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boredengineering/Robots_for_Omniverse/URDF_descriptions/Stochlab/stochlite_description/urdf/stochlite.urdf.xacro | <?xml version="1.0" encoding="utf-8"?>
<robot name = 'stochlite' xmlns:xacro = 'http://www.ros.org/wiki/xacro'>
<xacro:include filename="$(find stochlite_description)/urdf/stochlite.description.xacro" />
<xacro:include filename="$(find stochlite_description)/urdf/stochlite.transmission.xacro" />
<xacro:include filename="$(find stochlite_description)/urdf/stochlite.gazebo.xacro" />
<xacro:include filename="$(find stochlite_description)/urdf/stochlite.materials.xacro" />
<xacro:include filename="$(find stochlite_description)/urdf/stochlite.sensors.xacro" />
<xacro:include filename="$(find stochlite_description)/urdf/stochlite.leg_frames.xacro" />
<!-- For defining the links and joints-->
<xacro:stochlite_description fixed="false"/>
<xacro:stochlite_leg_frames />
<!-- For hardware interface and ros control-->
<xacro:stochlite_transmission name="fl_abd"/>
<xacro:stochlite_transmission name="fl_hip"/>
<xacro:stochlite_transmission name="fl_knee"/>
<xacro:stochlite_transmission name="bl_abd"/>
<xacro:stochlite_transmission name="bl_hip"/>
<xacro:stochlite_transmission name="bl_knee"/>
<xacro:stochlite_transmission name="fr_abd"/>
<xacro:stochlite_transmission name="fr_hip"/>
<xacro:stochlite_transmission name="fr_knee"/>
<xacro:stochlite_transmission name="br_abd"/>
<xacro:stochlite_transmission name="br_hip"/>
<xacro:stochlite_transmission name="br_knee"/>
<!-- Materials and friction properties-->
<xacro:stochlite_materials name="base_link" color="White"/>
<xacro:stochlite_materials name="fl_abd" color="Grey"/>
<xacro:stochlite_materials name="bl_abd" color="Grey"/>
<xacro:stochlite_materials name="fr_abd" color="Grey"/>
<xacro:stochlite_materials name="br_abd" color="Grey"/>
<xacro:stochlite_materials name="fl_thigh" color="DarkGrey"/>
<xacro:stochlite_materials name="bl_thigh" color="DarkGrey"/>
<xacro:stochlite_materials name="fr_thigh" color="DarkGrey"/>
<xacro:stochlite_materials name="br_thigh" color="DarkGrey"/>
<xacro:stochlite_materials name="fl_shank" color="Grey"/>
<xacro:stochlite_materials name="bl_shank" color="Grey"/>
<xacro:stochlite_materials name="fr_shank" color="Grey"/>
<xacro:stochlite_materials name="br_shank" color="Grey"/>
<!-- For miscellaneous gazebo properties like ros-control etc. -->
<xacro:stochlite_gazebo />
<!-- For sensors-->
<xacro:imu id="1" x="0.0" y="0.0" z="0.005" roll="0.0" pitch="0.0" yaw="0.0" update_rate="100" gnoise="0.005"/>
<!-- front triangle of tofs -->
<xacro:tof id="1" x="0.150" y=" 0.000" z="-0.025" roll="0.0" pitch="1.57" yaw="0.0" update_rate="20" gnoise="0.005"/>
<xacro:tof id="2" x="0.065" y=" 0.047" z="-0.025" roll="0.0" pitch="1.57" yaw="0.0" update_rate="20" gnoise="0.005"/>
<xacro:tof id="6" x="0.065" y="-0.047" z="-0.025" roll="0.0" pitch="1.57" yaw="0.0" update_rate="20" gnoise="0.005"/>
<!-- back triangle of tofs -->
<xacro:tof id="4" x="-0.150" y=" 0.000" z="-0.025" roll="0.0" pitch="1.57" yaw="0.0" update_rate="20" gnoise="0.005"/>
<xacro:tof id="3" x="-0.065" y=" 0.047" z="-0.025" roll="0.0" pitch="1.57" yaw="0.0" update_rate="20" gnoise="0.005"/>
<xacro:tof id="5" x="-0.065" y="-0.047" z="-0.025" roll="0.0" pitch="1.57" yaw="0.0" update_rate="20" gnoise="0.005"/>
<xacro:contact_sensor leg_name="fl"/>
<xacro:contact_sensor leg_name="fr"/>
<xacro:contact_sensor leg_name="bl"/>
<xacro:contact_sensor leg_name="br"/>
</robot> |
boredengineering/Robots_for_Omniverse/URDF_descriptions/spotmicro_description/meshes/stl/attribution_card.html | <!-- from http://www.thingiverse.com/thing:8174 by whosawhatsis, used with permission -->
<style type="text/css">
#tagback {padding: 50px;background: white;}
.tag {position: relative;border: 1px solid #eeeeee;width: 450px;height: 150px;margin: 0px;padding: 10px 10px 10px 120px;}
.tag .qrcode-sidebar {float: right;margin: 0px;padding: 0px;}
.tag a {color: black;text-decoration: none;}
.tag h1 {font: bold 18px Arial,sans-serif;margin: 0px;padding: 0px; word-wrap: break-word; max-height: 2.25em; overflow: hidden;}
.tag h2 {font: 14px Arial,sans-serif;margin: 0px;padding: 0px;}
.tag h3 {font: 12px Courier,monospace;margin: 0px;padding: 0px;}
.tag h4 {font: 9px Arial,sans-serif;position: absolute;bottom: 0px;left: 0px;margin: 0px 150px 0px 0px;padding: 0px;}
.tag h4 div {float: left;margin: 0px 5px 15px 125px;height: 40px;}
.tag h4 div img {height: 40px;}
</style>
<div id="tagback"><div class="tag">
<div class="qrcode-sidebar">
<img src="//chart.apis.google.com/chart?chs=150x150&cht=qr&chl=thingiverse.com/thing:3445283&choe=UTF-8&chld=Q|1">
</div>
<h1>Spotmicro - robot dog by KDY0523</h1>
<h2>Published on February 22, 2019</h2>
<h3>www.thingiverse.com/thing:3445283</h3>
<h4>
<div class="row-fluid cc-licenses">
<span class="span6">
<img src="https://cdn.thingiverse.com/site/img/cc/chooser_cc.png" />
</span>
<span class="span6">
<img src="https://cdn.thingiverse.com/site/img/cc/chooser_by.png" />
</span>
</div>
Creative Commons - Attribution<br /></h4>
</div></div>
<script>
// TODO
window.onload = function(){
document.getElementById('tagback').appendChild(document.getElementById('tagback').firstChild.cloneNode(true));
};
</script>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/spotmicro_description/meshes/stl/LICENSE.txt | Spotmicro - robot dog (http://www.thingiverse.com/thing:3445283) by KDY0523 is licensed under the Creative Commons - Attribution license.
http://creativecommons.org/licenses/by/3.0/
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/spotmicro_description/meshes/stl/README.txt | .: :,
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http://www.thingiverse.com/thing:3445283
Spotmicro - robot dog by KDY0523 is licensed under the Creative Commons - Attribution license.
http://creativecommons.org/licenses/by/3.0/
# Summary
I designed Spotmicro inspired by the Spotmini of Boston Dynamics.
It works on the basis of the Arduino mega, and if you use a different board, you have to redesign the 'plate' file yourself and print the non-mega file instead of the regular file.
The ultra sonic sensor can be used for mapping or obstacle avoidance.
When you attach the servo horn to the 3D printed parts, you must use the HOTGLUE.
THERE IS NO CODE YET, SO YOU HAVE TO WRITE IT YOURSELF.
Assembly video part 1 : https://youtu.be/03RR-mz2hwA
Assembly video part 2 : https://youtu.be/LV5vvmhwtxM
Instagram : https://www.instagram.com/kim.d.yeon/
To make this, you need the following...
_Electronics_
12 × MG 996 R servo motor
1 × Arduino Mega
2 × HC-SR04 Ultrasonic sensor
1 × HC-06 Bluetooth module
1 × MPU-6050 Gyro sensor
1 × I2C 16x2 LCD Module
1 × Rleil rocker switch RL3-4
7.4v Battery
_Screws, Nuts and Bearings_
8 × 'M5×15'
40 × 'M4×20'
8 × 'M4×15'
48 × 'M4 nut'
4 × 'M3×20'
28 × 'M3×10'
16 × 'M3 nut'
8 × 'F625zz Flange ball bearing'
Made by Deok-yeon Kim
# Print Settings
Printer Brand: Creality
Printer: Ender 3
Infill: 10~20%
Filament_brand: .
Filament_color: Yellow, Black, Gray
Filament_material: PLA, Flexible
# Post-Printing
 |
boredengineering/Robots_for_Omniverse/URDF_descriptions/spotmicro_description/urdf/stairs.urdf.xacro | <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="SpotMicroAI">
<material name="yellow">
<color rgba="0.92 0.83 0.0 1"/>
</material>
<material name="black">
<color rgba="0.1 0.1 0.1 1"/>
</material>
<material name="grey">
<color rgba="0.6 0.6 0.6 1"/>
</material>
<!-- Params -->
<xacro:property name="stair_length" value="0.640" />
<xacro:property name="stair_width" value="0.310" />
<xacro:property name="stair_height" value="0.070" />
<xacro:macro name="stairs" params="stairs xpos ypos zpos">
<link name="stair_link_${stairs}">
<visual>
<geometry>
<box size="${stair_length} ${stair_width} ${stair_height}"/>
</geometry>
<material name="grey"/>
<origin rpy="0 0 0" xyz="${xpos} ${ypos} ${zpos}"/>
</visual>
<collision>
<geometry>
<box size="${stair_length} ${stair_width} ${stair_height}"/>
</geometry>
</collision>
<inertial>
<mass value="0.80"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
</link>
<xacro:if value="${stairs}">
<xacro:stairs stairs="${stairs-1}" xpos="0" ypos="${ypos-stair_width/2}" zpos="${zpos+stair_height}"/>
<joint name="stair_joint_${stairs}" type="fixed">
<parent link="stair_link_${stairs}"/>
<child link="stair_link_${stairs-1}"/>
</joint>
</xacro:if>
</xacro:macro>
<xacro:stairs stairs="15" xpos="0" ypos="0" zpos="0" />
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/spotmicro_description/urdf/spotmicroai.urdf.xacro | <?xml version="1.0" encoding="UTF-8"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="SpotMicroAI">
<material name="yellow">
<color rgba="0.92 0.83 0.0 1" />
</material>
<material name="black">
<color rgba="0.1 0.1 0.1 1" />
</material>
<material name="grey">
<color rgba="0.6 0.6 0.6 1" />
</material>
<!-- Params -->
<xacro:property name="body_length" value="0.140" />
<xacro:property name="body_width" value="0.110" />
<xacro:property name="body_height" value="0.070" />
<xacro:property name="lidar_length" value="0.0985" />
<xacro:property name="lidar_width" value="0.0577" />
<xacro:property name="lidar_height" value="0.070" />
<xacro:property name="front_length" value="0.058" />
<xacro:property name="rear_length" value="0.040" />
<xacro:property name="shoulder_length" value="0.044" />
<xacro:property name="shoulder_width" value="0.038" />
<xacro:property name="leg_length" value="0.109" />
<xacro:property name="foot_length" value="0.13" />
<xacro:property name="toe_radius" value="0.020" />
<!-- <xacro:property name="toe_radius" value="0.014" /> -->
<xacro:property name="toe_width" value="0.020" />
<xacro:property name="shift" value="0.055" />
<xacro:property name="shiftx" value="0.093" />
<xacro:property name="shifty" value="0.0395" />
<!-- Macros -->
<xacro:macro name="gen_shoulder" params="name left">
<link name="${name}">
<visual>
<xacro:if value="${left}">
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/lshoulder.stl" scale="0.001 0.001 0.001" />
</geometry>
<origin rpy="0 0 3.1416" xyz="0.135 0.0163 -0.0195" />
</xacro:if>
<xacro:unless value="${left}">
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/rshoulder.stl" scale="0.001 0.001 0.001" />
</geometry>
<origin rpy="0 0 3.1416" xyz="0.135 0.0938 -0.0205" />
</xacro:unless>
<material name="black" />
</visual>
<collision>
<geometry>
<box size="${shoulder_length} ${shoulder_width} ${body_height}" />
</geometry>
<origin rpy="0 0 0" xyz="0 0 0" />
</collision>
<inertial>
<mass value="0.10" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
</link>
</xacro:macro>
<xacro:macro name="gen_shoulder_joint" params="pos shiftx shifty">
<joint name="${pos}_shoulder" type="revolute">
<parent link="base_link" />
<child link="${pos}_shoulder_link" />
<axis xyz="1 0 0" />
<origin rpy="0 0 0" xyz="${shiftx} ${shifty} 0" />
<limit effort="1000.0" velocity="0.7" lower="-0.548" upper="0.548"/>
<dynamics damping="0.0" friction="0.5" />
</joint>
<transmission name="${pos}_shoulder_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${pos}_shoulder">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="${pos}_shoulder_actuator">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</xacro:macro>
<xacro:macro name="gen_leg" params="name left">
<link name="${name}_cover">
<visual>
<xacro:if value="${left}">
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/larm_cover.stl" scale="0.001 0.001 0.001" />
</geometry>
<origin rpy="0 0 3.1416" xyz="0.134 -0.04 -0.0095" />
</xacro:if>
<xacro:unless value="${left}">
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/rarm_cover.stl" scale="0.001 0.001 0.001" />
</geometry>
<origin rpy="0 0 3.1416" xyz="0.134 0.149 -0.0095" />
</xacro:unless>
<material name="yellow" />
</visual>
</link>
<link name="${name}">
<visual>
<xacro:if value="${left}">
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/larm.stl" scale="0.001 0.001 0.001" />
</geometry>
<origin rpy="0 0 3.1416" xyz="0.134 -0.04 -0.0095" />
</xacro:if>
<xacro:unless value="${left}">
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/rarm.stl" scale="0.001 0.001 0.001" />
</geometry>
<origin rpy="0 0 3.1416" xyz="0.134 0.149 -0.0095" />
</xacro:unless>
<material name="black" />
</visual>
<collision>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050" />
<geometry>
<box size="0.028 0.036 ${leg_length}" />
</geometry>
</collision>
<inertial>
<mass value="0.15" />
<inertia ixx="1000" ixy="0" ixz="0" iyy="1000" iyz="0" izz="1000" />
</inertial>
</link>
<gazebo reference="${name}_cover">
<material>Gazebo/ZincYellow</material>
</gazebo>
</xacro:macro>
<xacro:macro name="gen_leg_joint" params="pos shift">
<joint name="${pos}_leg" type="revolute">
<parent link="${pos}_shoulder_link" />
<child link="${pos}_leg_link" />
<axis xyz="0 1 0" />
<origin rpy="0 0 0" xyz="0 ${shift} 0" />
<limit effort="1000.0" velocity="0.5" lower="-2.666" upper="1.548"/>
<dynamics damping="0.0" friction="0.0" />
</joint>
<transmission name="${pos}_leg_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${pos}_leg">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="${pos}_leg_actuator">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="${pos}_leg_cover_joint" type="fixed">
<parent link="${pos}_leg_link" />
<child link="${pos}_leg_link_cover" />
<origin xyz="0 0 0" />
</joint>
</xacro:macro>
<xacro:macro name="gen_foot" params="name left">
<link name="${name}">
<visual>
<xacro:if value="${left}">
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/lfoot.stl" scale="0.001 0.001 0.001" />
</geometry>
<origin rpy="0 0 3.1416 " xyz="0.1195 -0.04 0.099" />
</xacro:if>
<xacro:unless value="${left}">
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/rfoot.stl" scale="0.001 0.001 0.001" />
</geometry>
<origin rpy="0 0 3.1416" xyz="0.1195 0.149 0.099" />
</xacro:unless>
<material name="black" />
</visual>
<collision>
<geometry>
<box size="0.026 0.020 ${foot_length}" />
</geometry>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050" />
</collision>
<inertial>
<mass value="0.1" />
<inertia ixx="1000" ixy="0" ixz="0" iyy="1000" iyz="0" izz="1000" />
</inertial>
</link>
</xacro:macro>
<xacro:macro name="gen_foot_joint" params="pos">
<joint name="${pos}_foot" type="revolute">
<parent link="${pos}_leg_link" />
<child link="${pos}_foot_link" />
<axis xyz="0 1 0" />
<origin rpy="0 0 0" xyz="0.014 0 -${leg_length}" />
<limit effort="1000.0" velocity="0.5" lower="-2.59" upper="0.1"/>
<dynamics damping="0.0" friction="0.5" />
</joint>
<transmission name="${pos}_foot_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${pos}_foot">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="${pos}_foot_actuator">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</xacro:macro>
<xacro:macro name="gen_toe" params="name">
<link name="${name}">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/foot.stl" scale="0.001 0.001 0.001" />
</geometry>
<origin rpy="0 0.40010 0" xyz="0 -0.01 0.015" />
<material name="grey" />
</visual>
<collision>
<geometry>
<sphere radius="${toe_radius}" />
</geometry>
<origin rpy="0 0 0" xyz="0 0 0" />
<contact_coefficients mu="1.1" />
</collision>
<inertial>
<mass value="0.05" />
<inertia ixx="1000" ixy="0" ixz="0" iyy="1000" iyz="0" izz="1000" />
</inertial>
</link>
</xacro:macro>
<xacro:macro name="gen_toe_joint" params="pos">
<joint name="${pos}_toe" type="fixed">
<parent link="${pos}_foot_link" />
<child link="${pos}_toe_link" />
<origin xyz="0 0 -${foot_length}" />
</joint>
</xacro:macro>
<xacro:macro name="gen_full_leg_joint" params="pos shiftx shifty shift left">
<xacro:gen_shoulder name="${pos}_shoulder_link" left="${left}" />
<xacro:gen_leg name="${pos}_leg_link" left="${left}" />
<xacro:gen_foot name="${pos}_foot_link" left="${left}" />
<xacro:gen_toe name="${pos}_toe_link" />
<xacro:gen_shoulder_joint pos="${pos}" shiftx="${shiftx}" shifty="${shifty}" />
<xacro:gen_leg_joint pos="${pos}" shift="${shift}" />
<xacro:gen_foot_joint pos="${pos}" />
<xacro:gen_toe_joint pos="${pos}" />
</xacro:macro>
<!-- Robot Body -->
<link name="base_link"/>
<link name="base_inertia">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/mainbody.stl" scale="0.001 0.001 0.001" />
</geometry>
<material name="black" />
<origin rpy="0 0 3.1416" xyz="0.0425 0.055 -0.02" />
</visual>
<collision>
<geometry>
<box size="${body_length} ${body_width} ${body_height}" />
</geometry>
<origin rpy="0 0 3.1416" xyz="0 0 0" />
</collision>
<inertial>
<mass value="2.80" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
</link>
<joint name="base_inertia_joint" type="fixed">
<parent link="base_link" />
<child link="base_inertia" />
</joint>
<link name="rear_link">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/backpart.stl" scale="0.001 0.001 0.001" />
</geometry>
<origin rpy="0 0 3.1416" xyz="0.042 0.055 -0.0195" />
<material name="yellow" />
</visual>
<collision>
<geometry>
<box size="${rear_length} ${body_width} ${body_height}" />
</geometry>
<origin rpy="0 0 0" xyz="-0.135 0 0" />
</collision>
<inertial>
<mass value="0.20" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
</link>
<joint name="base_rear" type="fixed">
<parent link="base_link" />
<child link="rear_link" />
</joint>
<gazebo reference="rear_link">
<material>Gazebo/ZincYellow</material>
</gazebo>
<link name="front_link">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/frontpart.stl" scale="0.001 0.001 0.001" />
</geometry>
<origin rpy="0 0 3.1416" xyz="0.042 0.055 -0.0205" />
<material name="yellow" />
</visual>
<collision>
<geometry>
<box size="${front_length} ${body_width} ${body_height}" />
</geometry>
<origin rpy="0 0 0" xyz="0.135 0 0" />
</collision>
<inertial>
<mass value="0.20" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
</link>
<gazebo reference="front_link">
<material>Gazebo/ZincYellow</material>
</gazebo>
<joint name="base_front" type="fixed">
<parent link="base_link" />
<child link="front_link" />
</joint>
<!-- create Legs -->
<xacro:gen_full_leg_joint pos="front_left" shiftx="${shiftx}" shifty="${shifty}" shift="${shift}" left="true" />
<xacro:gen_full_leg_joint pos="front_right" shiftx="${shiftx}" shifty="-${shifty}" shift="-${shift}" left="false" />
<xacro:gen_full_leg_joint pos="rear_left" shiftx="-${shiftx}" shifty="${shifty}" shift="${shift}" left="true" />
<xacro:gen_full_leg_joint pos="rear_right" shiftx="-${shiftx}" shifty="-${shifty}" shift="-${shift}" left="false" />
</robot> |
boredengineering/Robots_for_Omniverse/URDF_descriptions/spotmicro_description/urdf/spotmicroai.urdf | <?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from spotmicroai.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="SpotMicroAI">
<material name="yellow">
<color rgba="0.92 0.83 0.0 1"/>
</material>
<material name="black">
<color rgba="0.1 0.1 0.1 1"/>
</material>
<material name="grey">
<color rgba="0.6 0.6 0.6 1"/>
</material>
<!-- Robot Body -->
<link name="base_link"/>
<link name="base_inertia">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/mainbody.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="black"/>
<origin rpy="0 0 3.1416" xyz="0.0425 0.055 -0.02"/>
</visual>
<collision>
<geometry>
<box size="0.14 0.11 0.07"/>
</geometry>
<origin rpy="0 0 3.1416" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="2.80"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
</inertial>
</link>
<joint name="base_inertia_joint" type="fixed">
<parent link="base_link"/>
<child link="base_inertia"/>
</joint>
<link name="rear_link">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/backpart.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 3.1416" xyz="0.042 0.055 -0.0195"/>
<material name="yellow"/>
</visual>
<collision>
<geometry>
<box size="0.04 0.11 0.07"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.135 0 0"/>
</collision>
<inertial>
<mass value="0.20"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
</inertial>
</link>
<joint name="base_rear" type="fixed">
<parent link="base_link"/>
<child link="rear_link"/>
</joint>
<gazebo reference="rear_link">
<material>Gazebo/ZincYellow</material>
</gazebo>
<link name="front_link">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/frontpart.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 3.1416" xyz="0.042 0.055 -0.0205"/>
<material name="yellow"/>
</visual>
<collision>
<geometry>
<box size="0.058 0.11 0.07"/>
</geometry>
<origin rpy="0 0 0" xyz="0.135 0 0"/>
</collision>
<inertial>
<mass value="0.20"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
</inertial>
</link>
<gazebo reference="front_link">
<material>Gazebo/ZincYellow</material>
</gazebo>
<joint name="base_front" type="fixed">
<parent link="base_link"/>
<child link="front_link"/>
</joint>
<link name="front_left_shoulder_link">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/lshoulder.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 3.1416" xyz="0.135 0.0163 -0.0195"/>
<material name="black"/>
</visual>
<collision>
<geometry>
<box size="0.044 0.038 0.07"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.10"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
</inertial>
</link>
<link name="front_left_leg_link_cover">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/larm_cover.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 3.1416" xyz="0.134 -0.04 -0.0095"/>
<material name="yellow"/>
</visual>
</link>
<link name="front_left_leg_link">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/larm.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 3.1416" xyz="0.134 -0.04 -0.0095"/>
<material name="black"/>
</visual>
<collision>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/>
<geometry>
<box size="0.028 0.036 0.109"/>
</geometry>
</collision>
<inertial>
<mass value="0.15"/>
<inertia ixx="1000" ixy="0" ixz="0" iyy="1000" iyz="0" izz="1000"/>
</inertial>
</link>
<gazebo reference="front_left_leg_link_cover">
<material>Gazebo/ZincYellow</material>
</gazebo>
<link name="front_left_foot_link">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/lfoot.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 3.1416 " xyz="0.1195 -0.04 0.099"/>
<material name="black"/>
</visual>
<collision>
<geometry>
<box size="0.026 0.020 0.13"/>
</geometry>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="1000" ixy="0" ixz="0" iyy="1000" iyz="0" izz="1000"/>
</inertial>
</link>
<link name="front_left_toe_link">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/foot.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0.40010 0" xyz="0 -0.01 0.015"/>
<material name="grey"/>
</visual>
<collision>
<geometry>
<sphere radius="0.02"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<contact_coefficients mu="1.1"/>
</collision>
<inertial>
<mass value="0.05"/>
<inertia ixx="1000" ixy="0" ixz="0" iyy="1000" iyz="0" izz="1000"/>
</inertial>
</link>
<joint name="front_left_shoulder" type="revolute">
<parent link="base_link"/>
<child link="front_left_shoulder_link"/>
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="0.093 0.0395 0"/>
<limit effort="1000.0" lower="-0.548" upper="0.548" velocity="0.7"/>
<dynamics damping="0.0" friction="0.5"/>
</joint>
<transmission name="front_left_shoulder_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="front_left_shoulder">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="front_left_shoulder_actuator">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="front_left_leg" type="revolute">
<parent link="front_left_shoulder_link"/>
<child link="front_left_leg_link"/>
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0 0.055 0"/>
<limit effort="1000.0" lower="-2.666" upper="1.548" velocity="0.5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<transmission name="front_left_leg_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="front_left_leg">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="front_left_leg_actuator">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="front_left_leg_cover_joint" type="fixed">
<parent link="front_left_leg_link"/>
<child link="front_left_leg_link_cover"/>
<origin xyz="0 0 0"/>
</joint>
<joint name="front_left_foot" type="revolute">
<parent link="front_left_leg_link"/>
<child link="front_left_foot_link"/>
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0.014 0 -0.109"/>
<limit effort="1000.0" lower="-2.59" upper="0.1" velocity="0.5"/>
<dynamics damping="0.0" friction="0.5"/>
</joint>
<transmission name="front_left_foot_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="front_left_foot">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="front_left_foot_actuator">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="front_left_toe" type="fixed">
<parent link="front_left_foot_link"/>
<child link="front_left_toe_link"/>
<origin xyz="0 0 -0.13"/>
</joint>
<link name="front_right_shoulder_link">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/rshoulder.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 3.1416" xyz="0.135 0.0938 -0.0205"/>
<material name="black"/>
</visual>
<collision>
<geometry>
<box size="0.044 0.038 0.07"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.10"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
</inertial>
</link>
<link name="front_right_leg_link_cover">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/rarm_cover.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 3.1416" xyz="0.134 0.149 -0.0095"/>
<material name="yellow"/>
</visual>
</link>
<link name="front_right_leg_link">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/rarm.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 3.1416" xyz="0.134 0.149 -0.0095"/>
<material name="black"/>
</visual>
<collision>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/>
<geometry>
<box size="0.028 0.036 0.109"/>
</geometry>
</collision>
<inertial>
<mass value="0.15"/>
<inertia ixx="1000" ixy="0" ixz="0" iyy="1000" iyz="0" izz="1000"/>
</inertial>
</link>
<gazebo reference="front_right_leg_link_cover">
<material>Gazebo/ZincYellow</material>
</gazebo>
<link name="front_right_foot_link">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/rfoot.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 3.1416" xyz="0.1195 0.149 0.099"/>
<material name="black"/>
</visual>
<collision>
<geometry>
<box size="0.026 0.020 0.13"/>
</geometry>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="1000" ixy="0" ixz="0" iyy="1000" iyz="0" izz="1000"/>
</inertial>
</link>
<link name="front_right_toe_link">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/foot.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0.40010 0" xyz="0 -0.01 0.015"/>
<material name="grey"/>
</visual>
<collision>
<geometry>
<sphere radius="0.02"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<contact_coefficients mu="1.1"/>
</collision>
<inertial>
<mass value="0.05"/>
<inertia ixx="1000" ixy="0" ixz="0" iyy="1000" iyz="0" izz="1000"/>
</inertial>
</link>
<joint name="front_right_shoulder" type="revolute">
<parent link="base_link"/>
<child link="front_right_shoulder_link"/>
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="0.093 -0.0395 0"/>
<limit effort="1000.0" lower="-0.548" upper="0.548" velocity="0.7"/>
<dynamics damping="0.0" friction="0.5"/>
</joint>
<transmission name="front_right_shoulder_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="front_right_shoulder">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="front_right_shoulder_actuator">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="front_right_leg" type="revolute">
<parent link="front_right_shoulder_link"/>
<child link="front_right_leg_link"/>
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0 -0.055 0"/>
<limit effort="1000.0" lower="-2.666" upper="1.548" velocity="0.5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<transmission name="front_right_leg_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="front_right_leg">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="front_right_leg_actuator">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="front_right_leg_cover_joint" type="fixed">
<parent link="front_right_leg_link"/>
<child link="front_right_leg_link_cover"/>
<origin xyz="0 0 0"/>
</joint>
<joint name="front_right_foot" type="revolute">
<parent link="front_right_leg_link"/>
<child link="front_right_foot_link"/>
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0.014 0 -0.109"/>
<limit effort="1000.0" lower="-2.59" upper="0.1" velocity="0.5"/>
<dynamics damping="0.0" friction="0.5"/>
</joint>
<transmission name="front_right_foot_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="front_right_foot">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="front_right_foot_actuator">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="front_right_toe" type="fixed">
<parent link="front_right_foot_link"/>
<child link="front_right_toe_link"/>
<origin xyz="0 0 -0.13"/>
</joint>
<link name="rear_left_shoulder_link">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/lshoulder.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 3.1416" xyz="0.135 0.0163 -0.0195"/>
<material name="black"/>
</visual>
<collision>
<geometry>
<box size="0.044 0.038 0.07"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.10"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
</inertial>
</link>
<link name="rear_left_leg_link_cover">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/larm_cover.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 3.1416" xyz="0.134 -0.04 -0.0095"/>
<material name="yellow"/>
</visual>
</link>
<link name="rear_left_leg_link">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/larm.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 3.1416" xyz="0.134 -0.04 -0.0095"/>
<material name="black"/>
</visual>
<collision>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/>
<geometry>
<box size="0.028 0.036 0.109"/>
</geometry>
</collision>
<inertial>
<mass value="0.15"/>
<inertia ixx="1000" ixy="0" ixz="0" iyy="1000" iyz="0" izz="1000"/>
</inertial>
</link>
<gazebo reference="rear_left_leg_link_cover">
<material>Gazebo/ZincYellow</material>
</gazebo>
<link name="rear_left_foot_link">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/lfoot.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 3.1416 " xyz="0.1195 -0.04 0.099"/>
<material name="black"/>
</visual>
<collision>
<geometry>
<box size="0.026 0.020 0.13"/>
</geometry>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="1000" ixy="0" ixz="0" iyy="1000" iyz="0" izz="1000"/>
</inertial>
</link>
<link name="rear_left_toe_link">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/foot.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0.40010 0" xyz="0 -0.01 0.015"/>
<material name="grey"/>
</visual>
<collision>
<geometry>
<sphere radius="0.02"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<contact_coefficients mu="1.1"/>
</collision>
<inertial>
<mass value="0.05"/>
<inertia ixx="1000" ixy="0" ixz="0" iyy="1000" iyz="0" izz="1000"/>
</inertial>
</link>
<joint name="rear_left_shoulder" type="revolute">
<parent link="base_link"/>
<child link="rear_left_shoulder_link"/>
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="-0.093 0.0395 0"/>
<limit effort="1000.0" lower="-0.548" upper="0.548" velocity="0.7"/>
<dynamics damping="0.0" friction="0.5"/>
</joint>
<transmission name="rear_left_shoulder_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="rear_left_shoulder">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="rear_left_shoulder_actuator">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="rear_left_leg" type="revolute">
<parent link="rear_left_shoulder_link"/>
<child link="rear_left_leg_link"/>
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0 0.055 0"/>
<limit effort="1000.0" lower="-2.666" upper="1.548" velocity="0.5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<transmission name="rear_left_leg_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="rear_left_leg">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="rear_left_leg_actuator">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="rear_left_leg_cover_joint" type="fixed">
<parent link="rear_left_leg_link"/>
<child link="rear_left_leg_link_cover"/>
<origin xyz="0 0 0"/>
</joint>
<joint name="rear_left_foot" type="revolute">
<parent link="rear_left_leg_link"/>
<child link="rear_left_foot_link"/>
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0.014 0 -0.109"/>
<limit effort="1000.0" lower="-2.59" upper="0.1" velocity="0.5"/>
<dynamics damping="0.0" friction="0.5"/>
</joint>
<transmission name="rear_left_foot_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="rear_left_foot">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="rear_left_foot_actuator">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="rear_left_toe" type="fixed">
<parent link="rear_left_foot_link"/>
<child link="rear_left_toe_link"/>
<origin xyz="0 0 -0.13"/>
</joint>
<link name="rear_right_shoulder_link">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/rshoulder.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 3.1416" xyz="0.135 0.0938 -0.0205"/>
<material name="black"/>
</visual>
<collision>
<geometry>
<box size="0.044 0.038 0.07"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.10"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
</inertial>
</link>
<link name="rear_right_leg_link_cover">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/rarm_cover.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 3.1416" xyz="0.134 0.149 -0.0095"/>
<material name="yellow"/>
</visual>
</link>
<link name="rear_right_leg_link">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/rarm.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 3.1416" xyz="0.134 0.149 -0.0095"/>
<material name="black"/>
</visual>
<collision>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/>
<geometry>
<box size="0.028 0.036 0.109"/>
</geometry>
</collision>
<inertial>
<mass value="0.15"/>
<inertia ixx="1000" ixy="0" ixz="0" iyy="1000" iyz="0" izz="1000"/>
</inertial>
</link>
<gazebo reference="rear_right_leg_link_cover">
<material>Gazebo/ZincYellow</material>
</gazebo>
<link name="rear_right_foot_link">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/rfoot.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 3.1416" xyz="0.1195 0.149 0.099"/>
<material name="black"/>
</visual>
<collision>
<geometry>
<box size="0.026 0.020 0.13"/>
</geometry>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="1000" ixy="0" ixz="0" iyy="1000" iyz="0" izz="1000"/>
</inertial>
</link>
<link name="rear_right_toe_link">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/foot.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0.40010 0" xyz="0 -0.01 0.015"/>
<material name="grey"/>
</visual>
<collision>
<geometry>
<sphere radius="0.02"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<contact_coefficients mu="1.1"/>
</collision>
<inertial>
<mass value="0.05"/>
<inertia ixx="1000" ixy="0" ixz="0" iyy="1000" iyz="0" izz="1000"/>
</inertial>
</link>
<joint name="rear_right_shoulder" type="revolute">
<parent link="base_link"/>
<child link="rear_right_shoulder_link"/>
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="-0.093 -0.0395 0"/>
<limit effort="1000.0" lower="-0.548" upper="0.548" velocity="0.7"/>
<dynamics damping="0.0" friction="0.5"/>
</joint>
<transmission name="rear_right_shoulder_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="rear_right_shoulder">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="rear_right_shoulder_actuator">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="rear_right_leg" type="revolute">
<parent link="rear_right_shoulder_link"/>
<child link="rear_right_leg_link"/>
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0 -0.055 0"/>
<limit effort="1000.0" lower="-2.666" upper="1.548" velocity="0.5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<transmission name="rear_right_leg_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="rear_right_leg">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="rear_right_leg_actuator">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="rear_right_leg_cover_joint" type="fixed">
<parent link="rear_right_leg_link"/>
<child link="rear_right_leg_link_cover"/>
<origin xyz="0 0 0"/>
</joint>
<joint name="rear_right_foot" type="revolute">
<parent link="rear_right_leg_link"/>
<child link="rear_right_foot_link"/>
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0.014 0 -0.109"/>
<limit effort="1000.0" lower="-2.59" upper="0.1" velocity="0.5"/>
<dynamics damping="0.0" friction="0.5"/>
</joint>
<transmission name="rear_right_foot_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="rear_right_foot">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="rear_right_foot_actuator">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="rear_right_toe" type="fixed">
<parent link="rear_right_foot_link"/>
<child link="rear_right_toe_link"/>
<origin xyz="0 0 -0.13"/>
</joint>
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/DigitRobot/README.md | # Digit
Manufacturer: [Agility Robotics](https://agilityrobotics.com/)<br/>
> Source:<br/>
> - [DigitRobot.jl](https://github.com/adubredu/DigitRobot.jl)<br/>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/DigitRobot/urdf/digit_model.urdf | <?xml version="1.0" encoding="utf-8"?>
<robot name="digit">
<link name="torso">
<inertial>
<origin rpy="0 0 0" xyz="0.001637 0.0002 0.259547"/>
<mass value="15.028392"/>
<inertia ixx="0.376284" ixy="-8.8e-05" ixz="0.008378" iyy="0.342655" iyz="6.7e-05" izz="0.100648"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/torso.obj"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/torso.obj"/>
</geometry>
</collision>
</link>
<link name="left_hip_roll">
<inertial>
<origin rpy="0 0 0" xyz="-0.001967 0.000244 0.031435"/>
<mass value="0.915088"/>
<inertia ixx="0.001017" ixy="-3e-06" ixz="1.3e-05" iyy="0.001148" iyz="-4e-06" izz="0.000766"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/hip-yaw-housing.obj"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/hip-yaw-housing.obj"/>
</geometry>
</collision>
</link>
<link name="left_hip_yaw">
<inertial>
<origin rpy="0 0 0" xyz="1e-05 -0.001945 0.042033"/>
<mass value="0.818753"/>
<inertia ixx="0.001627" ixy="-1e-06" ixz="2e-06" iyy="0.001929" iyz="5.3e-05" izz="0.00077"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/hip-pitch-housing.obj"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/hip-pitch-housing.obj"/>
</geometry>
</collision>
</link>
<link name="left_hip_pitch">
<inertial>
<origin rpy="0 0 0" xyz="0.060537 0.000521 -0.038857"/>
<mass value="6.244279"/>
<inertia ixx="0.011533" ixy="-0.000171" ixz="0.000148" iyy="0.033345" iyz="0.000178" izz="0.033958"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/hip-pitch.obj"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/hip-pitch.obj"/>
</geometry>
</collision>
</link>
<link name="left_knee">
<inertial>
<origin rpy="0 0 0" xyz="0.045641 0.042154 0.001657"/>
<mass value="1.227077"/>
<inertia ixx="0.002643" ixy="-0.001832" ixz="6.6e-05" iyy="0.005098" iyz="4.5e-05" izz="0.007019"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/knee.obj"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/knee.obj"/>
</geometry>
</collision>
</link>
<link name="left_shin">
<inertial>
<origin rpy="0 0 0" xyz="0.174265 0.010265 0.00107"/>
<mass value="0.895793"/>
<inertia ixx="0.001128" ixy="0.001098" ixz="0.000196" iyy="0.022492" iyz="-3e-06" izz="0.022793"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/shin.obj"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/shin.obj"/>
</geometry>
</collision>
</link>
<link name="left_tarsus">
<inertial>
<origin rpy="0 0 0" xyz="0.000932 -0.029183 0.000678"/>
<mass value="1.322865"/>
<inertia ixx="0.000932" ixy="0.00061" ixz="0.000102" iyy="0.016409" iyz="9e-06" izz="0.016501"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/tarsus.obj"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/tarsus.obj"/>
</geometry>
</collision>
</link>
<link name="left_toe_pitch">
<inertial>
<origin rpy="0 0 0" xyz="-0.000141 2e-06 3e-06"/>
<mass value="0.043881"/>
<inertia ixx="5e-06" ixy="0" ixz="0" iyy="8e-06" iyz="0" izz="5e-06"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/toe-pitch.obj"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/toe-pitch.obj"/>
</geometry>
</collision>
</link>
<link name="left_toe_roll">
<inertial>
<origin rpy="0 0 0" xyz="9e-06 -0.028084 -0.023204"/>
<mass value="0.531283"/>
<inertia ixx="0.00187" ixy="0" ixz="0" iyy="0.001616" iyz="0.000566" izz="0.000843"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/toe-roll.obj"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/toe-roll.obj"/>
</geometry>
</collision>
</link>
<link name="left_shoulder_roll">
<inertial>
<origin rpy="0 0 0" xyz="9e-06 -0.003158 0.023405"/>
<mass value="0.535396"/>
<inertia ixx="0.000704" ixy="1.4e-05" ixz="1.2e-05" iyy="0.00075" iyz="3.5e-05" izz="0.000298"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/arm-L1.obj"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/arm-L1.obj"/>
</geometry>
</collision>
</link>
<link name="left_shoulder_cap">
<inertial>
<origin rpy="0 0 0" xyz="9e-06 -0.003158 0.023405"/>
<mass value="0.535396"/>
<inertia ixx="0.000704" ixy="1.4e-05" ixz="1.2e-05" iyy="0.00075" iyz="3.5e-05" izz="0.000298"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/shoulder-roll-housing.obj"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/shoulder-roll-housing.obj"/>
</geometry>
</collision>
</link>
<link name="left_waist_cap">
<inertial>
<origin rpy="0 0 0" xyz="9e-06 -0.003158 0.023405"/>
<mass value="0.535396"/>
<inertia ixx="0.000704" ixy="1.4e-05" ixz="1.2e-05" iyy="0.00075" iyz="3.5e-05" izz="0.000298"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/shoulder-roll-housing.obj"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/shoulder-roll-housing.obj"/>
</geometry>
</collision>
</link>
<link name="left_shoulder_pitch">
<inertial>
<origin rpy="0 0 0" xyz="-4.2e-05 -0.061882 -0.073788"/>
<mass value="1.440357"/>
<inertia ixx="0.006761" ixy="-6e-06" ixz="-3e-06" iyy="0.002087" iyz="-0.002046" izz="0.005778"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/arm-L2.obj"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/arm-L2.obj"/>
</geometry>
</collision>
</link>
<link name="left_shoulder_yaw">
<inertial>
<origin rpy="0 0 0" xyz="-3e-05 -0.001937 0.11407"/>
<mass value="1.065387"/>
<inertia ixx="0.006967" ixy="1e-06" ixz="-1e-06" iyy="0.007003" iyz="1.5e-05" izz="0.000673"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/arm-L3.obj"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/arm-L3.obj"/>
</geometry>
</collision>
</link>
<link name="left_elbow">
<inertial>
<origin rpy="0 0 0" xyz="0.107996 -0.000521 -0.017765"/>
<mass value="0.550582"/>
<inertia ixx="0.000476" ixy="2.9e-05" ixz="0.001403" iyy="0.009564" iyz="1.5e-05" izz="-9e-06"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/arm-L4.obj"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/arm-L4.obj"/>
</geometry>
</collision>
</link>
<link name="right_hip_roll">
<inertial>
<origin rpy="0 0 0" xyz="-0.001967 -0.000244 0.031435"/>
<mass value="0.915088"/>
<inertia ixx="0.001017" ixy="3e-06" ixz="1.3e-05" iyy="0.001148" iyz="4e-06" izz="0.000766"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/hip-yaw-housing.obj" scale="1 -1 1"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/hip-yaw-housing.obj" scale="1 -1 1"/>
</geometry>
</collision>
</link>
<link name="right_hip_yaw">
<inertial>
<origin rpy="0 0 0" xyz="1e-05 0.001945 0.042033"/>
<mass value="0.818753"/>
<inertia ixx="0.001627" ixy="1e-06" ixz="2e-06" iyy="0.001929" iyz="-5.3e-05" izz="0.00077"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/hip-pitch-housing.obj" scale="1 -1 1"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/hip-pitch-housing.obj" scale="1 -1 1"/>
</geometry>
</collision>
</link>
<link name="right_hip_pitch">
<inertial>
<origin rpy="0 0 0" xyz="0.060537 -0.000521 -0.038857"/>
<mass value="6.244279"/>
<inertia ixx="0.011533" ixy="0.000171" ixz="0.000148" iyy="0.033345" iyz="-0.000178" izz="0.033958"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/hip-pitch.obj" scale="1 -1 1"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/hip-pitch.obj" scale="1 -1 1"/>
</geometry>
</collision>
</link>
<link name="right_knee">
<inertial>
<origin rpy="0 0 0" xyz="0.045641 -0.042154 0.001657"/>
<mass value="1.227077"/>
<inertia ixx="0.002643" ixy="0.001832" ixz="6.6e-05" iyy="0.005098" iyz="-4.5e-05" izz="0.007019"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/knee.obj" scale="1 -1 1"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/knee.obj" scale="1 -1 1"/>
</geometry>
</collision>
</link>
<link name="right_shin">
<inertial>
<origin rpy="0 0 0" xyz="0.174265 -0.010265 0.00107"/>
<mass value="0.895793"/>
<inertia ixx="0.001128" ixy="-0.001098" ixz="0.000196" iyy="0.022492" iyz="3e-06" izz="0.022793"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/shin.obj" scale="1 -1 1"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/shin.obj" scale="1 -1 1"/>
</geometry>
</collision>
</link>
<link name="right_tarsus">
<inertial>
<origin rpy="0 0 0" xyz="0.000932 0.029183 0.000678"/>
<mass value="1.322865"/>
<inertia ixx="0.000932" ixy="-0.00061" ixz="0.000102" iyy="0.016409" iyz="-9e-06" izz="0.016501"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/tarsus.obj" scale="1 -1 1"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/tarsus.obj" scale="1 -1 1"/>
</geometry>
</collision>
</link>
<link name="right_toe_pitch">
<inertial>
<origin rpy="0 0 0" xyz="-0.000141 -2e-06 3e-06"/>
<mass value="0.043881"/>
<inertia ixx="5e-06" ixy="0" ixz="0" iyy="8e-06" iyz="0" izz="5e-06"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/toe-pitch.obj" scale="1 -1 1"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/toe-pitch.obj" scale="1 -1 1"/>
</geometry>
</collision>
</link>
<link name="right_toe_roll">
<inertial>
<origin rpy="0 0 0" xyz="9e-06 0.028084 -0.023204"/>
<mass value="0.531283"/>
<inertia ixx="0.00187" ixy="0" ixz="0" iyy="0.001616" iyz="-0.000566" izz="0.000843"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/toe-roll.obj" scale="1 -1 1"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/toe-roll.obj" scale="1 -1 1"/>
</geometry>
</collision>
</link>
<link name="right_shoulder_roll">
<inertial>
<origin rpy="0 0 0" xyz="9e-06 0.003158 0.023405"/>
<mass value="0.535396"/>
<inertia ixx="0.000704" ixy="-1.4e-05" ixz="1.2e-05" iyy="0.00075" iyz="-3.5e-05" izz="0.000298"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/arm-L1.obj" scale="1 -1 1"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/arm-L1.obj" scale="1 -1 1"/>
</geometry>
</collision>
</link>
<link name="right_shoulder_cap">
<inertial>
<origin rpy="0 0 0" xyz="9e-06 0.003158 0.023405"/>
<mass value="0.535396"/>
<inertia ixx="0.000704" ixy="-1.4e-05" ixz="1.2e-05" iyy="0.00075" iyz="-3.5e-05" izz="0.000298"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/shoulder-roll-housing.obj" scale="1 -1 1"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/shoulder-roll-housing.obj" scale="1 -1 1"/>
</geometry>
</collision>
</link>
<link name="right_waist_cap">
<inertial>
<origin rpy="0 0 0" xyz="9e-06 0.003158 0.023405"/>
<mass value="0.535396"/>
<inertia ixx="0.000704" ixy="-1.4e-05" ixz="1.2e-05" iyy="0.00075" iyz="-3.5e-05" izz="0.000298"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/shoulder-roll-housing.obj" scale="1 -1 1"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/shoulder-roll-housing.obj" scale="1 -1 1"/>
</geometry>
</collision>
</link>
<link name="right_shoulder_pitch">
<inertial>
<origin rpy="0 0 0" xyz="-4.2e-05 0.061882 -0.073788"/>
<mass value="1.440357"/>
<inertia ixx="0.006761" ixy="6e-06" ixz="-3e-06" iyy="0.002087" iyz="0.002046" izz="0.005778"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/arm-L2.obj" scale="1 -1 1"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/arm-L2.obj" scale="1 -1 1"/>
</geometry>
</collision>
</link>
<link name="right_shoulder_yaw">
<inertial>
<origin rpy="0 0 0" xyz="-3e-05 0.001937 0.11407"/>
<mass value="1.065387"/>
<inertia ixx="0.006967" ixy="-1e-06" ixz="-1e-06" iyy="0.007003" iyz="-1.5e-05" izz="0.000673"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/arm-L3.obj" scale="1 -1 1"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/arm-L3.obj" scale="1 -1 1"/>
</geometry>
</collision>
</link>
<link name="right_elbow">
<inertial>
<origin rpy="0 0 0" xyz="0.107996 0.000521 -0.017765"/>
<mass value="0.550582"/>
<inertia ixx="0.000476" ixy="-2.9e-05" ixz="0.001403" iyy="0.009564" iyz="-1.5e-05" izz="-9e-06"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/arm-L4.obj" scale="1 -1 1"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://urdf/arm-L4.obj" scale="1 -1 1"/>
</geometry>
</collision>
</link>
<joint name="hip_abduction_left" type="continuous">
<origin rpy="1.57079632679 -1.1955506 -1.57079632679" xyz="-0.001 0.091 0"/>
<axis xyz="0 0 1"/>
<parent link="torso"/>
<child link="left_hip_roll"/>
<limit effort="1.4" lower="-1.0472" upper="1.0472" velocity="12.15"/>
</joint>
<joint name="hip_rotation_left" type="continuous">
<origin rpy="0 -1.57079632679 0" xyz="-0.0505 0 0.044"/>
<axis xyz="0 0 1"/>
<parent link="left_hip_roll"/>
<child link="left_hip_yaw"/>
<limit effort="1.4" lower="-0.698132" upper="0.698132" velocity="12.15"/>
</joint>
<joint name="hip_flexion_left" type="continuous">
<origin rpy="-1.57079632679 -0.785398163397 3.14159265359" xyz="0 0.004 0.068"/>
<axis xyz="0 0 -1"/>
<parent link="left_hip_yaw"/>
<child link="left_hip_pitch"/>
<limit effort="12.5" lower="-1.0472" upper="1.57079632679" velocity="8.5"/>
</joint>
<joint name="knee_joint_left" type="continuous">
<origin rpy="0 0 -1.57079632679" xyz="0.12 0 0.0045"/>
<axis xyz="0 0 1"/>
<parent link="left_hip_pitch"/>
<child link="left_knee"/>
<limit effort="12.5" lower="-1.2392" upper="0.8727" velocity="8.5085"/>
</joint>
<joint name="knee_to_shin_left" type="fixed">
<origin rpy="0 0 0" xyz="0.060677 0.047406 0"/>
<axis xyz="0 0 1"/>
<parent link="left_knee"/>
<child link="left_shin"/>
<limit effort="0" lower="-0.35" upper="0.35" velocity="10"/>
</joint>
<joint name="shin_to_tarsus_left" type="continuous">
<origin rpy="0 0 1.7976891" xyz="0.434759 0.02 0"/>
<axis xyz="0 0 1"/>
<parent link="left_shin"/>
<child link="left_tarsus"/>
<limit effort="0" lower="-0.8779" upper="1.2497" velocity="20"/>
</joint>
<joint name="toe_pitch_joint_left" type="continuous">
<origin rpy="0 0 1.1956" xyz="0.408 -0.04 0"/>
<axis xyz="0 0 1"/>
<parent link="left_tarsus"/>
<child link="left_toe_pitch"/>
<limit effort="0.9" lower="-0.785398163397" upper="0.785398163397" velocity="11.5"/>
</joint>
<joint name="toe_roll_joint_left" type="continuous">
<origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
<axis xyz="0 0 1"/>
<parent link="left_toe_pitch"/>
<child link="left_toe_roll"/>
<limit effort="0.9" lower="-0.6109" upper="0.6109" velocity="11.5"/>
</joint>
<joint name="shoulder_roll_joint_left" type="continuous">
<origin rpy="-1.57079632679 -1.3962633 1.57079632679" xyz="-0.001 0.12 0.4"/>
<axis xyz="0 0 1"/>
<parent link="torso"/>
<child link="left_shoulder_roll"/>
<limit effort="1.4" lower="-1.309" upper="1.309" velocity="12.5"/>
</joint>
<joint name="shoulder_roll_cap_left" type="fixed">
<origin rpy="-1.57079632679 -1.3962633 1.57079632679" xyz="0.001 0.12 0.4"/>
<axis xyz="0 0 1"/>
<parent link="torso"/>
<child link="left_shoulder_cap"/>
<limit effort="1.4" lower="-1.309" upper="1.309" velocity="12.5"/>
</joint>
<joint name="shoulder_pitch_joint_left" type="continuous">
<origin rpy="1.57079632679 0.785398163397 -0.2792527" xyz="-0.00317 -0.011055 0.0555"/>
<axis xyz="0 0 -1"/>
<parent link="left_shoulder_roll"/>
<child link="left_shoulder_pitch"/>
<limit effort="1.4" lower="-2.5307" upper="2.5307" velocity="12.5"/>
</joint>
<joint name="shoulder_yaw_joint_left" type="continuous">
<origin rpy="1.57079632679 0 0" xyz="0 -0.165 -0.1"/>
<axis xyz="0 0 1"/>
<parent link="left_shoulder_pitch"/>
<child link="left_shoulder_yaw"/>
<limit effort="1.4" lower="-1.7453" upper="1.7453" velocity="10"/>
</joint>
<joint name="elbow_joint_left" type="continuous">
<origin rpy="1.57079632679 -0.3926991 0" xyz="0 -0.0385 0.185"/>
<axis xyz="0 0 1"/>
<parent link="left_shoulder_yaw"/>
<child link="left_elbow"/>
<limit effort="1.4" lower="-1.3526" upper="1.3526" velocity="12.5"/>
</joint>
<joint name="hip_abduction_right" type="continuous">
<origin rpy="-1.57079632679 -1.1955506 1.57079632679" xyz="-0.001 -0.091 0"/>
<axis xyz="0 0 1"/>
<parent link="torso"/>
<child link="right_hip_roll"/>
<limit effort="1.4" lower="-1.0472" upper="1.0472" velocity="12.15"/>
</joint>
<joint name="hip_rotation_right" type="continuous">
<origin rpy="0 -1.57079632679 0" xyz="-0.0505 0 0.044"/>
<axis xyz="0 0 1"/>
<parent link="right_hip_roll"/>
<child link="right_hip_yaw"/>
<limit effort="1.4" lower="-0.698132" upper="0.698132" velocity="12.15"/>
</joint>
<joint name="hip_flexion_right" type="continuous">
<origin rpy="1.57079632679 -0.785398163397 -3.14159265359" xyz="0 -0.004 0.068"/>
<axis xyz="0 0 -1"/>
<parent link="right_hip_yaw"/>
<child link="right_hip_pitch"/>
<limit effort="12.5" lower="-1.57079632679" upper="1.0472" velocity="8.5"/>
</joint>
<joint name="knee_joint_right" type="continuous">
<origin rpy="0 0 1.57079632679" xyz="0.12 0 0.0045"/>
<axis xyz="0 0 1"/>
<parent link="right_hip_pitch"/>
<child link="right_knee"/>
<limit effort="12.5" lower="-0.8727" upper="1.2392" velocity="8.5085"/>
</joint>
<joint name="knee_to_shin_right" type="fixed">
<origin rpy="0 0 0" xyz="0.060677 -0.047406 0"/>
<axis xyz="0 0 1"/>
<parent link="right_knee"/>
<child link="right_shin"/>
<limit effort="0" lower="-0.35" upper="0.35" velocity="10"/>
</joint>
<joint name="shin_to_tarsus_right" type="continuous">
<origin rpy="0 0 -1.7976891" xyz="0.434759 -0.02 0"/>
<axis xyz="0 0 1"/>
<parent link="right_shin"/>
<child link="right_tarsus"/>
<limit effort="0" lower="-1.2497" upper="0.8779" velocity="20"/>
</joint>
<joint name="toe_pitch_joint_right" type="continuous">
<origin rpy="0 0 -1.1956" xyz="0.408 0.04 0"/>
<axis xyz="0 0 1"/>
<parent link="right_tarsus"/>
<child link="right_toe_pitch"/>
<limit effort="0.9" lower="-0.785398163397" upper="0.785398163397" velocity="11.5"/>
</joint>
<joint name="toe_roll_joint_right" type="continuous">
<origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
<axis xyz="0 0 1"/>
<parent link="right_toe_pitch"/>
<child link="right_toe_roll"/>
<limit effort="0.9" lower="-0.6109" upper="0.6109" velocity="11.5"/>
</joint>
<joint name="shoulder_roll_joint_right" type="continuous">
<origin rpy="1.57079632679 -1.3962633 -1.57079632679" xyz="-0.001 -0.12 0.4"/>
<axis xyz="0 0 1"/>
<parent link="torso"/>
<child link="right_shoulder_roll"/>
<limit effort="1.4" lower="-1.309" upper="1.309" velocity="12.5"/>
</joint>
<joint name="shoulder_cap_joint_right" type="fixed">
<origin rpy="1.57079632679 -1.3962633 -1.57079632679" xyz="0.001 -0.12 0.4"/>
<axis xyz="0 0 1"/>
<parent link="torso"/>
<child link="right_shoulder_cap"/>
<limit effort="1.4" lower="-1.309" upper="1.309" velocity="12.5"/>
</joint>
<joint name="waist_cap_joint_right" type="fixed">
<origin rpy="1.57079632679 1.57 -1.57079632679" xyz="-0.001 -0.09 0.0"/>
<axis xyz="0 0 1"/>
<parent link="torso"/>
<child link="left_waist_cap"/>
<limit effort="1.4" lower="-1.309" upper="1.309" velocity="12.5"/>
</joint>
<joint name="waist_cap_joint_left" type="fixed">
<origin rpy="-1.57079632679 1.57 1.57079632679" xyz="-0.001 0.09 0.0"/>
<axis xyz="0 0 1"/>
<parent link="torso"/>
<child link="right_waist_cap"/>
<limit effort="1.4" lower="-1.309" upper="1.309" velocity="12.5"/>
</joint>
<joint name="shoulder_pitch_joint_right" type="continuous">
<origin rpy="-1.57079632679 0.785398163397 0.2792527" xyz="-0.00317 0.011055 0.0555"/>
<axis xyz="0 0 -1"/>
<parent link="right_shoulder_roll"/>
<child link="right_shoulder_pitch"/>
<limit effort="1.4" lower="-2.5307" upper="2.5307" velocity="12.5"/>
</joint>
<joint name="shoulder_yaw_joint_right" type="continuous">
<origin rpy="-1.57079632679 0 0" xyz="0 0.165 -0.1"/>
<axis xyz="0 0 1"/>
<parent link="right_shoulder_pitch"/>
<child link="right_shoulder_yaw"/>
<limit effort="1.4" lower="-1.7453" upper="1.7453" velocity="10"/>
</joint>
<joint name="elbow_joint_right" type="continuous">
<origin rpy="-1.57079632679 -0.3926991 0" xyz="0 0.0385 0.185"/>
<axis xyz="0 0 1"/>
<parent link="right_shoulder_yaw"/>
<child link="right_elbow"/>
<limit effort="1.4" lower="-1.3526" upper="1.3526" velocity="12.5"/>
</joint>
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/ANYbotics/anymal_c_simple_description/urdf/anymal.urdf | <?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- Copyright 2020 ANYbotics, https://www.anybotics.com -->
<!-- =================================================================================== -->
<!-- This file contains the description of the ANYmal C robot. -->
<robot name="anymal">
<!-- Base link -->
<link name="base">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/base.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.58 0.14 0.18"/>
</geometry>
</collision>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0.2175 0.07 0"/>
<geometry>
<cylinder length="0.145" radius="0.09"/>
</geometry>
</collision>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.2175 0.07 0"/>
<geometry>
<cylinder length="0.145" radius="0.09"/>
</geometry>
</collision>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0.2175 -0.07 0"/>
<geometry>
<cylinder length="0.145" radius="0.09"/>
</geometry>
</collision>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.2175 -0.07 0"/>
<geometry>
<cylinder length="0.145" radius="0.09"/>
</geometry>
</collision>
<!-- Shell self filtering -->
<self_filter>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="1.05 0.5 0.5"/>
</geometry>
</self_filter>
</link>
<!-- Fixed joint to add dummy inertia link -->
<joint name="base_to_base_inertia" type="fixed">
<parent link="base"/>
<child link="base_inertia"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<!-- Dummy inertia link, because KDL cannot have inertia on the base link -->
<link name="base_inertia">
<inertial>
<origin rpy="0 0 0" xyz="-0.018 -0.002 0.024"/>
<mass value="6.222"/>
<inertia ixx="0.017938806" ixy="0.00387963" ixz="0.001500772" iyy="0.370887745" iyz="6.8963e-05" izz="0.372497653"/>
</inertial>
</link>
<!-- Fixed joint base topshell -->
<joint name="base_top_shell" type="fixed">
<parent link="base"/>
<child link="top_shell"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<!-- Top shell link -->
<link name="top_shell">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/top_shell.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.00777 -0.00013 0.06523"/>
<mass value="0.534"/>
<inertia ixx="0.00664789486" ixy="1.247923e-05" ixz="0.00053990097" iyy="0.02587392411" iyz="3.7614e-07" izz="0.03152303792"/>
</inertial>
</link>
<!-- Fixed joint base topshell -->
<joint name="base_bottom_shell" type="fixed">
<parent link="base"/>
<child link="bottom_shell"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<!-- Bottom shell link -->
<link name="bottom_shell">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/bottom_shell.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.00333 1e-05 -0.07705"/>
<mass value="1.15"/>
<inertia ixx="0.00927353677" ixy="5.41222e-06" ixz="9.039821e-05" iyy="0.06134388239" iyz="2.3042e-07" izz="0.06853531465"/>
</inertial>
</link>
<!-- Fixed joint base remote -->
<joint name="base_remote" type="fixed">
<parent link="base"/>
<child link="remote"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<!-- Remote link -->
<link name="remote">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/remote.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.171 0.002 0.096"/>
<mass value="0.3262"/>
<inertia ixx="0.000528486" ixy="4.547e-05" ixz="1.10327e-05" iyy="0.001165035" iyz="7.4e-07" izz="0.00124026"/>
</inertial>
</link>
<!-- Fixed joint base handle -->
<joint name="base_handle" type="fixed">
<parent link="base"/>
<child link="handle"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<!-- Handle link -->
<link name="handle">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/handle.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0.37801 0.0 0.1372"/>
<mass value="0.314"/>
<inertia ixx="0.001525739" ixy="0.0" ixz="6.272e-05" iyy="0.00071584" iyz="1e-09" izz="0.001164779"/>
</inertial>
</link>
<!-- Fixed joint base face -->
<joint name="base_face_front" type="fixed">
<parent link="base"/>
<child link="face_front"/>
<origin rpy="0 0 -0.0" xyz="0.4145 0 0"/>
</joint>
<!-- Shell link -->
<link name="face_front">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/face.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.055 0 0"/>
<geometry>
<box size="0.11 0.14 0.18"/>
</geometry>
</collision>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0.055 0.07 0"/>
<geometry>
<cylinder length="0.11" radius="0.09"/>
</geometry>
</collision>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0.055 -0.07 0"/>
<geometry>
<cylinder length="0.11" radius="0.09"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.042 -0.001 0.004"/>
<mass value="0.73"/>
<inertia ixx="0.005238611" ixy="1.7609e-05" ixz="7.2167e-05" iyy="0.002643098" iyz="1.9548e-05" izz="0.004325938"/>
</inertial>
</link>
<!-- Camera joint -->
<!-- Is located between the two back screw holes at ground level. -->
<joint name="face_front_to_depth_camera_front_camera" type="fixed">
<parent link="face_front"/>
<child link="depth_camera_front_camera"/>
<origin rpy="0.0 0.523598775598 0" xyz="0.04715 0.0 -0.0292"/>
</joint>
<!-- Camera link -->
<link name="depth_camera_front_camera">
<visual>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/depth_camera.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.021 -0.002 0.025"/>
<mass value="0.16043"/>
<inertia ixx="0.000637051" ixy="0.000484569" ixz="0.000424211" iyy="0.000929402" iyz="5.138e-06" izz="0.000484569"/>
</inertial>
</link>
<!-- Camera parent joint -->
<!-- Frame lies on the left ir camera according to any_realsense2_camera urdf. -->
<joint name="depth_camera_front_camera_to_camera_parent" type="fixed">
<parent link="depth_camera_front_camera"/>
<child link="depth_camera_front_camera_parent"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0255 0.0175 0.0"/>
</joint>
<!-- Camera parent link -->
<link name="depth_camera_front_camera_parent"/>
<!-- Depth optical frame joint -->
<joint name="depth_camera_front_camera_parent_to_depth_optical_frame" type="fixed">
<parent link="depth_camera_front_camera_parent"/>
<child link="depth_camera_front_depth_optical_frame"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Depth optical frame link -->
<link name="depth_camera_front_depth_optical_frame"/>
<!-- Camera color frame joint -->
<joint name="depth_camera_front_camera_parent_to_color_frame" type="fixed">
<parent link="depth_camera_front_camera_parent"/>
<child link="depth_camera_front_color_frame"/>
<origin rpy="0 0 0" xyz="0 0.015 0"/>
</joint>
<!-- Camera color frame link -->
<link name="depth_camera_front_color_frame"/>
<!-- Camera color optical joint -->
<joint name="depth_camera_front_color_frame_to_color_optical_frame" type="fixed">
<parent link="depth_camera_front_color_frame"/>
<child link="depth_camera_front_color_optical_frame"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Camera color optical link -->
<link name="depth_camera_front_color_optical_frame"/>
<!-- Camera joint -->
<!-- Is located in the center of the mounting points. -->
<joint name="face_front_to_wide_angle_camera_front_camera" type="fixed">
<parent link="face_front"/>
<child link="wide_angle_camera_front_camera"/>
<origin rpy="0 0 0" xyz="0.09850 0.0 0.01497"/>
</joint>
<!-- Camera link -->
<link name="wide_angle_camera_front_camera">
<visual>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/wide_angle_camera.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.053 -0.001 0.025"/>
<mass value="0.287"/>
<inertia ixx="0.000559232" ixy="1.6875e-05" ixz="0.000423761" iyy="0.000946504" iyz="1.3234e-07" izz="0.000493052"/>
</inertial>
</link>
<!-- Camera parent joint -->
<joint name="wide_angle_camera_front_camera_to_camera_parent" type="fixed">
<parent link="wide_angle_camera_front_camera"/>
<child link="wide_angle_camera_front_camera_parent"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Camera parent link -->
<link name="wide_angle_camera_front_camera_parent"/>
<!-- Fixed joint base face -->
<joint name="base_face_rear" type="fixed">
<parent link="base"/>
<child link="face_rear"/>
<origin rpy="0 0 3.14159265359" xyz="-0.4145 0 0"/>
</joint>
<!-- Shell link -->
<link name="face_rear">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/face.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.055 0 0"/>
<geometry>
<box size="0.11 0.14 0.18"/>
</geometry>
</collision>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0.055 0.07 0"/>
<geometry>
<cylinder length="0.11" radius="0.09"/>
</geometry>
</collision>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0.055 -0.07 0"/>
<geometry>
<cylinder length="0.11" radius="0.09"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.042 -0.001 0.004"/>
<mass value="0.73"/>
<inertia ixx="0.005238611" ixy="1.7609e-05" ixz="7.2167e-05" iyy="0.002643098" iyz="1.9548e-05" izz="0.004325938"/>
</inertial>
</link>
<!-- Camera joint -->
<!-- Is located between the two back screw holes at ground level. -->
<joint name="face_rear_to_depth_camera_rear_camera" type="fixed">
<parent link="face_rear"/>
<child link="depth_camera_rear_camera"/>
<origin rpy="0.0 0.523598775598 0" xyz="0.04715 0.0 -0.0292"/>
</joint>
<!-- Camera link -->
<link name="depth_camera_rear_camera">
<visual>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/depth_camera.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.021 -0.002 0.025"/>
<mass value="0.16043"/>
<inertia ixx="0.000637051" ixy="0.000484569" ixz="0.000424211" iyy="0.000929402" iyz="5.138e-06" izz="0.000484569"/>
</inertial>
</link>
<!-- Camera parent joint -->
<!-- Frame lies on the left ir camera according to any_realsense2_camera urdf. -->
<joint name="depth_camera_rear_camera_to_camera_parent" type="fixed">
<parent link="depth_camera_rear_camera"/>
<child link="depth_camera_rear_camera_parent"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0255 0.0175 0.0"/>
</joint>
<!-- Camera parent link -->
<link name="depth_camera_rear_camera_parent"/>
<!-- Depth optical frame joint -->
<joint name="depth_camera_rear_camera_parent_to_depth_optical_frame" type="fixed">
<parent link="depth_camera_rear_camera_parent"/>
<child link="depth_camera_rear_depth_optical_frame"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Depth optical frame link -->
<link name="depth_camera_rear_depth_optical_frame"/>
<!-- Camera color frame joint -->
<joint name="depth_camera_rear_camera_parent_to_color_frame" type="fixed">
<parent link="depth_camera_rear_camera_parent"/>
<child link="depth_camera_rear_color_frame"/>
<origin rpy="0 0 0" xyz="0 0.015 0"/>
</joint>
<!-- Camera color frame link -->
<link name="depth_camera_rear_color_frame"/>
<!-- Camera color optical joint -->
<joint name="depth_camera_rear_color_frame_to_color_optical_frame" type="fixed">
<parent link="depth_camera_rear_color_frame"/>
<child link="depth_camera_rear_color_optical_frame"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Camera color optical link -->
<link name="depth_camera_rear_color_optical_frame"/>
<!-- Camera joint -->
<!-- Is located in the center of the mounting points. -->
<joint name="face_rear_to_wide_angle_camera_rear_camera" type="fixed">
<parent link="face_rear"/>
<child link="wide_angle_camera_rear_camera"/>
<origin rpy="0 0 0" xyz="0.09850 0.0 0.01497"/>
</joint>
<!-- Camera link -->
<link name="wide_angle_camera_rear_camera">
<visual>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/wide_angle_camera.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.053 -0.001 0.025"/>
<mass value="0.287"/>
<inertia ixx="0.000559232" ixy="1.6875e-05" ixz="0.000423761" iyy="0.000946504" iyz="1.3234e-07" izz="0.000493052"/>
</inertial>
</link>
<!-- Camera parent joint -->
<joint name="wide_angle_camera_rear_camera_to_camera_parent" type="fixed">
<parent link="wide_angle_camera_rear_camera"/>
<child link="wide_angle_camera_rear_camera_parent"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Camera parent link -->
<link name="wide_angle_camera_rear_camera_parent"/>
<!-- Fixed joint base battery -->
<joint name="base_battery" type="fixed">
<parent link="base"/>
<child link="battery"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<!-- Shell link -->
<link name="battery">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/battery.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.00067 -0.00023 -0.03362"/>
<mass value="5.53425"/>
<inertia ixx="0.00749474794" ixy="0.00016686282" ixz="7.82763e-05" iyy="0.0722338913" iyz="1.42902e-06" izz="0.07482717535"/>
</inertial>
</link>
<!-- Fixed joint to add docking -->
<joint name="base_to_docking_hatch_cover" type="fixed">
<parent link="base"/>
<child link="docking_hatch_cover"/>
<origin rpy="0 0 0" xyz="0.343 0.0 -0.07"/>
</joint>
<!-- Hatch cover link -->
<link name="docking_hatch_cover">
<!-- TODO(fgiraldez): add visual -->
<inertial>
<origin rpy="0 0 0" xyz="-0.003 0.0 0.005"/>
<mass value="0.065"/>
<inertia ixx="0.00063283" ixy="0.0" ixz="3.45e-07" iyy="0.00110971" iyz="0.0" izz="0.00171883"/>
</inertial>
</link>
<link name="imu_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0.005"/>
<geometry>
<box size="0.024 0.024 0.01"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.005"/>
<geometry>
<box size="0.024 0.024 0.01"/>
</geometry>
</collision>
<inertial>
<mass value="0.01"/>
<origin xyz="0 0 0"/>
<inertia ixx="5.63333333333e-07" ixy="0.0" ixz="0.0" iyy="9.6e-07" iyz="0.0" izz="5.63333333333e-07"/>
</inertial>
</link>
<joint name="imu_joint" type="fixed">
<parent link="base"/>
<child link="imu_link"/>
<origin rpy="0.0 0.0 1.57079632679" xyz="0.2488 0.00835 0.04628"/>
</joint>
<!-- Camera joint -->
<!-- Is located between the two back screw holes at ground level. -->
<joint name="base_to_depth_camera_left_camera" type="fixed">
<parent link="base"/>
<child link="depth_camera_left_camera"/>
<origin rpy="0.0 0.523598775598 1.57079632679" xyz="0.0 0.07646 0.02905"/>
</joint>
<!-- Camera link -->
<link name="depth_camera_left_camera">
<visual>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/depth_camera.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.021 -0.002 0.025"/>
<mass value="0.16043"/>
<inertia ixx="0.000637051" ixy="0.000484569" ixz="0.000424211" iyy="0.000929402" iyz="5.138e-06" izz="0.000484569"/>
</inertial>
</link>
<!-- Camera parent joint -->
<!-- Frame lies on the left ir camera according to any_realsense2_camera urdf. -->
<joint name="depth_camera_left_camera_to_camera_parent" type="fixed">
<parent link="depth_camera_left_camera"/>
<child link="depth_camera_left_camera_parent"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0255 0.0175 0.0"/>
</joint>
<!-- Camera parent link -->
<link name="depth_camera_left_camera_parent"/>
<!-- Depth optical frame joint -->
<joint name="depth_camera_left_camera_parent_to_depth_optical_frame" type="fixed">
<parent link="depth_camera_left_camera_parent"/>
<child link="depth_camera_left_depth_optical_frame"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Depth optical frame link -->
<link name="depth_camera_left_depth_optical_frame"/>
<!-- Camera color frame joint -->
<joint name="depth_camera_left_camera_parent_to_color_frame" type="fixed">
<parent link="depth_camera_left_camera_parent"/>
<child link="depth_camera_left_color_frame"/>
<origin rpy="0 0 0" xyz="0 0.015 0"/>
</joint>
<!-- Camera color frame link -->
<link name="depth_camera_left_color_frame"/>
<!-- Camera color optical joint -->
<joint name="depth_camera_left_color_frame_to_color_optical_frame" type="fixed">
<parent link="depth_camera_left_color_frame"/>
<child link="depth_camera_left_color_optical_frame"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Camera color optical link -->
<link name="depth_camera_left_color_optical_frame"/>
<!-- Camera joint -->
<!-- Is located between the two back screw holes at ground level. -->
<joint name="base_to_depth_camera_right_camera" type="fixed">
<parent link="base"/>
<child link="depth_camera_right_camera"/>
<origin rpy="0.0 0.523598775598 -1.57079632679" xyz="0.0 -0.07646 0.02905"/>
</joint>
<!-- Camera link -->
<link name="depth_camera_right_camera">
<visual>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/depth_camera.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.021 -0.002 0.025"/>
<mass value="0.16043"/>
<inertia ixx="0.000637051" ixy="0.000484569" ixz="0.000424211" iyy="0.000929402" iyz="5.138e-06" izz="0.000484569"/>
</inertial>
</link>
<!-- Camera parent joint -->
<!-- Frame lies on the left ir camera according to any_realsense2_camera urdf. -->
<joint name="depth_camera_right_camera_to_camera_parent" type="fixed">
<parent link="depth_camera_right_camera"/>
<child link="depth_camera_right_camera_parent"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0255 0.0175 0.0"/>
</joint>
<!-- Camera parent link -->
<link name="depth_camera_right_camera_parent"/>
<!-- Depth optical frame joint -->
<joint name="depth_camera_right_camera_parent_to_depth_optical_frame" type="fixed">
<parent link="depth_camera_right_camera_parent"/>
<child link="depth_camera_right_depth_optical_frame"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Depth optical frame link -->
<link name="depth_camera_right_depth_optical_frame"/>
<!-- Camera color frame joint -->
<joint name="depth_camera_right_camera_parent_to_color_frame" type="fixed">
<parent link="depth_camera_right_camera_parent"/>
<child link="depth_camera_right_color_frame"/>
<origin rpy="0 0 0" xyz="0 0.015 0"/>
</joint>
<!-- Camera color frame link -->
<link name="depth_camera_right_color_frame"/>
<!-- Camera color optical joint -->
<joint name="depth_camera_right_color_frame_to_color_optical_frame" type="fixed">
<parent link="depth_camera_right_color_frame"/>
<child link="depth_camera_right_color_optical_frame"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Camera color optical link -->
<link name="depth_camera_right_color_optical_frame"/>
<!-- parent to cage joint, located between mounting plate on trunk and the cage -->
<joint name="base_to_lidar_cage" type="fixed">
<parent link="base"/>
<child link="lidar_cage"/>
<origin rpy="0 0 0" xyz="-0.364 0.0 0.0735"/>
</joint>
<!-- Velodyne cage link -->
<link name="lidar_cage">
<visual>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/lidar_cage.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.06"/>
<geometry>
<cylinder length="0.12" radius="0.07"/>
</geometry>
</collision>
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="0.002 0.0 0.099"/>
<mass value="0.545"/>
<inertia ixx="0.003156254" ixy="0.0" ixz="1.0992e-05" iyy="0.002357216" iyz="0.0" izz="0.001326455"/>
</inertial>
</link>
<!-- parent to sensor joint -->
<joint name="lidar_cage_to_lidar" type="fixed">
<parent link="lidar_cage"/>
<child link="lidar"/>
<origin rpy="0.0 0.0 -1.57079632679" xyz="0.0 0.0 0.0687"/>
</joint>
<!-- Velodyne sensor link -->
<link name="lidar">
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="-0.012 0.001 -0.008"/>
<mass value="0.695"/>
<inertia ixx="0.000846765" ixy="6.9565e-05" ixz="0.00027111" iyy="0.001367583" iyz="5.8984e-05" izz="0.001363673"/>
</inertial>
<visual>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/lidar.dae"/>
</geometry>
</visual>
</link>
<!-- joint base HAA -->
<joint name="base_LF_HAA" type="fixed">
<parent link="base"/>
<child link="LF_HAA"/>
<origin rpy="2.61799387799 0 0.0" xyz="0.2999 0.104 0.0"/>
</joint>
<!-- Drive link -->
<link name="LF_HAA">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
<mass value="2.04"/>
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="LF_HAA" type="revolute">
<parent link="LF_HAA"/>
<child link="LF_HIP"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="80.0" lower="-0.72" upper="0.49" velocity="7.5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="LF_HIP">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- joint HAA hip -->
<joint name="LF_HIP_LF_hip_fixed" type="fixed">
<parent link="LF_HIP"/>
<child link="LF_hip_fixed"/>
<origin rpy="-2.61799387799 0 0.0" xyz="0 0 0"/>
</joint>
<!-- Hip link -->
<link name="LF_hip_fixed">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/hip_l.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0.048 0.008 -0.003"/>
<mass value="0.74"/>
<inertia ixx="0.001393106" ixy="8.4012e-05" ixz="2.3378e-05" iyy="0.003798579" iyz="7.1319e-05" izz="0.003897509"/>
</inertial>
</link>
<!-- joint hip HFE -->
<joint name="LF_hip_fixed_LF_HFE" type="fixed">
<parent link="LF_hip_fixed"/>
<child link="LF_HFE"/>
<origin rpy="0 0 1.57079632679" xyz="0.0599 0.08381 0.0"/>
</joint>
<!-- Drive link -->
<link name="LF_HFE">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.07 0 0"/>
<geometry>
<cylinder length="0.14" radius="0.05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
<mass value="2.04"/>
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="LF_HFE" type="revolute">
<parent link="LF_HFE"/>
<child link="LF_THIGH"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="80.0" lower="-9.42477796077" upper="9.42477796077" velocity="7.5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="LF_THIGH">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- joint HFE thigh -->
<joint name="LF_THIGH_LF_thigh_fixed" type="fixed">
<parent link="LF_THIGH"/>
<child link="LF_thigh_fixed"/>
<origin rpy="0 0 -1.57079632679" xyz="0 0 0"/>
</joint>
<!-- Thigh link -->
<link name="LF_thigh_fixed">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/thigh.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<!-- Thigh collision -->
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0.04 0"/>
<geometry>
<cylinder length="0.08" radius="0.065"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 0.03 -0.1413135"/>
<geometry>
<box size="0.075 0.06 0.282627"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.018 -0.169"/>
<mass value="1.03"/>
<inertia ixx="0.018644469" ixy="5.2e-08" ixz="1.0157e-05" iyy="0.019312599" iyz="0.002520077" izz="0.002838361"/>
</inertial>
</link>
<!-- joint thigh KFE -->
<joint name="LF_thigh_fixed_LF_KFE" type="fixed">
<parent link="LF_thigh_fixed"/>
<child link="LF_KFE"/>
<origin rpy="0 0 1.57079632679" xyz="0.0 0.1003 -0.285"/>
</joint>
<!-- Drive link -->
<link name="LF_KFE">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.07 0 0"/>
<geometry>
<cylinder length="0.14" radius="0.05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
<mass value="2.04"/>
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="LF_KFE" type="revolute">
<parent link="LF_KFE"/>
<child link="LF_SHANK"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="80.0" lower="-9.42477796077" upper="9.42477796077" velocity="7.5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="LF_SHANK">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- joint KFE shank -->
<joint name="LF_shank_LF_shank_fixed" type="fixed">
<parent link="LF_SHANK"/>
<child link="LF_shank_fixed"/>
<origin rpy="0 0 -1.57079632679" xyz="0 0 0"/>
</joint>
<!-- Shank link -->
<link name="LF_shank_fixed">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/shank_l.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<!-- Shank collision -->
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0.02 0"/>
<geometry>
<cylinder length="0.04" radius="0.06"/>
</geometry>
</collision>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0.057499 0.02 0"/>
<geometry>
<box size="0.114998 0.0675 0.04"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.03463 0.00688 0.00098"/>
<mass value="0.33742"/>
<inertia ixx="0.00032748005" ixy="2.142561e-05" ixz="1.33942e-05" iyy="0.00110974122" iyz="7.601e-08" izz="0.00089388521"/>
</inertial>
</link>
<!-- Leg configurations: xx (knees bent inwards), xo (knees bent backwards) -->
<!-- joint shank foot -->
<joint name="LF_shank_fixed_LF_FOOT" type="fixed">
<parent link="LF_shank_fixed"/>
<child link="LF_FOOT"/>
<origin rpy="0 0 0" xyz="0.08795 0.01305 -0.33797"/>
</joint>
<!-- Foot link -->
<link name="LF_FOOT">
<visual>
<origin rpy="0 0 -0.785398163397" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/foot.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<!-- Adapter collision -->
<collision>
<origin rpy="0 0 0" xyz="0 0 0.168985"/>
<geometry>
<cylinder length="0.282504" radius="0.0175"/>
</geometry>
</collision>
<!-- Foot collision -->
<collision>
<origin xyz="0 0 0.0225"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.00948 -0.00948 0.1468"/>
<mass value="0.25"/>
<inertia ixx="0.00317174097" ixy="2.63048e-06" ixz="6.815581e-05" iyy="0.00317174092" iyz="6.815583e-05" izz="8.319196e-05"/>
</inertial>
</link>
<!-- joint base HAA -->
<joint name="base_RF_HAA" type="fixed">
<parent link="base"/>
<child link="RF_HAA"/>
<origin rpy="-2.61799387799 0 0.0" xyz="0.2999 -0.104 0.0"/>
</joint>
<!-- Drive link -->
<link name="RF_HAA">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
<mass value="2.04"/>
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="RF_HAA" type="revolute">
<parent link="RF_HAA"/>
<child link="RF_HIP"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="80.0" lower="-0.49" upper="0.72" velocity="7.5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="RF_HIP">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- joint HAA hip -->
<joint name="RF_HIP_RF_hip_fixed" type="fixed">
<parent link="RF_HIP"/>
<child link="RF_hip_fixed"/>
<origin rpy="2.61799387799 0 0.0" xyz="0 0 0"/>
</joint>
<!-- Hip link -->
