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reconfirm Aliengo inertial params

This commit is contained in:
TrivasZhang 2022-11-16 20:18:58 +08:00
parent e02c996261
commit fc15975b28
5 changed files with 638 additions and 214 deletions
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84
robots/aliengo_description/launch/check_joint.rviz
View File

@ -5,8 +5,9 @@ Panels:
Property Tree Widget:
Expanded:
- /Global Options1
- /RobotModel1
Splitter Ratio: 0.5
Tree Height: 420
Tree Height: 398
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
@ -22,10 +23,13 @@ Panels:
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
@ -47,7 +51,7 @@ Visualization Manager:
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
- Alpha: 0.5
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
@ -61,6 +65,11 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
FL_calf_rotor:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FL_foot:
Alpha: 1
Show Axes: false
@ -71,16 +80,31 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
FL_hip_rotor:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FL_thigh:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FL_thigh_rotor:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FR_calf:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FR_calf_rotor:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FR_foot:
Alpha: 1
Show Axes: false
@ -91,17 +115,32 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
FR_hip_rotor:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FR_thigh:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FR_thigh_rotor:
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_calf_rotor:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RL_foot:
Alpha: 1
Show Axes: false
@ -112,16 +151,31 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
RL_hip_rotor:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RL_thigh:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RL_thigh_rotor:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RR_calf:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RR_calf_rotor:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RR_foot:
Alpha: 1
Show Axes: false
@ -132,11 +186,21 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
RR_hip_rotor:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RR_thigh:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RR_thigh_rotor:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base:
Alpha: 1
Show Axes: false
@ -158,18 +222,21 @@ Visualization Manager:
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz/Axes
- Alpha: 1
Class: rviz/Axes
Enabled: false
Length: 1
Name: Axes
Radius: 0.10000000149011612
Reference Frame: <Fixed Frame>
Show Trail: false
Value: false
- Class: rviz/TF
Enabled: false
Frame Timeout: 15
Frames:
All Enabled: true
Marker Alpha: 1
Marker Scale: 1
Name: TF
Show Arrows: true
@ -194,7 +261,10 @@ Visualization Manager:
- 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
@ -210,6 +280,7 @@ Visualization Manager:
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Field of View: 0.7853981852531433
Focal Point:
X: 0.0760490670800209
Y: 0.11421932280063629
@ -221,7 +292,6 @@ Visualization Manager:
Near Clip Distance: 0.009999999776482582
Pitch: 0.49979713559150696
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 5.093583106994629
Saved: ~
Window Geometry:
@ -230,7 +300,7 @@ Window Geometry:
Height: 627
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a0000022ffc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000270000022f000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d00650072006101000001be000001900000000000000000000000010000010f000002e2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002e2000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006400000003efc0100000002fb0000000800540069006d0065000000000000000640000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000002e40000022f00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd00000004000000000000016a00000219fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000219000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d00650072006101000001be000001900000000000000000000000010000010f000002e2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002e2000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006400000003efc0100000002fb0000000800540069006d00650000000000000006400000042800fffffffb0000000800540069006d00650100000000000004500000000000000000000002e40000021900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
