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robots/b2w_description/xacro/const.xacro Executable file
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<?xml version="1.0"?>
<robot name="b2w_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- Constants for robot dimensions -->
<xacro:property name="PI" value="3.1415926535897931"/>
<!-- <xacro:property name="stick_mass" value="0.00001"/> -->
<!-- simplified collision value -->
<xacro:property name="trunk_width" value="0.28"/>
<xacro:property name="trunk_length" value="0.5"/>
<xacro:property name="trunk_height" value="0.15"/>
<xacro:property name="hip_radius" value="0.07"/>
<xacro:property name="hip_length" value="0.05"/>
<!-- <xacro:property name="thigh_shoulder_radius" value="0.044"/>
<xacro:property name="thigh_shoulder_length" value="0.08"/> -->
<xacro:property name="thigh_width" value="0.0455"/>
<xacro:property name="thigh_height" value="0.054"/>
<!-- <xacro:property name="calf_width" value="0.04"/>
<xacro:property name="calf_height" value="0.05"/> -->
<xacro:property name="foot_radius" value="0.04"/>
<!-- <xacro:property name="stick_radius" value="0.01"/>
<xacro:property name="stick_length" value="0.2"/> -->
<!-- kinematic value -->
<xacro:property name="thigh_offset" value="0.11973"/>
<xacro:property name="thigh_length" value="0.32"/>
<xacro:property name="calf_length" value="0.35"/>
<!-- leg offset from trunk center value -->
<xacro:property name="leg_offset_x" value="0.3285"/>
<xacro:property name="leg_offset_y" value="0.072"/>
<!-- <xacro:property name="trunk_offset_z" value="0.0"/> -->
<xacro:property name="hip_offset" value="0.11973"/>
<!-- offset of link and rotor locations (left front) -->
<!-- <xacro:property name="hip_offset_x" value="0.3285"/>
<xacro:property name="hip_offset_y" value="0.072"/>
<xacro:property name="hip_offset_z" value="0.0"/> -->
<xacro:property name="hip_rotor_offset_x" value="0.20205"/>
<xacro:property name="hip_rotor_offset_y" value="0.072"/>
<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="0.11973"/>
<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="0.00798"/>
<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="-0.35"/> -->
<xacro:property name="calf_rotor_offset_x" value="0.0"/>
<xacro:property name="calf_rotor_offset_y" value="-0.05788"/>
<xacro:property name="calf_rotor_offset_z" value="0.0"/>
<!-- joint limits -->
<xacro:property name="damping" value="0"/>
<xacro:property name="friction" value="0"/>
<xacro:property name="hip_position_max" value="0.87"/>
<xacro:property name="hip_position_min" value="-0.87"/>
<xacro:property name="hip_velocity_max" value="23"/>
<xacro:property name="hip_torque_max" value="200"/>
<xacro:property name="thigh_position_max" value="4.69"/>
<xacro:property name="thigh_position_min" value="-94"/>
<xacro:property name="thigh_velocity_max" value="23"/>
<xacro:property name="thigh_torque_max" value="200"/>
<xacro:property name="calf_position_max" value="-0.43"/>
<xacro:property name="calf_position_min" value="-2.82"/>
<xacro:property name="calf_velocity_max" value="14"/>
<xacro:property name="calf_torque_max" value="320"/>
<!-- dynamics inertial value -->
<!-- trunk -->
<xacro:property name="trunk_mass" value="35.606"/>
<xacro:property name="trunk_com_x" value="0.000458"/>
<xacro:property name="trunk_com_y" value="0.005261"/>
<xacro:property name="trunk_com_z" value="0.000665"/>
<xacro:property name="trunk_ixx" value="0.27466"/>
<xacro:property name="trunk_ixy" value="-0.000622"/>
<xacro:property name="trunk_ixz" value="-0.00315"/>
<xacro:property name="trunk_iyy" value="1.0618"/>
<xacro:property name="trunk_iyz" value="-0.00139"/>
<xacro:property name="trunk_izz" value="1.1825"/>
<!-- hip (left front) -->
<xacro:property name="hip_mass" value="2.256"/>
<xacro:property name="hip_com_x" value="-0.009305"/>
<xacro:property name="hip_com_y" value="-0.010228"/>
<xacro:property name="hip_com_z" value="0.000264"/>
<xacro:property name="hip_ixx" value="0.0026431"/>
<xacro:property name="hip_ixy" value="0.00019234"/>
<xacro:property name="hip_ixz" value="-6.76E-06"/>
<xacro:property name="hip_iyy" value="0.0046728"/>
<xacro:property name="hip_iyz" value="-7.16E-06"/>
<xacro:property name="hip_izz" value="0.0034208"/>
<xacro:property name="hip_rotor_mass" value="0.2734"/>
<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="0.000144463"/>
<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="0.000144463"/>
<xacro:property name="hip_rotor_iyz" value="0.0"/>
<xacro:property name="hip_rotor_izz" value="0.000263053"/>
<!-- thigh -->
<xacro:property name="thigh_mass" value="3.591"/>
<xacro:property name="thigh_com_x" value="-0.004346"/>
<xacro:property name="thigh_com_y" value="-0.035797"/>
<xacro:property name="thigh_com_z" value="-0.044921"/>
<xacro:property name="thigh_ixx" value="0.041718"/>
<xacro:property name="thigh_ixy" value="0.00055623"/>
<xacro:property name="thigh_ixz" value="-0.0022768"/>
<xacro:property name="thigh_iyy" value="0.041071"/>
<xacro:property name="thigh_iyz" value="0.005796"/>
<xacro:property name="thigh_izz" value="0.0065677"/>
<xacro:property name="thigh_rotor_mass" value="0.2734"/>