<link name="RF_hip_fixed">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/hip_r.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0.048 -0.008 -0.003"/>
<mass value="0.74"/>
<inertia ixx="0.001393106" ixy="-8.4012e-05" ixz="2.3378e-05" iyy="0.003798579" iyz="-7.1319e-05" izz="0.003897509"/>
</inertial>
</link>
<!-- joint hip HFE -->
<joint name="RF_hip_fixed_RF_HFE" type="fixed">
<parent link="RF_hip_fixed"/>
<child link="RF_HFE"/>
<origin rpy="0 0 -1.57079632679" xyz="0.0599 -0.08381 0.0"/>
</joint>
<!-- Drive link -->
<link name="RF_HFE">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.07 0 0"/>
<geometry>
<cylinder length="0.14" radius="0.05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
<mass value="2.04"/>
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="RF_HFE" type="revolute">
<parent link="RF_HFE"/>
<child link="RF_THIGH"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="-1 0 0"/>
<limit effort="80.0" lower="-9.42477796077" upper="9.42477796077" velocity="7.5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="RF_THIGH">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- joint HFE thigh -->
<joint name="RF_THIGH_RF_thigh_fixed" type="fixed">
<parent link="RF_THIGH"/>
<child link="RF_thigh_fixed"/>
<origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
</joint>
<!-- Thigh link -->
<link name="RF_thigh_fixed">
<visual>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/thigh.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<!-- Thigh collision -->
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 -0.04 0"/>
<geometry>
<cylinder length="0.08" radius="0.065"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 -0.03 -0.1413135"/>
<geometry>
<box size="0.075 0.06 0.282627"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 -0.018 -0.169"/>
<mass value="1.03"/>
<inertia ixx="0.018644469" ixy="-5.2e-08" ixz="1.0157e-05" iyy="0.019312599" iyz="-0.002520077" izz="0.002838361"/>
</inertial>
</link>
<!-- joint thigh KFE -->
<joint name="RF_thigh_fixed_RF_KFE" type="fixed">
<parent link="RF_thigh_fixed"/>
<child link="RF_KFE"/>
<origin rpy="0 0 -1.57079632679" xyz="0.0 -0.1003 -0.285"/>
</joint>
<!-- Drive link -->
<link name="RF_KFE">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.07 0 0"/>
<geometry>
<cylinder length="0.14" radius="0.05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
<mass value="2.04"/>
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="RF_KFE" type="revolute">
<parent link="RF_KFE"/>
<child link="RF_SHANK"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="-1 0 0"/>
<limit effort="80.0" lower="-9.42477796077" upper="9.42477796077" velocity="7.5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="RF_SHANK">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- joint KFE shank -->
<joint name="RF_shank_RF_shank_fixed" type="fixed">
<parent link="RF_SHANK"/>
<child link="RF_shank_fixed"/>
<origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
</joint>
<!-- Shank link -->
<link name="RF_shank_fixed">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/shank_r.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<!-- Shank collision -->
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 -0.02 0"/>
<geometry>
<cylinder length="0.04" radius="0.06"/>
</geometry>
</collision>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0.057499 -0.02 0"/>
<geometry>
<box size="0.114998 0.0675 0.04"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.03463 -0.00688 0.00098"/>
<mass value="0.33742"/>
<inertia ixx="0.00032748005" ixy="-2.142561e-05" ixz="1.33942e-05" iyy="0.00110974122" iyz="-7.601e-08" izz="0.00089388521"/>
</inertial>
</link>
<!-- Leg configurations: xx (knees bent inwards), xo (knees bent backwards) -->
<!-- joint shank foot -->
<joint name="RF_shank_fixed_RF_FOOT" type="fixed">
<parent link="RF_shank_fixed"/>
<child link="RF_FOOT"/>
<origin rpy="0 0 0" xyz="0.08795 -0.01305 -0.33797"/>
</joint>
<!-- Foot link -->
<link name="RF_FOOT">
<visual>
<origin rpy="0 0 0.785398163397" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/foot.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<!-- Adapter collision -->
<collision>
<origin rpy="0 0 0" xyz="0 0 0.168985"/>
<geometry>
<cylinder length="0.282504" radius="0.0175"/>
</geometry>
</collision>
<!-- Foot collision -->
<collision>
<origin xyz="0 0 0.0225"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.00948 0.00948 0.1468"/>
<mass value="0.25"/>
<inertia ixx="0.00317174097" ixy="-2.63048e-06" ixz="6.815581e-05" iyy="0.00317174092" iyz="-6.815583e-05" izz="8.319196e-05"/>
</inertial>
</link>
<!-- joint base HAA -->
<joint name="base_LH_HAA" type="fixed">
<parent link="base"/>
<child link="LH_HAA"/>
<origin rpy="-2.61799387799 0 -3.14159265359" xyz="-0.2999 0.104 0.0"/>
</joint>
<!-- Drive link -->
<link name="LH_HAA">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
<mass value="2.04"/>
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="LH_HAA" type="revolute">
<parent link="LH_HAA"/>
<child link="LH_HIP"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="-1 0 0"/>
<limit effort="80.0" lower="-0.72" upper="0.49" velocity="7.5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="LH_HIP">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- joint HAA hip -->
<joint name="LH_HIP_LH_hip_fixed" type="fixed">
<parent link="LH_HIP"/>
<child link="LH_hip_fixed"/>
<origin rpy="-2.61799387799 0 -3.14159265359" xyz="0 0 0"/>
</joint>
<!-- Hip link -->
<link name="LH_hip_fixed">
<visual>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/hip_r.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.048 0.008 -0.003"/>
<mass value="0.74"/>
<inertia ixx="0.001393106" ixy="-8.4012e-05" ixz="-2.3378e-05" iyy="0.003798579" iyz="7.1319e-05" izz="0.003897509"/>
</inertial>
</link>
<!-- joint hip HFE -->
<joint name="LH_hip_fixed_LH_HFE" type="fixed">
<parent link="LH_hip_fixed"/>
<child link="LH_HFE"/>
<origin rpy="0 0 1.57079632679" xyz="-0.0599 0.08381 0.0"/>
</joint>
<!-- Drive link -->
<link name="LH_HFE">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.07 0 0"/>
<geometry>
<cylinder length="0.14" radius="0.05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
<mass value="2.04"/>
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="LH_HFE" type="revolute">
<parent link="LH_HFE"/>
<child link="LH_THIGH"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="80.0" lower="-9.42477796077" upper="9.42477796077" velocity="7.5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="LH_THIGH">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- joint HFE thigh -->
<joint name="LH_THIGH_LH_thigh_fixed" type="fixed">
<parent link="LH_THIGH"/>
<child link="LH_thigh_fixed"/>
<origin rpy="0 0 -1.57079632679" xyz="0 0 0"/>
</joint>
<!-- Thigh link -->
<link name="LH_thigh_fixed">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/thigh.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<!-- Thigh collision -->
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0.04 0"/>
<geometry>
<cylinder length="0.08" radius="0.065"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 0.03 -0.1413135"/>
<geometry>
<box size="0.075 0.06 0.282627"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.0 0.018 -0.169"/>
<mass value="1.03"/>
<inertia ixx="0.018644469" ixy="-5.2e-08" ixz="-1.0157e-05" iyy="0.019312599" iyz="0.002520077" izz="0.002838361"/>
</inertial>
</link>
<!-- joint thigh KFE -->
<joint name="LH_thigh_fixed_LH_KFE" type="fixed">
<parent link="LH_thigh_fixed"/>
<child link="LH_KFE"/>
<origin rpy="0 0 1.57079632679" xyz="-0.0 0.1003 -0.285"/>
</joint>
<!-- Drive link -->
<link name="LH_KFE">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.07 0 0"/>
<geometry>
<cylinder length="0.14" radius="0.05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
<mass value="2.04"/>
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="LH_KFE" type="revolute">
<parent link="LH_KFE"/>
<child link="LH_SHANK"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="80.0" lower="-9.42477796077" upper="9.42477796077" velocity="7.5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="LH_SHANK">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- joint KFE shank -->
<joint name="LH_shank_LH_shank_fixed" type="fixed">
<parent link="LH_SHANK"/>
<child link="LH_shank_fixed"/>
<origin rpy="0 0 -1.57079632679" xyz="0 0 0"/>
</joint>
<!-- Shank link -->
<link name="LH_shank_fixed">
<visual>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/shank_r.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<!-- Shank collision -->
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0.02 0"/>
<geometry>
<cylinder length="0.04" radius="0.06"/>
</geometry>
</collision>
<collision>
<origin rpy="1.57079632679 0 0" xyz="-0.057499 0.02 0"/>
<geometry>
<box size="0.114998 0.0675 0.04"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.03463 0.00688 0.00098"/>
<mass value="0.33742"/>
<inertia ixx="0.00032748005" ixy="-2.142561e-05" ixz="-1.33942e-05" iyy="0.00110974122" iyz="7.601e-08" izz="0.00089388521"/>
</inertial>
</link>
<!-- Leg configurations: xx (knees bent inwards), xo (knees bent backwards) -->
<!-- joint shank foot -->
<joint name="LH_shank_fixed_LH_FOOT" type="fixed">
<parent link="LH_shank_fixed"/>
<child link="LH_FOOT"/>
<origin rpy="0 0 0" xyz="-0.08795 0.01305 -0.33797"/>
</joint>
<!-- Foot link -->
<link name="LH_FOOT">
<visual>
<origin rpy="0 0 -2.35619449019" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/foot.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<!-- Adapter collision -->
<collision>
<origin rpy="0 0 0" xyz="0 0 0.168985"/>
<geometry>
<cylinder length="0.282504" radius="0.0175"/>
</geometry>
</collision>
<!-- Foot collision -->
<collision>
<origin xyz="0 0 0.0225"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.00948 -0.00948 0.1468"/>
<mass value="0.25"/>
<inertia ixx="0.00317174097" ixy="-2.63048e-06" ixz="-6.815581e-05" iyy="0.00317174092" iyz="6.815583e-05" izz="8.319196e-05"/>
</inertial>
</link>
<!-- joint base HAA -->
<joint name="base_RH_HAA" type="fixed">
<parent link="base"/>
<child link="RH_HAA"/>
<origin rpy="2.61799387799 0 -3.14159265359" xyz="-0.2999 -0.104 0.0"/>
</joint>
<!-- Drive link -->
<link name="RH_HAA">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
<mass value="2.04"/>
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="RH_HAA" type="revolute">
<parent link="RH_HAA"/>
<child link="RH_HIP"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="-1 0 0"/>
<limit effort="80.0" lower="-0.49" upper="0.72" velocity="7.5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="RH_HIP">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- joint HAA hip -->
<joint name="RH_HIP_RH_hip_fixed" type="fixed">
<parent link="RH_HIP"/>
<child link="RH_hip_fixed"/>
<origin rpy="2.61799387799 0 -3.14159265359" xyz="0 0 0"/>
</joint>
<!-- Hip link -->
<link name="RH_hip_fixed">
<visual>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/hip_l.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.048 -0.008 -0.003"/>
<mass value="0.74"/>
<inertia ixx="0.001393106" ixy="8.4012e-05" ixz="-2.3378e-05" iyy="0.003798579" iyz="-7.1319e-05" izz="0.003897509"/>
</inertial>
</link>
<!-- joint hip HFE -->
<joint name="RH_hip_fixed_RH_HFE" type="fixed">
<parent link="RH_hip_fixed"/>
<child link="RH_HFE"/>
<origin rpy="0 0 -1.57079632679" xyz="-0.0599 -0.08381 0.0"/>
</joint>
<!-- Drive link -->
<link name="RH_HFE">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.07 0 0"/>
<geometry>
<cylinder length="0.14" radius="0.05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
<mass value="2.04"/>
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="RH_HFE" type="revolute">
<parent link="RH_HFE"/>
<child link="RH_THIGH"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="-1 0 0"/>
<limit effort="80.0" lower="-9.42477796077" upper="9.42477796077" velocity="7.5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="RH_THIGH">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- joint HFE thigh -->
<joint name="RH_THIGH_RH_thigh_fixed" type="fixed">
<parent link="RH_THIGH"/>
<child link="RH_thigh_fixed"/>
<origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
</joint>
<!-- Thigh link -->
<link name="RH_thigh_fixed">
<visual>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/thigh.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<!-- Thigh collision -->
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 -0.04 0"/>
<geometry>
<cylinder length="0.08" radius="0.065"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 -0.03 -0.1413135"/>
<geometry>
<box size="0.075 0.06 0.282627"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.0 -0.018 -0.169"/>
<mass value="1.03"/>
<inertia ixx="0.018644469" ixy="5.2e-08" ixz="-1.0157e-05" iyy="0.019312599" iyz="-0.002520077" izz="0.002838361"/>
</inertial>
</link>
<!-- joint thigh KFE -->
<joint name="RH_thigh_fixed_RH_KFE" type="fixed">
<parent link="RH_thigh_fixed"/>
<child link="RH_KFE"/>
<origin rpy="0 0 -1.57079632679" xyz="-0.0 -0.1003 -0.285"/>
</joint>
<!-- Drive link -->
<link name="RH_KFE">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.07 0 0"/>
<geometry>
<cylinder length="0.14" radius="0.05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
<mass value="2.04"/>
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="RH_KFE" type="revolute">
<parent link="RH_KFE"/>
<child link="RH_SHANK"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="-1 0 0"/>
<limit effort="80.0" lower="-9.42477796077" upper="9.42477796077" velocity="7.5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="RH_SHANK">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- joint KFE shank -->
<joint name="RH_shank_RH_shank_fixed" type="fixed">
<parent link="RH_SHANK"/>
<child link="RH_shank_fixed"/>
<origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
</joint>
<!-- Shank link -->
<link name="RH_shank_fixed">
<visual>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/shank_l.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<!-- Shank collision -->
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 -0.02 0"/>
<geometry>
<cylinder length="0.04" radius="0.06"/>
</geometry>
</collision>
<collision>
<origin rpy="1.57079632679 0 0" xyz="-0.057499 -0.02 0"/>
<geometry>
<box size="0.114998 0.0675 0.04"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.03463 -0.00688 0.00098"/>
<mass value="0.33742"/>
<inertia ixx="0.00032748005" ixy="2.142561e-05" ixz="-1.33942e-05" iyy="0.00110974122" iyz="-7.601e-08" izz="0.00089388521"/>
</inertial>
</link>
<!-- Leg configurations: xx (knees bent inwards), xo (knees bent backwards) -->
<!-- joint shank foot -->
<joint name="RH_shank_fixed_RH_FOOT" type="fixed">
<parent link="RH_shank_fixed"/>
<child link="RH_FOOT"/>
<origin rpy="0 0 0" xyz="-0.08795 -0.01305 -0.33797"/>
</joint>
<!-- Foot link -->
<link name="RH_FOOT">
<visual>
<origin rpy="0 0 -3.92699081699" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/foot.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<!-- Adapter collision -->
<collision>
<origin rpy="0 0 0" xyz="0 0 0.168985"/>
<geometry>
<cylinder length="0.282504" radius="0.0175"/>
</geometry>
</collision>
<!-- Foot collision -->
<collision>
<origin xyz="0 0 0.0225"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.00948 0.00948 0.1468"/>
<mass value="0.25"/>
<inertia ixx="0.00317174097" ixy="2.63048e-06" ixz="-6.815581e-05" iyy="0.00317174092" iyz="-6.815583e-05" izz="8.319196e-05"/>
</inertial>
</link>
<!-- Fixed joint base hatch -->
<joint name="base_hatch" type="fixed">
<parent link="base"/>
<child link="hatch"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Hatch link -->
<link name="hatch">
<visual>
<origin rpy="0 0 0" xyz="0.116 0 0.073"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/hatch.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0.116 0.0 0.0758"/>
<mass value="0.142"/>
<inertia ixx="0.001" ixy="0.001" ixz="0.001" iyy="0.001" iyz="0.001" izz="0.001"/>
</inertial>
</link>
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/ANYbotics/anymal_b_simple_description/urdf/anymal.urdf | <?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- Copyright 2019 ANYbotics, https://www.anybotics.com -->
<!-- =================================================================================== -->
<!-- This file contains the description of the ANYmal B robot. -->
<robot name="anymal"
xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- Material for the visual primitives -->
<material name="anymal_material">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
<!-- Base link -->
<link name="base">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_base.dae" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<!-- Main Body -->
<origin rpy="0 0 0" xyz="0 0 0.08"/>
<geometry>
<box size="0.531 0.27 0.24"/>
</geometry>
</collision>
<collision>
<!-- HAA actuators -->
<origin rpy="0 1.57079632679 0" xyz="0.227 0.116 0"/>
<geometry>
<cylinder length="0.1" radius="0.05"/>
</geometry>
</collision>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0.227 -0.116 0"/>
<geometry>
<cylinder length="0.1" radius="0.05"/>
</geometry>
</collision>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.227 0.116 0"/>
<geometry>
<cylinder length="0.1" radius="0.05"/>
</geometry>
</collision>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.227 -0.116 0"/>
<geometry>
<cylinder length="0.1" radius="0.05"/>
</geometry>
</collision>
<collision>
<!-- Belly plate front bump -->
<origin rpy="0 0 0" xyz="0.2155 0.0 -0.09"/>
<geometry>
<box size="0.1 0.1 0.07"/>
</geometry>
</collision>
<collision>
<!-- Belly plate hind bump-->
<origin rpy="0 0 0" xyz="-0.2155 0.0 -0.09"/>
<geometry>
<box size="0.1 0.1 0.07"/>
</geometry>
</collision>
<collision>
<!-- Belly plate middle bump-->
<origin rpy="0 0 0" xyz="0 0 -0.09"/>
<geometry>
<box size="0.531 0.02 0.07"/>
</geometry>
</collision>
</link>
<!-- Fixed joint to add dummy inertia link -->
<joint name="base_to_base_inertia" type="fixed">
<parent link="base"/>
<child link="base_inertia"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<!-- Dummy inertia link, because KDL cannot have inertia on the base link -->
<link name="base_inertia">
<inertial>
<origin rpy="0 0 0" xyz="-0.001960558279 -0.001413217745 0.050207125344"/>
<mass value="16.793507758"/>
<inertia ixx="0.217391101503" ixy="-0.00132873239126" ixz="-0.00228200226173" iyy="0.639432546734" iyz="-0.00138078263145" izz="0.62414077654"/>
</inertial>
</link>
<link name="LF_HIP">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_hip_l.dae" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<!-- Protector -->
<origin rpy="1.57079632679 0 0" xyz="0.0635 -0.009 0.0"/>
<geometry>
<cylinder length="0.1" radius="0.08"/>
</geometry>
</collision>
<collision>
<!-- Heatfins -->
<origin rpy="1.57079632679 0 0" xyz="0.0635 -0.074 0.0"/>
<geometry>
<cylinder length="0.03" radius="0.045"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.064516258147 -0.003787101702 -0.000152184388"/>
<mass value="1.42462064"/>
<inertia ixx="0.00243023349564" ixy="-1.53023971e-05" ixz="-2.1819095354e-05" iyy="0.00230257239103" iyz="2.6473021273e-05" izz="0.0019806759227"/>
</inertial>
</link>
<!-- Hip joint -->
<joint name="LF_HAA" type="revolute">
<parent link="base"/>
<child link="LF_HIP"/>
<origin xyz="0.277 0.116 0.0"/>
<axis xyz="1 0 0"/>
<limit command_effort="40" current="10" effort="80" gear_velocity="10" lower="-9.42" upper="9.42" velocity="15"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="LF_THIGH">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_thigh_l.dae" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<!-- thigh with heat fins -->
<origin rpy="0.145 0 0" xyz="0 0.035 -0.125"/>
<geometry>
<box size="0.08 0.04 0.25"/>
</geometry>
</collision>
<collision>
<!-- KFE actuator -->
<origin rpy="1.57079632679 0 0" xyz="0.0 0.069 -0.25"/>
<geometry>
<cylinder length="0.12" radius="0.06"/>
</geometry>
</collision>
<collision>
<!-- upper protector -->
<origin rpy="1.71579632679 0 0" xyz="0 -0.005 0"/>
<geometry>
<cylinder length="0.12" radius="0.066"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.003897968082 0.054226618537 -0.214583373795"/>
<mass value="1.634976467"/>
<inertia ixx="0.0120367944369" ixy="6.762065206e-05" ixz="0.000287806340448" iyy="0.0120643637939" iyz="-0.00140610131218" izz="0.00249422574881"/>
</inertial>
</link>
<!-- Thigh joint -->
<joint name="LF_HFE" type="revolute">
<parent link="LF_HIP"/>
<child link="LF_THIGH"/>
<origin xyz="0.0635 0.041 0.0"/>
<axis xyz="0 1 0"/>
<limit command_effort="40" current="10" effort="80" gear_velocity="10" lower="-9.42" upper="9.42" velocity="15.0"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="LF_SHANK">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_shank_l.dae" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0.065 -0.015 0.01"/>
<geometry>
<box size="0.08 0.07 0.13"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.030816858139 -0.004617229294 0.000893125713"/>
<mass value="0.207204302"/>
<inertia ixx="0.0002104880248" ixy="-5.6750980345e-05" ixz="1.0127699391e-05" iyy="0.000676270210023" iyz="-8.22869024e-07" izz="0.000545032674924"/>
</inertial>
</link>
<!-- Shank joint -->
<joint name="LF_KFE" type="revolute">
<parent link="LF_THIGH"/>
<child link="LF_SHANK"/>
<origin xyz="0.0 0.109 -0.25"/>
<axis xyz="0 1 0"/>
<limit command_effort="40" current="10" effort="80" gear_velocity="10" lower="-9.42" upper="9.42" velocity="15.0"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Shank to Adapter joint -->
<joint name="LF_SHANK_TO_ADAPTER" type="fixed">
<parent link="LF_SHANK"/>
<child link="LF_ADAPTER"/>
<origin rpy="0.0 0.0 0.0" xyz="0.1 -0.02 0.0"/>
</joint>
<!-- Adapter link -->
<link name="LF_ADAPTER">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0.032"/>
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_foot.dae" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.160625"/>
<geometry>
<cylinder length="0.32125" radius="0.015"/>
</geometry>
<material name="anymal_material"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-8.66e-10 -1.472e-09 -0.244345749188"/>
<mass value="0.140170767"/>
<inertia ixx="0.00159938741862" ixy="-9.32e-13" ixz="1.039e-11" iyy="0.00159938741932" iyz="1.7563e-11" izz="5.4423177329e-05"/>
</inertial>
</link>
<!-- Adapter to Foot joint -->
<joint name="LF_ADAPTER_TO_FOOT" type="fixed">
<parent link="LF_ADAPTER"/>
<child link="LF_FOOT"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.32125"/>
</joint>
<!-- Foot link -->
<link name="LF_FOOT">
<collision>
<origin xyz="0 0 0.02325"/>
<geometry>
<sphere radius="0.031"/>
</geometry>
</collision>
</link>
<!-- Gazebo customization -->
<gazebo reference="LF_FOOT">
<kp>1000000.0</kp>
<kd>100.0</kd>
<mu1>0.8</mu1>
<mu2>0.8</mu2>
</gazebo>
<link name="RF_HIP">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_hip_r.dae" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<!-- Protector -->
<origin rpy="1.57079632679 0 0" xyz="0.0635 0.009 0.0"/>
<geometry>
<cylinder length="0.1" radius="0.08"/>
</geometry>
</collision>
<collision>
<!-- Heatfins -->
<origin rpy="1.57079632679 0 0" xyz="0.0635 0.074 0.0"/>
<geometry>
<cylinder length="0.03" radius="0.045"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.064516258147 0.003787101702 -0.000152184388"/>
<mass value="1.42462064"/>
<inertia ixx="0.00243023349564" ixy="1.53023971e-05" ixz="-2.1819095354e-05" iyy="0.00230257239103" iyz="-2.6473021273e-05" izz="0.0019806759227"/>
</inertial>
</link>
<!-- Hip joint -->
<joint name="RF_HAA" type="revolute">
<parent link="base"/>
<child link="RF_HIP"/>
<origin xyz="0.277 -0.116 0.0"/>
<axis xyz="1 0 0"/>
<limit command_effort="40" current="10" effort="80" gear_velocity="10" lower="-9.42" upper="9.42" velocity="15"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="RF_THIGH">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_thigh_r.dae" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<!-- thigh with heat fins -->
<origin rpy="-0.145 0 0" xyz="0 -0.035 -0.125"/>
<geometry>
<box size="0.08 0.04 0.25"/>
</geometry>
</collision>
<collision>
<!-- KFE actuator -->
<origin rpy="1.57079632679 0 0" xyz="0.0 -0.069 -0.25"/>
<geometry>
<cylinder length="0.12" radius="0.06"/>
</geometry>
</collision>
<collision>
<!-- upper protector -->
<origin rpy="-1.71579632679 0 0" xyz="0 0.005 0"/>
<geometry>
<cylinder length="0.12" radius="0.066"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.003897968082 -0.054226618537 -0.214583373795"/>
<mass value="1.634976467"/>
<inertia ixx="0.0120367944369" ixy="-6.762065206e-05" ixz="0.000287806340448" iyy="0.0120643637939" iyz="0.00140610131218" izz="0.00249422574881"/>
</inertial>
</link>
<!-- Thigh joint -->
<joint name="RF_HFE" type="revolute">
<parent link="RF_HIP"/>
<child link="RF_THIGH"/>
<origin xyz="0.0635 -0.041 0.0"/>
<axis xyz="0 1 0"/>
<limit command_effort="40" current="10" effort="80" gear_velocity="10" lower="-9.42" upper="9.42" velocity="15.0"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="RF_SHANK">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_shank_r.dae" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0.065 0.015 0.01"/>
<geometry>
<box size="0.08 0.07 0.13"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.030816858139 0.004617229294 0.000893125713"/>
<mass value="0.207204302"/>
<inertia ixx="0.0002104880248" ixy="5.6750980345e-05" ixz="1.0127699391e-05" iyy="0.000676270210023" iyz="8.22869024e-07" izz="0.000545032674924"/>
</inertial>
</link>
<!-- Shank joint -->
<joint name="RF_KFE" type="revolute">
<parent link="RF_THIGH"/>
<child link="RF_SHANK"/>
<origin xyz="0.0 -0.109 -0.25"/>
<axis xyz="0 1 0"/>
<limit command_effort="40" current="10" effort="80" gear_velocity="10" lower="-9.42" upper="9.42" velocity="15.0"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Shank to Adapter joint -->
<joint name="RF_SHANK_TO_ADAPTER" type="fixed">
<parent link="RF_SHANK"/>
<child link="RF_ADAPTER"/>
<origin rpy="-0.0 0.0 -0.0" xyz="0.1 0.02 0.0"/>
</joint>
<!-- Adapter link -->
<link name="RF_ADAPTER">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0.032"/>
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_foot.dae" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.160625"/>
<geometry>
<cylinder length="0.32125" radius="0.015"/>
</geometry>
<material name="anymal_material"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-8.66e-10 -1.472e-09 -0.244345749188"/>
<mass value="0.140170767"/>
<inertia ixx="0.00159938741862" ixy="-9.32e-13" ixz="1.039e-11" iyy="0.00159938741932" iyz="1.7563e-11" izz="5.4423177329e-05"/>
</inertial>
</link>
<!-- Adapter to Foot joint -->
<joint name="RF_ADAPTER_TO_FOOT" type="fixed">
<parent link="RF_ADAPTER"/>
<child link="RF_FOOT"/>
<origin rpy="-0.0 0.0 -0.0" xyz="0.0 -0.0 -0.32125"/>
</joint>
<!-- Foot link -->
<link name="RF_FOOT">
<collision>
<origin xyz="0 0 0.02325"/>
<geometry>
<sphere radius="0.031"/>
</geometry>
</collision>
</link>
<!-- Gazebo customization -->
<gazebo reference="RF_FOOT">
<kp>1000000.0</kp>
<kd>100.0</kd>
<mu1>0.8</mu1>
<mu2>0.8</mu2>
</gazebo>
<link name="LH_HIP">
<visual>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_hip_r.dae" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<!-- Protector -->
<origin rpy="-1.57079632679 0 0" xyz="-0.0635 -0.009 0.0"/>
<geometry>
<cylinder length="0.1" radius="0.08"/>
</geometry>
</collision>
<collision>
<!-- Heatfins -->
<origin rpy="-1.57079632679 0 0" xyz="-0.0635 -0.074 0.0"/>
<geometry>
<cylinder length="0.03" radius="0.045"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.064516258147 -0.003787101702 -0.000152184388"/>
<mass value="1.42462064"/>
<inertia ixx="0.00243023349564" ixy="1.53023971e-05" ixz="2.1819095354e-05" iyy="0.00230257239103" iyz="2.6473021273e-05" izz="0.0019806759227"/>
</inertial>
</link>
<!-- Hip joint -->
<joint name="LH_HAA" type="revolute">
<parent link="base"/>
<child link="LH_HIP"/>
<origin xyz="-0.277 0.116 0.0"/>
<axis xyz="1 0 0"/>
<limit command_effort="40" current="10" effort="80" gear_velocity="10" lower="-9.42" upper="9.42" velocity="15"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="LH_THIGH">
<visual>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_thigh_r.dae" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<!-- thigh with heat fins -->
<origin rpy="0.145 0 0" xyz="0 0.035 -0.125"/>
<geometry>
<box size="0.08 0.04 0.25"/>
</geometry>
</collision>
<collision>
<!-- KFE actuator -->
<origin rpy="1.57079632679 0 0" xyz="0.0 0.069 -0.25"/>
<geometry>
<cylinder length="0.12" radius="0.06"/>
</geometry>
</collision>
<collision>
<!-- upper protector -->
<origin rpy="1.71579632679 0 0" xyz="0 -0.005 0"/>
<geometry>
<cylinder length="0.12" radius="0.066"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.003897968082 0.054226618537 -0.214583373795"/>
<mass value="1.634976467"/>
<inertia ixx="0.0120367944369" ixy="-6.762065206e-05" ixz="-0.000287806340448" iyy="0.0120643637939" iyz="-0.00140610131218" izz="0.00249422574881"/>
</inertial>
</link>
<!-- Thigh joint -->
<joint name="LH_HFE" type="revolute">
<parent link="LH_HIP"/>
<child link="LH_THIGH"/>
<origin xyz="-0.0635 0.041 0.0"/>
<axis xyz="0 1 0"/>
<limit command_effort="40" current="10" effort="80" gear_velocity="10" lower="-9.42" upper="9.42" velocity="15.0"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="LH_SHANK">
<visual>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_shank_r.dae" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.065 -0.015 0.01"/>
<geometry>
<box size="0.08 0.07 0.13"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.030816858139 -0.004617229294 0.000893125713"/>
<mass value="0.207204302"/>
<inertia ixx="0.0002104880248" ixy="5.6750980345e-05" ixz="-1.0127699391e-05" iyy="0.000676270210023" iyz="-8.22869024e-07" izz="0.000545032674924"/>
</inertial>
</link>
<!-- Shank joint -->
<joint name="LH_KFE" type="revolute">
<parent link="LH_THIGH"/>
<child link="LH_SHANK"/>
<origin xyz="-0.0 0.109 -0.25"/>
<axis xyz="0 1 0"/>
<limit command_effort="40" current="10" effort="80" gear_velocity="10" lower="-9.42" upper="9.42" velocity="15.0"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Shank to Adapter joint -->
<joint name="LH_SHANK_TO_ADAPTER" type="fixed">
<parent link="LH_SHANK"/>
<child link="LH_ADAPTER"/>
<origin rpy="0.0 -0.0 -0.0" xyz="-0.1 -0.02 0.0"/>
</joint>
<!-- Adapter link -->
<link name="LH_ADAPTER">
<visual>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0.032"/>
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_foot.dae" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.160625"/>
<geometry>
<cylinder length="0.32125" radius="0.015"/>
</geometry>
<material name="anymal_material"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-8.66e-10 -1.472e-09 -0.244345749188"/>
<mass value="0.140170767"/>
<inertia ixx="0.00159938741862" ixy="-9.32e-13" ixz="1.039e-11" iyy="0.00159938741932" iyz="1.7563e-11" izz="5.4423177329e-05"/>
</inertial>
</link>
<!-- Adapter to Foot joint -->
<joint name="LH_ADAPTER_TO_FOOT" type="fixed">
<parent link="LH_ADAPTER"/>
<child link="LH_FOOT"/>
<origin rpy="0.0 -0.0 -0.0" xyz="-0.0 0.0 -0.32125"/>
</joint>
<!-- Foot link -->
<link name="LH_FOOT">
<collision>
<origin xyz="0 0 0.02325"/>
<geometry>
<sphere radius="0.031"/>
</geometry>
</collision>
</link>
<!-- Gazebo customization -->
<gazebo reference="LH_FOOT">
<kp>1000000.0</kp>
<kd>100.0</kd>
<mu1>0.8</mu1>
<mu2>0.8</mu2>
</gazebo>
<link name="RH_HIP">
<visual>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_hip_l.dae" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<!-- Protector -->
<origin rpy="-1.57079632679 0 0" xyz="-0.0635 0.009 0.0"/>
<geometry>
<cylinder length="0.1" radius="0.08"/>
</geometry>
</collision>
<collision>
<!-- Heatfins -->
<origin rpy="-1.57079632679 0 0" xyz="-0.0635 0.074 0.0"/>
<geometry>
<cylinder length="0.03" radius="0.045"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.064516258147 0.003787101702 -0.000152184388"/>
<mass value="1.42462064"/>
<inertia ixx="0.00243023349564" ixy="-1.53023971e-05" ixz="2.1819095354e-05" iyy="0.00230257239103" iyz="-2.6473021273e-05" izz="0.0019806759227"/>
</inertial>
</link>
<!-- Hip joint -->
<joint name="RH_HAA" type="revolute">
<parent link="base"/>
<child link="RH_HIP"/>
<origin xyz="-0.277 -0.116 0.0"/>
<axis xyz="1 0 0"/>
<limit command_effort="40" current="10" effort="80" gear_velocity="10" lower="-9.42" upper="9.42" velocity="15"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="RH_THIGH">
<visual>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_thigh_l.dae" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<!-- thigh with heat fins -->
<origin rpy="-0.145 0 0" xyz="0 -0.035 -0.125"/>
<geometry>
<box size="0.08 0.04 0.25"/>
</geometry>
</collision>
<collision>
<!-- KFE actuator -->
<origin rpy="1.57079632679 0 0" xyz="0.0 -0.069 -0.25"/>
<geometry>
<cylinder length="0.12" radius="0.06"/>
</geometry>
</collision>
<collision>
<!-- upper protector -->
<origin rpy="-1.71579632679 0 0" xyz="0 0.005 0"/>
<geometry>
<cylinder length="0.12" radius="0.066"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.003897968082 -0.054226618537 -0.214583373795"/>
<mass value="1.634976467"/>
<inertia ixx="0.0120367944369" ixy="6.762065206e-05" ixz="-0.000287806340448" iyy="0.0120643637939" iyz="0.00140610131218" izz="0.00249422574881"/>
</inertial>
</link>
<!-- Thigh joint -->
<joint name="RH_HFE" type="revolute">
<parent link="RH_HIP"/>
<child link="RH_THIGH"/>
<origin xyz="-0.0635 -0.041 0.0"/>
<axis xyz="0 1 0"/>
<limit command_effort="40" current="10" effort="80" gear_velocity="10" lower="-9.42" upper="9.42" velocity="15.0"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="RH_SHANK">
<visual>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_shank_l.dae" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.065 0.015 0.01"/>
<geometry>
<box size="0.08 0.07 0.13"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.030816858139 0.004617229294 0.000893125713"/>
<mass value="0.207204302"/>
<inertia ixx="0.0002104880248" ixy="-5.6750980345e-05" ixz="-1.0127699391e-05" iyy="0.000676270210023" iyz="8.22869024e-07" izz="0.000545032674924"/>
</inertial>
</link>
<!-- Shank joint -->
<joint name="RH_KFE" type="revolute">
<parent link="RH_THIGH"/>
<child link="RH_SHANK"/>
<origin xyz="-0.0 -0.109 -0.25"/>
<axis xyz="0 1 0"/>
<limit command_effort="40" current="10" effort="80" gear_velocity="10" lower="-9.42" upper="9.42" velocity="15.0"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Shank to Adapter joint -->
<joint name="RH_SHANK_TO_ADAPTER" type="fixed">
<parent link="RH_SHANK"/>
<child link="RH_ADAPTER"/>
<origin rpy="-0.0 -0.0 0.0" xyz="-0.1 0.02 0.0"/>
</joint>
<!-- Adapter link -->
<link name="RH_ADAPTER">
<visual>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0.032"/>
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_foot.dae" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.160625"/>
<geometry>
<cylinder length="0.32125" radius="0.015"/>
</geometry>
<material name="anymal_material"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-8.66e-10 -1.472e-09 -0.244345749188"/>
<mass value="0.140170767"/>
<inertia ixx="0.00159938741862" ixy="-9.32e-13" ixz="1.039e-11" iyy="0.00159938741932" iyz="1.7563e-11" izz="5.4423177329e-05"/>
</inertial>
</link>
<!-- Adapter to Foot joint -->
<joint name="RH_ADAPTER_TO_FOOT" type="fixed">
<parent link="RH_ADAPTER"/>
<child link="RH_FOOT"/>
<origin rpy="-0.0 -0.0 0.0" xyz="-0.0 -0.0 -0.32125"/>
</joint>
<!-- Foot link -->
<link name="RH_FOOT">
<collision>
<origin xyz="0 0 0.02325"/>
<geometry>
<sphere radius="0.031"/>
</geometry>
</collision>
</link>
<!-- Gazebo customization -->
<gazebo reference="RH_FOOT">
<kp>1000000.0</kp>
<kd>100.0</kd>
<mu1>0.8</mu1>
<mu2>0.8</mu2>
</gazebo>
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/Nao/nao.urdf | <?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from nao_robot.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<!--******************************************************************
****** File automatically generated by generate_urdf.py script ******
*********************************************************************-->
<robot name="NaoH25V50" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- Import Rviz <material name="Grey"/>
</visual>s -->
<material name="Grey">
<color rgba="0.1 0.1 0.1 .4"/>
</material>
<material name="Orange">
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
</material>
<material name="Blue">
<color rgba="0.5 0.7 1.0 1.0"/>
</material>
<material name="c1">
<color rgba="0.5 1.0 .5 1.0"/>
</material>
<material name="c2">
<color rgba="1 .3 .5 1.0"/>
</material>
<material name="c3">
<color rgba=".8 .4 .9 1.0"/>
</material>
<material name="c4">
<color rgba=".3 .1 .6 1.0"/>
</material>
<material name="c5">
<color rgba=".8 .2 1.0 1.0"/>
</material>
<material name="c6">
<color rgba=".1 .4 .6 1.0"/>
</material>
<material name="c7">
<color rgba=".3 .1 .5 1.0"/>
</material>
<material name="c8">
<color rgba=".8 .2 .8 1.0"/>
</material>
<material name="c9">
<color rgba=".2 .5 .5 1.0"/>
</material>
<joint name="HeadYaw" type="revolute">
<parent link="torso"/>
<child link="Neck"/>
<origin rpy="0 0 0" xyz="0 0 0.1265"/>
<axis xyz="0 0 1.0"/>
<limit effort="1.547" lower="-2.08567" upper="2.08567" velocity="8.26797"/>
</joint>
<link name="Neck">
<inertial>
<mass value="0.07842"/>
<inertia ixx="1.60324e-05" ixy="1.57e-09" ixz="3.16276e-09" iyy="1.70394e-05" iyz="-5.295e-08" izz="5.53372e-06"/>
<origin rpy="0 0 0" xyz="-1e-05 0 -0.02742"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/meshes/V40/HeadYaw_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="c1"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/meshes/V40/HeadYaw_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="HeadPitch" type="revolute">
<parent link="Neck"/>
<child link="Head"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 1.0 0"/>
<limit effort="1.532" lower="-0.671952" upper="0.514872" velocity="7.19407"/>
</joint>
<link name="Head">
<inertial>
<mass value="0.60533"/>
<inertia ixx="0.000957766" ixy="8.78814e-06" ixz="5.33702e-06" iyy="0.000816836" iyz="-2.99579e-05" izz="0.000984976"/>
<origin rpy="0 0 0" xyz="-0.00112 0 0.05258"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/meshes/V40/HeadPitch_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="c2"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/meshes/V40/HeadPitch_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="gaze_joint" type="fixed">
<parent link="Head"/>
<child link="gaze"/>
<origin rpy="0 0 0" xyz="0.05871 0 0.06364"/>
</joint>
<link name="gaze"/>
<joint name="LHipYawPitch" type="revolute">
<parent link="torso"/>
<child link="LPelvis"/>
<origin rpy="0 0 0" xyz="0 0.05 -0.085"/>
<axis xyz="0 0.707106 -0.707106"/>
<limit effort="3.348" lower="-1.14529" upper="0.740718" velocity="4.16174"/>
</joint>
<link name="LPelvis">
<inertial>
<mass value="0.06981"/>
<inertia ixx="2.3407e-05" ixy="1.07922e-06" ixz="-1.76003e-06" iyy="4.76355e-05" iyz="2.76058e-06" izz="4.97021e-05"/>
<origin rpy="0 0 0" xyz="-0.00781 -0.01114 0.02661"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/meshes/V40/LHipYawPitch_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="Orange"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/meshes/V40/LHipYawPitch_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="LHipRoll" type="revolute">
<parent link="LPelvis"/>
<child link="LHip"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1.0 0 0"/>
<limit effort="3.348" lower="-0.379435" upper="0.79046" velocity="4.16174"/>
</joint>
<link name="LHip">
<inertial>
<mass value="0.14053"/>
<inertia ixx="2.38445e-05" ixy="-6.53605e-07" ixz="7.12893e-06" iyy="6.08246e-05" iyz="-2.14072e-07" izz="5.43691e-05"/>
<origin rpy="0 0 0" xyz="-0.01549 0.00029 -0.00515"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/meshes/V40/LHipRoll_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="Orange"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/meshes/V40/LHipRoll_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="LHipPitch" type="revolute">
<parent link="LHip"/>
<child link="LThigh"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 1.0 0"/>
<limit effort="3.023" lower="-1.53589" upper="0.48398" velocity="6.40239"/>
</joint>
<link name="LThigh">
<inertial>
<mass value="0.38968"/>
<inertia ixx="0.000509844" ixy="2.11296e-06" ixz="5.64129e-05" iyy="0.000465358" iyz="-7.91029e-06" izz="0.000301098"/>
<origin rpy="0 0 0" xyz="0.00138 0.00221 -0.05373"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/meshes/V40/LHipPitch_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="c2"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/meshes/V40/LHipPitch_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="LKneePitch" type="revolute">
<parent link="LThigh"/>
<child link="LTibia"/>
<origin rpy="0 0 0" xyz="0 0 -0.1"/>
<axis xyz="0 1.0 0"/>
<limit effort="3.023" lower="-0.0923279" upper="2.11255" velocity="6.40239"/>
</joint>
<link name="LTibia">
<inertial>
<mass value="0.30142"/>
<inertia ixx="0.000446171" ixy="3.70584e-06" ixz="-3.09008e-05" iyy="0.000388084" iyz="6.01953e-06" izz="0.000185516"/>
<origin rpy="0 0 0" xyz="0.00453 0.00225 -0.04936"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/meshes/V40/LKneePitch_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="c3"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/meshes/V40/LKneePitch_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="LAnklePitch" type="revolute">
<parent link="LTibia"/>
<child link="LAnklePitch"/>
<origin rpy="0 0 0" xyz="0 0 -0.1029"/>
<axis xyz="0 1.0 0"/>
<limit effort="3.023" lower="-1.18944" upper="0.922581" velocity="6.40239"/>
</joint>
<link name="LAnklePitch">
<inertial>
<mass value="0.13416"/>
<inertia ixx="3.22034e-05" ixy="-8.83212e-09" ixz="4.27549e-06" iyy="6.7943e-05" iyz="2.84849e-07" izz="5.48269e-05"/>
<origin rpy="0 0 0" xyz="0.00045 0.00029 0.00685"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/meshes/V40/LAnklePitch_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="Blue"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/meshes/V40/LAnklePitch_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="LAnkleRoll" type="revolute">
<parent link="LAnklePitch"/>
<child link="l_ankle"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1.0 0 0"/>
<limit effort="3.348" lower="-0.397761" upper="0.768992" velocity="4.16174"/>
</joint>
<link name="l_ankle">
<inertial>
<mass value="0.17184"/>
<inertia ixx="8.72911e-05" ixy="8.71925e-06" ixz="-2.10563e-06" iyy="0.000353024" iyz="3.73459e-07" izz="0.000412846"/>
<origin rpy="0 0 0" xyz="0.02542 0.0033 -0.03239"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/meshes/V40/LAnkleRoll_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="Blue"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/meshes/V40/LAnkleRoll_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="LLeg_effector_fixedjoint" type="fixed">
<parent link="l_ankle"/>
<child link="l_sole"/>
<origin rpy="0 0 0" xyz="0 0 -0.04511"/>
<axis xyz="0 0 0"/>
</joint>
<link name="l_sole"/>
<joint name="RHipYawPitch" type="revolute">
<parent link="torso"/>
<child link="RPelvis"/>
<origin rpy="0 0 0" xyz="0 -0.05 -0.085"/>
<axis xyz="0 0.707106 0.707106"/>
<limit effort="3.348" lower="-1.14529" upper="0.740718" velocity="4.16174"/>
<mimic joint="LHipYawPitch" multiplier="1.0" offset="0"/>
</joint>
<link name="RPelvis">
<inertial>
<mass value="0.06981"/>
<inertia ixx="3.18766e-05" ixy="-1.07152e-06" ixz="-1.77295e-06" iyy="5.18361e-05" iyz="-7.00664e-06" izz="5.39657e-05"/>
<origin rpy="0 0 0" xyz="-0.00781 0.01114 0.02661"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/meshes/V40/RHipYawPitch_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="c4"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/meshes/V40/RHipYawPitch_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="RHipRoll" type="revolute">
<parent link="RPelvis"/>
<child link="RHip"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1.0 0 0"/>
<limit effort="3.348" lower="-0.79046" upper="0.379435" velocity="4.16174"/>
</joint>
<link name="RHip">
<inertial>
<mass value="0.14053"/>
<inertia ixx="2.38475e-05" ixy="6.12085e-07" ixz="7.10235e-06" iyy="6.0824e-05" iyz="2.12392e-07" izz="5.43727e-05"/>
<origin rpy="0 0 0" xyz="-0.01549 -0.00029 -0.00515"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/meshes/V40/RHipRoll_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="c4"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/meshes/V40/RHipRoll_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="RHipPitch" type="revolute">
<parent link="RHip"/>
<child link="RThigh"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 1.0 0"/>
<limit effort="3.0226" lower="-1.53589" upper="0.48398" velocity="6.40239"/>
</joint>
<link name="RThigh">
<inertial>
<mass value="0.38968"/>
<inertia ixx="0.000510607" ixy="-2.02799e-06" ixz="5.69893e-05" iyy="0.0004665" iyz="7.09563e-06" izz="0.000301333"/>
<origin rpy="0 0 0" xyz="0.00138 -0.00221 -0.05373"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/meshes/V40/RHipPitch_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="c5"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/meshes/V40/RHipPitch_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="RKneePitch" type="revolute">
<parent link="RThigh"/>
<child link="RTibia"/>
<origin rpy="0 0 0" xyz="0 0 -0.1"/>
<axis xyz="0 1.0 0"/>
<limit effort="3.0226" lower="-0.0923279" upper="2.11255" velocity="6.40239"/>
</joint>
<link name="RTibia">
<inertial>
<mass value="0.30142"/>
<inertia ixx="0.000446921" ixy="-3.96872e-06" ixz="-3.94009e-05" iyy="0.000387711" iyz="-5.00034e-06" izz="0.000183741"/>
<origin rpy="0 0 0" xyz="0.00453 -0.00225 -0.04936"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/meshes/V40/RKneePitch_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="c5"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/meshes/V40/RKneePitch_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="RAnklePitch" type="revolute">
<parent link="RTibia"/>
<child link="RAnklePitch"/>
<origin rpy="0 0 0" xyz="0 0 -0.1029"/>
<axis xyz="0 1.0 0"/>
<limit effort="3.0226" lower="-1.1863" upper="0.932006" velocity="6.40239"/>
</joint>
<link name="RAnklePitch">
<inertial>
<mass value="0.13416"/>
<inertia ixx="3.22017e-05" ixy="4.68321e-08" ixz="4.28821e-06" iyy="6.79885e-05" iyz="-2.71089e-07" izz="5.48747e-05"/>
<origin rpy="0 0 0" xyz="0.00045 -0.00029 0.00685"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/meshes/V40/RAnklePitch_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="c6"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/meshes/V40/RAnklePitch_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="RAnkleRoll" type="revolute">
<parent link="RAnklePitch"/>
<child link="r_ankle"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1.0 0 0"/>
<limit effort="3.348" lower="-0.768992" upper="0.397761" velocity="4.16174"/>
</joint>
<link name="r_ankle">
<inertial>
<mass value="0.17184"/>
<inertia ixx="8.71513e-05" ixy="-8.53992e-06" ixz="-2.35184e-06" iyy="0.000352156" iyz="-4.81708e-07" izz="0.000412125"/>
<origin rpy="0 0 0" xyz="0.02542 -0.0033 -0.03239"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/meshes/V40/RAnkleRoll_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="c6"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/meshes/V40/RAnkleRoll_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="RLeg_effector_fixedjoint" type="fixed">
<parent link="r_ankle"/>
<child link="r_sole"/>
<origin rpy="0 0 0" xyz="0 0 -0.04511"/>
<axis xyz="0 0 0"/>
</joint>
<link name="r_sole"/>
<link name="base_link"/>
<joint name="base_link_fixedjoint" type="fixed">
<parent link="base_link"/>
<child link="torso"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 0 0"/>
</joint>
<link name="torso">
<inertial>
<mass value="1.04956"/>
<inertia ixx="0.00308361" ixy="1.43116e-05" ixz="-3.30211e-05" iyy="0.0028835" iyz="-2.70793e-05" izz="0.0015924"/>
<origin rpy="0 0 0" xyz="-0.00413 0 0.04342"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/meshes/V40/Torso_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="c7"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/meshes/V40/Torso_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="LShoulderPitch" type="revolute">
<parent link="torso"/>
<child link="LShoulder"/>
<origin rpy="0 0 0" xyz="0 0.098 0.1"/>
<axis xyz="0 1.0 0"/>
<limit effort="1.329" lower="-2.08567" upper="2.08567" velocity="8.26797"/>
</joint>
<link name="LShoulder">
<inertial>
<mass value="0.09304"/>
<inertia ixx="1.83025e-05" ixy="2.06011e-06" ixz="1.88776e-09" iyy="1.39005e-05" iyz="-3.66592e-07" izz="2.01862e-05"/>
<origin rpy="0 0 0" xyz="-0.00165 -0.02663 0.00014"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/meshes/V40/LShoulderPitch_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="c8"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/meshes/V40/LShoulderPitch_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="LShoulderRoll" type="revolute">
<parent link="LShoulder"/>
<child link="LBicep"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 0 1.0"/>
<limit effort="1.7835" lower="-0.314159" upper="1.32645" velocity="7.19407"/>
</joint>
<link name="LBicep">
<inertial>
<mass value="0.15777"/>
<inertia ixx="8.7181e-05" ixy="-2.53381e-05" ixz="-1.4213e-05" iyy="0.000274712" iyz="4.71439e-07" izz="0.000241812"/>
<origin rpy="0 0 0" xyz="0.02455 0.00563 0.0033"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/meshes/V40/LShoulderRoll_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="c9"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/meshes/V40/LShoulderRoll_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="LElbowYaw" type="revolute">
<parent link="LBicep"/>
<child link="LElbow"/>
<origin rpy="0 0 0" xyz="0.105 0.015 0"/>
<axis xyz="1.0 0 0"/>
<limit effort="1.547" lower="-2.08567" upper="2.08567" velocity="8.26797"/>
</joint>
<link name="LElbow">
<inertial>
<mass value="0.06483"/>
<inertia ixx="5.59588e-06" ixy="4.21e-09" ixz="2.92241e-07" iyy="2.66179e-05" iyz="-1.84e-09" izz="2.76294e-05"/>
<origin rpy="0 0 0" xyz="-0.02744 0 -0.00014"/>
</inertial>
</link>
<joint name="LElbowRoll" type="revolute">
<parent link="LElbow"/>
<child link="LForeArm"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 0 1.0"/>
<limit effort="1.532" lower="-1.54462" upper="-0.0349066" velocity="7.19407"/>
</joint>
<link name="LForeArm">
<inertial>
<mass value="0.07761"/>
<inertia ixx="2.46746e-05" ixy="3.23152e-06" ixz="1.58221e-06" iyy="3.83837e-05" iyz="1.39194e-07" izz="3.59708e-05"/>
<origin rpy="0 0 0" xyz="0.02556 0.00281 0.00076"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/meshes/V40/LElbowRoll_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="c1"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/meshes/V40/LElbowRoll_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="LWristYaw" type="revolute">
<parent link="LForeArm"/>
<child link="l_wrist"/>
<origin rpy="0 0 0" xyz="0.05595 0 0"/>
<axis xyz="1.0 0 0"/>
<limit effort="0.4075" lower="-1.82387" upper="1.82387" velocity="24.6229"/>
</joint>
<link name="l_wrist">
<inertial>
<mass value="0.18533"/>
<inertia ixx="6.86477e-05" ixy="1.15465e-07" ixz="-2.87254e-06" iyy="0.000135756" iyz="2.67539e-06" izz="0.000133228"/>
<origin rpy="0 0 0" xyz="0.03434 -0.00088 0.00308"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/meshes/V40/LWristYaw_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="c2"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/meshes/V40/LWristYaw_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="LHand" type="revolute">
<parent link="l_wrist"/>
<child link="l_gripper"/>
<origin rpy="0 0 0" xyz="0.05775 0 -0.01231"/>
<axis xyz="1.0 0 0"/>
<limit effort="0.292" lower="0" upper="1.0" velocity="8.33"/>
</joint>
<link name="l_gripper">
<inertial>
<mass value="2e-06"/>
<inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
</inertial>
</link>
<joint name="RShoulderPitch" type="revolute">
<parent link="torso"/>
<child link="RShoulder"/>
<origin rpy="0 0 0" xyz="0 -0.098 0.1"/>
<axis xyz="0 1.0 0"/>
<limit effort="1.329" lower="-2.08567" upper="2.08567" velocity="8.26797"/>
</joint>
<link name="RShoulder">
<inertial>
<mass value="0.09304"/>
<inertia ixx="1.83025e-05" ixy="-2.06011e-06" ixz="1.88776e-09" iyy="1.39005e-05" iyz="3.66592e-07" izz="2.01862e-05"/>
<origin rpy="0 0 0" xyz="-0.00165 0.02663 0.00014"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/meshes/V40/RShoulderPitch_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="c3"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/meshes/V40/RShoulderPitch_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="RShoulderRoll" type="revolute">
<parent link="RShoulder"/>
<child link="RBicep"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 0 1.0"/>
<limit effort="1.783" lower="-1.32645" upper="0.314159" velocity="7.19407"/>
</joint>
<link name="RBicep">
<inertial>
<mass value="0.15777"/>
<inertia ixx="0.000103401" ixy="5.48849e-05" ixz="-1.32643e-05" iyy="0.00027077" iyz="9.16707e-06" izz="0.000254529"/>
<origin rpy="0 0 0" xyz="0.02455 -0.00563 0.0033"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/meshes/V40/RShoulderRoll_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="c4"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/meshes/V40/RShoulderRoll_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="RElbowYaw" type="revolute">
<parent link="RBicep"/>
<child link="RElbow"/>
<origin rpy="0 0 0" xyz="0.105 -0.015 0"/>
<axis xyz="1.0 0 0"/>
<limit effort="1.547" lower="-2.08567" upper="2.08567" velocity="8.26797"/>
</joint>
<link name="RElbow">
<inertial>
<mass value="0.06483"/>
<inertia ixx="5.59588e-06" ixy="4.21e-09" ixz="2.92241e-07" iyy="2.66179e-05" iyz="-1.84e-09" izz="2.76294e-05"/>
<origin rpy="0 0 0" xyz="-0.02744 0 -0.00014"/>
</inertial>
</link>
<joint name="RElbowRoll" type="revolute">
<parent link="RElbow"/>
<child link="RForeArm"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 0 1.0"/>
<limit effort="1.532" lower="0.0349066" upper="1.54462" velocity="7.19407"/>
</joint>
<link name="RForeArm">
<inertial>
<mass value="0.07761"/>
<inertia ixx="2.47331e-05" ixy="-3.2418e-06" ixz="9.06451e-07" iyy="3.84719e-05" iyz="-1.38804e-07" izz="3.59319e-05"/>
<origin rpy="0 0 0" xyz="0.02556 -0.00281 0.00076"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/meshes/V40/RElbowRoll_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="c5"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/meshes/V40/RElbowRoll_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="RWristYaw" type="revolute">
<parent link="RForeArm"/>
<child link="r_wrist"/>
<origin rpy="0 0 0" xyz="0.05595 0 0"/>
<axis xyz="1.0 0 0"/>
<limit effort="0.4075" lower="-1.82387" upper="1.82387" velocity="24.6229"/>
</joint>
<link name="r_wrist">
<inertial>
<mass value="0.18533"/>
<inertia ixx="6.86477e-05" ixy="1.13165e-05" ixz="-2.87254e-06" iyy="0.000135756" iyz="3.68003e-06" izz="0.000133228"/>
<origin rpy="0 0 0" xyz="0.03434 0.00088 0.00308"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/meshes/V40/RWristYaw_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="c6"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/meshes/V40/RWristYaw_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="RHand" type="revolute">
<parent link="r_wrist"/>
<child link="r_gripper"/>
<origin rpy="0 0 0" xyz="0.05775 0 -0.01213"/>
<axis xyz="1.0 0 0"/>
<limit effort="0.292" lower="0" upper="1.0" velocity="8.33"/>
</joint>
<link name="r_gripper">
<inertial>
<mass value="2e-06"/>
<inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
</inertial>
</link>
<link name="LFootBumperRight_frame"/>
<joint name="LFoot/Bumper/Right_sensor_fixedjoint" type="fixed">
<parent link="l_ankle"/>
<child link="LFootBumperRight_frame"/>
<origin rpy="0 0 0" xyz="0.0876 -0.014 -0.0353"/>
<axis xyz="0 0 0"/>
</joint>
<link name="RFsrRL_frame">
<collision>
<geometry>
<box size="0.01 0.01 0.005"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="2e-06"/>
<inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
</inertial>
</link>
<joint name="RFoot/FSR/RearLeft_sensor_fixedjoint" type="fixed">
<parent link="r_ankle"/>
<child link="RFsrRL_frame"/>
<origin rpy="0 0 0" xyz="-0.03025 0.0191 -0.04511"/>
<axis xyz="0 0 0"/>
</joint>
<link name="CameraBottom_optical_frame"/>
<joint name="CameraBottom_optical_frame_fixedjoint" type="fixed">
<parent link="CameraBottom_frame"/>
<child link="CameraBottom_optical_frame"/>
<origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
</joint>
<link name="RFsrRR_frame">
<collision>
<geometry>
<box size="0.01 0.01 0.005"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="2e-06"/>
<inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
</inertial>
</link>
<joint name="RFoot/FSR/RearRight_sensor_fixedjoint" type="fixed">
<parent link="r_ankle"/>
<child link="RFsrRR_frame"/>
<origin rpy="0 0 0" xyz="-0.02965 -0.0299 -0.04511"/>
<axis xyz="0 0 0"/>
</joint>
<link name="LFsrFR_frame">
<collision>
<geometry>
<box size="0.01 0.01 0.005"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="2e-06"/>
<inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
</inertial>
</link>
<joint name="LFoot/FSR/FrontRight_sensor_fixedjoint" type="fixed">
<parent link="l_ankle"/>
<child link="LFsrFR_frame"/>
<origin rpy="0 0 0" xyz="0.07025 -0.0231 -0.04511"/>
<axis xyz="0 0 0"/>
</joint>
<link name="LHandTouchLeft_frame"/>
<joint name="LHand/Touch/Left_sensor_fixedjoint" type="fixed">
<parent link="l_wrist"/>
<child link="LHandTouchLeft_frame"/>
<origin rpy="0 0 1.5708" xyz="0.032 0.025 0.003"/>
<axis xyz="0 0 0"/>
</joint>
<link name="RFootBumperRight_frame"/>
<joint name="RFoot/Bumper/Right_sensor_fixedjoint" type="fixed">
<parent link="r_ankle"/>
<child link="RFootBumperRight_frame"/>
<origin rpy="0 0 0" xyz="0.0876 -0.019 -0.0353"/>
<axis xyz="0 0 0"/>
</joint>
<link name="RFsrFR_frame">
<collision>
<geometry>
<box size="0.01 0.01 0.005"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="2e-06"/>
<inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
</inertial>
</link>
<joint name="RFoot/FSR/FrontRight_sensor_fixedjoint" type="fixed">
<parent link="r_ankle"/>
<child link="RFsrFR_frame"/>
<origin rpy="0 0 0" xyz="0.07025 -0.0299 -0.04511"/>
<axis xyz="0 0 0"/>
</joint>
<link name="LFsrRR_frame">
<collision>
<geometry>
<box size="0.01 0.01 0.005"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="2e-06"/>
<inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
</inertial>
</link>
<joint name="LFoot/FSR/RearRight_sensor_fixedjoint" type="fixed">
<parent link="l_ankle"/>
<child link="LFsrRR_frame"/>
<origin rpy="0 0 0" xyz="-0.02965 -0.0191 -0.04511"/>
<axis xyz="0 0 0"/>
</joint>
<link name="ImuTorsoAccelerometer_frame"/>
<joint name="Accelerometer_sensor_fixedjoint" type="fixed">
<parent link="torso"/>
<child link="ImuTorsoAccelerometer_frame"/>
<origin rpy="0 0 0" xyz="-0.008 0.00606 0.027"/>
<axis xyz="0 0 0"/>
</joint>
<link name="HeadTouchFront_frame"/>
<joint name="Head/Touch/Front_sensor_fixedjoint" type="fixed">
<parent link="Head"/>
<child link="HeadTouchFront_frame"/>
<origin rpy="0 -1.1861 0" xyz="0.0312 0 0.1014"/>
<axis xyz="0 0 0"/>
</joint>
<link name="RFootBumperLeft_frame"/>
<joint name="RFoot/Bumper/Left_sensor_fixedjoint" type="fixed">
<parent link="r_ankle"/>
<child link="RFootBumperLeft_frame"/>
<origin rpy="0 0 0" xyz="0.0876 0.014 -0.0353"/>
<axis xyz="0 0 0"/>
</joint>
<link name="RSonar_frame"/>
<joint name="Sonar/Right_sensor_fixedjoint" type="fixed">
<parent link="torso"/>
<child link="RSonar_frame"/>
<origin rpy="0.00478508 0.0436497 -0.392441" xyz="0.00558253 -0.0192068 0.0623853"/>
<axis xyz="0 0 0"/>
</joint>
<link name="RHandTouchRight_frame"/>
<joint name="RHand/Touch/Right_sensor_fixedjoint" type="fixed">
<parent link="r_wrist"/>
<child link="RHandTouchRight_frame"/>
<origin rpy="0 0 -1.5708" xyz="0.035 -0.025 0.0035"/>
<axis xyz="0 0 0"/>
</joint>
<link name="RHandTouchBack_frame"/>
<joint name="RHand/Touch/Back_sensor_fixedjoint" type="fixed">
<parent link="r_wrist"/>
<child link="RHandTouchBack_frame"/>
<origin rpy="3.14159 -1.5708 3.14159" xyz="0.038 0 0.025"/>
<axis xyz="0 0 0"/>
</joint>
<link name="RFsrFL_frame">
<collision>
<geometry>
<box size="0.01 0.01 0.005"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="2e-06"/>
<inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
</inertial>
</link>
<joint name="RFoot/FSR/FrontLeft_sensor_fixedjoint" type="fixed">
<parent link="r_ankle"/>
<child link="RFsrFL_frame"/>
<origin rpy="0 0 0" xyz="0.07025 0.0231 -0.04511"/>
<axis xyz="0 0 0"/>
</joint>
<link name="LSonar_frame"/>
<joint name="Sonar/Left_sensor_fixedjoint" type="fixed">
<parent link="torso"/>
<child link="LSonar_frame"/>
<origin rpy="-0.00478508 0.0436497 0.392441" xyz="0.00558253 0.0192068 0.0623853"/>
<axis xyz="0 0 0"/>
</joint>
<link name="LFsrFL_frame">
<collision>
<geometry>
<box size="0.01 0.01 0.005"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="2e-06"/>
<inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
</inertial>
</link>
<joint name="LFoot/FSR/FrontLeft_sensor_fixedjoint" type="fixed">
<parent link="l_ankle"/>
<child link="LFsrFL_frame"/>
<origin rpy="0 0 0" xyz="0.07025 0.0299 -0.04511"/>
<axis xyz="0 0 0"/>
</joint>
<link name="LFsrRL_frame">
<collision>
<geometry>
<box size="0.01 0.01 0.005"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="2e-06"/>
<inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
</inertial>
</link>
<joint name="LFoot/FSR/RearLeft_sensor_fixedjoint" type="fixed">
<parent link="l_ankle"/>
<child link="LFsrRL_frame"/>
<origin rpy="0 0 0" xyz="-0.03025 0.0299 -0.04511"/>
<axis xyz="0 0 0"/>
</joint>
<link name="RHandTouchLeft_frame"/>
<joint name="RHand/Touch/Left_sensor_fixedjoint" type="fixed">
<parent link="r_wrist"/>
<child link="RHandTouchLeft_frame"/>
<origin rpy="0 0 1.5708" xyz="0.032 0.025 0.003"/>
<axis xyz="0 0 0"/>
</joint>
<link name="CameraBottom_frame"/>
<joint name="CameraBottom_sensor_fixedjoint" type="fixed">
<parent link="Head"/>
<child link="CameraBottom_frame"/>
<origin rpy="0 0.692896 0" xyz="0.05071 0 0.01774"/>
<axis xyz="0 0 0"/>
</joint>
<link name="CameraTop_frame"/>
<joint name="CameraTop_sensor_fixedjoint" type="fixed">
<parent link="Head"/>
<child link="CameraTop_frame"/>
<origin rpy="0 0.0209435 0" xyz="0.05871 0 0.06364"/>
<axis xyz="0 0 0"/>
</joint>
<link name="CameraTop_optical_frame"/>
<joint name="CameraTop_optical_frame_fixedjoint" type="fixed">
<parent link="CameraTop_frame"/>
<child link="CameraTop_optical_frame"/>
<origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
</joint>
<link name="LHandTouchBack_frame"/>
<joint name="LHand/Touch/Back_sensor_fixedjoint" type="fixed">
<parent link="l_wrist"/>
<child link="LHandTouchBack_frame"/>
<origin rpy="3.14159 -1.5708 3.14159" xyz="0.038 0 0.025"/>
<axis xyz="0 0 0"/>
</joint>
<link name="LInfraRed_frame"/>
<joint name="InfraredL_sensor_fixedjoint" type="fixed">
<parent link="Head"/>
<child link="LInfraRed_frame"/>
<origin rpy="0 0 0" xyz="0.0441 0.0257 0.0466"/>
<axis xyz="0 0 0"/>
</joint>
<link name="ImuTorsoGyrometer_frame"/>
<joint name="Gyrometer_sensor_fixedjoint" type="fixed">
<parent link="torso"/>
<child link="ImuTorsoGyrometer_frame"/>
<origin rpy="0 0 0" xyz="-0.008 0.006 0.029"/>
<axis xyz="0 0 0"/>
</joint>
<link name="HeadTouchRear_frame"/>
<joint name="Head/Touch/Rear_sensor_fixedjoint" type="fixed">
<parent link="Head"/>
<child link="HeadTouchRear_frame"/>
<origin rpy="3.14159 -1.33319 -3.14159" xyz="-0.0257 0 0.1045"/>
<axis xyz="0 0 0"/>
</joint>
<link name="HeadTouchMiddle_frame"/>
<joint name="Head/Touch/Middle_sensor_fixedjoint" type="fixed">
<parent link="Head"/>
<child link="HeadTouchMiddle_frame"/>
<origin rpy="3.14159 -1.57079 -3.14159" xyz="0.001 0 0.1099"/>
<axis xyz="0 0 0"/>
</joint>
<link name="RInfraRed_frame"/>
<joint name="InfraredR_sensor_fixedjoint" type="fixed">
<parent link="Head"/>
<child link="RInfraRed_frame"/>
<origin rpy="0 0 0" xyz="0.0441 -0.0257 0.0466"/>
<axis xyz="0 0 0"/>
</joint>
<link name="ChestButton_frame"/>
<joint name="ChestBoard/Button_sensor_fixedjoint" type="fixed">
<parent link="torso"/>
<child link="ChestButton_frame"/>
<origin rpy="0 0 0" xyz="0.049871 0.001588 0.055163"/>
<axis xyz="0 0 0"/>
</joint>
<link name="LFootBumperLeft_frame"/>
<joint name="LFoot/Bumper/Left_sensor_fixedjoint" type="fixed">
<parent link="l_ankle"/>
<child link="LFootBumperLeft_frame"/>
<origin rpy="0 0 0" xyz="0.0876 0.019 -0.0353"/>
<axis xyz="0 0 0"/>
</joint>
<link name="LHandTouchRight_frame"/>
<joint name="LHand/Touch/Right_sensor_fixedjoint" type="fixed">
<parent link="l_wrist"/>
<child link="LHandTouchRight_frame"/>
<origin rpy="0 0 -1.5708" xyz="0.035 -0.025 0.0035"/>
<axis xyz="0 0 0"/>
</joint>
<link name="RFinger13_link">
<inertial>
<mass value="2e-06"/>
<inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/meshes/V40/RFinger13_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="Grey"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/meshes/V40/RFinger13_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="RFinger13" type="continuous">
<parent link="RFinger12_link"/>
<child link="RFinger13_link"/>
<origin rpy="0 0 -0.999899" xyz="0.01436 0 0"/>
<axis xyz="0 0 1.0"/>
<mimic joint="RHand" multiplier="0.999899" offset="0"/>
</joint>
<link name="RFinger12_link">
<inertial>
<mass value="2e-06"/>
<inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/meshes/V40/RFinger12_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="Grey"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/meshes/V40/RFinger12_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="RFinger12" type="continuous">
<parent link="RFinger11_link"/>
<child link="RFinger12_link"/>
<origin rpy="0 0 -0.999899" xyz="0.01436 0 0"/>
<axis xyz="0 0 1.0"/>
<mimic joint="RHand" multiplier="0.999899" offset="0"/>
</joint>
<link name="LFinger21_link">
<inertial>
<mass value="2e-06"/>
<inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/meshes/V40/LFinger21_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="Grey"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/meshes/V40/LFinger21_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="LFinger21" type="continuous">
<parent link="l_wrist"/>
<child link="LFinger21_link"/>
<origin rpy="1.25539 0.976662 -0.264067" xyz="0.06907 -0.01157 -0.00304"/>
<axis xyz="0 0 1.0"/>
<mimic joint="LHand" multiplier="0.999899" offset="0"/>
</joint>
<link name="LFinger13_link">
<inertial>
<mass value="2e-06"/>
<inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/meshes/V40/LFinger13_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="Grey"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/meshes/V40/LFinger13_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="LFinger13" type="continuous">
<parent link="LFinger12_link"/>
<child link="LFinger13_link"/>
<origin rpy="0 0 -0.999899" xyz="0.01436 0 0"/>
<axis xyz="0 0 1.0"/>
<mimic joint="LHand" multiplier="0.999899" offset="0"/>
</joint>
<link name="LFinger11_link">
<inertial>
<mass value="2e-06"/>
<inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/meshes/V40/LFinger11_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="Grey"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/meshes/V40/LFinger11_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="LFinger11" type="continuous">
<parent link="l_wrist"/>
<child link="LFinger11_link"/>
<origin rpy="1.8862 0.976662 0.264067" xyz="0.06907 0.01157 -0.00304"/>
<axis xyz="0 0 1.0"/>
<mimic joint="LHand" multiplier="0.999899" offset="0"/>
</joint>
<link name="RFinger22_link">
<inertial>
<mass value="2e-06"/>
<inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/meshes/V40/RFinger22_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="Grey"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/meshes/V40/RFinger22_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="RFinger22" type="continuous">
<parent link="RFinger21_link"/>
<child link="RFinger22_link"/>
<origin rpy="0 0 -0.999899" xyz="0.01436 0 0"/>
<axis xyz="0 0 1.0"/>
<mimic joint="RHand" multiplier="0.999899" offset="0"/>
</joint>
<link name="LFinger22_link">
<inertial>
<mass value="2e-06"/>
<inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/meshes/V40/LFinger22_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="Grey"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/meshes/V40/LFinger22_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="LFinger22" type="continuous">
<parent link="LFinger21_link"/>
<child link="LFinger22_link"/>
<origin rpy="0 0 -0.999899" xyz="0.01436 0 0"/>
<axis xyz="0 0 1.0"/>
<mimic joint="LHand" multiplier="0.999899" offset="0"/>
</joint>
<link name="RFinger21_link">
<inertial>
<mass value="2e-06"/>
<inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/meshes/V40/RFinger21_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="Grey"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/meshes/V40/RFinger21_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="RFinger21" type="continuous">
<parent link="r_wrist"/>
<child link="RFinger21_link"/>
<origin rpy="1.25539 0.976662 -0.264067" xyz="0.06907 -0.01157 -0.00304"/>
<axis xyz="0 0 1.0"/>
<mimic joint="RHand" multiplier="0.999899" offset="0"/>
</joint>
<link name="LFinger12_link">
<inertial>
<mass value="2e-06"/>
<inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/meshes/V40/LFinger12_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="Grey"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/meshes/V40/LFinger12_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="LFinger12" type="continuous">
<parent link="LFinger11_link"/>
<child link="LFinger12_link"/>
<origin rpy="0 0 -0.999899" xyz="0.01436 0 0"/>
<axis xyz="0 0 1.0"/>
<mimic joint="LHand" multiplier="0.999899" offset="0"/>
</joint>
<link name="RFinger23_link">
<inertial>
<mass value="2e-06"/>
<inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/meshes/V40/RFinger23_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="Grey"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/meshes/V40/RFinger23_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="RFinger23" type="continuous">
<parent link="RFinger22_link"/>
<child link="RFinger23_link"/>
<origin rpy="0 0 -0.999899" xyz="0.01436 0 0"/>
<axis xyz="0 0 1.0"/>
<mimic joint="RHand" multiplier="0.999899" offset="0"/>
</joint>
<link name="RFinger11_link">
<inertial>
<mass value="2e-06"/>
<inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/meshes/V40/RFinger11_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="Grey"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/meshes/V40/RFinger11_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="RFinger11" type="continuous">
<parent link="r_wrist"/>
<child link="RFinger11_link"/>
<origin rpy="1.8862 0.976662 0.264067" xyz="0.06907 0.01157 -0.00304"/>
<axis xyz="0 0 1.0"/>
<mimic joint="RHand" multiplier="0.999899" offset="0"/>
</joint>
<link name="LFinger23_link">
<inertial>
<mass value="2e-06"/>
<inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/meshes/V40/LFinger23_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="Grey"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/meshes/V40/LFinger23_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="LFinger23" type="continuous">
<parent link="LFinger22_link"/>
<child link="LFinger23_link"/>
<origin rpy="0 0 -0.999899" xyz="0.01436 0 0"/>
<axis xyz="0 0 1.0"/>
<mimic joint="LHand" multiplier="0.999899" offset="0"/>
</joint>
<link name="LThumb1_link">
<inertial>
<mass value="2e-06"/>
<inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/meshes/V40/LThumb1_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="Grey"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/meshes/V40/LThumb1_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="LThumb1" type="continuous">
<parent link="l_wrist"/>
<child link="LThumb1_link"/>
<origin rpy="-1.5708 0.0472984 -3.26826e-08" xyz="0.04895 0 -0.02638"/>
<axis xyz="0 0 1.0"/>
<mimic joint="LHand" multiplier="0.999899" offset="0"/>
</joint>
<link name="RThumb1_link">
<inertial>
<mass value="2e-06"/>
<inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/meshes/V40/RThumb1_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="Grey"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/meshes/V40/RThumb1_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="RThumb1" type="continuous">
<parent link="r_wrist"/>
<child link="RThumb1_link"/>
<origin rpy="-1.5708 0.0472984 -3.26826e-08" xyz="0.04895 0 -0.02638"/>
<axis xyz="0 0 1.0"/>
<mimic joint="RHand" multiplier="0.999899" offset="0"/>
</joint>
<link name="RThumb2_link">
<inertial>
<mass value="2e-06"/>
<inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/meshes/V40/RThumb2_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="Grey"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/meshes/V40/RThumb2_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="RThumb2" type="continuous">
<parent link="RThumb1_link"/>
<child link="RThumb2_link"/>
<origin rpy="0 0 -0.999899" xyz="0.01436 0 0"/>
<axis xyz="0 0 1.0"/>
<mimic joint="RHand" multiplier="0.999899" offset="0"/>
</joint>
<link name="LThumb2_link">
<inertial>
<mass value="2e-06"/>
<inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/meshes/V40/LThumb2_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="Grey"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/meshes/V40/LThumb2_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="LThumb2" type="continuous">
<parent link="LThumb1_link"/>
<child link="LThumb2_link"/>
<origin rpy="0 0 -0.999899" xyz="0.01436 0 0"/>
<axis xyz="0 0 1.0"/>
<mimic joint="LHand" multiplier="0.999899" offset="0"/>
</joint>
<!-- GAZEBO ROS CONTROL AND IMU PLUGIN -->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<robotNamespace>/nao_dcm</robotNamespace>
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
</plugin>
<!-- <plugin filename="libgazebo_ros_imu.so" name="gazebo_ros_imu_controller">
<robotNamespace>/nao_dcm</robotNamespace>
<topicName>imu_data</topicName>
<bodyName>imu</bodyName>
<frameId>ImuAccelerometer_frame</frameId>
<gaussianNoise>2.89e-08</gaussianNoise>
<accelGaussianNoise>2.89e-08 2.89e-08 2.89e-08</accelGaussianNoise>
<rateGaussianNoise>2.89e-08 2.89e-08 2.89e-08</rateGaussianNoise>
<headingGaussianNoise>2.89e-08 2.89e-08 2.89e-08</headingGaussianNoise>
<xyzOffsets>0 0 0</xyzOffsets>
<rpyOffsets>0 0 0</rpyOffsets>
<updateRate>30.0</updateRate>
<alwaysOn>true</alwaysOn>
</plugin>
-->
<!-- <plugin name="gazebo_ros_imu_controller" filename="${imu_plugin}">
<robotNamespace>/nao_dcm</robotNamespace>
<topicName>imu_data</topicName>
<bodyName>imu</bodyName>
<frameId>imu</frameId>
<gaussianNoise>2.89e-08</gaussianNoise>
<accelGaussianNoise>2.89e-08 2.89e-08 2.89e-08</accelGaussianNoise>
<rateGaussianNoise>2.89e-08 2.89e-08 2.89e-08</rateGaussianNoise>
<headingGaussianNoise>2.89e-08 2.89e-08 2.89e-08</headingGaussianNoise>
<xyzOffsets>0 0 0</xyzOffsets>
<rpyOffsets>0 0 0</rpyOffsets>
<updateRate>30.0</updateRate>
<alwaysOn>true</alwaysOn>
</plugin>
-->
<!-- Mimic joints through plugin develop by costashatz based on implementation by Goncalo Cabrita -->
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_hipyawpitch">
<joint>LHipYawPitch</joint>
<mimicJoint>RHipYawPitch</mimicJoint>
<multiplier>1.0</multiplier>
<offset>0.0</offset>
</plugin>
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_LFinger11">
<joint>LHand</joint>
<mimicJoint>LFinger11</mimicJoint>
<multiplier>-0.785398163398</multiplier>
<offset>0.785398163398</offset>
</plugin>
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_LFinger12">
<joint>LHand</joint>
<mimicJoint>LFinger12</mimicJoint>
<multiplier>-0.785398163398</multiplier>
<offset>0.785398163398</offset>
</plugin>
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_LFinger13">
<joint>LHand</joint>
<mimicJoint>LFinger13</mimicJoint>
<multiplier>-0.785398163398</multiplier>
<offset>0.785398163398</offset>
</plugin>
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_LFinger21">
<joint>LHand</joint>
<mimicJoint>LFinger21</mimicJoint>
<multiplier>-0.785398163398</multiplier>
<offset>0.785398163398</offset>
</plugin>
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_LFinger22">
<joint>LHand</joint>
<mimicJoint>LFinger22</mimicJoint>
<multiplier>-0.785398163398</multiplier>
<offset>0.785398163398</offset>
</plugin>
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_LFinger23">
<joint>LHand</joint>
<mimicJoint>LFinger23</mimicJoint>
<multiplier>-0.785398163398</multiplier>
<offset>0.785398163398</offset>
</plugin>
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_RFinger11">
<joint>RHand</joint>
<mimicJoint>RFinger11</mimicJoint>
<multiplier>-0.785398163398</multiplier>
<offset>0.785398163398</offset>
</plugin>
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_RFinger12">
<joint>RHand</joint>
<mimicJoint>RFinger12</mimicJoint>
<multiplier>-0.785398163398</multiplier>
<offset>0.785398163398</offset>
</plugin>
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_RFinger13">
<joint>RHand</joint>
<mimicJoint>RFinger13</mimicJoint>
<multiplier>-0.785398163398</multiplier>
<offset>0.785398163398</offset>
</plugin>
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_RFinger21">
<joint>RHand</joint>
<mimicJoint>RFinger21</mimicJoint>
<multiplier>-0.785398163398</multiplier>
<offset>0.785398163398</offset>
</plugin>
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_RFinger22">
<joint>RHand</joint>
<mimicJoint>RFinger22</mimicJoint>
<multiplier>-0.785398163398</multiplier>
<offset>0.785398163398</offset>
</plugin>
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_RFinger23">
<joint>RHand</joint>
<mimicJoint>RFinger23</mimicJoint>
<multiplier>-0.785398163398</multiplier>
<offset>0.785398163398</offset>
</plugin>
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="LThumb1">
<joint>LHand</joint>
<mimicJoint>LThumb1</mimicJoint>
<multiplier>-0.785398163398</multiplier>
<offset>0.785398163398</offset>
</plugin>
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="LThumb2">
<joint>LHand</joint>
<mimicJoint>LThumb2</mimicJoint>
<multiplier>-0.785398163398</multiplier>
<offset>0.785398163398</offset>
</plugin>
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="RThumb1">
<joint>RHand</joint>
<mimicJoint>RThumb1</mimicJoint>
<multiplier>-0.785398163398</multiplier>
<offset>0.785398163398</offset>
</plugin>
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="RThumb2">
<joint>RHand</joint>
<mimicJoint>RThumb2</mimicJoint>
<multiplier>-0.785398163398</multiplier>
<offset>0.785398163398</offset>
</plugin>
<plugin filename="libroboticsgroup_gazebo_disable_link_plugin.so" name="LFinger11_link">
<link>LFinger11_link</link>
</plugin>
<plugin filename="libroboticsgroup_gazebo_disable_link_plugin.so" name="LFinger12_link">
<link>LFinger12_link</link>
</plugin>
<plugin filename="libroboticsgroup_gazebo_disable_link_plugin.so" name="LFinger13_link">
<link>LFinger13_link</link>
</plugin>
<plugin filename="libroboticsgroup_gazebo_disable_link_plugin.so" name="LFinger21_link">
<link>LFinger21_link</link>
</plugin>
<plugin filename="libroboticsgroup_gazebo_disable_link_plugin.so" name="LFinger22_link">
<link>LFinger22_link</link>
</plugin>
<plugin filename="libroboticsgroup_gazebo_disable_link_plugin.so" name="LFinger23_link">
<link>LFinger23_link</link>
</plugin>
<plugin filename="libroboticsgroup_gazebo_disable_link_plugin.so" name="LThumb1_link">
<link>LThumb1_link</link>
</plugin>
<plugin filename="libroboticsgroup_gazebo_disable_link_plugin.so" name="LThumb2_link">
<link>LThumb2_link</link>
</plugin>
<plugin filename="libroboticsgroup_gazebo_disable_link_plugin.so" name="l_gripper">
<link>l_gripper</link>
</plugin>
<plugin filename="libroboticsgroup_gazebo_disable_link_plugin.so" name="RFinger11_link">
<link>RFinger11_link</link>
</plugin>
<plugin filename="libroboticsgroup_gazebo_disable_link_plugin.so" name="RFinger12_link">
<link>RFinger12_link</link>
</plugin>
<plugin filename="libroboticsgroup_gazebo_disable_link_plugin.so" name="RFinger13_link">
<link>RFinger13_link</link>
</plugin>
<plugin filename="libroboticsgroup_gazebo_disable_link_plugin.so" name="RFinger21_link">
<link>RFinger21_link</link>
</plugin>
<plugin filename="libroboticsgroup_gazebo_disable_link_plugin.so" name="RFinger22_link">
<link>RFinger22_link</link>
</plugin>
<plugin filename="libroboticsgroup_gazebo_disable_link_plugin.so" name="RFinger23_link">
<link>RFinger23_link</link>
</plugin>
<plugin filename="libroboticsgroup_gazebo_disable_link_plugin.so" name="RThumb1_link">
<link>RThumb1_link</link>
</plugin>
<plugin filename="libroboticsgroup_gazebo_disable_link_plugin.so" name="RThumb2_link">
<link>RThumb2_link</link>
</plugin>
<plugin filename="libroboticsgroup_gazebo_disable_link_plugin.so" name="r_gripper">
<link>r_gripper</link>
</plugin>
</gazebo>
<!-- END OF GAZEBO ROS CONTROL PLUGIN -->
<!-- GAZEBO MATERIALS -->
<gazebo reference="torso">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="Neck">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="Head">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="gaze">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<!-- <gazebo reference="LShoulderDummy">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="RShoulderDummy">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>false</turnGravityOff>
</gazebo> -->
<!-- ARMS -->