@ -241,4 +311,4 @@ Window Geometry:
collapsed: false
Width: 1108
X: 812
Y: 241
Y: 204

474
robots/aliengo_description/urdf/aliengo.urdf
View File

@ -1,4 +1,4 @@
<?xml version="1.0" encoding="utf-8"?>
<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from robot.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
@ -17,13 +17,13 @@
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
<material name="silver">
<color rgba="0.913725490196 0.913725490196 0.847058823529 1.0"/>
<color rgba="0.9137254901960784 0.9137254901960784 0.8470588235294118 1.0"/>
</material>
<material name="orange">
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
<color rgba="1.0 0.4235294117647059 0.0392156862745098 1.0"/>
</material>
<material name="brown">
<color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
<color rgba="0.8705882352941177 0.8117647058823529 0.7647058823529411 1.0"/>
</material>
<material name="red">
<color rgba="0.8 0.0 0.0 1.0"/>
@ -279,6 +279,8 @@
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- 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"/>
@ -322,9 +324,9 @@
</geometry>
</collision> -->
<inertial>
<origin rpy="0 0 0" xyz="0.008465 0.004045 -0.000763"/>
<mass value="9.041"/>
<inertia ixx="0.033260231" ixy="-0.000451628" ixz="0.000487603" iyy="0.16117211" iyz="4.8356e-05" izz="0.17460442"/>
<origin rpy="0 0 0" xyz="0.008811 0.003839 0.000273"/>
<mass value="11.644"/>
<inertia ixx="0.051944892" ixy="0.001703617" ixz="0.000235941" iyy="0.24693924" iyz="0.000119783" izz="0.270948307"/>
</inertial>
</link>
<joint name="imu_joint" type="fixed">
@ -353,23 +355,28 @@
</collision>
</link>
<joint name="FR_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="0.2399 -0.051 0"/>
<origin rpy="0 0 0" xyz="0.2407 -0.051 0"/>
<parent link="trunk"/>
<child link="FR_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="44" lower="-1.2217304764" upper="1.2217304764" velocity="20"/>
<limit effort="35.278" lower="-1.2217304763960306" upper="1.2217304763960306" velocity="20"/>
</joint>
<joint name="FR_hip_rotor_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.139985 -0.051 0"/>
<parent link="trunk"/>
<child link="FR_hip_rotor"/>
</joint>
<link name="FR_hip">
<visual>
<origin rpy="3.14159265359 0 0" xyz="0 0 0"/>
<origin rpy="3.141592653589793 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://aliengo_description/meshes/hip.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 -0.083 0"/>
<origin rpy="1.5707963267948966 0 0" xyz="0 -0.083 0"/>
<geometry>
<cylinder length="0.0418" radius="0.046"/>
</geometry>
@ -377,30 +384,41 @@
<inertial>
<origin rpy="0 0 0" xyz="-0.022191 -0.015144 -1.5e-05"/>
<mass value="1.993"/>
<inertia ixx="0.002903894" ixy="7.185e-05" ixz="-1.262e-06" iyy="0.004907517" iyz="1.75e-06" izz="0.005586944"/>
<inertia ixx="0.002446735" ixy="0.00059805" ixz="1.945e-06" iyy="0.003925876" iyz="-1.284e-06" izz="0.004148145"/>
</inertial>
</link>
<link name="FR_hip_rotor">
<visual>
<origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
<geometry>
<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="0.146"/>
<inertia ixx="0.000138702" ixy="0.0" ixz="0.0" iyy="8.3352e-05" iyz="0.0" izz="8.3352e-05"/>
</inertial>
</link>
<!-- <joint name="${name}_hip_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 ${(thigh_shoulder_length/2.0+hip_offset)*mirror} 0"/>
<parent link="${name}_hip"/>
<child link="${name}_thigh_shoulder"/>
</joint> -->
<!-- this link is only for collision -->
<!-- <link name="${name}_thigh_shoulder">
<collision>
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="${thigh_shoulder_length}" radius="${thigh_shoulder_radius}"/>
</geometry>
</collision>
</link> -->
<joint name="FR_thigh_joint" type="continuous">
<origin rpy="0 0 0" xyz="0 -0.083 0"/>
<origin rpy="0 0 0" xyz="0 -0.0868 0"/>
<parent link="FR_hip"/>