<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="0.000144463"/>
<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="0.000144463"/>
<xacro:property name="thigh_rotor_iyz" value="0.0"/>
<xacro:property name="thigh_rotor_izz" value="0.000263053"/>
<!-- calf -->
<xacro:property name="calf_mass" value="2.053"/>
<xacro:property name="calf_com_x" value="0.006095"/>
<xacro:property name="calf_com_y" value="0.012046"/>
<xacro:property name="calf_com_z" value="-0.29122"/>
<xacro:property name="calf_ixx" value="0.028133"/>
<xacro:property name="calf_ixy" value="0.00016307"/>
<xacro:property name="calf_ixz" value="-0.0010034"/>
<xacro:property name="calf_iyy" value="0.029251"/>
<xacro:property name="calf_iyz" value="0.0014765"/>
<xacro:property name="calf_izz" value="0.0028379"/>
<xacro:property name="calf_rotor_mass" value="0.2734"/>
<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="0.000144463"/>
<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="0.000144463"/>
<xacro:property name="calf_rotor_iyz" value="0.0"/>
<xacro:property name="calf_rotor_izz" value="0.000263053"/>
<!-- foot -->
<xacro:property name="foot_mass" value="0.918"/>
</robot>

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<?xml version="1.0"?>
<robot>
<!-- ros_control plugin -->
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/b2w_gazebo</robotNamespace>
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
</plugin>
</gazebo>
<!-- Show the trajectory of trunk center. -->
<gazebo>
<plugin name="3dplot" filename="libLinkPlot3DPlugin.so">
<frequency>10</frequency>
<plot>
<link>base</link>
<pose>0 0 0 0 0 0</pose>
<material>Gazebo/Yellow</material>
</plot>
</plugin>
</gazebo>
<!-- Show the trajectory of foot. You can add another trajectory about another foot. -->
<!-- <gazebo>
<plugin name="3dplot" filename="libLinkPlot3DPlugin.so">
<frequency>100</frequency>
<plot>
<link>FL_foot</link>
<pose>0 0 0 0 0 0</pose>
<material>Gazebo/Green</material>
</plot>
</plugin>
</gazebo> -->
<gazebo>
<plugin filename="libgazebo_ros_force.so" name="gazebo_ros_force">
<bodyName>trunk</bodyName>
<topicName>/apply_force/trunk</topicName>
</plugin>
</gazebo>
<gazebo reference="imu_link">
<gravity>true</gravity>
<sensor name="imu_sensor" type="imu">
<always_on>true</always_on>
<update_rate>1000</update_rate>
<visualize>true</visualize>
<topic>__default_topic__</topic>
<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
<topicName>trunk_imu</topicName>
<bodyName>imu_link</bodyName>
<updateRateHZ>1000.0</updateRateHZ>
<gaussianNoise>0.0</gaussianNoise>
<xyzOffset>0 0 0</xyzOffset>
<rpyOffset>0 0 0</rpyOffset>
<frameName>imu_link</frameName>
</plugin>
<pose>0 0 0 0 0 0</pose>
</sensor>
</gazebo>
<!-- Foot contacts. -->
<gazebo reference="FR_calf">
<sensor name="FR_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>FR_calf_fixed_joint_lump__FR_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="FL_calf">
<sensor name="FL_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>FL_calf_fixed_joint_lump__FL_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="RR_calf">
<sensor name="RR_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>RR_calf_fixed_joint_lump__RR_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="RL_calf">
<sensor name="RL_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>RL_calf_fixed_joint_lump__RL_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<!-- Visualization of Foot contacts. -->
<!-- <gazebo reference="FR_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>FR_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="FL_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>FL_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="RR_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>RR_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="RL_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>RL_foot_contact</topicName>
</plugin>
</visual>
</gazebo> -->
<gazebo reference="base">
<material>Gazebo/Green</material>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="trunk">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="stick_link">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/White</material>
</gazebo>
<gazebo reference="imu_link">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/Red</material>
</gazebo>
<!-- FL leg -->
<gazebo reference="FL_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<!-- <material>Gazebo/DarkGrey</material> -->
</gazebo>
<gazebo reference="FL_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<!-- <material>Gazebo/DarkGrey</material> -->
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="FL_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="FL_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<!-- <material>Gazebo/DarkGrey</material> -->
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- FR leg -->
<gazebo reference="FR_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<!-- <material>Gazebo/DarkGrey</material> -->
</gazebo>
<gazebo reference="FR_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<!-- <material>Gazebo/DarkGrey</material> -->