<gazebo reference="LShoulder">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="LBicep">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="LElbow">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="LForeArm">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="l_wrist">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="l_gripper">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>true</turnGravityOff>
</gazebo>
<gazebo reference="RShoulder">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="RBicep">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="RElbow">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="RForeArm">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="r_wrist">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="r_gripper">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>true</turnGravityOff>
</gazebo>
<!-- <gazebo reference="LElbowDummy">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>false</turnGravityOff>
</gazebo>
-->
<gazebo reference="LFinger11_link">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>true</turnGravityOff>
</gazebo>
<gazebo reference="LFinger12_link">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>true</turnGravityOff>
</gazebo>
<gazebo reference="LFinger13_link">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>true</turnGravityOff>
</gazebo>
<gazebo reference="LFinger21_link">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>true</turnGravityOff>
</gazebo>
<gazebo reference="LFinger22_link">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>true</turnGravityOff>
</gazebo>
<gazebo reference="LFinger23_link">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>true</turnGravityOff>
</gazebo>
<gazebo reference="LThumb1_link">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>true</turnGravityOff>
</gazebo>
<gazebo reference="LThumb2_link">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>true</turnGravityOff>
</gazebo>
<gazebo reference="LPelvis">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="LHip">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="LThigh">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="LTibia">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="LAnklePitch">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="l_ankle">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>false</turnGravityOff>
<fdir1>1 0 0</fdir1>
<maxVel>0.1</maxVel>
<minDepth>0.003</minDepth>
</gazebo>
<gazebo reference="RPelvis">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="RHip">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="RThigh">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="RTibia">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="RAnklePitch">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="r_ankle">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>false</turnGravityOff>
<fdir1>1 0 0</fdir1>
<maxVel>0.1</maxVel>
<minDepth>0.003</minDepth>
</gazebo>
<gazebo reference="RFinger11_link">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>true</turnGravityOff>
</gazebo>
<gazebo reference="RFinger12_link">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>true</turnGravityOff>
</gazebo>
<gazebo reference="RFinger13_link">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>true</turnGravityOff>
</gazebo>
<gazebo reference="RFinger21_link">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>true</turnGravityOff>
</gazebo>
<gazebo reference="RFinger22_link">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>true</turnGravityOff>
</gazebo>
<gazebo reference="RFinger23_link">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>true</turnGravityOff>
</gazebo>
<gazebo reference="RThumb1_link">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>true</turnGravityOff>
</gazebo>
<gazebo reference="RThumb2_link">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>true</turnGravityOff>
</gazebo>
<!--
RGB CAMERAS: Working
-->
<gazebo reference="CameraTop_frame">
<sensor name="CameraTop" type="camera">
<update_rate>5.0</update_rate>
<camera name="camera_top">
<horizontal_fov>1.06290551</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.3</near>
<far>500</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<plugin filename="libgazebo_ros_camera.so" name="camera_controller">
<robotNamespace>nao_robot</robotNamespace>
<alwaysOn>true</alwaysOn>
<updateRate>5.0</updateRate>
<cameraName>camera/top</cameraName>
<imageTopicName>image_raw</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>CameraTop_optical_frame</frameName>
<hackBaseline>0.07</hackBaseline>
<distortionK1>-0.0545211</distortionK1>
<distortionK2>0.06919734</distortionK2>
<distortionK3>-0.0241095</distortionK3>
<distortionT1>-0.0112245</distortionT1>
<distortionT2>0.0</distortionT2>
</plugin>
</sensor>
</gazebo>
<gazebo reference="CameraBottom_frame">
<sensor name="CameraBottom" type="camera">
<update_rate>5.0</update_rate>
<camera name="camera_bottom">
<horizontal_fov>1.06290551</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.05</near>
<far>500</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<plugin filename="libgazebo_ros_camera.so" name="camera_controller">
<robotNamespace>/nao_robot</robotNamespace>
<alwaysOn>true</alwaysOn>
<updateRate>5.0</updateRate>
<cameraName>camera_bottom</cameraName>
<imageTopicName>image_raw</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>CameraBottom_optical_frame</frameName>
<hackBaseline>0.07</hackBaseline>
<distortionK1>-0.0648764</distortionK1>
<distortionK2>0.06125202</distortionK2>
<distortionK3>0.00382815</distortionK3>
<distortionT1>-0.00551104</distortionT1>
<distortionT2>0.0</distortionT2>
</plugin>
</sensor>
</gazebo>
<!--
CameraDepth : not displayed at the right spot
<gazebo reference="CameraDepth3_frame">
<sensor type="depth" name="openni_camera_camera2">
<always_on>1</always_on>
<visualize>true</visualize>
<camera>
<horizontal_fov>1.01229</horizontal_fov>
<image>
<width>320</width>
<height>240</height>
<format>R8G8B8</format>
</image>
<depth_camera>
</depth_camera>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
</camera>
<plugin name="depth_cam_controller2" filename="libgazebo_ros_openni_kinect.so">
<baseline>0.2</baseline>
<alwaysOn>true</alwaysOn>
<updateRate>0.1</updateRate>
<cameraName>xtion2</cameraName>
<imageTopicName>/xtion2/ir/image_raw</imageTopicName>
<cameraInfoTopicName>/xtion2/ir/camera_info</cameraInfoTopicName>
<depthImageTopicName>/xtion2/depth/image_raw</depthImageTopicName>
<depthImageInfoTopicName>/xtion2/depth/camera_info</depthImageInfoTopicName>
<pointCloudTopicName>/xtion2/depth/points</pointCloudTopicName>
<frameName>CameraDepth2_frame</frameName>
<pointCloudCutoff>0.5</pointCloudCutoff>
<distortionK1>0.00000001</distortionK1>
<distortionK2>0.00000001</distortionK2>
<distortionK3>0.00000001</distortionK3>
<distortionT1>0.00000001</distortionT1>
<distortionT2>0.00000001</distortionT2>
<CxPrime>0</CxPrime>
<Cx>0</Cx>
<Cy>0</Cy>
<focalLength>0</focalLength>
<hackBaseline>0</hackBaseline>
</plugin>
</sensor>
</gazebo>
-->
<!--
BUMPERS + FSR
libgazebo_ros_bumper.so bugged right now, waiting for new release
<gazebo reference="LFootBumper_frame">
<sensor type="contact" name="LFootBumper">
<update_rate>10</update_rate>
<contact>
<collision>LFootBumper_frame_collision</collision>
</contact>
<plugin filename="libgazebo_ros_bumper.so" name="gazebo_nao_ros_bumper">
<alwaysOn>true</alwaysOn>
<bumperTopicName>LFootBumper</bumperTopicName>
<frameName>LFootBumper_frame</frameName>
</plugin>
</sensor>
</gazebo>
-->
<gazebo reference="RFsrFL_frame">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>false</turnGravityOff>
<fdir1>1 0 0</fdir1>
<maxVel>0.1</maxVel>
<minDepth>0.003</minDepth>
<sensor name="RFsrFL" type="contact">
<always_on>1</always_on>
<update_rate>20</update_rate>
<visualize>false</visualize>
<contact>
<collision>RFsrFL_frame_collision</collision>
</contact>
<plugin filename="libgazebo_ros_bumper.so" name="gazebo_nao_RFsrFL">
<robotNamespace>nao_robot</robotNamespace>
<alwaysOn>true</alwaysOn>
<bumperTopicName>FSR/RFoot/FrontLeft</bumperTopicName>
<frameName>RFsrFL_frame</frameName>
</plugin>
</sensor>
</gazebo>
<gazebo reference="RFsrFR_frame">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>false</turnGravityOff>
<fdir1>1 0 0</fdir1>
<maxVel>0.1</maxVel>
<minDepth>0.003</minDepth>
<sensor name="RFsrFR" type="contact">
<always_on>1</always_on>
<update_rate>20</update_rate>
<visualize>false</visualize>
<contact>
<collision>RFsrFR_frame_collision</collision>
</contact>
<plugin filename="libgazebo_ros_bumper.so" name="gazebo_nao_RFsrFR">
<robotNamespace>nao_robot</robotNamespace>
<alwaysOn>true</alwaysOn>
<bumperTopicName>FSR/RFoot/FrontRight</bumperTopicName>
<frameName>RFsrFR_frame</frameName>
</plugin>
</sensor>
</gazebo>
<gazebo reference="RFsrRL_frame">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>false</turnGravityOff>
<fdir1>1 0 0</fdir1>
<maxVel>0.1</maxVel>
<minDepth>0.003</minDepth>
<sensor name="RFsrRL" type="contact">
<always_on>1</always_on>
<update_rate>20</update_rate>
<visualize>false</visualize>
<contact>
<collision>RFsrRL_frame_collision</collision>
</contact>
<plugin filename="libgazebo_ros_bumper.so" name="gazebo_nao_RFsrRL">
<robotNamespace>nao_robot</robotNamespace>
<alwaysOn>true</alwaysOn>
<bumperTopicName>FSR/RFoot/RearLeft</bumperTopicName>
<frameName>RFsrRL_frame</frameName>
</plugin>
</sensor>
</gazebo>
<gazebo reference="RFsrRR_frame">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>false</turnGravityOff>
<fdir1>1 0 0</fdir1>
<maxVel>0.1</maxVel>
<minDepth>0.003</minDepth>
<sensor name="RFsrRR" type="contact">
<always_on>1</always_on>
<update_rate>20</update_rate>
<visualize>false</visualize>
<contact>
<collision>RFsrRR_frame_collision</collision>
</contact>
<plugin filename="libgazebo_ros_bumper.so" name="gazebo_nao_RFsrRR">
<robotNamespace>nao_robot</robotNamespace>
<alwaysOn>true</alwaysOn>
<bumperTopicName>FSR/RFoot/RearRight</bumperTopicName>
<frameName>RFsrRR_frame</frameName>
</plugin>
</sensor>
</gazebo>
<gazebo reference="LFsrFL_frame">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>false</turnGravityOff>
<fdir1>1 0 0</fdir1>
<maxVel>0.1</maxVel>
<minDepth>0.003</minDepth>
<sensor name="LFsrFL" type="contact">
<always_on>1</always_on>
<update_rate>20</update_rate>
<visualize>false</visualize>
<contact>
<collision>LFsrFL_frame_collision</collision>
</contact>
<plugin filename="libgazebo_ros_bumper.so" name="gazebo_nao_LFsrFL">
<robotNamespace>nao_robot</robotNamespace>
<alwaysOn>true</alwaysOn>
<bumperTopicName>FSR/LFoot/FrontLeft</bumperTopicName>
<frameName>RFsrFL_frame</frameName>
</plugin>
</sensor>
</gazebo>
<gazebo reference="LFsrFR_frame">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>false</turnGravityOff>
<fdir1>1 0 0</fdir1>
<maxVel>0.1</maxVel>
<minDepth>0.003</minDepth>
<sensor name="LFsrFR" type="contact">
<always_on>1</always_on>
<update_rate>20</update_rate>
<visualize>false</visualize>
<contact>
<collision>LFsrFR_frame_collision</collision>
</contact>
<plugin filename="libgazebo_ros_bumper.so" name="gazebo_nao_ros_bumper">
<robotNamespace>nao_robot</robotNamespace>
<alwaysOn>true</alwaysOn>
<bumperTopicName>FSR/LFoot/FrontRight</bumperTopicName>
<frameName>LFsrFR_frame</frameName>
</plugin>
</sensor>
</gazebo>
<gazebo reference="LFsrRL_frame">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>false</turnGravityOff>
<fdir1>1 0 0</fdir1>
<maxVel>0.1</maxVel>
<minDepth>0.003</minDepth>
<sensor name="LFsrRL" type="contact">
<always_on>1</always_on>
<update_rate>20</update_rate>
<visualize>false</visualize>
<contact>
<collision>LFsrRL_frame_collision</collision>
</contact>
<plugin filename="libgazebo_ros_bumper.so" name="gazebo_nao_ros_bumper">
<robotNamespace>nao_robot</robotNamespace>
<alwaysOn>true</alwaysOn>
<bumperTopicName>FSR/LFoot/RearLeft</bumperTopicName>
<frameName>LFsrRL_frame</frameName>
</plugin>
</sensor>
</gazebo>
<gazebo reference="LFsrRR_frame">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>false</selfCollide>
<turnGravityOff>false</turnGravityOff>
<fdir1>1 0 0</fdir1>
<maxVel>0.1</maxVel>
<minDepth>0.003</minDepth>
<sensor name="LFsrRR" type="contact">
<always_on>1</always_on>
<update_rate>20</update_rate>
<visualize>false</visualize>
<contact>
<collision>LFsrRR_frame_collision</collision>
</contact>
<plugin filename="libgazebo_ros_bumper.so" name="gazebo_nao_ros_bumper">
<robotNamespace>nao_robot</robotNamespace>
<alwaysOn>true</alwaysOn>
<bumperTopicName>FSR/LFoot/RearRight</bumperTopicName>
<frameName>LFsrRR_frame</frameName>
</plugin>
</sensor>
</gazebo>
<!--
Sonars
-->
<gazebo reference="LSonar_frame">
<sensor name="LSonar" type="ray">
<pose>0 0 0 0 0 0</pose>
<update_rate>20</update_rate>
<visualize>false</visualize>
<ray>
<scan>
<horizontal>
<samples>5</samples>
<resolution>1</resolution>
<min_angle>-0.2617993877991494</min_angle>
<max_angle>0.2617993877991494</max_angle>
<!--
<min_angle>-0.10</min_angle>
<max_angle>0.10</max_angle>
-->
</horizontal>
<vertical>
<samples>5</samples>
<resolution>1</resolution>
<min_angle>-0.13</min_angle>
<max_angle>0.13</max_angle>
<!--
<min_angle>-0.2617993877991494</min_angle>
<max_angle>0.2617993877991494</max_angle>
-->
</vertical>
</scan>
<range>
<min>0.025</min>
<max>2.55</max>
<resolution>1</resolution>
</range>
</ray>
<plugin filename="libgazebo_ros_range.so" name="gazebo_ros_range">
<robotNamespace>nao_robot</robotNamespace>
<gaussianNoise>0.05</gaussianNoise>
<alwaysOn>true</alwaysOn>
<updateRate>20</updateRate>
<topicName>sonar_left</topicName>
<frameName>LSonar_frame</frameName>
<minRange>0.025</minRange>
<maxRange>2.55</maxRange>
<fov>0.5235987755982988</fov>
<!-- <fov>0.1</fov> -->
<radiation>ultrasound</radiation>
</plugin>
</sensor>
</gazebo>
<gazebo reference="RSonar_frame">
<sensor name="RSonar" type="ray">
<pose>0 0 0 0 0 0</pose>
<update_rate>20</update_rate>
<visualize>false</visualize>
<ray>
<scan>
<horizontal>
<samples>5</samples>
<resolution>1</resolution>
<min_angle>-0.2617993877991494</min_angle>
<max_angle>0.2617993877991494</max_angle>
</horizontal>
<vertical>
<samples>5</samples>
<resolution>1</resolution>
<min_angle>-0.13</min_angle>
<max_angle>0.13</max_angle>
</vertical>
</scan>
<range>
<min>0.025</min>
<max>2.55</max>
<resolution>1</resolution>
</range>
</ray>
<plugin filename="libgazebo_ros_range.so" name="gazebo_ros_range">
<robotNamespace>nao_robot</robotNamespace>
<gaussianNoise>0.05</gaussianNoise>
<alwaysOn>true</alwaysOn>
<updateRate>20</updateRate>
<topicName>sonar_right</topicName>
<frameName>RSonar_frame</frameName>
<minRange>0.025</minRange>
<maxRange>2.55</maxRange>
<fov>0.5235987755982988</fov>
<radiation>ultrasound</radiation>
</plugin>
</sensor>
</gazebo>
<!-- HEAD -->
<transmission name="HeadYaw_Transmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="HeadYaw">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="HeadYaw_Motor">
<!-- Dummy Values -->
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>150.27</mechanicalReduction>
</actuator>
</transmission>
<transmission name="HeadPitch_Transmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="HeadPitch">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="HeadPitch_Motor">
<!-- Dummy Values -->
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>173.22</mechanicalReduction>
</actuator>
</transmission>
<transmission name="LShoulderPitch_Transmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="LShoulderPitch">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="LShoulderPitch_Motor">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>150.27</mechanicalReduction>
</actuator>
</transmission>
<transmission name="LShoulderRoll_Transmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="LShoulderRoll">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="LShoulderRoll_Motor">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>173.22</mechanicalReduction>
</actuator>
</transmission>
<transmission name="LElbowYaw_Transmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="LElbowYaw">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="LElbowYaw_Motor">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>150.27</mechanicalReduction>
</actuator>
</transmission>
<transmission name="LElbowRoll_Transmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="LElbowRoll">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="LElbowRoll_Motor">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>173.22</mechanicalReduction>
</actuator>
</transmission>
<transmission name="LWristYaw_Transmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="LWristYaw">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="LWristYaw_Motor">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>50.61</mechanicalReduction>
</actuator>
</transmission>
<transmission name="LHand_Transmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="LHand">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="LHand_Motor">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>36.24</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RShoulderPitch_Transmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RShoulderPitch">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="RShoulderPitch_Motor">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>150.27</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RShoulderRoll_Transmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RShoulderRoll">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="RShoulderRoll_Motor">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>173.22</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RElbowYaw_Transmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RElbowYaw">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="RElbowYaw_Motor">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>150.27</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RElbowRoll_Transmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RElbowRoll">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="RElbowRoll_Motor">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>173.22</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RWristYaw_Transmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RWristYaw">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="RWristYaw_Motor">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>50.61</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RHand_Transmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RHand">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="RHand_Motor">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>36.24</mechanicalReduction>
</actuator>
</transmission>
<transmission name="LHipYawPitch_Transmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="LHipYawPitch">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="LHipYawPitch_Motor">
<!-- Dummy Values -->
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>201.3</mechanicalReduction>
</actuator>
</transmission>
<transmission name="LHipRoll_Transmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="LHipRoll">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="LHipRoll_Motor">
<!-- Dummy Values -->
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>201.3</mechanicalReduction>
</actuator>
</transmission>
<transmission name="LHipPitch_Transmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="LHipPitch">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="LHipPitch_Motor">
<!-- Dummy Values -->
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>130.85</mechanicalReduction>
</actuator>
</transmission>
<transmission name="LKneePitch_Transmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="LKneePitch">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="LKneePitch_Motor">
<!-- Dummy Values -->
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>130.85</mechanicalReduction>
</actuator>
</transmission>
<transmission name="LAnklePitch_Transmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="LAnklePitch">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="LAnklePitch_Motor">
<!-- Dummy Values -->
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>130.85</mechanicalReduction>
</actuator>
</transmission>
<transmission name="LAnkleRoll_Transmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="LAnkleRoll">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="LAnkleRoll_Motor">
<!-- Dummy Values -->
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>201.3</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RHipYawPitch_Transmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RHipYawPitch">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="RHipYawPitch_Motor">
<!-- Dummy Values -->
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>201.3</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RHipRoll_Transmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RHipRoll">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="RHipRoll_Motor">
<!-- Dummy Values -->
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>201.3</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RHipPitch_Transmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RHipPitch">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="RHipPitch_Motor">
<!-- Dummy Values -->
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>130.85</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RKneePitch_Transmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RKneePitch">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="RKneePitch_Motor">
<!-- Dummy Values -->
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>130.85</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RAnklePitch_Transmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RAnklePitch">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="RAnklePitch_Motor">
<!-- Dummy Values -->
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>130.85</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RAnkleRoll_Transmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RAnkleRoll">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="RAnkleRoll_Motor">
<!-- Dummy Values -->
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>201.3</mechanicalReduction>
</actuator>
</transmission>
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/Nao/LICENSE.txt | Copyright (c) 2009-2013, A. Hornung, University of Freiburg
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the University of Freiburg nor the names of its
contributors may be used to endorse or promote products derived from
this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
POSSIBILITY OF SUCH DAMAGE. |
boredengineering/Robots_for_Omniverse/URDF_descriptions/UnitreeRobotics/laikago_description/xacro/materials.xacro | <?xml version="1.0"?>
<robot>
<material name="black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<material name="green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>
<material name="grey">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
<material name="silver">
<color rgba="${233/255} ${233/255} ${216/255} 1.0"/>
</material>
<material name="orange">
<color rgba="${255/255} ${108/255} ${10/255} 1.0"/>
</material>
<material name="brown">
<color rgba="${222/255} ${207/255} ${195/255} 1.0"/>
</material>
<material name="red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="white">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/UnitreeRobotics/laikago_description/xacro/transmission.xacro | <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="leg_transmission" params="name">
<transmission name="${name}_hip_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${name}_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${name}_hip_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${name}_thigh_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${name}_thigh_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${name}_thigh_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${name}_calf_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${name}_calf_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${name}_calf_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</xacro:macro>
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/UnitreeRobotics/laikago_description/xacro/leg.xacro | <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find laikago_description)/xacro/transmission.xacro"/>
<xacro:macro name="leg" params="name mirror mirror_dae front_hind front_hind_dae *origin">
<joint name="${name}_hip_joint" type="revolute">
<xacro:insert_block name="origin"/>
<parent link="trunk"/>
<child link="${name}_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="${damping}" friction="${friction}"/>
<xacro:if value="${(mirror_dae == True)}">
<limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${hip_min*PI/180.0}" upper="${hip_max*PI/180.0}"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False)}">
<limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${-hip_max*PI/180.0}" upper="${-hip_min*PI/180.0}"/>
</xacro:if>
</joint>
<link name="${name}_hip">
<visual>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
<origin rpy="0 0 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
<origin rpy="${PI} 0 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
<origin rpy="0 ${PI} 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
<origin rpy="${PI} ${PI} 0" xyz="0 0 0"/>
</xacro:if>
<geometry>
<mesh filename="package://laikago_description/meshes/hip.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="${PI/2.0} 0 0" xyz="0 ${-(hip_length/2.0-hip_offset)*mirror} 0"/>
<geometry>
<cylinder length="${hip_length}" radius="${hip_radius}"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${hip_com_x*front_hind} ${hip_com_y*mirror} ${hip_com_z}"/>
<mass value="${hip_mass}"/>
<inertia
ixx="${hip_ixx}" ixy="${hip_ixy*mirror*front_hind}" ixz="${hip_ixz*front_hind}"
iyy="${hip_iyy}" iyz="${hip_iyz*mirror}"
izz="${hip_izz}"/>
</inertial>
</link>
<joint name="${name}_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="${thigh_shoulder_radius}"/>
</geometry>
</collision>
</link>
<joint name="${name}_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 ${thigh_offset*mirror} 0"/>
<parent link="${name}_hip"/>
<child link="${name}_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="${damping}" friction="${friction}"/>
<limit effort="${thigh_torque_max}" velocity="${thigh_velocity_max}" lower="${thigh_min*PI/180.0}" upper="${thigh_max*PI/180.0}"/>
</joint>
<link name="${name}_thigh">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<xacro:if value="${mirror_dae == True}">
<mesh filename="package://laikago_description/meshes/thigh.dae" scale="1 1 1"/>
</xacro:if>
<xacro:if value="${mirror_dae == False}">
<mesh filename="package://laikago_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
</xacro:if>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-thigh_length/2.0}"/>
<geometry>
<box size="${thigh_length} ${thigh_width} ${thigh_height}"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${thigh_com_x} ${thigh_com_y*mirror} ${thigh_com_z}"/>
<mass value="${thigh_mass}"/>
<inertia
ixx="${thigh_ixx}" ixy="${thigh_ixy*mirror}" ixz="${thigh_ixz}"
iyy="${thigh_iyy}" iyz="${thigh_iyz*mirror}"
izz="${thigh_izz}"/>
</inertial>
</link>
<joint name="${name}_calf_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 ${-thigh_length}"/>
<parent link="${name}_thigh"/>
<child link="${name}_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="${damping}" friction="${friction}"/>
<limit effort="${calf_torque_max}" velocity="${calf_velocity_max}" lower="${calf_min*PI/180.0}" upper="${calf_max*PI/180.0}"/>
</joint>
<link name="${name}_calf">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://laikago_description/meshes/calf.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-calf_length/2.0}"/>
<geometry>
<box size="${calf_length} ${calf_width} ${calf_height}"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${calf_com_x} ${calf_com_y} ${calf_com_z}"/>
<mass value="${calf_mass}"/>
<inertia
ixx="${calf_ixx}" ixy="${calf_ixy}" ixz="${calf_ixz}"
iyy="${calf_iyy}" iyz="${calf_iyz}"
izz="${calf_izz}"/>
</inertial>
</link>
<joint name="${name}_foot_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 ${-(calf_length)}"/>
<parent link="${name}_calf"/>
<child link="${name}_foot"/>
</joint>
<link name="${name}_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="${foot_radius-0.01}"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="${foot_radius}"/>
</geometry>
</collision>
<inertial>
<mass value="${foot_mass}"/>
<inertia
ixx="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}" ixy="0.0" ixz="0.0"
iyy="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}" iyz="0.0"
izz="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}"/>
</inertial>
</link>
<xacro:leg_transmission name="${name}"/>
</xacro:macro>
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/UnitreeRobotics/laikago_description/xacro/const.xacro | <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- Constants for robot dimensions -->
<xacro:property name="PI" value="3.1415926535897931"/>
<xacro:property name="stick_mass" value="0.00001"/>
<!-- simplified collision value -->
<xacro:property name="trunk_width" value="0.172"/>
<xacro:property name="trunk_length" value="0.5616"/>
<xacro:property name="trunk_height" value="0.1875"/>
<xacro:property name="hip_radius" value="0.041"/>
<xacro:property name="hip_length" value="0.08"/>
<xacro:property name="thigh_shoulder_radius" value="0.044"/>
<xacro:property name="thigh_shoulder_length" value="0.08"/>
<xacro:property name="thigh_width" value="0.034"/>
<xacro:property name="thigh_height" value="0.043"/>
<xacro:property name="calf_width" value="0.016"/>
<xacro:property name="calf_height" value="0.016"/>
<xacro:property name="foot_radius" value="0.0265"/>
<xacro:property name="stick_radius" value="0.01"/>
<xacro:property name="stick_length" value="0.2"/>
<!-- kinematic value -->
<xacro:property name="thigh_offset" value="0.037"/>
<xacro:property name="thigh_length" value="0.25"/>
<xacro:property name="calf_length" value="0.25"/>
<!-- leg offset from trunk center value -->
<xacro:property name="leg_offset_x" value="0.21935"/>
<xacro:property name="leg_offset_y" value="0.0875"/>
<xacro:property name="trunk_offset_z" value="0.01675"/>
<xacro:property name="hip_offset" value="0.019"/>
<!-- joint limits -->
<xacro:property name="damping" value="0"/>
<xacro:property name="friction" value="0"/>
<xacro:property name="hip_max" value="60"/>
<xacro:property name="hip_min" value="-50"/>
<xacro:property name="hip_velocity_max" value="27"/>
<xacro:property name="hip_torque_max" value="18.954"/>
<xacro:property name="thigh_max" value="225"/>
<xacro:property name="thigh_min" value="-30"/>
<xacro:property name="thigh_velocity_max" value="12.794"/>
<xacro:property name="thigh_torque_max" value="40"/>
<xacro:property name="calf_max" value="-35"/>
<xacro:property name="calf_min" value="-159"/>
<xacro:property name="calf_velocity_max" value="12.794"/>
<xacro:property name="calf_torque_max" value="40"/>
<!-- dynamics inertial value -->
<!-- trunk -->
<xacro:property name="trunk_mass" value="13.733"/>
<xacro:property name="trunk_com_x" value="0.002284"/>
<xacro:property name="trunk_com_y" value="-0.000041"/>
<xacro:property name="trunk_com_z" value="0.025165"/>
<xacro:property name="trunk_ixx" value="0.073348887"/>
<xacro:property name="trunk_ixy" value="0.00030338"/>
<xacro:property name="trunk_ixz" value="0.001918218"/>
<xacro:property name="trunk_iyy" value="0.250684593"/>
<xacro:property name="trunk_iyz" value="-0.000075402"/>
<xacro:property name="trunk_izz" value="0.254469458"/>
<!-- hip (left front) -->
<xacro:property name="hip_mass" value="1.096"/>
<xacro:property name="hip_com_x" value="-0.001568"/>
<xacro:property name="hip_com_y" value="-0.008134"/>
<xacro:property name="hip_com_z" value="0.000864"/>
<xacro:property name="hip_ixx" value="0.000822113"/>
<xacro:property name="hip_ixy" value="-0.000004982"/>
<xacro:property name="hip_ixz" value="-0.00003672"/>
<xacro:property name="hip_iyy" value="0.000983196"/>
<xacro:property name="hip_iyz" value="0.000002811"/>
<xacro:property name="hip_izz" value="0.000864753"/>
<!-- thigh -->
<xacro:property name="thigh_mass" value="1.528"/>
<xacro:property name="thigh_com_x" value="-0.000482"/>
<xacro:property name="thigh_com_y" value="0.02001"/>
<xacro:property name="thigh_com_z" value="-0.031996"/>
<xacro:property name="thigh_ixx" value="0.00991611"/>
<xacro:property name="thigh_ixy" value="0.000010388"/>
<xacro:property name="thigh_ixz" value="0.000250428"/>
<xacro:property name="thigh_iyy" value="0.009280083"/>
<xacro:property name="thigh_iyz" value="-0.00008511"/>
<xacro:property name="thigh_izz" value="0.00178256"/>
<!-- calf -->
<xacro:property name="calf_mass" value="0.241"/>
<xacro:property name="calf_com_x" value="-0.002196"/>
<xacro:property name="calf_com_y" value="-0.000381"/>
<xacro:property name="calf_com_z" value="-0.12338"/>
<xacro:property name="calf_ixx" value="0.006181961"/>
<xacro:property name="calf_ixy" value="0.000000237"/>
<xacro:property name="calf_ixz" value="-0.000002985"/>
<xacro:property name="calf_iyy" value="0.006196546"/>
<xacro:property name="calf_iyz" value="0.000005138"/>
<xacro:property name="calf_izz" value="0.000034774"/>
<!-- foot -->
<xacro:property name="foot_mass" value="0.06"/>
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/UnitreeRobotics/laikago_description/xacro/gazebo.xacro | <?xml version="1.0"?>
<robot>
<!-- ros_control plugin -->
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/laikago_gazebo</robotNamespace>
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
</plugin>
</gazebo>
<!-- Show the trajectory of trunk center. -->
<gazebo>
<plugin name="3dplot" filename="libLinkPlot3DPlugin.so">
<frequency>10</frequency>
<plot>
<link>base</link>
<pose>0 0 0 0 0 0</pose>
<material>Gazebo/Yellow</material>
</plot>
</plugin>
</gazebo>
<!-- Show the trajectory of foot. You can add another trajectory about another foot. -->
<!-- <gazebo>
<plugin name="3dplot" filename="libLinkPlot3DPlugin.so">
<frequency>100</frequency>
<plot>
<link>FL_foot</link>
<pose>0 0 0 0 0 0</pose>
<material>Gazebo/Green</material>
</plot>
</plugin>
</gazebo> -->
<gazebo>
<plugin filename="libgazebo_ros_force.so" name="gazebo_ros_force">
<bodyName>trunk</bodyName>
<topicName>/apply_force/trunk</topicName>
</plugin>
</gazebo>
<gazebo reference="imu_link">
<gravity>true</gravity>
<sensor name="imu_sensor" type="imu">
<always_on>true</always_on>
<update_rate>1000</update_rate>
<visualize>true</visualize>
<topic>__default_topic__</topic>
<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
<topicName>trunk_imu</topicName>
<bodyName>imu_link</bodyName>
<updateRateHZ>1000.0</updateRateHZ>
<gaussianNoise>0.0</gaussianNoise>
<xyzOffset>0 0 0</xyzOffset>
<rpyOffset>0 0 0</rpyOffset>
<frameName>imu_link</frameName>
</plugin>
<pose>0 0 0 0 0 0</pose>
</sensor>
</gazebo>
<!-- Foot contacts. -->
<gazebo reference="FR_calf">
<sensor name="FR_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>FR_calf_fixed_joint_lump__FR_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="FL_calf">
<sensor name="FL_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>FL_calf_fixed_joint_lump__FL_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="RR_calf">
<sensor name="RR_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>RR_calf_fixed_joint_lump__RR_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="RL_calf">
<sensor name="RL_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>RL_calf_fixed_joint_lump__RL_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<!-- Visualization of Foot contacts. -->
<gazebo reference="FR_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>FR_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="FL_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>FL_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="RR_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>RR_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="RL_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>RL_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="base">
<material>Gazebo/Green</material>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="trunk">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="stick_link">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/White</material>
</gazebo>
<gazebo reference="imu_link">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/Red</material>
</gazebo>
<!-- FL leg -->
<gazebo reference="FL_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="FL_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="FL_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="FL_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- FR leg -->
<gazebo reference="FR_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="FR_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="FR_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="FR_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- RL leg -->
<gazebo reference="RL_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="RL_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="RL_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="RL_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- RR leg -->
<gazebo reference="RR_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="RR_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="RR_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="RR_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/UnitreeRobotics/laikago_description/xacro/robot.xacro | <?xml version="1.0"?>
<robot name="laikago" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:arg name="DEBUG" default="false"/>
<xacro:include filename="$(find laikago_description)/xacro/const.xacro"/>
<xacro:include filename="$(find laikago_description)/xacro/materials.xacro"/>
<xacro:include filename="$(find laikago_description)/xacro/leg.xacro"/>
<xacro:include filename="$(find laikago_description)/xacro/gazebo.xacro"/>
<!-- Rollover Protection mode will add an additional stick on the top, use "true" or "false" to switch it. -->
<xacro:property name="rolloverProtection" value="false"/>
<!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
<xacro:if value="$(arg DEBUG)">
<link name="world"/>
<joint name="base_static_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="world"/>
<child link="base"/>
</joint>
</xacro:if>
<link name="base">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
</visual>
</link>
<joint name="floating_base" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base"/>
<child link="trunk"/>
</joint>
<link name="trunk">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://laikago_description/meshes/trunk.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 ${trunk_offset_z}"/>
<geometry>
<box size="${trunk_length} ${trunk_width} ${trunk_height}"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${trunk_com_x} ${trunk_com_y} ${trunk_com_z}"/>
<mass value="${trunk_mass}"/>
<inertia
ixx="${trunk_ixx}" ixy="${trunk_ixy}" ixz="${trunk_ixz}"
iyy="${trunk_iyy}" iyz="${trunk_iyz}"
izz="${trunk_izz}"/>
</inertial>
</link>
<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="${stick_mass / 12.0 * (3*stick_radius*stick_radius + stick_length*stick_length)}"/>
</inertial>
</link>
</xacro:if>
<joint name="imu_joint" type="fixed">
<parent link="trunk"/>
<child link="imu_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<link name="imu_link">
<inertial>
<mass value="0.001"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
<material name="red"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".001 .001 .001"/>
</geometry>
</collision>
</link>
<xacro:leg name="FR" mirror="-1" mirror_dae="False" front_hind="1" front_hind_dae="True">
<origin rpy="0 0 0" xyz="${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>
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/UnitreeRobotics/laikago_description/urdf/laikago.urdf | <?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from robot.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="laikago" xmlns:xacro="http://www.ros.org/wiki/xacro">
<material name="black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<material name="green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>
<material name="grey">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
<material name="silver">
<color rgba="0.913725490196 0.913725490196 0.847058823529 1.0"/>
</material>
<material name="orange">
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
</material>
<material name="brown">
<color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
</material>
<material name="red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="white">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<link name="trunk">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/trunk.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.01675"/>
<geometry>
<box size="0.5616 0.172 0.1875"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.002284 -4.1e-05 0.025165"/>
<mass value="13.733"/>
<inertia ixx="0.073348887" ixy="0.00030338" ixz="0.001918218" iyy="0.250684593" iyz="-7.5402e-05" izz="0.254469458"/>
</inertial>
</link>
<joint name="FR_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="0.21935 -0.0875 0"/>
<parent link="trunk"/>
<child link="FR_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="20" lower="-1.0471975512" upper="0.872664625997" velocity="52.4"/>
</joint>
<link name="FR_hip">
<visual>
<origin rpy="3.14159265359 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/hip.dae" scale="1 1 1"/>
</geometry>
<material name="grey"/>
</visual>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0.021 0"/>
<geometry>
<cylinder length="0.08" radius="0.041"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.001568 0.008134 0.000864"/>
<mass value="1.096"/>
<inertia ixx="0.000822113" ixy="4.982e-06" ixz="-3.672e-05" iyy="0.000983196" iyz="-2.811e-06" izz="0.000864753"/>
</inertial>
</link>
<joint name="FR_hip_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 -0.059 0"/>
<parent link="FR_hip"/>
<child link="FR_thigh_shoulder"/>
</joint>
<!-- this link is only for collision -->
<link name="FR_thigh_shoulder">
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.08" radius="0.044"/>
</geometry>
</collision>
</link>
<joint name="FR_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 -0.037 0"/>
<parent link="FR_hip"/>
<child link="FR_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="55" lower="-0.523598775598" upper="3.92699081699" velocity="28.6"/>
</joint>
<link name="FR_thigh">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/thigh_mirror.dae" scale="1 1 1"/>
</geometry>
<material name="grey"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
<geometry>
<box size="0.25 0.034 0.043"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.000482 -0.02001 -0.031996"/>
<mass value="1.528"/>
<inertia ixx="0.00991611" ixy="-1.0388e-05" ixz="0.000250428" iyy="0.009280083" iyz="8.511e-05" izz="0.00178256"/>
</inertial>
</link>
<joint name="FR_calf_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
<parent link="FR_thigh"/>
<child link="FR_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="55" lower="-2.77507351067" upper="-0.610865238198" velocity="28.6"/>
</joint>
<link name="FR_calf">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/calf.dae" scale="1 1 1"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
<geometry>
<box size="0.25 0.016 0.016"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.002196 -0.000381 -0.12338"/>
<mass value="0.241"/>
<inertia ixx="0.006181961" ixy="2.37e-07" ixz="-2.985e-06" iyy="0.006196546" iyz="5.138e-06" izz="3.4774e-05"/>
</inertial>
</link>
<joint name="FR_foot_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
<parent link="FR_calf"/>
<child link="FR_foot"/>
</joint>
<link name="FR_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.0165"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.0265"/>
</geometry>
</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"/>
</inertial>
</link>
<joint name="FL_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="0.21935 0.0875 0"/>
<parent link="trunk"/>
<child link="FL_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="20" lower="-0.872664625997" upper="1.0471975512" velocity="52.4"/>
</joint>
<link name="FL_hip">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/hip.dae" scale="1 1 1"/>
</geometry>
<material name="grey"/>
</visual>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 -0.021 0"/>
<geometry>
<cylinder length="0.08" radius="0.041"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.001568 -0.008134 0.000864"/>
<mass value="1.096"/>
<inertia ixx="0.000822113" ixy="-4.982e-06" ixz="-3.672e-05" iyy="0.000983196" iyz="2.811e-06" izz="0.000864753"/>
</inertial>
</link>
<joint name="FL_hip_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0.059 0"/>
<parent link="FL_hip"/>
<child link="FL_thigh_shoulder"/>
</joint>
<!-- this link is only for collision -->
<link name="FL_thigh_shoulder">
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.08" radius="0.044"/>
</geometry>
</collision>
</link>
<joint name="FL_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0.037 0"/>
<parent link="FL_hip"/>
<child link="FL_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="55" lower="-0.523598775598" upper="3.92699081699" velocity="28.6"/>
</joint>
<link name="FL_thigh">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/thigh.dae" scale="1 1 1"/>
</geometry>
<material name="grey"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
<geometry>
<box size="0.25 0.034 0.043"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.000482 0.02001 -0.031996"/>
<mass value="1.528"/>
<inertia ixx="0.00991611" ixy="1.0388e-05" ixz="0.000250428" iyy="0.009280083" iyz="-8.511e-05" izz="0.00178256"/>
</inertial>
</link>
<joint name="FL_calf_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
<parent link="FL_thigh"/>
<child link="FL_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="55" lower="-2.77507351067" upper="-0.610865238198" velocity="28.6"/>
</joint>
<link name="FL_calf">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/calf.dae" scale="1 1 1"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
<geometry>
<box size="0.25 0.016 0.016"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.002196 -0.000381 -0.12338"/>
<mass value="0.241"/>
<inertia ixx="0.006181961" ixy="2.37e-07" ixz="-2.985e-06" iyy="0.006196546" iyz="5.138e-06" izz="3.4774e-05"/>
</inertial>
</link>
<joint name="FL_foot_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
<parent link="FL_calf"/>
<child link="FL_foot"/>
</joint>
<link name="FL_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.0165"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.0265"/>
</geometry>
</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"/>
</inertial>
</link>
<joint name="RR_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="-0.21935 -0.0875 0"/>
<parent link="trunk"/>
<child link="RR_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="20" lower="-1.0471975512" upper="0.872664625997" velocity="52.4"/>
</joint>
<link name="RR_hip">
<visual>
<origin rpy="3.14159265359 3.14159265359 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/hip.dae" scale="1 1 1"/>
</geometry>
<material name="grey"/>
</visual>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0.021 0"/>
<geometry>
<cylinder length="0.08" radius="0.041"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.001568 0.008134 0.000864"/>
<mass value="1.096"/>
<inertia ixx="0.000822113" ixy="-4.982e-06" ixz="3.672e-05" iyy="0.000983196" iyz="-2.811e-06" izz="0.000864753"/>
</inertial>
</link>
<joint name="RR_hip_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 -0.059 0"/>
<parent link="RR_hip"/>
<child link="RR_thigh_shoulder"/>
</joint>
<!-- this link is only for collision -->
<link name="RR_thigh_shoulder">
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.08" radius="0.044"/>
</geometry>
</collision>
</link>
<joint name="RR_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 -0.037 0"/>
<parent link="RR_hip"/>
<child link="RR_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="55" lower="-0.523598775598" upper="3.92699081699" velocity="28.6"/>
</joint>
<link name="RR_thigh">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/thigh_mirror.dae" scale="1 1 1"/>
</geometry>
<material name="grey"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
<geometry>
<box size="0.25 0.034 0.043"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.000482 -0.02001 -0.031996"/>
<mass value="1.528"/>
<inertia ixx="0.00991611" ixy="-1.0388e-05" ixz="0.000250428" iyy="0.009280083" iyz="8.511e-05" izz="0.00178256"/>
</inertial>
</link>
<joint name="RR_calf_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
<parent link="RR_thigh"/>
<child link="RR_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="55" lower="-2.77507351067" upper="-0.610865238198" velocity="28.6"/>
</joint>
<link name="RR_calf">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/calf.dae" scale="1 1 1"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
<geometry>
<box size="0.25 0.016 0.016"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.002196 -0.000381 -0.12338"/>
<mass value="0.241"/>
<inertia ixx="0.006181961" ixy="2.37e-07" ixz="-2.985e-06" iyy="0.006196546" iyz="5.138e-06" izz="3.4774e-05"/>
</inertial>
</link>
<joint name="RR_foot_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
<parent link="RR_calf"/>
<child link="RR_foot"/>
</joint>
<link name="RR_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.0165"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.0265"/>
</geometry>
</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"/>
</inertial>
</link>
<joint name="RL_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="-0.21935 0.0875 0"/>
<parent link="trunk"/>
<child link="RL_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="20" lower="-0.872664625997" upper="1.0471975512" velocity="52.4"/>
</joint>
<link name="RL_hip">
<visual>
<origin rpy="0 3.14159265359 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/hip.dae" scale="1 1 1"/>
</geometry>
<material name="grey"/>
</visual>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 -0.021 0"/>
<geometry>
<cylinder length="0.08" radius="0.041"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.001568 -0.008134 0.000864"/>
<mass value="1.096"/>
<inertia ixx="0.000822113" ixy="4.982e-06" ixz="3.672e-05" iyy="0.000983196" iyz="2.811e-06" izz="0.000864753"/>
</inertial>
</link>
<joint name="RL_hip_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0.059 0"/>
<parent link="RL_hip"/>
<child link="RL_thigh_shoulder"/>
</joint>
<!-- this link is only for collision -->
<link name="RL_thigh_shoulder">
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.08" radius="0.044"/>
</geometry>
</collision>
</link>
<joint name="RL_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0.037 0"/>
<parent link="RL_hip"/>
<child link="RL_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="55" lower="-0.523598775598" upper="3.92699081699" velocity="28.6"/>
</joint>
<link name="RL_thigh">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/thigh.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
<geometry>
<box size="0.25 0.034 0.043"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.000482 0.02001 -0.031996"/>
<mass value="1.528"/>
<inertia ixx="0.00991611" ixy="1.0388e-05" ixz="0.000250428" iyy="0.009280083" iyz="-8.511e-05" izz="0.00178256"/>
</inertial>
</link>
<joint name="RL_calf_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
<parent link="RL_thigh"/>
<child link="RL_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="55" lower="-2.77507351067" upper="-0.610865238198" velocity="28.6"/>
</joint>
<link name="RL_calf">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/calf.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
<geometry>
<box size="0.25 0.016 0.016"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.002196 -0.000381 -0.12338"/>
<mass value="0.241"/>
<inertia ixx="0.006181961" ixy="2.37e-07" ixz="-2.985e-06" iyy="0.006196546" iyz="5.138e-06" izz="3.4774e-05"/>
</inertial>
</link>
<joint name="RL_foot_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
<parent link="RL_calf"/>
<child link="RL_foot"/>
</joint>
<link name="RL_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.0165"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.0265"/>
</geometry>
</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"/>
</inertial>
</link>
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/UnitreeRobotics/a1_description/xacro/materials.xacro | <?xml version="1.0"?>
<robot>
<material name="black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<material name="green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>
<material name="grey">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
<material name="silver">
<color rgba="${233/255} ${233/255} ${216/255} 1.0"/>
</material>
<material name="orange">
<color rgba="${255/255} ${108/255} ${10/255} 1.0"/>
</material>
<material name="brown">
<color rgba="${222/255} ${207/255} ${195/255} 1.0"/>
</material>
<material name="red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="white">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/UnitreeRobotics/a1_description/xacro/transmission.xacro | <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="leg_transmission" params="name">
<transmission name="${name}_hip_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${name}_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${name}_hip_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${name}_thigh_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${name}_thigh_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${name}_thigh_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${name}_calf_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${name}_calf_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${name}_calf_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</xacro:macro>
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/UnitreeRobotics/a1_description/xacro/leg.xacro | <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find a1_description)/xacro/transmission.xacro"/>
<xacro:macro name="leg" params="name mirror mirror_dae front_hind front_hind_dae *origin">
<joint name="${name}_hip_joint" type="revolute">
<xacro:insert_block name="origin"/>
<parent link="trunk"/>
<child link="${name}_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="${damping}" friction="${friction}"/>
<xacro:if value="${(mirror_dae == True)}">
<limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${hip_min*PI/180.0}" upper="${hip_max*PI/180.0}"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False)}">
<limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${-hip_max*PI/180.0}" upper="${-hip_min*PI/180.0}"/>
</xacro:if>
</joint>
<link name="${name}_hip">
<visual>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
<origin rpy="0 0 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
<origin rpy="${PI} 0 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
<origin rpy="0 ${PI} 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
<origin rpy="${PI} ${PI} 0" xyz="0 0 0"/>
</xacro:if>
<geometry>
<mesh filename="package://a1_description/meshes/hip.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="${hip_length}" radius="${hip_radius}"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${hip_com_x*front_hind} ${hip_com_y*mirror} ${hip_com_z}"/>
<mass value="${hip_mass}"/>
<inertia
ixx="${hip_ixx}" ixy="${hip_ixy*mirror*front_hind}" ixz="${hip_ixz*front_hind}"
iyy="${hip_iyy}" iyz="${hip_iyz*mirror}"
izz="${hip_izz}"/>
</inertial>
</link>
<joint name="${name}_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="${thigh_shoulder_radius}"/>
</geometry>
</collision>
</link>
<joint name="${name}_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 ${thigh_offset*mirror} 0"/>
<parent link="${name}_hip"/>
<child link="${name}_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="${damping}" friction="${friction}"/>
<limit effort="${thigh_torque_max}" velocity="${thigh_velocity_max}" lower="${thigh_min*PI/180.0}" upper="${thigh_max*PI/180.0}"/>
</joint>
<link name="${name}_thigh">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<xacro:if value="${mirror_dae == True}">
<mesh filename="package://a1_description/meshes/thigh.dae" scale="1 1 1"/>
</xacro:if>
<xacro:if value="${mirror_dae == False}">
<mesh filename="package://a1_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
</xacro:if>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-thigh_length/2.0}"/>
<geometry>
<box size="${thigh_length} ${thigh_width} ${thigh_height}"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${thigh_com_x} ${thigh_com_y*mirror} ${thigh_com_z}"/>
<mass value="${thigh_mass}"/>
<inertia
ixx="${thigh_ixx}" ixy="${thigh_ixy*mirror}" ixz="${thigh_ixz}"
iyy="${thigh_iyy}" iyz="${thigh_iyz*mirror}"
izz="${thigh_izz}"/>
</inertial>
</link>
<joint name="${name}_calf_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 ${-thigh_length}"/>
<parent link="${name}_thigh"/>
<child link="${name}_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="${damping}" friction="${friction}"/>
<limit effort="${calf_torque_max}" velocity="${calf_velocity_max}" lower="${calf_min*PI/180.0}" upper="${calf_max*PI/180.0}"/>
</joint>
<link name="${name}_calf">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://a1_description/meshes/calf.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-calf_length/2.0}"/>
<geometry>
<box size="${calf_length} ${calf_width} ${calf_height}"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${calf_com_x} ${calf_com_y} ${calf_com_z}"/>
<mass value="${calf_mass}"/>
<inertia
ixx="${calf_ixx}" ixy="${calf_ixy}" ixz="${calf_ixz}"
iyy="${calf_iyy}" iyz="${calf_iyz}"
izz="${calf_izz}"/>
</inertial>
</link>
<joint name="${name}_foot_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 ${-(calf_length)}"/>
<parent link="${name}_calf"/>
<child link="${name}_foot"/>
</joint>
<link name="${name}_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="${foot_radius-0.01}"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="${foot_radius}"/>
</geometry>
</collision>
<inertial>
<mass value="${foot_mass}"/>
<inertia
ixx="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}" ixy="0.0" ixz="0.0"
iyy="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}" iyz="0.0"
izz="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}"/>
</inertial>
</link>
<xacro:leg_transmission name="${name}"/>
</xacro:macro>
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/UnitreeRobotics/a1_description/xacro/const.xacro | <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- Constants for robot dimensions -->
<xacro:property name="PI" value="3.1415926535897931"/>
<xacro:property name="stick_mass" value="0.00001"/>
<!-- simplified collision value -->
<xacro:property name="trunk_width" value="0.194"/>
<xacro:property name="trunk_length" value="0.267"/>
<xacro:property name="trunk_height" value="0.114"/>
<xacro:property name="hip_radius" value="0.046"/>
<xacro:property name="hip_length" value="0.04"/>
<xacro:property name="thigh_shoulder_radius" value="0.041"/>
<xacro:property name="thigh_shoulder_length" value="0.032"/>
<xacro:property name="thigh_width" value="0.0245"/>
<xacro:property name="thigh_height" value="0.034"/>
<xacro:property name="calf_width" value="0.016"/>
<xacro:property name="calf_height" value="0.016"/>
<xacro:property name="foot_radius" value="0.02"/>
<xacro:property name="stick_radius" value="0.01"/>
<xacro:property name="stick_length" value="0.2"/>
<!-- kinematic value -->
<xacro:property name="thigh_offset" value="0.0838"/>
<xacro:property name="thigh_length" value="0.2"/>
<xacro:property name="calf_length" value="0.2"/>
<!-- leg offset from trunk center value -->
<xacro:property name="leg_offset_x" value="0.1805"/>
<xacro:property name="leg_offset_y" value="0.047"/>
<xacro:property name="trunk_offset_z" value="0.01675"/>
<xacro:property name="hip_offset" value="0.065"/>
<!-- joint limits -->
<xacro:property name="damping" value="0"/>
<xacro:property name="friction" value="0"/>
<xacro:property name="hip_max" value="46"/>
<xacro:property name="hip_min" value="-46"/>
<xacro:property name="hip_velocity_max" value="21"/>
<xacro:property name="hip_torque_max" value="33.5"/>
<xacro:property name="thigh_max" value="240"/>
<xacro:property name="thigh_min" value="-60"/>
<xacro:property name="thigh_velocity_max" value="21"/>
<xacro:property name="thigh_torque_max" value="33.5"/>
<xacro:property name="calf_max" value="-52.5"/>
<xacro:property name="calf_min" value="-154.5"/>
<xacro:property name="calf_velocity_max" value="21"/>
<xacro:property name="calf_torque_max" value="33.5"/>
<!-- dynamics inertial value total 13.9kg -->
<!-- trunk -->
<xacro:property name="trunk_mass" value="6.0"/>
<xacro:property name="trunk_com_x" value="0.0000"/>
<xacro:property name="trunk_com_y" value="0.0041"/>
<xacro:property name="trunk_com_z" value="-0.0005"/>
<xacro:property name="trunk_ixx" value="0.0158533"/>
<xacro:property name="trunk_ixy" value="-0.0000366"/>
<xacro:property name="trunk_ixz" value="-0.0000611"/>
<xacro:property name="trunk_iyy" value="0.0377999"/>
<xacro:property name="trunk_iyz" value="-0.0000275"/>
<xacro:property name="trunk_izz" value="0.0456542"/>
<!-- hip (left front) -->
<xacro:property name="hip_mass" value="0.595"/>
<xacro:property name="hip_com_x" value="-0.003875"/>
<xacro:property name="hip_com_y" value="0.001622"/>
<xacro:property name="hip_com_z" value="0.000042"/>
<xacro:property name="hip_ixx" value="0.000402747"/>
<xacro:property name="hip_ixy" value="-0.000008709"/>
<xacro:property name="hip_ixz" value="-0.000000297"/>
<xacro:property name="hip_iyy" value="0.000691123"/>
<xacro:property name="hip_iyz" value="-0.000000545"/>
<xacro:property name="hip_izz" value="0.000487919"/>
<!-- thigh -->
<xacro:property name="thigh_mass" value="0.888"/>
<xacro:property name="thigh_com_x" value="-0.003574"/>
<xacro:property name="thigh_com_y" value="-0.019529"/>
<xacro:property name="thigh_com_z" value="-0.030323"/>
<xacro:property name="thigh_ixx" value="0.005251806"/>
<xacro:property name="thigh_ixy" value="-0.000002168"/>
<xacro:property name="thigh_ixz" value="0.000346889"/>
<xacro:property name="thigh_iyy" value="0.005000475"/>
<xacro:property name="thigh_iyz" value="-0.000028174"/>
<xacro:property name="thigh_izz" value="0.001110200"/>
<!-- calf -->
<xacro:property name="calf_mass" value="0.151"/>
<xacro:property name="calf_com_x" value="0.007105"/>
<xacro:property name="calf_com_y" value="-0.000239"/>
<xacro:property name="calf_com_z" value="-0.096933"/>
<xacro:property name="calf_ixx" value="0.002344758"/>
<xacro:property name="calf_ixy" value="0.0"/>
<xacro:property name="calf_ixz" value="-0.000141275"/>
<xacro:property name="calf_iyy" value="0.002360755"/>
<xacro:property name="calf_iyz" value="0.0"/>
<xacro:property name="calf_izz" value="0.000031158"/>
<!-- foot -->
<xacro:property name="foot_mass" value="0.06"/>
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/UnitreeRobotics/a1_description/xacro/gazebo.xacro | <?xml version="1.0"?>
<robot>
<!-- ros_control plugin -->
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/a1_gazebo</robotNamespace>
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
</plugin>
</gazebo>
<!-- Show the trajectory of trunk center. -->
<gazebo>
<plugin name="3dplot" filename="libLinkPlot3DPlugin.so">
<frequency>10</frequency>
<plot>
<link>base</link>
<pose>0 0 0 0 0 0</pose>
<material>Gazebo/Yellow</material>
</plot>
</plugin>
</gazebo>
<!-- Show the trajectory of foot. You can add another trajectory about another foot. -->
<!-- <gazebo>
<plugin name="3dplot" filename="libLinkPlot3DPlugin.so">
<frequency>100</frequency>
<plot>
<link>FL_foot</link>
<pose>0 0 0 0 0 0</pose>
<material>Gazebo/Green</material>
</plot>
</plugin>
</gazebo> -->
<gazebo>
<plugin filename="libgazebo_ros_force.so" name="gazebo_ros_force">
<bodyName>trunk</bodyName>
<topicName>/apply_force/trunk</topicName>
</plugin>
</gazebo>
<gazebo reference="imu_link">
<gravity>true</gravity>
<sensor name="imu_sensor" type="imu">
<always_on>true</always_on>
<update_rate>1000</update_rate>
<visualize>true</visualize>
<topic>__default_topic__</topic>
<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
<topicName>trunk_imu</topicName>
<bodyName>imu_link</bodyName>
<updateRateHZ>1000.0</updateRateHZ>
<gaussianNoise>0.0</gaussianNoise>
<xyzOffset>0 0 0</xyzOffset>
<rpyOffset>0 0 0</rpyOffset>
<frameName>imu_link</frameName>
</plugin>
<pose>0 0 0 0 0 0</pose>
</sensor>
</gazebo>
<!-- Foot contacts. -->
<gazebo reference="FR_calf">
<sensor name="FR_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>FR_calf_fixed_joint_lump__FR_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="FL_calf">
<sensor name="FL_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>FL_calf_fixed_joint_lump__FL_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="RR_calf">
<sensor name="RR_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>RR_calf_fixed_joint_lump__RR_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="RL_calf">
<sensor name="RL_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>RL_calf_fixed_joint_lump__RL_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<!-- Visualization of Foot contacts. -->
<gazebo reference="FR_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>FR_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="FL_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>FL_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="RR_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>RR_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="RL_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>RL_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="base">
<material>Gazebo/Green</material>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="trunk">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="stick_link">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/White</material>
</gazebo>
<gazebo reference="imu_link">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/Red</material>
</gazebo>
<!-- FL leg -->
<gazebo reference="FL_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="FL_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="FL_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="FL_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- FR leg -->
<gazebo reference="FR_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="FR_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="FR_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="FR_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- RL leg -->
<gazebo reference="RL_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="RL_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="RL_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="RL_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- RR leg -->
<gazebo reference="RR_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="RR_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="RR_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="RR_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/UnitreeRobotics/a1_description/xacro/stairs.xacro | <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:property name="stair_length" value="0.640" />
<xacro:property name="stair_width" value="0.310" />
<xacro:property name="stair_height" value="0.170" />
<xacro:macro name="stairs" params="stairs xpos ypos zpos">
<joint name="stair_joint_origin" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="world"/>
<child link="stair_link_${stairs}"/>
</joint>
<link name="stair_link_${stairs}">
<visual>
<geometry>
<box size="${stair_length} ${stair_width} ${stair_height}"/>
</geometry>
<material name="grey"/>
<origin rpy="0 0 0" xyz="${xpos} ${ypos} ${zpos}"/>
</visual>
<collision>
<geometry>
<box size="${stair_length} ${stair_width} ${stair_height}"/>
</geometry>
</collision>
<inertial>
<mass value="0.80"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
</link>
<xacro:if value="${stairs}">
<xacro:stairs stairs="${stairs-1}" xpos="0" ypos="${ypos-stair_width/2}" zpos="${zpos+stair_height}"/>
<joint name="stair_joint_${stairs}" type="fixed">
<parent link="stair_link_${stairs}"/>
<child link="stair_link_${stairs-1}"/>
</joint>
</xacro:if>
</xacro:macro>
</robot> |
boredengineering/Robots_for_Omniverse/URDF_descriptions/UnitreeRobotics/a1_description/xacro/robot.xacro | <?xml version="1.0"?>
<robot name="a1" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:arg name="DEBUG" default="false"/>
<xacro:include filename="$(find a1_description)/xacro/const.xacro"/>
<xacro:include filename="$(find a1_description)/xacro/materials.xacro"/>
<xacro:include filename="$(find a1_description)/xacro/leg.xacro"/>
<xacro:include filename="$(find a1_description)/xacro/stairs.xacro"/>
<xacro:include filename="$(find a1_description)/xacro/gazebo.xacro"/>
<!-- <xacro:include filename="$(find a1_gazebo)/launch/stairs.urdf.xacro"/> -->
<!-- <xacro:stairs stairs="15" xpos="0" ypos="0" zpos="0" /> -->
<!-- Rollover Protection mode will add an additional stick on the top, use "true" or "false" to switch it. -->
<xacro:property name="rolloverProtection" value="false"/>
<!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
<xacro:if value="$(arg DEBUG)">
<link name="world"/>
<joint name="base_static_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="world"/>
<child link="base"/>
</joint>
</xacro:if>
<link name="base">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
</visual>
</link>
<joint name="floating_base" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base"/>
<child link="trunk"/>
</joint>
<link name="trunk">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://a1_description/meshes/trunk.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="${trunk_length} ${trunk_width} ${trunk_height}"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${trunk_com_x} ${trunk_com_y} ${trunk_com_z}"/>
<mass value="${trunk_mass}"/>
<inertia
ixx="${trunk_ixx}" ixy="${trunk_ixy}" ixz="${trunk_ixz}"
iyy="${trunk_iyy}" iyz="${trunk_iyz}"
izz="${trunk_izz}"/>
</inertial>
</link>
<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="${stick_mass / 12.0 * (3*stick_radius*stick_radius + stick_length*stick_length)}"/>
</inertial>
</link>
</xacro:if>
<joint name="imu_joint" type="fixed">
<parent link="trunk"/>
<child link="imu_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<link name="imu_link">
<inertial>
<mass value="0.001"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
<material name="red"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".001 .001 .001"/>
</geometry>
</collision>
</link>
<xacro:leg name="FR" mirror="-1" mirror_dae="False" front_hind="1" front_hind_dae="True">
<origin rpy="0 0 0" xyz="${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:stairs stairs="15" xpos="0" ypos="2.0" zpos="0" /> -->
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/UnitreeRobotics/a1_description/urdf/a1.urdf | <?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="a1">
<!-- dynamics inertial value -->
<!-- trunk -->
<!-- <xacro:property name="trunk_mass" value="5.660"/>
<xacro:property name="trunk_com_x" value="0.012731"/>
<xacro:property name="trunk_com_y" value="0.002186"/>
<xacro:property name="trunk_com_z" value="0.000515"/>
<xacro:property name="trunk_ixx" value="0.016839930"/>
<xacro:property name="trunk_ixy" value="0.000083902"/>
<xacro:property name="trunk_ixz" value="0.000597679"/>
<xacro:property name="trunk_iyy" value="0.056579028"/>
<xacro:property name="trunk_iyz" value="0.000025134"/>
<xacro:property name="trunk_izz" value="0.064713601"/> -->
<material name="black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<material name="green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>
<material name="grey">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
<material name="silver">
<color rgba="0.913725490196 0.913725490196 0.847058823529 1.0"/>
</material>
<material name="orange">
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
</material>
<material name="brown">
<color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
</material>
<material name="red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="white">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<!-- ros_control plugin -->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<robotNamespace>/a1_gazebo</robotNamespace>
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
</plugin>
</gazebo>
<!-- Show the trajectory of trunk center. -->
<gazebo>
<plugin filename="libLinkPlot3DPlugin.so" name="3dplotTrunk">
<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 filename="libLinkPlot3DPlugin.so" name="3dplot">
<frequency>1000</frequency>
<plot>
<link>FR_calf</link>
<pose>0 0 -0.2 0 0 0</pose>
<material>Gazebo/Yellow</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>
<!-- <xacro:include filename="$(find a1_gazebo)/launch/stairs.urdf.xacro"/> -->
<!-- <xacro:stairs stairs="15" xpos="0" ypos="0" zpos="0" /> -->
<!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
<!-- <xacro:if value="$(arg DEBUG)">
<link name="world"/>
<joint name="base_static_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="world"/>
<child link="base"/>
</joint>
</xacro:if> -->
<link name="base">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
</visual>
</link>
<joint name="floating_base" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base"/>
<child link="trunk"/>
</joint>
<link name="trunk">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://a1_description/meshes/trunk.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.267 0.194 0.114"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0041 -0.0005"/>
<mass value="6.0"/>
<inertia ixx="0.0158533" ixy="-3.66e-05" ixz="-6.11e-05" iyy="0.0377999" iyz="-2.75e-05" izz="0.0456542"/>
</inertial>
</link>
<joint name="imu_joint" type="fixed">
<parent link="trunk"/>
<child link="imu_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<link name="imu_link">
<inertial>
<mass value="0.001"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
<material name="red"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".001 .001 .001"/>
</geometry>
</collision>
</link>
<joint name="FR_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="0.1805 -0.047 0"/>
<parent link="trunk"/>
<child link="FR_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0.01" friction="0.2"/>
<limit effort="33.5" lower="-0.802851455917" upper="0.802851455917" velocity="21"/>
</joint>
<link name="FR_hip">
<visual>
<origin rpy="3.14159265359 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://a1_description/meshes/hip.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.04" radius="0.046"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.003311 -0.000635 3.1e-05"/>
<mass value="0.696"/>
<inertia ixx="0.000469246" ixy="9.409e-06" ixz="-3.42e-07" iyy="0.00080749" iyz="4.66e-07" izz="0.000552929"/>
</inertial>
</link>
<joint name="FR_hip_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 -0.081 0"/>
<parent link="FR_hip"/>
<child link="FR_thigh_shoulder"/>
</joint>
<!-- this link is only for collision -->
<link name="FR_thigh_shoulder">
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.032" radius="0.041"/>
</geometry>
</collision>
</link>
<joint name="FR_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 -0.0838 0"/>
<parent link="FR_hip"/>
<child link="FR_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="0.01" friction="0.2"/>
<limit effort="33.5" lower="-1.0471975512" upper="4.18879020479" velocity="21"/>
</joint>
<link name="FR_thigh">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://a1_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1"/>
<geometry>
<box size="0.2 0.0245 0.034"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.003237 0.022327 -0.027326"/>
<mass value="1.013"/>
<inertia ixx="0.005529065" ixy="-4.825e-06" ixz="0.000343869" iyy="0.005139339" iyz="-2.2448e-05" izz="0.001367788"/>
</inertial>
</link>
<joint name="FR_calf_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 -0.2"/>
<parent link="FR_thigh"/>
<child link="FR_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="0.01" friction="0.2"/>
<limit effort="33.5" lower="-2.69653369433" upper="-0.916297857297" velocity="21"/>
</joint>
<link name="FR_calf">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://a1_description/meshes/calf.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1"/>
<geometry>
<box size="0.2 0.016 0.016"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.006435 0.0 -0.107388"/>
<mass value="0.166"/>
<inertia ixx="0.002997972" ixy="0.0" ixz="-0.000141163" iyy="0.003014022" iyz="0.0" izz="3.2426e-05"/>
</inertial>
</link>
<joint name="FR_foot_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.2"/>
<parent link="FR_calf"/>
<child link="FR_foot"/>
</joint>
<link name="FR_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.01"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.02"/>
</geometry>
</collision>
<inertial>
<mass value="0.06"/>
<inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06"/>
</inertial>
</link>
<transmission name="FR_hip_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FR_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="FR_hip_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="FR_thigh_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FR_thigh_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="FR_thigh_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="FR_calf_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FR_calf_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="FR_calf_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="FL_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="0.1805 0.047 0"/>
<parent link="trunk"/>
<child link="FL_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0.01" friction="0.2"/>
<limit effort="33.5" lower="-0.802851455917" upper="0.802851455917" velocity="21"/>
</joint>
<link name="FL_hip">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://a1_description/meshes/hip.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.04" radius="0.046"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.003311 0.000635 3.1e-05"/>
<mass value="0.696"/>
<inertia ixx="0.000469246" ixy="-9.409e-06" ixz="-3.42e-07" iyy="0.00080749" iyz="-4.66e-07" izz="0.000552929"/>
</inertial>
</link>
<joint name="FL_hip_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0.081 0"/>
<parent link="FL_hip"/>
<child link="FL_thigh_shoulder"/>
</joint>
<!-- this link is only for collision -->
<link name="FL_thigh_shoulder">
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.032" radius="0.041"/>
</geometry>
</collision>
</link>
<joint name="FL_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0.0838 0"/>
<parent link="FL_hip"/>
<child link="FL_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="0.01" friction="0.2"/>
<limit effort="33.5" lower="-1.0471975512" upper="4.18879020479" velocity="21"/>
</joint>
<link name="FL_thigh">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://a1_description/meshes/thigh.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1"/>
<geometry>
<box size="0.2 0.0245 0.034"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.003237 -0.022327 -0.027326"/>
<mass value="1.013"/>
<inertia ixx="0.005529065" ixy="4.825e-06" ixz="0.000343869" iyy="0.005139339" iyz="2.2448e-05" izz="0.001367788"/>
</inertial>
</link>
<joint name="FL_calf_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 -0.2"/>
<parent link="FL_thigh"/>
<child link="FL_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="0.01" friction="0.2"/>
<limit effort="33.5" lower="-2.69653369433" upper="-0.916297857297" velocity="21"/>
</joint>
<link name="FL_calf">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://a1_description/meshes/calf.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1"/>
<geometry>
<box size="0.2 0.016 0.016"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.006435 0.0 -0.107388"/>
<mass value="0.166"/>
<inertia ixx="0.002997972" ixy="0.0" ixz="-0.000141163" iyy="0.003014022" iyz="0.0" izz="3.2426e-05"/>
</inertial>
</link>
<joint name="FL_foot_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.2"/>
<parent link="FL_calf"/>
<child link="FL_foot"/>
</joint>
<link name="FL_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.01"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.02"/>
</geometry>
</collision>
<inertial>
<mass value="0.06"/>
<inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06"/>
</inertial>
</link>
<transmission name="FL_hip_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FL_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="FL_hip_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="FL_thigh_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FL_thigh_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="FL_thigh_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="FL_calf_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FL_calf_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="FL_calf_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="RR_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="-0.1805 -0.047 0"/>
<parent link="trunk"/>
<child link="RR_hip"/>
<axis xyz="1 0 0"/>
<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>
<origin rpy="3.14159265359 3.14159265359 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://a1_description/meshes/hip.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.04" radius="0.046"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.003311 -0.000635 3.1e-05"/>