<child link="FR_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="44" velocity="20"/>
<limit effort="35.278" velocity="20"/>
</joint>
<joint name="FR_thigh_rotor_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.0 -0.0298 0"/>
<parent link="FR_hip"/>
<child link="FR_thigh_rotor"/>
</joint>
<link name="FR_thigh">
<visual>
@ -411,7 +429,7 @@
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.125"/>
<geometry>
<box size="0.25 0.0374 0.043"/>
</geometry>
@ -419,7 +437,27 @@
<inertial>
<origin rpy="0 0 0" xyz="-0.005607 0.003877 -0.048199"/>
<mass value="0.639"/>
<inertia ixx="0.005666803" ixy="-3.597e-06" ixz="0.000491446" iyy="0.005847229" iyz="-1.0086e-05" izz="0.000369811"/>
<inertia ixx="0.004173855" ixy="-1.0284e-05" ixz="-0.000318874" iyy="0.004343802" iyz="-0.000109233" izz="0.000340136"/>
</inertial>
</link>
<link name="FR_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="0.146"/>
<inertia ixx="8.3352e-05" ixy="0.0" ixz="0.0" iyy="0.000138702" iyz="0.0" izz="8.3352e-05"/>
</inertial>
</link>
<joint name="FR_calf_joint" type="revolute">
@ -428,7 +466,12 @@
<child link="FR_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="55" lower="-2.77507351067" upper="-0.645771823238" velocity="16"/>
<limit effort="44.4" lower="-2.775073510670984" upper="-0.6457718232379019" velocity="15.89"/>
</joint>
<joint name="FR_calf_rotor_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.0 0.0997 0"/>
<parent link="FR_thigh"/>
<child link="FR_calf_rotor"/>
</joint>
<link name="FR_calf">
<visual>
@ -439,7 +482,7 @@
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.125"/>
<geometry>
<box size="0.25 0.0208 0.016"/>
</geometry>
@ -447,7 +490,27 @@
<inertial>
<origin rpy="0 0 0" xyz="0.002781 6.3e-05 -0.142518"/>
<mass value="0.207"/>
<inertia ixx="0.006341369" ixy="-3e-09" ixz="-8.7951e-05" iyy="0.006355157" iyz="-1.336e-06" izz="3.9188e-05"/>
<inertia ixx="0.002129279" ixy="3.9e-08" ixz="5.757e-06" iyy="0.002141463" iyz="-5.16e-07" izz="3.7583e-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="0.132"/>
<inertia ixx="0.000145463" ixy="0.0" ixz="0.0" iyy="0.000133031" iyz="0.0" izz="0.000145463"/>
</inertial>
</link>
<joint name="FR_foot_fixed" type="fixed">
@ -471,7 +534,7 @@
</collision>
<inertial>
<mass value="0.06"/>
<inertia ixx="1.6854e-05" ixy="0.0" ixz="0.0" iyy="1.6854e-05" iyz="0.0" izz="1.6854e-05"/>
<inertia ixx="1.6853999999999998e-05" ixy="0.0" ixz="0.0" iyy="1.6853999999999998e-05" iyz="0.0" izz="1.6853999999999998e-05"/>
</inertial>
</link>
<transmission name="FR_hip_tran">
@ -505,12 +568,17 @@
</actuator>
</transmission>
<joint name="FL_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="0.2399 0.051 0"/>
<origin rpy="0 0 0" xyz="0.2407 0.051 0"/>
<parent link="trunk"/>
<child link="FL_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="44" lower="-1.2217304764" upper="1.2217304764" velocity="20"/>
<limit effort="35.278" lower="-1.2217304763960306" upper="1.2217304763960306" velocity="20"/>
</joint>
<joint name="FL_hip_rotor_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.139985 0.051 0"/>
<parent link="trunk"/>
<child link="FL_hip_rotor"/>
</joint>
<link name="FL_hip">
<visual>
@ -521,7 +589,7 @@
<material name="orange"/>
</visual>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0.083 0"/>
<origin rpy="1.5707963267948966 0 0" xyz="0 0.083 0"/>
<geometry>
<cylinder length="0.0418" radius="0.046"/>
</geometry>
@ -529,30 +597,41 @@
<inertial>
<origin rpy="0 0 0" xyz="-0.022191 0.015144 -1.5e-05"/>
<mass value="1.993"/>
<inertia ixx="0.002903894" ixy="-7.185e-05" ixz="-1.262e-06" iyy="0.004907517" iyz="-1.75e-06" izz="0.005586944"/>
<inertia ixx="0.002446735" ixy="-0.00059805" ixz="1.945e-06" iyy="0.003925876" iyz="1.284e-06" izz="0.004148145"/>
</inertial>
</link>
<link name="FL_hip_rotor">
<visual>
<origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
<geometry>
<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="0.146"/>
<inertia ixx="0.000138702" ixy="0.0" ixz="0.0" iyy="8.3352e-05" iyz="0.0" izz="8.3352e-05"/>
</inertial>
</link>
<!-- <joint name="${name}_hip_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 ${(thigh_shoulder_length/2.0+hip_offset)*mirror} 0"/>
<parent link="${name}_hip"/>
