modified urdf file by xacro
This commit is contained in:
Bian Zekun
parent
19de084873
commit
d8c05bfd00
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@ -1,9 +1,21 @@
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<?xml version="1.0" ?>
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<?xml version="1.0" encoding="utf-8"?>
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<!-- =================================================================================== -->
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<!-- | This document was autogenerated by xacro from robot.xacro | -->
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<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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<!-- =================================================================================== -->
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<robot name="a1_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
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<robot name="a1_description">
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<!-- dynamics inertial value -->
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<!-- trunk -->
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<!-- <xacro:property name="trunk_mass" value="5.660"/>
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<xacro:property name="trunk_com_x" value="0.012731"/>
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<xacro:property name="trunk_com_y" value="0.002186"/>
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<xacro:property name="trunk_com_z" value="0.000515"/>
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<xacro:property name="trunk_ixx" value="0.016839930"/>
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<xacro:property name="trunk_ixy" value="0.000083902"/>
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<xacro:property name="trunk_ixz" value="0.000597679"/>
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<xacro:property name="trunk_iyy" value="0.056579028"/>
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<xacro:property name="trunk_iyz" value="0.000025134"/>
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<xacro:property name="trunk_izz" value="0.064713601"/> -->
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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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@ -31,6 +43,265 @@
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<material name="white">
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<color rgba="1.0 1.0 1.0 1.0"/>
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</material>
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<!-- ros_control plugin -->
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<gazebo>
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<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
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<robotNamespace>/a1_gazebo</robotNamespace>
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<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
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</plugin>
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</gazebo>
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<!-- Show the trajectory of trunk center. -->
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<gazebo>
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<plugin filename="libLinkPlot3DPlugin.so" name="3dplotTrunk">
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<frequency>10</frequency>
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<plot>
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<link>base</link>
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<pose>0 0 0 0 0 0</pose>
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<material>Gazebo/Yellow</material>
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</plot>
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</plugin>
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</gazebo>
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<!-- Show the trajectory of foot. You can add another trajectory about another foot. -->
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<gazebo>
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<plugin filename="libLinkPlot3DPlugin.so" name="3dplot">
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<frequency>1000</frequency>
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<plot>
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<link>FR_calf</link>
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<pose>0 0 -0.2 0 0 0</pose>
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<material>Gazebo/Yellow</material>
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</plot>
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</plugin>
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</gazebo>
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<gazebo>
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<plugin filename="libgazebo_ros_force.so" name="gazebo_ros_force">
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<bodyName>trunk</bodyName>
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<topicName>/apply_force/trunk</topicName>
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</plugin>
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</gazebo>
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<gazebo reference="imu_link">
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<gravity>true</gravity>
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<sensor name="imu_sensor" type="imu">
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<always_on>true</always_on>
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<update_rate>1000</update_rate>
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<visualize>true</visualize>
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<topic>__default_topic__</topic>
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<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
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<topicName>trunk_imu</topicName>
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<bodyName>imu_link</bodyName>
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<updateRateHZ>1000.0</updateRateHZ>
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<gaussianNoise>0.0</gaussianNoise>
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<xyzOffset>0 0 0</xyzOffset>
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<rpyOffset>0 0 0</rpyOffset>