<mass value="0.696"/>
<inertia ixx="0.000469246" ixy="-9.409e-06" ixz="3.42e-07" iyy="0.00080749" iyz="4.66e-07" izz="0.000552929"/>
</inertial>
</link>
<joint name="RR_hip_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 -0.081 0"/>
<parent link="RR_hip"/>
<child link="RR_thigh_shoulder"/>
</joint>
<!-- this link is only for collision -->
<link name="RR_thigh_shoulder">
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.032" radius="0.041"/>
</geometry>
</collision>
</link>
<joint name="RR_thigh_joint" type="revolute">
<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="0.01" friction="0.2"/>
<limit effort="33.5" lower="-1.0471975512" upper="4.18879020479" velocity="21"/>
</joint>
<link name="RR_thigh">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://a1_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1"/>
<geometry>
<box size="0.2 0.0245 0.034"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.003237 0.022327 -0.027326"/>
<mass value="1.013"/>
<inertia ixx="0.005529065" ixy="-4.825e-06" ixz="0.000343869" iyy="0.005139339" iyz="-2.2448e-05" izz="0.001367788"/>
</inertial>
</link>
<joint name="RR_calf_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 -0.2"/>
<parent link="RR_thigh"/>
<child link="RR_calf"/>
<axis xyz="0 1 0"/>
<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>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://a1_description/meshes/calf.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1"/>
<geometry>
<box size="0.2 0.016 0.016"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.006435 0.0 -0.107388"/>
<mass value="0.166"/>
<inertia ixx="0.002997972" ixy="0.0" ixz="-0.000141163" iyy="0.003014022" iyz="0.0" izz="3.2426e-05"/>
</inertial>
</link>
<joint name="RR_foot_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.2"/>
<parent link="RR_calf"/>
<child link="RR_foot"/>
</joint>
<link name="RR_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.01"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.02"/>
</geometry>
</collision>
<inertial>
<mass value="0.06"/>
<inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06"/>
</inertial>
</link>
<transmission name="RR_hip_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RR_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RR_hip_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RR_thigh_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RR_thigh_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RR_thigh_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RR_calf_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RR_calf_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RR_calf_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="RL_hip_joint" type="revolute">
<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="0.01" friction="0.2"/>
<limit effort="33.5" lower="-0.802851455917" upper="0.802851455917" velocity="21"/>
</joint>
<link name="RL_hip">
<visual>
<origin rpy="0 3.14159265359 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://a1_description/meshes/hip.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.04" radius="0.046"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.003311 0.000635 3.1e-05"/>
<mass value="0.696"/>
<inertia ixx="0.000469246" ixy="9.409e-06" ixz="3.42e-07" iyy="0.00080749" iyz="-4.66e-07" izz="0.000552929"/>
</inertial>
</link>
<joint name="RL_hip_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0.081 0"/>
<parent link="RL_hip"/>
<child link="RL_thigh_shoulder"/>
</joint>
<!-- this link is only for collision -->
<link name="RL_thigh_shoulder">
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.032" radius="0.041"/>
</geometry>
</collision>
</link>
<joint name="RL_thigh_joint" type="revolute">
<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="0.01" friction="0.2"/>
<limit effort="33.5" lower="-1.0471975512" upper="4.18879020479" velocity="21"/>
</joint>
<link name="RL_thigh">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://a1_description/meshes/thigh.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1"/>
<geometry>
<box size="0.2 0.0245 0.034"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.003237 -0.022327 -0.027326"/>
<mass value="1.013"/>
<inertia ixx="0.005529065" ixy="4.825e-06" ixz="0.000343869" iyy="0.005139339" iyz="2.2448e-05" izz="0.001367788"/>
</inertial>
</link>
<joint name="RL_calf_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 -0.2"/>
<parent link="RL_thigh"/>
<child link="RL_calf"/>
<axis xyz="0 1 0"/>
<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>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://a1_description/meshes/calf.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1"/>
<geometry>
<box size="0.2 0.016 0.016"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.006435 0.0 -0.107388"/>
<mass value="0.166"/>
<inertia ixx="0.002997972" ixy="0.0" ixz="-0.000141163" iyy="0.003014022" iyz="0.0" izz="3.2426e-05"/>
</inertial>
</link>
<joint name="RL_foot_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.2"/>
<parent link="RL_calf"/>
<child link="RL_foot"/>
</joint>
<link name="RL_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.01"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.02"/>
</geometry>
</collision>
<inertial>
<mass value="0.06"/>
<inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06"/>
</inertial>
</link>
<transmission name="RL_hip_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RL_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RL_hip_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RL_thigh_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RL_thigh_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RL_thigh_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RL_calf_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RL_calf_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RL_calf_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- <xacro:stairs stairs="15" xpos="0" ypos="2.0" zpos="0" /> -->
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/UnitreeRobotics/b1_description/xacro/materials.xacro | <?xml version="1.0"?>
<robot>
<material name="black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<material name="green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>
<material name="grey">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
<material name="silver">
<color rgba="${233/255} ${233/255} ${216/255} 1.0"/>
</material>
<material name="orange">
<color rgba="${255/255} ${108/255} ${10/255} 1.0"/>
</material>
<material name="brown">
<color rgba="${222/255} ${207/255} ${195/255} 1.0"/>
</material>
<material name="red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="white">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/UnitreeRobotics/b1_description/xacro/b1.urdf | <?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from robot.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="b1_description">
<material name="black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<material name="green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>
<material name="grey">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
<material name="silver">
<color rgba="0.9137254901960784 0.9137254901960784 0.8470588235294118 1.0"/>
</material>
<material name="orange">
<color rgba="1.0 0.4235294117647059 0.0392156862745098 1.0"/>
</material>
<material name="brown">
<color rgba="0.8705882352941177 0.8117647058823529 0.7647058823529411 1.0"/>
</material>
<material name="red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="white">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<!-- 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>
<!-- Rotor related joint and link is only for demonstrate location. -->
<!-- Actually, the rotor will rotate and the joint is not fixed. Reduction ratio should be considered. -->
<!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
<!-- <xacro:if value="$(arg DEBUG)">
<link name="world"/>
<joint name="base_static_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="world"/>
<child link="base"/>
</joint>
</xacro:if> -->
<link name="base">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
</visual>
</link>
<joint name="floating_base" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base"/>
<child link="trunk"/>
</joint>
<link name="trunk">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://b1_description/meshes/trunk.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.647 0.3 0.15"/>
</geometry>
</collision>
<!-- <collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://b1_description/meshes/trunk.dae" scale="1 1 1"/>
</geometry>
</collision> -->
<inertial>
<origin rpy="0 0 0" xyz="0.008987 0.002243 0.003013"/>
<mass value="25"/>
<inertia ixx="0.183142146" ixy="-0.001379002" ixz="-0.027956055" iyy="0.756327752" iyz="0.000193774" izz="0.783777558"/>
</inertial>
</link>
<joint name="imu_joint" type="fixed">
<parent link="trunk"/>
<child link="imu_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<link name="imu_link">
<inertial>
<mass value="0.001"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.0001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
<material name="red"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".001 .001 .001"/>
</geometry>
</collision>
</link>
<joint name="FR_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="0.3455 -0.072 0"/>
<parent link="trunk"/>
<child link="FR_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="91.0035" lower="-0.75" upper="0.75" velocity="19.69"/>
</joint>
<joint name="FR_hip_rotor_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.1955 -0.072 0"/>
<parent link="trunk"/>
<child link="FR_hip_rotor"/>
</joint>
<link name="FR_hip">
<visual>
<origin rpy="3.141592653589793 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://b1_description/meshes/hip.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="1.5707963267948966 0 0" xyz="0 -0.12675 0"/>
<geometry>
<cylinder length="0.04" radius="0.09"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.020298 -0.009758 0.000109"/>
<mass value="2.1"/>
<inertia ixx="0.00406608" ixy="0.000288071" ixz="-4.371e-06" iyy="0.008775259" iyz="-1.811e-06" izz="0.006060348"/>
</inertial>
</link>
<link name="FR_hip_rotor">
<visual>
<origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.05"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<mass value="0.199"/>
<inertia ixx="0.00039249" ixy="0.0" ixz="0.0" iyy="0.000219397" iyz="0.0" izz="0.000219397"/>
</inertial>
</link>
<joint name="FR_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 -0.12675 0"/>
<parent link="FR_hip"/>
<child link="FR_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="93.33" lower="-1.0" upper="3.5" velocity="23.32"/>
</joint>
<joint name="FR_thigh_rotor_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.0 -0.00935 0"/>
<parent link="FR_hip"/>
<child link="FR_thigh_rotor"/>
</joint>
<link name="FR_thigh">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://b1_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.175"/>
<geometry>
<box size="0.35 0.05 0.08"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.000235 0.028704 -0.054169"/>
<mass value="3.934"/>
<inertia ixx="0.044459086" ixy="-0.000128738" ixz="-0.002343913" iyy="0.046023457" iyz="-0.006032996" izz="0.008696078"/>
</inertial>
</link>
<link name="FR_thigh_rotor">
<visual>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.05"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<mass value="0.266"/>
<inertia ixx="0.000485657" ixy="0.0" ixz="0.0" iyy="0.00091885" iyz="0.0" izz="0.000485657"/>
</inertial>
</link>
<joint name="FR_calf_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 -0.35"/>
<parent link="FR_thigh"/>
<child link="FR_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="140" lower="-2.6" upper="-0.6" velocity="15.55"/>
</joint>
<joint name="FR_calf_rotor_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.0 0.0519 0"/>
<parent link="FR_thigh"/>
<child link="FR_calf_rotor"/>
</joint>
<link name="FR_calf">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://b1_description/meshes/calf.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.175"/>
<geometry>
<box size="0.35 0.04 0.05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.005237 0.0 -0.202805"/>
<mass value="0.857"/>
<inertia ixx="0.015011003" ixy="5.2e-08" ixz="0.000250042" iyy="0.015159462" iyz="4.61e-07" izz="0.000375749"/>
</inertial>
</link>
<link name="FR_calf_rotor">
<visual>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.05"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<mass value="0.266"/>
<inertia ixx="0.000485657" ixy="0.0" ixz="0.0" iyy="0.00091885" iyz="0.0" izz="0.000485657"/>
</inertial>
</link>
<joint name="FR_foot_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.35"/>
<parent link="FR_calf"/>
<child link="FR_foot"/>
</joint>
<link name="FR_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.04"/>
</geometry>
</collision>
<inertial>
<mass value="0.05"/>
<inertia ixx="3.2000000000000005e-05" ixy="0.0" ixz="0.0" iyy="3.2000000000000005e-05" iyz="0.0" izz="3.2000000000000005e-05"/>
</inertial>
</link>
<transmission name="FR_hip_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FR_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="FR_hip_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="FR_thigh_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FR_thigh_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="FR_thigh_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="FR_calf_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FR_calf_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="FR_calf_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="FL_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="0.3455 0.072 0"/>
<parent link="trunk"/>
<child link="FL_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="91.0035" lower="-0.75" upper="0.75" velocity="19.69"/>
</joint>
<joint name="FL_hip_rotor_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.1955 0.072 0"/>
<parent link="trunk"/>
<child link="FL_hip_rotor"/>
</joint>
<link name="FL_hip">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://b1_description/meshes/hip.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="1.5707963267948966 0 0" xyz="0 0.12675 0"/>
<geometry>
<cylinder length="0.04" radius="0.09"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.020298 0.009758 0.000109"/>
<mass value="2.1"/>
<inertia ixx="0.00406608" ixy="-0.000288071" ixz="-4.371e-06" iyy="0.008775259" iyz="1.811e-06" izz="0.006060348"/>
</inertial>
</link>
<link name="FL_hip_rotor">
<visual>
<origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.05"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<mass value="0.199"/>
<inertia ixx="0.00039249" ixy="0.0" ixz="0.0" iyy="0.000219397" iyz="0.0" izz="0.000219397"/>
</inertial>
</link>
<joint name="FL_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0.12675 0"/>
<parent link="FL_hip"/>
<child link="FL_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="93.33" lower="-1.0" upper="3.5" velocity="23.32"/>
</joint>
<joint name="FL_thigh_rotor_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.0 0.00935 0"/>
<parent link="FL_hip"/>
<child link="FL_thigh_rotor"/>
</joint>
<link name="FL_thigh">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://b1_description/meshes/thigh.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.175"/>
<geometry>
<box size="0.35 0.05 0.08"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.000235 -0.028704 -0.054169"/>
<mass value="3.934"/>
<inertia ixx="0.044459086" ixy="0.000128738" ixz="-0.002343913" iyy="0.046023457" iyz="0.006032996" izz="0.008696078"/>
</inertial>
</link>
<link name="FL_thigh_rotor">
<visual>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.05"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<mass value="0.266"/>
<inertia ixx="0.000485657" ixy="0.0" ixz="0.0" iyy="0.00091885" iyz="0.0" izz="0.000485657"/>
</inertial>
</link>
<joint name="FL_calf_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 -0.35"/>
<parent link="FL_thigh"/>
<child link="FL_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="140" lower="-2.6" upper="-0.6" velocity="15.55"/>
</joint>
<joint name="FL_calf_rotor_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.0 -0.0519 0"/>
<parent link="FL_thigh"/>
<child link="FL_calf_rotor"/>
</joint>
<link name="FL_calf">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://b1_description/meshes/calf.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.175"/>
<geometry>
<box size="0.35 0.04 0.05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.005237 0.0 -0.202805"/>
<mass value="0.857"/>
<inertia ixx="0.015011003" ixy="5.2e-08" ixz="0.000250042" iyy="0.015159462" iyz="4.61e-07" izz="0.000375749"/>
</inertial>
</link>
<link name="FL_calf_rotor">
<visual>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.05"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<mass value="0.266"/>
<inertia ixx="0.000485657" ixy="0.0" ixz="0.0" iyy="0.00091885" iyz="0.0" izz="0.000485657"/>
</inertial>
</link>
<joint name="FL_foot_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.35"/>
<parent link="FL_calf"/>
<child link="FL_foot"/>
</joint>
<link name="FL_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.04"/>
</geometry>
</collision>
<inertial>
<mass value="0.05"/>
<inertia ixx="3.2000000000000005e-05" ixy="0.0" ixz="0.0" iyy="3.2000000000000005e-05" iyz="0.0" izz="3.2000000000000005e-05"/>
</inertial>
</link>
<transmission name="FL_hip_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FL_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="FL_hip_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="FL_thigh_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FL_thigh_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="FL_thigh_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="FL_calf_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FL_calf_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="FL_calf_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="RR_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="-0.3455 -0.072 0"/>
<parent link="trunk"/>
<child link="RR_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="91.0035" lower="-0.75" upper="0.75" velocity="19.69"/>
</joint>
<joint name="RR_hip_rotor_joint" type="fixed">
<origin rpy="0 0 0" xyz="-0.1955 -0.072 0"/>
<parent link="trunk"/>
<child link="RR_hip_rotor"/>
</joint>
<link name="RR_hip">
<visual>
<origin rpy="3.141592653589793 3.141592653589793 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://b1_description/meshes/hip.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="1.5707963267948966 0 0" xyz="0 -0.12675 0"/>
<geometry>
<cylinder length="0.04" radius="0.09"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.020298 -0.009758 0.000109"/>
<mass value="2.1"/>
<inertia ixx="0.00406608" ixy="-0.000288071" ixz="4.371e-06" iyy="0.008775259" iyz="-1.811e-06" izz="0.006060348"/>
</inertial>
</link>
<link name="RR_hip_rotor">
<visual>
<origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.05"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<mass value="0.199"/>
<inertia ixx="0.00039249" ixy="0.0" ixz="0.0" iyy="0.000219397" iyz="0.0" izz="0.000219397"/>
</inertial>
</link>
<joint name="RR_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 -0.12675 0"/>
<parent link="RR_hip"/>
<child link="RR_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="93.33" lower="-1.0" upper="3.5" velocity="23.32"/>
</joint>
<joint name="RR_thigh_rotor_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.0 -0.00935 0"/>
<parent link="RR_hip"/>
<child link="RR_thigh_rotor"/>
</joint>
<link name="RR_thigh">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://b1_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.175"/>
<geometry>
<box size="0.35 0.05 0.08"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.000235 0.028704 -0.054169"/>
<mass value="3.934"/>
<inertia ixx="0.044459086" ixy="-0.000128738" ixz="-0.002343913" iyy="0.046023457" iyz="-0.006032996" izz="0.008696078"/>
</inertial>
</link>
<link name="RR_thigh_rotor">
<visual>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.05"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<mass value="0.266"/>
<inertia ixx="0.000485657" ixy="0.0" ixz="0.0" iyy="0.00091885" iyz="0.0" izz="0.000485657"/>
</inertial>
</link>
<joint name="RR_calf_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 -0.35"/>
<parent link="RR_thigh"/>
<child link="RR_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="140" lower="-2.6" upper="-0.6" velocity="15.55"/>
</joint>
<joint name="RR_calf_rotor_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.0 0.0519 0"/>
<parent link="RR_thigh"/>
<child link="RR_calf_rotor"/>
</joint>
<link name="RR_calf">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://b1_description/meshes/calf.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.175"/>
<geometry>
<box size="0.35 0.04 0.05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.005237 0.0 -0.202805"/>
<mass value="0.857"/>
<inertia ixx="0.015011003" ixy="5.2e-08" ixz="0.000250042" iyy="0.015159462" iyz="4.61e-07" izz="0.000375749"/>
</inertial>
</link>
<link name="RR_calf_rotor">
<visual>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.05"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<mass value="0.266"/>
<inertia ixx="0.000485657" ixy="0.0" ixz="0.0" iyy="0.00091885" iyz="0.0" izz="0.000485657"/>
</inertial>
</link>
<joint name="RR_foot_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.35"/>
<parent link="RR_calf"/>
<child link="RR_foot"/>
</joint>
<link name="RR_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.04"/>
</geometry>
</collision>
<inertial>
<mass value="0.05"/>
<inertia ixx="3.2000000000000005e-05" ixy="0.0" ixz="0.0" iyy="3.2000000000000005e-05" iyz="0.0" izz="3.2000000000000005e-05"/>
</inertial>
</link>
<transmission name="RR_hip_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RR_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RR_hip_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RR_thigh_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RR_thigh_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RR_thigh_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RR_calf_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RR_calf_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RR_calf_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="RL_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="-0.3455 0.072 0"/>
<parent link="trunk"/>
<child link="RL_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="91.0035" lower="-0.75" upper="0.75" velocity="19.69"/>
</joint>
<joint name="RL_hip_rotor_joint" type="fixed">
<origin rpy="0 0 0" xyz="-0.1955 0.072 0"/>
<parent link="trunk"/>
<child link="RL_hip_rotor"/>
</joint>
<link name="RL_hip">
<visual>
<origin rpy="0 3.141592653589793 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://b1_description/meshes/hip.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="1.5707963267948966 0 0" xyz="0 0.12675 0"/>
<geometry>
<cylinder length="0.04" radius="0.09"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.020298 0.009758 0.000109"/>
<mass value="2.1"/>
<inertia ixx="0.00406608" ixy="0.000288071" ixz="4.371e-06" iyy="0.008775259" iyz="1.811e-06" izz="0.006060348"/>
</inertial>
</link>
<link name="RL_hip_rotor">
<visual>
<origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.05"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<mass value="0.199"/>
<inertia ixx="0.00039249" ixy="0.0" ixz="0.0" iyy="0.000219397" iyz="0.0" izz="0.000219397"/>
</inertial>
</link>
<joint name="RL_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0.12675 0"/>
<parent link="RL_hip"/>
<child link="RL_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="93.33" lower="-1.0" upper="3.5" velocity="23.32"/>
</joint>
<joint name="RL_thigh_rotor_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.0 0.00935 0"/>
<parent link="RL_hip"/>
<child link="RL_thigh_rotor"/>
</joint>
<link name="RL_thigh">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://b1_description/meshes/thigh.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.175"/>
<geometry>
<box size="0.35 0.05 0.08"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.000235 -0.028704 -0.054169"/>
<mass value="3.934"/>
<inertia ixx="0.044459086" ixy="0.000128738" ixz="-0.002343913" iyy="0.046023457" iyz="0.006032996" izz="0.008696078"/>
</inertial>
</link>
<link name="RL_thigh_rotor">
<visual>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.05"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<mass value="0.266"/>
<inertia ixx="0.000485657" ixy="0.0" ixz="0.0" iyy="0.00091885" iyz="0.0" izz="0.000485657"/>
</inertial>
</link>
<joint name="RL_calf_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 -0.35"/>
<parent link="RL_thigh"/>
<child link="RL_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="140" lower="-2.6" upper="-0.6" velocity="15.55"/>
</joint>
<joint name="RL_calf_rotor_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.0 -0.0519 0"/>
<parent link="RL_thigh"/>
<child link="RL_calf_rotor"/>
</joint>
<link name="RL_calf">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://b1_description/meshes/calf.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.175"/>
<geometry>
<box size="0.35 0.04 0.05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.005237 0.0 -0.202805"/>
<mass value="0.857"/>
<inertia ixx="0.015011003" ixy="5.2e-08" ixz="0.000250042" iyy="0.015159462" iyz="4.61e-07" izz="0.000375749"/>
</inertial>
</link>
<link name="RL_calf_rotor">
<visual>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.05"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<mass value="0.266"/>
<inertia ixx="0.000485657" ixy="0.0" ixz="0.0" iyy="0.00091885" iyz="0.0" izz="0.000485657"/>
</inertial>
</link>
<joint name="RL_foot_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.35"/>
<parent link="RL_calf"/>
<child link="RL_foot"/>
</joint>
<link name="RL_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.04"/>
</geometry>
</collision>
<inertial>
<mass value="0.05"/>
<inertia ixx="3.2000000000000005e-05" ixy="0.0" ixz="0.0" iyy="3.2000000000000005e-05" iyz="0.0" izz="3.2000000000000005e-05"/>
</inertial>
</link>
<transmission name="RL_hip_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RL_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RL_hip_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RL_thigh_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RL_thigh_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RL_thigh_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RL_calf_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RL_calf_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RL_calf_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- <xacro:stairs stairs="15" xpos="0" ypos="2.0" zpos="0" /> -->
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/UnitreeRobotics/b1_description/xacro/transmission.xacro | <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="leg_transmission" params="name">
<transmission name="${name}_hip_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${name}_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${name}_hip_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${name}_thigh_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${name}_thigh_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${name}_thigh_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${name}_calf_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${name}_calf_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${name}_calf_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</xacro:macro>
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/UnitreeRobotics/b1_description/xacro/leg.xacro | <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find b1_description)/xacro/transmission.xacro"/>
<xacro:macro name="leg" params="name mirror mirror_dae front_hind front_hind_dae">
<joint name="${name}_hip_joint" type="revolute">
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
<origin rpy="0 0 0" xyz="${leg_offset_x} ${-leg_offset_y} 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
<origin rpy="0 0 0" xyz="${leg_offset_x} ${leg_offset_y} 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
<origin rpy="0 0 0" xyz="${-leg_offset_x} ${-leg_offset_y} 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
<origin rpy="0 0 0" xyz="${-leg_offset_x} ${leg_offset_y} 0"/>
</xacro:if>
<parent link="trunk"/>
<child link="${name}_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="${damping}" friction="${friction}"/>
<xacro:if value="${(mirror_dae == True)}">
<limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${hip_position_min}" upper="${hip_position_max}"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False)}">
<limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${-hip_position_max}" upper="${-hip_position_min}"/>
</xacro:if>
</joint>
<joint name="${name}_hip_rotor_joint" type="fixed">
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
<origin rpy="0 0 0" xyz="${hip_rotor_offset_x} ${-hip_rotor_offset_y} 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
<origin rpy="0 0 0" xyz="${hip_rotor_offset_x} ${hip_rotor_offset_y} 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
<origin rpy="0 0 0" xyz="${-hip_rotor_offset_x} ${-hip_rotor_offset_y} 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
<origin rpy="0 0 0" xyz="${-hip_rotor_offset_x} ${hip_rotor_offset_y} 0"/>
</xacro:if>
<parent link="trunk"/>
<child link="${name}_hip_rotor"/>
</joint>
<link name="${name}_hip">
<visual>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
<origin rpy="0 0 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
<origin rpy="${PI} 0 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
<origin rpy="0 ${PI} 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
<origin rpy="${PI} ${PI} 0" xyz="0 0 0"/>
</xacro:if>
<geometry>
<mesh filename="package://b1_description/meshes/hip.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="${PI/2.0} 0 0" xyz="0 ${hip_offset*mirror} 0"/>
<geometry>
<cylinder length="${hip_length}" radius="${hip_radius}"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${hip_com_x*front_hind} ${hip_com_y*mirror} ${hip_com_z}"/>
<mass value="${hip_mass}"/>
<inertia
ixx="${hip_ixx}" ixy="${hip_ixy*mirror*front_hind}" ixz="${hip_ixz*front_hind}"
iyy="${hip_iyy}" iyz="${hip_iyz*mirror}"
izz="${hip_izz}"/>
</inertial>
</link>
<link name="${name}_hip_rotor">
<visual>
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.05"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${hip_rotor_com_x} ${hip_rotor_com_y} ${hip_rotor_com_z}"/>
<mass value="${hip_rotor_mass}"/>
<inertia
ixx="${hip_rotor_ixx}" ixy="${hip_rotor_ixy}" ixz="${hip_rotor_ixz}"
iyy="${hip_rotor_iyy}" iyz="${hip_rotor_iyz}"
izz="${hip_rotor_izz}"/>
</inertial>
</link>
<joint name="${name}_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 ${thigh_offset*mirror} 0"/>
<parent link="${name}_hip"/>
<child link="${name}_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="${damping}" friction="${friction}"/>
<limit effort="${thigh_torque_max}" velocity="${thigh_velocity_max}" lower="${thigh_position_min}" upper="${thigh_position_max}"/>
</joint>
<joint name="${name}_thigh_rotor_joint" type="fixed">
<origin rpy="0 0 0" xyz="${thigh_rotor_offset_x} ${thigh_rotor_offset_y*mirror} 0"/>
<parent link="${name}_hip"/>
<child link="${name}_thigh_rotor"/>
</joint>
<link name="${name}_thigh">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<xacro:if value="${mirror_dae == True}">
<mesh filename="package://b1_description/meshes/thigh.dae" scale="1 1 1"/>
</xacro:if>
<xacro:if value="${mirror_dae == False}">
<mesh filename="package://b1_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
</xacro:if>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-thigh_length/2.0}"/>
<geometry>
<box size="${thigh_length} ${thigh_width} ${thigh_height}"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${thigh_com_x} ${thigh_com_y*mirror} ${thigh_com_z}"/>
<mass value="${thigh_mass}"/>
<inertia
ixx="${thigh_ixx}" ixy="${thigh_ixy*mirror}" ixz="${thigh_ixz}"
iyy="${thigh_iyy}" iyz="${thigh_iyz*mirror}"
izz="${thigh_izz}"/>
</inertial>
</link>
<link name="${name}_thigh_rotor">
<visual>
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.05"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${thigh_rotor_com_x} ${thigh_rotor_com_y} ${thigh_rotor_com_z}"/>
<mass value="${thigh_rotor_mass}"/>
<inertia
ixx="${thigh_rotor_ixx}" ixy="${thigh_rotor_ixy}" ixz="${thigh_rotor_ixz}"
iyy="${thigh_rotor_iyy}" iyz="${thigh_rotor_iyz}"
izz="${thigh_rotor_izz}"/>
</inertial>
</link>
<joint name="${name}_calf_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 ${-thigh_length}"/>
<parent link="${name}_thigh"/>
<child link="${name}_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="${damping}" friction="${friction}"/>
<limit effort="${calf_torque_max}" velocity="${calf_velocity_max}" lower="${calf_position_min}" upper="${calf_position_max}"/>
</joint>
<joint name="${name}_calf_rotor_joint" type="fixed">
<origin rpy="0 0 0" xyz="${calf_rotor_offset_x} ${calf_rotor_offset_y*mirror} 0"/>
<parent link="${name}_thigh"/>
<child link="${name}_calf_rotor"/>
</joint>
<link name="${name}_calf">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://b1_description/meshes/calf.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-calf_length/2.0}"/>
<geometry>
<box size="${calf_length} ${calf_width} ${calf_height}"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${calf_com_x} ${calf_com_y} ${calf_com_z}"/>
<mass value="${calf_mass}"/>
<inertia
ixx="${calf_ixx}" ixy="${calf_ixy}" ixz="${calf_ixz}"
iyy="${calf_iyy}" iyz="${calf_iyz}"
izz="${calf_izz}"/>
</inertial>
</link>
<link name="${name}_calf_rotor">
<visual>
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.05"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${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"/>
<child link="${name}_foot"/>
</joint>
<link name="${name}_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="${foot_radius-0.01}"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="${foot_radius}"/>
</geometry>
</collision>
<inertial>
<mass value="${foot_mass}"/>
<inertia
ixx="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}" ixy="0.0" ixz="0.0"
iyy="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}" iyz="0.0"
izz="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}"/>
</inertial>
</link>
<xacro:leg_transmission name="${name}"/>
</xacro:macro>
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/UnitreeRobotics/b1_description/xacro/const.xacro | <?xml version="1.0"?>
<robot name="b1_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- Constants for robot dimensions -->
<xacro:property name="PI" value="3.1415926535897931"/>
<xacro:property name="stick_mass" value="0.00001"/>
<!-- simplified collision value -->
<xacro:property name="trunk_width" value="0.30"/>
<xacro:property name="trunk_length" value="0.647"/>
<xacro:property name="trunk_height" value="0.15"/>
<xacro:property name="hip_radius" value="0.09"/>
<xacro:property name="hip_length" value="0.04"/>
<xacro:property name="thigh_shoulder_radius" value="0.044"/>
<xacro:property name="thigh_shoulder_length" value="0.08"/>
<xacro:property name="thigh_width" value="0.05"/>
<xacro:property name="thigh_height" value="0.08"/>
<xacro:property name="calf_width" value="0.04"/>
<xacro:property name="calf_height" value="0.05"/>
<xacro:property name="foot_radius" value="0.04"/>
<xacro:property name="stick_radius" value="0.01"/>
<xacro:property name="stick_length" value="0.2"/>
<!-- kinematic value -->
<xacro:property name="thigh_offset" value="0.12675"/>
<xacro:property name="thigh_length" value="0.35"/>
<xacro:property name="calf_length" value="0.35"/>
<!-- leg offset from trunk center value -->
<xacro:property name="leg_offset_x" value="0.3455"/>
<xacro:property name="leg_offset_y" value="0.072"/>
<xacro:property name="trunk_offset_z" value="0.01675"/>
<xacro:property name="hip_offset" value="0.12675"/>
<!-- offset of link and rotor locations (left front) -->
<xacro:property name="hip_offset_x" value="0.3455"/>
<xacro:property name="hip_offset_y" value="0.072"/>
<xacro:property name="hip_offset_z" value="0.0"/>
<xacro:property name="hip_rotor_offset_x" value="0.1955"/>
<xacro:property name="hip_rotor_offset_y" value="0.072"/>
<xacro:property name="hip_rotor_offset_z" value="0.0"/>
<xacro:property name="thigh_offset_x" value="0"/>
<xacro:property name="thigh_offset_y" value="0.12675"/>
<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="0.00935"/>
<xacro:property name="thigh_rotor_offset_z" value="0.0"/>
<xacro:property name="calf_offset_x" value="0.0"/>
<xacro:property name="calf_offset_y" value="0.0"/>
<xacro:property name="calf_offset_z" value="-0.35"/>
<xacro:property name="calf_rotor_offset_x" value="0.0"/>
<xacro:property name="calf_rotor_offset_y" value="-0.0519"/>
<xacro:property name="calf_rotor_offset_z" value="0.0"/>
<!-- joint limits -->
<xacro:property name="damping" value="0"/>
<xacro:property name="friction" value="0"/>
<xacro:property name="hip_position_max" value="0.75"/>
<xacro:property name="hip_position_min" value="-0.75"/>
<xacro:property name="hip_velocity_max" value="19.69"/>
<xacro:property name="hip_torque_max" value="91.0035"/>
<xacro:property name="thigh_position_max" value="3.5"/>
<xacro:property name="thigh_position_min" value="-1.0"/>
<xacro:property name="thigh_velocity_max" value="23.32"/>
<xacro:property name="thigh_torque_max" value="93.33"/>
<xacro:property name="calf_position_max" value="-0.6"/>
<xacro:property name="calf_position_min" value="-2.6"/>
<xacro:property name="calf_velocity_max" value="15.55"/>
<xacro:property name="calf_torque_max" value="140"/>
<!-- dynamics inertial value -->
<!-- trunk -->
<xacro:property name="trunk_mass" value="25"/>
<xacro:property name="trunk_com_x" value="0.008987"/>
<xacro:property name="trunk_com_y" value="0.002243"/>
<xacro:property name="trunk_com_z" value="0.003013"/>
<xacro:property name="trunk_ixx" value="0.183142146"/>
<xacro:property name="trunk_ixy" value="-0.001379002"/>
<xacro:property name="trunk_ixz" value="-0.027956055"/>
<xacro:property name="trunk_iyy" value="0.756327752"/>
<xacro:property name="trunk_iyz" value="0.000193774"/>
<xacro:property name="trunk_izz" value="0.783777558"/>
<!-- hip (left front) -->
<xacro:property name="hip_mass" value="2.1"/>
<xacro:property name="hip_com_x" value="-0.020298"/>
<xacro:property name="hip_com_y" value="0.009758"/>
<xacro:property name="hip_com_z" value="0.000109"/>
<xacro:property name="hip_ixx" value="0.00406608"/>
<xacro:property name="hip_ixy" value="-0.000288071"/>
<xacro:property name="hip_ixz" value="-0.000004371"/>
<xacro:property name="hip_iyy" value="0.008775259"/>
<xacro:property name="hip_iyz" value="0.000001811"/>
<xacro:property name="hip_izz" value="0.006060348"/>
<xacro:property name="hip_rotor_mass" value="0.199"/>
<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="0.00039249"/>
<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="0.000219397"/>
<xacro:property name="hip_rotor_iyz" value="0.0"/>
<xacro:property name="hip_rotor_izz" value="0.000219397"/>
<!-- thigh -->
<xacro:property name="thigh_mass" value="3.934"/>
<xacro:property name="thigh_com_x" value="-0.000235"/>
<xacro:property name="thigh_com_y" value="-0.028704"/>
<xacro:property name="thigh_com_z" value="-0.054169"/>
<xacro:property name="thigh_ixx" value="0.044459086"/>
<xacro:property name="thigh_ixy" value="0.000128738"/>
<xacro:property name="thigh_ixz" value="-0.002343913"/>
<xacro:property name="thigh_iyy" value="0.046023457"/>
<xacro:property name="thigh_iyz" value="0.006032996"/>
<xacro:property name="thigh_izz" value="0.008696078"/>
<xacro:property name="thigh_rotor_mass" value="0.266"/>
<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="0.000485657"/>
<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="0.00091885"/>
<xacro:property name="thigh_rotor_iyz" value="0.0"/>
<xacro:property name="thigh_rotor_izz" value="0.000485657"/>
<!-- calf -->
<xacro:property name="calf_mass" value="0.857"/>
<xacro:property name="calf_com_x" value="0.005237"/>
<xacro:property name="calf_com_y" value="0.0"/>
<xacro:property name="calf_com_z" value="-0.202805"/>
<xacro:property name="calf_ixx" value="0.015011003"/>
<xacro:property name="calf_ixy" value="0.000000052"/>
<xacro:property name="calf_ixz" value="0.000250042"/>
<xacro:property name="calf_iyy" value="0.015159462"/>
<xacro:property name="calf_iyz" value="0.000000461"/>
<xacro:property name="calf_izz" value="0.000375749"/>
<xacro:property name="calf_rotor_mass" value="0.266"/>
<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="0.000485657"/>
<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="0.00091885"/>
<xacro:property name="calf_rotor_iyz" value="0.0"/>
<xacro:property name="calf_rotor_izz" value="0.000485657"/>
<!-- foot -->
<xacro:property name="foot_mass" value="0.05"/>
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/UnitreeRobotics/b1_description/xacro/gazebo.xacro | <?xml version="1.0"?>
<robot>
<!-- ros_control plugin -->
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/aliengo_gazebo</robotNamespace>
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
</plugin>
</gazebo>
<!-- Show the trajectory of trunk center. -->
<gazebo>
<plugin name="3dplot" filename="libLinkPlot3DPlugin.so">
<frequency>10</frequency>
<plot>
<link>base</link>
<pose>0 0 0 0 0 0</pose>
<material>Gazebo/Yellow</material>
</plot>
</plugin>
</gazebo>
<!-- Show the trajectory of foot. You can add another trajectory about another foot. -->
<!-- <gazebo>
<plugin name="3dplot" filename="libLinkPlot3DPlugin.so">
<frequency>100</frequency>
<plot>
<link>FL_foot</link>
<pose>0 0 0 0 0 0</pose>
<material>Gazebo/Green</material>
</plot>
</plugin>
</gazebo> -->
<gazebo>
<plugin filename="libgazebo_ros_force.so" name="gazebo_ros_force">
<bodyName>trunk</bodyName>
<topicName>/apply_force/trunk</topicName>
</plugin>
</gazebo>
<gazebo reference="imu_link">
<gravity>true</gravity>
<sensor name="imu_sensor" type="imu">
<always_on>true</always_on>
<update_rate>1000</update_rate>
<visualize>true</visualize>
<topic>__default_topic__</topic>
<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
<topicName>trunk_imu</topicName>
<bodyName>imu_link</bodyName>
<updateRateHZ>1000.0</updateRateHZ>
<gaussianNoise>0.0</gaussianNoise>
<xyzOffset>0 0 0</xyzOffset>
<rpyOffset>0 0 0</rpyOffset>
<frameName>imu_link</frameName>
</plugin>
<pose>0 0 0 0 0 0</pose>
</sensor>
</gazebo>
<!-- Foot contacts. -->
<gazebo reference="FR_calf">
<sensor name="FR_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>FR_calf_fixed_joint_lump__FR_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="FL_calf">
<sensor name="FL_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>FL_calf_fixed_joint_lump__FL_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="RR_calf">
<sensor name="RR_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>RR_calf_fixed_joint_lump__RR_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="RL_calf">
<sensor name="RL_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>RL_calf_fixed_joint_lump__RL_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<!-- Visualization of Foot contacts. -->
<gazebo reference="FR_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>FR_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="FL_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>FL_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="RR_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>RR_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="RL_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>RL_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="base">
<material>Gazebo/Green</material>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="trunk">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="stick_link">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/White</material>
</gazebo>
<gazebo reference="imu_link">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/Red</material>
</gazebo>
<!-- FL leg -->
<gazebo reference="FL_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="FL_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="FL_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="FL_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- FR leg -->
<gazebo reference="FR_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="FR_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="FR_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="FR_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- RL leg -->
<gazebo reference="RL_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="RL_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="RL_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="RL_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- RR leg -->
<gazebo reference="RR_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="RR_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="RR_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="RR_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/UnitreeRobotics/b1_description/xacro/stairs.xacro | <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:property name="stair_length" value="0.640" />
<xacro:property name="stair_width" value="0.310" />
<xacro:property name="stair_height" value="0.170" />
<xacro:macro name="stairs" params="stairs xpos ypos zpos">
<joint name="stair_joint_origin" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="world"/>
<child link="stair_link_${stairs}"/>
</joint>
<link name="stair_link_${stairs}">
<visual>
<geometry>
<box size="${stair_length} ${stair_width} ${stair_height}"/>
</geometry>
<material name="grey"/>
<origin rpy="0 0 0" xyz="${xpos} ${ypos} ${zpos}"/>
</visual>
<collision>
<geometry>
<box size="${stair_length} ${stair_width} ${stair_height}"/>
</geometry>
</collision>
<inertial>
<mass value="0.80"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
</link>
<xacro:if value="${stairs}">
<xacro:stairs stairs="${stairs-1}" xpos="0" ypos="${ypos-stair_width/2}" zpos="${zpos+stair_height}"/>
<joint name="stair_joint_${stairs}" type="fixed">
<parent link="stair_link_${stairs}"/>
<child link="stair_link_${stairs-1}"/>
</joint>
</xacro:if>
</xacro:macro>
</robot> |
boredengineering/Robots_for_Omniverse/URDF_descriptions/UnitreeRobotics/b1_description/xacro/robot.xacro | <?xml version="1.0"?>
<robot name="b1_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find b1_description)/xacro/const.xacro"/>
<xacro:include filename="$(find b1_description)/xacro/materials.xacro"/>
<xacro:include filename="$(find b1_description)/xacro/leg.xacro"/>
<xacro:include filename="$(find b1_description)/xacro/gazebo.xacro"/>
<!-- Rotor related joint and link is only for demonstrate location. -->
<!-- Actually, the rotor will rotate and the joint is not fixed. Reduction ratio should be considered. -->
<!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
<xacro:if value="$(arg DEBUG)">
<link name="world"/>
<joint name="base_static_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="world"/>
<child link="base"/>
</joint>
</xacro:if>
<link name="base">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
</visual>
</link>
<joint name="floating_base" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base"/>
<child link="trunk"/>
</joint>
<link name="trunk">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://b1_description/meshes/trunk.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="${trunk_length} ${trunk_width} ${trunk_height}"/>
</geometry>
</collision>
<!-- <collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://b1_description/meshes/trunk.dae" scale="1 1 1"/>
</geometry>
</collision> -->
<inertial>
<origin rpy="0 0 0" xyz="${trunk_com_x} ${trunk_com_y} ${trunk_com_z}"/>
<mass value="${trunk_mass}"/>
<inertia
ixx="${trunk_ixx}" ixy="${trunk_ixy}" ixz="${trunk_ixz}"
iyy="${trunk_iyy}" iyz="${trunk_iyz}"
izz="${trunk_izz}"/>
</inertial>
</link>
<joint name="imu_joint" type="fixed">
<parent link="trunk"/>
<child link="imu_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<link name="imu_link">
<inertial>
<mass value="0.001"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
<material name="red"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".001 .001 .001"/>
</geometry>
</collision>
</link>
<xacro:leg name="FR" mirror="-1" mirror_dae= "False" front_hind="1" front_hind_dae="True" />
<xacro:leg name="FL" mirror="1" mirror_dae="True" front_hind="1" front_hind_dae="True" />
<xacro:leg name="RR" mirror="-1" mirror_dae="False" front_hind="-1" front_hind_dae="False" />
<xacro:leg name="RL" mirror="1" mirror_dae="True" front_hind="-1" front_hind_dae="False" />
<!-- <xacro:stairs stairs="15" xpos="0" ypos="2.0" zpos="0" /> -->
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/UnitreeRobotics/aliengo_description/xacro/materials.xacro | <?xml version="1.0"?>
<robot>
<material name="black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<material name="green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>
<material name="grey">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
<material name="silver">
<color rgba="${233/255} ${233/255} ${216/255} 1.0"/>
</material>
<material name="orange">
<color rgba="${255/255} ${108/255} ${10/255} 1.0"/>
</material>
<material name="brown">
<color rgba="${222/255} ${207/255} ${195/255} 1.0"/>
</material>
<material name="red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="white">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/UnitreeRobotics/aliengo_description/xacro/transmission.xacro | <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="leg_transmission" params="name">
<transmission name="${name}_hip_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${name}_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${name}_hip_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${name}_thigh_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${name}_thigh_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${name}_thigh_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${name}_calf_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${name}_calf_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${name}_calf_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</xacro:macro>
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/UnitreeRobotics/aliengo_description/xacro/leg.xacro | <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find aliengo_description)/xacro/transmission.xacro"/>
<xacro:macro name="leg" params="name mirror mirror_dae front_hind front_hind_dae">
<joint name="${name}_hip_joint" type="revolute">
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
<origin rpy="0 0 0" xyz="${leg_offset_x} ${-leg_offset_y} 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
<origin rpy="0 0 0" xyz="${leg_offset_x} ${leg_offset_y} 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
<origin rpy="0 0 0" xyz="${-leg_offset_x} ${-leg_offset_y} 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
<origin rpy="0 0 0" xyz="${-leg_offset_x} ${leg_offset_y} 0"/>
</xacro:if>
<parent link="trunk"/>
<child link="${name}_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="${damping}" friction="${friction}"/>
<xacro:if value="${(mirror_dae == True)}">
<limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${hip_position_min}" upper="${hip_position_max}"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False)}">
<limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${-hip_position_max}" upper="${-hip_position_min}"/>
</xacro:if>
</joint>
<joint name="${name}_hip_rotor_joint" type="fixed">
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
<origin rpy="0 0 0" xyz="${hip_rotor_offset_x} ${-hip_rotor_offset_y} 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
<origin rpy="0 0 0" xyz="${hip_rotor_offset_x} ${hip_rotor_offset_y} 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
<origin rpy="0 0 0" xyz="${-hip_rotor_offset_x} ${-hip_rotor_offset_y} 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
<origin rpy="0 0 0" xyz="${-hip_rotor_offset_x} ${hip_rotor_offset_y} 0"/>
</xacro:if>
<parent link="trunk"/>
<child link="${name}_hip_rotor"/>
</joint>
<link name="${name}_hip">
<visual>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
<origin rpy="0 0 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
<origin rpy="${PI} 0 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
<origin rpy="0 ${PI} 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
<origin rpy="${PI} ${PI} 0" xyz="0 0 0"/>
</xacro:if>
<geometry>
<mesh filename="package://aliengo_description/meshes/hip.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="${PI/2.0} 0 0" xyz="0 ${hip_offset*mirror} 0"/>
<geometry>
<cylinder length="${hip_length}" radius="${hip_radius}"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${hip_com_x*front_hind} ${hip_com_y*mirror} ${hip_com_z}"/>
<mass value="${hip_mass}"/>
<inertia
ixx="${hip_ixx}" ixy="${hip_ixy*mirror*front_hind}" ixz="${hip_ixz*front_hind}"
iyy="${hip_iyy}" iyz="${hip_iyz*mirror}"
izz="${hip_izz}"/>
</inertial>
</link>
<link name="${name}_hip_rotor">
<visual>
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.035"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.035"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${hip_rotor_com_x} ${hip_rotor_com_y} ${hip_rotor_com_z}"/>
<mass value="${hip_rotor_mass}"/>
<inertia
ixx="${hip_rotor_ixx}" ixy="${hip_rotor_ixy}" ixz="${hip_rotor_ixz}"
iyy="${hip_rotor_iyy}" iyz="${hip_rotor_iyz}"
izz="${hip_rotor_izz}"/>
</inertial>
</link>
<joint name="${name}_thigh_joint" type="continuous">
<origin rpy="0 0 0" xyz="0 ${thigh_offset*mirror} 0"/>
<parent link="${name}_hip"/>
<child link="${name}_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="${damping}" friction="${friction}"/>
<limit effort="${thigh_torque_max}" velocity="${thigh_velocity_max}"/>
</joint>
<joint name="${name}_thigh_rotor_joint" type="fixed">
<origin rpy="0 0 0" xyz="${thigh_rotor_offset_x} ${thigh_rotor_offset_y*mirror} 0"/>
<parent link="${name}_hip"/>
<child link="${name}_thigh_rotor"/>
</joint>
<link name="${name}_thigh">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<xacro:if value="${mirror_dae == True}">
<mesh filename="package://aliengo_description/meshes/thigh.dae" scale="1 1 1"/>
</xacro:if>
<xacro:if value="${mirror_dae == False}">
<mesh filename="package://aliengo_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
</xacro:if>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-thigh_length/2.0}"/>
<geometry>
<box size="${thigh_length} ${thigh_width} ${thigh_height}"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${thigh_com_x} ${thigh_com_y*mirror} ${thigh_com_z}"/>
<mass value="${thigh_mass}"/>
<inertia
ixx="${thigh_ixx}" ixy="${thigh_ixy*mirror}" ixz="${thigh_ixz}"
iyy="${thigh_iyy}" iyz="${thigh_iyz*mirror}"
izz="${thigh_izz}"/>
</inertial>
</link>
<link name="${name}_thigh_rotor">
<visual>
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.035"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.035"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${thigh_rotor_com_x} ${thigh_rotor_com_y} ${thigh_rotor_com_z}"/>
<mass value="${thigh_rotor_mass}"/>
<inertia
ixx="${thigh_rotor_ixx}" ixy="${thigh_rotor_ixy}" ixz="${thigh_rotor_ixz}"
iyy="${thigh_rotor_iyy}" iyz="${thigh_rotor_iyz}"
izz="${thigh_rotor_izz}"/>
</inertial>
</link>
<joint name="${name}_calf_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 ${-thigh_length}"/>
<parent link="${name}_thigh"/>
<child link="${name}_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="${damping}" friction="${friction}"/>
<limit effort="${calf_torque_max}" velocity="${calf_velocity_max}" lower="${calf_position_min}" upper="${calf_position_max}"/>
</joint>
<joint name="${name}_calf_rotor_joint" type="fixed">
<origin rpy="0 0 0" xyz="${calf_rotor_offset_x} ${calf_rotor_offset_y*mirror} 0"/>
<parent link="${name}_thigh"/>
<child link="${name}_calf_rotor"/>
</joint>
<link name="${name}_calf">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://aliengo_description/meshes/calf.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-calf_length/2.0}"/>
<geometry>
<box size="${calf_length} ${calf_width} ${calf_height}"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${calf_com_x} ${calf_com_y} ${calf_com_z}"/>
<mass value="${calf_mass}"/>
<inertia
ixx="${calf_ixx}" ixy="${calf_ixy}" ixz="${calf_ixz}"
iyy="${calf_iyy}" iyz="${calf_iyz}"
izz="${calf_izz}"/>
</inertial>
</link>
<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"/>
<child link="${name}_foot"/>
</joint>
<link name="${name}_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="${foot_radius-0.01}"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="${foot_radius}"/>
</geometry>
</collision>
<inertial>
<mass value="${foot_mass}"/>
<inertia
ixx="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}" ixy="0.0" ixz="0.0"
iyy="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}" iyz="0.0"
izz="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}"/>
</inertial>
</link>
<xacro:leg_transmission name="${name}"/>
</xacro:macro>
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/UnitreeRobotics/aliengo_description/xacro/const.xacro | <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- Constants for robot dimensions -->
<xacro:property name="PI" value="3.1415926535897931"/>
<xacro:property name="stick_mass" value="0.00001"/>
<!-- simplified collision value -->
<xacro:property name="trunk_width" value="0.150"/>
<xacro:property name="trunk_length" value="0.647"/>
<xacro:property name="trunk_height" value="0.112"/>
<xacro:property name="hip_radius" value="0.046"/>
<xacro:property name="hip_length" value="0.0418"/>
<xacro:property name="thigh_shoulder_radius" value="0.044"/>
<xacro:property name="thigh_shoulder_length" value="0.08"/>
<xacro:property name="thigh_width" value="0.0374"/>
<xacro:property name="thigh_height" value="0.043"/>
<xacro:property name="calf_width" value="0.0208"/>
<xacro:property name="calf_height" value="0.016"/>
<xacro:property name="foot_radius" value="0.0265"/>
<xacro:property name="stick_radius" value="0.01"/>
<xacro:property name="stick_length" value="0.2"/>
<!-- kinematic value -->
<xacro:property name="thigh_offset" value="0.0868"/>
<xacro:property name="thigh_length" value="0.25"/>
<xacro:property name="calf_length" value="0.25"/>
<!-- leg offset from trunk center value -->
<xacro:property name="leg_offset_x" value="0.2407"/>
<xacro:property name="leg_offset_y" value="0.051"/>
<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"/>
<xacro:property name="hip_position_max" value="${70*PI/180.0}"/>
<xacro:property name="hip_position_min" value="${-70*PI/180.0}"/>
<xacro:property name="hip_velocity_max" value="20"/>
<xacro:property name="hip_torque_max" value="35.278"/>
<xacro:property name="thigh_position_max" value="${240*PI/180.0}"/>
<xacro:property name="thigh_position_min" value="${-120*PI/180.0}"/>
<xacro:property name="thigh_velocity_max" value="20"/>
<xacro:property name="thigh_torque_max" value="35.278"/>
<xacro:property name="calf_position_max" value="${-37*PI/180.0}"/>
<xacro:property name="calf_position_min" value="${-159*PI/180.0}"/>
<xacro:property name="calf_velocity_max" value="15.89"/>
<xacro:property name="calf_torque_max" value="44.4"/>
<!-- dynamics inertial value total 23.0kg -->
<!-- trunk -->
<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="0.002446735"/>
<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="0.004173855"/>
<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="0.002129279"/>
<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"/>
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/UnitreeRobotics/aliengo_description/xacro/gazebo.xacro | <?xml version="1.0"?>
<robot>
<!-- ros_control plugin -->
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/aliengo_gazebo</robotNamespace>
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
</plugin>
</gazebo>
<!-- Show the trajectory of trunk center. -->
<gazebo>
<plugin name="3dplot" filename="libLinkPlot3DPlugin.so">
<frequency>10</frequency>
<plot>
<link>base</link>
<pose>0 0 0 0 0 0</pose>
<material>Gazebo/Yellow</material>
</plot>
</plugin>
</gazebo>
<!-- Show the trajectory of foot. You can add another trajectory about another foot. -->
<!-- <gazebo>
<plugin name="3dplot" filename="libLinkPlot3DPlugin.so">
<frequency>100</frequency>
<plot>
<link>FL_foot</link>
<pose>0 0 0 0 0 0</pose>
<material>Gazebo/Green</material>
</plot>
</plugin>
</gazebo> -->
<gazebo>
<plugin filename="libgazebo_ros_force.so" name="gazebo_ros_force">
<bodyName>trunk</bodyName>
<topicName>/apply_force/trunk</topicName>
</plugin>
</gazebo>
<gazebo reference="imu_link">
<gravity>true</gravity>
<sensor name="imu_sensor" type="imu">
<always_on>true</always_on>
<update_rate>1000</update_rate>
<visualize>true</visualize>
<topic>__default_topic__</topic>
<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
<topicName>trunk_imu</topicName>
<bodyName>imu_link</bodyName>
<updateRateHZ>1000.0</updateRateHZ>
<gaussianNoise>0.0</gaussianNoise>
<xyzOffset>0 0 0</xyzOffset>
<rpyOffset>0 0 0</rpyOffset>
<frameName>imu_link</frameName>
</plugin>
<pose>0 0 0 0 0 0</pose>
</sensor>
</gazebo>
<!-- Foot contacts. -->
<gazebo reference="FR_calf">
<sensor name="FR_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>FR_calf_fixed_joint_lump__FR_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="FL_calf">
<sensor name="FL_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>FL_calf_fixed_joint_lump__FL_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="RR_calf">
<sensor name="RR_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>RR_calf_fixed_joint_lump__RR_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="RL_calf">
<sensor name="RL_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>RL_calf_fixed_joint_lump__RL_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<!-- Visualization of Foot contacts. -->
<gazebo reference="FR_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>FR_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="FL_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>FL_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="RR_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>RR_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="RL_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>RL_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="base">
<material>Gazebo/Green</material>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="trunk">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="stick_link">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/White</material>
</gazebo>
<gazebo reference="imu_link">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/Red</material>
</gazebo>
<!-- FL leg -->
<gazebo reference="FL_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="FL_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="FL_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="FL_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- FR leg -->
<gazebo reference="FR_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="FR_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="FR_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="FR_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- RL leg -->
<gazebo reference="RL_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="RL_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="RL_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="RL_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- RR leg -->
<gazebo reference="RR_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="RR_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="RR_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="RR_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/UnitreeRobotics/aliengo_description/xacro/stairs.xacro | <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:property name="stair_length" value="0.640" />
<xacro:property name="stair_width" value="0.310" />
<xacro:property name="stair_height" value="0.170" />
<xacro:macro name="stairs" params="stairs xpos ypos zpos">
<joint name="stair_joint_origin" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="world"/>
<child link="stair_link_${stairs}"/>
</joint>
<link name="stair_link_${stairs}">
<visual>
<geometry>
<box size="${stair_length} ${stair_width} ${stair_height}"/>
</geometry>
<material name="grey"/>
<origin rpy="0 0 0" xyz="${xpos} ${ypos} ${zpos}"/>
</visual>
<collision>
<geometry>
<box size="${stair_length} ${stair_width} ${stair_height}"/>
</geometry>
</collision>
<inertial>
<mass value="0.80"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
</link>
<xacro:if value="${stairs}">
<xacro:stairs stairs="${stairs-1}" xpos="0" ypos="${ypos-stair_width/2}" zpos="${zpos+stair_height}"/>
<joint name="stair_joint_${stairs}" type="fixed">
<parent link="stair_link_${stairs}"/>
<child link="stair_link_${stairs-1}"/>
</joint>
</xacro:if>
</xacro:macro>
</robot> |
boredengineering/Robots_for_Omniverse/URDF_descriptions/UnitreeRobotics/aliengo_description/xacro/robot.xacro | <?xml version="1.0"?>
<robot name="aliengo" xmlns:xacro="http://www.ros.org/wiki/xacro">
<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"/>
<!-- Rotor related joint and link is only for demonstrate location. -->
<!-- Actually, the rotor will rotate and the joint is not fixed. Reduction ratio should be considered. -->
<!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
<xacro:if value="$(arg DEBUG)">
<link name="world"/>
<joint name="base_static_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="world"/>
<child link="base"/>
</joint>
</xacro:if>
<link name="base">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
</visual>
</link>
<joint name="floating_base" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base"/>
<child link="trunk"/>
</joint>
<link name="trunk">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://aliengo_description/meshes/trunk.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="${trunk_length} ${trunk_width} ${trunk_height}"/>
</geometry>
</collision>
<!-- <collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://aliengo_description/meshes/trunk.dae" scale="1 1 1"/>
</geometry>
</collision> -->
<inertial>
<origin rpy="0 0 0" xyz="${trunk_com_x} ${trunk_com_y} ${trunk_com_z}"/>
<mass value="${trunk_mass}"/>
<inertia
ixx="${trunk_ixx}" ixy="${trunk_ixy}" ixz="${trunk_ixz}"
iyy="${trunk_iyy}" iyz="${trunk_iyz}"
izz="${trunk_izz}"/>
</inertial>
</link>
<joint name="imu_joint" type="fixed">
<parent link="trunk"/>
<child link="imu_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<link name="imu_link">
<inertial>
<mass value="0.001"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
<material name="red"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".001 .001 .001"/>
</geometry>
</collision>
</link>
<xacro:leg name="FR" mirror="-1" mirror_dae= "False" front_hind="1" front_hind_dae="True" />
<xacro:leg name="FL" mirror="1" mirror_dae="True" front_hind="1" front_hind_dae="True" />
<xacro:leg name="RR" mirror="-1" mirror_dae="False" front_hind="-1" front_hind_dae="False" />
<xacro:leg name="RL" mirror="1" mirror_dae="True" front_hind="-1" front_hind_dae="False" />
<!-- <xacro:stairs stairs="15" xpos="0" ypos="2.0" zpos="0" /> -->
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/UnitreeRobotics/aliengo_description/urdf/aliengo.urdf | <?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from robot.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="aliengo">
<material name="black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<material name="green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>
<material name="grey">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
<material name="silver">
<color rgba="0.9137254901960784 0.9137254901960784 0.8470588235294118 1.0"/>
</material>
<material name="orange">
<color rgba="1.0 0.4235294117647059 0.0392156862745098 1.0"/>
</material>
<material name="brown">
<color rgba="0.8705882352941177 0.8117647058823529 0.7647058823529411 1.0"/>
</material>
<material name="red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="white">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<!-- 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>
<!-- Rotor related joint and link is only for demonstrate location. -->
<!-- Actually, the rotor will rotate and the joint is not fixed. Reduction ratio should be considered. -->
<!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
<!-- <xacro:if value="$(arg DEBUG)">
<link name="world"/>
<joint name="base_static_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="world"/>
<child link="base"/>
</joint>
</xacro:if> -->
<link name="base">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
</visual>
</link>
<joint name="floating_base" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base"/>
<child link="trunk"/>
</joint>
<link name="trunk">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://aliengo_description/meshes/trunk.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.647 0.15 0.112"/>
</geometry>
</collision>
<!-- <collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://aliengo_description/meshes/trunk.dae" scale="1 1 1"/>
</geometry>
</collision> -->
<inertial>
<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">
<parent link="trunk"/>
<child link="imu_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<link name="imu_link">
<inertial>
<mass value="0.001"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.0001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
<material name="red"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".001 .001 .001"/>
</geometry>
</collision>
</link>
<joint name="FR_hip_joint" type="revolute">
<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="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="3.141592653589793 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="1.5707963267948966 0 0" xyz="0 -0.083 0"/>
<geometry>
<cylinder length="0.0418" radius="0.046"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.022191 -0.015144 -1.5e-05"/>
<mass value="1.993"/>
<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="FR_thigh_joint" type="continuous">
<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="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>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://aliengo_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.125"/>
<geometry>
<box size="0.25 0.0374 0.043"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.005607 0.003877 -0.048199"/>
<mass value="0.639"/>
<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">
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
<parent link="FR_thigh"/>
<child link="FR_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<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>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://aliengo_description/meshes/calf.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.125"/>
<geometry>
<box size="0.25 0.0208 0.016"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.002781 6.3e-05 -0.142518"/>
<mass value="0.207"/>
<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">
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
<parent link="FR_calf"/>
<child link="FR_foot"/>
</joint>
<link name="FR_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.0165"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.0265"/>
</geometry>
</collision>
<inertial>
<mass value="0.06"/>
<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">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FR_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="FR_hip_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="FR_thigh_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FR_thigh_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="FR_thigh_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="FR_calf_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FR_calf_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="FR_calf_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="FL_hip_joint" type="revolute">
<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="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>
<origin rpy="0 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="1.5707963267948966 0 0" xyz="0 0.083 0"/>
<geometry>
<cylinder length="0.0418" radius="0.046"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.022191 0.015144 -1.5e-05"/>
<mass value="1.993"/>
<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="FL_thigh_joint" type="continuous">
<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="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>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://aliengo_description/meshes/thigh.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.125"/>
<geometry>
<box size="0.25 0.0374 0.043"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.005607 -0.003877 -0.048199"/>
<mass value="0.639"/>
<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">
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
<parent link="FL_thigh"/>
<child link="FL_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<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>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://aliengo_description/meshes/calf.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.125"/>
<geometry>
<box size="0.25 0.0208 0.016"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.002781 6.3e-05 -0.142518"/>
<mass value="0.207"/>
<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">
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
<parent link="FL_calf"/>
<child link="FL_foot"/>
</joint>
<link name="FL_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.0165"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.0265"/>
</geometry>
</collision>
<inertial>
<mass value="0.06"/>
<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">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FL_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="FL_hip_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="FL_thigh_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FL_thigh_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="FL_thigh_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="FL_calf_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FL_calf_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="FL_calf_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="RR_hip_joint" type="revolute">
<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="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="3.141592653589793 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="1.5707963267948966 0 0" xyz="0 -0.083 0"/>
<geometry>
<cylinder length="0.0418" radius="0.046"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.022191 -0.015144 -1.5e-05"/>
<mass value="1.993"/>
<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="RR_thigh_joint" type="continuous">
<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="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>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://aliengo_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.125"/>
<geometry>
<box size="0.25 0.0374 0.043"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.005607 0.003877 -0.048199"/>
<mass value="0.639"/>
<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">
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
<parent link="RR_thigh"/>
<child link="RR_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<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>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://aliengo_description/meshes/calf.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.125"/>
<geometry>
<box size="0.25 0.0208 0.016"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.002781 6.3e-05 -0.142518"/>
<mass value="0.207"/>
<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">
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
<parent link="RR_calf"/>
<child link="RR_foot"/>
</joint>
<link name="RR_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.0165"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.0265"/>
</geometry>
</collision>
<inertial>
<mass value="0.06"/>
<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">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RR_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RR_hip_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RR_thigh_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RR_thigh_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RR_thigh_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RR_calf_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RR_calf_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RR_calf_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="RL_hip_joint" type="revolute">
<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="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 3.141592653589793 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="1.5707963267948966 0 0" xyz="0 0.083 0"/>
<geometry>
<cylinder length="0.0418" radius="0.046"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.022191 0.015144 -1.5e-05"/>
<mass value="1.993"/>
<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="RL_thigh_joint" type="continuous">
<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="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>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://aliengo_description/meshes/thigh.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.125"/>
<geometry>
<box size="0.25 0.0374 0.043"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.005607 -0.003877 -0.048199"/>
<mass value="0.639"/>
<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">
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
<parent link="RL_thigh"/>
<child link="RL_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<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>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://aliengo_description/meshes/calf.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.125"/>
<geometry>
<box size="0.25 0.0208 0.016"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.002781 6.3e-05 -0.142518"/>
<mass value="0.207"/>
<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">
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
<parent link="RL_calf"/>
<child link="RL_foot"/>
</joint>
<link name="RL_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.0165"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.0265"/>
</geometry>
</collision>
<inertial>
<mass value="0.06"/>
<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">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RL_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RL_hip_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RL_thigh_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RL_thigh_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RL_thigh_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RL_calf_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RL_calf_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RL_calf_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- <xacro:stairs stairs="15" xpos="0" ypos="2.0" zpos="0" /> -->
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/UnitreeRobotics/unitree_h1/scene.xml | <mujoco model="h1 scene">
<include file="h1.xml"/>
<statistic center="0 0 1" extent="1.8"/>
<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
<rgba haze="0.15 0.25 0.35 1"/>
<global azimuth="160" elevation="-20"/>
</visual>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3"
markrgb="0.8 0.8 0.8" width="300" height="300"/>
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
</asset>
<worldbody>
<light pos="0 0 3.5" dir="0 0 -1" directional="true"/>
<geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
</worldbody>
<keyframe>
<key name="home"
qpos="
0 0 0.98
1 0 0 0
0 0 -0.4 0.8 -0.4
0 0 -0.4 0.8 -0.4
0
0 0 0 0
0 0 0 0"/>
</keyframe>
</mujoco>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/UnitreeRobotics/unitree_h1/README.md | # Unitree H1 Description (MJCF)
Requires MuJoCo 2.2.2 or later.
## Overview
This package contains a simplified robot description (MJCF) of the [H1 Humanoid
Robot](https://www.unitree.com/h1/) developed by [Unitree
Robotics](https://www.unitree.com/). The original URDF and assets were provided
directly by [Unitree Robotics](https://www.unitree.com/) under a [BSD-3-Clause
License](LICENSE).
<p float="left">
<img src="h1.png" width="400">
</p>
## URDF → MJCF derivation steps
1. Added `<mujoco> <compiler discardvisual="false" strippath="false" fusestatic="false"/> </mujoco>` to the URDF's
`<robot>` clause in order to preserve visual geometries.
2. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
3. Manually edited the MJCF to extract common properties into the `<default>` section.
4. Added actuators.
5. Added `scene.xml` which includes the robot, with a textured groundplane, skybox, and haze.
## License
This model is released under a [BSD-3-Clause License](LICENSE).