<child link="${name}_thigh_shoulder"/>
</joint> -->
<!-- this link is only for collision -->
<!-- <link name="${name}_thigh_shoulder">
<collision>
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="${thigh_shoulder_length}" radius="${thigh_shoulder_radius}"/>
</geometry>
</collision>
</link> -->
<joint name="FL_thigh_joint" type="continuous">
<origin rpy="0 0 0" xyz="0 0.083 0"/>
<origin rpy="0 0 0" xyz="0 0.0868 0"/>
<parent link="FL_hip"/>
<child link="FL_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="44" velocity="20"/>
<limit effort="35.278" velocity="20"/>
</joint>
<joint name="FL_thigh_rotor_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.0 0.0298 0"/>
<parent link="FL_hip"/>
<child link="FL_thigh_rotor"/>
</joint>
<link name="FL_thigh">
<visual>
@ -563,7 +642,7 @@
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.125"/>
<geometry>
<box size="0.25 0.0374 0.043"/>
</geometry>
@ -571,7 +650,27 @@
<inertial>
<origin rpy="0 0 0" xyz="-0.005607 -0.003877 -0.048199"/>
<mass value="0.639"/>
<inertia ixx="0.005666803" ixy="3.597e-06" ixz="0.000491446" iyy="0.005847229" iyz="1.0086e-05" izz="0.000369811"/>
<inertia ixx="0.004173855" ixy="1.0284e-05" ixz="-0.000318874" iyy="0.004343802" iyz="0.000109233" izz="0.000340136"/>
</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="0.146"/>
<inertia ixx="8.3352e-05" ixy="0.0" ixz="0.0" iyy="0.000138702" iyz="0.0" izz="8.3352e-05"/>
</inertial>
</link>
<joint name="FL_calf_joint" type="revolute">
@ -580,7 +679,12 @@
<child link="FL_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="55" lower="-2.77507351067" upper="-0.645771823238" velocity="16"/>
<limit effort="44.4" lower="-2.775073510670984" upper="-0.6457718232379019" velocity="15.89"/>
</joint>
<joint name="FL_calf_rotor_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.0 -0.0997 0"/>
<parent link="FL_thigh"/>
<child link="FL_calf_rotor"/>
</joint>
<link name="FL_calf">
<visual>
@ -591,7 +695,7 @@
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.125"/>
<geometry>
<box size="0.25 0.0208 0.016"/>
</geometry>
@ -599,7 +703,27 @@
<inertial>
<origin rpy="0 0 0" xyz="0.002781 6.3e-05 -0.142518"/>
<mass value="0.207"/>
<inertia ixx="0.006341369" ixy="-3e-09" ixz="-8.7951e-05" iyy="0.006355157" iyz="-1.336e-06" izz="3.9188e-05"/>
<inertia ixx="0.002129279" ixy="3.9e-08" ixz="5.757e-06" iyy="0.002141463" iyz="-5.16e-07" izz="3.7583e-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="0.132"/>
<inertia ixx="0.000145463" ixy="0.0" ixz="0.0" iyy="0.000133031" iyz="0.0" izz="0.000145463"/>
</inertial>
</link>
<joint name="FL_foot_fixed" type="fixed">
@ -623,7 +747,7 @@
</collision>
<inertial>
<mass value="0.06"/>
<inertia ixx="1.6854e-05" ixy="0.0" ixz="0.0" iyy="1.6854e-05" iyz="0.0" izz="1.6854e-05"/>
<inertia ixx="1.6853999999999998e-05" ixy="0.0" ixz="0.0" iyy="1.6853999999999998e-05" iyz="0.0" izz="1.6853999999999998e-05"/>
</inertial>
</link>
<transmission name="FL_hip_tran">
@ -657,23 +781,28 @@
</actuator>
</transmission>
<joint name="RR_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="-0.2399 -0.051 0"/>
<origin rpy="0 0 0" xyz="-0.2407 -0.051 0"/>
<parent link="trunk"/>
<child link="RR_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="44" lower="-1.2217304764" upper="1.2217304764" velocity="20"/>
<limit effort="35.278" lower="-1.2217304763960306" upper="1.2217304763960306" velocity="20"/>
</joint>
<joint name="RR_hip_rotor_joint" type="fixed">
<origin rpy="0 0 0" xyz="-0.139985 -0.051 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://aliengo_description/meshes/hip.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 -0.083 0"/>
<origin rpy="1.5707963267948966 0 0" xyz="0 -0.083 0"/>
<geometry>
<cylinder length="0.0418" radius="0.046"/>
</geometry>
@ -681,30 +810,41 @@
<inertial>
<origin rpy="0 0 0" xyz="0.022191 -0.015144 -1.5e-05"/>
<mass value="1.993"/>
<inertia ixx="0.002903894" ixy="-7.185e-05" ixz="1.262e-06" iyy="0.004907517" iyz="1.75e-06" izz="0.005586944"/>
<inertia ixx="0.002446735" ixy="-0.00059805" ixz="-1.945e-06" iyy="0.003925876" iyz="-1.284e-06" izz="0.004148145"/>
</inertial>
</link>
<link name="RR_hip_rotor">
<visual>
<origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
<geometry>
<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="0.146"/>
<inertia ixx="0.000138702" ixy="0.0" ixz="0.0" iyy="8.3352e-05" iyz="0.0" izz="8.3352e-05"/>
</inertial>
</link>
<!-- <joint name="${name}_hip_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 ${(thigh_shoulder_length/2.0+hip_offset)*mirror} 0"/>
<parent link="${name}_hip"/>
<child link="${name}_thigh_shoulder"/>
</joint> -->
<!-- this link is only for collision -->
<!-- <link name="${name}_thigh_shoulder">
<collision>
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="${thigh_shoulder_length}" radius="${thigh_shoulder_radius}"/>
</geometry>
</collision>
</link> -->
<joint name="RR_thigh_joint" type="continuous">
<origin rpy="0 0 0" xyz="0 -0.083 0"/>
<origin rpy="0 0 0" xyz="0 -0.0868 0"/>
<parent link="RR_hip"/>
<child link="RR_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="44" velocity="20"/>
<limit effort="35.278" velocity="20"/>
</joint>
<joint name="RR_thigh_rotor_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.0 -0.0298 0"/>
<parent link="RR_hip"/>
<child link="RR_thigh_rotor"/>
</joint>
<link name="RR_thigh">
<visual>
@ -715,7 +855,7 @@
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.125"/>
<geometry>
<box size="0.25 0.0374 0.043"/>
</geometry>
@ -723,7 +863,27 @@
<inertial>
<origin rpy="0 0 0" xyz="-0.005607 0.003877 -0.048199"/>
<mass value="0.639"/>
<inertia ixx="0.005666803" ixy="-3.597e-06" ixz="0.000491446" iyy="0.005847229" iyz="-1.0086e-05" izz="0.000369811"/>
<inertia ixx="0.004173855" ixy="-1.0284e-05" ixz="-0.000318874" iyy="0.004343802" iyz="-0.000109233" izz="0.000340136"/>
</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="0.146"/>
<inertia ixx="8.3352e-05" ixy="0.0" ixz="0.0" iyy="0.000138702" iyz="0.0" izz="8.3352e-05"/>
</inertial>
</link>
<joint name="RR_calf_joint" type="revolute">
@ -732,7 +892,12 @@
<child link="RR_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="55" lower="-2.77507351067" upper="-0.645771823238" velocity="16"/>
<limit effort="44.4" lower="-2.775073510670984" upper="-0.6457718232379019" velocity="15.89"/>
</joint>
<joint name="RR_calf_rotor_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.0 0.0997 0"/>
<parent link="RR_thigh"/>
<child link="RR_calf_rotor"/>
</joint>
<link name="RR_calf">
<visual>
@ -743,7 +908,7 @@
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.125"/>
<geometry>
<box size="0.25 0.0208 0.016"/>
</geometry>
@ -751,7 +916,27 @@
<inertial>
<origin rpy="0 0 0" xyz="0.002781 6.3e-05 -0.142518"/>
<mass value="0.207"/>
<inertia ixx="0.006341369" ixy="-3e-09" ixz="-8.7951e-05" iyy="0.006355157" iyz="-1.336e-06" izz="3.9188e-05"/>
<inertia ixx="0.002129279" ixy="3.9e-08" ixz="5.757e-06" iyy="0.002141463" iyz="-5.16e-07" izz="3.7583e-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="0.132"/>
<inertia ixx="0.000145463" ixy="0.0" ixz="0.0" iyy="0.000133031" iyz="0.0" izz="0.000145463"/>
</inertial>
</link>
<joint name="RR_foot_fixed" type="fixed">
@ -775,7 +960,7 @@
</collision>
<inertial>
<mass value="0.06"/>
<inertia ixx="1.6854e-05" ixy="0.0" ixz="0.0" iyy="1.6854e-05" iyz="0.0" izz="1.6854e-05"/>
<inertia ixx="1.6853999999999998e-05" ixy="0.0" ixz="0.0" iyy="1.6853999999999998e-05" iyz="0.0" izz="1.6853999999999998e-05"/>
</inertial>
</link>
<transmission name="RR_hip_tran">
@ -809,23 +994,28 @@
</actuator>
</transmission>
<joint name="RL_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="-0.2399 0.051 0"/>
<origin rpy="0 0 0" xyz="-0.2407 0.051 0"/>
<parent link="trunk"/>
<child link="RL_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="44" lower="-1.2217304764" upper="1.2217304764" velocity="20"/>
<limit effort="35.278" lower="-1.2217304763960306" upper="1.2217304763960306" velocity="20"/>
</joint>
<joint name="RL_hip_rotor_joint" type="fixed">
<origin rpy="0 0 0" xyz="-0.139985 0.051 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://aliengo_description/meshes/hip.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0.083 0"/>
<origin rpy="1.5707963267948966 0 0" xyz="0 0.083 0"/>
<geometry>
<cylinder length="0.0418" radius="0.046"/>
</geometry>
@ -833,30 +1023,41 @@
<inertial>