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="FR_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="FR_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<!-- <material>Gazebo/DarkGrey</material> -->
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- RL leg -->
<gazebo reference="RL_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<!-- <material>Gazebo/DarkGrey</material> -->
</gazebo>
<gazebo reference="RL_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<!-- <material>Gazebo/DarkGrey</material> -->
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="RL_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="RL_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<!-- <material>Gazebo/DarkGrey</material> -->
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- RR leg -->
<gazebo reference="RR_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<!-- <material>Gazebo/DarkGrey</material> -->
</gazebo>
<gazebo reference="RR_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<!-- <material>Gazebo/DarkGrey</material> -->
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="RR_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="RR_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<!-- <material>Gazebo/DarkGrey</material> -->
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
</robot>

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robots/b2w_description/xacro/leg.xacro Executable file
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find b2w_description)/xacro/transmission.xacro"/>
<xacro:macro name="leg" params="name mirror mirror_dae front_hind front_hind_dae">
<joint name="${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>
<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)}">
<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} ${PI} 0" xyz="0 0 0"/>
</xacro:if>
<geometry>
<mesh filename="package://b2w_description/meshes/hip.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="${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>
<link name="${name}_hip_rotor">
<visual>
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.05"/>
</geometry>
<material name="green"/>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="${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">
<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="${thigh_position_max}"/>
</joint>
<joint name="${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">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<xacro:if value="${mirror_dae == True}">
<mesh filename="package://b2w_description/meshes/thigh.dae" scale="1 1 1"/>
</xacro:if>
<xacro:if value="${mirror_dae == False}">
<mesh filename="package://b2w_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="-0.025 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>
<link name="${name}_thigh_rotor">
<visual>
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.05"/>
</geometry>
<material name="green"/>
</visual>
<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_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">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<xacro:if value="${mirror_dae == True}">
<mesh filename="package://b2w_description/meshes/thigh.dae" scale="1 1 1"/>
</xacro:if>
<xacro:if value="${mirror_dae == False}">
<mesh filename="package://b2w_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
</xacro:if>
</geometry>
<material name="orange"/>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<xacro:if value="${mirror_dae == True}">
<mesh filename="package://b2w_description/meshes/calf.dae" scale="1 1 1"/>
</xacro:if>
<xacro:if value="${mirror_dae == False}">
<mesh filename="package://b2w_description/meshes/calf_mirror.dae" scale="1 1 1"/>
</xacro:if>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 1.2 0" xyz="-0.002 0 -0.03"/>
<geometry>
<box size="0.1 0.0245 0.018"/>
</geometry>
</collision>
<collision>
<origin rpy="0 1.35 0" xyz="0.022 0 -0.1"/>
<geometry>
<box size="0.1 0.0245 0.018"/>
</geometry>
</collision>
<collision>
<origin rpy="0 1.53 0" xyz="0.036 0 -0.225"/>
<geometry>
<box size="0.15 0.0245 0.015"/>
</geometry>
</collision>
<collision>
<origin rpy="0 2 0" xyz="0.023 0 -0.31"/>
<geometry>
<box size="0.05 0.028 0.035"/>
</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>
<link name="${name}_calf_rotor">
<visual>
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.05"/>
</geometry>
<material name="green"/>
</visual>
<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="1.57 0 0" xyz="0 0 ${-(calf_length)}"/>
<parent link="${name}_calf"/>
<child link="${name}_foot"/>
</joint>
<link name="${name}_foot">
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<sphere radius="0.032" />
</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>

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robots/b2w_description/xacro/materials.xacro Executable file
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<?xml version="1.0"?>
<robot>
<material name="black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<material name="green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>