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/UnitreeRobotics/unitree_h1/h1.xml | <mujoco model="h1">
<compiler angle="radian" meshdir="assets" autolimits="true"/>
<statistic meansize="0.05"/>
<default>
<default class="h1">
<joint damping="1" armature="0.1"/>
<default class="visual">
<geom type="mesh" contype="0" conaffinity="0" group="2" material="black"/>
</default>
<default class="collision">
<geom group="3" mass="0" density="0"/>
<default class="foot">
<geom type="capsule" size=".014"/>
<default class="foot1">
<geom fromto="-.035 0 -0.056 .02 0 -0.045"/>
</default>
<default class="foot2">
<geom fromto=".02 0 -0.045 .115 0 -0.056"/>
</default>
<default class="foot3">
<geom fromto=".14 -.03 -0.056 .14 .03 -0.056"/>
</default>
</default>
</default>
<site size="0.001" rgba="0.5 0.5 0.5 0.3" group="4"/>
</default>
</default>
<asset>
<material name="black" rgba="0.1 0.1 0.1 1"/>
<material name="white" rgba="1 1 1 1"/>
<mesh file="pelvis.stl"/>
<mesh file="left_hip_yaw_link.stl"/>
<mesh file="left_hip_roll_link.stl"/>
<mesh file="left_hip_pitch_link.stl"/>
<mesh file="left_knee_link.stl"/>
<mesh file="left_ankle_link.stl"/>
<mesh file="right_hip_yaw_link.stl"/>
<mesh file="right_hip_roll_link.stl"/>
<mesh file="right_hip_pitch_link.stl"/>
<mesh file="right_knee_link.stl"/>
<mesh file="right_ankle_link.stl"/>
<mesh file="torso_link.stl"/>
<mesh file="left_shoulder_pitch_link.stl"/>
<mesh file="left_shoulder_roll_link.stl"/>
<mesh file="left_shoulder_yaw_link.stl"/>
<mesh file="left_elbow_link.stl"/>
<mesh file="right_shoulder_pitch_link.stl"/>
<mesh file="right_shoulder_roll_link.stl"/>
<mesh file="right_shoulder_yaw_link.stl"/>
<mesh file="right_elbow_link.stl"/>
<mesh file="logo_link.stl"/>
</asset>
<worldbody>
<light mode="targetbodycom" target="torso_link" pos="2 0 2.5"/>
<body name="pelvis" pos="0 0 1.06" childclass="h1">
<inertial pos="-0.0002 4e-05 -0.04522" quat="0.498303 0.499454 -0.500496 0.501741" mass="5.39"
diaginertia="0.0490211 0.0445821 0.00824619"/>
<freejoint/>
<geom class="visual" mesh="pelvis"/>
<body name="left_hip_yaw_link" pos="0 0.0875 -0.1742">
<inertial pos="-0.04923 0.0001 0.0072" quat="0.69699 0.219193 0.233287 0.641667" mass="2.244"
diaginertia="0.00304494 0.00296885 0.00189201"/>
<joint name="left_hip_yaw" axis="0 0 1" range="-0.43 0.43"/>
<geom class="visual" mesh="left_hip_yaw_link"/>
<geom size="0.06 0.035" pos="-0.067 0 0" quat="0.707123 0 0.70709 0" type="cylinder" class="collision"/>
<body name="left_hip_roll_link" pos="0.039468 0 0">
<inertial pos="-0.0058 -0.00319 -9e-05" quat="0.0438242 0.70721 -0.0729075 0.701867" mass="2.232"
diaginertia="0.00243264 0.00225325 0.00205492"/>
<joint name="left_hip_roll" axis="1 0 0" range="-0.43 0.43"/>
<geom class="visual" mesh="left_hip_roll_link"/>
<geom class="collision" type="cylinder" size="0.05 0.03" quat="1 1 0 0" pos="0 -0.02 0"/>
<body name="left_hip_pitch_link" pos="0 0.11536 0">
<inertial pos="0.00746 -0.02346 -0.08193" quat="0.979828 0.0513522 -0.0169854 -0.192382" mass="4.152"
diaginertia="0.0829503 0.0821457 0.00510909"/>
<joint name="left_hip_pitch" axis="0 1 0" range="-1.57 1.57"/>
<geom class="visual" mesh="left_hip_pitch_link"/>
<geom class="collision" type="capsule" size="0.03" fromto="0.02 0 -0.4 -0.02 0 0.02"/>
<geom class="collision" type="capsule" size="0.03" fromto="0.02 0 -0.4 0.02 0 0.02"/>
<geom class="collision" type="cylinder" size="0.05 0.02" quat="1 1 0 0" pos="0 -0.07 0"/>
<body name="left_knee_link" pos="0 0 -0.4">
<inertial pos="-0.00136 -0.00512 -0.1384" quat="0.626132 -0.034227 -0.0416277 0.777852" mass="1.721"
diaginertia="0.0125237 0.0123104 0.0019428"/>
<joint name="left_knee" axis="0 1 0" range="-0.26 2.05"/>
<geom class="visual" mesh="left_knee_link"/>
<geom class="collision" type="capsule" size="0.025" fromto="0.02 0 -0.4 0.02 0 0"/>
<geom class="collision" type="sphere" size="0.05" pos="0 0 -0.115"/>
<body name="left_ankle_link" pos="0 0 -0.4">
<inertial pos="0.06722 0.00015 -0.04497" quat="0.489101 0.503197 0.565782 0.432972" mass="0.446"
diaginertia="0.00220848 0.00218961 0.000214202"/>
<joint name="left_ankle" axis="0 1 0" range="-0.87 0.52"/>
<geom class="visual" mesh="left_ankle_link"/>
<geom class="foot1"/>
<geom class="foot2"/>
<geom class="foot3"/>
</body>
</body>
</body>
</body>
</body>
<body name="right_hip_yaw_link" pos="0 -0.0875 -0.1742">
<inertial pos="-0.04923 -0.0001 0.0072" quat="0.641667 0.233287 0.219193 0.69699" mass="2.244"
diaginertia="0.00304494 0.00296885 0.00189201"/>
<joint name="right_hip_yaw" axis="0 0 1" range="-0.43 0.43"/>
<geom class="visual" mesh="right_hip_yaw_link"/>
<geom size="0.06 0.035" pos="-0.067 0 0" quat="0.707123 0 0.70709 0" type="cylinder" class="collision"/>
<body name="right_hip_roll_link" pos="0.039468 0 0">
<inertial pos="-0.0058 0.00319 -9e-05" quat="-0.0438242 0.70721 0.0729075 0.701867" mass="2.232"
diaginertia="0.00243264 0.00225325 0.00205492"/>
<joint name="right_hip_roll" axis="1 0 0" range="-0.43 0.43"/>
<geom class="visual" mesh="right_hip_roll_link"/>
<geom class="collision" type="cylinder" size="0.05 0.03" quat="1 1 0 0" pos="0 0.02 0"/>
<body name="right_hip_pitch_link" pos="0 -0.11536 0">
<inertial pos="0.00746 0.02346 -0.08193" quat="0.979828 -0.0513522 -0.0169854 0.192382" mass="4.152"
diaginertia="0.0829503 0.0821457 0.00510909"/>
<joint name="right_hip_pitch" axis="0 1 0" range="-1.57 1.57"/>
<geom class="visual" mesh="right_hip_pitch_link"/>
<geom class="collision" type="capsule" size="0.03" fromto="0.02 0 -0.4 -0.02 0 0.02"/>
<geom class="collision" type="capsule" size="0.03" fromto="0.02 0 -0.4 0.02 0 0.02"/>
<geom class="collision" type="cylinder" size="0.05 0.02" quat="1 1 0 0" pos="0 0.07 0"/>
<body name="right_knee_link" pos="0 0 -0.4">
<inertial pos="-0.00136 0.00512 -0.1384" quat="0.777852 -0.0416277 -0.034227 0.626132" mass="1.721"
diaginertia="0.0125237 0.0123104 0.0019428"/>
<joint name="right_knee" axis="0 1 0" range="-0.26 2.05"/>
<geom class="visual" mesh="right_knee_link"/>
<geom class="collision" type="capsule" size="0.025" fromto="0.02 0 -0.4 0.02 0 0"/>
<geom class="collision" type="sphere" size="0.05" pos="0 0 -0.115"/>
<body name="right_ankle_link" pos="0 0 -0.4">
<inertial pos="0.06722 -0.00015 -0.04497" quat="0.432972 0.565782 0.503197 0.489101" mass="0.446"
diaginertia="0.00220848 0.00218961 0.000214202"/>
<joint name="right_ankle" axis="0 1 0" range="-0.87 0.52"/>
<geom class="visual" mesh="right_ankle_link"/>
<geom class="foot1"/>
<geom class="foot2"/>
<geom class="foot3"/>
</body>
</body>
</body>
</body>
</body>
<body name="torso_link">
<inertial pos="0.000489 0.002797 0.20484" quat="0.999989 -0.00130808 -0.00282289 -0.00349105" mass="17.789"
diaginertia="0.487315 0.409628 0.127837"/>
<joint name="torso" axis="0 0 1" range="-2.35 2.35"/>
<geom class="visual" mesh="torso_link"/>
<geom class="visual" material="white" mesh="logo_link"/>
<geom name="head" class="collision" type="capsule" size="0.06" fromto="0.05 0 0.68 0.05 0 0.6"/>
<geom name="helmet" class="collision" type="sphere" size="0.073" pos="0.045 0 0.68"/>
<geom name="torso" class="collision" type="box" size="0.07 0.1 0.22" pos="0 0 0.25"/>
<geom name="hip" class="collision" type="capsule" size="0.05" fromto="0 -0.1 -0.05 0 0.1 -0.05"/>
<site name="imu" pos="-0.04452 -0.01891 0.27756"/>
<body name="left_shoulder_pitch_link" pos="0.0055 0.15535 0.42999" quat="0.976296 0.216438 0 0">
<inertial pos="0.005045 0.053657 -0.015715" quat="0.814858 0.579236 -0.0201072 -0.00936488" mass="1.033"
diaginertia="0.00129936 0.000987113 0.000858198"/>
<joint name="left_shoulder_pitch" axis="0 1 0" range="-2.87 2.87"/>
<geom class="visual" mesh="left_shoulder_pitch_link"/>
<body name="left_shoulder_roll_link" pos="-0.0055 0.0565 -0.0165" quat="0.976296 -0.216438 0 0">
<inertial pos="0.000679 0.00115 -0.094076" quat="0.732491 0.00917179 0.0766656 0.676384" mass="0.793"
diaginertia="0.00170388 0.00158256 0.00100336"/>
<joint name="left_shoulder_roll" axis="1 0 0" range="-0.34 3.11"/>
<geom class="visual" mesh="left_shoulder_roll_link"/>
<geom name="left_shoulder" class="collision" type="capsule" size="0.04" fromto="0 0.01 0.008 0 -0.07 -0.02"/>
<body name="left_shoulder_yaw_link" pos="0 0 -0.1343">
<inertial pos="0.01365 0.002767 -0.16266" quat="0.703042 -0.0331229 -0.0473362 0.708798" mass="0.839"
diaginertia="0.00408038 0.00370367 0.000622687"/>
<joint name="left_shoulder_yaw" axis="0 0 1" range="-1.3 4.45"/>
<geom class="visual" mesh="left_shoulder_yaw_link"/>
<geom class="collision" type="capsule" size="0.03" fromto="0 0 0.15 0 0 -0.2"/>
<body name="left_elbow_link" pos="0.0185 0 -0.198">
<inertial pos="0.15908 -0.000144 -0.015776" quat="0.0765232 0.720327 0.0853116 0.684102" mass="0.669"
diaginertia="0.00601829 0.00600579 0.000408305"/>
<joint name="left_elbow" axis="0 1 0" range="-1.25 2.61"/>
<geom class="visual" mesh="left_elbow_link"/>
<geom class="collision" type="capsule" size="0.025" fromto="0 0 0 0.28 0 -0.015"/>
<geom class="collision" type="sphere" size="0.033" pos="0.28 0 -0.015"/>
</body>
</body>
</body>
</body>
<body name="right_shoulder_pitch_link" pos="0.0055 -0.15535 0.42999" quat="0.976296 -0.216438 0 0">
<inertial pos="0.005045 -0.053657 -0.015715" quat="0.579236 0.814858 0.00936488 0.0201072" mass="1.033"
diaginertia="0.00129936 0.000987113 0.000858198"/>
<joint name="right_shoulder_pitch" axis="0 1 0" range="-2.87 2.87"/>
<geom class="visual" mesh="right_shoulder_pitch_link"/>
<body name="right_shoulder_roll_link" pos="-0.0055 -0.0565 -0.0165" quat="0.976296 0.216438 0 0">
<inertial pos="0.000679 -0.00115 -0.094076" quat="0.676384 0.0766656 0.00917179 0.732491" mass="0.793"
diaginertia="0.00170388 0.00158256 0.00100336"/>
<joint name="right_shoulder_roll" axis="1 0 0" range="-3.11 0.34"/>
<geom class="visual" mesh="right_shoulder_roll_link"/>
<geom name="right_shoulder" class="collision" type="capsule" size="0.04" fromto="0 -0.01 0.008 0 0.07 -0.02"/>
<body name="right_shoulder_yaw_link" pos="0 0 -0.1343">
<inertial pos="0.01365 -0.002767 -0.16266" quat="0.708798 -0.0473362 -0.0331229 0.703042" mass="0.839"
diaginertia="0.00408038 0.00370367 0.000622687"/>
<joint name="right_shoulder_yaw" axis="0 0 1" range="-4.45 1.3"/>
<geom class="visual" mesh="right_shoulder_yaw_link"/>
<geom class="collision" type="capsule" size="0.03" fromto="0 0 0.15 0 0 -0.2"/>
<body name="right_elbow_link" pos="0.0185 0 -0.198">
<inertial pos="0.15908 0.000144 -0.015776" quat="-0.0765232 0.720327 -0.0853116 0.684102" mass="0.669"
diaginertia="0.00601829 0.00600579 0.000408305"/>
<joint name="right_elbow" axis="0 1 0" range="-1.25 2.61"/>
<geom class="visual" mesh="right_elbow_link"/>
<geom class="collision" type="capsule" size="0.025" fromto="0 0 0 0.28 0 -0.015"/>
<geom class="collision" type="sphere" size="0.033" pos="0.28 0 -0.015"/>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<contact>
<exclude body1="torso_link" body2="left_shoulder_roll_link"/>
<exclude body1="torso_link" body2="right_shoulder_roll_link"/>
</contact>
<actuator>
<motor class="h1" name="left_hip_yaw" joint="left_hip_yaw" ctrlrange="-200 200"/>
<motor class="h1" name="left_hip_roll" joint="left_hip_roll" ctrlrange="-200 200"/>
<motor class="h1" name="left_hip_pitch" joint="left_hip_pitch" ctrlrange="-200 200"/>
<motor class="h1" name="left_knee" joint="left_knee" ctrlrange="-300 300"/>
<motor class="h1" name="left_ankle" joint="left_ankle" ctrlrange="-40 40"/>
<motor class="h1" name="right_hip_yaw" joint="right_hip_yaw" ctrlrange="-200 200"/>
<motor class="h1" name="right_hip_roll" joint="right_hip_roll" ctrlrange="-200 200"/>
<motor class="h1" name="right_hip_pitch" joint="right_hip_pitch" ctrlrange="-200 200"/>
<motor class="h1" name="right_knee" joint="right_knee" ctrlrange="-300 300"/>
<motor class="h1" name="right_ankle" joint="right_ankle" ctrlrange="-40 40"/>
<motor class="h1" name="torso" joint="torso" ctrlrange="-200 200"/>
<motor class="h1" name="left_shoulder_pitch" joint="left_shoulder_pitch" ctrlrange="-40 40"/>
<motor class="h1" name="left_shoulder_roll" joint="left_shoulder_roll" ctrlrange="-40 40"/>
<motor class="h1" name="left_shoulder_yaw" joint="left_shoulder_yaw" ctrlrange="-18 18"/>
<motor class="h1" name="left_elbow" joint="left_elbow" ctrlrange="-18 18"/>
<motor class="h1" name="right_shoulder_pitch" joint="right_shoulder_pitch" ctrlrange="-40 40"/>
<motor class="h1" name="right_shoulder_roll" joint="right_shoulder_roll" ctrlrange="-40 40"/>
<motor class="h1" name="right_shoulder_yaw" joint="right_shoulder_yaw" ctrlrange="-18 18"/>
<motor class="h1" name="right_elbow" joint="right_elbow" ctrlrange="-18 18"/>
</actuator>
</mujoco>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/UnitreeRobotics/go1_description/xacro/materials.xacro | <?xml version="1.0"?>
<robot>
<material name="black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<material name="green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>
<material name="grey">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
<material name="silver">
<color rgba="${233/255} ${233/255} ${216/255} 1.0"/>
</material>
<material name="orange">
<color rgba="${255/255} ${108/255} ${10/255} 1.0"/>
</material>
<material name="brown">
<color rgba="${222/255} ${207/255} ${195/255} 1.0"/>
</material>
<material name="red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="white">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/UnitreeRobotics/go1_description/xacro/depthCamera.xacro | <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="depthCamera" params="camID name *origin">
<joint name="camera_joint_${name}" type="fixed">
<xacro:insert_block name="origin"/>
<parent link="trunk"/>
<child link="camera_${name}"/>
</joint>
<link name="camera_${name}">
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size=".001 .001 .001"/>
</geometry>
</collision>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://go1_description/meshes/depthCamera.dae" scale="1 1 1"/>
</geometry>
</visual>
<inertial>
<mass value="1e-5" />
<origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
</inertial>
</link>
<joint name="camera_optical_joint_${name}" type="fixed">
<origin xyz="0 0 0" rpy="${-pi/2} 0 ${-pi/2}"/>
<parent link="camera_${name}"/>
<child link="camera_optical_${name}"/>
</joint>
<link name="camera_optical_${name}">
</link>
<gazebo reference="camera_${name}">
<!-- <material>Gazebo/Black</material> -->
<sensor name="camera_${name}_camera" type="depth">
<update_rate>16</update_rate>
<camera>
<horizontal_fov>2.094</horizontal_fov>
<image>
<width>928</width>
<height>800</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.1</near>
<far>5</far>
</clip>
</camera>
<plugin name="camera_${name}_controller" filename="libgazebo_ros_openni_kinect.so">
<baseline>0.025</baseline>
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<cameraName>camera_${name}_ir</cameraName>
<imageTopicName>/camera_${name}/color/image_raw</imageTopicName>
<cameraInfoTopicName>/camera_${name}/color/camera_info</cameraInfoTopicName>
<depthImageTopicName>/camera_${name}/depth/image_raw</depthImageTopicName>
<depthImageInfoTopicName>/camera_${name}/depth/camera_info</depthImageInfoTopicName>
<!-- <pointCloudTopicName>/camera_${name}/depth/points</pointCloudTopicName> -->
<pointCloudTopicName>/cam${camID}/point_cloud_${name}</pointCloudTopicName>
<frameName>camera_optical_${name}</frameName>
<pointCloudCutoff>0.1</pointCloudCutoff>
<pointCloudCutoffMax>1.5</pointCloudCutoffMax>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
<CxPrime>0</CxPrime>
<Cx>0.0045</Cx>
<Cy>0.0039</Cy>
<focalLength>0</focalLength>
<hackBaseline>0</hackBaseline>
</plugin>
</sensor>
</gazebo>
</xacro:macro>
</robot> |
boredengineering/Robots_for_Omniverse/URDF_descriptions/UnitreeRobotics/go1_description/xacro/transmission.xacro | <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="leg_transmission" params="name">
<transmission name="${name}_hip_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${name}_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${name}_hip_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${name}_thigh_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${name}_thigh_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${name}_thigh_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${name}_calf_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${name}_calf_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${name}_calf_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</xacro:macro>
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/UnitreeRobotics/go1_description/xacro/ultraSound.xacro | <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="ultraSound" params="name *origin">
<joint name="ultraSound_joint_${name}" type="fixed">
<xacro:insert_block name="origin"/>
<parent link="trunk"/>
<child link="ultraSound_${name}"/>
</joint>
<link name="ultraSound_${name}">
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size=".001 .001 .001"/>
</geometry>
</collision>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://go1_description/meshes/ultraSound.dae" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<inertial>
<mass value="1e-5" />
<origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
</inertial>
</link>
</xacro:macro>
</robot> |
boredengineering/Robots_for_Omniverse/URDF_descriptions/UnitreeRobotics/go1_description/xacro/leg.xacro | <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find go1_description)/xacro/transmission.xacro"/>
<xacro:macro name="leg" params="name mirror mirror_dae front_hind front_hind_dae">
<joint name="${name}_hip_joint" type="revolute">
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
<origin rpy="0 0 0" xyz="${leg_offset_x} ${-leg_offset_y} 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
<origin rpy="0 0 0" xyz="${leg_offset_x} ${leg_offset_y} 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
<origin rpy="0 0 0" xyz="${-leg_offset_x} ${-leg_offset_y} 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
<origin rpy="0 0 0" xyz="${-leg_offset_x} ${leg_offset_y} 0"/>
</xacro:if>
<parent link="trunk"/>
<child link="${name}_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="${damping}" friction="${friction}"/>
<xacro:if value="${(mirror_dae == True)}">
<limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${hip_position_min}" upper="${hip_position_max}"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False)}">
<limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${-hip_position_max}" upper="${-hip_position_min}"/>
</xacro:if>
</joint>
<joint name="${name}_hip_rotor_joint" type="fixed">
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
<origin rpy="0 0 0" xyz="${hip_rotor_offset_x} ${-hip_rotor_offset_y} 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
<origin rpy="0 0 0" xyz="${hip_rotor_offset_x} ${hip_rotor_offset_y} 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
<origin rpy="0 0 0" xyz="${-hip_rotor_offset_x} ${-hip_rotor_offset_y} 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
<origin rpy="0 0 0" xyz="${-hip_rotor_offset_x} ${hip_rotor_offset_y} 0"/>
</xacro:if>
<parent link="trunk"/>
<child link="${name}_hip_rotor"/>
</joint>
<link name="${name}_hip">
<visual>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
<origin rpy="0 0 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
<origin rpy="${PI} 0 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
<origin rpy="0 ${PI} 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
<origin rpy="${PI} ${PI} 0" xyz="0 0 0"/>
</xacro:if>
<geometry>
<mesh filename="package://go1_description/meshes/hip.dae" scale="1 1 1"/>
</geometry>
<!-- <material name="orange"/> -->
</visual>
<collision>
<origin rpy="${PI/2.0} 0 0" xyz="0 ${hip_offset*mirror} 0"/>
<geometry>
<cylinder length="${hip_length}" radius="${hip_radius}"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${hip_com_x*front_hind} ${hip_com_y*mirror} ${hip_com_z}"/>
<mass value="${hip_mass}"/>
<inertia
ixx="${hip_ixx}" ixy="${hip_ixy*mirror*front_hind}" ixz="${hip_ixz*front_hind}"
iyy="${hip_iyy}" iyz="${hip_iyz*mirror}"
izz="${hip_izz}"/>
</inertial>
</link>
<link name="${name}_hip_rotor">
<visual>
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.035"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.035"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${hip_rotor_com_x} ${hip_rotor_com_y} ${hip_rotor_com_z}"/>
<mass value="${hip_rotor_mass}"/>
<inertia
ixx="${hip_rotor_ixx}" ixy="${hip_rotor_ixy}" ixz="${hip_rotor_ixz}"
iyy="${hip_rotor_iyy}" iyz="${hip_rotor_iyz}"
izz="${hip_rotor_izz}"/>
</inertial>
</link>
<joint name="${name}_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 ${thigh_offset*mirror} 0"/>
<parent link="${name}_hip"/>
<child link="${name}_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="${damping}" friction="${friction}"/>
<limit effort="${thigh_torque_max}" velocity="${thigh_velocity_max}" lower="${thigh_position_min}" upper="${thigh_position_max}"/>
</joint>
<joint name="${name}_thigh_rotor_joint" type="fixed">
<origin rpy="0 0 0" xyz="${thigh_rotor_offset_x} ${thigh_rotor_offset_y*mirror} 0"/>
<parent link="${name}_hip"/>
<child link="${name}_thigh_rotor"/>
</joint>
<link name="${name}_thigh">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<xacro:if value="${mirror_dae == True}">
<mesh filename="package://go1_description/meshes/thigh.dae" scale="1 1 1"/>
</xacro:if>
<xacro:if value="${mirror_dae == False}">
<mesh filename="package://go1_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
</xacro:if>
</geometry>
<!-- <material name="orange"/> -->
</visual>
<collision>
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-thigh_length/2.0}"/>
<geometry>
<box size="${thigh_length} ${thigh_width} ${thigh_height}"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${thigh_com_x} ${thigh_com_y*mirror} ${thigh_com_z}"/>
<mass value="${thigh_mass}"/>
<inertia
ixx="${thigh_ixx}" ixy="${thigh_ixy*mirror}" ixz="${thigh_ixz}"
iyy="${thigh_iyy}" iyz="${thigh_iyz*mirror}"
izz="${thigh_izz}"/>
</inertial>
</link>
<link name="${name}_thigh_rotor">
<visual>
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.035"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.035"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${thigh_rotor_com_x} ${thigh_rotor_com_y} ${thigh_rotor_com_z}"/>
<mass value="${thigh_rotor_mass}"/>
<inertia
ixx="${thigh_rotor_ixx}" ixy="${thigh_rotor_ixy}" ixz="${thigh_rotor_ixz}"
iyy="${thigh_rotor_iyy}" iyz="${thigh_rotor_iyz}"
izz="${thigh_rotor_izz}"/>
</inertial>
</link>
<joint name="${name}_calf_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 ${-thigh_length}"/>
<parent link="${name}_thigh"/>
<child link="${name}_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="${damping}" friction="${friction}"/>
<limit effort="${calf_torque_max}" velocity="${calf_velocity_max}" lower="${calf_position_min}" upper="${calf_position_max}"/>
</joint>
<joint name="${name}_calf_rotor_joint" type="fixed">
<origin rpy="0 0 0" xyz="${calf_rotor_offset_x} ${calf_rotor_offset_y*mirror} 0"/>
<parent link="${name}_thigh"/>
<child link="${name}_calf_rotor"/>
</joint>
<link name="${name}_calf">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://go1_description/meshes/calf.dae" scale="1 1 1"/>
</geometry>
<!-- <material name="orange"/> -->
</visual>
<collision>
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-calf_length/2.0}"/>
<geometry>
<box size="${calf_length} ${calf_width} ${calf_height}"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${calf_com_x} ${calf_com_y} ${calf_com_z}"/>
<mass value="${calf_mass}"/>
<inertia
ixx="${calf_ixx}" ixy="${calf_ixy}" ixz="${calf_ixz}"
iyy="${calf_iyy}" iyz="${calf_iyz}"
izz="${calf_izz}"/>
</inertial>
</link>
<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"/>
<child link="${name}_foot"/>
</joint>
<link name="${name}_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="${foot_radius-0.01}"/>
</geometry>
<!-- <material name="orange"/> -->
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="${foot_radius}"/>
</geometry>
</collision>
<inertial>
<mass value="${foot_mass}"/>
<inertia
ixx="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}" ixy="0.0" ixz="0.0"
iyy="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}" iyz="0.0"
izz="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}"/>
</inertial>
</link>
<xacro:leg_transmission name="${name}"/>
</xacro:macro>
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/UnitreeRobotics/go1_description/xacro/const.xacro | <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- Constants for robot dimensions -->
<xacro:property name="PI" value="3.1415926535897931"/>
<xacro:property name="stick_mass" value="0.00001"/>
<!-- simplified collision value -->
<xacro:property name="trunk_width" value="0.0935"/>
<xacro:property name="trunk_length" value="0.3762"/>
<xacro:property name="trunk_height" value="0.114"/>
<xacro:property name="hip_radius" value="0.046"/>
<xacro:property name="hip_length" value="0.04"/>
<xacro:property name="thigh_shoulder_radius" value="0.041"/>
<xacro:property name="thigh_shoulder_length" value="0.032"/>
<xacro:property name="thigh_width" value="0.0245"/>
<xacro:property name="thigh_height" value="0.034"/>
<xacro:property name="calf_width" value="0.016"/>
<xacro:property name="calf_height" value="0.016"/>
<xacro:property name="foot_radius" value="0.02"/>
<xacro:property name="stick_radius" value="0.01"/>
<xacro:property name="stick_length" value="0.2"/>
<!-- kinematic value -->
<xacro:property name="thigh_offset" value="0.08"/>
<xacro:property name="thigh_length" value="0.213"/>
<xacro:property name="calf_length" value="0.213"/>
<!-- leg offset from trunk center value -->
<xacro:property name="leg_offset_x" value="0.1881"/>
<xacro:property name="leg_offset_y" value="0.04675"/>
<!-- <xacro:property name="trunk_offset_z" value="0.01675"/> -->
<xacro:property name="hip_offset" value="0.08"/>
<!-- offset of link and rotor locations (left front) -->
<xacro:property name="hip_offset_x" value="0.1881"/>
<xacro:property name="hip_offset_y" value="0.04675"/>
<xacro:property name="hip_offset_z" value="0.0"/>
<xacro:property name="hip_rotor_offset_x" value="0.11215"/>
<xacro:property name="hip_rotor_offset_y" value="0.04675"/>
<xacro:property name="hip_rotor_offset_z" value="0.0"/>
<xacro:property name="thigh_offset_x" value="0"/>
<xacro:property name="thigh_offset_y" value="0.08"/>
<xacro:property name="thigh_offset_z" value="0.0"/>
<xacro:property name="thigh_rotor_offset_x" value="0.0"/>
<xacro:property name="thigh_rotor_offset_y" value="-0.00015"/>
<xacro:property name="thigh_rotor_offset_z" value="0.0"/>
<xacro:property name="calf_offset_x" value="0.0"/>
<xacro:property name="calf_offset_y" value="0.0"/>
<xacro:property name="calf_offset_z" value="-0.213"/>
<xacro:property name="calf_rotor_offset_x" value="0.0"/>
<xacro:property name="calf_rotor_offset_y" value="-0.03235"/>
<xacro:property name="calf_rotor_offset_z" value="0.0"/>
<!-- joint limits -->
<xacro:property name="damping" value="0.01"/>
<xacro:property name="friction" value="0.2"/>
<xacro:property name="hip_position_max" value="0.863"/>
<xacro:property name="hip_position_min" value="-0.863"/>
<xacro:property name="hip_velocity_max" value="30.1"/>
<xacro:property name="hip_torque_max" value="23.7"/>
<xacro:property name="thigh_position_max" value="4.501"/>
<xacro:property name="thigh_position_min" value="-0.686"/>
<xacro:property name="thigh_velocity_max" value="30.1"/>
<xacro:property name="thigh_torque_max" value="23.7"/>
<xacro:property name="calf_position_max" value="-0.888"/>
<xacro:property name="calf_position_min" value="-2.818"/>
<xacro:property name="calf_velocity_max" value="20.06"/>
<xacro:property name="calf_torque_max" value="35.55"/>
<!-- dynamics inertial value total 12.84kg -->
<!-- trunk -->
<xacro:property name="trunk_mass" value="5.204"/>
<xacro:property name="trunk_com_x" value="0.0223"/>
<xacro:property name="trunk_com_y" value="0.002"/>
<xacro:property name="trunk_com_z" value="-0.0005"/>
<xacro:property name="trunk_ixx" value="0.0168128557"/>
<xacro:property name="trunk_ixy" value="-0.0002296769"/>
<xacro:property name="trunk_ixz" value="-0.0002945293"/>
<xacro:property name="trunk_iyy" value="0.063009565"/>
<xacro:property name="trunk_iyz" value="-0.0000418731"/>
<xacro:property name="trunk_izz" value="0.0716547275"/>
<!-- hip (left front) -->
<xacro:property name="hip_mass" value="0.591"/>
<xacro:property name="hip_com_x" value="-0.005657"/>
<xacro:property name="hip_com_y" value="-0.008752"/>
<xacro:property name="hip_com_z" value="-0.000102"/>
<xacro:property name="hip_ixx" value="0.000334008405"/>
<xacro:property name="hip_ixy" value="-0.000010826066"/>
<xacro:property name="hip_ixz" value="0.000001290732"/>
<xacro:property name="hip_iyy" value="0.000619101213"/>
<xacro:property name="hip_iyz" value="0.000001643194"/>
<xacro:property name="hip_izz" value="0.00040057614"/>
<xacro:property name="hip_rotor_mass" value="0.089"/>
<xacro:property name="hip_rotor_com_x" value="0.0"/>
<xacro:property name="hip_rotor_com_y" value="0.0"/>
<xacro:property name="hip_rotor_com_z" value="0.0"/>
<xacro:property name="hip_rotor_ixx" value="0.000111842"/>
<xacro:property name="hip_rotor_ixy" value="0.0"/>
<xacro:property name="hip_rotor_ixz" value="0.0"/>
<xacro:property name="hip_rotor_iyy" value="0.000059647"/>
<xacro:property name="hip_rotor_iyz" value="0.0"/>
<xacro:property name="hip_rotor_izz" value="0.000059647"/>
<!-- thigh -->
<xacro:property name="thigh_mass" value="0.92"/>
<xacro:property name="thigh_com_x" value="-0.003342"/>
<xacro:property name="thigh_com_y" value="-0.018054"/>
<xacro:property name="thigh_com_z" value="-0.033451"/>
<xacro:property name="thigh_ixx" value="0.004431760472"/>
<xacro:property name="thigh_ixy" value="0.000057496807"/>
<xacro:property name="thigh_ixz" value="-0.000218457134"/>
<xacro:property name="thigh_iyy" value="0.004485671726"/>
<xacro:property name="thigh_iyz" value="0.000572001265"/>
<xacro:property name="thigh_izz" value="0.000740309489"/>
<xacro:property name="thigh_rotor_mass" value="0.089"/>
<xacro:property name="thigh_rotor_com_x" value="0.0"/>
<xacro:property name="thigh_rotor_com_y" value="0.0"/>
<xacro:property name="thigh_rotor_com_z" value="0.0"/>
<xacro:property name="thigh_rotor_ixx" value="0.000059647"/>
<xacro:property name="thigh_rotor_ixy" value="0.0"/>
<xacro:property name="thigh_rotor_ixz" value="0.0"/>
<xacro:property name="thigh_rotor_iyy" value="0.000111842"/>
<xacro:property name="thigh_rotor_iyz" value="0.0"/>
<xacro:property name="thigh_rotor_izz" value="0.000059647"/>
<!-- calf -->
<xacro:property name="calf_mass" value="0.135862"/>
<xacro:property name="calf_com_x" value="0.006197"/>
<xacro:property name="calf_com_y" value="0.001408"/>
<xacro:property name="calf_com_z" value="-0.116695"/>
<xacro:property name="calf_ixx" value="0.001088793059"/>
<xacro:property name="calf_ixy" value="-0.000000255679"/>
<xacro:property name="calf_ixz" value="0.000007117814"/>
<xacro:property name="calf_iyy" value="0.001100428748"/>
<xacro:property name="calf_iyz" value="0.000002077264"/>
<xacro:property name="calf_izz" value="0.000024787446"/>
<xacro:property name="calf_rotor_mass" value="0.089"/>
<xacro:property name="calf_rotor_com_x" value="0.0"/>
<xacro:property name="calf_rotor_com_y" value="0.0"/>
<xacro:property name="calf_rotor_com_z" value="0.0"/>
<xacro:property name="calf_rotor_ixx" value="0.000059647"/>
<xacro:property name="calf_rotor_ixy" value="0.0"/>
<xacro:property name="calf_rotor_ixz" value="0.0"/>
<xacro:property name="calf_rotor_iyy" value="0.000111842"/>
<xacro:property name="calf_rotor_iyz" value="0.0"/>
<xacro:property name="calf_rotor_izz" value="0.000059647"/>
<!-- foot -->
<xacro:property name="foot_mass" value="0.06"/>
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/UnitreeRobotics/go1_description/xacro/gazebo.xacro | <?xml version="1.0"?>
<robot>
<!-- ros_control plugin -->
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/go1_gazebo</robotNamespace>
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
</plugin>
</gazebo>
<!-- Show the trajectory of trunk center. -->
<gazebo>
<plugin name="3dplot" filename="libLinkPlot3DPlugin.so">
<frequency>10</frequency>
<plot>
<link>base</link>
<pose>0 0 0 0 0 0</pose>
<material>Gazebo/Yellow</material>
</plot>
</plugin>
</gazebo>
<!-- Show the trajectory of foot. You can add another trajectory about another foot. -->
<!-- <gazebo>
<plugin name="3dplot" filename="libLinkPlot3DPlugin.so">
<frequency>100</frequency>
<plot>
<link>FL_foot</link>
<pose>0 0 0 0 0 0</pose>
<material>Gazebo/Green</material>
</plot>
</plugin>
</gazebo> -->
<gazebo>
<plugin filename="libgazebo_ros_force.so" name="gazebo_ros_force">
<bodyName>trunk</bodyName>
<topicName>/apply_force/trunk</topicName>
</plugin>
</gazebo>
<gazebo reference="imu_link">
<gravity>true</gravity>
<sensor name="imu_sensor" type="imu">
<always_on>true</always_on>
<update_rate>1000</update_rate>
<visualize>true</visualize>
<topic>__default_topic__</topic>
<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
<topicName>trunk_imu</topicName>
<bodyName>imu_link</bodyName>
<updateRateHZ>1000.0</updateRateHZ>
<gaussianNoise>0.0</gaussianNoise>
<xyzOffset>0 0 0</xyzOffset>
<rpyOffset>0 0 0</rpyOffset>
<frameName>imu_link</frameName>
</plugin>
<pose>0 0 0 0 0 0</pose>
</sensor>
</gazebo>
<!-- Depth camera -->
<!-- <gazebo>
<plugin name="camera_plugin" filename="libgazebo_ros_openni_kinect.so">
<baseline>0.025</baseline>
<always_on>true</always_on>
<updateRate>0.0</updateRate>
<cameraName>unitree_camera_left</cameraName>
<frameName>depthCamera_link_left</frameName>
<imageTopicName>rgb/imageRaw_left</imageTopicName>
<depthImageTopicName>depth/imageRaw_left</depthImageTopicName>
<pointCloudTopicName>depth/points_left</pointCloudTopicName>
<cameraInfoTopicName>rgb/cameraInfo_left</cameraInfoTopicName>
<depthImageCameraInfoTopicName>depth/cameraInfo_left</depthImageCameraInfoTopicName>
<pointCloudCutoff>0.1</pointCloudCutoff>
<pointCloudCutoffMax>1.5</pointCloudCutoffMax>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
<CxPrime>0.0</CxPrime>
<Cx>0.0045</Cx>
<Cy>0.0039</Cy>
<focalLength>0.004</focalLength>
<hackBaseline>0.0</hackBaseline>
</plugin>
</gazebo> -->
<!-- <gazebo reference="depthCamera_link_left">
<sensor name="unitree_camera_left" type="depth_camera">
<update_rate>16</update_rate>
<always_on>true</always_on>
<visualize>true</visualize>
<camera>
<horizontal_fov>2.094</horizontal_fov>
<image>
<width>928</width>
<height>800</height>
<format>R8G8B8</format>
</image>
<depth_camera></depth_camera>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
</camera>
<plugin name="camera_plugin" filename="libgazebo_ros_openni_kinect.so">
<baseline>0.025</baseline>
<always_on>true</always_on>
<updateRate>0.0</updateRate>
<cameraName>unitree_camera_left</cameraName>
<frameName>depthCamera_link_left</frameName>
<imageTopicName>rgb/imageRaw_left</imageTopicName>
<depthImageTopicName>depth/imageRaw_left</depthImageTopicName>
<pointCloudTopicName>depth/points_left</pointCloudTopicName>
<cameraInfoTopicName>rgb/cameraInfo_left</cameraInfoTopicName>
<depthImageCameraInfoTopicName>depth/cameraInfo_left</depthImageCameraInfoTopicName>
<pointCloudCutoff>0.1</pointCloudCutoff>
<pointCloudCutoffMax>1.5</pointCloudCutoffMax>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
<CxPrime>0.0</CxPrime>
<Cx>0.0045</Cx>
<Cy>0.0039</Cy>
<focalLength>0.004</focalLength>
<hackBaseline>0.0</hackBaseline>
</plugin>
</sensor>
</gazebo> -->
<gazebo reference="depthCamera_link_left">
<sensor name="camera_link_camera" type="depth">
<update_rate>20</update_rate>
<camera>
<horizontal_fov>1.047198</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.05</near>
<far>3</far>
</clip>
</camera>
<plugin name="camera_link_controller" filename="libgazebo_ros_openni_kinect.so">
<baseline>0.2</baseline>
<alwaysOn>true</alwaysOn>
<updateRate>1.0</updateRate>
<cameraName>camera_link_ir</cameraName>
<imageTopicName>/camera_link/color/image_raw</imageTopicName>
<cameraInfoTopicName>/camera_link/color/camera_info</cameraInfoTopicName>
<depthImageTopicName>/camera_link/depth/image_raw</depthImageTopicName>
<depthImageInfoTopicName>/camera_link/depth/camera_info</depthImageInfoTopicName>
<pointCloudTopicName>/camera_link/depth/points</pointCloudTopicName>
<frameName>depthCamera_link_left</frameName>
<pointCloudCutoff>0.5</pointCloudCutoff>
<pointCloudCutoffMax>3.0</pointCloudCutoffMax>
<distortionK1>0.00000001</distortionK1>
<distortionK2>0.00000001</distortionK2>
<distortionK3>0.00000001</distortionK3>
<distortionT1>0.00000001</distortionT1>
<distortionT2>0.00000001</distortionT2>
<CxPrime>0</CxPrime>
<Cx>0</Cx>
<Cy>0</Cy>
<focalLength>0</focalLength>
<hackBaseline>0</hackBaseline>
</plugin>
</sensor>
</gazebo>
<!-- Foot contacts. -->
<gazebo reference="FR_calf">
<sensor name="FR_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>FR_calf_fixed_joint_lump__FR_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="FL_calf">
<sensor name="FL_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>FL_calf_fixed_joint_lump__FL_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="RR_calf">
<sensor name="RR_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>RR_calf_fixed_joint_lump__RR_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="RL_calf">
<sensor name="RL_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>RL_calf_fixed_joint_lump__RL_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<!-- Visualization of Foot contacts. -->
<gazebo reference="FR_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>FR_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="FL_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>FL_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="RR_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>RR_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="RL_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>RL_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="base">
<material>Gazebo/Green</material>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="trunk">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="stick_link">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/White</material>
</gazebo>
<gazebo reference="imu_link">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/Red</material>
</gazebo>
<!-- FL leg -->
<gazebo reference="FL_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="FL_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="FL_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="FL_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- FR leg -->
<gazebo reference="FR_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="FR_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="FR_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="FR_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- RL leg -->
<gazebo reference="RL_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="RL_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="RL_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="RL_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- RR leg -->
<gazebo reference="RR_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="RR_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="RR_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="RR_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/UnitreeRobotics/go1_description/xacro/robot.xacro | <?xml version="1.0"?>
<robot name="go1" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:arg name="DEBUG" default="false"/>
<xacro:include filename="$(find go1_description)/xacro/const.xacro"/>
<xacro:include filename="$(find go1_description)/xacro/materials.xacro"/>
<xacro:include filename="$(find go1_description)/xacro/leg.xacro"/>
<!-- <xacro:include filename="$(find go1_description)/xacro/stairs.xacro"/> -->
<xacro:include filename="$(find go1_description)/xacro/gazebo.xacro"/>
<xacro:include filename="$(find go1_description)/xacro/depthCamera.xacro"/>
<xacro:include filename="$(find go1_description)/xacro/ultraSound.xacro"/>
<!-- <xacro:include filename="$(find go1_gazebo)/launch/stairs.urdf.xacro"/> -->
<!-- <xacro:stairs stairs="15" xpos="0" ypos="0" zpos="0" /> -->
<!-- Rotor related joint and link is only for demonstrate location. -->
<!-- Actually, the rotor will rotate and the joint is not fixed. Reduction ratio should be considered. -->
<!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
<xacro:if value="$(arg DEBUG)">
<link name="world"/>
<joint name="base_static_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="world"/>
<child link="base"/>
</joint>
</xacro:if>
<link name="base">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
</visual>
</link>
<joint name="floating_base" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base"/>
<child link="trunk"/>
</joint>
<link name="trunk">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://go1_description/meshes/trunk.dae" scale="1 1 1"/>
</geometry>
<!-- <material name="orange"/> -->
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="${trunk_length} ${trunk_width} ${trunk_height}"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${trunk_com_x} ${trunk_com_y} ${trunk_com_z}"/>
<mass value="${trunk_mass}"/>
<inertia
ixx="${trunk_ixx}" ixy="${trunk_ixy}" ixz="${trunk_ixz}"
iyy="${trunk_iyy}" iyz="${trunk_iyz}"
izz="${trunk_izz}"/>
</inertial>
</link>
<joint name="imu_joint" type="fixed">
<parent link="trunk"/>
<child link="imu_link"/>
<origin rpy="0 0 0" xyz="-0.01592 -0.06659 -0.00617"/>
</joint>
<link name="imu_link">
<inertial>
<mass value="0.001"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
<!-- <material name="red"/> -->
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".001 .001 .001"/>
</geometry>
</collision>
</link>
<xacro:leg name="FR" mirror="-1" mirror_dae= "False" front_hind="1" front_hind_dae="True" />
<xacro:leg name="FL" mirror="1" mirror_dae="True" front_hind="1" front_hind_dae="True" />
<xacro:leg name="RR" mirror="-1" mirror_dae="False" front_hind="-1" front_hind_dae="False" />
<xacro:leg name="RL" mirror="1" mirror_dae="True" front_hind="-1" front_hind_dae="False" />
<xacro:depthCamera camID="1" name="face">
<origin rpy="${PI} 0 0" xyz="0.2785 0.0125 0.0167"/>
</xacro:depthCamera>
<xacro:depthCamera camID="2" name="chin">
<origin rpy="${PI} ${PI/2} 0" xyz="0.2522 0.0125 -0.0436"/>
</xacro:depthCamera>
<xacro:depthCamera camID="3" name="left">
<origin rpy="${PI} 0.2618 ${PI/2}" xyz="-0.066 0.082 -0.0176"/>
</xacro:depthCamera>
<xacro:depthCamera camID="4" name="right">
<origin rpy="${PI} 0.2618 ${-PI/2}" xyz="-0.041 -0.082 -0.0176"/>
</xacro:depthCamera>
<xacro:depthCamera camID="5" name="rearDown">
<origin rpy="${PI} ${PI/2} 0" xyz="-0.0825 0.0125 -0.04365"/>
</xacro:depthCamera>
<joint name="camera_laserscan_joint_left" type="fixed">
<origin rpy="0 0.2618 0" xyz="0 0 0"/>
<parent link="camera_left"/>
<child link="camera_laserscan_link_left"/>
</joint>
<link name="camera_laserscan_link_left">
</link>
<joint name="camera_laserscan_joint_right" type="fixed">
<origin rpy="0 0.2618 0" xyz="0 0 0"/>
<parent link="camera_right"/>
<child link="camera_laserscan_link_right"/>
</joint>
<link name="camera_laserscan_link_right">
</link>
<xacro:ultraSound name="left">
<origin rpy="0 0.2618 ${PI/2}" xyz="-0.0535 0.0826 0.00868"/>
</xacro:ultraSound>
<xacro:ultraSound name="right">
<origin rpy="0 0.2618 ${-PI/2}" xyz="-0.0535 -0.0826 0.00868"/>
</xacro:ultraSound>
<xacro:ultraSound name="face">
<origin rpy="0 0 0" xyz="0.2747 0.0 -0.0088"/>
</xacro:ultraSound>
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/UnitreeRobotics/go1_description/urdf/go1.urdf | <?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from robot.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="go1">
<material name="black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<material name="green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>
<material name="grey">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
<material name="silver">
<color rgba="0.9137254901960784 0.9137254901960784 0.8470588235294118 1.0"/>
</material>
<material name="orange">
<color rgba="1.0 0.4235294117647059 0.0392156862745098 1.0"/>
</material>
<material name="brown">
<color rgba="0.8705882352941177 0.8117647058823529 0.7647058823529411 1.0"/>
</material>
<material name="red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="white">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<!-- ros_control plugin -->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<robotNamespace>/go1_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>
<!-- Depth camera -->
<!-- <gazebo>
<plugin name="camera_plugin" filename="libgazebo_ros_openni_kinect.so">
<baseline>0.025</baseline>
<always_on>true</always_on>
<updateRate>0.0</updateRate>
<cameraName>unitree_camera_left</cameraName>
<frameName>depthCamera_link_left</frameName>
<imageTopicName>rgb/imageRaw_left</imageTopicName>
<depthImageTopicName>depth/imageRaw_left</depthImageTopicName>
<pointCloudTopicName>depth/points_left</pointCloudTopicName>
<cameraInfoTopicName>rgb/cameraInfo_left</cameraInfoTopicName>
<depthImageCameraInfoTopicName>depth/cameraInfo_left</depthImageCameraInfoTopicName>
<pointCloudCutoff>0.1</pointCloudCutoff>
<pointCloudCutoffMax>1.5</pointCloudCutoffMax>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
<CxPrime>0.0</CxPrime>
<Cx>0.0045</Cx>
<Cy>0.0039</Cy>
<focalLength>0.004</focalLength>
<hackBaseline>0.0</hackBaseline>
</plugin>
</gazebo> -->
<!-- <gazebo reference="depthCamera_link_left">
<sensor name="unitree_camera_left" type="depth_camera">
<update_rate>16</update_rate>
<always_on>true</always_on>
<visualize>true</visualize>
<camera>
<horizontal_fov>2.094</horizontal_fov>
<image>
<width>928</width>
<height>800</height>
<format>R8G8B8</format>
</image>
<depth_camera></depth_camera>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
</camera>
<plugin name="camera_plugin" filename="libgazebo_ros_openni_kinect.so">
<baseline>0.025</baseline>
<always_on>true</always_on>
<updateRate>0.0</updateRate>
<cameraName>unitree_camera_left</cameraName>
<frameName>depthCamera_link_left</frameName>
<imageTopicName>rgb/imageRaw_left</imageTopicName>
<depthImageTopicName>depth/imageRaw_left</depthImageTopicName>
<pointCloudTopicName>depth/points_left</pointCloudTopicName>
<cameraInfoTopicName>rgb/cameraInfo_left</cameraInfoTopicName>
<depthImageCameraInfoTopicName>depth/cameraInfo_left</depthImageCameraInfoTopicName>
<pointCloudCutoff>0.1</pointCloudCutoff>
<pointCloudCutoffMax>1.5</pointCloudCutoffMax>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
<CxPrime>0.0</CxPrime>
<Cx>0.0045</Cx>
<Cy>0.0039</Cy>
<focalLength>0.004</focalLength>
<hackBaseline>0.0</hackBaseline>
</plugin>
</sensor>
</gazebo> -->
<gazebo reference="depthCamera_link_left">
<sensor name="camera_link_camera" type="depth">
<update_rate>20</update_rate>
<camera>
<horizontal_fov>1.047198</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.05</near>
<far>3</far>
</clip>
</camera>
<plugin filename="libgazebo_ros_openni_kinect.so" name="camera_link_controller">
<baseline>0.2</baseline>
<alwaysOn>true</alwaysOn>
<updateRate>1.0</updateRate>
<cameraName>camera_link_ir</cameraName>
<imageTopicName>/camera_link/color/image_raw</imageTopicName>
<cameraInfoTopicName>/camera_link/color/camera_info</cameraInfoTopicName>
<depthImageTopicName>/camera_link/depth/image_raw</depthImageTopicName>
<depthImageInfoTopicName>/camera_link/depth/camera_info</depthImageInfoTopicName>
<pointCloudTopicName>/camera_link/depth/points</pointCloudTopicName>
<frameName>depthCamera_link_left</frameName>
<pointCloudCutoff>0.5</pointCloudCutoff>
<pointCloudCutoffMax>3.0</pointCloudCutoffMax>
<distortionK1>0.00000001</distortionK1>
<distortionK2>0.00000001</distortionK2>
<distortionK3>0.00000001</distortionK3>
<distortionT1>0.00000001</distortionT1>
<distortionT2>0.00000001</distortionT2>
<CxPrime>0</CxPrime>
<Cx>0</Cx>
<Cy>0</Cy>
<focalLength>0</focalLength>
<hackBaseline>0</hackBaseline>
</plugin>
</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>
<!-- <xacro:include filename="$(find go1_gazebo)/launch/stairs.urdf.xacro"/> -->
<!-- <xacro:stairs stairs="15" xpos="0" ypos="0" zpos="0" /> -->
<!-- Rotor related joint and link is only for demonstrate location. -->
<!-- Actually, the rotor will rotate and the joint is not fixed. Reduction ratio should be considered. -->
<!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
<!-- <xacro:if value="$(arg DEBUG)">
<link name="world"/>
<joint name="base_static_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="world"/>
<child link="base"/>
</joint>
</xacro:if> -->
<link name="base">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
</visual>
</link>
<joint name="floating_base" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base"/>
<child link="trunk"/>
</joint>
<link name="trunk">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://go1_description/meshes/trunk.dae" scale="1 1 1"/>
</geometry>
<!-- <material name="orange"/> -->
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.3762 0.0935 0.114"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0223 0.002 -0.0005"/>
<mass value="5.204"/>
<inertia ixx="0.0168128557" ixy="-0.0002296769" ixz="-0.0002945293" iyy="0.063009565" iyz="-4.18731e-05" izz="0.0716547275"/>
</inertial>
</link>
<joint name="imu_joint" type="fixed">
<parent link="trunk"/>
<child link="imu_link"/>
<origin rpy="0 0 0" xyz="-0.01592 -0.06659 -0.00617"/>
</joint>
<link name="imu_link">
<inertial>
<mass value="0.001"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
<!-- <material name="red"/> -->
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".001 .001 .001"/>
</geometry>
</collision>
</link>
<joint name="FR_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="0.1881 -0.04675 0"/>
<parent link="trunk"/>
<child link="FR_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0.01" friction="0.2"/>
<limit effort="23.7" lower="-0.863" upper="0.863" velocity="30.1"/>
</joint>
<joint name="FR_hip_rotor_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.11215 -0.04675 0"/>
<parent link="trunk"/>
<child link="FR_hip_rotor"/>
</joint>
<link name="FR_hip">
<visual>
<origin rpy="3.141592653589793 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://go1_description/meshes/hip.dae" scale="1 1 1"/>
</geometry>
<!-- <material name="orange"/> -->
</visual>
<collision>
<origin rpy="1.5707963267948966 0 0" xyz="0 -0.08 0"/>
<geometry>
<cylinder length="0.04" radius="0.046"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.005657 0.008752 -0.000102"/>
<mass value="0.591"/>
<inertia ixx="0.000334008405" ixy="1.0826066e-05" ixz="1.290732e-06" iyy="0.000619101213" iyz="-1.643194e-06" izz="0.00040057614"/>
</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="0.089"/>
<inertia ixx="0.000111842" ixy="0.0" ixz="0.0" iyy="5.9647e-05" iyz="0.0" izz="5.9647e-05"/>
</inertial>
</link>
<joint name="FR_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 -0.08 0"/>
<parent link="FR_hip"/>
<child link="FR_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="0.01" friction="0.2"/>
<limit effort="23.7" lower="-0.686" upper="4.501" velocity="30.1"/>
</joint>
<joint name="FR_thigh_rotor_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.0 0.00015 0"/>
<parent link="FR_hip"/>
<child link="FR_thigh_rotor"/>
</joint>
<link name="FR_thigh">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://go1_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
</geometry>
<!-- <material name="orange"/> -->
</visual>
<collision>
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065"/>
<geometry>
<box size="0.213 0.0245 0.034"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.003342 0.018054 -0.033451"/>
<mass value="0.92"/>
<inertia ixx="0.004431760472" ixy="-5.7496807e-05" ixz="-0.000218457134" iyy="0.004485671726" iyz="-0.000572001265" izz="0.000740309489"/>
</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="0.089"/>
<inertia ixx="5.9647e-05" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="5.9647e-05"/>
</inertial>
</link>
<joint name="FR_calf_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
<parent link="FR_thigh"/>
<child link="FR_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="0.01" friction="0.2"/>
<limit effort="35.55" lower="-2.818" upper="-0.888" velocity="20.06"/>
</joint>
<joint name="FR_calf_rotor_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.0 0.03235 0"/>
<parent link="FR_thigh"/>
<child link="FR_calf_rotor"/>
</joint>
<link name="FR_calf">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://go1_description/meshes/calf.dae" scale="1 1 1"/>
</geometry>
<!-- <material name="orange"/> -->
</visual>
<collision>
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065"/>
<geometry>
<box size="0.213 0.016 0.016"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.006197 0.001408 -0.116695"/>
<mass value="0.135862"/>
<inertia ixx="0.001088793059" ixy="-2.55679e-07" ixz="7.117814e-06" iyy="0.001100428748" iyz="2.077264e-06" izz="2.4787446e-05"/>
</inertial>
</link>
<link name="FR_calf_rotor">
<visual>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.035"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.035"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<mass value="0.089"/>
<inertia ixx="5.9647e-05" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="5.9647e-05"/>
</inertial>
</link>
<joint name="FR_foot_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
<parent link="FR_calf"/>
<child link="FR_foot"/>
</joint>
<link name="FR_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.01"/>
</geometry>
<!-- <material name="orange"/> -->
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.02"/>
</geometry>
</collision>
<inertial>
<mass value="0.06"/>
<inertia ixx="9.600000000000001e-06" ixy="0.0" ixz="0.0" iyy="9.600000000000001e-06" iyz="0.0" izz="9.600000000000001e-06"/>
</inertial>
</link>
<transmission name="FR_hip_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FR_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="FR_hip_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="FR_thigh_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FR_thigh_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="FR_thigh_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="FR_calf_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FR_calf_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="FR_calf_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="FL_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="0.1881 0.04675 0"/>
<parent link="trunk"/>
<child link="FL_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0.01" friction="0.2"/>
<limit effort="23.7" lower="-0.863" upper="0.863" velocity="30.1"/>
</joint>
<joint name="FL_hip_rotor_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.11215 0.04675 0"/>
<parent link="trunk"/>
<child link="FL_hip_rotor"/>
</joint>
<link name="FL_hip">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://go1_description/meshes/hip.dae" scale="1 1 1"/>
</geometry>
<!-- <material name="orange"/> -->
</visual>
<collision>
<origin rpy="1.5707963267948966 0 0" xyz="0 0.08 0"/>
<geometry>
<cylinder length="0.04" radius="0.046"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.005657 -0.008752 -0.000102"/>
<mass value="0.591"/>
<inertia ixx="0.000334008405" ixy="-1.0826066e-05" ixz="1.290732e-06" iyy="0.000619101213" iyz="1.643194e-06" izz="0.00040057614"/>
</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="0.089"/>
<inertia ixx="0.000111842" ixy="0.0" ixz="0.0" iyy="5.9647e-05" iyz="0.0" izz="5.9647e-05"/>
</inertial>
</link>
<joint name="FL_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0.08 0"/>
<parent link="FL_hip"/>
<child link="FL_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="0.01" friction="0.2"/>
<limit effort="23.7" lower="-0.686" upper="4.501" velocity="30.1"/>
</joint>
<joint name="FL_thigh_rotor_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.0 -0.00015 0"/>
<parent link="FL_hip"/>
<child link="FL_thigh_rotor"/>
</joint>
<link name="FL_thigh">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://go1_description/meshes/thigh.dae" scale="1 1 1"/>
</geometry>
<!-- <material name="orange"/> -->
</visual>
<collision>
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065"/>
<geometry>
<box size="0.213 0.0245 0.034"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.003342 -0.018054 -0.033451"/>
<mass value="0.92"/>
<inertia ixx="0.004431760472" ixy="5.7496807e-05" ixz="-0.000218457134" iyy="0.004485671726" iyz="0.000572001265" izz="0.000740309489"/>
</inertial>
</link>
<link name="FL_thigh_rotor">
<visual>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.035"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.035"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<mass value="0.089"/>
<inertia ixx="5.9647e-05" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="5.9647e-05"/>
</inertial>
</link>
<joint name="FL_calf_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
<parent link="FL_thigh"/>
<child link="FL_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="0.01" friction="0.2"/>
<limit effort="35.55" lower="-2.818" upper="-0.888" velocity="20.06"/>
</joint>
<joint name="FL_calf_rotor_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.0 -0.03235 0"/>
<parent link="FL_thigh"/>
<child link="FL_calf_rotor"/>
</joint>
<link name="FL_calf">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://go1_description/meshes/calf.dae" scale="1 1 1"/>
</geometry>
<!-- <material name="orange"/> -->
</visual>
<collision>
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065"/>
<geometry>
<box size="0.213 0.016 0.016"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.006197 0.001408 -0.116695"/>
<mass value="0.135862"/>
<inertia ixx="0.001088793059" ixy="-2.55679e-07" ixz="7.117814e-06" iyy="0.001100428748" iyz="2.077264e-06" izz="2.4787446e-05"/>
</inertial>
</link>
<link name="FL_calf_rotor">
<visual>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.035"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.035"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<mass value="0.089"/>
<inertia ixx="5.9647e-05" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="5.9647e-05"/>
</inertial>
</link>
<joint name="FL_foot_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
<parent link="FL_calf"/>
<child link="FL_foot"/>
</joint>
<link name="FL_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.01"/>
</geometry>
<!-- <material name="orange"/> -->
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.02"/>
</geometry>
</collision>
<inertial>
<mass value="0.06"/>
<inertia ixx="9.600000000000001e-06" ixy="0.0" ixz="0.0" iyy="9.600000000000001e-06" iyz="0.0" izz="9.600000000000001e-06"/>
</inertial>
</link>
<transmission name="FL_hip_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FL_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="FL_hip_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="FL_thigh_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FL_thigh_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="FL_thigh_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="FL_calf_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FL_calf_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="FL_calf_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="RR_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="-0.1881 -0.04675 0"/>
<parent link="trunk"/>
<child link="RR_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0.01" friction="0.2"/>
<limit effort="23.7" lower="-0.863" upper="0.863" velocity="30.1"/>
</joint>
<joint name="RR_hip_rotor_joint" type="fixed">
<origin rpy="0 0 0" xyz="-0.11215 -0.04675 0"/>
<parent link="trunk"/>
<child link="RR_hip_rotor"/>
</joint>
<link name="RR_hip">
<visual>
<origin rpy="3.141592653589793 3.141592653589793 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://go1_description/meshes/hip.dae" scale="1 1 1"/>
</geometry>
<!-- <material name="orange"/> -->
</visual>
<collision>
<origin rpy="1.5707963267948966 0 0" xyz="0 -0.08 0"/>
<geometry>
<cylinder length="0.04" radius="0.046"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.005657 0.008752 -0.000102"/>
<mass value="0.591"/>
<inertia ixx="0.000334008405" ixy="-1.0826066e-05" ixz="-1.290732e-06" iyy="0.000619101213" iyz="-1.643194e-06" izz="0.00040057614"/>
</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="0.089"/>
<inertia ixx="0.000111842" ixy="0.0" ixz="0.0" iyy="5.9647e-05" iyz="0.0" izz="5.9647e-05"/>
</inertial>
</link>
<joint name="RR_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 -0.08 0"/>
<parent link="RR_hip"/>
<child link="RR_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="0.01" friction="0.2"/>
<limit effort="23.7" lower="-0.686" upper="4.501" velocity="30.1"/>
</joint>
<joint name="RR_thigh_rotor_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.0 0.00015 0"/>
<parent link="RR_hip"/>
<child link="RR_thigh_rotor"/>
</joint>
<link name="RR_thigh">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://go1_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
</geometry>
<!-- <material name="orange"/> -->
</visual>
<collision>
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065"/>
<geometry>
<box size="0.213 0.0245 0.034"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.003342 0.018054 -0.033451"/>
<mass value="0.92"/>
<inertia ixx="0.004431760472" ixy="-5.7496807e-05" ixz="-0.000218457134" iyy="0.004485671726" iyz="-0.000572001265" izz="0.000740309489"/>
</inertial>
</link>
<link name="RR_thigh_rotor">
<visual>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.035"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.035"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<mass value="0.089"/>
<inertia ixx="5.9647e-05" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="5.9647e-05"/>
</inertial>
</link>
<joint name="RR_calf_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
<parent link="RR_thigh"/>
<child link="RR_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="0.01" friction="0.2"/>
<limit effort="35.55" lower="-2.818" upper="-0.888" velocity="20.06"/>
</joint>
<joint name="RR_calf_rotor_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.0 0.03235 0"/>
<parent link="RR_thigh"/>
<child link="RR_calf_rotor"/>
</joint>
<link name="RR_calf">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://go1_description/meshes/calf.dae" scale="1 1 1"/>
</geometry>
<!-- <material name="orange"/> -->
</visual>
<collision>
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065"/>
<geometry>
<box size="0.213 0.016 0.016"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.006197 0.001408 -0.116695"/>
<mass value="0.135862"/>
<inertia ixx="0.001088793059" ixy="-2.55679e-07" ixz="7.117814e-06" iyy="0.001100428748" iyz="2.077264e-06" izz="2.4787446e-05"/>
</inertial>
</link>
<link name="RR_calf_rotor">
<visual>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.035"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.035"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<mass value="0.089"/>
<inertia ixx="5.9647e-05" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="5.9647e-05"/>
</inertial>
</link>
<joint name="RR_foot_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
<parent link="RR_calf"/>
<child link="RR_foot"/>
</joint>
<link name="RR_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.01"/>
</geometry>
<!-- <material name="orange"/> -->
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.02"/>
</geometry>
</collision>
<inertial>
<mass value="0.06"/>
<inertia ixx="9.600000000000001e-06" ixy="0.0" ixz="0.0" iyy="9.600000000000001e-06" iyz="0.0" izz="9.600000000000001e-06"/>
</inertial>
</link>
<transmission name="RR_hip_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RR_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RR_hip_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RR_thigh_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RR_thigh_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RR_thigh_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RR_calf_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RR_calf_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RR_calf_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="RL_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="-0.1881 0.04675 0"/>
<parent link="trunk"/>
<child link="RL_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0.01" friction="0.2"/>
<limit effort="23.7" lower="-0.863" upper="0.863" velocity="30.1"/>
</joint>
<joint name="RL_hip_rotor_joint" type="fixed">
<origin rpy="0 0 0" xyz="-0.11215 0.04675 0"/>
<parent link="trunk"/>
<child link="RL_hip_rotor"/>
</joint>
<link name="RL_hip">
<visual>
<origin rpy="0 3.141592653589793 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://go1_description/meshes/hip.dae" scale="1 1 1"/>
</geometry>
<!-- <material name="orange"/> -->
</visual>
<collision>
<origin rpy="1.5707963267948966 0 0" xyz="0 0.08 0"/>
<geometry>
<cylinder length="0.04" radius="0.046"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.005657 -0.008752 -0.000102"/>
<mass value="0.591"/>
<inertia ixx="0.000334008405" ixy="1.0826066e-05" ixz="-1.290732e-06" iyy="0.000619101213" iyz="1.643194e-06" izz="0.00040057614"/>
</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="0.089"/>
<inertia ixx="0.000111842" ixy="0.0" ixz="0.0" iyy="5.9647e-05" iyz="0.0" izz="5.9647e-05"/>
</inertial>
</link>
<joint name="RL_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0.08 0"/>
<parent link="RL_hip"/>
<child link="RL_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="0.01" friction="0.2"/>
<limit effort="23.7" lower="-0.686" upper="4.501" velocity="30.1"/>
</joint>
<joint name="RL_thigh_rotor_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.0 -0.00015 0"/>
<parent link="RL_hip"/>
<child link="RL_thigh_rotor"/>
</joint>
<link name="RL_thigh">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://go1_description/meshes/thigh.dae" scale="1 1 1"/>
</geometry>
<!-- <material name="orange"/> -->
</visual>
<collision>
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065"/>
<geometry>
<box size="0.213 0.0245 0.034"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.003342 -0.018054 -0.033451"/>
<mass value="0.92"/>
<inertia ixx="0.004431760472" ixy="5.7496807e-05" ixz="-0.000218457134" iyy="0.004485671726" iyz="0.000572001265" izz="0.000740309489"/>
</inertial>
</link>
<link name="RL_thigh_rotor">
<visual>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.035"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.035"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<mass value="0.089"/>
<inertia ixx="5.9647e-05" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="5.9647e-05"/>
</inertial>
</link>
<joint name="RL_calf_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
<parent link="RL_thigh"/>
<child link="RL_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="0.01" friction="0.2"/>
<limit effort="35.55" lower="-2.818" upper="-0.888" velocity="20.06"/>
</joint>
<joint name="RL_calf_rotor_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.0 -0.03235 0"/>
<parent link="RL_thigh"/>
<child link="RL_calf_rotor"/>
</joint>
<link name="RL_calf">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://go1_description/meshes/calf.dae" scale="1 1 1"/>
</geometry>
<!-- <material name="orange"/> -->
</visual>
<collision>
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065"/>
<geometry>
<box size="0.213 0.016 0.016"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.006197 0.001408 -0.116695"/>
<mass value="0.135862"/>
<inertia ixx="0.001088793059" ixy="-2.55679e-07" ixz="7.117814e-06" iyy="0.001100428748" iyz="2.077264e-06" izz="2.4787446e-05"/>
</inertial>
</link>
<link name="RL_calf_rotor">
<visual>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.035"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.035"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<mass value="0.089"/>
<inertia ixx="5.9647e-05" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="5.9647e-05"/>
</inertial>
</link>
<joint name="RL_foot_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.213"/>
<parent link="RL_calf"/>
<child link="RL_foot"/>
</joint>
<link name="RL_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.01"/>
</geometry>
<!-- <material name="orange"/> -->
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.02"/>
</geometry>
</collision>
<inertial>
<mass value="0.06"/>
<inertia ixx="9.600000000000001e-06" ixy="0.0" ixz="0.0" iyy="9.600000000000001e-06" iyz="0.0" izz="9.600000000000001e-06"/>
</inertial>
</link>
<transmission name="RL_hip_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RL_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RL_hip_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RL_thigh_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RL_thigh_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RL_thigh_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RL_calf_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RL_calf_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RL_calf_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="camera_joint_face" type="fixed">
<origin rpy="3.141592653589793 0 0" xyz="0.2785 0.0125 0.0167"/>
<parent link="trunk"/>
<child link="camera_face"/>
</joint>
<link name="camera_face">
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".001 .001 .001"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://go1_description/meshes/depthCamera.dae" scale="1 1 1"/>
</geometry>
</visual>
<inertial>
<mass value="1e-5"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
</inertial>
</link>
<joint name="camera_optical_joint_face" type="fixed">
<origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
<parent link="camera_face"/>
<child link="camera_optical_face"/>
</joint>
<link name="camera_optical_face">
</link>
<gazebo reference="camera_face">
<!-- <material>Gazebo/Black</material> -->
<sensor name="camera_face_camera" type="depth">
<update_rate>16</update_rate>
<camera>
<horizontal_fov>2.094</horizontal_fov>
<image>
<width>928</width>
<height>800</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.1</near>
<far>5</far>
</clip>
</camera>
<plugin filename="libgazebo_ros_openni_kinect.so" name="camera_face_controller">
<baseline>0.025</baseline>
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<cameraName>camera_face_ir</cameraName>
<imageTopicName>/camera_face/color/image_raw</imageTopicName>
<cameraInfoTopicName>/camera_face/color/camera_info</cameraInfoTopicName>
<depthImageTopicName>/camera_face/depth/image_raw</depthImageTopicName>
<depthImageInfoTopicName>/camera_face/depth/camera_info</depthImageInfoTopicName>
<!-- <pointCloudTopicName>/camera_${name}/depth/points</pointCloudTopicName> -->
<pointCloudTopicName>/cam1/point_cloud_face</pointCloudTopicName>
<frameName>camera_optical_face</frameName>
<pointCloudCutoff>0.1</pointCloudCutoff>
<pointCloudCutoffMax>1.5</pointCloudCutoffMax>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
<CxPrime>0</CxPrime>
<Cx>0.0045</Cx>
<Cy>0.0039</Cy>
<focalLength>0</focalLength>
<hackBaseline>0</hackBaseline>
</plugin>
</sensor>
</gazebo>
<joint name="camera_joint_chin" type="fixed">
<origin rpy="3.141592653589793 1.5707963267948966 0" xyz="0.2522 0.0125 -0.0436"/>
<parent link="trunk"/>
<child link="camera_chin"/>
</joint>
<link name="camera_chin">
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".001 .001 .001"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://go1_description/meshes/depthCamera.dae" scale="1 1 1"/>
</geometry>
</visual>
<inertial>
<mass value="1e-5"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
</inertial>
</link>
<joint name="camera_optical_joint_chin" type="fixed">
<origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
<parent link="camera_chin"/>
<child link="camera_optical_chin"/>
</joint>
<link name="camera_optical_chin">
</link>
<gazebo reference="camera_chin">
<!-- <material>Gazebo/Black</material> -->
<sensor name="camera_chin_camera" type="depth">
<update_rate>16</update_rate>
<camera>
<horizontal_fov>2.094</horizontal_fov>
<image>
<width>928</width>
<height>800</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.1</near>
<far>5</far>
</clip>
</camera>
<plugin filename="libgazebo_ros_openni_kinect.so" name="camera_chin_controller">
<baseline>0.025</baseline>
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<cameraName>camera_chin_ir</cameraName>
<imageTopicName>/camera_chin/color/image_raw</imageTopicName>
<cameraInfoTopicName>/camera_chin/color/camera_info</cameraInfoTopicName>
<depthImageTopicName>/camera_chin/depth/image_raw</depthImageTopicName>
<depthImageInfoTopicName>/camera_chin/depth/camera_info</depthImageInfoTopicName>
<!-- <pointCloudTopicName>/camera_${name}/depth/points</pointCloudTopicName> -->
<pointCloudTopicName>/cam2/point_cloud_chin</pointCloudTopicName>
<frameName>camera_optical_chin</frameName>
<pointCloudCutoff>0.1</pointCloudCutoff>
<pointCloudCutoffMax>1.5</pointCloudCutoffMax>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
<CxPrime>0</CxPrime>
<Cx>0.0045</Cx>
<Cy>0.0039</Cy>
<focalLength>0</focalLength>
<hackBaseline>0</hackBaseline>
</plugin>
</sensor>
</gazebo>
<joint name="camera_joint_left" type="fixed">
<origin rpy="3.141592653589793 0.2618 1.5707963267948966" xyz="-0.066 0.082 -0.0176"/>
<parent link="trunk"/>
<child link="camera_left"/>
</joint>
<link name="camera_left">
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".001 .001 .001"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://go1_description/meshes/depthCamera.dae" scale="1 1 1"/>
</geometry>
</visual>
<inertial>
<mass value="1e-5"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
</inertial>
</link>
<joint name="camera_optical_joint_left" type="fixed">
<origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
<parent link="camera_left"/>
<child link="camera_optical_left"/>
</joint>
<link name="camera_optical_left">
</link>
<gazebo reference="camera_left">
<!-- <material>Gazebo/Black</material> -->
<sensor name="camera_left_camera" type="depth">
<update_rate>16</update_rate>
<camera>
<horizontal_fov>2.094</horizontal_fov>
<image>
<width>928</width>
<height>800</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.1</near>
<far>5</far>
</clip>
</camera>
<plugin filename="libgazebo_ros_openni_kinect.so" name="camera_left_controller">
<baseline>0.025</baseline>
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<cameraName>camera_left_ir</cameraName>
<imageTopicName>/camera_left/color/image_raw</imageTopicName>
<cameraInfoTopicName>/camera_left/color/camera_info</cameraInfoTopicName>
<depthImageTopicName>/camera_left/depth/image_raw</depthImageTopicName>
<depthImageInfoTopicName>/camera_left/depth/camera_info</depthImageInfoTopicName>
<!-- <pointCloudTopicName>/camera_${name}/depth/points</pointCloudTopicName> -->
<pointCloudTopicName>/cam3/point_cloud_left</pointCloudTopicName>
<frameName>camera_optical_left</frameName>
<pointCloudCutoff>0.1</pointCloudCutoff>
<pointCloudCutoffMax>1.5</pointCloudCutoffMax>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
<CxPrime>0</CxPrime>
<Cx>0.0045</Cx>
<Cy>0.0039</Cy>
<focalLength>0</focalLength>
<hackBaseline>0</hackBaseline>
</plugin>
</sensor>
</gazebo>
<joint name="camera_joint_right" type="fixed">
<origin rpy="3.141592653589793 0.2618 -1.5707963267948966" xyz="-0.041 -0.082 -0.0176"/>
<parent link="trunk"/>
<child link="camera_right"/>
</joint>
<link name="camera_right">
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".001 .001 .001"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://go1_description/meshes/depthCamera.dae" scale="1 1 1"/>
</geometry>
</visual>
<inertial>
<mass value="1e-5"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
</inertial>
</link>
<joint name="camera_optical_joint_right" type="fixed">
<origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
<parent link="camera_right"/>
<child link="camera_optical_right"/>
</joint>
<link name="camera_optical_right">
</link>
<gazebo reference="camera_right">
<!-- <material>Gazebo/Black</material> -->
<sensor name="camera_right_camera" type="depth">
<update_rate>16</update_rate>
<camera>
<horizontal_fov>2.094</horizontal_fov>
<image>
<width>928</width>
<height>800</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.1</near>
<far>5</far>
</clip>
</camera>
<plugin filename="libgazebo_ros_openni_kinect.so" name="camera_right_controller">
<baseline>0.025</baseline>
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<cameraName>camera_right_ir</cameraName>
<imageTopicName>/camera_right/color/image_raw</imageTopicName>
<cameraInfoTopicName>/camera_right/color/camera_info</cameraInfoTopicName>
<depthImageTopicName>/camera_right/depth/image_raw</depthImageTopicName>
<depthImageInfoTopicName>/camera_right/depth/camera_info</depthImageInfoTopicName>
<!-- <pointCloudTopicName>/camera_${name}/depth/points</pointCloudTopicName> -->
<pointCloudTopicName>/cam4/point_cloud_right</pointCloudTopicName>
<frameName>camera_optical_right</frameName>
<pointCloudCutoff>0.1</pointCloudCutoff>
<pointCloudCutoffMax>1.5</pointCloudCutoffMax>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
<CxPrime>0</CxPrime>
<Cx>0.0045</Cx>
<Cy>0.0039</Cy>
<focalLength>0</focalLength>
<hackBaseline>0</hackBaseline>
</plugin>
</sensor>
</gazebo>
<joint name="camera_joint_rearDown" type="fixed">
<origin rpy="3.141592653589793 1.5707963267948966 0" xyz="-0.0825 0.0125 -0.04365"/>
<parent link="trunk"/>
<child link="camera_rearDown"/>
</joint>
<link name="camera_rearDown">
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".001 .001 .001"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://go1_description/meshes/depthCamera.dae" scale="1 1 1"/>
</geometry>
</visual>
<inertial>
<mass value="1e-5"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
</inertial>
</link>
<joint name="camera_optical_joint_rearDown" type="fixed">
<origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
<parent link="camera_rearDown"/>
<child link="camera_optical_rearDown"/>
</joint>
<link name="camera_optical_rearDown">
</link>
<gazebo reference="camera_rearDown">
<!-- <material>Gazebo/Black</material> -->
<sensor name="camera_rearDown_camera" type="depth">
<update_rate>16</update_rate>
<camera>
<horizontal_fov>2.094</horizontal_fov>
<image>
<width>928</width>
<height>800</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.1</near>
<far>5</far>
</clip>
</camera>
<plugin filename="libgazebo_ros_openni_kinect.so" name="camera_rearDown_controller">
<baseline>0.025</baseline>
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<cameraName>camera_rearDown_ir</cameraName>
<imageTopicName>/camera_rearDown/color/image_raw</imageTopicName>
<cameraInfoTopicName>/camera_rearDown/color/camera_info</cameraInfoTopicName>
<depthImageTopicName>/camera_rearDown/depth/image_raw</depthImageTopicName>
<depthImageInfoTopicName>/camera_rearDown/depth/camera_info</depthImageInfoTopicName>
<!-- <pointCloudTopicName>/camera_${name}/depth/points</pointCloudTopicName> -->
<pointCloudTopicName>/cam5/point_cloud_rearDown</pointCloudTopicName>
<frameName>camera_optical_rearDown</frameName>
<pointCloudCutoff>0.1</pointCloudCutoff>
<pointCloudCutoffMax>1.5</pointCloudCutoffMax>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
<CxPrime>0</CxPrime>
<Cx>0.0045</Cx>
<Cy>0.0039</Cy>
<focalLength>0</focalLength>
<hackBaseline>0</hackBaseline>
</plugin>
</sensor>
</gazebo>
<joint name="camera_laserscan_joint_left" type="fixed">
<origin rpy="0 0.2618 0" xyz="0 0 0"/>
<parent link="camera_left"/>
<child link="camera_laserscan_link_left"/>
</joint>
<link name="camera_laserscan_link_left">
</link>
<joint name="camera_laserscan_joint_right" type="fixed">
<origin rpy="0 0.2618 0" xyz="0 0 0"/>
<parent link="camera_right"/>
<child link="camera_laserscan_link_right"/>
</joint>
<link name="camera_laserscan_link_right">
</link>
<joint name="ultraSound_joint_left" type="fixed">
<origin rpy="0 0.2618 1.5707963267948966" xyz="-0.0535 0.0826 0.00868"/>
<parent link="trunk"/>
<child link="ultraSound_left"/>
</joint>
<link name="ultraSound_left">
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".001 .001 .001"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://go1_description/meshes/ultraSound.dae" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<inertial>
<mass value="1e-5"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
</inertial>
</link>
<joint name="ultraSound_joint_right" type="fixed">
<origin rpy="0 0.2618 -1.5707963267948966" xyz="-0.0535 -0.0826 0.00868"/>
<parent link="trunk"/>
<child link="ultraSound_right"/>
</joint>
<link name="ultraSound_right">
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".001 .001 .001"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://go1_description/meshes/ultraSound.dae" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<inertial>
<mass value="1e-5"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
</inertial>
</link>
<joint name="ultraSound_joint_face" type="fixed">
<origin rpy="0 0 0" xyz="0.2747 0.0 -0.0088"/>
<parent link="trunk"/>
<child link="ultraSound_face"/>
</joint>
<link name="ultraSound_face">
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".001 .001 .001"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://go1_description/meshes/ultraSound.dae" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<inertial>
<mass value="1e-5"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
</inertial>
</link>
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/MIT_mini-cheetah/README.md | # MIT Mini Cheetah
An urdf description file of a quadruped robot modeled on mini cheetah.