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<frameName>imu_link</frameName>
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</plugin>
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<pose>0 0 0 0 0 0</pose>
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</sensor>
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</gazebo>
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<!-- Foot contacts. -->
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<gazebo reference="FR_calf">
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<sensor name="FR_foot_contact" type="contact">
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<update_rate>100</update_rate>
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<plugin filename="libunitreeFootContactPlugin.so" name="contactPlugin"/>
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<contact>
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<collision>FR_calf_fixed_joint_lump__FR_foot_collision_1</collision>
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</contact>
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</sensor>
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</gazebo>
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<gazebo reference="FL_calf">
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<sensor name="FL_foot_contact" type="contact">
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<update_rate>100</update_rate>
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<plugin filename="libunitreeFootContactPlugin.so" name="contactPlugin"/>
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<contact>
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<collision>FL_calf_fixed_joint_lump__FL_foot_collision_1</collision>
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</contact>
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</sensor>
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</gazebo>
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<gazebo reference="RR_calf">
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<sensor name="RR_foot_contact" type="contact">
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<update_rate>100</update_rate>
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<plugin filename="libunitreeFootContactPlugin.so" name="contactPlugin"/>
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<contact>
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<collision>RR_calf_fixed_joint_lump__RR_foot_collision_1</collision>
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</contact>
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</sensor>
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</gazebo>
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<gazebo reference="RL_calf">
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<sensor name="RL_foot_contact" type="contact">
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<update_rate>100</update_rate>
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<plugin filename="libunitreeFootContactPlugin.so" name="contactPlugin"/>
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<contact>
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<collision>RL_calf_fixed_joint_lump__RL_foot_collision_1</collision>
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</contact>
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</sensor>
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</gazebo>
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<!-- Visualization of Foot contacts. -->
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<gazebo reference="FR_foot">
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<visual>
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<plugin filename="libunitreeDrawForcePlugin.so" name="drawForcePlugin">
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<topicName>FR_foot_contact</topicName>
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</plugin>
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</visual>
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</gazebo>
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<gazebo reference="FL_foot">
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<visual>
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<plugin filename="libunitreeDrawForcePlugin.so" name="drawForcePlugin">
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<topicName>FL_foot_contact</topicName>
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</plugin>
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</visual>
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</gazebo>
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<gazebo reference="RR_foot">
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<visual>
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<plugin filename="libunitreeDrawForcePlugin.so" name="drawForcePlugin">
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<topicName>RR_foot_contact</topicName>
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</plugin>
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</visual>
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</gazebo>
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<gazebo reference="RL_foot">
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<visual>
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<plugin filename="libunitreeDrawForcePlugin.so" name="drawForcePlugin">
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<topicName>RL_foot_contact</topicName>
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</plugin>
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</visual>
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</gazebo>
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<gazebo reference="base">
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<material>Gazebo/Green</material>
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<turnGravityOff>false</turnGravityOff>
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</gazebo>
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<gazebo reference="trunk">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<kp value="1000000.0"/>
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<kd value="1.0"/>
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</gazebo>
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<gazebo reference="stick_link">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<material>Gazebo/White</material>
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</gazebo>
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<gazebo reference="imu_link">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<material>Gazebo/Red</material>