<origin rpy="0 0 0" xyz="0.022191 0.015144 -1.5e-05"/>
<mass value="1.993"/>
<inertia ixx="0.002903894" ixy="7.185e-05" ixz="1.262e-06" iyy="0.004907517" iyz="-1.75e-06" izz="0.005586944"/>
<inertia ixx="0.002446735" ixy="0.00059805" ixz="-1.945e-06" iyy="0.003925876" iyz="1.284e-06" izz="0.004148145"/>
</inertial>
</link>
<link name="RL_hip_rotor">
<visual>
<origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
<geometry>
<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="0.146"/>
<inertia ixx="0.000138702" ixy="0.0" ixz="0.0" iyy="8.3352e-05" iyz="0.0" izz="8.3352e-05"/>
</inertial>
</link>
<!-- <joint name="${name}_hip_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 ${(thigh_shoulder_length/2.0+hip_offset)*mirror} 0"/>
<parent link="${name}_hip"/>
<child link="${name}_thigh_shoulder"/>
</joint> -->
<!-- this link is only for collision -->
<!-- <link name="${name}_thigh_shoulder">
<collision>
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="${thigh_shoulder_length}" radius="${thigh_shoulder_radius}"/>
</geometry>
</collision>
</link> -->
<joint name="RL_thigh_joint" type="continuous">
<origin rpy="0 0 0" xyz="0 0.083 0"/>
<origin rpy="0 0 0" xyz="0 0.0868 0"/>
<parent link="RL_hip"/>
<child link="RL_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="44" velocity="20"/>
<limit effort="35.278" velocity="20"/>
</joint>
<joint name="RL_thigh_rotor_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.0 0.0298 0"/>
<parent link="RL_hip"/>
<child link="RL_thigh_rotor"/>
</joint>
<link name="RL_thigh">
<visual>
@ -867,7 +1068,7 @@
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.125"/>
<geometry>
<box size="0.25 0.0374 0.043"/>
</geometry>
@ -875,7 +1076,27 @@
<inertial>
<origin rpy="0 0 0" xyz="-0.005607 -0.003877 -0.048199"/>
<mass value="0.639"/>
<inertia ixx="0.005666803" ixy="3.597e-06" ixz="0.000491446" iyy="0.005847229" iyz="1.0086e-05" izz="0.000369811"/>
<inertia ixx="0.004173855" ixy="1.0284e-05" ixz="-0.000318874" iyy="0.004343802" iyz="0.000109233" izz="0.000340136"/>
</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="0.146"/>
<inertia ixx="8.3352e-05" ixy="0.0" ixz="0.0" iyy="0.000138702" iyz="0.0" izz="8.3352e-05"/>
</inertial>
</link>
<joint name="RL_calf_joint" type="revolute">
@ -884,7 +1105,12 @@
<child link="RL_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="55" lower="-2.77507351067" upper="-0.645771823238" velocity="16"/>
<limit effort="44.4" lower="-2.775073510670984" upper="-0.6457718232379019" velocity="15.89"/>
</joint>
<joint name="RL_calf_rotor_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.0 -0.0997 0"/>
<parent link="RL_thigh"/>
<child link="RL_calf_rotor"/>
</joint>
<link name="RL_calf">
<visual>
@ -895,7 +1121,7 @@
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.125"/>
<geometry>
<box size="0.25 0.0208 0.016"/>
</geometry>
@ -903,7 +1129,27 @@
<inertial>
<origin rpy="0 0 0" xyz="0.002781 6.3e-05 -0.142518"/>
<mass value="0.207"/>
<inertia ixx="0.006341369" ixy="-3e-09" ixz="-8.7951e-05" iyy="0.006355157" iyz="-1.336e-06" izz="3.9188e-05"/>
<inertia ixx="0.002129279" ixy="3.9e-08" ixz="5.757e-06" iyy="0.002141463" iyz="-5.16e-07" izz="3.7583e-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="0.132"/>
<inertia ixx="0.000145463" ixy="0.0" ixz="0.0" iyy="0.000133031" iyz="0.0" izz="0.000145463"/>
</inertial>
</link>
<joint name="RL_foot_fixed" type="fixed">
@ -927,7 +1173,7 @@
</collision>
<inertial>
<mass value="0.06"/>
<inertia ixx="1.6854e-05" ixy="0.0" ixz="0.0" iyy="1.6854e-05" iyz="0.0" izz="1.6854e-05"/>
<inertia ixx="1.6853999999999998e-05" ixy="0.0" ixz="0.0" iyy="1.6853999999999998e-05" iyz="0.0" izz="1.6853999999999998e-05"/>
</inertial>
</link>
<transmission name="RL_hip_tran">

114
robots/aliengo_description/xacro/const.xacro
View File

@ -33,6 +33,29 @@
<xacro:property name="trunk_offset_z" value="0.01675"/>
<xacro:property name="hip_offset" value="0.083"/>
<!-- offset of link and rotor locations (left front) -->
<xacro:property name="hip_offset_x" value="0.2407"/>
<xacro:property name="hip_offset_y" value="0.051"/>
<xacro:property name="hip_offset_z" value="0.0"/>
<xacro:property name="hip_rotor_offset_x" value="0.139985"/>