>Source: <br/>
>- YOBOTICS, INC.<br/>
>- [MIT Mini Cheetah - Original](https://github.com/HitSZwang/mini-cheetah-gazebo-urdf)<br/>
>- [MIT Mini Cheetah - Modified for CHAMP](https://github.com/chvmp/mini-cheetah-gazebo-urdf)<br/>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/MIT_mini-cheetah/yobotics_description/xacro/materials.xacro | <?xml version="1.0"?>
<robot>
<material name="black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<material name="green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>
<material name="grey">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
<material name="silver">
<color rgba="${233/255} ${233/255} ${216/255} 1.0"/>
</material>
<material name="orange">
<color rgba="${255/255} ${108/255} ${10/255} 1.0"/>
</material>
<material name="brown">
<color rgba="${222/255} ${207/255} ${195/255} 1.0"/>
</material>
<material name="white_gray">
<color rgba="${210/255} ${210/255} ${210/255} 1.0"/>
</material>
<material name="gold">
<color rgba="${207/255} ${173/255} ${77/255} 1.0"/>
</material>
<material name="white_blue">
<color rgba="${118/255} ${204/255} ${253/255} 1.0"/>
</material>
<material name="white_black">
<color rgba="${126/255} ${126/255} ${126/255} 1.0"/>
</material>
<material name="red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="white">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/MIT_mini-cheetah/yobotics_description/xacro/transmission.xacro | <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="leg_transmission" params="name">
<transmission name="${name}_hip_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${name}_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${name}_hip_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${name}_thigh_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${name}_thigh_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${name}_thigh_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${name}_calf_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${name}_calf_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${name}_calf_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</xacro:macro>
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/MIT_mini-cheetah/yobotics_description/xacro/leg.xacro | <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find yobotics_description)/xacro/transmission.xacro"/>
<xacro:macro name="leg" params="name mirror mirror_dae front_hind front_hind_dae *origin">
<!-- //////////////////////hip//////////////////// -->
<joint name="${name}_hip_joint" type="revolute">
<!-- <joint name="${name}_hip_joint" type="continuous"> -->
<xacro:insert_block name="origin"/>
<parent link="trunk"/>
<child link="${name}_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="${damping}" friction="${friction}"/>
<xacro:if value="${(mirror_dae == False)}">
<limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${hip_min*PI/180.0}" upper="${hip_max*PI/180.0}"/>
</xacro:if>
<xacro:if value="${(mirror_dae == True)}">
<limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${-hip_max*PI/180.0}" upper="${-hip_min*PI/180.0}"/>
</xacro:if>
</joint>
<link name="${name}_hip">
<visual>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
<origin rpy="0 0 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
<origin rpy="${PI} 0 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
<origin rpy="0 ${PI} 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
<origin rpy="${PI} ${PI} 0" xyz="0 0 0"/>
</xacro:if>
<geometry>
<mesh filename="package://yobotics_description/meshes/hip.STL" scale="1 1 1"/>
</geometry>
<material name="gold"/>
</visual>
<collision>
<!-- <origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/> -->
<!-- <xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
<origin rpy="0 0 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
<origin rpy="${PI} 0 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
<origin rpy="0 ${PI} 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
<origin rpy="${PI} ${PI} 0" xyz="0 0 0"/>
</xacro:if> -->
<geometry>
<!-- <mesh filename="package://yobotics_description/meshes/hip.STL" scale="1 1 1"/> -->
<box size="${hip_length} ${hip_width} ${hip_height}"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${hip_com_x*front_hind} ${hip_com_y*mirror} ${hip_com_z}"/>
<mass value="${hip_mass}"/>
<inertia ixx="${(1/12) * hip_mass * (hip_width * hip_width + hip_height * hip_height)}" ixy="0.0" ixz="0.0"
iyy="${(1/12) * hip_mass * (hip_length * hip_length + hip_height * hip_height)}" iyz="0.0"
izz="${(1/12) * hip_mass * (hip_length * hip_length + hip_width * hip_width)}" />
</inertial>
</link>
<!-- //////////////////////thigh//////////////////// -->
<joint name="${name}_thigh_joint" type="revolute">
<!-- <joint name="${name}_thigh_joint" type="continuous"> -->
<origin rpy="0 0 0" xyz="0 ${-thigh_offset*mirror} 0"/>
<parent link="${name}_hip"/>
<child link="${name}_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="${damping}" friction="${friction}"/>
<limit effort="${thigh_torque_max}" velocity="${thigh_velocity_max}" lower="${thigh_min*PI/180.0}" upper="${thigh_max*PI/180.0}"/>
</joint>
<link name="${name}_thigh">
<visual>
<xacro:if value="${mirror_dae == True}">
<origin rpy="0 0 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${mirror_dae == False}">
<origin rpy="${PI} ${PI} 0" xyz="0 0 0"/>
</xacro:if>
<geometry>
<mesh filename="package://yobotics_description/meshes/thigh.STL" scale="1 1 1"/>
</geometry>
<material name="white_blue"/>
</visual>
<collision>
<!-- <xacro:if value="${mirror_dae == True}">
<origin rpy="0 0 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${mirror_dae == False}">
<origin rpy="${PI} ${PI} 0" xyz="0 0 0"/>
</xacro:if> -->
<origin rpy="0 0 0" xyz="0 0 -${thigh_height / 2}"/>
<geometry>
<box size="${thigh_length} ${thigh_width} ${thigh_height}"/>
<!-- <mesh filename="package://yobotics_description/meshes/thigh.STL" scale="1 1 1"/> -->
</geometry>
<material name="white_blue"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${thigh_com_x} ${thigh_com_y*mirror} ${thigh_com_z}"/>
<mass value="${thigh_mass}"/>
<inertia ixx="${(1/12) * thigh_mass * (thigh_width * thigh_width + thigh_height * thigh_height)}" ixy="0.0" ixz="0.0"
iyy="${(1/12) * thigh_mass * (thigh_length * thigh_length + thigh_height * thigh_height)}" iyz="0.0"
izz="${(1/12) * thigh_mass * (thigh_length * thigh_length + thigh_width * thigh_width)}" />
</inertial>
</link>
<!-- //////////////////////calf//////////////////// -->
<joint name="${name}_calf_joint" type="revolute">
<!-- <joint name="${name}_calf_joint" type="continuous"> -->
<origin rpy="0 0 0" xyz="0 0 -0.2115"/>
<parent link="${name}_thigh"/>
<child link="${name}_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="${damping}" friction="${friction}"/>
<!-- <limit effort="${calf_torque_max}" velocity="${calf_velocity_max}" lower="${calf_min*PI/180.0}" upper="${calf_max*PI/180.0}"/> -->
<limit effort="${calf_torque_max}" velocity="${calf_velocity_max}" lower="-${PI}" upper="${PI}"/>
</joint>
<link name="${name}_calf">
<visual>
<origin rpy="0 0 0" xyz="0.0 0.009 0.0" />
<geometry>
<mesh filename="package://yobotics_description/meshes/calf.STL" scale="1 1 1"/>
</geometry>
<material name="white_blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.0 0.0 -${calf_height / 2}" />
<geometry>
<box size="${calf_length} ${calf_width} ${calf_height}"/>
<!-- <mesh filename="package://yobotics_description/meshes/calf.STL" scale="1 1 1"/> -->
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${calf_com_x} ${calf_com_y} ${calf_com_z}"/>
<mass value="${calf_mass}"/>
<inertia ixx="${(1/12) * calf_mass * (calf_width * calf_width + calf_height * calf_height)}" ixy="0.0" ixz="0.0"
iyy="${(1/12) * calf_mass * (calf_length * calf_length + calf_height * calf_height)}" iyz="0.0"
izz="${(1/12) * calf_mass * (calf_length * calf_length + calf_width * calf_width)}" />
</inertial>
</link>
<!-- //////////////////////foot//////////////////// -->
<joint name="${name}_foot_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.23039"/>
<parent link="${name}_calf"/>
<child link="${name}_foot"/>
</joint>
<link name="${name}_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0.018 0.02"/>
<geometry>
<mesh filename="package://yobotics_description/meshes/foot.STL" scale="1 1 1"/>
</geometry>
<material name="white_black"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0.0 0.025"/>
<geometry>
<!-- <mesh filename="package://yobotics_description/meshes/foot.STL" scale="1 1 1"/> -->
<sphere radius="0.025"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${foot_com_x} ${foot_com_y} ${foot_com_z}"/>
<mass value="${foot_mass}"/>
<inertia ixx="${(2/5) * foot_mass * ( (foot_radius) * (foot_radius) )}" ixy="0.0" ixz="0.0"
iyy="${(2/5) * foot_mass * ( (foot_radius) * (foot_radius) )}" iyz="0.0"
izz="${(2/5) * foot_mass * ( (foot_radius) * (foot_radius) )}" />
</inertial>
</link>
<xacro:leg_transmission name="${name}"/>
</xacro:macro>
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/MIT_mini-cheetah/yobotics_description/xacro/kinect.xacro | <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="kinect_camera">
<xacro:macro name="kinect_camera" params="prefix:=camera">
<!-- Create kinect reference frame -->
<!-- Add mesh for kinect -->
<link name="${prefix}_link">
<origin xyz="0 0 0" rpy="0 0 0"/>
<visual>
<origin xyz="0 0 0" rpy="0 0 ${PI/2}"/>
<geometry>
<box size="0.1 0.01 0.01"/>
</geometry>
</visual>
<collision>
<geometry>
<box size="0. 0.01 0.01"/>
</geometry>
</collision>
</link>
<joint name="${prefix}_optical_joint" type="fixed">
<origin xyz="0 0 0" rpy="-1.5708 0 -1.5708"/>
<parent link="${prefix}_link"/>
<child link="${prefix}_frame_optical"/>
</joint>
<link name="${prefix}_frame_optical"/>
<gazebo reference="${prefix}_link">
<sensor type="depth" name="${prefix}">
<always_on>true</always_on>
<update_rate>30.0</update_rate>
<camera>
<horizontal_fov>${60.0*PI/180.0}</horizontal_fov>
<image>
<format>R8G8B8</format>
<width>640</width>
<height>480</height>
</image>
<clip>
<near>0.05</near>
<far>8.0</far>
</clip>
</camera>
<plugin name="kinect_${prefix}_controller" filename="libgazebo_ros_openni_kinect.so">
<cameraName>${prefix}</cameraName>
<alwaysOn>true</alwaysOn>
<updateRate>30</updateRate>
<imageTopicName>rgb/image_raw</imageTopicName>
<depthImageTopicName>depth/image_raw</depthImageTopicName>
<pointCloudTopicName>depth/points</pointCloudTopicName>
<cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
<depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
<frameName>${prefix}_frame_optical</frameName>
<baseline>0.1</baseline>
<distortion_k1>0.0</distortion_k1>
<distortion_k2>0.0</distortion_k2>
<distortion_k3>0.0</distortion_k3>
<distortion_t1>0.0</distortion_t1>
<distortion_t2>0.0</distortion_t2>
<pointCloudCutoff>0.4</pointCloudCutoff>
</plugin>
</sensor>
</gazebo>
</xacro:macro>
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/MIT_mini-cheetah/yobotics_description/xacro/const.xacro | <?xml version="1.0"?>
<robot name="yobotics_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- Constants for robot dimensions -->
<xacro:property name="PI" value="3.1415926535897931"/>
<xacro:property name="stick_mass" value="0.00001"/>
<!-- simplified collision value -->
<xacro:property name="trunk_length" value="0.3"/>
<xacro:property name="trunk_width" value="0.20"/>
<xacro:property name="trunk_height" value="0.093"/>
<xacro:property name="hip_length" value="0.09"/>
<xacro:property name="hip_width" value="0.08"/>
<xacro:property name="hip_height" value="0.093"/>
<xacro:property name="thigh_length" value="0.043"/>
<xacro:property name="thigh_width" value="0.034"/>
<xacro:property name="thigh_height" value="0.22"/>
<xacro:property name="calf_length" value="0.016"/>
<xacro:property name="calf_width" value="0.016"/>
<xacro:property name="calf_height" value="0.20"/>
<xacro:property name="foot_radius" value="0.0265"/>
<xacro:property name="stick_radius" value="0.01"/>
<xacro:property name="stick_length" value="0.2"/>
<!-- kinematic value -->
<xacro:property name="thigh_offset" value="0.077476"/>
<xacro:property name="calf_offset_x" value="0"/>
<xacro:property name="calf_offset_y" value="0.0106"/>
<xacro:property name="calf_offset_z" value="0.2115"/>
<xacro:property name="foot_offset_x" value="0"/>
<xacro:property name="foot_offset_y" value="0.0096"/>
<xacro:property name="foot_offset_z" value="0.21039"/>
<!-- leg offset from trunk center value -->
<xacro:property name="leg_offset_x" value="-0.196"/>
<xacro:property name="leg_offset_y" value="-0.049664"/>
<xacro:property name="trunk_offset_z" value="0.04592"/>
<xacro:property name="hip_offset" value="0.019"/>
<!-- joint limits -->
<!-- <xacro:property name="damping" value="0"/>
<xacro:property name="friction" value="0"/>
<xacro:property name="hip_max" value="120"/>
<xacro:property name="hip_min" value="-120"/>
<xacro:property name="hip_velocity_max" value="52.4"/>
<xacro:property name="hip_torque_max" value="20"/>
<xacro:property name="thigh_max" value="270"/>
<xacro:property name="thigh_min" value="-270"/>
<xacro:property name="thigh_velocity_max" value="28.6"/>
<xacro:property name="thigh_torque_max" value="55"/>
<xacro:property name="calf_max" value="155"/>
<xacro:property name="calf_min" value="-155"/>
<xacro:property name="calf_velocity_max" value="28.6"/>
<xacro:property name="calf_torque_max" value="55"/> -->
<!-- joint limits -->
<xacro:property name="damping" value="0"/>
<xacro:property name="friction" value="0"/>
<xacro:property name="hip_max" value="60"/>
<xacro:property name="hip_min" value="-50"/>
<xacro:property name="hip_velocity_max" value="10.6"/>
<xacro:property name="hip_torque_max" value="20"/>
<xacro:property name="thigh_max" value="225"/>
<xacro:property name="thigh_min" value="-30"/>
<xacro:property name="thigh_velocity_max" value="10.6"/>
<xacro:property name="thigh_torque_max" value="20"/>
<xacro:property name="calf_max" value="-35"/>
<xacro:property name="calf_min" value="-159"/>
<xacro:property name="calf_velocity_max" value="10.6"/>
<xacro:property name="calf_torque_max" value="20"/>
<!-- dynamics inertial value -->
<!-- trunk -->
<xacro:property name="trunk_mass" value="3.3"/>
<xacro:property name="trunk_com_x" value="0.0"/>
<xacro:property name="trunk_com_y" value="0.0"/>
<xacro:property name="trunk_com_z" value="0.0"/>
<xacro:property name="trunk_ixx" value="0.011253"/>
<xacro:property name="trunk_ixy" value="0"/>
<xacro:property name="trunk_ixz" value="0.0"/>
<xacro:property name="trunk_iyy" value="0.036203"/>
<xacro:property name="trunk_iyz" value="-0.0"/>
<xacro:property name="trunk_izz" value="0.042673"/>
<!-- hip -->
<xacro:property name="hip_mass" value="0.57000000"/>
<xacro:property name="hip_com_x" value="0.00"/>
<xacro:property name="hip_com_y" value="0.036"/>
<xacro:property name="hip_com_z" value="0.0"/>
<!-- thigh -->
<xacro:property name="thigh_mass" value="0.634"/>
<xacro:property name="thigh_com_x" value="0.0"/>
<xacro:property name="thigh_com_y" value="0.016"/>
<xacro:property name="thigh_com_z" value="-${thigh_height / 2}"/>
<!-- calf -->
<xacro:property name="calf_mass" value="0.064"/>
<xacro:property name="calf_com_x" value="0.0"/>
<xacro:property name="calf_com_y" value="0.0"/>
<xacro:property name="calf_com_z" value="0.0"/>
<!-- foot -->
<xacro:property name="foot_mass" value="0.15"/>
<xacro:property name="foot_com_x" value="0.0"/>
<xacro:property name="foot_com_y" value="0.0"/>
<xacro:property name="foot_com_z" value="0"/>
<xacro:property name="foot_ixx" value="0.000025"/>
<xacro:property name="foot_ixy" value="0.0"/>
<xacro:property name="foot_ixz" value="0.0"/>
<xacro:property name="foot_iyy" value="0.000025"/>
<xacro:property name="foot_iyz" value="0.0"/>
<xacro:property name="foot_izz" value="0.000025"/>
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/MIT_mini-cheetah/yobotics_description/xacro/gazebo.xacro | <?xml version="2.0"?>
<robot>
<!-- ros_control plugin -->
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<!-- <robotNamespace>/yobotics_gazebo</robotNamespace> -->
<!-- <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType> -->
</plugin>
</gazebo>
<!-- Show the trajectory of trunk center. -->
<gazebo>
<plugin name="3dplot" filename="libLinkPlot3DPlugin.so">
<frequency>10</frequency>
<plot>
<link>base</link>
<pose>0 0 0 0 0 0</pose>
<material>Gazebo/Yellow</material>
</plot>
</plugin>
</gazebo>
<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="_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>yobotic_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> -->
<gazebo>
<plugin filename="libgazebo_ros_p3d.so" name="p3d_base_controller">
<alwaysOn>true</alwaysOn>
<updateRate>50.0</updateRate>
<bodyName>trunk</bodyName>
<topicName>yobotics_gazebo_ground_truth</topicName>
<gaussianNoise>0.01</gaussianNoise>
<frameName>world</frameName>
<xyzOffsets>0 0 0</xyzOffsets>
<rpyOffsets>0 0 0</rpyOffsets>
</plugin>
</gazebo>
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<legacyModeNS>true</legacyModeNS>
</plugin>
</gazebo>
<!-- Foot contacts. -->
<!-- <gazebo reference="FR_calf">
<sensor name="FR_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libyoboticsFootContactPlugin.so"/>
<contact>
<collision>FR_calf_fixed_joint_lump__FR_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="FL_calf">
<sensor name="FL_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libyoboticsFootContactPlugin.so"/>
<contact>
<collision>FL_calf_fixed_joint_lump__FL_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="RR_calf">
<sensor name="RR_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libyoboticsFootContactPlugin.so"/>
<contact>
<collision>RR_calf_fixed_joint_lump__RR_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="RL_calf">
<sensor name="RL_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libyoboticsFootContactPlugin.so"/>
<contact>
<collision>RL_calf_fixed_joint_lump__RL_foot_collision_1</collision>
</contact>
</sensor>
</gazebo> -->
<!-- Visualization of Foot contacts. -->
<!-- <gazebo reference="FR_foot">
<visual>
<plugin name="drawForcePlugin" filename="libyoboticsDrawForcePlugin.so">
<topicName>FR_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="FL_foot">
<visual>
<plugin name="drawForcePlugin" filename="libyoboticsDrawForcePlugin.so">
<topicName>FL_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="RR_foot">
<visual>
<plugin name="drawForcePlugin" filename="libyoboticsDrawForcePlugin.so">
<topicName>RR_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="RL_foot">
<visual>
<plugin name="drawForcePlugin" filename="libyoboticsDrawForcePlugin.so">
<topicName>RL_foot_contact</topicName>
</plugin>
</visual>
</gazebo> -->
<gazebo reference="base">
<material>Gazebo/Green</material>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="trunk">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="stick_link">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<material>Gazebo/White</material>
</gazebo>
<gazebo reference="imu_link">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<material>Gazebo/Red</material>
</gazebo>
<!-- FL leg -->
<gazebo reference="FL_hip">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<!-- <material>Gazebo/DarkGrey</material> -->
</gazebo>
<gazebo reference="FL_thigh">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<self_collide>1</self_collide>
<material>Gazebo/White</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="FL_calf">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="FL_foot">
<mu1>0.9</mu1>
<mu2>0.9</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>0.9</mu1>
<mu2>0.9</mu2>
<!-- <material>Gazebo/DarkGrey</material> -->
</gazebo>
<gazebo reference="FR_thigh">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<self_collide>1</self_collide>
<material>Gazebo/White</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="FR_calf">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="FR_foot">
<mu1>0.9</mu1>
<mu2>0.9</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>0.9</mu1>
<mu2>0.9</mu2>
<!-- <material>Gazebo/DarkGrey</material> -->
</gazebo>
<gazebo reference="RL_thigh">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<self_collide>1</self_collide>
<material>Gazebo/White</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="RL_calf">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="RL_foot">
<mu1>0.9</mu1>
<mu2>0.9</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>0.9</mu1>
<mu2>0.9</mu2>
<!-- <material>Gazebo/Gold</material> -->
</gazebo>
<gazebo reference="RR_thigh">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<self_collide>1</self_collide>
<material>Gazebo/White</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="RR_calf">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="RR_foot">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/MIT_mini-cheetah/yobotics_description/xacro/accessories.urdf.xacro | <?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(find hector_sensors_description)/urdf/hokuyo_utm30lx.urdf.xacro" />
<xacro:include filename="$(find hector_sensors_description)/urdf/asus_camera.urdf.xacro" />
<xacro:hokuyo_utm30lx
name="hokuyo"
parent="trunk"
ros_topic="scan"
update_rate="30"
ray_count="1040"
min_angle="130"
max_angle="-130" >
<origin xyz="0.0 0.0 ${trunk_height}" rpy="0 0 0"/>
</xacro:hokuyo_utm30lx>
<gazebo reference="hokuyo_frame">
<material>Gazebo/FlatBlack</material>
</gazebo>
<xacro:asus_camera
parent="trunk"
name="camera">
<origin xyz="0.1 0.0 -0.06" rpy="0 0.261799612195482 0"/>
</xacro:asus_camera>
<gazebo>
<plugin name="imu_controller" filename="libhector_gazebo_ros_imu.so">
<updateRate>50.0</updateRate>
<bodyName>imu_link</bodyName>
<topicName>imu/data</topicName>
<accelDrift>0.005 0.005 0.005</accelDrift>
<accelGaussianNoise>0.005 0.005 0.005</accelGaussianNoise>
<rateDrift>0.005 0.005 0.005 </rateDrift>
<rateGaussianNoise>0.005 0.005 0.005 </rateGaussianNoise>
<headingDrift>0.005</headingDrift>
<headingGaussianNoise>0.005</headingGaussianNoise>
</plugin>
</gazebo>
<link name="imu_link">
<inertial>
<mass value="0.001"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="1e-09" ixy="0.0" ixz="0.0" iyy="1e-09" iyz="0.0" izz="1e-09"/>
</inertial>
</link>
<joint name="imu_joint" type="fixed">
<parent link="trunk" />
<child link="imu_link" />
</joint>
<!-- <xacro:include filename="$(find velodyne_description)/urdf/VLP-16.urdf.xacro"/>
<xacro:VLP-16 parent="trunk" name="velodyne" topic="velodyne_points" hz="10" samples="1024" gpu="false" lasers="16" max_range="100">
<origin xyz="0 0 ${base_z_length / 2}" rpy="0 0 0" />
</xacro:VLP-16>
<xacro:include filename="$(find champ_arm_description)/urdf/champ_arm.urdf.xacro" />
<xacro:champ_arm parent="trunk">
<origin xyz="0.07 0.0 ${base_z_length / 2}" rpy="0 0 0"/>
</xacro:champ_arm> -->
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/MIT_mini-cheetah/yobotics_description/xacro/robot_with_kinect.xacro | <?xml version="1.0"?>
<robot name="yobotics" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find yobotics_description)/xacro/robot.xacro"/>
<xacro:include filename="$(find yobotics_description)/xacro/kinect.xacro" />
<!-- <xacro:property name="kinect_offset_x" value="0.12" /> -->
<xacro:property name="kinect_offset_x" value="0.25" />
<xacro:property name="kinect_offset_y" value="0" />
<xacro:property name="kinect_offset_z" value="0.01" />
<!-- Body of yobotics, with plates, standoffs and Create (including sim sensors) -->
<robot/>
<!-- Attach the Kinect -->
<joint name="kinect_frame_joint" type="fixed">
<origin xyz="${kinect_offset_x} ${kinect_offset_y} ${kinect_offset_z}" rpy="0 0.523 0" />
<parent link="trunk"/>
<child link="camera_link"/>
</joint>
<xacro:kinect_camera prefix="camera"/>
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/MIT_mini-cheetah/yobotics_description/xacro/robot.xacro | <?xml version="1.0"?>
<robot name="yobotics_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find yobotics_description)/xacro/const.xacro"/>
<xacro:include filename="$(find yobotics_description)/xacro/materials.xacro"/>
<xacro:include filename="$(find yobotics_description)/xacro/leg.xacro"/>
<xacro:include filename="$(find yobotics_description)/xacro/gazebo.xacro"/>
<!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
<!-- <link name="base_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
</visual>
</link>
<joint name="floating_base" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base_link"/>
<child link="trunk"/>
</joint> -->
<link name="trunk"/>
<link name="trunk_interia">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://yobotics_description/meshes/trunk.STL" scale="1 1 1"/>
</geometry>
<material name="white_gray"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<!-- <mesh filename="package://yobotics_description/meshes/trunk.STL" scale="1 1 1"/> -->
<box size="${trunk_length} ${trunk_width} ${trunk_height}"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${trunk_com_x} ${trunk_com_y} ${trunk_com_z}"/>
<mass value="${trunk_mass}"/>
<inertia
ixx="${trunk_ixx}" ixy="${trunk_ixy}" ixz="${trunk_ixz}"
iyy="${trunk_iyy}" iyz="${trunk_iyz}"
izz="${trunk_izz}"/>
</inertial>
</link>
<joint name="trunk_to_trunk_inertia" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="trunk"/>
<child link="trunk_interia"/>
</joint>
<!--
<joint name="imu_joint" type="fixed">
<parent link="trunk"/>
<child link="imu_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<link name="imu_link">
<inertial>
<mass value="0.001"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.0001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
<material name="red"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".001 .001 .001"/>
</geometry>
</collision>
</link> -->
<xacro:leg name="RL" mirror="-1" mirror_dae="False" front_hind="1" front_hind_dae="True">
<origin rpy="0 0 0" xyz="${leg_offset_x} ${-leg_offset_y} 0"/>
</xacro:leg>
<xacro:leg name="FL" mirror="-1" mirror_dae="False" front_hind="-1" front_hind_dae="False">
<origin rpy="0 0 0" xyz="${-leg_offset_x} ${-leg_offset_y} 0"/>
</xacro:leg>
<xacro:leg name="RR" mirror="1" mirror_dae="True" front_hind="1" front_hind_dae="True">
<origin rpy="0 0 0" xyz="${leg_offset_x} ${leg_offset_y} 0"/>
</xacro:leg>
<xacro:leg name="FR" mirror="1" mirror_dae="True" front_hind="-1" front_hind_dae="False">
<origin rpy="0 0 0" xyz="${-leg_offset_x} ${leg_offset_y} 0"/>
</xacro:leg>
<xacro:include filename="$(find yobotics_description)/xacro/accessories.urdf.xacro" />
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/MIT_mini-cheetah/yobotics_description/urdf/robot_with_kinect.urdf | <?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from mrobot_with_kinect.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="yobotics" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- joint limits -->
<!-- <xacro:property name="damping" value="0"/>
<xacro:property name="friction" value="0"/>
<xacro:property name="hip_max" value="120"/>
<xacro:property name="hip_min" value="-120"/>
<xacro:property name="hip_velocity_max" value="52.4"/>
<xacro:property name="hip_torque_max" value="20"/>
<xacro:property name="thigh_max" value="270"/>
<xacro:property name="thigh_min" value="-270"/>
<xacro:property name="thigh_velocity_max" value="28.6"/>
<xacro:property name="thigh_torque_max" value="55"/>
<xacro:property name="calf_max" value="155"/>
<xacro:property name="calf_min" value="-155"/>
<xacro:property name="calf_velocity_max" value="28.6"/>
<xacro:property name="calf_torque_max" value="55"/> -->
<material name="black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<material name="green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>
<material name="grey">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
<material name="silver">
<color rgba="0.913725490196 0.913725490196 0.847058823529 1.0"/>
</material>
<material name="orange">
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
</material>
<material name="brown">
<color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
</material>
<material name="white_gray">
<color rgba="0.823529411765 0.823529411765 0.823529411765 1.0"/>
</material>
<material name="gold">
<color rgba="0.811764705882 0.678431372549 0.301960784314 1.0"/>
</material>
<material name="white_blue">
<color rgba="0.462745098039 0.8 0.992156862745 1.0"/>
</material>
<material name="white_black">
<color rgba="0.494117647059 0.494117647059 0.494117647059 1.0"/>
</material>
<material name="red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="white">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<!-- ros_control plugin -->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<robotNamespace>/yobotics_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 name="${link_name}_controller" filename="libgazebo_ros_openni_kinect.so">
<baseline>0.2</baseline>
<alwaysOn>true</alwaysOn>
<updateRate>2.0</updateRate>
<cameraName>${camera_name}_ir</cameraName>
<imageTopicName>/${camera_name}/depth/image_raw</imageTopicName>
<cameraInfoTopicName>/${camera_name}/depth/camera_info</cameraInfoTopicName>
<depthImageTopicName>/${camera_name}/depth/image_raw</depthImageTopicName>
<depthImageInfoTopicName>/${camera_name}/depth/camera_info</depthImageInfoTopicName>
<pointCloudTopicName>/${camera_name}/depth/points</pointCloudTopicName>
<frameName>${frame_name}</frameName>
<pointCloudCutoff>0.5</pointCloudCutoff>
<distortionK1>0.00000001</distortionK1>
<distortionK2>0.00000001</distortionK2>
<distortionK3>0.00000001</distortionK3>
<distortionT1>0.00000001</distortionT1>
<distortionT2>0.00000001</distortionT2>
<CxPrime>0</CxPrime>
<Cx>0</Cx>
<Cy>0</Cy>
<focalLength>0</focalLength>
<hackBaseline>0</hackBaseline>
</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>
<gazebo>
<plugin filename="libgazebo_ros_p3d.so" name="p3d_base_controller">
<alwaysOn>true</alwaysOn>
<updateRate>50.0</updateRate>
<bodyName>base</bodyName>
<topicName>odom/ground_truth</topicName>
<gaussianNoise>0.01</gaussianNoise>
<frameName>world</frameName>
<xyzOffsets>0 0 0</xyzOffsets>
<rpyOffsets>0 0 0</rpyOffsets>
</plugin>
</gazebo>
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<legacyModeNS>true</legacyModeNS>
</plugin>
</gazebo>
<!-- Foot contacts. -->
<!-- <gazebo reference="FR_calf">
<sensor name="FR_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libyoboticsFootContactPlugin.so"/>
<contact>
<collision>FR_calf_fixed_joint_lump__FR_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="FL_calf">
<sensor name="FL_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libyoboticsFootContactPlugin.so"/>
<contact>
<collision>FL_calf_fixed_joint_lump__FL_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="RR_calf">
<sensor name="RR_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libyoboticsFootContactPlugin.so"/>
<contact>
<collision>RR_calf_fixed_joint_lump__RR_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="RL_calf">
<sensor name="RL_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libyoboticsFootContactPlugin.so"/>
<contact>
<collision>RL_calf_fixed_joint_lump__RL_foot_collision_1</collision>
</contact>
</sensor>
</gazebo> -->
<!-- Visualization of Foot contacts. -->
<!-- <gazebo reference="FR_foot">
<visual>
<plugin name="drawForcePlugin" filename="libyoboticsDrawForcePlugin.so">
<topicName>FR_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="FL_foot">
<visual>
<plugin name="drawForcePlugin" filename="libyoboticsDrawForcePlugin.so">
<topicName>FL_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="RR_foot">
<visual>
<plugin name="drawForcePlugin" filename="libyoboticsDrawForcePlugin.so">
<topicName>RR_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="RL_foot">
<visual>
<plugin name="drawForcePlugin" filename="libyoboticsDrawForcePlugin.so">
<topicName>RL_foot_contact</topicName>
</plugin>
</visual>
</gazebo> -->
<gazebo reference="base">
<material>Gazebo/Green</material>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="trunk">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="stick_link">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<material>Gazebo/White</material>
</gazebo>
<gazebo reference="imu_link">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<material>Gazebo/Red</material>
</gazebo>
<!-- FL leg -->
<gazebo reference="FL_hip">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<!-- <material>Gazebo/DarkGrey</material> -->
</gazebo>
<gazebo reference="FL_thigh">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<self_collide>1</self_collide>
<material>Gazebo/White</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="FL_calf">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="FL_foot">
<mu1>0.9</mu1>
<mu2>0.9</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>0.9</mu1>
<mu2>0.9</mu2>
<!-- <material>Gazebo/DarkGrey</material> -->
</gazebo>
<gazebo reference="FR_thigh">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<self_collide>1</self_collide>
<material>Gazebo/White</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="FR_calf">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="FR_foot">
<mu1>0.9</mu1>
<mu2>0.9</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>0.9</mu1>
<mu2>0.9</mu2>
<!-- <material>Gazebo/DarkGrey</material> -->
</gazebo>
<gazebo reference="RL_thigh">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<self_collide>1</self_collide>
<material>Gazebo/White</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="RL_calf">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="RL_foot">
<mu1>0.9</mu1>
<mu2>0.9</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>0.9</mu1>
<mu2>0.9</mu2>
<!-- <material>Gazebo/Gold</material> -->
</gazebo>
<gazebo reference="RR_thigh">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<self_collide>1</self_collide>
<material>Gazebo/White</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="RR_calf">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="RR_foot">
<mu1>0.9</mu1>
<mu2>0.9</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. -->
<link name="base">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
</visual>
</link>
<joint name="floating_base" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base"/>
<child link="trunk"/>
</joint>
<link name="trunk">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://yobotics_description/meshes/trunk.STL" scale="1 1 1"/>
</geometry>
<material name="white_gray"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.04592"/>
<geometry>
<mesh filename="package://yobotics_description/meshes/trunk.STL" scale="1 1 1"/>
<!-- <box size="${trunk_length} ${trunk_width} ${trunk_height}"/> -->
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<mass value="3.3"/>
<inertia ixx="0.011253" ixy="0" ixz="0.0" iyy="0.036203" iyz="-0.0" izz="0.042673"/>
</inertial>
</link>
<!-- //////////////////////hip//////////////////// -->
<joint name="RL_hip_joint" type="revolute">
<!-- <joint name="${name}_hip_joint" type="continuous"> -->
<origin rpy="0 0 0" xyz="-0.196 0.049664 0"/>
<parent link="trunk"/>
<child link="RL_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="15" lower="-0.872664625997" upper="1.0471975512" velocity="1.5"/>
</joint>
<link name="RL_hip">
<visual>
<origin rpy="3.14159265359 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://yobotics_description/meshes/hip.STL" scale="1 1 1"/>
</geometry>
<material name="gold"/>
</visual>
<collision>
<origin rpy="3.14159265359 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://yobotics_description/meshes/hip.STL" scale="1 1 1"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 -0.036 0.0"/>
<mass value="0.57"/>
<inertia ixx="0.000381" ixy="-5.8e-05" ixz="4.5e-07" iyy="0.00056" iyz="-9.5e-07" izz="0.000444"/>
</inertial>
</link>
<!-- //////////////////////thigh//////////////////// -->
<joint name="RL_thigh_joint" type="revolute">
<!-- <joint name="${name}_thigh_joint" type="continuous"> -->
<origin rpy="0 0 0" xyz="0 0.077476 0"/>
<parent link="RL_hip"/>
<child link="RL_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="15" lower="-0.523598775598" upper="3.92699081699" velocity="1.5"/>
</joint>
<link name="RL_thigh">
<visual>
<origin rpy="3.14159265359 3.14159265359 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://yobotics_description/meshes/thigh.STL" scale="1 1 1"/>
</geometry>
<material name="white_blue"/>
</visual>
<collision>
<origin rpy="3.14159265359 3.14159265359 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://yobotics_description/meshes/thigh.STL" scale="1 1 1"/>
</geometry>
<material name="white_blue"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 -0.016 -0.02"/>
<mass value="0.634"/>
<inertia ixx="0.001983" ixy="-0.000245" ixz="1.3e-05" iyy="0.002103" iyz="-1.5e-06" izz="0.000408"/>
</inertial>
</link>
<!-- //////////////////////calf//////////////////// -->
<joint name="RL_calf_joint" type="revolute">
<!-- <joint name="${name}_calf_joint" type="continuous"> -->
<origin rpy="0 0 0" xyz="0 0.0106 -0.2115"/>
<parent link="RL_thigh"/>
<child link="RL_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<!-- <limit effort="${calf_torque_max}" velocity="${calf_velocity_max}" lower="${calf_min*PI/180.0}" upper="${calf_max*PI/180.0}"/> -->
<limit effort="15" lower="-3.14159265359" upper="3.14159265359" velocity="1.5"/>
</joint>
<link name="RL_calf">
<visual>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="package://yobotics_description/meshes/calf.STL" scale="1 1 1"/>
</geometry>
<material name="white_blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="package://yobotics_description/meshes/calf.STL" scale="1 1 1"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 -0.209"/>
<mass value="0.064"/>
<inertia ixx="0.000245" ixy="0.0" ixz="0.0" iyy="0.000248" iyz="0.0" izz="6e-06"/>
</inertial>
</link>
<!-- //////////////////////foot//////////////////// -->
<joint name="RL_foot_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0.0096 -0.21039"/>
<parent link="RL_calf"/>
<child link="RL_foot"/>
</joint>
<link name="RL_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://yobotics_description/meshes/foot.STL" scale="1 1 1"/>
</geometry>
<material name="white_black"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://yobotics_description/meshes/foot.STL" scale="1 1 1"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0"/>
<mass value="0.15"/>
<inertia ixx="2.5e-05" ixy="0.0" ixz="0.0" iyy="2.5e-05" iyz="0.0" izz="2.5e-05"/>
</inertial>
</link>
<transmission name="RL_hip_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RL_hip_joint">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RL_hip_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RL_thigh_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RL_thigh_joint">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RL_thigh_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RL_calf_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RL_calf_joint">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RL_calf_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- //////////////////////hip//////////////////// -->
<joint name="FL_hip_joint" type="revolute">
<!-- <joint name="${name}_hip_joint" type="continuous"> -->
<origin rpy="0 0 0" xyz="0.196 0.049664 0"/>
<parent link="trunk"/>
<child link="FL_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="15" lower="-0.872664625997" upper="1.0471975512" velocity="1.5"/>
</joint>
<link name="FL_hip">
<visual>
<origin rpy="3.14159265359 3.14159265359 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://yobotics_description/meshes/hip.STL" scale="1 1 1"/>
</geometry>
<material name="gold"/>
</visual>
<collision>
<origin rpy="3.14159265359 3.14159265359 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://yobotics_description/meshes/hip.STL" scale="1 1 1"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.0 -0.036 0.0"/>
<mass value="0.57"/>
<inertia ixx="0.000381" ixy="5.8e-05" ixz="-4.5e-07" iyy="0.00056" iyz="-9.5e-07" izz="0.000444"/>
</inertial>
</link>
<!-- //////////////////////thigh//////////////////// -->
<joint name="FL_thigh_joint" type="revolute">
<!-- <joint name="${name}_thigh_joint" type="continuous"> -->
<origin rpy="0 0 0" xyz="0 0.077476 0"/>
<parent link="FL_hip"/>
<child link="FL_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="15" lower="-0.523598775598" upper="3.92699081699" velocity="1.5"/>
</joint>
<link name="FL_thigh">
<visual>
<origin rpy="3.14159265359 3.14159265359 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://yobotics_description/meshes/thigh.STL" scale="1 1 1"/>
</geometry>
<material name="white_blue"/>
</visual>
<collision>
<origin rpy="3.14159265359 3.14159265359 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://yobotics_description/meshes/thigh.STL" scale="1 1 1"/>
</geometry>
<material name="white_blue"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 -0.016 -0.02"/>
<mass value="0.634"/>
<inertia ixx="0.001983" ixy="-0.000245" ixz="1.3e-05" iyy="0.002103" iyz="-1.5e-06" izz="0.000408"/>
</inertial>
</link>
<!-- //////////////////////calf//////////////////// -->
<joint name="FL_calf_joint" type="revolute">
<!-- <joint name="${name}_calf_joint" type="continuous"> -->
<origin rpy="0 0 0" xyz="0 0.0106 -0.2115"/>
<parent link="FL_thigh"/>
<child link="FL_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<!-- <limit effort="${calf_torque_max}" velocity="${calf_velocity_max}" lower="${calf_min*PI/180.0}" upper="${calf_max*PI/180.0}"/> -->
<limit effort="15" lower="-3.14159265359" upper="3.14159265359" velocity="1.5"/>
</joint>
<link name="FL_calf">
<visual>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="package://yobotics_description/meshes/calf.STL" scale="1 1 1"/>
</geometry>
<material name="white_blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="package://yobotics_description/meshes/calf.STL" scale="1 1 1"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 -0.209"/>
<mass value="0.064"/>
<inertia ixx="0.000245" ixy="0.0" ixz="0.0" iyy="0.000248" iyz="0.0" izz="6e-06"/>
</inertial>
</link>
<!-- //////////////////////foot//////////////////// -->
<joint name="FL_foot_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0.0096 -0.21039"/>
<parent link="FL_calf"/>
<child link="FL_foot"/>
</joint>
<link name="FL_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://yobotics_description/meshes/foot.STL" scale="1 1 1"/>
</geometry>
<material name="white_black"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://yobotics_description/meshes/foot.STL" scale="1 1 1"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0"/>
<mass value="0.15"/>
<inertia ixx="2.5e-05" ixy="0.0" ixz="0.0" iyy="2.5e-05" iyz="0.0" izz="2.5e-05"/>
</inertial>
</link>
<transmission name="FL_hip_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FL_hip_joint">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="FL_hip_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="FL_thigh_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FL_thigh_joint">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="FL_thigh_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="FL_calf_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FL_calf_joint">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="FL_calf_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- //////////////////////hip//////////////////// -->
<joint name="RR_hip_joint" type="revolute">
<!-- <joint name="${name}_hip_joint" type="continuous"> -->
<origin rpy="0 0 0" xyz="-0.196 -0.049664 0"/>
<parent link="trunk"/>
<child link="RR_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="15" lower="-1.0471975512" upper="0.872664625997" velocity="1.5"/>
</joint>
<link name="RR_hip">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://yobotics_description/meshes/hip.STL" scale="1 1 1"/>
</geometry>
<material name="gold"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://yobotics_description/meshes/hip.STL" scale="1 1 1"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.036 0.0"/>
<mass value="0.57"/>
<inertia ixx="0.000381" ixy="5.8e-05" ixz="4.5e-07" iyy="0.00056" iyz="9.5e-07" izz="0.000444"/>
</inertial>
</link>
<!-- //////////////////////thigh//////////////////// -->
<joint name="RR_thigh_joint" type="revolute">
<!-- <joint name="${name}_thigh_joint" type="continuous"> -->
<origin rpy="0 0 0" xyz="0 -0.077476 0"/>
<parent link="RR_hip"/>
<child link="RR_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="15" lower="-0.523598775598" upper="3.92699081699" velocity="1.5"/>
</joint>
<link name="RR_thigh">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://yobotics_description/meshes/thigh.STL" scale="1 1 1"/>
</geometry>
<material name="white_blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://yobotics_description/meshes/thigh.STL" scale="1 1 1"/>
</geometry>
<material name="white_blue"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.016 -0.02"/>
<mass value="0.634"/>
<inertia ixx="0.001983" ixy="0.000245" ixz="1.3e-05" iyy="0.002103" iyz="1.5e-06" izz="0.000408"/>
</inertial>
</link>
<!-- //////////////////////calf//////////////////// -->
<joint name="RR_calf_joint" type="revolute">
<!-- <joint name="${name}_calf_joint" type="continuous"> -->
<origin rpy="0 0 0" xyz="0 0.0106 -0.2115"/>
<parent link="RR_thigh"/>
<child link="RR_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<!-- <limit effort="${calf_torque_max}" velocity="${calf_velocity_max}" lower="${calf_min*PI/180.0}" upper="${calf_max*PI/180.0}"/> -->
<limit effort="15" lower="-3.14159265359" upper="3.14159265359" velocity="1.5"/>
</joint>
<link name="RR_calf">
<visual>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="package://yobotics_description/meshes/calf.STL" scale="1 1 1"/>
</geometry>
<material name="white_blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="package://yobotics_description/meshes/calf.STL" scale="1 1 1"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 -0.209"/>
<mass value="0.064"/>
<inertia ixx="0.000245" ixy="0.0" ixz="0.0" iyy="0.000248" iyz="0.0" izz="6e-06"/>
</inertial>
</link>
<!-- //////////////////////foot//////////////////// -->
<joint name="RR_foot_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0.0096 -0.21039"/>
<parent link="RR_calf"/>
<child link="RR_foot"/>
</joint>
<link name="RR_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://yobotics_description/meshes/foot.STL" scale="1 1 1"/>
</geometry>
<material name="white_black"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://yobotics_description/meshes/foot.STL" scale="1 1 1"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0"/>
<mass value="0.15"/>
<inertia ixx="2.5e-05" ixy="0.0" ixz="0.0" iyy="2.5e-05" iyz="0.0" izz="2.5e-05"/>
</inertial>
</link>
<transmission name="RR_hip_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RR_hip_joint">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RR_hip_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RR_thigh_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RR_thigh_joint">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RR_thigh_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RR_calf_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RR_calf_joint">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RR_calf_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- //////////////////////hip//////////////////// -->
<joint name="FR_hip_joint" type="revolute">
<!-- <joint name="${name}_hip_joint" type="continuous"> -->
<origin rpy="0 0 0" xyz="0.196 -0.049664 0"/>
<parent link="trunk"/>
<child link="FR_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="15" lower="-1.0471975512" upper="0.872664625997" velocity="1.5"/>
</joint>
<link name="FR_hip">
<visual>
<origin rpy="0 3.14159265359 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://yobotics_description/meshes/hip.STL" scale="1 1 1"/>
</geometry>
<material name="gold"/>
</visual>
<collision>
<origin rpy="0 3.14159265359 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://yobotics_description/meshes/hip.STL" scale="1 1 1"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.0 0.036 0.0"/>
<mass value="0.57"/>
<inertia ixx="0.000381" ixy="-5.8e-05" ixz="-4.5e-07" iyy="0.00056" iyz="9.5e-07" izz="0.000444"/>
</inertial>
</link>
<!-- //////////////////////thigh//////////////////// -->
<joint name="FR_thigh_joint" type="revolute">
<!-- <joint name="${name}_thigh_joint" type="continuous"> -->
<origin rpy="0 0 0" xyz="0 -0.077476 0"/>
<parent link="FR_hip"/>
<child link="FR_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="15" lower="-0.523598775598" upper="3.92699081699" velocity="1.5"/>
</joint>
<link name="FR_thigh">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://yobotics_description/meshes/thigh.STL" scale="1 1 1"/>
</geometry>
<material name="white_blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://yobotics_description/meshes/thigh.STL" scale="1 1 1"/>
</geometry>
<material name="white_blue"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.016 -0.02"/>
<mass value="0.634"/>
<inertia ixx="0.001983" ixy="0.000245" ixz="1.3e-05" iyy="0.002103" iyz="1.5e-06" izz="0.000408"/>
</inertial>
</link>
<!-- //////////////////////calf//////////////////// -->
<joint name="FR_calf_joint" type="revolute">
<!-- <joint name="${name}_calf_joint" type="continuous"> -->
<origin rpy="0 0 0" xyz="0 0.0106 -0.2115"/>
<parent link="FR_thigh"/>
<child link="FR_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<!-- <limit effort="${calf_torque_max}" velocity="${calf_velocity_max}" lower="${calf_min*PI/180.0}" upper="${calf_max*PI/180.0}"/> -->
<limit effort="15" lower="-3.14159265359" upper="3.14159265359" velocity="1.5"/>
</joint>
<link name="FR_calf">
<visual>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="package://yobotics_description/meshes/calf.STL" scale="1 1 1"/>
</geometry>
<material name="white_blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="package://yobotics_description/meshes/calf.STL" scale="1 1 1"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 -0.209"/>
<mass value="0.064"/>
<inertia ixx="0.000245" ixy="0.0" ixz="0.0" iyy="0.000248" iyz="0.0" izz="6e-06"/>
</inertial>
</link>
<!-- //////////////////////foot//////////////////// -->
<joint name="FR_foot_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0.0096 -0.21039"/>
<parent link="FR_calf"/>
<child link="FR_foot"/>
</joint>
<link name="FR_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://yobotics_description/meshes/foot.STL" scale="1 1 1"/>
</geometry>
<material name="white_black"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://yobotics_description/meshes/foot.STL" scale="1 1 1"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0"/>
<mass value="0.15"/>
<inertia ixx="2.5e-05" ixy="0.0" ixz="0.0" iyy="2.5e-05" iyz="0.0" izz="2.5e-05"/>
</inertial>
</link>
<transmission name="FR_hip_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FR_hip_joint">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="FR_hip_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="FR_thigh_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FR_thigh_joint">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="FR_thigh_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="FR_calf_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FR_calf_joint">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="FR_calf_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Body of yobotics, with plates, standoffs and Create (including sim sensors) -->
<robot/>
<!-- Attach the Kinect -->
<joint name="kinect_frame_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.06 0 0.3"/>
<parent link="trunk"/>
<child link="camera_link"/>
</joint>
<!-- Create kinect reference frame -->
<!-- Add mesh for kinect -->
<link name="camera_link">
<origin rpy="0 0 0" xyz="0 0 0"/>
<visual>
<origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
<geometry>
<box size="0.07 0.1 0.09"/>
</geometry>
</visual>
<collision>
<geometry>
<box size="0.07 0.1 0.09"/>
</geometry>
</collision>
</link>
<joint name="camera_optical_joint" type="fixed">
<origin rpy="-1.5708 0 -1.5708" xyz="0 0 0"/>
<parent link="camera_link"/>
<child link="camera_frame_optical"/>
</joint>
<link name="camera_frame_optical"/>
<gazebo reference="camera_link">
<sensor name="camera" type="depth">
<always_on>true</always_on>
<update_rate>20.0</update_rate>
<camera>
<horizontal_fov>1.0471975512</horizontal_fov>
<image>
<format>R8G8B8</format>
<width>640</width>
<height>480</height>
</image>
<clip>
<near>0.05</near>
<far>8.0</far>
</clip>
</camera>
<plugin filename="libgazebo_ros_openni_kinect.so" name="kinect_camera_controller">
<cameraName>camera</cameraName>
<alwaysOn>true</alwaysOn>
<updateRate>10</updateRate>
<imageTopicName>rgb/image_raw</imageTopicName>
<depthImageTopicName>depth/image_raw</depthImageTopicName>
<pointCloudTopicName>depth/points</pointCloudTopicName>
<cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
<depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
<frameName>camera_frame_optical</frameName>
<baseline>0.1</baseline>
<distortion_k1>0.0</distortion_k1>
<distortion_k2>0.0</distortion_k2>
<distortion_k3>0.0</distortion_k3>
<distortion_t1>0.0</distortion_t1>
<distortion_t2>0.0</distortion_t2>
<pointCloudCutoff>0.4</pointCloudCutoff>
</plugin>
</sensor>
</gazebo>
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/MIT_mini-cheetah/yobotics_description/urdf/yobotics.urdf | <?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from ../xacro/robot.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="yobotics_description">
<!-- joint limits -->
<!-- <xacro:property name="damping" value="0"/>
<xacro:property name="friction" value="0"/>
<xacro:property name="hip_max" value="120"/>
<xacro:property name="hip_min" value="-120"/>
<xacro:property name="hip_velocity_max" value="52.4"/>
<xacro:property name="hip_torque_max" value="20"/>
<xacro:property name="thigh_max" value="270"/>
<xacro:property name="thigh_min" value="-270"/>
<xacro:property name="thigh_velocity_max" value="28.6"/>
<xacro:property name="thigh_torque_max" value="55"/>
<xacro:property name="calf_max" value="155"/>
<xacro:property name="calf_min" value="-155"/>
<xacro:property name="calf_velocity_max" value="28.6"/>
<xacro:property name="calf_torque_max" value="55"/> -->
<material name="black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<material name="green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>
<material name="grey">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
<material name="silver">
<color rgba="0.913725490196 0.913725490196 0.847058823529 1.0"/>
</material>
<material name="orange">
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
</material>
<material name="brown">
<color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
</material>
<material name="white_gray">
<color rgba="0.823529411765 0.823529411765 0.823529411765 1.0"/>
</material>
<material name="gold">
<color rgba="0.811764705882 0.678431372549 0.301960784314 1.0"/>
</material>
<material name="white_blue">
<color rgba="0.462745098039 0.8 0.992156862745 1.0"/>
</material>
<material name="white_black">
<color rgba="0.494117647059 0.494117647059 0.494117647059 1.0"/>
</material>
<material name="red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="white">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<!-- ros_control plugin -->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<!-- <robotNamespace>/yobotics_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>
<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="_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>yobotic_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> -->
<gazebo>
<plugin filename="libgazebo_ros_p3d.so" name="p3d_base_controller">
<alwaysOn>true</alwaysOn>
<updateRate>50.0</updateRate>
<bodyName>trunk</bodyName>
<topicName>yobotics_gazebo_ground_truth</topicName>
<gaussianNoise>0.01</gaussianNoise>
<frameName>world</frameName>
<xyzOffsets>0 0 0</xyzOffsets>
<rpyOffsets>0 0 0</rpyOffsets>
</plugin>
</gazebo>
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<legacyModeNS>true</legacyModeNS>
</plugin>
</gazebo>
<!-- Foot contacts. -->
<!-- <gazebo reference="FR_calf">
<sensor name="FR_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libyoboticsFootContactPlugin.so"/>
<contact>
<collision>FR_calf_fixed_joint_lump__FR_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="FL_calf">
<sensor name="FL_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libyoboticsFootContactPlugin.so"/>
<contact>
<collision>FL_calf_fixed_joint_lump__FL_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="RR_calf">
<sensor name="RR_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libyoboticsFootContactPlugin.so"/>
<contact>
<collision>RR_calf_fixed_joint_lump__RR_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="RL_calf">
<sensor name="RL_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libyoboticsFootContactPlugin.so"/>
<contact>
<collision>RL_calf_fixed_joint_lump__RL_foot_collision_1</collision>
</contact>
</sensor>
</gazebo> -->
<!-- Visualization of Foot contacts. -->
<!-- <gazebo reference="FR_foot">
<visual>
<plugin name="drawForcePlugin" filename="libyoboticsDrawForcePlugin.so">
<topicName>FR_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="FL_foot">
<visual>
<plugin name="drawForcePlugin" filename="libyoboticsDrawForcePlugin.so">
<topicName>FL_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="RR_foot">
<visual>
<plugin name="drawForcePlugin" filename="libyoboticsDrawForcePlugin.so">
<topicName>RR_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="RL_foot">
<visual>
<plugin name="drawForcePlugin" filename="libyoboticsDrawForcePlugin.so">
<topicName>RL_foot_contact</topicName>
</plugin>
</visual>
</gazebo> -->
<gazebo reference="base">
<material>Gazebo/Green</material>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="trunk">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="stick_link">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<material>Gazebo/White</material>
</gazebo>
<gazebo reference="imu_link">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<material>Gazebo/Red</material>
</gazebo>
<!-- FL leg -->
<gazebo reference="FL_hip">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<!-- <material>Gazebo/DarkGrey</material> -->
</gazebo>
<gazebo reference="FL_thigh">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<self_collide>1</self_collide>
<material>Gazebo/White</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="FL_calf">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="FL_foot">
<mu1>0.9</mu1>
<mu2>0.9</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>0.9</mu1>
<mu2>0.9</mu2>
<!-- <material>Gazebo/DarkGrey</material> -->
</gazebo>
<gazebo reference="FR_thigh">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<self_collide>1</self_collide>
<material>Gazebo/White</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="FR_calf">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="FR_foot">
<mu1>0.9</mu1>
<mu2>0.9</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>0.9</mu1>
<mu2>0.9</mu2>
<!-- <material>Gazebo/DarkGrey</material> -->
</gazebo>
<gazebo reference="RL_thigh">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<self_collide>1</self_collide>
<material>Gazebo/White</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="RL_calf">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="RL_foot">
<mu1>0.9</mu1>
<mu2>0.9</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>0.9</mu1>
<mu2>0.9</mu2>
<!-- <material>Gazebo/Gold</material> -->
</gazebo>
<gazebo reference="RR_thigh">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<self_collide>1</self_collide>
<material>Gazebo/White</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="RR_calf">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="RR_foot">
<mu1>0.9</mu1>
<mu2>0.9</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. -->
<!-- <link name="base_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
</visual>
</link>
<joint name="floating_base" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base_link"/>
<child link="trunk"/>
</joint> -->
<link name="trunk"/>
<link name="trunk_interia">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://yobotics_description/meshes/trunk.STL" scale="1 1 1"/>
</geometry>
<material name="white_gray"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<!-- <mesh filename="package://yobotics_description/meshes/trunk.STL" scale="1 1 1"/> -->
<box size="0.3 0.2 0.093"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<mass value="3.3"/>
<inertia ixx="0.011253" ixy="0" ixz="0.0" iyy="0.036203" iyz="-0.0" izz="0.042673"/>
</inertial>
</link>
<joint name="trunk_to_trunk_inertia" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="trunk"/>
<child link="trunk_interia"/>
</joint>
<!--
<joint name="imu_joint" type="fixed">
<parent link="trunk"/>
<child link="imu_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<link name="imu_link">
<inertial>
<mass value="0.001"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.0001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
<material name="red"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".001 .001 .001"/>
</geometry>
</collision>
</link> -->
<!-- //////////////////////hip//////////////////// -->
<joint name="RL_hip_joint" type="revolute">
<!-- <joint name="${name}_hip_joint" type="continuous"> -->
<origin rpy="0 0 0" xyz="-0.196 0.049664 0"/>
<parent link="trunk"/>
<child link="RL_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="20" lower="-0.872664625997" upper="1.0471975512" velocity="10.6"/>
</joint>
<link name="RL_hip">
<visual>
<origin rpy="3.14159265359 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://yobotics_description/meshes/hip.STL" scale="1 1 1"/>
</geometry>
<material name="gold"/>
</visual>
<collision>
<!-- <origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/> -->
<!-- <xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
<origin rpy="0 0 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
<origin rpy="${PI} 0 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
<origin rpy="0 ${PI} 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
<origin rpy="${PI} ${PI} 0" xyz="0 0 0"/>
</xacro:if> -->
<geometry>
<!-- <mesh filename="package://yobotics_description/meshes/hip.STL" scale="1 1 1"/> -->
<box size="0.09 0.08 0.093"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 -0.036 0.0"/>
<mass value="0.57"/>
<inertia ixx="0.0007148275" ixy="0.0" ixz="0.0" iyy="0.0007955775" iyz="0.0" izz="0.00068875"/>
</inertial>
</link>
<!-- //////////////////////thigh//////////////////// -->
<joint name="RL_thigh_joint" type="revolute">
<!-- <joint name="${name}_thigh_joint" type="continuous"> -->
<origin rpy="0 0 0" xyz="0 0.077476 0"/>
<parent link="RL_hip"/>
<child link="RL_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="20" lower="-0.523598775598" upper="3.92699081699" velocity="10.6"/>
</joint>
<link name="RL_thigh">
<visual>
<origin rpy="3.14159265359 3.14159265359 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://yobotics_description/meshes/thigh.STL" scale="1 1 1"/>
</geometry>
<material name="white_blue"/>
</visual>
<collision>
<!-- <xacro:if value="${mirror_dae == True}">
<origin rpy="0 0 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${mirror_dae == False}">
<origin rpy="${PI} ${PI} 0" xyz="0 0 0"/>
</xacro:if> -->
<origin rpy="0 0 0" xyz="0 0 -0.11"/>
<geometry>
<box size="0.043 0.034 0.22"/>
<!-- <mesh filename="package://yobotics_description/meshes/thigh.STL" scale="1 1 1"/> -->
</geometry>
<material name="white_blue"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 -0.016 -0.11"/>
<mass value="0.634"/>
<inertia ixx="0.00261820866667" ixy="0.0" ixz="0.0" iyy="0.00265482216667" iyz="0.0" izz="0.000158764166667"/>
</inertial>
</link>
<!-- //////////////////////calf//////////////////// -->
<joint name="RL_calf_joint" type="revolute">
<!-- <joint name="${name}_calf_joint" type="continuous"> -->
<origin rpy="0 0 0" xyz="0 0 -0.2115"/>
<parent link="RL_thigh"/>
<child link="RL_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<!-- <limit effort="${calf_torque_max}" velocity="${calf_velocity_max}" lower="${calf_min*PI/180.0}" upper="${calf_max*PI/180.0}"/> -->
<limit effort="20" lower="-3.14159265359" upper="3.14159265359" velocity="10.6"/>
</joint>
<link name="RL_calf">
<visual>
<origin rpy="0 0 0" xyz="0.0 0.009 0.0"/>
<geometry>
<mesh filename="package://yobotics_description/meshes/calf.STL" scale="1 1 1"/>
</geometry>
<material name="white_blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.0 0.0 -0.1"/>
<geometry>
<box size="0.016 0.016 0.2"/>
<!-- <mesh filename="package://yobotics_description/meshes/calf.STL" scale="1 1 1"/> -->
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<mass value="0.064"/>
<inertia ixx="0.000214698666667" ixy="0.0" ixz="0.0" iyy="0.000214698666667" iyz="0.0" izz="2.73066666667e-06"/>
</inertial>
</link>
<!-- //////////////////////foot//////////////////// -->
<joint name="RL_foot_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.23039"/>
<parent link="RL_calf"/>
<child link="RL_foot"/>
</joint>
<link name="RL_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0.018 0.02"/>
<geometry>
<mesh filename="package://yobotics_description/meshes/foot.STL" scale="1 1 1"/>
</geometry>
<material name="white_black"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0.0 0.025"/>
<geometry>
<!-- <mesh filename="package://yobotics_description/meshes/foot.STL" scale="1 1 1"/> -->
<sphere radius="0.025"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0"/>
<mass value="0.15"/>
<inertia ixx="4.2135e-05" ixy="0.0" ixz="0.0" iyy="4.2135e-05" iyz="0.0" izz="4.2135e-05"/>
</inertial>
</link>
<transmission name="RL_hip_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RL_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RL_hip_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RL_thigh_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RL_thigh_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RL_thigh_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RL_calf_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RL_calf_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RL_calf_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- //////////////////////hip//////////////////// -->
<joint name="FL_hip_joint" type="revolute">
<!-- <joint name="${name}_hip_joint" type="continuous"> -->
<origin rpy="0 0 0" xyz="0.196 0.049664 0"/>
<parent link="trunk"/>
<child link="FL_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="20" lower="-0.872664625997" upper="1.0471975512" velocity="10.6"/>
</joint>
<link name="FL_hip">
<visual>
<origin rpy="3.14159265359 3.14159265359 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://yobotics_description/meshes/hip.STL" scale="1 1 1"/>
</geometry>
<material name="gold"/>
</visual>
<collision>
<!-- <origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/> -->
<!-- <xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
<origin rpy="0 0 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
<origin rpy="${PI} 0 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
<origin rpy="0 ${PI} 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
<origin rpy="${PI} ${PI} 0" xyz="0 0 0"/>
</xacro:if> -->
<geometry>
<!-- <mesh filename="package://yobotics_description/meshes/hip.STL" scale="1 1 1"/> -->
<box size="0.09 0.08 0.093"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.0 -0.036 0.0"/>
<mass value="0.57"/>
<inertia ixx="0.0007148275" ixy="0.0" ixz="0.0" iyy="0.0007955775" iyz="0.0" izz="0.00068875"/>
</inertial>
</link>
<!-- //////////////////////thigh//////////////////// -->
<joint name="FL_thigh_joint" type="revolute">
<!-- <joint name="${name}_thigh_joint" type="continuous"> -->
<origin rpy="0 0 0" xyz="0 0.077476 0"/>
<parent link="FL_hip"/>
<child link="FL_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="20" lower="-0.523598775598" upper="3.92699081699" velocity="10.6"/>
</joint>
<link name="FL_thigh">
<visual>
<origin rpy="3.14159265359 3.14159265359 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://yobotics_description/meshes/thigh.STL" scale="1 1 1"/>
</geometry>
<material name="white_blue"/>
</visual>
<collision>
<!-- <xacro:if value="${mirror_dae == True}">
<origin rpy="0 0 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${mirror_dae == False}">
<origin rpy="${PI} ${PI} 0" xyz="0 0 0"/>
</xacro:if> -->
<origin rpy="0 0 0" xyz="0 0 -0.11"/>
<geometry>
<box size="0.043 0.034 0.22"/>
<!-- <mesh filename="package://yobotics_description/meshes/thigh.STL" scale="1 1 1"/> -->
</geometry>
<material name="white_blue"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 -0.016 -0.11"/>
<mass value="0.634"/>
<inertia ixx="0.00261820866667" ixy="0.0" ixz="0.0" iyy="0.00265482216667" iyz="0.0" izz="0.000158764166667"/>
</inertial>
</link>
<!-- //////////////////////calf//////////////////// -->
<joint name="FL_calf_joint" type="revolute">
<!-- <joint name="${name}_calf_joint" type="continuous"> -->
<origin rpy="0 0 0" xyz="0 0 -0.2115"/>
<parent link="FL_thigh"/>
<child link="FL_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<!-- <limit effort="${calf_torque_max}" velocity="${calf_velocity_max}" lower="${calf_min*PI/180.0}" upper="${calf_max*PI/180.0}"/> -->
<limit effort="20" lower="-3.14159265359" upper="3.14159265359" velocity="10.6"/>
</joint>
<link name="FL_calf">
<visual>
<origin rpy="0 0 0" xyz="0.0 0.009 0.0"/>
<geometry>
<mesh filename="package://yobotics_description/meshes/calf.STL" scale="1 1 1"/>
</geometry>
<material name="white_blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.0 0.0 -0.1"/>
<geometry>
<box size="0.016 0.016 0.2"/>
<!-- <mesh filename="package://yobotics_description/meshes/calf.STL" scale="1 1 1"/> -->
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<mass value="0.064"/>
<inertia ixx="0.000214698666667" ixy="0.0" ixz="0.0" iyy="0.000214698666667" iyz="0.0" izz="2.73066666667e-06"/>
</inertial>
</link>
<!-- //////////////////////foot//////////////////// -->
<joint name="FL_foot_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.23039"/>
<parent link="FL_calf"/>
<child link="FL_foot"/>
</joint>
<link name="FL_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0.018 0.02"/>
<geometry>
<mesh filename="package://yobotics_description/meshes/foot.STL" scale="1 1 1"/>
</geometry>
<material name="white_black"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0.0 0.025"/>
<geometry>
<!-- <mesh filename="package://yobotics_description/meshes/foot.STL" scale="1 1 1"/> -->
<sphere radius="0.025"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0"/>
<mass value="0.15"/>
<inertia ixx="4.2135e-05" ixy="0.0" ixz="0.0" iyy="4.2135e-05" iyz="0.0" izz="4.2135e-05"/>
</inertial>
</link>
<transmission name="FL_hip_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FL_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="FL_hip_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="FL_thigh_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FL_thigh_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="FL_thigh_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="FL_calf_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FL_calf_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="FL_calf_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- //////////////////////hip//////////////////// -->
<joint name="RR_hip_joint" type="revolute">
<!-- <joint name="${name}_hip_joint" type="continuous"> -->
<origin rpy="0 0 0" xyz="-0.196 -0.049664 0"/>
<parent link="trunk"/>
<child link="RR_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="20" lower="-1.0471975512" upper="0.872664625997" velocity="10.6"/>
</joint>
<link name="RR_hip">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://yobotics_description/meshes/hip.STL" scale="1 1 1"/>
</geometry>
<material name="gold"/>
</visual>
<collision>
<!-- <origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/> -->
<!-- <xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
<origin rpy="0 0 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
<origin rpy="${PI} 0 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
<origin rpy="0 ${PI} 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
<origin rpy="${PI} ${PI} 0" xyz="0 0 0"/>
</xacro:if> -->
<geometry>
<!-- <mesh filename="package://yobotics_description/meshes/hip.STL" scale="1 1 1"/> -->
<box size="0.09 0.08 0.093"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.036 0.0"/>
<mass value="0.57"/>
<inertia ixx="0.0007148275" ixy="0.0" ixz="0.0" iyy="0.0007955775" iyz="0.0" izz="0.00068875"/>
</inertial>
</link>
<!-- //////////////////////thigh//////////////////// -->
<joint name="RR_thigh_joint" type="revolute">
<!-- <joint name="${name}_thigh_joint" type="continuous"> -->
<origin rpy="0 0 0" xyz="0 -0.077476 0"/>
<parent link="RR_hip"/>
<child link="RR_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="20" lower="-0.523598775598" upper="3.92699081699" velocity="10.6"/>
</joint>
<link name="RR_thigh">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://yobotics_description/meshes/thigh.STL" scale="1 1 1"/>
</geometry>
<material name="white_blue"/>
</visual>
<collision>
<!-- <xacro:if value="${mirror_dae == True}">
<origin rpy="0 0 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${mirror_dae == False}">
<origin rpy="${PI} ${PI} 0" xyz="0 0 0"/>
</xacro:if> -->
<origin rpy="0 0 0" xyz="0 0 -0.11"/>
<geometry>
<box size="0.043 0.034 0.22"/>
<!-- <mesh filename="package://yobotics_description/meshes/thigh.STL" scale="1 1 1"/> -->
</geometry>
<material name="white_blue"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.016 -0.11"/>
<mass value="0.634"/>
<inertia ixx="0.00261820866667" ixy="0.0" ixz="0.0" iyy="0.00265482216667" iyz="0.0" izz="0.000158764166667"/>
</inertial>
</link>
<!-- //////////////////////calf//////////////////// -->
<joint name="RR_calf_joint" type="revolute">
<!-- <joint name="${name}_calf_joint" type="continuous"> -->
<origin rpy="0 0 0" xyz="0 0 -0.2115"/>
<parent link="RR_thigh"/>
<child link="RR_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<!-- <limit effort="${calf_torque_max}" velocity="${calf_velocity_max}" lower="${calf_min*PI/180.0}" upper="${calf_max*PI/180.0}"/> -->
<limit effort="20" lower="-3.14159265359" upper="3.14159265359" velocity="10.6"/>
</joint>
<link name="RR_calf">
<visual>
<origin rpy="0 0 0" xyz="0.0 0.009 0.0"/>
<geometry>
<mesh filename="package://yobotics_description/meshes/calf.STL" scale="1 1 1"/>
</geometry>
<material name="white_blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.0 0.0 -0.1"/>
<geometry>
<box size="0.016 0.016 0.2"/>
<!-- <mesh filename="package://yobotics_description/meshes/calf.STL" scale="1 1 1"/> -->
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<mass value="0.064"/>
<inertia ixx="0.000214698666667" ixy="0.0" ixz="0.0" iyy="0.000214698666667" iyz="0.0" izz="2.73066666667e-06"/>
</inertial>
</link>
<!-- //////////////////////foot//////////////////// -->
<joint name="RR_foot_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.23039"/>
<parent link="RR_calf"/>
<child link="RR_foot"/>
</joint>
<link name="RR_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0.018 0.02"/>
<geometry>
<mesh filename="package://yobotics_description/meshes/foot.STL" scale="1 1 1"/>
</geometry>
<material name="white_black"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0.0 0.025"/>
<geometry>
<!-- <mesh filename="package://yobotics_description/meshes/foot.STL" scale="1 1 1"/> -->
<sphere radius="0.025"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0"/>
<mass value="0.15"/>
<inertia ixx="4.2135e-05" ixy="0.0" ixz="0.0" iyy="4.2135e-05" iyz="0.0" izz="4.2135e-05"/>
</inertial>
</link>
<transmission name="RR_hip_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RR_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RR_hip_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RR_thigh_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RR_thigh_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RR_thigh_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RR_calf_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RR_calf_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RR_calf_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- //////////////////////hip//////////////////// -->
<joint name="FR_hip_joint" type="revolute">
<!-- <joint name="${name}_hip_joint" type="continuous"> -->
<origin rpy="0 0 0" xyz="0.196 -0.049664 0"/>
<parent link="trunk"/>
<child link="FR_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="20" lower="-1.0471975512" upper="0.872664625997" velocity="10.6"/>
</joint>
<link name="FR_hip">
<visual>
<origin rpy="0 3.14159265359 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://yobotics_description/meshes/hip.STL" scale="1 1 1"/>
</geometry>
<material name="gold"/>
</visual>
<collision>
<!-- <origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/> -->
<!-- <xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
<origin rpy="0 0 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
<origin rpy="${PI} 0 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
<origin rpy="0 ${PI} 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
<origin rpy="${PI} ${PI} 0" xyz="0 0 0"/>
</xacro:if> -->
<geometry>
<!-- <mesh filename="package://yobotics_description/meshes/hip.STL" scale="1 1 1"/> -->
<box size="0.09 0.08 0.093"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.0 0.036 0.0"/>
<mass value="0.57"/>
<inertia ixx="0.0007148275" ixy="0.0" ixz="0.0" iyy="0.0007955775" iyz="0.0" izz="0.00068875"/>
</inertial>
</link>
<!-- //////////////////////thigh//////////////////// -->
<joint name="FR_thigh_joint" type="revolute">
<!-- <joint name="${name}_thigh_joint" type="continuous"> -->
<origin rpy="0 0 0" xyz="0 -0.077476 0"/>
<parent link="FR_hip"/>
<child link="FR_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="20" lower="-0.523598775598" upper="3.92699081699" velocity="10.6"/>
</joint>
<link name="FR_thigh">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://yobotics_description/meshes/thigh.STL" scale="1 1 1"/>
</geometry>
<material name="white_blue"/>
</visual>
<collision>
<!-- <xacro:if value="${mirror_dae == True}">
<origin rpy="0 0 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${mirror_dae == False}">
<origin rpy="${PI} ${PI} 0" xyz="0 0 0"/>
</xacro:if> -->
<origin rpy="0 0 0" xyz="0 0 -0.11"/>
<geometry>
<box size="0.043 0.034 0.22"/>
<!-- <mesh filename="package://yobotics_description/meshes/thigh.STL" scale="1 1 1"/> -->
</geometry>
<material name="white_blue"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.016 -0.11"/>
<mass value="0.634"/>
<inertia ixx="0.00261820866667" ixy="0.0" ixz="0.0" iyy="0.00265482216667" iyz="0.0" izz="0.000158764166667"/>
</inertial>
</link>
<!-- //////////////////////calf//////////////////// -->
<joint name="FR_calf_joint" type="revolute">
<!-- <joint name="${name}_calf_joint" type="continuous"> -->
<origin rpy="0 0 0" xyz="0 0 -0.2115"/>
<parent link="FR_thigh"/>
<child link="FR_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<!-- <limit effort="${calf_torque_max}" velocity="${calf_velocity_max}" lower="${calf_min*PI/180.0}" upper="${calf_max*PI/180.0}"/> -->
<limit effort="20" lower="-3.14159265359" upper="3.14159265359" velocity="10.6"/>
</joint>
<link name="FR_calf">
<visual>
<origin rpy="0 0 0" xyz="0.0 0.009 0.0"/>
<geometry>
<mesh filename="package://yobotics_description/meshes/calf.STL" scale="1 1 1"/>
</geometry>
<material name="white_blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.0 0.0 -0.1"/>
<geometry>
<box size="0.016 0.016 0.2"/>
<!-- <mesh filename="package://yobotics_description/meshes/calf.STL" scale="1 1 1"/> -->
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<mass value="0.064"/>
<inertia ixx="0.000214698666667" ixy="0.0" ixz="0.0" iyy="0.000214698666667" iyz="0.0" izz="2.73066666667e-06"/>
</inertial>
</link>
<!-- //////////////////////foot//////////////////// -->
<joint name="FR_foot_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.23039"/>
<parent link="FR_calf"/>
<child link="FR_foot"/>
</joint>
<link name="FR_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0.018 0.02"/>
<geometry>
<mesh filename="package://yobotics_description/meshes/foot.STL" scale="1 1 1"/>
</geometry>
<material name="white_black"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0.0 0.025"/>
<geometry>
<!-- <mesh filename="package://yobotics_description/meshes/foot.STL" scale="1 1 1"/> -->
<sphere radius="0.025"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0"/>
<mass value="0.15"/>
<inertia ixx="4.2135e-05" ixy="0.0" ixz="0.0" iyy="4.2135e-05" iyz="0.0" izz="4.2135e-05"/>
</inertial>
</link>
<transmission name="FR_hip_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FR_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="FR_hip_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="FR_thigh_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FR_thigh_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="FR_thigh_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="FR_calf_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FR_calf_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="FR_calf_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="hokuyo_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.0 0.0 0.093"/>
<parent link="trunk"/>
<child link="hokuyo_frame"/>
</joint>
<link name="hokuyo_frame">
<inertial>
<mass value="0.270"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="2.632e-4" ixy="0" ixz="0" iyy="2.632e-4" iyz="0" izz="1.62e-4"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://hector_sensors_description/meshes/hokuyo_utm30lx/hokuyo_utm_30lx.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.0115"/>
<geometry>
<box size="0.058 0.058 0.087"/>
<!--<mesh filename="package://hector_sensors_description/meshes/hokuyo_utm30lx/hokuyo_utm_30lx.stl"/>-->
</geometry>
</collision>
</link>
<gazebo reference="hokuyo_frame">
<sensor name="hokuyo" type="ray">
<always_on>true</always_on>
<update_rate>30</update_rate>
<pose>0 0 0 0 0 0</pose>
<visualize>false</visualize>
<ray>
<scan>
<horizontal>
<samples>1040</samples>
<resolution>1</resolution>
<min_angle>2.26892802759</min_angle>
<max_angle>-2.26892802759</max_angle>
</horizontal>
</scan>
<range>
<min>0.2</min>
<max>30.0</max>
<resolution>0.01</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.004</stddev>
</noise>
</ray>
<plugin filename="libgazebo_ros_laser.so" name="gazebo_ros_hokuyo_controller">
<topicName>scan</topicName>
<frameName>hokuyo_frame</frameName>
</plugin>
</sensor>
</gazebo>
<gazebo reference="hokuyo_frame">
<material>Gazebo/FlatBlack</material>
</gazebo>
<joint name="camera_joint" type="fixed">
<origin rpy="0 0.261799612195482 0" xyz="0.1 0.0 -0.06"/>
<parent link="trunk"/>
<child link="camera_link"/>
</joint>
<link name="camera_link">
<inertial>
<mass value="0.200"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="5.8083e-4" ixy="0" ixz="0" iyy="3.0833e-5" iyz="0" izz="5.9083e-4"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://hector_sensors_description/meshes/asus_camera/asus_camera_simple.dae"/>
</geometry>
</visual>
<!--
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box size="0.035 0.185 0.025"/>
</geometry>
</collision>
-->
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://hector_sensors_description/meshes/asus_camera/asus_camera_simple.dae"/>
</geometry>
</collision>
</link>
<joint name="camera_depth_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.0 0.049 0.0"/>
<parent link="camera_link"/>
<child link="camera_depth_frame"/>
</joint>
<link name="camera_depth_frame"/>
<joint name="camera_depth_optical_joint" type="fixed">
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
<parent link="camera_depth_frame"/>
<child link="camera_depth_optical_frame"/>
</joint>
<link name="camera_depth_optical_frame"/>
<joint name="camera_rgb_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.0 0.022 0.0"/>
<parent link="camera_link"/>
<child link="camera_rgb_frame"/>
</joint>
<link name="camera_rgb_frame"/>
<joint name="camera_rgb_optical_joint" type="fixed">
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
<parent link="camera_rgb_frame"/>
<child link="camera_rgb_optical_frame"/>
</joint>
<link name="camera_rgb_optical_frame"/>
<!-- ASUS Xtion PRO camera for simulation -->
<gazebo reference="camera_depth_frame">
<sensor name="camera" type="depth">
<update_rate>20</update_rate>
<camera>
<horizontal_fov>1.09606677025</horizontal_fov>
<image>
<format>R8G8B8</format>
<width>640</width>
<height>480</height>
</image>
<clip>
<near>0.5</near>
<far>9</far>
</clip>
</camera>
<plugin filename="libgazebo_ros_openni_kinect.so" name="camera_camera_controller">
<imageTopicName>camera/rgb/image_raw</imageTopicName>
<cameraInfoTopicName>camera/rgb/camera_info</cameraInfoTopicName>
<depthImageTopicName>camera/depth/image_raw</depthImageTopicName>