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</gazebo>
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<!-- FL leg -->
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<gazebo reference="FL_hip">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<material>Gazebo/DarkGrey</material>
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</gazebo>
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<gazebo reference="FL_thigh">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<self_collide>1</self_collide>
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<material>Gazebo/DarkGrey</material>
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<kp value="1000000.0"/>
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<kd value="1.0"/>
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</gazebo>
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<gazebo reference="FL_calf">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<self_collide>1</self_collide>
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</gazebo>
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<gazebo reference="FL_foot">
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<mu1>0.6</mu1>
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<mu2>0.6</mu2>
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<self_collide>1</self_collide>
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<material>Gazebo/DarkGrey</material>
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<kp value="1000000.0"/>
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<kd value="1.0"/>
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</gazebo>
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<!-- FR leg -->
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<gazebo reference="FR_hip">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<material>Gazebo/DarkGrey</material>
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</gazebo>
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<gazebo reference="FR_thigh">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<self_collide>1</self_collide>
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<material>Gazebo/DarkGrey</material>
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<kp value="1000000.0"/>
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<kd value="1.0"/>
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</gazebo>
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<gazebo reference="FR_calf">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<self_collide>1</self_collide>
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</gazebo>
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<gazebo reference="FR_foot">
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<mu1>0.6</mu1>
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<mu2>0.6</mu2>
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<self_collide>1</self_collide>
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<material>Gazebo/DarkGrey</material>
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<kp value="1000000.0"/>
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<kd value="1.0"/>
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</gazebo>
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<!-- RL leg -->
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<gazebo reference="RL_hip">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<material>Gazebo/DarkGrey</material>
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</gazebo>
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<gazebo reference="RL_thigh">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<self_collide>1</self_collide>
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<material>Gazebo/DarkGrey</material>
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<kp value="1000000.0"/>
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<kd value="1.0"/>
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</gazebo>
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<gazebo reference="RL_calf">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<self_collide>1</self_collide>
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</gazebo>
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<gazebo reference="RL_foot">
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<mu1>0.6</mu1>
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<mu2>0.6</mu2>
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<self_collide>1</self_collide>
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<material>Gazebo/DarkGrey</material>
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<kp value="1000000.0"/>
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<kd value="1.0"/>
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</gazebo>
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<!-- RR leg -->
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<gazebo reference="RR_hip">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<material>Gazebo/DarkGrey</material>
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</gazebo>
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<gazebo reference="RR_thigh">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<self_collide>1</self_collide>
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<material>Gazebo/DarkGrey</material>
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<kp value="1000000.0"/>
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<kd value="1.0"/>
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</gazebo>
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<gazebo reference="RR_calf">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<self_collide>1</self_collide>
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</gazebo>
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<gazebo reference="RR_foot">
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<mu1>0.6</mu1>
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<mu2>0.6</mu2>
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<self_collide>1</self_collide>
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<material>Gazebo/DarkGrey</material>
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<kp value="1000000.0"/>
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<kd value="1.0"/>
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</gazebo>
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<!-- <xacro:include filename="$(find a1_gazebo)/launch/stairs.urdf.xacro"/> -->
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<!-- <xacro:stairs stairs="15" xpos="0" ypos="0" zpos="0" /> -->