<xacro:property name="hip_rotor_offset_y" value="0.051"/>
<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="0.0868"/>
<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="0.0298"/>
<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="-0.25"/>
<xacro:property name="calf_rotor_offset_x" value="0.0"/>
<xacro:property name="calf_rotor_offset_y" value="-0.0997"/>
<xacro:property name="calf_rotor_offset_z" value="0.0"/>
<!-- joint limits -->
<xacro:property name="damping" value="0"/>
<xacro:property name="friction" value="0"/>
@ -49,54 +72,87 @@
<xacro:property name="calf_velocity_max" value="15.89"/>
<xacro:property name="calf_torque_max" value="44.4"/>
<!-- dynamics inertial value total 22.0kg -->
<!-- dynamics inertial value total 23.0kg -->
<!-- trunk -->
<xacro:property name="trunk_mass" value="11.041"/>
<xacro:property name="trunk_com_x" value="0.008465"/>
<xacro:property name="trunk_com_y" value="0.004045"/>
<xacro:property name="trunk_com_z" value="-0.000763"/>
<xacro:property name="trunk_ixx" value="0.050874"/>
<xacro:property name="trunk_ixy" value="-0.000451628"/>
<xacro:property name="trunk_ixz" value="0.000487603"/>
<xacro:property name="trunk_iyy" value="0.64036"/>
<xacro:property name="trunk_iyz" value="0.000048356"/>
<xacro:property name="trunk_izz" value="0.65655"/>
<xacro:property name="trunk_mass" value="11.644"/>
<xacro:property name="trunk_com_x" value="0.008811"/>
<xacro:property name="trunk_com_y" value="0.003839"/>
<xacro:property name="trunk_com_z" value="0.000273"/>
<xacro:property name="trunk_ixx" value="0.051944892"/>
<xacro:property name="trunk_ixy" value="0.001703617"/>
<xacro:property name="trunk_ixz" value="0.000235941"/>
<xacro:property name="trunk_iyy" value="0.24693924"/>
<xacro:property name="trunk_iyz" value="0.000119783"/>
<xacro:property name="trunk_izz" value="0.270948307"/>
<!-- hip (left front) -->
<xacro:property name="hip_mass" value="1.993"/>
<xacro:property name="hip_com_x" value="-0.022191"/>
<xacro:property name="hip_com_y" value="0.015144"/>
<xacro:property name="hip_com_z" value="-0.000015"/>
<xacro:property name="hip_ixx" value="0.002903894"/>
<xacro:property name="hip_ixy" value="-0.000071850"/>
<xacro:property name="hip_ixz" value="-0.000001262"/>
<xacro:property name="hip_iyy" value="0.004907517"/>
<xacro:property name="hip_iyz" value="-0.00000175"/>
<xacro:property name="hip_izz" value="0.005586944"/>
<xacro:property name="hip_ixx" value="0.002446735"/>
<xacro:property name="hip_ixy" value="-0.00059805"/>
<xacro:property name="hip_ixz" value="0.000001945"/>
<xacro:property name="hip_iyy" value="0.003925876"/>
<xacro:property name="hip_iyz" value="0.000001284"/>
<xacro:property name="hip_izz" value="0.004148145"/>
<xacro:property name="hip_rotor_mass" value="0.146"/>
<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="0.000138702"/>
<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="0.000083352"/>
<xacro:property name="hip_rotor_iyz" value="0.0"/>
<xacro:property name="hip_rotor_izz" value="0.000083352"/>
<!-- thigh -->
<xacro:property name="thigh_mass" value="0.639"/>
<xacro:property name="thigh_com_x" value="-0.005607"/>
<xacro:property name="thigh_com_y" value="-0.003877"/>
<xacro:property name="thigh_com_z" value="-0.048199"/>
<xacro:property name="thigh_ixx" value="0.005666803"/>
<xacro:property name="thigh_ixy" value="0.000003597"/>
<xacro:property name="thigh_ixz" value="0.000491446"/>
<xacro:property name="thigh_iyy" value="0.005847229"/>
<xacro:property name="thigh_iyz" value="0.000010086"/>
<xacro:property name="thigh_izz" value="0.000369811"/>
<xacro:property name="thigh_ixx" value="0.004173855"/>
<xacro:property name="thigh_ixy" value="0.000010284"/>
<xacro:property name="thigh_ixz" value="-0.000318874"/>
<xacro:property name="thigh_iyy" value="0.004343802"/>
<xacro:property name="thigh_iyz" value="0.000109233"/>
<xacro:property name="thigh_izz" value="0.000340136"/>
<xacro:property name="thigh_rotor_mass" value="0.146"/>
<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="0.000083352"/>
<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="0.000138702"/>
<xacro:property name="thigh_rotor_iyz" value="0.0"/>
<xacro:property name="thigh_rotor_izz" value="0.000083352"/>