<depthImageCameraInfoTopicName>camera/depth/camera_info</depthImageCameraInfoTopicName>
<pointCloudTopicName>camera/depth/points</pointCloudTopicName>
<frameName>camera_depth_optical_frame</frameName>
</plugin>
</sensor>
</gazebo>
<gazebo>
<plugin filename="libhector_gazebo_ros_imu.so" name="imu_controller">
<updateRate>50.0</updateRate>
<bodyName>imu_link</bodyName>
<topicName>imu/data</topicName>
<accelDrift>0.005 0.005 0.005</accelDrift>
<accelGaussianNoise>0.005 0.005 0.005</accelGaussianNoise>
<rateDrift>0.005 0.005 0.005 </rateDrift>
<rateGaussianNoise>0.005 0.005 0.005 </rateGaussianNoise>
<headingDrift>0.005</headingDrift>
<headingGaussianNoise>0.005</headingGaussianNoise>
</plugin>
</gazebo>
<link name="imu_link">
<inertial>
<mass value="0.001"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="1e-09" ixy="0.0" ixz="0.0" iyy="1e-09" iyz="0.0" izz="1e-09"/>
</inertial>
</link>
<joint name="imu_joint" type="fixed">
<parent link="trunk"/>
<child link="imu_link"/>
</joint>
<!-- <xacro:include filename="$(find velodyne_description)/urdf/VLP-16.urdf.xacro"/>
<xacro:VLP-16 parent="trunk" name="velodyne" topic="velodyne_points" hz="10" samples="1024" gpu="false" lasers="16" max_range="100">
<origin xyz="0 0 ${base_z_length / 2}" rpy="0 0 0" />
</xacro:VLP-16>
<xacro:include filename="$(find champ_arm_description)/urdf/champ_arm.urdf.xacro" />
<xacro:champ_arm parent="trunk">
<origin xyz="0.07 0.0 ${base_z_length / 2}" rpy="0 0 0"/>
</xacro:champ_arm> -->
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/mini-pupper_description/urdf/laser.urdf.xacro | <robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:property name="M_PI" value="3.1415926535897931" />
<xacro:macro name="laser" params="*origin update_rate ray_count min_angle max_angle min_range max_range parent">
<link name="laser">
<visual>
<origin xyz="0 0 -0.025" rpy="0 0 0"/>
<geometry>
<cylinder radius="0.0375" length="0.05"/>
</geometry>
<!-- <material name="green">
<color rgba="0.003 0.639 0.223 1.0"/>
</material> -->
<material name="black" />
</visual>
<collision>
<origin xyz="0 0 0" rpy="${pi/2} 0 0"/>
<geometry>
<cylinder radius="0.0375" length="0.05"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0.1"/>
<inertia ixx="${(2/5) * 0.1 * (0.0375 * 0.0375)}" ixy="0" ixz="0"
iyy="${(2/5) * 0.1 * (0.0375 * 0.0375)}" iyz="0"
izz="${(2/5) * 0.1 * (0.0375 * 0.0375)}" />
</inertial>
</link>
<gazebo reference="laser">
<visual>
<material>
<ambient>0.003 0.639 0.223 1.0</ambient>
<diffuse>0.003 0.639 0.223 1.0</diffuse>
<specular>0.003 0.639 0.223 1.0</specular>
<emissive>0.0 0.0 0.0 0.0</emissive>
</material>
</visual>
</gazebo>
<joint name="laser_to_base_link" type="fixed">
<!-- <parent link="base_link"/> -->
<parent link="${parent}"/>
<child link="laser"/>
<xacro:insert_block name="origin" />
</joint>
<gazebo reference="laser">
<sensor type="ray" name="head_hokuyo_sensor">
<always_on>true</always_on>
<update_rate>${update_rate}</update_rate>
<pose>0 0 0 0 0 0</pose>
<visualize>false</visualize>
<ray>
<scan>
<horizontal>
<samples>${ray_count}</samples>
<resolution>1</resolution>
<min_angle>${min_angle}</min_angle>
<max_angle>${max_angle}</max_angle>
</horizontal>
</scan>
<range>
<min>${min_range}</min>
<max>${max_range}</max>
<resolution>0.01</resolution>
</range>
</ray>
<plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_ray_sensor.so">
<ros>
<argument>~/out:=scan</argument>
</ros>
<output_type>sensor_msgs/LaserScan</output_type>
<alwaysOn>true</alwaysOn>
<updateRate>${update_rate}</updateRate>
<topicName>scan</topicName>
<frame_name>laser</frame_name>
<output_type>sensor_msgs/LaserScan</output_type>
</plugin>
</sensor>
</gazebo>
</xacro:macro>
</robot> |
boredengineering/Robots_for_Omniverse/URDF_descriptions/mini-pupper_description/urdf/leg.urdf.xacro | <?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="mini-pupper_leg" params="leg " >
<xacro:if value="${leg == 'lf'}">
<xacro:property name="base_to_hip_xyz" value="${base_to_hip_f_x} ${base_to_hip_y} ${base_to_hip_z}" />
<xacro:property name="hip_to_upper_leg" value="${hip_to_upper_leg_distance}" />
<xacro:property name="upper_leg_to_lower_leg" value="${upper_leg_to_lower_leg_distance}" />
<xacro:property name="hip_mesh_path" value="package://mini-pupper_description/meshes/${leg}_hip.stl" />
<xacro:property name="upper_leg_mesh_path" value="package://mini-pupper_description/meshes/${leg}_lower_leg.stl" />
<xacro:property name="lower_leg_mesh_path" value="package://mini-pupper_description/meshes/${leg}_lower_leg.stl" />
</xacro:if>
<xacro:if value="${leg == 'lh'}">
<xacro:property name="base_to_hip_xyz" value="-${base_to_hip_h_x} ${base_to_hip_y} ${base_to_hip_z}" />
<xacro:property name="hip_to_upper_leg" value="${hip_to_upper_leg_distance}" />
<xacro:property name="upper_leg_to_lower_leg" value="${upper_leg_to_lower_leg_distance}" />
<xacro:property name="hip_mesh_path" value="package://mini-pupper_description/meshes/${leg}_hip.stl" />
<xacro:property name="upper_leg_mesh_path" value="package://mini-pupper_description/meshes/${leg}_lower_leg.stl" />
<xacro:property name="lower_leg_mesh_path" value="package://mini-pupper_description/meshes/${leg}_lower_leg.stl" />
</xacro:if>
<xacro:if value="${leg == 'rf'}">
<xacro:property name="base_to_hip_xyz" value="${base_to_hip_f_x} -${base_to_hip_y} ${base_to_hip_z}" />
<xacro:property name="hip_to_upper_leg" value="-${hip_to_upper_leg_distance}" />
<xacro:property name="upper_leg_to_lower_leg" value="-${upper_leg_to_lower_leg_distance}" />
<xacro:property name="hip_mesh_path" value="package://mini-pupper_description/meshes/${leg}_hip.stl" />
<xacro:property name="upper_leg_mesh_path" value="package://mini-pupper_description/meshes/${leg}_lower_leg.stl" />
<xacro:property name="lower_leg_mesh_path" value="package://mini-pupper_description/meshes/${leg}_lower_leg.stl" />
</xacro:if>
<xacro:if value="${leg == 'rh'}">
<xacro:property name="base_to_hip_xyz" value="-${base_to_hip_h_x} -${base_to_hip_y} ${base_to_hip_z}" />
<xacro:property name="hip_to_upper_leg" value="-${hip_to_upper_leg_distance}" />
<xacro:property name="upper_leg_to_lower_leg" value="-${upper_leg_to_lower_leg_distance}" />
<xacro:property name="hip_mesh_path" value="package://mini-pupper_description/meshes/${leg}_hip.stl" />
<xacro:property name="upper_leg_mesh_path" value="package://mini-pupper_description/meshes/${leg}_lower_leg.stl" />
<xacro:property name="lower_leg_mesh_path" value="package://mini-pupper_description/meshes/${leg}_lower_leg.stl" />
</xacro:if>
<link name="${leg}_hip_debug_link"/>
<link name="${leg}_hip_link">
<inertial>
<mass value="${hip_mass}" />
<inertia ixx="${(1/12) * hip_mass * (hip_y_length * hip_y_length + hip_z_length * hip_z_length)}" ixy="0.0" ixz="0.0"
iyy="${(1/12) * hip_mass * (hip_x_length * hip_x_length + hip_z_length * hip_z_length)}" iyz="0.0"
izz="${(1/12) * hip_mass * (hip_x_length * hip_x_length + hip_y_length * hip_y_length)}" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="${hip_mesh_path}" scale="1 1 1" />
</geometry>
</collision>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="${hip_mesh_path}" scale="1 1 1" />
</geometry>
<material name="dyellow" />
</visual>
</link>
<gazebo reference="${leg}_hip_link">
<material>Gazebo/Yellow</material>
</gazebo>
<link name="${leg}_upper_leg_link">
<inertial>
<origin xyz="0 0 -${(upper_leg_z_length / 2) - ((upper_leg_z_length - upper_leg_to_lower_leg_distance) / 2)}" />
<mass value="${upper_leg_mass}" />
<inertia ixx="${(1/12) * upper_leg_mass * (upper_leg_y_length * upper_leg_y_length + upper_leg_z_length * upper_leg_z_length)}" ixy="0.0" ixz="0.0"
iyy="${(1/12) * upper_leg_mass * (upper_leg_x_length * upper_leg_x_length + upper_leg_z_length * upper_leg_z_length)}" iyz="0.0"
izz="${(1/12) * upper_leg_mass * (upper_leg_x_length * upper_leg_x_length + upper_leg_y_length * upper_leg_y_length)}" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="${upper_leg_mesh_path}" scale="1 1 1" />
</geometry>
</collision>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="${upper_leg_mesh_path}" scale="1 1 1" />
</geometry>
<material name="dyellow" />
</visual>
</link>
<gazebo reference="${leg}_upper_leg_link">
<material>Gazebo/Yellow</material>
</gazebo>
<link name="${leg}_lower_leg_link">
<inertial>
<origin xyz="0 0 -${(lower_leg_to_foot_distance - (lower_leg_z_length - lower_leg_to_foot_distance)) / 2}" />
<mass value="${lower_leg_mass}" />
<inertia ixx="${(1/12) * lower_leg_mass * (lower_leg_y_length * lower_leg_y_length + lower_leg_z_length * lower_leg_z_length)}" ixy="0.0" ixz="0.0"
iyy="${(1/12) * lower_leg_mass * (lower_leg_x_length * lower_leg_x_length + lower_leg_z_length * lower_leg_z_length)}" iyz="0.0"
izz="${(1/12) * lower_leg_mass * (lower_leg_x_length * lower_leg_x_length + lower_leg_y_length * lower_leg_y_length)}" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="${lower_leg_mesh_path}" scale="1 1 1" />
</geometry>
</collision>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="${lower_leg_mesh_path}" scale="1 1 1" />
</geometry>
<material name="black" />
</visual>
</link>
<gazebo reference="${leg}_lower_leg_link">
<kp>1000000.0</kp>
<kd>1.0</kd>
<mu1>0.8</mu1>
<mu2>0.8</mu2>
<maxVel>0.0</maxVel>
<minDepth>0.001</minDepth>
<material>Gazebo/FlatBlack</material>
</gazebo>
<link name="${leg}_foot_link">
<inertial>
<origin xyz="0 0 0" />
<mass value="${foot_mass}" />
<inertia ixx="${(1/12) * foot_mass * (foot_y_length * foot_y_length + foot_z_length * foot_z_length)}" ixy="0.0" ixz="0.0"
iyy="${(1/12) * foot_mass * (foot_x_length * foot_x_length + foot_z_length * foot_z_length)}" iyz="0.0"
izz="${(1/12) * foot_mass * (foot_x_length * foot_x_length + foot_y_length * foot_y_length)}" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="${foot_mesh_path}" scale="1 1 1" />
</geometry>
</collision>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="${foot_mesh_path}" scale="1 1 1" />
</geometry>
<material name="black" />
</visual>
</link>
<gazebo reference="${leg}_foot_link">
<material>Gazebo/FlatBlack</material>
</gazebo>
<joint name="${leg}_debug_joint" type="fixed">
<parent link="base_link" />
<child link="${leg}_hip_debug_link" />
<origin xyz="${base_to_hip_xyz}" rpy="0 0 0" />
</joint>
<joint name="${leg}_hip_joint" type="revolute">
<axis xyz="1 0 0" />
<limit effort="5" lower="-${pi}" upper="${pi}" velocity="2.5" />
<parent link="base_link" />
<child link="${leg}_hip_link" />
<origin xyz="${base_to_hip_xyz}" rpy="0 0 0" />
</joint>
<joint name="${leg}_upper_leg_joint" type="revolute">
<axis xyz="0 1 0" />
<limit effort="5" lower="-${pi}" upper="${pi}" velocity="2.5" />
<parent link="${leg}_hip_link" />
<child link="${leg}_upper_leg_link" />
<origin xyz="0 ${hip_to_upper_leg} 0" rpy="0 0 0" />
</joint>
<joint name="${leg}_lower_leg_joint" type="revolute">
<axis xyz="0 1 0" />
<limit effort="5" lower="-${pi}" upper="${pi}" velocity="2.5" />
<parent link="${leg}_upper_leg_link" />
<child link="${leg}_lower_leg_link" />
<origin xyz="0 ${upper_leg_to_lower_leg} -0.05" rpy="0 0 0" />
</joint>
<joint name="${leg}_foot_joint" type="fixed">
<parent link="${leg}_lower_leg_link" />
<child link="${leg}_foot_link" />
<origin xyz="0 0 -${lower_leg_to_foot_distance}" rpy="0 0 0" />
</joint>
<transmission name="${leg}_hip_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${leg}_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${leg}_hip_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${leg}_upper_leg_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${leg}_upper_leg_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${leg}_upper_leg_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${leg}_lower_leg_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${leg}_lower_leg_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${leg}_lower_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</xacro:macro>
</robot> |
boredengineering/Robots_for_Omniverse/URDF_descriptions/mini-pupper_description/urdf/mini-pupper.urdf | <?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from mini-pupper.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="mini-pupper">
<material name="black">
<color rgba="0.15 0.15 0.15 1.0"/>
</material>
<material name="dyellow">
<color rgba="0.95 0.93 0.13 1.0"/>
</material>
<material name="white">
<color rgba="0.97 0.97 0.97 1.0"/>
</material>
<link name="base_link">
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://mini-pupper_description/meshes/base.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://mini-pupper_description/meshes/base.stl" scale="1 1 1"/>
</geometry>
<material name="dyellow"/>
</visual>
</link>
<link name="base_inertia">
<inertial>
<origin xyz="0 0 0"/>
<mass value="1.0"/>
<inertia ixx="0.0008166666666666667" ixy="0.0" ixz="0.0" iyy="0.0036096666666666673" iyz="0.0" izz="0.0036096666666666673"/>
</inertial>
</link>
<joint name="base_link_to_base_inertia" type="fixed">
<parent link="base_link"/>
<child link="base_inertia"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<!--
<link name="face">
<inertial>
<origin xyz="0 0 0" />
<mass value="0.0" />
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
</inertial>
<visual>
<geometry>
<box size="0.005 0.0406 0.031086"/>
</geometry>
<origin xyz="0 0 0" rpy="0 0 0"/>
<material name="black" />
</visual>
</link>
<joint name="base_link_to_face" type="fixed">
<parent link="base_link"/>
<child link="face"/>
<origin xyz="${base_x_length/2 - 0.0015} 0 0.0225" rpy="0 0 0"/>
</joint>
<link name="eye_l">
<inertial>
<origin xyz="0 0 0" />
<mass value="0.0" />
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
</inertial>
<visual>
<geometry>
<box size="0.005 0.0083 0.014"/>
</geometry>
<origin xyz="0 0 0" rpy="0 0 0"/>
<material name="white" />
</visual>
</link>
<joint name="face_to_eye_l" type="fixed">
<parent link="face"/>
<child link="eye_l"/>
<origin xyz="0.00005 -0.006 0" rpy="0 0 0"/>
</joint>
<link name="eye_r">
<inertial>
<origin xyz="0 0 0" />
<mass value="0.0" />
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
</inertial>
<visual>
<geometry>
<box size="0.005 0.0083 0.014"/>
</geometry>
<origin xyz="0 0 0" rpy="0 0 0"/>
<material name="white" />
</visual>
</link>
<joint name="face_to_eye_r" type="fixed">
<parent link="face"/>
<child link="eye_r"/>
<origin xyz="0.00005 0.006 0" rpy="0 0 0"/>
</joint> -->
<gazebo reference="base_link">
<material>Gazebo/ZincYellow</material>
</gazebo>
<!-- <gazebo reference="face">
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="eye_l">
<material>Gazebo/White</material>
</gazebo>
<gazebo reference="eye_r">
<material>Gazebo/White</material>
</gazebo> -->
<joint name="hokuyo_joint" type="fixed">
<origin rpy="0 0 0" xyz="-0.05 0.0 0.1"/>
<parent link="base_link"/>
<child link="hokuyo_frame"/>
</joint>
<link name="hokuyo_frame">
<inertial>
<mass value="0.270"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="2.632e-4" ixy="0" ixz="0" iyy="2.632e-4" iyz="0" izz="1.62e-4"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://hector_sensors_description/meshes/hokuyo_utm30lx/hokuyo_utm_30lx.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.0115"/>
<geometry>
<box size="0.058 0.058 0.087"/>
<!--<mesh filename="package://hector_sensors_description/meshes/hokuyo_utm30lx/hokuyo_utm_30lx.stl"/>-->
</geometry>
</collision>
</link>
<gazebo reference="hokuyo_frame">
<sensor name="hokuyo" type="ray">
<always_on>true</always_on>
<update_rate>30</update_rate>
<pose>0 0 0 0 0 0</pose>
<visualize>false</visualize>
<ray>
<scan>
<horizontal>
<samples>1040</samples>
<resolution>1</resolution>
<min_angle>2.2689280275926285</min_angle>
<max_angle>-2.2689280275926285</max_angle>
</horizontal>
</scan>
<range>
<min>0.2</min>
<max>30.0</max>
<resolution>0.01</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.004</stddev>
</noise>
</ray>
<plugin filename="libgazebo_ros_laser.so" name="gazebo_ros_hokuyo_controller">
<topicName>scan</topicName>
<frameName>hokuyo_frame</frameName>
</plugin>
</sensor>
</gazebo>
<joint name="camera_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.098 0.0 0.082"/>
<parent link="base_link"/>
<child link="camera_link"/>
</joint>
<link name="camera_link">
<inertial>
<mass value="0.200"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="5.8083e-4" ixy="0" ixz="0" iyy="3.0833e-5" iyz="0" izz="5.9083e-4"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://hector_sensors_description/meshes/asus_camera/asus_camera_simple.dae"/>
</geometry>
</visual>
<!--
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box size="0.035 0.185 0.025"/>
</geometry>
</collision>
-->
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://hector_sensors_description/meshes/asus_camera/asus_camera_simple.dae"/>
</geometry>
</collision>
</link>
<joint name="camera_depth_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.0 0.049 0.0"/>
<parent link="camera_link"/>
<child link="camera_depth_frame"/>
</joint>
<link name="camera_depth_frame"/>
<joint name="camera_depth_optical_joint" type="fixed">
<origin rpy="-1.5707963267948966 0.0 -1.5707963267948966" xyz="0 0 0"/>
<parent link="camera_depth_frame"/>
<child link="camera_depth_optical_frame"/>
</joint>
<link name="camera_depth_optical_frame"/>
<joint name="camera_rgb_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.0 0.022 0.0"/>
<parent link="camera_link"/>
<child link="camera_rgb_frame"/>
</joint>
<link name="camera_rgb_frame"/>
<joint name="camera_rgb_optical_joint" type="fixed">
<origin rpy="-1.5707963267948966 0.0 -1.5707963267948966" xyz="0 0 0"/>
<parent link="camera_rgb_frame"/>
<child link="camera_rgb_optical_frame"/>
</joint>
<link name="camera_rgb_optical_frame"/>
<!-- ASUS Xtion PRO camera for simulation -->
<gazebo reference="camera_depth_frame">
<sensor name="camera" type="depth">
<update_rate>20</update_rate>
<camera>
<horizontal_fov>1.0960667702524387</horizontal_fov>
<image>
<format>R8G8B8</format>
<width>640</width>
<height>480</height>
</image>
<clip>
<near>0.5</near>
<far>9</far>
</clip>
</camera>
<plugin filename="libgazebo_ros_openni_kinect.so" name="camera_camera_controller">
<imageTopicName>camera/rgb/image_raw</imageTopicName>
<cameraInfoTopicName>camera/rgb/camera_info</cameraInfoTopicName>
<depthImageTopicName>camera/depth/image_raw</depthImageTopicName>
<depthImageCameraInfoTopicName>camera/depth/camera_info</depthImageCameraInfoTopicName>
<pointCloudTopicName>camera/depth/points</pointCloudTopicName>
<frameName>camera_depth_optical_frame</frameName>
</plugin>
</sensor>
</gazebo>
<gazebo>
<plugin filename="libhector_gazebo_ros_imu.so" name="imu_controller">
<updateRate>50.0</updateRate>
<bodyName>imu_link</bodyName>
<topicName>imu/data</topicName>
<accelDrift>0.005 0.005 0.005</accelDrift>
<accelGaussianNoise>0.005 0.005 0.005</accelGaussianNoise>
<rateDrift>0.005 0.005 0.005 </rateDrift>
<rateGaussianNoise>0.005 0.005 0.005 </rateGaussianNoise>
<headingDrift>0.005</headingDrift>
<headingGaussianNoise>0.005</headingGaussianNoise>
</plugin>
</gazebo>
<link name="imu_link">
<inertial>
<mass value="0.001"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="1e-09" ixy="0.0" ixz="0.0" iyy="1e-09" iyz="0.0" izz="1e-09"/>
</inertial>
</link>
<joint name="imu_joint" type="fixed">
<parent link="base_link"/>
<child link="imu_link"/>
</joint>
<!-- <xacro:include filename="$(find velodyne_description)/urdf/VLP-16.urdf.xacro"/>
<xacro:VLP-16 parent="${base_name}" name="velodyne" topic="velodyne_points" hz="10" samples="1024" gpu="false" lasers="16" max_range="100">
<origin xyz="0 0 ${base_height / 2}" rpy="0 0 0" />
</xacro:VLP-16>
<xacro:include filename="$(find champ_arm_description)/urdf/champ_arm.urdf.xacro" />
<xacro:champ_arm parent="${base_name}">
<origin xyz="0.07 0.0 ${base_height / 2}" rpy="0 0 0"/>
</xacro:champ_arm> -->
<link name="lf_hip_debug_link"/>
<link name="lf_hip_link">
<inertial>
<mass value="0.25"/>
<inertia ixx="7.298104166666667e-05" ixy="0.0" ixz="0.0" iyy="8.328208333333335e-05" iyz="0.0" izz="8.450270833333332e-05"/>
</inertial>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://mini-pupper_description/meshes/lf_hip.stl" scale="1 1 1"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://mini-pupper_description/meshes/lf_hip.stl" scale="1 1 1"/>
</geometry>
<material name="dyellow"/>
</visual>
</link>
<gazebo reference="lf_hip_link">
<material>Gazebo/Yellow</material>
</gazebo>
<link name="lf_upper_leg_link">
<inertial>
<origin xyz="0 0 -0.002375000000000002"/>
<mass value="0.0625"/>
<inertia ixx="3.159338020833334e-05" ixy="0.0" ixz="0.0" iyy="3.7282633854166664e-05" iyz="0.0" izz="7.931013020833332e-06"/>
</inertial>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://mini-pupper_description/meshes/lf_lower_leg.stl" scale="1 1 1"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://mini-pupper_description/meshes/lf_lower_leg.stl" scale="1 1 1"/>
</geometry>
<material name="dyellow"/>
</visual>
</link>
<gazebo reference="lf_upper_leg_link">
<material>Gazebo/Yellow</material>
</gazebo>
<link name="lf_lower_leg_link">
<inertial>
<origin xyz="0 0 -0.016780000000000003"/>
<mass value="0.125"/>
<inertia ixx="6.411545416666666e-05" ixy="0.0" ixz="0.0" iyy="6.491712083333332e-05" iyz="0.0" izz="8.485416666666666e-07"/>
</inertial>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://mini-pupper_description/meshes/lf_lower_leg.stl" scale="1 1 1"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://mini-pupper_description/meshes/lf_lower_leg.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
</link>
<gazebo reference="lf_lower_leg_link">
<kp>1000000.0</kp>
<kd>1.0</kd>
<mu1>0.8</mu1>
<mu2>0.8</mu2>
<maxVel>0.0</maxVel>
<minDepth>0.001</minDepth>
<material>Gazebo/FlatBlack</material>
</gazebo>
<link name="lf_foot_link">
<inertial>
<origin xyz="0 0 0"/>
<mass value="0.0625"/>
<inertia ixx="2.41921875e-06" ixy="0.0" ixz="0.0" iyy="3.7369270833333336e-06" iyz="0.0" izz="1.6927083333333335e-06"/>
</inertial>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://mini-pupper_description/meshes/foot.stl" scale="1 1 1"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://mini-pupper_description/meshes/foot.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
</link>
<gazebo reference="lf_foot_link">
<material>Gazebo/FlatBlack</material>
</gazebo>
<joint name="lf_debug_joint" type="fixed">
<parent link="base_link"/>
<child link="lf_hip_debug_link"/>
<origin rpy="0 0 0" xyz="0.06014 0.0235 0.0171"/>
</joint>
<joint name="lf_hip_joint" type="revolute">
<axis xyz="1 0 0"/>
<limit effort="5" lower="-3.141592653589793" upper="3.141592653589793" velocity="2.5"/>
<parent link="base_link"/>
<child link="lf_hip_link"/>
<origin rpy="0 0 0" xyz="0.06014 0.0235 0.0171"/>
</joint>
<joint name="lf_upper_leg_joint" type="revolute">
<axis xyz="0 1 0"/>
<limit effort="5" lower="-3.141592653589793" upper="3.141592653589793" velocity="2.5"/>
<parent link="lf_hip_link"/>
<child link="lf_upper_leg_link"/>
<origin rpy="0 0 0" xyz="0 0.0197 0"/>
</joint>
<joint name="lf_lower_leg_joint" type="revolute">
<axis xyz="0 1 0"/>
<limit effort="5" lower="-3.141592653589793" upper="3.141592653589793" velocity="2.5"/>
<parent link="lf_upper_leg_link"/>
<child link="lf_lower_leg_link"/>
<origin rpy="0 0 0" xyz="0 0.00475 -0.05"/>
</joint>
<joint name="lf_foot_joint" type="fixed">
<parent link="lf_lower_leg_link"/>
<child link="lf_foot_link"/>
<origin rpy="0 0 0" xyz="0 0 -0.056"/>
</joint>
<transmission name="lf_hip_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="lf_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="lf_hip_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="lf_upper_leg_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="lf_upper_leg_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="lf_upper_leg_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="lf_lower_leg_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="lf_lower_leg_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="lf_lower_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<link name="lh_hip_debug_link"/>
<link name="lh_hip_link">
<inertial>
<mass value="0.25"/>
<inertia ixx="7.298104166666667e-05" ixy="0.0" ixz="0.0" iyy="8.328208333333335e-05" iyz="0.0" izz="8.450270833333332e-05"/>
</inertial>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://mini-pupper_description/meshes/lh_hip.stl" scale="1 1 1"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://mini-pupper_description/meshes/lh_hip.stl" scale="1 1 1"/>
</geometry>
<material name="dyellow"/>
</visual>
</link>
<gazebo reference="lh_hip_link">
<material>Gazebo/Yellow</material>
</gazebo>
<link name="lh_upper_leg_link">
<inertial>
<origin xyz="0 0 -0.002375000000000002"/>
<mass value="0.0625"/>
<inertia ixx="3.159338020833334e-05" ixy="0.0" ixz="0.0" iyy="3.7282633854166664e-05" iyz="0.0" izz="7.931013020833332e-06"/>
</inertial>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://mini-pupper_description/meshes/lh_lower_leg.stl" scale="1 1 1"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://mini-pupper_description/meshes/lh_lower_leg.stl" scale="1 1 1"/>
</geometry>
<material name="dyellow"/>
</visual>
</link>
<gazebo reference="lh_upper_leg_link">
<material>Gazebo/Yellow</material>
</gazebo>
<link name="lh_lower_leg_link">
<inertial>
<origin xyz="0 0 -0.016780000000000003"/>
<mass value="0.125"/>
<inertia ixx="6.411545416666666e-05" ixy="0.0" ixz="0.0" iyy="6.491712083333332e-05" iyz="0.0" izz="8.485416666666666e-07"/>
</inertial>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://mini-pupper_description/meshes/lh_lower_leg.stl" scale="1 1 1"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://mini-pupper_description/meshes/lh_lower_leg.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
</link>
<gazebo reference="lh_lower_leg_link">
<kp>1000000.0</kp>
<kd>1.0</kd>
<mu1>0.8</mu1>
<mu2>0.8</mu2>
<maxVel>0.0</maxVel>
<minDepth>0.001</minDepth>
<material>Gazebo/FlatBlack</material>
</gazebo>
<link name="lh_foot_link">
<inertial>
<origin xyz="0 0 0"/>
<mass value="0.0625"/>
<inertia ixx="2.41921875e-06" ixy="0.0" ixz="0.0" iyy="3.7369270833333336e-06" iyz="0.0" izz="1.6927083333333335e-06"/>
</inertial>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://mini-pupper_description/meshes/foot.stl" scale="1 1 1"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://mini-pupper_description/meshes/foot.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
</link>
<gazebo reference="lh_foot_link">
<material>Gazebo/FlatBlack</material>
</gazebo>
<joint name="lh_debug_joint" type="fixed">
<parent link="base_link"/>
<child link="lh_hip_debug_link"/>
<origin rpy="0 0 0" xyz="-0.05886 0.0235 0.0171"/>
</joint>
<joint name="lh_hip_joint" type="revolute">
<axis xyz="1 0 0"/>
<limit effort="5" lower="-3.141592653589793" upper="3.141592653589793" velocity="2.5"/>
<parent link="base_link"/>
<child link="lh_hip_link"/>
<origin rpy="0 0 0" xyz="-0.05886 0.0235 0.0171"/>
</joint>
<joint name="lh_upper_leg_joint" type="revolute">
<axis xyz="0 1 0"/>
<limit effort="5" lower="-3.141592653589793" upper="3.141592653589793" velocity="2.5"/>
<parent link="lh_hip_link"/>
<child link="lh_upper_leg_link"/>
<origin rpy="0 0 0" xyz="0 0.0197 0"/>
</joint>
<joint name="lh_lower_leg_joint" type="revolute">
<axis xyz="0 1 0"/>
<limit effort="5" lower="-3.141592653589793" upper="3.141592653589793" velocity="2.5"/>
<parent link="lh_upper_leg_link"/>
<child link="lh_lower_leg_link"/>
<origin rpy="0 0 0" xyz="0 0.00475 -0.05"/>
</joint>
<joint name="lh_foot_joint" type="fixed">
<parent link="lh_lower_leg_link"/>
<child link="lh_foot_link"/>
<origin rpy="0 0 0" xyz="0 0 -0.056"/>
</joint>
<transmission name="lh_hip_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="lh_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="lh_hip_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="lh_upper_leg_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="lh_upper_leg_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="lh_upper_leg_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="lh_lower_leg_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="lh_lower_leg_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="lh_lower_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<link name="rf_hip_debug_link"/>
<link name="rf_hip_link">
<inertial>
<mass value="0.25"/>
<inertia ixx="7.298104166666667e-05" ixy="0.0" ixz="0.0" iyy="8.328208333333335e-05" iyz="0.0" izz="8.450270833333332e-05"/>
</inertial>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://mini-pupper_description/meshes/rf_hip.stl" scale="1 1 1"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://mini-pupper_description/meshes/rf_hip.stl" scale="1 1 1"/>
</geometry>
<material name="dyellow"/>
</visual>
</link>
<gazebo reference="rf_hip_link">
<material>Gazebo/Yellow</material>
</gazebo>
<link name="rf_upper_leg_link">
<inertial>
<origin xyz="0 0 -0.002375000000000002"/>
<mass value="0.0625"/>
<inertia ixx="3.159338020833334e-05" ixy="0.0" ixz="0.0" iyy="3.7282633854166664e-05" iyz="0.0" izz="7.931013020833332e-06"/>
</inertial>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://mini-pupper_description/meshes/rf_lower_leg.stl" scale="1 1 1"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://mini-pupper_description/meshes/rf_lower_leg.stl" scale="1 1 1"/>
</geometry>
<material name="dyellow"/>
</visual>
</link>
<gazebo reference="rf_upper_leg_link">
<material>Gazebo/Yellow</material>
</gazebo>
<link name="rf_lower_leg_link">
<inertial>
<origin xyz="0 0 -0.016780000000000003"/>
<mass value="0.125"/>
<inertia ixx="6.411545416666666e-05" ixy="0.0" ixz="0.0" iyy="6.491712083333332e-05" iyz="0.0" izz="8.485416666666666e-07"/>
</inertial>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://mini-pupper_description/meshes/rf_lower_leg.stl" scale="1 1 1"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://mini-pupper_description/meshes/rf_lower_leg.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
</link>
<gazebo reference="rf_lower_leg_link">
<kp>1000000.0</kp>
<kd>1.0</kd>
<mu1>0.8</mu1>
<mu2>0.8</mu2>
<maxVel>0.0</maxVel>
<minDepth>0.001</minDepth>
<material>Gazebo/FlatBlack</material>
</gazebo>
<link name="rf_foot_link">
<inertial>
<origin xyz="0 0 0"/>
<mass value="0.0625"/>
<inertia ixx="2.41921875e-06" ixy="0.0" ixz="0.0" iyy="3.7369270833333336e-06" iyz="0.0" izz="1.6927083333333335e-06"/>
</inertial>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://mini-pupper_description/meshes/foot.stl" scale="1 1 1"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://mini-pupper_description/meshes/foot.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
</link>
<gazebo reference="rf_foot_link">
<material>Gazebo/FlatBlack</material>
</gazebo>
<joint name="rf_debug_joint" type="fixed">
<parent link="base_link"/>
<child link="rf_hip_debug_link"/>
<origin rpy="0 0 0" xyz="0.06014 -0.0235 0.0171"/>
</joint>
<joint name="rf_hip_joint" type="revolute">
<axis xyz="1 0 0"/>
<limit effort="5" lower="-3.141592653589793" upper="3.141592653589793" velocity="2.5"/>
<parent link="base_link"/>
<child link="rf_hip_link"/>
<origin rpy="0 0 0" xyz="0.06014 -0.0235 0.0171"/>
</joint>
<joint name="rf_upper_leg_joint" type="revolute">
<axis xyz="0 1 0"/>
<limit effort="5" lower="-3.141592653589793" upper="3.141592653589793" velocity="2.5"/>
<parent link="rf_hip_link"/>
<child link="rf_upper_leg_link"/>
<origin rpy="0 0 0" xyz="0 -0.0197 0"/>
</joint>
<joint name="rf_lower_leg_joint" type="revolute">
<axis xyz="0 1 0"/>
<limit effort="5" lower="-3.141592653589793" upper="3.141592653589793" velocity="2.5"/>
<parent link="rf_upper_leg_link"/>
<child link="rf_lower_leg_link"/>
<origin rpy="0 0 0" xyz="0 -0.00475 -0.05"/>
</joint>
<joint name="rf_foot_joint" type="fixed">
<parent link="rf_lower_leg_link"/>
<child link="rf_foot_link"/>
<origin rpy="0 0 0" xyz="0 0 -0.056"/>
</joint>
<transmission name="rf_hip_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="rf_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="rf_hip_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="rf_upper_leg_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="rf_upper_leg_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="rf_upper_leg_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="rf_lower_leg_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="rf_lower_leg_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="rf_lower_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<link name="rh_hip_debug_link"/>
<link name="rh_hip_link">
<inertial>
<mass value="0.25"/>
<inertia ixx="7.298104166666667e-05" ixy="0.0" ixz="0.0" iyy="8.328208333333335e-05" iyz="0.0" izz="8.450270833333332e-05"/>
</inertial>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://mini-pupper_description/meshes/rh_hip.stl" scale="1 1 1"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://mini-pupper_description/meshes/rh_hip.stl" scale="1 1 1"/>
</geometry>
<material name="dyellow"/>
</visual>
</link>
<gazebo reference="rh_hip_link">
<material>Gazebo/Yellow</material>
</gazebo>
<link name="rh_upper_leg_link">
<inertial>
<origin xyz="0 0 -0.002375000000000002"/>
<mass value="0.0625"/>
<inertia ixx="3.159338020833334e-05" ixy="0.0" ixz="0.0" iyy="3.7282633854166664e-05" iyz="0.0" izz="7.931013020833332e-06"/>
</inertial>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://mini-pupper_description/meshes/rh_lower_leg.stl" scale="1 1 1"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://mini-pupper_description/meshes/rh_lower_leg.stl" scale="1 1 1"/>
</geometry>
<material name="dyellow"/>
</visual>
</link>
<gazebo reference="rh_upper_leg_link">
<material>Gazebo/Yellow</material>
</gazebo>
<link name="rh_lower_leg_link">
<inertial>
<origin xyz="0 0 -0.016780000000000003"/>
<mass value="0.125"/>
<inertia ixx="6.411545416666666e-05" ixy="0.0" ixz="0.0" iyy="6.491712083333332e-05" iyz="0.0" izz="8.485416666666666e-07"/>
</inertial>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://mini-pupper_description/meshes/rh_lower_leg.stl" scale="1 1 1"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://mini-pupper_description/meshes/rh_lower_leg.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
</link>
<gazebo reference="rh_lower_leg_link">
<kp>1000000.0</kp>
<kd>1.0</kd>
<mu1>0.8</mu1>
<mu2>0.8</mu2>
<maxVel>0.0</maxVel>
<minDepth>0.001</minDepth>
<material>Gazebo/FlatBlack</material>
</gazebo>
<link name="rh_foot_link">
<inertial>
<origin xyz="0 0 0"/>
<mass value="0.0625"/>
<inertia ixx="2.41921875e-06" ixy="0.0" ixz="0.0" iyy="3.7369270833333336e-06" iyz="0.0" izz="1.6927083333333335e-06"/>
</inertial>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://mini-pupper_description/meshes/foot.stl" scale="1 1 1"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://mini-pupper_description/meshes/foot.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
</link>
<gazebo reference="rh_foot_link">
<material>Gazebo/FlatBlack</material>
</gazebo>
<joint name="rh_debug_joint" type="fixed">
<parent link="base_link"/>
<child link="rh_hip_debug_link"/>
<origin rpy="0 0 0" xyz="-0.05886 -0.0235 0.0171"/>
</joint>
<joint name="rh_hip_joint" type="revolute">
<axis xyz="1 0 0"/>
<limit effort="5" lower="-3.141592653589793" upper="3.141592653589793" velocity="2.5"/>
<parent link="base_link"/>
<child link="rh_hip_link"/>
<origin rpy="0 0 0" xyz="-0.05886 -0.0235 0.0171"/>
</joint>
<joint name="rh_upper_leg_joint" type="revolute">
<axis xyz="0 1 0"/>
<limit effort="5" lower="-3.141592653589793" upper="3.141592653589793" velocity="2.5"/>
<parent link="rh_hip_link"/>
<child link="rh_upper_leg_link"/>
<origin rpy="0 0 0" xyz="0 -0.0197 0"/>
</joint>
<joint name="rh_lower_leg_joint" type="revolute">
<axis xyz="0 1 0"/>
<limit effort="5" lower="-3.141592653589793" upper="3.141592653589793" velocity="2.5"/>
<parent link="rh_upper_leg_link"/>
<child link="rh_lower_leg_link"/>
<origin rpy="0 0 0" xyz="0 -0.00475 -0.05"/>
</joint>
<joint name="rh_foot_joint" type="fixed">
<parent link="rh_lower_leg_link"/>
<child link="rh_foot_link"/>
<origin rpy="0 0 0" xyz="0 0 -0.056"/>
</joint>
<transmission name="rh_hip_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="rh_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="rh_hip_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="rh_upper_leg_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="rh_upper_leg_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="rh_upper_leg_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="rh_lower_leg_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="rh_lower_leg_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="rh_lower_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<gazebo>
<plugin filename="libgazebo_ros_p3d.so" name="p3d_base_controller">
<alwaysOn>true</alwaysOn>
<updateRate>10.0</updateRate>
<bodyName>base_link</bodyName>
<topicName>odom/ground_truth</topicName>
<gaussianNoise>0.01</gaussianNoise>
<frameName>world</frameName>
<xyzOffsets>0 0 0</xyzOffsets>
<rpyOffsets>0 0 0</rpyOffsets>
</plugin>
</gazebo>
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<legacyModeNS>true</legacyModeNS>
</plugin>
</gazebo>
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/mini-pupper_description/urdf/ld06.urdf.xacro | <?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="ld06" params="*origin parent">
<xacro:include filename="$(find mini-pupper_description)/urdf/laser.urdf.xacro" />
<xacro:laser
parent="${parent}"
update_rate="10"
ray_count="360"
min_angle="-3.1416"
max_angle="3.1416"
min_range="0.08"
max_range="12.0"
>
<xacro:insert_block name="origin" />
</xacro:laser>
</xacro:macro>
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/mini-pupper_description/urdf/accessories.urdf.xacro | <?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="accessories" params="base_name base_length base_height " >
<xacro:include filename="$(find hector_sensors_description)/urdf/hokuyo_utm30lx.urdf.xacro" />
<xacro:include filename="$(find hector_sensors_description)/urdf/asus_camera.urdf.xacro" />
<xacro:hokuyo_utm30lx
name="hokuyo"
parent="${base_name}"
ros_topic="scan"
update_rate="30"
ray_count="1040"
min_angle="130"
max_angle="-130" >
<origin xyz="-0.05 0.0 ${base_height + 0.03}" rpy="0 0 0"/>
</xacro:hokuyo_utm30lx>
<xacro:asus_camera
parent="${base_name}"
name="camera">
<origin xyz="${base_length / 2} 0.0 ${base_height + 0.012}" rpy="0 0 0"/>
</xacro:asus_camera>
<gazebo>
<plugin name="imu_controller" filename="libhector_gazebo_ros_imu.so">
<updateRate>50.0</updateRate>
<bodyName>imu_link</bodyName>
<topicName>imu/data</topicName>
<accelDrift>0.005 0.005 0.005</accelDrift>
<accelGaussianNoise>0.005 0.005 0.005</accelGaussianNoise>
<rateDrift>0.005 0.005 0.005 </rateDrift>
<rateGaussianNoise>0.005 0.005 0.005 </rateGaussianNoise>
<headingDrift>0.005</headingDrift>
<headingGaussianNoise>0.005</headingGaussianNoise>
</plugin>
</gazebo>
<link name="imu_link">
<inertial>
<mass value="0.001"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="1e-09" ixy="0.0" ixz="0.0" iyy="1e-09" iyz="0.0" izz="1e-09"/>
</inertial>
</link>
<joint name="imu_joint" type="fixed">
<parent link="${base_name}" />
<child link="imu_link" />
</joint>
<!-- <xacro:include filename="$(find velodyne_description)/urdf/VLP-16.urdf.xacro"/>
<xacro:VLP-16 parent="${base_name}" name="velodyne" topic="velodyne_points" hz="10" samples="1024" gpu="false" lasers="16" max_range="100">
<origin xyz="0 0 ${base_height / 2}" rpy="0 0 0" />
</xacro:VLP-16>
<xacro:include filename="$(find champ_arm_description)/urdf/champ_arm.urdf.xacro" />
<xacro:champ_arm parent="${base_name}">
<origin xyz="0.07 0.0 ${base_height / 2}" rpy="0 0 0"/>
</xacro:champ_arm> -->
</xacro:macro>
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/mini-pupper_description/urdf/mini-pupper.urdf.xacro | <?xml version="1.0"?>
<robot name="mini-pupper" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(find mini-pupper_description)/urdf/properties.urdf.xacro" />
<material name="black"><color rgba="0.15 0.15 0.15 1.0" /></material>
<material name="dyellow"><color rgba="0.95 0.93 0.13 1.0" /></material>
<material name="white"><color rgba="0.97 0.97 0.97 1.0" /></material>
<link name="base_link">
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="${base_mesh_path}" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://mini-pupper_description/meshes/base.stl" scale="1 1 1" />
</geometry>
<material name="dyellow" />
</visual>
</link>
<link name="base_inertia">
<inertial>
<origin xyz="0 0 0" />
<mass value="${base_mass}" />
<inertia ixx="${(1/12) * base_mass * (base_y_length * base_y_length + base_z_length * base_z_length)}" ixy="0.0" ixz="0.0"
iyy="${(1/12) * base_mass * (base_x_length * base_x_length + base_z_length * base_z_length)}" iyz="0.0"
izz="${(1/12) * base_mass * (base_x_length * base_x_length + base_y_length * base_y_length)}" />
</inertial>
</link>
<joint name="base_link_to_base_inertia" type="fixed">
<parent link="base_link"/>
<child link="base_inertia"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<!--
<link name="face">
<inertial>
<origin xyz="0 0 0" />
<mass value="0.0" />
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
</inertial>
<visual>
<geometry>
<box size="0.005 0.0406 0.031086"/>
</geometry>
<origin xyz="0 0 0" rpy="0 0 0"/>
<material name="black" />
</visual>
</link>
<joint name="base_link_to_face" type="fixed">
<parent link="base_link"/>
<child link="face"/>
<origin xyz="${base_x_length/2 - 0.0015} 0 0.0225" rpy="0 0 0"/>
</joint>
<link name="eye_l">
<inertial>
<origin xyz="0 0 0" />
<mass value="0.0" />
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
</inertial>
<visual>
<geometry>
<box size="0.005 0.0083 0.014"/>
</geometry>
<origin xyz="0 0 0" rpy="0 0 0"/>
<material name="white" />
</visual>
</link>
<joint name="face_to_eye_l" type="fixed">
<parent link="face"/>
<child link="eye_l"/>
<origin xyz="0.00005 -0.006 0" rpy="0 0 0"/>
</joint>
<link name="eye_r">
<inertial>
<origin xyz="0 0 0" />
<mass value="0.0" />
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
</inertial>
<visual>
<geometry>
<box size="0.005 0.0083 0.014"/>
</geometry>
<origin xyz="0 0 0" rpy="0 0 0"/>
<material name="white" />
</visual>
</link>
<joint name="face_to_eye_r" type="fixed">
<parent link="face"/>
<child link="eye_r"/>
<origin xyz="0.00005 0.006 0" rpy="0 0 0"/>
</joint> -->
<gazebo reference="base_link">
<material>Gazebo/ZincYellow</material>
</gazebo>
<!-- <gazebo reference="face">
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="eye_l">
<material>Gazebo/White</material>
</gazebo>
<gazebo reference="eye_r">
<material>Gazebo/White</material>
</gazebo> -->
<xacro:include filename="$(find mini-pupper_description)/urdf/leg.urdf.xacro" />
<xacro:include filename="$(find mini-pupper_description)/urdf/accessories.urdf.xacro" />
<xacro:accessories
base_name="base_link"
base_length="${base_x_length}"
base_height="${base_z_length}"
/>
<xacro:mini-pupper_leg leg="lf"/>
<xacro:mini-pupper_leg leg="lh"/>
<xacro:mini-pupper_leg leg="rf"/>
<xacro:mini-pupper_leg leg="rh"/>
<gazebo>
<plugin name="p3d_base_controller" filename="libgazebo_ros_p3d.so">
<alwaysOn>true</alwaysOn>
<updateRate>10.0</updateRate>
<bodyName>base_link</bodyName>
<topicName>odom/ground_truth</topicName>
<gaussianNoise>0.01</gaussianNoise>
<frameName>world</frameName>
<xyzOffsets>0 0 0</xyzOffsets>
<rpyOffsets>0 0 0</rpyOffsets>
</plugin>
</gazebo>
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<legacyModeNS>true</legacyModeNS>
</plugin>
</gazebo>
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/mini-pupper_description/urdf/properties.urdf.xacro | <?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:property name="base_to_hip_f_x" value="0.06014" />
<xacro:property name="base_to_hip_h_x" value="0.05886" />
<xacro:property name="base_to_hip_y" value="0.0235" />
<xacro:property name="base_to_hip_z" value="0.0171" />
<xacro:property name="hip_to_upper_leg_distance" value="0.0197" />
<xacro:property name="upper_leg_to_lower_leg_distance" value="0.00475" />
<xacro:property name="lower_leg_to_foot_distance" value="0.056" />
<xacro:property name="hip_mass" value="0.250" />
<xacro:property name="hip_x_length" value="0.0477" />
<xacro:property name="hip_y_length" value="0.0422" />
<xacro:property name="hip_z_length" value="0.0415" />
<xacro:property name="upper_leg_mass" value="0.0625" />
<xacro:property name="upper_leg_x_length" value="0.03616" />
<xacro:property name="upper_leg_y_length" value="0.01467" />
<xacro:property name="upper_leg_z_length" value="0.07649" />
<xacro:property name="lower_leg_mass" value="0.125" />
<xacro:property name="lower_leg_x_length" value="0.0089" />
<xacro:property name="lower_leg_y_length" value="0.0015" />
<xacro:property name="lower_leg_z_length" value="0.07844" />
<xacro:property name="base_mesh_path" value="package://mini-pupper_description/meshes/base.stl" />
<xacro:property name="base_mass" value="1.0" />
<!-- <xacro:property name="base_mass" value="2.0" /> -->
<xacro:property name="base_x_length" value="0.196" />
<xacro:property name="base_y_length" value="0.07" />
<xacro:property name="base_z_length" value="0.07" />
<xacro:property name="foot_mesh_path" value="package://mini-pupper_description/meshes/foot.stl" />
<xacro:property name="foot_mass" value="0.0625" />
<xacro:property name="foot_x_length" value="0.017" />
<xacro:property name="foot_y_length" value="0.006" />
<xacro:property name="foot_z_length" value="0.0207" />
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/mini-pupper_description/urdf/accessories_another.urdf.xacro | <?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="accessories" params="base_name base_length base_height " >
<xacro:include filename="$(find mini-pupper_description)/urdf/ld06.urdf.xacro" />
<xacro:include filename="$(find realsense2_description)/urdf/_d435i.urdf.xacro" />
<xacro:ld06
parent="${base_name}" >
<origin xyz="-0.05 0.0 ${base_height / 2 + 0.060}" rpy="0 0 0"/>
</xacro:ld06>
<xacro:sensor_d435i
parent="${base_name}"
name="camera">
<origin xyz="${base_length / 2 + 0.01} 0.0 ${base_height - 0.025}" rpy="0 0 0"/>
</xacro:sensor_d435i>
<gazebo>
<plugin name="imu_controller" filename="libhector_gazebo_ros_imu.so">
<updateRate>50.0</updateRate>
<bodyName>imu_link</bodyName>
<topicName>imu/data</topicName>
<accelDrift>0.005 0.005 0.005</accelDrift>
<accelGaussianNoise>0.005 0.005 0.005</accelGaussianNoise>
<rateDrift>0.005 0.005 0.005 </rateDrift>
<rateGaussianNoise>0.005 0.005 0.005 </rateGaussianNoise>
<headingDrift>0.005</headingDrift>
<headingGaussianNoise>0.005</headingGaussianNoise>
</plugin>
</gazebo>
<link name="imu_link">
<inertial>
<mass value="0.001"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="1e-09" ixy="0.0" ixz="0.0" iyy="1e-09" iyz="0.0" izz="1e-09"/>
</inertial>
</link>
<joint name="imu_joint" type="fixed">
<parent link="${base_name}" />
<child link="imu_link" />
</joint>
<!-- <xacro:include filename="$(find velodyne_description)/urdf/VLP-16.urdf.xacro"/>
<xacro:VLP-16 parent="${base_name}" name="velodyne" topic="velodyne_points" hz="10" samples="1024" gpu="false" lasers="16" max_range="100">
<origin xyz="0 0 ${base_height / 2}" rpy="0 0 0" />
</xacro:VLP-16>
<xacro:include filename="$(find mini-pupper_arm_description)/urdf/mini-pupper_arm.urdf.xacro" />
<xacro:mini-pupper_arm parent="${base_name}">
<origin xyz="0.07 0.0 ${base_height / 2}" rpy="0 0 0"/>
</xacro:mini-pupper_arm> -->
</xacro:macro>
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/tocabi/urdf/TOCABI.urdf | <?xml version="1.0" ?>
<robot name="FullBody_Simplified">
<material name="silver">
<color rgba="0.700 0.700 0.700 1.000"/>
</material>
<link name="L_Pelvisv15_1">
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<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://meshes/L_Pelvisv15_1.stl" scale="0.001 0.001 0.001"/>
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<material name="silver"/>
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<mesh filename="package://meshes/L_Pelvisv15_1.stl" scale="0.001 0.001 0.001"/>
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</collision>
</link>
<link name="U_Waist_2v8_1">
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<mesh filename="package://meshes/U_Waist_2v8_1.stl" scale="0.001 0.001 0.001"/>
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<material name="silver"/>
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</collision>
</link>
<link name="U_Waist_1v3_1">
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<mesh filename="package://meshes/U_Waist_1v3_1.stl" scale="0.001 0.001 0.001"/>
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<material name="silver"/>
</visual>
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<mesh filename="package://meshes/U_Waist_1v3_1.stl" scale="0.001 0.001 0.001"/>
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</collision>
</link>
<link name="U_Body_1v21_1">
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<mesh filename="package://meshes/U_Body_1v21_1.stl" scale="0.001 0.001 0.001"/>
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<material name="silver"/>
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</collision>
</link>
<link name="UL_Shoulder_1v3_1">
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<mesh filename="package://meshes/UL_Shoulder_1v3_1.stl" scale="0.001 0.001 0.001"/>
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<mesh filename="package://meshes/UL_Shoulder_1v3_1.stl" scale="0.001 0.001 0.001"/>
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</collision>
</link>
<link name="UR_Shoulder_1v3_1">
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</link>
<link name="UR_Shoulder_2v2_1">
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</link>
<link name="UR_Shoulder_3v2_1">
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<mesh filename="package://meshes/UR_Shoulder_3v2_1.stl" scale="0.001 0.001 0.001"/>
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</collision>
</link>
<link name="UR_Arm_1v2_1">
<inertial>
<origin xyz="-0.019862841377670776 0.11172176408902107 0.013973801200149766" rpy="0 0 0"/>
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<link name="UR_Arm_2v6_1">
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<link name="UR_Arm_3v3_1">
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<link name="UL_Shoulder_2v3_1">
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<link name="UL_Shoulder_3v3_1">
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<link name="UR_Wrist_1v6_1">
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<link name="UR_Hand_1v3_1">
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<link name="U_Neck_1v4_1">
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<link name="LL_Knee_1v4_1">
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<link name="LL_Ankle_1v4_1">
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<joint name="Revolute74" type="revolute">
<origin xyz="0.11000000000059164 0.8109000000000003 0.28980049999999435" rpy="0 0 0"/>
<parent link="L_Pelvisv15_1"/>
<child link="LL_Hip_1v5_1"/>
<axis xyz="-7.546779104011158e-15 -1.0000000000000007 5.797004494381731e-15"/>
<limit upper="3.14159" lower="-3.14159" effort="100" velocity="100"/>
</joint>
<joint name="Revolute76" type="revolute">
<origin xyz="-0.05199999999999958 0.0850000000000003 -1.1102230246251565e-16" rpy="0 0 0"/>
<parent link="LL_Hip_1v5_1"/>
<child link="LL_Hip_2v4_1"/>
<axis xyz="-1.0 7.0862724607023404e-15 8.058026186910835e-15"/>
<limit upper="3.14159" lower="-3.14159" effort="100" velocity="100"/>
</joint>
<joint name="Revolute77" type="revolute">
<origin xyz="0.05199999999999972 -5.551115123125783e-16 -0.04400000000000043" rpy="0 0 0"/>
<parent link="LL_Hip_2v4_1"/>
<child link="LL_Hip_3v5_1"/>
<axis xyz="8.030270611295247e-15 5.79006560047776e-15 1.0"/>
<limit upper="3.14159" lower="-3.14159" effort="100" velocity="100"/>
</joint>
<joint name="Revolute104" type="revolute">
<origin xyz="-1.204713983096739e-05 0.34999999979266383 -5.079270337660091e-15" rpy="0 0 0"/>
<parent link="LL_Hip_3v5_1"/>
<child link="LL_Knee_1v4_1"/>
<axis xyz="6.655151913143603e-15 -1.482417119359301e-14 0.9999999999999998"/>
<limit upper="3.14159" lower="-3.14159" effort="100" velocity="100"/>
</joint>
<joint name="Revolute79" type="revolute">
<origin xyz="3.6637359812630166e-15 0.3499999999999992 6.494804694057166e-15" rpy="0 0 0"/>
<parent link="LL_Knee_1v4_1"/>
<child link="LL_Ankle_1v4_1"/>
<axis xyz="6.6551519131435955e-15 -1.4824171193592992e-14 0.9999999999999984"/>
<limit upper="3.14159" lower="-3.14159" effort="100" velocity="100"/>
</joint>
<joint name="Revolute105" type="revolute">
<origin xyz="-0.05549999999999965 6.661338147750939e-16 0.04400000000000051" rpy="0 0 0"/>
<parent link="LL_Ankle_1v4_1"/>
<child link="LL_Ankle_2v7_1"/>
<axis xyz="-1.0 1.086147058441e-14 6.682907488759382e-15"/>
<limit upper="3.14159" lower="-3.14159" effort="100" velocity="100"/>
</joint>
<joint name="Revolute100" type="revolute">
<origin xyz="0.11000000000058999 0.8108999999999992 0.08480049999999428" rpy="0 0 0"/>
<parent link="L_Pelvisv15_1"/>
<child link="LR_Hip_1v2_1"/>
<axis xyz="-8.753459365229917e-15 -1.0000000000000007 5.797004494381741e-15"/>
<limit upper="3.14159" lower="-3.14159" effort="100" velocity="100"/>
</joint>
<joint name="Revolute101" type="revolute">
<origin xyz="-0.05199999999999929 0.08500000000000041 -1.3877787807814457e-16" rpy="0 0 0"/>
<parent link="LR_Hip_1v2_1"/>
<child link="LR_Hip_2v3_1"/>
<axis xyz="-1.0 9.658055218388878e-15 8.058026186910817e-15"/>
<limit upper="3.14159" lower="-3.14159" effort="100" velocity="100"/>
</joint>
<joint name="Revolute83" type="revolute">
<origin xyz="0.05200000000000037 -1.1102230246251565e-16 0.043999999999999595" rpy="0 0 0"/>
<parent link="LR_Hip_2v3_1"/>
<child link="LR_Hip_3v5_1"/>
<axis xyz="-8.030270611295248e-15 -5.912530280392494e-15 -1.0"/>
<limit upper="3.14159" lower="-3.14159" effort="100" velocity="100"/>
</joint>
<joint name="Revolute102" type="revolute">
<origin xyz="-1.2649568694081403e-05 0.34999999979266283 -1.915134717478395e-15" rpy="0 0 0"/>
<parent link="LR_Hip_3v5_1"/>
<child link="LR_Knee_1v6_1"/>
<axis xyz="-7.969038271337877e-15 -5.7232163070896695e-15 -1.0"/>
<limit upper="3.14159" lower="-3.14159" effort="100" velocity="100"/>
</joint>
<joint name="Revolute103" type="revolute">
<origin xyz="3.372302437298913e-15 0.3499999999999963 -6.2727600891321345e-15" rpy="0 0 0"/>
<parent link="LR_Knee_1v6_1"/>
<child link="LR_Ankle_1v2_1"/>
<axis xyz="8.35761632995666e-15 6.652281957493676e-15 0.9999999999999962"/>
<limit upper="3.14159" lower="-3.14159" effort="100" velocity="100"/>
</joint>
<joint name="Revolute106" type="revolute">
<origin xyz="-0.055500000000000285 2.220446049250313e-16 -0.04399999999999972" rpy="0 0 0"/>
<parent link="LR_Ankle_1v2_1"/>
<child link="LR_Ankle_2v3_1"/>
<axis xyz="-1.0 9.569493538878896e-15 8.385371905572258e-15"/>
<limit upper="3.14159" lower="-3.14159" effort="100" velocity="100"/>
</joint>
<joint name="Revolute107" type="revolute">
<origin xyz="-1.1102230246251565e-15 -0.028199523342105376 0.036976842527156134" rpy="0 0 0"/>
<parent link="U_Neck_1v4_1"/>
<child link="U_Neck_2_simv5_1"/>
<axis xyz="1.905207805926619e-14 0.018783332176703096 -0.9998235776537487"/>
<limit upper="3.14159" lower="-3.14159" effort="100" velocity="100"/>
</joint>
<joint name="Rigid111" type="fixed">
<origin xyz="0.05720000000000043 0.07999999999999963 -9.159339953157541e-16" rpy="0 0 0"/>
<parent link="LR_Ankle_2v3_1"/>
<child link="LR_Footv2_2"/>
</joint>
<joint name="Rigid113" type="fixed">
<origin xyz="0.05720000000000827 0.07999999999999963 -2.220446049250313e-16" rpy="0 0 0"/>
<parent link="LL_Ankle_2v7_1"/>
<child link="LL_Footv1_1"/>
</joint>
<joint name="Revolute114" type="revolute">
<origin xyz="-0.0373000000000015 0.12807740029744474 0.002406144851834713" rpy="0 0 0"/>
<parent link="UL_Shoulder_3v3_1"/>
<child link="UL_Arm_1v1_1"/>
<axis xyz="3.0730666689294478e-15 -0.9998235776537486 -0.01878333217670054"/>
<limit upper="3.14159" lower="-3.14159" effort="100" velocity="100"/>
</joint>
<joint name="Revolute116" type="revolute">
<origin xyz="-0.029699999999999227 0.10156705141127464 0.07978335708416867" rpy="0 0 0"/>
<parent link="UL_Arm_2v1_1"/>
<child link="UL_Arm_3v1_1"/>
<axis xyz="-5.7220983182086546e-15 -0.9165284694878766 -0.3999694546064873"/>
<limit upper="3.14159" lower="-3.14159" effort="100" velocity="100"/>
</joint>
<joint name="Revolute118" type="revolute">
<origin xyz="0.03699999947547994 0.13179679391235588 0.05751560757241336" rpy="0 0 0"/>
<parent link="UL_Arm_3v1_1"/>
<child link="UL_Wrist_1v1_1"/>
<axis xyz="0.9999999999999998 -1.934870727800474e-14 3.012787411269809e-14"/>
<limit upper="3.14159" lower="-3.14159" effort="100" velocity="100"/>
</joint>
<joint name="Revolute119" type="revolute">
<origin xyz="-0.02950000000001085 0.05882039413732809 -0.013281989065275335" rpy="0 0 0"/>
<parent link="UL_Wrist_1v1_1"/>
<child link="UL_Wrist_2v1_1"/>
<axis xyz="3.6365077198379e-14 0.415100422380136 -0.9097755983427095"/>
<limit upper="3.14159" lower="-3.14159" effort="100" velocity="100"/>
</joint>
<joint name="Revolute120" type="revolute">
<origin xyz="0.030999999999999195 0.2075739388700688 -0.02860611651316991" rpy="0 0 0"/>
<parent link="UL_Arm_1v1_1"/>
<child link="UL_Arm_2v1_1"/>
<axis xyz="-1.0 -3.056184286371969e-15 6.0440899793445875e-15"/>
<limit upper="3.14159" lower="-3.14159" effort="100" velocity="100"/>
</joint>
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/BostonDynamics/README.md | # Boston Dynamics Robots
https://www.bostondynamics.com/
## Little Dog
> Source:<br/>
> - [Boston Dynamic's Little Dog - by RobotLocomotion](https://github.com/RobotLocomotion/LittleDog)
> - [Boston Dynamic's Little Dog - Modified for CHAMP](https://github.com/chvmp/littledog_description)
## Spot
> Source:<br/>
> - [Boston Dynamic's Spot - by heuristicus](https://github.com/heuristicus/spot_ros)
> - [Boston Dynamic's Spot - Modified for CHAMP](https://github.com/chvmp/spot_ros) |
boredengineering/Robots_for_Omniverse/URDF_descriptions/BostonDynamics/spot_description/urdf/spot.urdf.xacro | <?xml version="1.0" ?>
<robot name="spot" xmlns:xacro="http://www.ros.org/wiki/xacro">
<link name="body">
<visual>
<geometry>
<mesh filename="package://spot_description/meshes/body.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://spot_description/meshes/body_collision.stl" />
</geometry>
</collision>
</link>
<link name="base_link"/>
<joint name="base_link_joint" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0" />
<parent link="body" />
<child link="base_link" />
</joint>
<link name="front_rail"/>
<joint name="front_rail_joint" type="fixed">
<origin xyz="0.223 0 0.0805" rpy="0 0 0" />
<parent link="body" />
<child link="front_rail" />
</joint>
<link name="rear_rail"/>
<joint name="rear_rail_joint" type="fixed">
<origin xyz="-0.223 0 0.0805" rpy="0 0 0" />
<parent link="body" />
<child link="rear_rail" />
</joint>
<link name="front_left_hip">
<visual>
<geometry>
<mesh filename="package://spot_description/meshes/front_left_hip.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://spot_description/meshes/front_left_hip_collision.stl" />
</geometry>
</collision>
</link>
<joint name="front_left_hip_x" type="revolute">
<origin xyz="0.29785 0.05500 0.00000" rpy="0 0 0" />
<axis xyz="1 0 0" />
<parent link="body" />
<child link="front_left_hip" />
<limit effort="1000" velocity="1000.00" lower="-0.78539816339744827899" upper="0.78539816339744827899" />
</joint>
<link name="front_left_upper_leg">
<visual>
<geometry>
<mesh filename="package://spot_description/meshes/front_left_upper_leg.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://spot_description/meshes/front_left_upper_leg_collision.stl" />
</geometry>
</collision>
</link>
<joint name="front_left_hip_y" type="revolute">
<origin xyz="0.0 0.110945 0.0" rpy="0 0 0" />
<axis xyz="0 1 0" />
<parent link="front_left_hip" />
<child link="front_left_upper_leg" />
<limit effort="1000" velocity="1000.00" lower="-0.89884456477707963539" upper="2.2951079663725435509" />
</joint>
<link name="front_left_lower_leg">
<visual>
<geometry>
<mesh filename="package://spot_description/meshes/front_left_lower_leg.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://spot_description/meshes/front_left_lower_leg_collision.stl" />
</geometry>
</collision>
</link>
<joint name="front_left_knee" type="revolute">
<origin xyz="0.025 0.000 -0.3205" rpy="0 0 0" />
<axis xyz="0 1 0" />
<parent link="front_left_upper_leg" />
<child link="front_left_lower_leg" />
<limit effort="1000" velocity="1000.00" lower="-2.7929" upper="-0.254801" />
</joint>
<link name="front_right_hip">
<visual>
<geometry>
<mesh filename="package://spot_description/meshes/front_right_hip.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://spot_description/meshes/front_right_hip_collision.stl" />
</geometry>
</collision>
</link>
<joint name="front_right_hip_x" type="revolute">
<origin xyz="0.29785 -0.05500 0.00000" rpy="0 0 0" />
<axis xyz="1 0 0" />
<parent link="body" />
<child link="front_right_hip" />
<limit effort="1000" velocity="1000.00" lower="-0.78539816339744827899" upper="0.78539816339744827899" />
</joint>
<link name="front_right_upper_leg">
<visual>
<geometry>
<mesh filename="package://spot_description/meshes/front_right_upper_leg.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://spot_description/meshes/front_right_upper_leg_collision.stl" />
</geometry>
</collision>
</link>
<joint name="front_right_hip_y" type="revolute">
<origin xyz="0.0 -0.110945 0.0" rpy="0 0 0" />
<axis xyz="0 1 0" />
<parent link="front_right_hip" />
<child link="front_right_upper_leg" />
<limit effort="1000" velocity="1000.00" lower="-0.89884456477707963539" upper="2.2951079663725435509" />
</joint>
<link name="front_right_lower_leg">
<visual>
<geometry>
<mesh filename="package://spot_description/meshes/front_right_lower_leg.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://spot_description/meshes/front_right_lower_leg_collision.stl" />
</geometry>
</collision>
</link>
<joint name="front_right_knee" type="revolute">
<origin xyz="0.025 0.000 -0.3205" rpy="0 0 0" />
<axis xyz="0 1 0" />
<parent link="front_right_upper_leg" />
<child link="front_right_lower_leg" />
<limit effort="1000" velocity="1000.00" lower="-2.7929" upper="-0.247563" />
</joint>
<link name="rear_left_hip">
<visual>
<geometry>
<mesh filename="package://spot_description/meshes/rear_left_hip.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://spot_description/meshes/rear_left_hip_collision.stl" />
</geometry>
</collision>
</link>
<joint name="rear_left_hip_x" type="revolute">
<origin xyz="-0.29785 0.05500 0.00000" rpy="0 0 0" />
<axis xyz="1 0 0" />
<parent link="body" />
<child link="rear_left_hip" />
<limit effort="1000" velocity="1000.00" lower="-0.78539816339744827899" upper="0.78539816339744827899" />
</joint>
<link name="rear_left_upper_leg">
<visual>
<geometry>
<mesh filename="package://spot_description/meshes/rear_left_upper_leg.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://spot_description/meshes/rear_left_upper_leg_collision.stl" />
</geometry>
</collision>
</link>
<joint name="rear_left_hip_y" type="revolute">
<origin xyz="0.0 0.110945 0.0" rpy="0 0 0" />
<axis xyz="0 1 0" />
<parent link="rear_left_hip" />
<child link="rear_left_upper_leg" />
<limit effort="1000" velocity="1000.00" lower="-0.89884456477707963539" upper="2.2951079663725435509" />
</joint>
<link name="rear_left_lower_leg">
<visual>
<geometry>
<mesh filename="package://spot_description/meshes/rear_left_lower_leg.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://spot_description/meshes/rear_left_lower_leg_collision.stl" />
</geometry>
</collision>
</link>
<joint name="rear_left_knee" type="revolute">
<origin xyz="0.025 0.000 -0.3205" rpy="0 0 0" />
<axis xyz="0 1 0" />
<parent link="rear_left_upper_leg" />
<child link="rear_left_lower_leg" />
<limit effort="1000" velocity="1000.00" lower="-2.7929" upper="-0.267153" />
</joint>
<link name="rear_right_hip">
<visual>
<geometry>
<mesh filename="package://spot_description/meshes/rear_right_hip.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://spot_description/meshes/rear_right_hip_collision.stl" />
</geometry>
</collision>
</link>
<joint name="rear_right_hip_x" type="revolute">
<origin xyz="-0.29785 -0.05500 0.00000" rpy="0 0 0" />
<axis xyz="1 0 0" />
<parent link="body" />
<child link="rear_right_hip" />
<limit effort="1000" velocity="1000.00" lower="-0.78539816339744827899" upper="0.78539816339744827899" />
</joint>
<link name="rear_right_upper_leg">
<visual>
<geometry>
<mesh filename="package://spot_description/meshes/rear_right_upper_leg.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://spot_description/meshes/rear_right_upper_leg_collision.stl" />
</geometry>
</collision>
</link>
<joint name="rear_right_hip_y" type="revolute">
<origin xyz="0.0 -0.110945 0.0" rpy="0 0 0" />
<axis xyz="0 1 0" />
<parent link="rear_right_hip" />
<child link="rear_right_upper_leg" />
<limit effort="1000" velocity="1000.00" lower="-0.89884456477707963539" upper="2.2951079663725435509" />
</joint>
<link name="rear_right_lower_leg">
<visual>
<geometry>
<mesh filename="package://spot_description/meshes/rear_right_lower_leg.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://spot_description/meshes/rear_right_lower_leg_collision.stl" />
</geometry>
</collision>
</link>
<joint name="rear_right_knee" type="revolute">
<origin xyz="0.025 0.000 -0.3205" rpy="0 0 0" />
<axis xyz="0 1 0" />
<parent link="rear_right_upper_leg" />
<child link="rear_right_lower_leg" />
<limit effort="1000" velocity="1000.00" lower="-2.7929" upper="-0.257725" />
</joint>
<!-- Optional custom includes. -->
<xacro:include filename="$(optenv SPOT_URDF_EXTRAS empty.urdf)" />
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/BostonDynamics/spot_description/urdf/empty.urdf | <robot>
<!-- This file is a placeholder which is included by default from
spot.urdf.xacro. If a robot is being customized and requires
additional URDF, set the SPOT_URDF_EXTRAS environment variable
to the full path of the file you would like included. -->
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/BostonDynamics/spot_description/urdf/spot.urdf | <?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from spot.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="spot">
<link name="body">
<visual>
<geometry>
<mesh filename="package://spot_description/meshes/body.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://spot_description/meshes/body_collision.stl"/>
</geometry>
</collision>
</link>
<link name="base_link"/>
<joint name="base_link_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="body"/>
<child link="base_link"/>
</joint>
<link name="front_rail"/>
<joint name="front_rail_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.223 0 0.0805"/>
<parent link="body"/>
<child link="front_rail"/>
</joint>
<link name="rear_rail"/>
<joint name="rear_rail_joint" type="fixed">
<origin rpy="0 0 0" xyz="-0.223 0 0.0805"/>
<parent link="body"/>
<child link="rear_rail"/>
</joint>
<link name="front_left_hip">
<visual>
<geometry>
<mesh filename="package://spot_description/meshes/front_left_hip.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://spot_description/meshes/front_left_hip_collision.stl"/>
</geometry>
</collision>
</link>
<joint name="front_left_hip_x" type="revolute">
<origin rpy="0 0 0" xyz="0.29785 0.05500 0.00000"/>
<axis xyz="1 0 0"/>
<parent link="body"/>
<child link="front_left_hip"/>
<limit effort="1000" lower="-0.78539816339744827899" upper="0.78539816339744827899" velocity="1000.00"/>
</joint>
<link name="front_left_upper_leg">
<visual>
<geometry>
<mesh filename="package://spot_description/meshes/front_left_upper_leg.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://spot_description/meshes/front_left_upper_leg_collision.stl"/>
</geometry>
</collision>
</link>
<joint name="front_left_hip_y" type="revolute">
<origin rpy="0 0 0" xyz="0.0 0.110945 0.0"/>
<axis xyz="0 1 0"/>
<parent link="front_left_hip"/>
<child link="front_left_upper_leg"/>
<limit effort="1000" lower="-0.89884456477707963539" upper="2.2951079663725435509" velocity="1000.00"/>
</joint>
<link name="front_left_lower_leg">
<visual>
<geometry>
<mesh filename="package://spot_description/meshes/front_left_lower_leg.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://spot_description/meshes/front_left_lower_leg_collision.stl"/>
</geometry>
</collision>
</link>
<joint name="front_left_knee" type="revolute">
<origin rpy="0 0 0" xyz="0.025 0.000 -0.3205"/>
<axis xyz="0 1 0"/>
<parent link="front_left_upper_leg"/>
<child link="front_left_lower_leg"/>
<limit effort="1000" lower="-2.7929" upper="-0.254801" velocity="1000.00"/>
</joint>
<link name="front_right_hip">
<visual>
<geometry>
<mesh filename="package://spot_description/meshes/front_right_hip.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://spot_description/meshes/front_right_hip_collision.stl"/>
</geometry>
</collision>
</link>
<joint name="front_right_hip_x" type="revolute">
<origin rpy="0 0 0" xyz="0.29785 -0.05500 0.00000"/>
<axis xyz="1 0 0"/>
<parent link="body"/>
<child link="front_right_hip"/>
<limit effort="1000" lower="-0.78539816339744827899" upper="0.78539816339744827899" velocity="1000.00"/>
</joint>
<link name="front_right_upper_leg">
<visual>
<geometry>
<mesh filename="package://spot_description/meshes/front_right_upper_leg.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://spot_description/meshes/front_right_upper_leg_collision.stl"/>
</geometry>
</collision>
</link>
<joint name="front_right_hip_y" type="revolute">
<origin rpy="0 0 0" xyz="0.0 -0.110945 0.0"/>
<axis xyz="0 1 0"/>
<parent link="front_right_hip"/>
<child link="front_right_upper_leg"/>
<limit effort="1000" lower="-0.89884456477707963539" upper="2.2951079663725435509" velocity="1000.00"/>
</joint>
<link name="front_right_lower_leg">
<visual>
<geometry>
<mesh filename="package://spot_description/meshes/front_right_lower_leg.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://spot_description/meshes/front_right_lower_leg_collision.stl"/>
</geometry>
</collision>
</link>
<joint name="front_right_knee" type="revolute">
<origin rpy="0 0 0" xyz="0.025 0.000 -0.3205"/>
<axis xyz="0 1 0"/>
<parent link="front_right_upper_leg"/>
<child link="front_right_lower_leg"/>
<limit effort="1000" lower="-2.7929" upper="-0.247563" velocity="1000.00"/>
</joint>
<link name="rear_left_hip">
<visual>
<geometry>
<mesh filename="package://spot_description/meshes/rear_left_hip.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://spot_description/meshes/rear_left_hip_collision.stl"/>
</geometry>
</collision>
</link>
<joint name="rear_left_hip_x" type="revolute">
<origin rpy="0 0 0" xyz="-0.29785 0.05500 0.00000"/>
<axis xyz="1 0 0"/>
<parent link="body"/>
<child link="rear_left_hip"/>
<limit effort="1000" lower="-0.78539816339744827899" upper="0.78539816339744827899" velocity="1000.00"/>
</joint>
<link name="rear_left_upper_leg">
<visual>
<geometry>
<mesh filename="package://spot_description/meshes/rear_left_upper_leg.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://spot_description/meshes/rear_left_upper_leg_collision.stl"/>
</geometry>
</collision>
</link>
<joint name="rear_left_hip_y" type="revolute">
<origin rpy="0 0 0" xyz="0.0 0.110945 0.0"/>
<axis xyz="0 1 0"/>
<parent link="rear_left_hip"/>
<child link="rear_left_upper_leg"/>
<limit effort="1000" lower="-0.89884456477707963539" upper="2.2951079663725435509" velocity="1000.00"/>
</joint>
<link name="rear_left_lower_leg">
<visual>
<geometry>
<mesh filename="package://spot_description/meshes/rear_left_lower_leg.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://spot_description/meshes/rear_left_lower_leg_collision.stl"/>
</geometry>
</collision>
</link>
<joint name="rear_left_knee" type="revolute">
<origin rpy="0 0 0" xyz="0.025 0.000 -0.3205"/>
<axis xyz="0 1 0"/>
<parent link="rear_left_upper_leg"/>
<child link="rear_left_lower_leg"/>
<limit effort="1000" lower="-2.7929" upper="-0.267153" velocity="1000.00"/>
</joint>
<link name="rear_right_hip">
<visual>
<geometry>
<mesh filename="package://spot_description/meshes/rear_right_hip.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://spot_description/meshes/rear_right_hip_collision.stl"/>
</geometry>
</collision>
</link>
<joint name="rear_right_hip_x" type="revolute">
<origin rpy="0 0 0" xyz="-0.29785 -0.05500 0.00000"/>
<axis xyz="1 0 0"/>
<parent link="body"/>
<child link="rear_right_hip"/>
<limit effort="1000" lower="-0.78539816339744827899" upper="0.78539816339744827899" velocity="1000.00"/>
</joint>
<link name="rear_right_upper_leg">
<visual>
<geometry>
<mesh filename="package://spot_description/meshes/rear_right_upper_leg.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://spot_description/meshes/rear_right_upper_leg_collision.stl"/>
</geometry>
</collision>
</link>
<joint name="rear_right_hip_y" type="revolute">
<origin rpy="0 0 0" xyz="0.0 -0.110945 0.0"/>
<axis xyz="0 1 0"/>
<parent link="rear_right_hip"/>
<child link="rear_right_upper_leg"/>
<limit effort="1000" lower="-0.89884456477707963539" upper="2.2951079663725435509" velocity="1000.00"/>
</joint>
<link name="rear_right_lower_leg">
<visual>
<geometry>
<mesh filename="package://spot_description/meshes/rear_right_lower_leg.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://spot_description/meshes/rear_right_lower_leg_collision.stl"/>
</geometry>
</collision>
</link>
<joint name="rear_right_knee" type="revolute">
<origin rpy="0 0 0" xyz="0.025 0.000 -0.3205"/>
<axis xyz="0 1 0"/>
<parent link="rear_right_upper_leg"/>
<child link="rear_right_lower_leg"/>
<limit effort="1000" lower="-2.7929" upper="-0.257725" velocity="1000.00"/>
</joint>
<!-- This file is a placeholder which is included by default from
spot.urdf.xacro. If a robot is being customized and requires
additional URDF, set the SPOT_URDF_EXTRAS environment variable
to the full path of the file you would like included. -->
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/BostonDynamics/LittleDog_description/LittleDog.urdf | <robot name="LittleDog" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:schemaLocation="http://drake.mit.edu drake-distro/drake/doc/drakeURDF.xsd"
xmlns="http://drake.mit.edu">
<!-- converted from https://svn.csail.mit.edu/littledog/trunk/simulation/little_dog.sd -->
<link name="body">
<inertial>
<mass value="1.800000" />
<inertia ixx="0.001625" ixy="0" ixz="0" iyy="0.009178" iyz="0" izz="0.008794" />
</inertial>
<visual>
<geometry>
<mesh filename="meshes/body.obj" scale=".0254 .0254 .0254" />
</geometry>
<material name="black">
<color rgba="0.1 0.1 0.1 1" />
</material>
</visual>
</link>
<link name="front_left_hip">
<inertial>
<origin xyz="0.000000 0.002900 0.000000" rpy="0 0 0" />
<mass value="0.062300" />
<inertia ixx="0.000004" ixy="0" ixz="0" iyy="0.000015" iyz="0" izz="0.000015" />
</inertial>
<!--
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/front_left_hip.obj" scale=".0254 .0254 .0254"/>
</geometry>
<material name="black" />
</visual>
-->
</link>
<joint name="front_left_hip_roll" type="revolute">
<parent link="body" />
<child link="front_left_hip" />
<origin xyz="0.101000 0.036250 0.000000" />
<axis xyz="1 0 0" />
<limit lower="-.6" upper=".6"/>
</joint>
<transmission type="SimpleTransmission">
<joint name="front_left_hip_roll"/>
<actuator name="front_left_hip_roll"/>
</transmission>
<link name="front_left_upper_leg">
<inertial>
<origin xyz="0.000000 0.000000 -0.016600" rpy="0 0 0" />
<mass value="0.127900" />
<inertia ixx="0.000082" ixy="0" ixz="0" iyy="0.000089" iyz="0" izz="0.000015" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/front_left_upper.obj" scale=".0254 .0254 .0254"/>
</geometry>
<material name="black" />
</visual>
</link>
<joint name="front_left_hip_pitch" type="revolute">
<parent link="front_left_hip" />
<child link="front_left_upper_leg" />
<origin xyz="0 0.0236 0" />
<axis xyz="0 1 0" />
<limit lower="-3.5" upper="2.4"/>
</joint>
<transmission type="SimpleTransmission">
<joint name="front_left_hip_pitch"/>
<actuator name="front_left_hip_pitch"/>
</transmission>
<link name="front_left_lower_leg">
<inertial>
<origin xyz="0.000000 0.000000 -0.020200" rpy="0 0 0" />
<mass value="0.046400" />
<inertia ixx="0.000038" ixy="0" ixz="0" iyy="0.000035" iyz="0" izz="0.000004" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/front_left_lower.obj" scale="0.0254 0.0254 0.0254"/>
</geometry>
<material name="black" />
</visual>
<collision group="left_lower_legs">
<origin xyz="-0.0265 0 -0.048" /> <!-- note this is approximate -->
<geometry>
<capsule radius="0.012" length="0.09" />
</geometry>
</collision>
<collision group="feet">
<origin xyz="-0.0265 0 -0.0985"/>
<geometry>
<sphere radius="0.0103"/>
</geometry>
</collision>
</link>
<joint name="front_left_knee" type="revolute">
<parent link="front_left_upper_leg" />
<child link="front_left_lower_leg" />
<origin xyz="0 0 -0.0751" />
<axis xyz="0 1 0" />
<limit lower="-3.1" upper="1.0"/>
</joint>
<transmission type="SimpleTransmission">
<joint name="front_left_knee"/>
<actuator name="front_left_knee"/>
</transmission>
<frame link="front_left_lower_leg" name="front_left_foot_center" xyz="-0.0265 0 -0.0985"/>
<link name="front_right_hip">
<inertial>
<origin xyz="0.000000 -0.002900 0.000000" rpy="0 0 0" />
<mass value="0.062300" />
<inertia ixx="0.000004" ixy="0" ixz="0" iyy="0.000015" iyz="0" izz="0.000015" />
</inertial>
<!--
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/front_right_hip.obj" scale="0.0254 0.0254 0.0254"/>
</geometry>
<material name="black" />
</visual>
-->
</link>
<joint name="front_right_hip_roll" type="revolute">
<parent link="body" />
<child link="front_right_hip" />
<origin xyz="0.101000 -0.036250 0.000000" />
<axis xyz="1 0 0" />
<limit lower="-.6" upper=".6"/>
</joint>
<transmission type="SimpleTransmission">
<joint name="front_right_hip_roll"/>
<actuator name="front_right_hip_roll"/>
</transmission>
<link name="front_right_upper_leg">
<inertial>
<origin xyz="0.000000 0.000000 -0.016600" rpy="0 0 0" />
<mass value="0.127900" />
<inertia ixx="0.000082" ixy="0" ixz="0" iyy="0.000089" iyz="0" izz="0.000015" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/front_right_upper.obj" scale="0.0254 0.0254 0.0254"/>
</geometry>
<material name="black"/>
</visual>
</link>
<joint name="front_right_hip_pitch" type="revolute">
<parent link="front_right_hip" />
<child link="front_right_upper_leg" />
<origin xyz="0 -0.0236 0" />
<axis xyz="0 1 0" />
<limit lower="-3.5" upper="2.4"/>
</joint>
<transmission type="SimpleTransmission">
<joint name="front_right_hip_pitch"/>
<actuator name="front_right_hip_pitch"/>
</transmission>
<link name="front_right_lower_leg">
<inertial>
<origin xyz="0.000000 0.000000 -0.020200" rpy="0 0 0" />
<mass value="0.046400" />
<inertia ixx="0.000038" ixy="0" ixz="0" iyy="0.000035" iyz="0" izz="0.000004" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/front_right_lower.obj" scale="0.0254 0.0254 0.0254"/>
</geometry>
<material name="black"/>
</visual>
<collision group="right_lower_legs">
<origin xyz="-0.0265 0 -0.048" /> <!-- note this is approximate -->
<geometry>
<capsule radius="0.012" length="0.09" />
</geometry>
</collision>
<collision group="feet">
<origin xyz="-0.0265 0 -0.0985"/>
<geometry>
<sphere radius="0.0103"/>
</geometry>
</collision>
</link>
<joint name="front_right_knee" type="revolute">
<parent link="front_right_upper_leg" />
<child link="front_right_lower_leg" />
<origin xyz="0 0 -0.0751" />
<axis xyz="0 1 0" />
<limit lower="-3.1" upper="1.0"/>
</joint>
<transmission type="SimpleTransmission">
<joint name="front_right_knee"/>
<actuator name="front_right_knee"/>
</transmission>
<frame link="front_right_lower_leg" name="front_right_foot_center" xyz="-0.0265 0 -0.0985"/>
<link name="back_left_hip">
<inertial>
<origin xyz="0.000000 0.002900 0.000000" rpy="0 0 0" />
<mass value="0.062300" />
<inertia ixx="0.000004" ixy="0" ixz="0" iyy="0.000015" iyz="0" izz="0.000015" />
</inertial>
<!-- <visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/back_left_hip.obj" scale="0.0254 0.0254 0.0254"/>
</geometry>
<material name="black" />
</visual>
-->
</link>
<joint name="back_left_hip_roll" type="revolute">
<parent link="body" />
<child link="back_left_hip" />
<origin xyz="-0.101000 0.036250 0.000000" />
<axis xyz="1 0 0" />
<limit lower="-.6" upper=".6"/>
</joint>
<transmission type="SimpleTransmission">
<joint name="back_left_hip_roll"/>
<actuator name="back_left_hip_roll"/>
</transmission>
<link name="back_left_upper_leg">
<inertial>
<origin xyz="0.000000 0.000000 -0.016600" rpy="0 0 0" />
<mass value="0.127900" />
<inertia ixx="0.000082" ixy="0" ixz="0" iyy="0.000089" iyz="0" izz="0.000015" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/back_left_upper.obj" scale="0.0254 0.0254 0.0254"/>
</geometry>
<material name="black" />
</visual>
</link>
<joint name="back_left_hip_pitch" type="revolute">
<parent link="back_left_hip" />
<child link="back_left_upper_leg" />
<origin xyz="0 0.0236 0" />
<axis xyz="0 1 0" />
<limit lower="-2.4" upper="3.5"/>
</joint>
<transmission type="SimpleTransmission">
<joint name="back_left_hip_pitch"/>
<actuator name="back_left_hip_pitch"/>
</transmission>
<link name="back_left_lower_leg">
<inertial>
<origin xyz="0.000000 0.000000 -0.020200" rpy="0 0 0" />
<mass value="0.046400" />
<inertia ixx="0.000038" ixy="0" ixz="0" iyy="0.000035" iyz="0" izz="0.000004" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/back_left_lower.obj" scale="0.0254 0.0254 0.0254"/>
</geometry>
<material name="black" />
</visual>
<collision group="left_lower_legs">
<origin xyz="0.0265 0 -0.048" /> <!-- note this is approximate -->
<geometry>
<capsule radius="0.012" length="0.09" />
</geometry>
</collision>
<collision group="feet">
<origin xyz="0.0265 0 -0.0985"/>
<geometry>
<sphere radius="0.0103"/>
</geometry>
</collision>
</link>
<joint name="back_left_knee" type="revolute">
<parent link="back_left_upper_leg" />
<child link="back_left_lower_leg" />
<origin xyz="0 0 -0.0751" />
<axis xyz="0 1 0" />
<limit lower="-1.0" upper="3.1"/>
</joint>
<transmission type="SimpleTransmission">
<joint name="back_left_knee"/>
<actuator name="back_left_knee"/>
</transmission>
<frame link="back_left_lower_leg" name="back_left_foot_center" xyz="0.0265 0 -0.0985"/>
<link name="back_right_hip">
<inertial>
<origin xyz="0.000000 -0.002900 0.000000" rpy="0 0 0" />
<mass value="0.062300" />
<inertia ixx="0.000004" ixy="0" ixz="0" iyy="0.000015" iyz="0" izz="0.000015" />
</inertial>
<!-- <visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/back_right_hip.obj" scale="0.0254 0.0254 0.0254"/>
</geometry>
<material name="black" />
</visual>
-->
</link>
<joint name="back_right_hip_roll" type="revolute">
<parent link="body" />
<child link="back_right_hip" />
<origin xyz="-0.101000 -0.036250 0.000000" />
<axis xyz="1 0 0" />
<limit lower="-.6" upper=".6"/>
</joint>
<transmission type="SimpleTransmission">
<joint name="back_right_hip_roll"/>
<actuator name="back_right_hip_roll"/>
</transmission>
<link name="back_right_upper_leg">
<inertial>
<origin xyz="0.000000 0.000000 -0.016600" rpy="0 0 0" />
<mass value="0.127900" />
<inertia ixx="0.000082" ixy="0" ixz="0" iyy="0.000089" iyz="0" izz="0.000015" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/back_right_upper.obj" scale="0.0254 0.0254 0.0254"/>
</geometry>
<material name="black" />
</visual>
</link>
<joint name="back_right_hip_pitch" type="revolute">
<parent link="back_right_hip" />
<child link="back_right_upper_leg" />
<origin xyz="0 -0.0207 0" />
<axis xyz="0 1 0" />
<limit lower="-2.4" upper="3.5"/>
</joint>
<transmission type="SimpleTransmission">
<joint name="back_right_hip_pitch"/>
<actuator name="back_right_hip_pitch"/>
</transmission>
<link name="back_right_lower_leg">
<inertial>
<origin xyz="0.000000 0.000000 -0.020200" rpy="0 0 0" />
<mass value="0.046400" />
<inertia ixx="0.000038" ixy="0" ixz="0" iyy="0.000035" iyz="0" izz="0.000004" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/back_right_lower.obj" scale="0.0254 0.0254 0.0254"/>
</geometry>
<material name="black" />
</visual>
<collision group="right_lower_legs">
<origin xyz="0.0265 0 -0.048" /> <!-- note this is approximate -->
<geometry>
<capsule radius="0.012" length="0.09" />
</geometry>
</collision>
<collision group="feet">
<origin xyz="0.0265 0 -0.0985"/>
<geometry>
<sphere radius="0.0103"/>
</geometry>
</collision>
</link>
<joint name="back_right_knee" type="revolute">
<parent link="back_right_upper_leg" />
<child link="back_right_lower_leg" />
<origin xyz="0 0 -0.0751" />
<axis xyz="0 1 0" />
<limit lower="-1.0" upper="3.1"/>
</joint>
<transmission type="SimpleTransmission">
<joint name="back_right_knee"/>
<actuator name="back_right_knee"/>
</transmission>
<frame link="back_right_lower_leg" name="back_right_foot_center" xyz="0.0265 0 -0.0985"/>
</robot> |
boredengineering/Robots_for_Omniverse/URDF_descriptions/spot_mini_mini/mini_ros/stl/LICENSE.txt | Spotmicro - robot dog (http://www.thingiverse.com/thing:3445283) by KDY0523 is licensed under the Creative Commons - Attribution license.