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<!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
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<!-- <xacro:if value="$(arg DEBUG)">
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<link name="world"/>
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<joint name="base_static_joint" type="fixed">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<parent link="world"/>
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<child link="base"/>
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</joint>
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</xacro:if> -->
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<link name="base">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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@ -59,9 +330,9 @@
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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="0.012731 0.002186 0.000515"/>
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<mass value="4.713"/>
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<inertia ixx="0.01683993" ixy="8.3902e-05" ixz="0.000597679" iyy="0.056579028" iyz="2.5134e-05" izz="0.064713601"/>
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<origin rpy="0 0 0" xyz="0.0 0.0041 -0.0005"/>
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<mass value="6.0"/>
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<inertia ixx="0.0158533" ixy="-3.66e-05" ixz="-6.11e-05" iyy="0.0377999" iyz="-2.75e-05" izz="0.0456542"/>
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</inertial>
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</link>
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<joint name="imu_joint" type="fixed">
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@ -90,12 +361,12 @@
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</collision>
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</link>
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<joint name="FR_hip_joint" type="revolute">
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<origin rpy="0 0 0" xyz="0.183 -0.047 0"/>
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<origin rpy="0 0 0" xyz="0.1805 -0.047 0"/>
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<parent link="trunk"/>
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<child link="FR_hip"/>
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<axis xyz="1 0 0"/>
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<dynamics damping="0" friction="0"/>
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<limit effort="20" lower="-0.802851455917" upper="0.802851455917" velocity="52.4"/>
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<dynamics damping="0.01" friction="0.2"/>
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<limit effort="33.5" lower="-0.802851455917" upper="0.802851455917" velocity="21"/>
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</joint>
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<link name="FR_hip">
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<visual>
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@ -132,12 +403,12 @@
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</collision>
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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 -0.08505 0"/>
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<origin rpy="0 0 0" xyz="0 -0.0838 0"/>
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<parent link="FR_hip"/>
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<child link="FR_thigh"/>
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<axis xyz="0 1 0"/>
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<dynamics damping="0" friction="0"/>
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<limit effort="55" lower="-1.0471975512" upper="4.18879020479" velocity="28.6"/>
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<dynamics damping="0.01" friction="0.2"/>
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<limit effort="33.5" lower="-1.0471975512" upper="4.18879020479" velocity="21"/>
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</joint>
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<link name="FR_thigh">
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<visual>
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@ -164,8 +435,8 @@
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<parent link="FR_thigh"/>
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<child link="FR_calf"/>
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<axis xyz="0 1 0"/>
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<dynamics damping="0" friction="0"/>
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<limit effort="55" lower="-2.69653369433" upper="-0.916297857297" velocity="28.6"/>
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<dynamics damping="0.01" friction="0.2"/>
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<limit effort="33.5" lower="-2.69653369433" upper="-0.916297857297" velocity="21"/>
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</joint>
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<link name="FR_calf">
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<visual>
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@ -242,12 +513,12 @@
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</actuator>
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</transmission>
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<joint name="FL_hip_joint" type="revolute">
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<origin rpy="0 0 0" xyz="0.183 0.047 0"/>
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<origin rpy="0 0 0" xyz="0.1805 0.047 0"/>
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<parent link="trunk"/>
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<child link="FL_hip"/>
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<axis xyz="1 0 0"/>
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<dynamics damping="0" friction="0"/>
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<limit effort="20" lower="-0.802851455917" upper="0.802851455917" velocity="52.4"/>
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<dynamics damping="0.01" friction="0.2"/>
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<limit effort="33.5" lower="-0.802851455917" upper="0.802851455917" velocity="21"/>
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</joint>
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<link name="FL_hip">