<!-- calf -->
<xacro:property name="calf_mass" value="0.207"/>
<xacro:property name="calf_com_x" value="0.002781"/>
<xacro:property name="calf_com_y" value="0.000063"/>
<xacro:property name="calf_com_z" value="-0.142518"/>
<xacro:property name="calf_ixx" value="0.006341369"/>
<xacro:property name="calf_ixy" value="-0.000000003"/>
<xacro:property name="calf_ixz" value="-0.000087951"/>
<xacro:property name="calf_iyy" value="0.006355157"/>
<xacro:property name="calf_iyz" value="-0.000001336"/>
<xacro:property name="calf_izz" value="0.000039188"/>
<xacro:property name="calf_ixx" value="0.002129279"/>
<xacro:property name="calf_ixy" value="0.000000039"/>
<xacro:property name="calf_ixz" value="0.000005757"/>
<xacro:property name="calf_iyy" value="0.002141463"/>
<xacro:property name="calf_iyz" value="-0.000000516"/>
<xacro:property name="calf_izz" value="0.000037583"/>
<xacro:property name="calf_rotor_mass" value="0.132"/>
<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="0.000145463"/>
<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="0.000133031"/>
<xacro:property name="calf_rotor_iyz" value="0.0"/>
<xacro:property name="calf_rotor_izz" value="0.000145463"/>
<!-- foot -->
<xacro:property name="foot_mass" value="0.06"/>

124
robots/aliengo_description/xacro/leg.xacro
View File

@ -4,10 +4,21 @@
<xacro:include filename="$(find aliengo_description)/xacro/transmission.xacro"/>
<xacro:macro name="leg" params="name mirror mirror_dae front_hind front_hind_dae *origin">
<xacro:macro name="leg" params="name mirror mirror_dae front_hind front_hind_dae">
<joint name="${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"/>
@ -20,6 +31,23 @@
</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)}">
@ -55,21 +83,29 @@
</inertial>
</link>
<!-- <joint name="${name}_hip_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 ${(thigh_shoulder_length/2.0+hip_offset)*mirror} 0"/>
<parent link="${name}_hip"/>
<child link="${name}_thigh_shoulder"/>
</joint> -->
<!-- this link is only for collision -->
<!-- <link name="${name}_thigh_shoulder">
<collision>
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
<link name="${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 ${PI/2.0} 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.035"/>
</geometry>
</collision>
</link> -->
<inertial>
<origin rpy="0 0 0" xyz="${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="continuous">
<origin rpy="0 0 0" xyz="0 ${thigh_offset*mirror} 0"/>
@ -80,6 +116,12 @@
<limit effort="${thigh_torque_max}" velocity="${thigh_velocity_max}"/>
</joint>
<joint name="${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"/>
@ -109,6 +151,30 @@
</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"/>
@ -118,6 +184,12 @@
<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"/>
@ -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"/>

56
robots/aliengo_description/xacro/robot.xacro
View File

@ -2,15 +2,13 @@
<robot name="aliengo" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:arg name="DEBUG" default="false"/>
<xacro:include filename="$(find aliengo_description)/xacro/const.xacro"/>
<xacro:include filename="$(find aliengo_description)/xacro/materials.xacro"/>
<xacro:include filename="$(find aliengo_description)/xacro/leg.xacro"/>
<xacro:include filename="$(find aliengo_description)/xacro/gazebo.xacro"/>
<!-- Rollover Protection mode will add an additional stick on the top, use "true" or "false" to switch it. -->
<xacro:property name="rolloverProtection" value="false"/>
<!-- 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="$(arg DEBUG)">
@ -67,37 +65,6 @@
</inertial>
</link>
<xacro:if value="${(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="${stick_mass / 12.0 * (3*stick_radius*stick_radius + stick_length*stick_length)}"/>
</inertial>
</link>
</xacro:if>
<joint name="imu_joint" type="fixed">
<parent link="trunk"/>
<child link="imu_link"/>
@ -125,21 +92,10 @@
</collision>
</link>
<xacro:leg name="FR" mirror="-1" mirror_dae= "False" front_hind="1" front_hind_dae="True">
<origin rpy="0 0 0" xyz="${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:stairs stairs="15" xpos="0" ypos="2.0" zpos="0" /> -->