<material name="grey">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
<material name="silver">
<color rgba="${233/255} ${233/255} ${216/255} 1.0"/>
</material>
<material name="orange">
<color rgba="${255/255} ${108/255} ${10/255} 1.0"/>
</material>
<material name="brown">
<color rgba="${222/255} ${207/255} ${195/255} 1.0"/>
</material>
<material name="red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="white">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
</robot>

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robots/b2w_description/xacro/robot.xacro Executable file
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<?xml version="1.0"?>
<robot name="b2w_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find b2w_description)/xacro/const.xacro"/>
<xacro:include filename="$(find b2w_description)/xacro/materials.xacro"/>
<xacro:include filename="$(find b2w_description)/xacro/leg.xacro"/>
<xacro:include filename="$(find b2w_description)/xacro/gazebo.xacro"/>
<!-- 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="$(arg DEBUG)">
<link name="world"/>
<joint name="base_static_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="world"/>
<child link="base"/>
</joint>
</xacro:if>
<link name="base">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
</visual>
</link>
<joint name="floating_base" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base"/>
<child link="trunk"/>
</joint>
<link name="trunk">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://b2w_description/meshes/trunk.dae" scale="1 1 1"/>
</geometry>
<!-- <material name="orange"/> -->
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="${trunk_length} ${trunk_width} ${trunk_height}"/>
</geometry>
</collision>
<!-- <collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://b1_description/meshes/trunk.dae" scale="1 1 1"/>
</geometry>
</collision> -->
<inertial>
<origin rpy="0 0 0" xyz="${trunk_com_x} ${trunk_com_y} ${trunk_com_z}"/>
<mass value="${trunk_mass}"/>
<inertia
ixx="${trunk_ixx}" ixy="${trunk_ixy}" ixz="${trunk_ixz}"
iyy="${trunk_iyy}" iyz="${trunk_iyz}"
izz="${trunk_izz}"/>
</inertial>
</link>
<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="head_joint" type="fixed">
<parent link="trunk"/>
<child link="head_Link"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<link name="head_Link">
<inertial>
<origin rpy="0 0 0" xyz="0.33989 -0.000168 0.12029"/>
<mass value="3.366" />
<inertia
ixx="0.026455"
ixy="3.15E-05"
ixz="0.00166"
iyy="0.029221"
iyz="-3.27E-05"
izz="0.010918" />
</inertial>
<collision>
<origin rpy="0 0 0" xyz="0.41 0 0.005"/>
<geometry>
<box size="0.04 0.12 0.14" />
</geometry>
</collision>
</link>
<joint name="lidar_joint" type="fixed">
<parent link="trunk"/>
<child link="lidar_link"/>
<origin rpy="0 0 0" xyz="0.34218 0 0.17851"/>
</joint>
<link name="lidar_link">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="6.55E-08" />
<inertia
ixx="1.64E-15"
ixy="0"
ixz="-1.09E-47"
iyy="1.64E-15"
iyz="-1.32E-47"
izz="1.64E-15" />
</inertial>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.02"/>
<geometry>
<cylinder length="0.16" radius="0.076" />
</geometry>
</collision>
</link>
<joint name="tail_joint" type="fixed">
<parent link="trunk"/>
<child link="tail_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<link name="tail_link">
<inertial>
<origin rpy="0 0 0" xyz="-0.37448 0.000488 0.006495"/>
<mass value="0.777" />
<inertia
ixx="0.0028118"
ixy="1.95E-05"
ixz="-7.87E-06"
iyy="0.0047506"
iyz="-1.57E-05"
izz="0.0029154" />
</inertial>
<collision>
<origin rpy="0 0 0" xyz="-0.405 0 0.005"/>
<geometry>
<box size="0.025 0.12 0.14" />
</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" />
<!-- <xacro:stairs stairs="15" xpos="0" ypos="2.0" zpos="0" /> -->
</robot>

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robots/b2w_description/xacro/stairs.xacro Executable file
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:property name="stair_length" value="0.640" />
<xacro:property name="stair_width" value="0.310" />
<xacro:property name="stair_height" value="0.170" />
<xacro:macro name="stairs" params="stairs xpos ypos zpos">
<joint name="stair_joint_origin" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="world"/>
<child link="stair_link_${stairs}"/>
</joint>
<link name="stair_link_${stairs}">
<visual>
<geometry>
<box size="${stair_length} ${stair_width} ${stair_height}"/>
</geometry>
<material name="grey"/>
<origin rpy="0 0 0" xyz="${xpos} ${ypos} ${zpos}"/>
</visual>
<collision>
<geometry>
<box size="${stair_length} ${stair_width} ${stair_height}"/>
</geometry>
</collision>
<inertial>
<mass value="0.80"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
</link>
<xacro:if value="${stairs}">
<xacro:stairs stairs="${stairs-1}" xpos="0" ypos="${ypos-stair_width/2}" zpos="${zpos+stair_height}"/>
<joint name="stair_joint_${stairs}" type="fixed">
<parent link="stair_link_${stairs}"/>
<child link="stair_link_${stairs-1}"/>
</joint>
</xacro:if>
</xacro:macro>
</robot>

42
robots/b2w_description/xacro/transmission.xacro Executable file
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<?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>