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<visual>
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@ -284,12 +555,12 @@
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</collision>
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</link>
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<joint name="FL_thigh_joint" type="revolute">
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<origin rpy="0 0 0" xyz="0 0.08505 0"/>
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<origin rpy="0 0 0" xyz="0 0.0838 0"/>
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<parent link="FL_hip"/>
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<child link="FL_thigh"/>
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<axis xyz="0 1 0"/>
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<dynamics damping="0" friction="0"/>
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<limit effort="55" lower="-1.0471975512" upper="4.18879020479" velocity="28.6"/>
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<dynamics damping="0.01" friction="0.2"/>
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<limit effort="33.5" lower="-1.0471975512" upper="4.18879020479" velocity="21"/>
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</joint>
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<link name="FL_thigh">
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<visual>
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@ -316,8 +587,8 @@
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<parent link="FL_thigh"/>
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<child link="FL_calf"/>
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<axis xyz="0 1 0"/>
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<dynamics damping="0" friction="0"/>
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<limit effort="55" lower="-2.69653369433" upper="-0.916297857297" velocity="28.6"/>
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<dynamics damping="0.01" friction="0.2"/>
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<limit effort="33.5" lower="-2.69653369433" upper="-0.916297857297" velocity="21"/>
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</joint>
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<link name="FL_calf">
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<visual>
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@ -394,12 +665,12 @@
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</actuator>
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</transmission>
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<joint name="RR_hip_joint" type="revolute">
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<origin rpy="0 0 0" xyz="-0.183 -0.047 0"/>
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<origin rpy="0 0 0" xyz="-0.1805 -0.047 0"/>
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<parent link="trunk"/>
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<child link="RR_hip"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
<limit effort="20" lower="-0.802851455917" upper="0.802851455917" velocity="52.4"/>
|
||||
<dynamics damping="0.01" friction="0.2"/>
|
||||
<limit effort="33.5" lower="-0.802851455917" upper="0.802851455917" velocity="21"/>
|
||||
</joint>
|
||||
<link name="RR_hip">
|
||||
<visual>
|
||||
|
|
@ -436,12 +707,12 @@
|
|||
</collision>
|
||||
</link>
|
||||
<joint name="RR_thigh_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 -0.08505 0"/>
|
||||
<origin rpy="0 0 0" xyz="0 -0.0838 0"/>
|
||||
<parent link="RR_hip"/>
|
||||
<child link="RR_thigh"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
<limit effort="55" lower="-1.0471975512" upper="4.18879020479" velocity="28.6"/>
|
||||
<dynamics damping="0.01" friction="0.2"/>
|
||||
<limit effort="33.5" lower="-1.0471975512" upper="4.18879020479" velocity="21"/>
|
||||
</joint>
|
||||
<link name="RR_thigh">
|
||||
<visual>
|
||||
|
|
@ -468,8 +739,8 @@
|
|||
<parent link="RR_thigh"/>
|
||||
<child link="RR_calf"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
<limit effort="55" lower="-2.69653369433" upper="-0.916297857297" velocity="28.6"/>
|
||||
<dynamics damping="0.01" friction="0.2"/>
|
||||
<limit effort="33.5" lower="-2.69653369433" upper="-0.916297857297" velocity="21"/>
|
||||
</joint>
|
||||
<link name="RR_calf">
|
||||
<visual>
|
||||
|
|
@ -546,12 +817,12 @@
|
|||
</actuator>
|
||||
</transmission>
|
||||
<joint name="RL_hip_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="-0.183 0.047 0"/>
|
||||
<origin rpy="0 0 0" xyz="-0.1805 0.047 0"/>
|
||||
<parent link="trunk"/>
|
||||
<child link="RL_hip"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
<limit effort="20" lower="-0.802851455917" upper="0.802851455917" velocity="52.4"/>
|
||||
<dynamics damping="0.01" friction="0.2"/>
|
||||
<limit effort="33.5" lower="-0.802851455917" upper="0.802851455917" velocity="21"/>
|
||||
</joint>
|
||||
<link name="RL_hip">
|
||||
<visual>
|
||||
|
|
@ -588,12 +859,12 @@
|
|||
</collision>
|
||||
</link>
|
||||
<joint name="RL_thigh_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 0.08505 0"/>
|
||||
<origin rpy="0 0 0" xyz="0 0.0838 0"/>
|
||||
<parent link="RL_hip"/>
|
||||
<child link="RL_thigh"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
<limit effort="55" lower="-1.0471975512" upper="4.18879020479" velocity="28.6"/>
|
||||
<dynamics damping="0.01" friction="0.2"/>
|
||||
<limit effort="33.5" lower="-1.0471975512" upper="4.18879020479" velocity="21"/>
|
||||
</joint>
|
||||
<link name="RL_thigh">
|
||||
<visual>
|
||||
|
|
@ -620,8 +891,8 @@
|
|||
<parent link="RL_thigh"/>
|
||||
<child link="RL_calf"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
<limit effort="55" lower="-2.69653369433" upper="-0.916297857297" velocity="28.6"/>
|
||||
<dynamics damping="0.01" friction="0.2"/>
|
||||
<limit effort="33.5" lower="-2.69653369433" upper="-0.916297857297" velocity="21"/>
|
||||
</joint>
|
||||
<link name="RL_calf">
|
||||
<visual>
|
||||
|
|
@ -697,5 +968,6 @@
|
|||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<!-- <xacro:stairs stairs="15" xpos="0" ypos="2.0" zpos="0" /> -->
|
||||
</robot>
|
||||
|
||||
|
|
|
|||
|
|
@ -1,9 +1,9 @@
|
|||
<?xml version="1.0" ?>
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from robot.xacro | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<robot name="aliengo_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<robot name="aliengo_description">
|
||||
<material name="black">
|
||||
<color rgba="0.0 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
|
|
@ -31,7 +31,254 @@
|
|||
<material name="white">
|
||||
<color rgba="1.0 1.0 1.0 1.0"/>
|
||||
</material>
|
||||
<!-- <xacro:include filename="$(find aliengo_gazebo)/launch/gazebo.xacro"/> -->
|
||||
<!-- ros_control plugin -->
|
||||
<gazebo>
|
||||
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
|
||||
<robotNamespace>/aliengo_gazebo</robotNamespace>
|
||||
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
|
||||
</plugin>
|
||||
</gazebo>
|
||||
<!-- Show the trajectory of trunk center. -->
|
||||
<gazebo>
|
||||
<plugin filename="libLinkPlot3DPlugin.so" name="3dplot">
|
||||
<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 filename="libunitreeFootContactPlugin.so" name="contactPlugin"/>
|
||||
<contact>
|
||||
<collision>FR_calf_fixed_joint_lump__FR_foot_collision_1</collision>
|
||||
</contact>
|
||||
</sensor>
|
||||
</gazebo>
|
||||
<gazebo reference="FL_calf">
|
||||
<sensor name="FL_foot_contact" type="contact">
|
||||
<update_rate>100</update_rate>
|
||||
<plugin filename="libunitreeFootContactPlugin.so" name="contactPlugin"/>
|
||||
<contact>
|
||||
<collision>FL_calf_fixed_joint_lump__FL_foot_collision_1</collision>
|
||||
</contact>
|
||||
</sensor>
|
||||
</gazebo>
|
||||
<gazebo reference="RR_calf">
|
||||
<sensor name="RR_foot_contact" type="contact">
|
||||
<update_rate>100</update_rate>
|
||||
<plugin filename="libunitreeFootContactPlugin.so" name="contactPlugin"/>
|
||||
<contact>
|
||||
<collision>RR_calf_fixed_joint_lump__RR_foot_collision_1</collision>
|
||||
</contact>
|
||||
</sensor>
|
||||
</gazebo>
|
||||
<gazebo reference="RL_calf">
|
||||
<sensor name="RL_foot_contact" type="contact">
|
||||
<update_rate>100</update_rate>
|
||||
<plugin filename="libunitreeFootContactPlugin.so" name="contactPlugin"/>
|
||||
<contact>
|
||||
<collision>RL_calf_fixed_joint_lump__RL_foot_collision_1</collision>
|
||||
</contact>
|
||||
</sensor>
|
||||
</gazebo>
|
||||
<!-- Visualization of Foot contacts. -->
|
||||
<gazebo reference="FR_foot">
|
||||
<visual>
|
||||
<plugin filename="libunitreeDrawForcePlugin.so" name="drawForcePlugin">
|
||||
<topicName>FR_foot_contact</topicName>
|
||||
</plugin>
|
||||
</visual>
|
||||
</gazebo>
|
||||
<gazebo reference="FL_foot">
|
||||
<visual>
|
||||
<plugin filename="libunitreeDrawForcePlugin.so" name="drawForcePlugin">
|
||||
<topicName>FL_foot_contact</topicName>
|
||||
</plugin>
|
||||
</visual>
|
||||
</gazebo>
|
||||
<gazebo reference="RR_foot">
|
||||
<visual>
|
||||
<plugin filename="libunitreeDrawForcePlugin.so" name="drawForcePlugin">
|
||||
<topicName>RR_foot_contact</topicName>
|
||||
</plugin>
|
||||
</visual>
|
||||
</gazebo>
|
||||
<gazebo reference="RL_foot">
|
||||
<visual>
|
||||
<plugin filename="libunitreeDrawForcePlugin.so" name="drawForcePlugin">
|
||||
<topicName>RL_foot_contact</topicName>
|
||||
</plugin>
|
||||
</visual>
|
||||
</gazebo>
|
||||
<gazebo reference="base">
|
||||
<material>Gazebo/Green</material>
|
||||
<turnGravityOff>false</turnGravityOff>
|
||||
</gazebo>
|
||||
<gazebo reference="trunk">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<kp value="1000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
</gazebo>
|
||||
<gazebo reference="stick_link">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<material>Gazebo/White</material>
|
||||
</gazebo>
|
||||
<gazebo reference="imu_link">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<material>Gazebo/Red</material>
|
||||
</gazebo>
|
||||
<!-- FL leg -->
|
||||
<gazebo reference="FL_hip">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<material>Gazebo/DarkGrey</material>
|
||||
</gazebo>
|
||||
<gazebo reference="FL_thigh">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<self_collide>1</self_collide>
|
||||
<material>Gazebo/DarkGrey</material>
|
||||
<kp value="1000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
</gazebo>
|
||||
<gazebo reference="FL_calf">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<self_collide>1</self_collide>
|
||||
</gazebo>
|
||||
<gazebo reference="FL_foot">
|
||||
<mu1>0.6</mu1>
|
||||
<mu2>0.6</mu2>
|
||||
<self_collide>1</self_collide>
|
||||
<material>Gazebo/DarkGrey</material>
|
||||
<kp value="1000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
</gazebo>
|
||||
<!-- FR leg -->
|
||||
<gazebo reference="FR_hip">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<material>Gazebo/DarkGrey</material>
|
||||
</gazebo>
|
||||
<gazebo reference="FR_thigh">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<self_collide>1</self_collide>
|
||||
<material>Gazebo/DarkGrey</material>
|
||||
<kp value="1000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
</gazebo>
|
||||
<gazebo reference="FR_calf">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<self_collide>1</self_collide>
|
||||
</gazebo>
|
||||
<gazebo reference="FR_foot">
|
||||
<mu1>0.6</mu1>
|
||||
<mu2>0.6</mu2>
|
||||
<self_collide>1</self_collide>
|
||||
<material>Gazebo/DarkGrey</material>
|
||||
<kp value="1000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
</gazebo>
|
||||
<!-- RL leg -->
|
||||
<gazebo reference="RL_hip">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<material>Gazebo/DarkGrey</material>
|
||||
</gazebo>
|
||||
<gazebo reference="RL_thigh">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<self_collide>1</self_collide>
|
||||
<material>Gazebo/DarkGrey</material>
|
||||
<kp value="1000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
</gazebo>
|
||||
<gazebo reference="RL_calf">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<self_collide>1</self_collide>
|
||||
</gazebo>
|
||||
<gazebo reference="RL_foot">
|
||||
<mu1>0.6</mu1>
|
||||
<mu2>0.6</mu2>
|
||||
<self_collide>1</self_collide>
|
||||
<material>Gazebo/DarkGrey</material>
|
||||
<kp value="1000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
</gazebo>
|
||||
<!-- RR leg -->
|
||||
<gazebo reference="RR_hip">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<material>Gazebo/DarkGrey</material>
|
||||
</gazebo>
|
||||
<gazebo reference="RR_thigh">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<self_collide>1</self_collide>
|
||||
<material>Gazebo/DarkGrey</material>
|
||||
<kp value="1000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
</gazebo>
|
||||
<gazebo reference="RR_calf">
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<self_collide>1</self_collide>
|
||||
</gazebo>
|
||||
<gazebo reference="RR_foot">
|
||||
<mu1>0.6</mu1>
|
||||
<mu2>0.6</mu2>
|
||||
<self_collide>1</self_collide>
|
||||
<material>Gazebo/DarkGrey</material>
|
||||
<kp value="1000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
</gazebo>
|
||||
<!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
|
||||
<!-- <xacro:if value="$(arg DEBUG)">
|
||||
<link name="world"/>
|
||||
|
|
|
|||
Loading…
Reference in New Issue