http://creativecommons.org/licenses/by/3.0/
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/spot_mini_mini/mini_ros/stl/README.txt | .: :,
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http://www.thingiverse.com/thing:3445283
Spotmicro - robot dog by KDY0523 is licensed under the Creative Commons - Attribution license.
http://creativecommons.org/licenses/by/3.0/
# Summary
I designed Spotmicro inspired by the Spotmini of Boston Dynamics.
It works on the basis of the Arduino mega, and if you use a different board, you have to redesign the 'plate' file yourself and print the non-mega file instead of the regular file.
The ultra sonic sensor can be used for mapping or obstacle avoidance.
When you attach the servo horn to the 3D printed parts, you must use the HOTGLUE.
THERE IS NO CODE YET, SO YOU HAVE TO WRITE IT YOURSELF.
Assembly video part 1 : https://youtu.be/03RR-mz2hwA
Assembly video part 2 : https://youtu.be/LV5vvmhwtxM
Instagram : https://www.instagram.com/kim.d.yeon/
To make this, you need the following...
_Electronics_
12 × MG 996 R servo motor
1 × Arduino Mega
2 × HC-SR04 Ultrasonic sensor
1 × HC-06 Bluetooth module
1 × MPU-6050 Gyro sensor
1 × I2C 16x2 LCD Module
1 × Rleil rocker switch RL3-4
7.4v Battery
_Screws, Nuts and Bearings_
8 × 'M5×15'
40 × 'M4×20'
8 × 'M4×15'
48 × 'M4 nut'
4 × 'M3×20'
28 × 'M3×10'
16 × 'M3 nut'
8 × 'F625zz Flange ball bearing'
Made by Deok-yeon Kim
# Print Settings
Printer Brand: Creality
Printer: Ender 3
Infill: 10~20%
Filament_brand: .
Filament_color: Yellow, Black, Gray
Filament_material: PLA, Flexible
# Post-Printing
 |
boredengineering/Robots_for_Omniverse/URDF_descriptions/spot_mini_mini/mini_ros/urdf/spot.urdf.xacro | <?xml version="1.0"?>
<robot name="spot" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- Include Macros -->
<xacro:include filename="$(find mini_ros)/urdf/spot_macro.xacro" />
<xacro:include filename="$(find mini_ros)/urdf/transmissions.xacro" />
<!-- <xacro:include filename="$(find mini_ros)/urdf/accessories.urdf.xacro" /> -->
<!-- Robot description -->
<!-- STATIC Links -->
<link name="base_link"/>
<!-- MAIN BODY -->
<xacro:mesh_link name="base_inertia"
origin_rpy="0 0 ${pi/2}" origin_xyz="-0.16 0.035 -0.045"
i_rpy="0 0 0" i_xyz="0 0 0"
mass="0.6"
c_xyz="0 0 0"
length="0.114"
width="0.2"
height="0.1"
matname="orange"
meshfile="package://mini_ros/stl/OpenQuadruped/MAINBODY.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<!-- BATTERY -->
<xacro:mesh_link name="battery"
origin_rpy="0 0 ${pi/2}" origin_xyz="-0.15 0.035 -0.022"
i_rpy="0 0 0" i_xyz="0 0 0"
mass="0.4"
c_xyz="0 0 0"
length="0.048"
width="0.145"
height="0.026"
matname="black"
meshfile="package://mini_ros/stl/OpenQuadruped/Battery.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<!-- CHASSIS LEFT -->
<xacro:mesh_link name="chassis_left"
origin_rpy="0 ${pi/2} -${pi/2}" origin_xyz="0.016 0.003 0"
i_rpy="0 0 0" i_xyz="0 0 0"
mass="0.01"
c_xyz="0 0 0"
length="0.06"
width="0.15"
height="0.006"
matname="black"
meshfile="package://mini_ros/stl/OpenQuadruped/Chassis_Left_Side.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<!-- CHASSIS Right -->
<xacro:mesh_link name="chassis_right"
origin_rpy="0 ${pi/2} ${pi/2}" origin_xyz="-0.016 -0.003 0"
i_rpy="0 0 0" i_xyz="0 0 0"
mass="0.01"
c_xyz="0 0 0"
length="0.06"
width="0.15"
height="0.006"
matname="black"
meshfile="package://mini_ros/stl/OpenQuadruped/Chassis_Right_Side.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<!-- FRONT -->
<xacro:mesh_link name="front"
origin_rpy="0 0 ${pi/2}" origin_xyz="-0.16 0.035 -0.045"
i_rpy="0 0 0" i_xyz="0 0 0"
mass="0.1"
c_xyz="0.16 0 0.006"
length="0.114"
width="0.045"
height="0.085"
matname="orange"
meshfile="package://mini_ros/stl/OpenQuadruped/Front.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<!-- BACK -->
<xacro:mesh_link name="back"
origin_rpy="0 0 ${pi/2}" origin_xyz="-0.16 0.035 -0.045"
i_rpy="0 0 0" i_xyz="0 0 0"
mass="0.1"
c_xyz="-0.16 0 0.006"
length="0.114"
width="0.075"
height="0.085"
matname="orange"
meshfile="package://mini_ros/stl/OpenQuadruped/Back.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<!-- FRONT BRACKET -->
<xacro:mesh_link name="front_bracket"
origin_rpy="0 0 ${pi/2}" origin_xyz="-0.16 0.035 -0.045"
i_rpy="0 0 0" i_xyz="0 0 0"
mass="0.1"
c_xyz="0.1 0 0"
length="0.025"
width="0.075"
height="0.085"
matname="black"
meshfile="package://mini_ros/stl/OpenQuadruped/Front_Bracket.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<!-- BACK BRACKET -->
<xacro:mesh_link name="back_bracket"
origin_rpy="0 0 ${pi/2}" origin_xyz="-0.16 0.035 -0.045"
i_rpy="0 0 0" i_xyz="0 0 0"
mass="0.1"
c_xyz="-0.1 0 0"
length="0.025"
width="0.075"
height="0.085"
matname="black"
meshfile="package://mini_ros/stl/OpenQuadruped/Back_Bracket.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<!-- DYNAMIC LINKS (Joints Included) -->
<!-- FRONT LEFT LEG -->
<!-- HIP -->
<xacro:mesh_link name="front_left_hip"
origin_rpy="0 0 ${pi/2}" origin_xyz="-0.25 -0.0044 -0.067"
i_rpy="0 0 0" i_xyz="0 0.075 0"
mass="0.2"
c_xyz="0.015 0.01 -0.01"
length="0.05"
width="0.065"
height="0.065"
matname="black"
meshfile="package://mini_ros/stl/OpenQuadruped/LEFT_HIP.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<xacro:rev_joint name="motor_front_left_hip" type="revolute"
axis_xyz="1 0 0"
origin_rpy="0 0 0" origin_xyz="${0.2515-0.16} ${0.0044+0.035} ${0.067-0.045}"
parent="front_bracket" child="front_left_hip"
effort="4.0" velocity="4.0"
damping="0.0"
friction="0.0"
lower="-1.04"
upper="1.04"/>
<!-- UPPER LEG -->
<xacro:mesh_link name="front_left_upper_leg"
origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.252} ${-0.05} ${-0.055}"
i_rpy="0 0 0" i_xyz="-0.005 0.0175 -0.055"
mass="0.13"
c_xyz="0 0.02 -0.05"
length="0.035"
width="0.035"
height="0.11"
matname="black"
meshfile="package://mini_ros/stl/OpenQuadruped/LEFT_UPPER_LEG.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<xacro:rev_joint name="motor_front_left_upper_leg" type="revolute"
axis_xyz="0 1 0"
origin_rpy="0 0 0" origin_xyz="0.0015 0.045 -0.0087"
parent="front_left_hip" child="front_left_upper_leg"
effort="4.0" velocity="4.0"
damping="0.0"
friction="0.0"
lower="${-pi/2}"
upper="2.59"/>
<!-- LOWER LEG -->
<xacro:mesh_link name="front_left_lower_leg"
origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.247} ${-0.068} ${0.0535}"
i_rpy="0 0 0" i_xyz="-0.01 0 -0.06"
mass="0.05"
c_xyz="0 0 -0.06"
length="0.035"
width="0.035"
height="0.12"
matname="black"
meshfile="package://mini_ros/stl/OpenQuadruped/LEFT_LOWER_LEG.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<xacro:rev_joint name="motor_front_left_lower_leg" type="revolute"
axis_xyz="0 1 0"
origin_rpy="0 0 0" origin_xyz="-0.005 0.018 -0.109"
parent="front_left_upper_leg" child="front_left_lower_leg"
effort="4.0" velocity="4.0"
damping="0.0"
friction="0.0"
lower="-2.9"
upper="${pi/2}"/>
<!-- FOOT -->
<xacro:mesh_link_sphere name="front_left_foot"
origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.247} ${-0.068} ${0.18}"
i_rpy="0 0 0" i_xyz="0 0 0"
mass="0.005"
c_xyz="${-0.247} ${-0.068} ${0.18}"
length="0.05"
width="0.065"
height="0.065"
radius="0.02"
matname="orange"
meshfile="package://mini_ros/stl/OpenQuadruped/LEFT_FOOT.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<xacro:frame_joint name="front_left_leg_foot" type="fixed"
origin_rpy="0 0 0" origin_xyz="0 0 -0.1265"
parent="front_left_lower_leg" child="front_left_foot"/>
<!-- BACK LEFT LEG -->
<!-- HIP -->
<xacro:mesh_link name="back_left_hip"
origin_rpy="0 0 ${pi/2}" origin_xyz="-0.25 -0.0044 -0.067"
i_rpy="0 0 0" i_xyz="0 0.075 0"
mass="0.2"
c_xyz="0.015 0.01 -0.01"
length="0.05"
width="0.065"
height="0.065"
matname="black"
meshfile="package://mini_ros/stl/OpenQuadruped/LEFT_HIP.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<xacro:rev_joint name="motor_back_left_hip" type="revolute"
axis_xyz="1 0 0"
origin_rpy="0 0 0" origin_xyz="${-0.2515+0.115} ${0.0044+0.035} ${0.067-0.045}"
parent="back_bracket" child="back_left_hip"
effort="4.0" velocity="4.0"
damping="0.0"
friction="0.0"
lower="-1.04"
upper="1.04"/>
<!-- UPPER LEG -->
<xacro:mesh_link name="back_left_upper_leg"
origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.252} ${-0.05} ${-0.055}"
i_rpy="0 0 0" i_xyz="-0.005 0.0175 -0.055"
mass="0.13"
c_xyz="0 0.02 -0.05"
length="0.035"
width="0.035"
height="0.11"
matname="black"
meshfile="package://mini_ros/stl/OpenQuadruped/LEFT_UPPER_LEG.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<xacro:rev_joint name="motor_back_left_upper_leg" type="revolute"
axis_xyz="0 1 0"
origin_rpy="0 0 0" origin_xyz="0.0015 0.045 -0.0087"
parent="back_left_hip" child="back_left_upper_leg"
effort="4.0" velocity="4.0"
damping="0.0"
friction="0.0"
lower="${-pi/2}"
upper="2.59"/>
<!-- LOWER LEG -->
<xacro:mesh_link name="back_left_lower_leg"
origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.247} ${-0.068} ${0.0535}"
i_rpy="0 0 0" i_xyz="-0.01 0 -0.06"
mass="0.05"
c_xyz="0 0 -0.06"
length="0.035"
width="0.035"
height="0.12"
matname="black"
meshfile="package://mini_ros/stl/OpenQuadruped/LEFT_LOWER_LEG.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<xacro:rev_joint name="motor_back_left_lower_leg" type="revolute"
axis_xyz="0 1 0"
origin_rpy="0 0 0" origin_xyz="-0.005 0.018 -0.109"
parent="back_left_upper_leg" child="back_left_lower_leg"
effort="4.0" velocity="4.0"
damping="0.0"
friction="0.0"
lower="-2.9"
upper="${pi/2}"/>
<!-- FOOT -->
<xacro:mesh_link_sphere name="back_left_foot"
origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.247} ${-0.068} ${0.18}"
i_rpy="0 0 0" i_xyz="0 0 0"
mass="0.005"
c_xyz="${-0.247} ${-0.068} ${0.18}"
length="0.05"
width="0.065"
height="0.065"
radius="0.02"
matname="orange"
meshfile="package://mini_ros/stl/OpenQuadruped/LEFT_FOOT.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<xacro:frame_joint name="back_left_leg_foot" type="fixed"
origin_rpy="0 0 0" origin_xyz="0 0 -0.1265"
parent="back_left_lower_leg" child="back_left_foot"/>
<!-- FRONT RIGHT LEG -->
<!-- HIP -->
<xacro:mesh_link name="front_right_hip"
origin_rpy="0 0 ${pi/2}" origin_xyz="-0.25 0.074 -0.067"
i_rpy="0 0 0" i_xyz="0 -0.075 0"
mass="0.2"
c_xyz="0.015 ${-0.01} -0.01"
length="0.05"
width="0.065"
height="0.065"
matname="black"
meshfile="package://mini_ros/stl/OpenQuadruped/RIGHT_HIP.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<xacro:rev_joint name="motor_front_right_hip" type="revolute"
axis_xyz="1 0 0"
origin_rpy="0 0 0" origin_xyz="${0.2515-0.16} ${-(0.0044+0.035)} ${0.067-0.045}"
parent="front_bracket" child="front_right_hip"
effort="4.0" velocity="4.0"
damping="0.0"
friction="0.0"
lower="-1.04"
upper="1.04"/>
<!-- UPPER LEG -->
<xacro:mesh_link name="front_right_upper_leg"
origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.252} ${0.12} ${-0.055}"
i_rpy="0 0 0" i_xyz="-0.005 -0.0175 -0.055"
mass="0.13"
c_xyz="0 ${-0.02} -0.05"
length="0.035"
width="0.035"
height="0.11"
matname="black"
meshfile="package://mini_ros/stl/OpenQuadruped/RIGHT_UPPER_LEG.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<xacro:rev_joint name="motor_front_right_upper_leg" type="revolute"
axis_xyz="0 1 0"
origin_rpy="0 0 0" origin_xyz="0.0015 -0.045 -0.0087"
parent="front_right_hip" child="front_right_upper_leg"
effort="4.0" velocity="4.0"
damping="0.0"
friction="0.0"
lower="${-pi/2}"
upper="2.59"/>
<!-- LOWER LEG -->
<xacro:mesh_link name="front_right_lower_leg"
origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.247} ${0.138} ${0.0535}"
i_rpy="0 0 0" i_xyz="-0.01 0 -0.06"
mass="0.05"
c_xyz="0 0 -0.06"
length="0.035"
width="0.035"
height="0.12"
matname="black"
meshfile="package://mini_ros/stl/OpenQuadruped/RIGHT_LOWER_LEG.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<xacro:rev_joint name="motor_front_right_lower_leg" type="revolute"
axis_xyz="0 1 0"
origin_rpy="0 0 0" origin_xyz="-0.005 -0.018 -0.109"
parent="front_right_upper_leg" child="front_right_lower_leg"
effort="4.0" velocity="4.0"
damping="0.0"
friction="0.0"
lower="-2.9"
upper="${pi/2}"/>
<!-- FOOT -->
<xacro:mesh_link_sphere name="front_right_foot"
origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.247} ${0.138} ${0.18}"
i_rpy="0 0 0" i_xyz="0 0 0"
mass="0.005"
c_xyz="${-0.247} ${0.138} ${0.18}"
length="0.05"
width="0.065"
height="0.065"
radius="0.02"
matname="orange"
meshfile="package://mini_ros/stl/OpenQuadruped/RIGHT_FOOT.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<xacro:frame_joint name="front_right_leg_foot" type="fixed"
origin_rpy="0 0 0" origin_xyz="0 0 -0.1265"
parent="front_right_lower_leg" child="front_right_foot"/>
<!-- BACK RIGHT LEG -->
<!-- HIP -->
<xacro:mesh_link name="back_right_hip"
origin_rpy="0 0 ${pi/2}" origin_xyz="-0.25 0.074 -0.067"
i_rpy="0 0 0" i_xyz="0 -0.075 0"
mass="0.2"
c_xyz="0.015 ${-0.01} -0.01"
length="0.05"
width="0.065"
height="0.065"
matname="black"
meshfile="package://mini_ros/stl/OpenQuadruped/RIGHT_HIP.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<xacro:rev_joint name="motor_back_right_hip" type="revolute"
axis_xyz="1 0 0"
origin_rpy="0 0 0" origin_xyz="${-0.2515+0.115} ${-(0.0044+0.035)} ${0.067-0.045}"
parent="back_bracket" child="back_right_hip"
effort="4.0" velocity="4.0"
damping="0.0"
friction="0.0"
lower="-1.04"
upper="1.04"/>
<!-- UPPER LEG -->
<xacro:mesh_link name="back_right_upper_leg"
origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.252} ${0.12} ${-0.055}"
i_rpy="0 0 0" i_xyz="-0.005 -0.0175 -0.055"
mass="0.13"
c_xyz="0 ${-0.02} -0.05"
length="0.035"
width="0.035"
height="0.11"
matname="black"
meshfile="package://mini_ros/stl/OpenQuadruped/RIGHT_UPPER_LEG.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<xacro:rev_joint name="motor_back_right_upper_leg" type="revolute"
axis_xyz="0 1 0"
origin_rpy="0 0 0" origin_xyz="0.0015 -0.045 -0.0087"
parent="back_right_hip" child="back_right_upper_leg"
effort="4.0" velocity="4.0"
damping="0.0"
friction="0.0"
lower="${-pi/2}"
upper="2.59"/>
<!-- LOWER LEG -->
<xacro:mesh_link name="back_right_lower_leg"
origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.247} ${0.138} ${0.0535}"
i_rpy="0 0 0" i_xyz="-0.01 0 -0.06"
mass="0.05"
c_xyz="0 0 -0.06"
length="0.035"
width="0.035"
height="0.12"
matname="black"
meshfile="package://mini_ros/stl/OpenQuadruped/RIGHT_LOWER_LEG.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<xacro:rev_joint name="motor_back_right_lower_leg" type="revolute"
axis_xyz="0 1 0"
origin_rpy="0 0 0" origin_xyz="-0.005 -0.018 -0.109"
parent="back_right_upper_leg" child="back_right_lower_leg"
effort="4.0" velocity="4.0"
damping="0.0"
friction="0.0"
lower="-2.9"
upper="${pi/2}"/>
<!-- FOOT -->
<xacro:mesh_link_sphere name="back_right_foot"
origin_rpy="0 0 ${pi/2}" origin_xyz="${-0.247} ${0.138} ${0.18}"
i_rpy="0 0 0" i_xyz="0 0 0"
mass="0.005"
c_xyz="${-0.247} ${0.138} ${0.18}"
length="0.05"
width="0.065"
height="0.065"
radius="0.02"
matname="orange"
meshfile="package://mini_ros/stl/OpenQuadruped/RIGHT_FOOT.stl"
meshscale="1 1 1" /> <!-- m to mm -->
<xacro:frame_joint name="back_right_leg_foot" type="fixed"
origin_rpy="0 0 0" origin_xyz="0 0 -0.1265"
parent="back_right_lower_leg" child="back_right_foot"/>
<!-- STATIC Joints -->
<!-- FOOTPRINT TO MAIN BODY-->
<xacro:frame_joint name="base_base" type="fixed"
origin_rpy="0 0 0" origin_xyz="0 0 0"
parent="base_link" child="base_inertia"/>
<!-- MAIN BODY TO BATTERY -->
<xacro:frame_joint name="base_battery" type="fixed"
origin_rpy="0 0 0" origin_xyz="-0.01 0 -0.0225"
parent="base_link" child="battery"/>
<!-- MAIN BODY TO CHASSIS LEFT -->
<xacro:frame_joint name="base_left" type="fixed"
origin_rpy="0 0 0" origin_xyz="0.00 0.052 0"
parent="base_link" child="chassis_left"/>
<!-- MAIN BODY TO CHASSIS RIGHT -->
<xacro:frame_joint name="base_right" type="fixed"
origin_rpy="0 0 0" origin_xyz="0.00 -0.052 0"
parent="base_link" child="chassis_right"/>
<!-- MAIN BODY TO FRONT -->
<xacro:frame_joint name="base_front" type="fixed"
origin_rpy="0 0 0" origin_xyz="0 0 0"
parent="base_link" child="front"/>
<!-- MAIN BODY TO BACK -->
<xacro:frame_joint name="base_back" type="fixed"
origin_rpy="0 0 0" origin_xyz="0 0 0"
parent="base_link" child="back"/>
<!-- MAIN BODY TO FRONT BRACKET -->
<xacro:frame_joint name="base_front_bracket" type="fixed"
origin_rpy="0 0 0" origin_xyz="0 0 0"
parent="base_link" child="front_bracket"/>
<!-- MAIN BODY TO BACK BRACKET -->
<xacro:frame_joint name="base_back_bracket" type="fixed"
origin_rpy="0 0 0" origin_xyz="0 0 0"
parent="base_link" child="back_bracket"/>
<xacro:quadruped_transmission leg="front_left"/>
<xacro:quadruped_transmission leg="front_right"/>
<xacro:quadruped_transmission leg="back_left"/>
<xacro:quadruped_transmission leg="back_right"/>
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/spot</robotNamespace>
</plugin>
</gazebo>
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/spot_mini_mini/mini_ros/urdf/transmissions.xacro | <?xml version="1.0" ?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="quadruped_transmission" params="leg ">
<transmission name="${leg}_hip_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="motor_${leg}_hip">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${leg}_hip_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${leg}_upper_leg_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="motor_${leg}_lower_leg">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${leg}_upper_leg_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${leg}_lower_leg_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="motor_${leg}_upper_leg">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${leg}_lower_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</xacro:macro>
</robot> |
boredengineering/Robots_for_Omniverse/URDF_descriptions/spot_mini_mini/mini_ros/urdf/spot_accessories.urdf | <?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from spot.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="spot">
<material name="orange">
<color rgba="1.0 0.5 0.0 1"/>
</material>
<material name="black">
<color rgba="0.1 0.1 0.1 1"/>
</material>
<material name="grey">
<color rgba="0.6 0.6 0.6 1"/>
</material>
<!-- Left Leg: prefix is front or rear -->
<!-- <xacro:macro name="LeftLeg" params="prefix reflect">
<link name="${prefix}_Left_Leg">
<visual>
<geometry>
<box size="${leglen} 0.1 0.2"/>
</geometry>
<origin xyz="0 0 -${leglen/2}" rpy="0 ${pi/2} 0"/>
<material name="white"/>
</visual>
<collision>
<geometry>
<box size="${leglen} 0.1 0.2"/>
</geometry>
<origin xyz="0 0 -${leglen/2}" rpy="0 ${pi/2} 0"/>
</collision>
<xacro:default_inertial mass="10"/>
</link>
<joint name="base_to_${prefix}_leg" type="fixed">
<parent link="base_link"/>
<child link="${prefix}_leg"/>
<origin xyz="0 ${reflect*(width+.02)} 0.25" />
</joint>
</xacro:macro> -->
<joint name="hokuyo_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.0 0.0 0.1"/>
<parent link="base_link"/>
<child link="hokuyo_frame"/>
</joint>
<link name="hokuyo_frame">
<inertial>
<mass value="0.270"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="2.632e-4" ixy="0" ixz="0" iyy="2.632e-4" iyz="0" izz="1.62e-4"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://hector_sensors_description/meshes/hokuyo_utm30lx/hokuyo_utm_30lx.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.0115"/>
<geometry>
<box size="0.058 0.058 0.087"/>
<!--<mesh filename="package://hector_sensors_description/meshes/hokuyo_utm30lx/hokuyo_utm_30lx.stl"/>-->
</geometry>
</collision>
</link>
<gazebo reference="hokuyo_frame">
<sensor name="hokuyo" type="ray">
<always_on>true</always_on>
<update_rate>30</update_rate>
<pose>0 0 0 0 0 0</pose>
<visualize>false</visualize>
<ray>
<scan>
<horizontal>
<samples>1040</samples>
<resolution>1</resolution>
<min_angle>2.26892802759</min_angle>
<max_angle>-2.26892802759</max_angle>
</horizontal>
</scan>
<range>
<min>0.2</min>
<max>30.0</max>
<resolution>0.01</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.004</stddev>
</noise>
</ray>
<plugin filename="libgazebo_ros_laser.so" name="gazebo_ros_hokuyo_controller">
<topicName>scan</topicName>
<frameName>hokuyo_frame</frameName>
</plugin>
</sensor>
</gazebo>
<gazebo reference="hokuyo_frame">
<material>Gazebo/FlatBlack</material>
</gazebo>
<!-- <xacro:asus_camera
parent="base_link"
name="camera">
<origin xyz="0.2 0.0 0.05" rpy="0 0 0"/>
</xacro:asus_camera> -->
<gazebo>
<plugin filename="libhector_gazebo_ros_imu.so" name="imu_controller">
<updateRate>50.0</updateRate>
<bodyName>imu_link</bodyName>
<topicName>imu/data</topicName>
<accelDrift>0.005 0.005 0.005</accelDrift>
<accelGaussianNoise>0.005 0.005 0.005</accelGaussianNoise>
<rateDrift>0.005 0.005 0.005 </rateDrift>
<rateGaussianNoise>0.005 0.005 0.005 </rateGaussianNoise>
<headingDrift>0.005</headingDrift>
<headingGaussianNoise>0.005</headingGaussianNoise>
</plugin>
</gazebo>
<link name="imu_link">
<inertial>
<mass value="0.001"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="1e-09" ixy="0.0" ixz="0.0" iyy="1e-09" iyz="0.0" izz="1e-09"/>
</inertial>
</link>
<joint name="imu_joint" type="fixed">
<parent link="base_link"/>
<child link="imu_link"/>
</joint>
<!-- <xacro:include filename="$(find champ_arm_description)/urdf/champ_arm.urdf.xacro" />
<xacro:champ_arm parent="base_link">
<origin xyz="0.07 0.0 ${base_z_length / 2}" rpy="0 0 0"/>
</xacro:champ_arm> -->
<!-- Robot description -->
<!-- STATIC Links -->
<link name="base_link"/>
<link name="base_inertia">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.16 0.035 -0.045"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/MAINBODY.stl" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
<geometry>
<box size="0.114 0.2 0.1"/>
</geometry>
</collision>
<inertial>
<mass value="0.6"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="0.0025" ixy="0" ixz="0" iyx="0" iyy="0.0011498" iyz="0" izx="0" izy="0" izz="0.0026498"/>
</inertial>
</link>
<gazebo reference="base_inertia">
<material>Gazebo/Orange</material>
</gazebo>
<!-- m to mm -->
<link name="battery">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.15 0.035 -0.022"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/Battery.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
<geometry>
<box size="0.048 0.145 0.026"/>
</geometry>
</collision>
<inertial>
<mass value="0.4"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="0.000723366666667" ixy="0" ixz="0" iyx="0" iyy="9.93333333333e-05" iyz="0" izx="0" izy="0" izz="0.000777633333333"/>
</inertial>
</link>
<gazebo reference="battery">
<material>Gazebo/Black</material>
</gazebo>
<!-- m to mm -->
<link name="chassis_left">
<visual>
<origin rpy="0 1.57079632679 -1.57079632679" xyz="0.016 0.003 0"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/Chassis_Left_Side.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 -1.57079632679" xyz="0 0 0"/>
<geometry>
<box size="0.06 0.15 0.006"/>
</geometry>
</collision>
<inertial>
<mass value="0.01"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="1.878e-05" ixy="0" ixz="0" iyx="0" iyy="3.03e-06" iyz="0" izx="0" izy="0" izz="2.175e-05"/>
</inertial>
</link>
<gazebo reference="chassis_left">
<material>Gazebo/Black</material>
</gazebo>
<!-- m to mm -->
<link name="chassis_right">
<visual>
<origin rpy="0 1.57079632679 1.57079632679" xyz="-0.016 -0.003 0"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/Chassis_Right_Side.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 1.57079632679" xyz="0 0 0"/>
<geometry>
<box size="0.06 0.15 0.006"/>
</geometry>
</collision>
<inertial>
<mass value="0.01"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="1.878e-05" ixy="0" ixz="0" iyx="0" iyy="3.03e-06" iyz="0" izx="0" izy="0" izz="2.175e-05"/>
</inertial>
</link>
<gazebo reference="chassis_right">
<material>Gazebo/Black</material>
</gazebo>
<!-- m to mm -->
<link name="front">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.16 0.035 -0.045"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/Front.stl" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0.16 0 0.006"/>
<geometry>
<box size="0.114 0.045 0.085"/>
</geometry>
</collision>
<inertial>
<mass value="0.1"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="7.70833333333e-05" ixy="0" ixz="0" iyx="0" iyy="0.000168508333333" iyz="0" izx="0" izy="0" izz="0.000125175"/>
</inertial>
</link>
<gazebo reference="front">
<material>Gazebo/Orange</material>
</gazebo>
<!-- m to mm -->
<link name="back">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.16 0.035 -0.045"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/Back.stl" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="-0.16 0 0.006"/>
<geometry>
<box size="0.114 0.075 0.085"/>
</geometry>
</collision>
<inertial>
<mass value="0.1"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="0.000107083333333" ixy="0" ixz="0" iyx="0" iyy="0.000168508333333" iyz="0" izx="0" izy="0" izz="0.000155175"/>
</inertial>
</link>
<gazebo reference="back">
<material>Gazebo/Orange</material>
</gazebo>
<!-- m to mm -->
<link name="front_bracket">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.16 0.035 -0.045"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/Front_Bracket.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0.1 0 0"/>
<geometry>
<box size="0.025 0.075 0.085"/>
</geometry>
</collision>
<inertial>
<mass value="0.1"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="0.000107083333333" ixy="0" ixz="0" iyx="0" iyy="6.54166666667e-05" iyz="0" izx="0" izy="0" izz="5.20833333333e-05"/>
</inertial>
</link>
<gazebo reference="front_bracket">
<material>Gazebo/Black</material>
</gazebo>
<!-- m to mm -->
<link name="back_bracket">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.16 0.035 -0.045"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/Back_Bracket.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="-0.1 0 0"/>
<geometry>
<box size="0.025 0.075 0.085"/>
</geometry>
</collision>
<inertial>
<mass value="0.1"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="0.000107083333333" ixy="0" ixz="0" iyx="0" iyy="6.54166666667e-05" iyz="0" izx="0" izy="0" izz="5.20833333333e-05"/>
</inertial>
</link>
<gazebo reference="back_bracket">
<material>Gazebo/Black</material>
</gazebo>
<!-- m to mm -->
<link name="front_left_hip">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.25 -0.0044 -0.067"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_HIP.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0.015 0.01 -0.01"/>
<geometry>
<box size="0.05 0.065 0.065"/>
</geometry>
</collision>
<inertial>
<mass value="0.2"/>
<origin rpy="0 0 0" xyz="0 0.075 0"/>
<!-- Inertial Axes -->
<inertia ixx="0.000140833333333" ixy="0" ixz="0" iyx="0" iyy="0.000112083333333" iyz="0" izx="0" izy="0" izz="0.000112083333333"/>
</inertial>
</link>
<gazebo reference="front_left_hip">
<material>Gazebo/Black</material>
</gazebo>
<joint name="motor_front_left_hip" type="revolute">
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="0.0915 0.0394 0.022"/>
<parent link="front_bracket"/>
<child link="front_left_hip"/>
<limit effort="4.0" lower="-1.04" upper="1.04" velocity="4.0"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="front_left_upper_leg">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.252 -0.05 -0.055"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_UPPER_LEG.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0 0.02 -0.05"/>
<geometry>
<box size="0.035 0.035 0.11"/>
</geometry>
</collision>
<inertial>
<mass value="0.13"/>
<origin rpy="0 0 0" xyz="-0.005 0.0175 -0.055"/>
<!-- Inertial Axes -->
<inertia ixx="0.000144354166667" ixy="0" ixz="0" iyx="0" iyy="0.000144354166667" iyz="0" izx="0" izy="0" izz="2.65416666667e-05"/>
</inertial>
</link>
<gazebo reference="front_left_upper_leg">
<material>Gazebo/Black</material>
</gazebo>
<joint name="motor_front_left_upper_leg" type="revolute">
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0.0015 0.045 -0.0087"/>
<parent link="front_left_hip"/>
<child link="front_left_upper_leg"/>
<limit effort="4.0" lower="-1.57079632679" upper="2.59" velocity="4.0"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="front_left_lower_leg">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.0535"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_LOWER_LEG.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0 0 -0.06"/>
<geometry>
<box size="0.035 0.035 0.12"/>
</geometry>
</collision>
<inertial>
<mass value="0.05"/>
<origin rpy="0 0 0" xyz="-0.01 0 -0.06"/>
<!-- Inertial Axes -->
<inertia ixx="6.51041666667e-05" ixy="0" ixz="0" iyx="0" iyy="6.51041666667e-05" iyz="0" izx="0" izy="0" izz="1.02083333333e-05"/>
</inertial>
</link>
<gazebo reference="front_left_lower_leg">
<material>Gazebo/Black</material>
</gazebo>
<joint name="motor_front_left_lower_leg" type="revolute">
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="-0.005 0.018 -0.109"/>
<parent link="front_left_upper_leg"/>
<child link="front_left_lower_leg"/>
<limit effort="4.0" lower="-2.9" upper="1.57079632679" velocity="4.0"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="front_left_foot">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.18"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_FOOT.stl" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.18"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_FOOT.stl" scale="1 1 1"/>
</geometry>
<contact_coefficients mu="10.1"/>
</collision>
<inertial>
<mass value="0.005"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="3.52083333333e-06" ixy="0" ixz="0" iyx="0" iyy="2.80208333333e-06" iyz="0" izx="0" izy="0" izz="2.80208333333e-06"/>
</inertial>
</link>
<gazebo reference="front_left_foot">
<kp>1000000.0</kp>
<kd>1.0</kd>
<mu1>0.8</mu1>
<mu2>0.8</mu2>
<maxVel>0.0</maxVel>
<minDepth>0.001</minDepth>
<material>Gazebo/Orange</material>
</gazebo>
<joint name="front_left_leg_foot" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.1265"/>
<parent link="front_left_lower_leg"/>
<child link="front_left_foot"/>
</joint>
<link name="back_left_hip">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.25 -0.0044 -0.067"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_HIP.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0.015 0.01 -0.01"/>
<geometry>
<box size="0.05 0.065 0.065"/>
</geometry>
</collision>
<inertial>
<mass value="0.2"/>
<origin rpy="0 0 0" xyz="0 0.075 0"/>
<!-- Inertial Axes -->
<inertia ixx="0.000140833333333" ixy="0" ixz="0" iyx="0" iyy="0.000112083333333" iyz="0" izx="0" izy="0" izz="0.000112083333333"/>
</inertial>
</link>
<gazebo reference="back_left_hip">
<material>Gazebo/Black</material>
</gazebo>
<joint name="motor_back_left_hip" type="revolute">
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="-0.1365 0.0394 0.022"/>
<parent link="back_bracket"/>
<child link="back_left_hip"/>
<limit effort="4.0" lower="-1.04" upper="1.04" velocity="4.0"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="back_left_upper_leg">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.252 -0.05 -0.055"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_UPPER_LEG.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0 0.02 -0.05"/>
<geometry>
<box size="0.035 0.035 0.11"/>
</geometry>
</collision>
<inertial>
<mass value="0.13"/>
<origin rpy="0 0 0" xyz="-0.005 0.0175 -0.055"/>
<!-- Inertial Axes -->
<inertia ixx="0.000144354166667" ixy="0" ixz="0" iyx="0" iyy="0.000144354166667" iyz="0" izx="0" izy="0" izz="2.65416666667e-05"/>
</inertial>
</link>
<gazebo reference="back_left_upper_leg">
<material>Gazebo/Black</material>
</gazebo>
<joint name="motor_back_left_upper_leg" type="revolute">
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0.0015 0.045 -0.0087"/>
<parent link="back_left_hip"/>
<child link="back_left_upper_leg"/>
<limit effort="4.0" lower="-1.57079632679" upper="2.59" velocity="4.0"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="back_left_lower_leg">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.0535"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_LOWER_LEG.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0 0 -0.06"/>
<geometry>
<box size="0.035 0.035 0.12"/>
</geometry>
</collision>
<inertial>
<mass value="0.05"/>
<origin rpy="0 0 0" xyz="-0.01 0 -0.06"/>
<!-- Inertial Axes -->
<inertia ixx="6.51041666667e-05" ixy="0" ixz="0" iyx="0" iyy="6.51041666667e-05" iyz="0" izx="0" izy="0" izz="1.02083333333e-05"/>
</inertial>
</link>
<gazebo reference="back_left_lower_leg">
<material>Gazebo/Black</material>
</gazebo>
<joint name="motor_back_left_lower_leg" type="revolute">
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="-0.005 0.018 -0.109"/>
<parent link="back_left_upper_leg"/>
<child link="back_left_lower_leg"/>
<limit effort="4.0" lower="-2.9" upper="1.57079632679" velocity="4.0"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="back_left_foot">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.18"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_FOOT.stl" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.18"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_FOOT.stl" scale="1 1 1"/>
</geometry>
<contact_coefficients mu="10.1"/>
</collision>
<inertial>
<mass value="0.005"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="3.52083333333e-06" ixy="0" ixz="0" iyx="0" iyy="2.80208333333e-06" iyz="0" izx="0" izy="0" izz="2.80208333333e-06"/>
</inertial>
</link>
<gazebo reference="back_left_foot">
<kp>1000000.0</kp>
<kd>1.0</kd>
<mu1>0.8</mu1>
<mu2>0.8</mu2>
<maxVel>0.0</maxVel>
<minDepth>0.001</minDepth>
<material>Gazebo/Orange</material>
</gazebo>
<joint name="back_left_leg_foot" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.1265"/>
<parent link="back_left_lower_leg"/>
<child link="back_left_foot"/>
</joint>
<link name="front_right_hip">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.25 0.074 -0.067"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_HIP.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0.015 -0.01 -0.01"/>
<geometry>
<box size="0.05 0.065 0.065"/>
</geometry>
</collision>
<inertial>
<mass value="0.2"/>
<origin rpy="0 0 0" xyz="0 -0.075 0"/>
<!-- Inertial Axes -->
<inertia ixx="0.000140833333333" ixy="0" ixz="0" iyx="0" iyy="0.000112083333333" iyz="0" izx="0" izy="0" izz="0.000112083333333"/>
</inertial>
</link>
<gazebo reference="front_right_hip">
<material>Gazebo/Black</material>
</gazebo>
<joint name="motor_front_right_hip" type="revolute">
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="0.0915 -0.0394 0.022"/>
<parent link="front_bracket"/>
<child link="front_right_hip"/>
<limit effort="4.0" lower="-1.04" upper="1.04" velocity="4.0"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="front_right_upper_leg">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.252 0.12 -0.055"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_UPPER_LEG.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0 -0.02 -0.05"/>
<geometry>
<box size="0.035 0.035 0.11"/>
</geometry>
</collision>
<inertial>
<mass value="0.13"/>
<origin rpy="0 0 0" xyz="-0.005 -0.0175 -0.055"/>
<!-- Inertial Axes -->
<inertia ixx="0.000144354166667" ixy="0" ixz="0" iyx="0" iyy="0.000144354166667" iyz="0" izx="0" izy="0" izz="2.65416666667e-05"/>
</inertial>
</link>
<gazebo reference="front_right_upper_leg">
<material>Gazebo/Black</material>
</gazebo>
<joint name="motor_front_right_upper_leg" type="revolute">
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0.0015 -0.045 -0.0087"/>
<parent link="front_right_hip"/>
<child link="front_right_upper_leg"/>
<limit effort="4.0" lower="-1.57079632679" upper="2.59" velocity="4.0"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="front_right_lower_leg">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.0535"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_LOWER_LEG.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0 0 -0.06"/>
<geometry>
<box size="0.035 0.035 0.12"/>
</geometry>
</collision>
<inertial>
<mass value="0.05"/>
<origin rpy="0 0 0" xyz="-0.01 0 -0.06"/>
<!-- Inertial Axes -->
<inertia ixx="6.51041666667e-05" ixy="0" ixz="0" iyx="0" iyy="6.51041666667e-05" iyz="0" izx="0" izy="0" izz="1.02083333333e-05"/>
</inertial>
</link>
<gazebo reference="front_right_lower_leg">
<material>Gazebo/Black</material>
</gazebo>
<joint name="motor_front_right_lower_leg" type="revolute">
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="-0.005 -0.018 -0.109"/>
<parent link="front_right_upper_leg"/>
<child link="front_right_lower_leg"/>
<limit effort="4.0" lower="-2.9" upper="1.57079632679" velocity="4.0"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="front_right_foot">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.18"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_FOOT.stl" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.18"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_FOOT.stl" scale="1 1 1"/>
</geometry>
<contact_coefficients mu="10.1"/>
</collision>
<inertial>
<mass value="0.005"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="3.52083333333e-06" ixy="0" ixz="0" iyx="0" iyy="2.80208333333e-06" iyz="0" izx="0" izy="0" izz="2.80208333333e-06"/>
</inertial>
</link>
<gazebo reference="front_right_foot">
<kp>1000000.0</kp>
<kd>1.0</kd>
<mu1>0.8</mu1>
<mu2>0.8</mu2>
<maxVel>0.0</maxVel>
<minDepth>0.001</minDepth>
<material>Gazebo/Orange</material>
</gazebo>
<joint name="front_right_leg_foot" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.1265"/>
<parent link="front_right_lower_leg"/>
<child link="front_right_foot"/>
</joint>
<link name="back_right_hip">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.25 0.074 -0.067"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_HIP.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0.015 -0.01 -0.01"/>
<geometry>
<box size="0.05 0.065 0.065"/>
</geometry>
</collision>
<inertial>
<mass value="0.2"/>
<origin rpy="0 0 0" xyz="0 -0.075 0"/>
<!-- Inertial Axes -->
<inertia ixx="0.000140833333333" ixy="0" ixz="0" iyx="0" iyy="0.000112083333333" iyz="0" izx="0" izy="0" izz="0.000112083333333"/>
</inertial>
</link>
<gazebo reference="back_right_hip">
<material>Gazebo/Black</material>
</gazebo>
<joint name="motor_back_right_hip" type="revolute">
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="-0.1365 -0.0394 0.022"/>
<parent link="back_bracket"/>
<child link="back_right_hip"/>
<limit effort="4.0" lower="-1.04" upper="1.04" velocity="4.0"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="back_right_upper_leg">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.252 0.12 -0.055"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_UPPER_LEG.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0 -0.02 -0.05"/>
<geometry>
<box size="0.035 0.035 0.11"/>
</geometry>
</collision>
<inertial>
<mass value="0.13"/>
<origin rpy="0 0 0" xyz="-0.005 -0.0175 -0.055"/>
<!-- Inertial Axes -->
<inertia ixx="0.000144354166667" ixy="0" ixz="0" iyx="0" iyy="0.000144354166667" iyz="0" izx="0" izy="0" izz="2.65416666667e-05"/>
</inertial>
</link>
<gazebo reference="back_right_upper_leg">
<material>Gazebo/Black</material>
</gazebo>
<joint name="motor_back_right_upper_leg" type="revolute">
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0.0015 -0.045 -0.0087"/>
<parent link="back_right_hip"/>
<child link="back_right_upper_leg"/>
<limit effort="4.0" lower="-1.57079632679" upper="2.59" velocity="4.0"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="back_right_lower_leg">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.0535"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_LOWER_LEG.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0 0 -0.06"/>
<geometry>
<box size="0.035 0.035 0.12"/>
</geometry>
</collision>
<inertial>
<mass value="0.05"/>
<origin rpy="0 0 0" xyz="-0.01 0 -0.06"/>
<!-- Inertial Axes -->
<inertia ixx="6.51041666667e-05" ixy="0" ixz="0" iyx="0" iyy="6.51041666667e-05" iyz="0" izx="0" izy="0" izz="1.02083333333e-05"/>
</inertial>
</link>
<gazebo reference="back_right_lower_leg">
<material>Gazebo/Black</material>
</gazebo>
<joint name="motor_back_right_lower_leg" type="revolute">
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="-0.005 -0.018 -0.109"/>
<parent link="back_right_upper_leg"/>
<child link="back_right_lower_leg"/>
<limit effort="4.0" lower="-2.9" upper="1.57079632679" velocity="4.0"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="back_right_foot">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.18"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_FOOT.stl" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.18"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_FOOT.stl" scale="1 1 1"/>
</geometry>
<contact_coefficients mu="10.1"/>
</collision>
<inertial>
<mass value="0.005"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="3.52083333333e-06" ixy="0" ixz="0" iyx="0" iyy="2.80208333333e-06" iyz="0" izx="0" izy="0" izz="2.80208333333e-06"/>
</inertial>
</link>
<gazebo reference="back_right_foot">
<kp>1000000.0</kp>
<kd>1.0</kd>
<mu1>0.8</mu1>
<mu2>0.8</mu2>
<maxVel>0.0</maxVel>
<minDepth>0.001</minDepth>
<material>Gazebo/Orange</material>
</gazebo>
<joint name="back_right_leg_foot" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.1265"/>
<parent link="back_right_lower_leg"/>
<child link="back_right_foot"/>
</joint>
<joint name="base_base" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base_link"/>
<child link="base_inertia"/>
</joint>
<joint name="base_battery" type="fixed">
<origin rpy="0 0 0" xyz="-0.01 0 -0.0225"/>
<parent link="base_link"/>
<child link="battery"/>
</joint>
<joint name="base_left" type="fixed">
<origin rpy="0 0 0" xyz="0.00 0.052 0"/>
<parent link="base_link"/>
<child link="chassis_left"/>
</joint>
<joint name="base_right" type="fixed">
<origin rpy="0 0 0" xyz="0.00 -0.052 0"/>
<parent link="base_link"/>
<child link="chassis_right"/>
</joint>
<joint name="base_front" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base_link"/>
<child link="front"/>
</joint>
<joint name="base_back" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base_link"/>
<child link="back"/>
</joint>
<joint name="base_front_bracket" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base_link"/>
<child link="front_bracket"/>
</joint>
<joint name="base_back_bracket" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base_link"/>
<child link="back_bracket"/>
</joint>
<transmission name="front_left_hip_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="motor_front_left_hip">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="front_left_hip_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="front_left_upper_leg_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="motor_front_left_lower_leg">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="front_left_upper_leg_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="front_left_lower_leg_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="motor_front_left_upper_leg">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="front_left_lower_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="front_right_hip_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="motor_front_right_hip">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="front_right_hip_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="front_right_upper_leg_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="motor_front_right_lower_leg">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="front_right_upper_leg_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="front_right_lower_leg_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="motor_front_right_upper_leg">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="front_right_lower_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="back_left_hip_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="motor_back_left_hip">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="back_left_hip_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="back_left_upper_leg_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="motor_back_left_lower_leg">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="back_left_upper_leg_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="back_left_lower_leg_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="motor_back_left_upper_leg">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="back_left_lower_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="back_right_hip_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="motor_back_right_hip">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="back_right_hip_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="back_right_upper_leg_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="motor_back_right_lower_leg">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="back_right_upper_leg_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="back_right_lower_leg_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="motor_back_right_upper_leg">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="back_right_lower_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<legacyModeNS>true</legacyModeNS>
</plugin>
</gazebo>
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/spot_mini_mini/mini_ros/urdf/spot_macro.xacro | <?xml version="1.0" ?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<material name="orange">
<color rgba="1.0 0.5 0.0 1"/>
</material>
<material name="black">
<color rgba="0.1 0.1 0.1 1"/>
</material>
<material name="grey">
<color rgba="0.6 0.6 0.6 1"/>
</material>
<xacro:macro name="rev_joint" params="name type axis_xyz origin_rpy origin_xyz parent child effort velocity damping friction upper lower">
<joint name="${name}" type="${type}">
<axis xyz="${axis_xyz}" />
<origin rpy="${origin_rpy}" xyz="${origin_xyz}" />
<parent link="${parent}" />
<child link="${child}" />
<limit effort="${effort}" velocity="${velocity}" lower="${lower}" upper="${upper}"/>
<joint_properties damping="${damping}" friction="${friction}" />
</joint>
</xacro:macro>
<xacro:macro name="frame_joint" params="name type origin_rpy origin_xyz parent child">
<joint name="${name}" type="${type}">
<origin rpy="${origin_rpy}" xyz="${origin_xyz}" />
<parent link="${parent}" />
<child link="${child}" />
</joint>
</xacro:macro>
<xacro:macro name="mesh_link" params="name origin_xyz origin_rpy meshfile meshscale c_xyz matname mass i_xyz i_rpy length width height">
<link name="${name}">
<visual>
<origin rpy="${origin_rpy}" xyz="${origin_xyz}" />
<geometry>
<mesh filename="${meshfile}" scale="${meshscale}"/>
</geometry>
<material name="${matname}"/>
</visual>
<collision>
<origin rpy="${origin_rpy}" xyz="${c_xyz}" />
<geometry>
<box size="${length} ${width} ${height}" />
</geometry>
</collision>
<inertial>
<mass value="${mass}" />
<origin rpy="${i_rpy}" xyz="${i_xyz}" /> <!-- Inertial Axes -->
<inertia ixx="${mass * (width * width + height * height)/12.0}" ixy="${0}" ixz="${0}" iyx="${0}" iyy="${mass * (length * length + height * height)/12.0}" iyz="${0}" izx="${0}" izy="${0}" izz="${mass * (length * length + width * width)/12.0}" />
</inertial>
</link>
<gazebo reference="${name}">
<xacro:if value="${matname == 'black'}">
<material>Gazebo/Black</material>
</xacro:if>
<xacro:if value="${matname == 'orange'}">
<material>Gazebo/Orange</material>
</xacro:if>
</gazebo>
</xacro:macro>
<xacro:macro name="mesh_link_sphere" params="name origin_xyz origin_rpy meshfile meshscale c_xyz matname mass i_xyz i_rpy length width height radius">
<link name="${name}">
<visual>
<origin rpy="${origin_rpy}" xyz="${origin_xyz}" />
<geometry>
<mesh filename="${meshfile}" scale="${meshscale}"/>
</geometry>
<material name="${matname}"/>
</visual>
<collision>
<origin rpy="${origin_rpy}" xyz="${c_xyz}" />
<geometry>
<mesh filename="${meshfile}" scale="${meshscale}"/>
</geometry>
<contact_coefficients mu="10.1"/>
</collision>
<inertial>
<mass value="${mass}" />
<origin rpy="${i_rpy}" xyz="${i_xyz}" /> <!-- Inertial Axes -->
<inertia ixx="${mass * (width * width + height * height)/12.0}" ixy="${0}" ixz="${0}" iyx="${0}" iyy="${mass * (length * length + height * height)/12.0}" iyz="${0}" izx="${0}" izy="${0}" izz="${mass * (length * length + width * width)/12.0}" />
</inertial>
</link>
<gazebo reference="${name}">
<kp>1000000.0</kp>
<kd>1.0</kd>
<mu1>0.8</mu1>
<mu2>0.8</mu2>
<maxVel>0.0</maxVel>
<minDepth>0.001</minDepth>
<material>Gazebo/Orange</material>
</gazebo>
</xacro:macro>
<!-- Left Leg: prefix is front or rear -->
<!-- <xacro:macro name="LeftLeg" params="prefix reflect">
<link name="${prefix}_Left_Leg">
<visual>
<geometry>
<box size="${leglen} 0.1 0.2"/>
</geometry>
<origin xyz="0 0 -${leglen/2}" rpy="0 ${pi/2} 0"/>
<material name="white"/>
</visual>
<collision>
<geometry>
<box size="${leglen} 0.1 0.2"/>
</geometry>
<origin xyz="0 0 -${leglen/2}" rpy="0 ${pi/2} 0"/>
</collision>
<xacro:default_inertial mass="10"/>
</link>
<joint name="base_to_${prefix}_leg" type="fixed">
<parent link="base_link"/>
<child link="${prefix}_leg"/>
<origin xyz="0 ${reflect*(width+.02)} 0.25" />
</joint>
</xacro:macro> -->
</robot> |
boredengineering/Robots_for_Omniverse/URDF_descriptions/spot_mini_mini/mini_ros/urdf/accessories.urdf.xacro | <?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(find hector_sensors_description)/urdf/hokuyo_utm30lx.urdf.xacro" />
<xacro:include filename="$(find hector_sensors_description)/urdf/asus_camera.urdf.xacro" />
<xacro:hokuyo_utm30lx
name="hokuyo"
parent="base_link"
ros_topic="scan"
update_rate="30"
ray_count="1040"
min_angle="130"
max_angle="-130" >
<origin xyz="0.0 0.0 0.1" rpy="0 0 0"/>
</xacro:hokuyo_utm30lx>
<gazebo reference="hokuyo_frame">
<material>Gazebo/FlatBlack</material>
</gazebo>
<!-- <xacro:asus_camera
parent="base_link"
name="camera">
<origin xyz="0.2 0.0 0.05" rpy="0 0 0"/>
</xacro:asus_camera> -->
<gazebo>
<plugin name="imu_controller" filename="libhector_gazebo_ros_imu.so">
<updateRate>50.0</updateRate>
<bodyName>imu_link</bodyName>
<topicName>imu/data</topicName>
<accelDrift>0.005 0.005 0.005</accelDrift>
<accelGaussianNoise>0.005 0.005 0.005</accelGaussianNoise>
<rateDrift>0.005 0.005 0.005 </rateDrift>
<rateGaussianNoise>0.005 0.005 0.005 </rateGaussianNoise>
<headingDrift>0.005</headingDrift>
<headingGaussianNoise>0.005</headingGaussianNoise>
</plugin>
</gazebo>
<link name="imu_link">
<inertial>
<mass value="0.001"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="1e-09" ixy="0.0" ixz="0.0" iyy="1e-09" iyz="0.0" izz="1e-09"/>
</inertial>
</link>
<joint name="imu_joint" type="fixed">
<parent link="base_link" />
<child link="imu_link" />
</joint>
<!-- <xacro:include filename="$(find champ_arm_description)/urdf/champ_arm.urdf.xacro" />
<xacro:champ_arm parent="base_link">
<origin xyz="0.07 0.0 ${base_z_length / 2}" rpy="0 0 0"/>
</xacro:champ_arm> -->
</robot>
|
boredengineering/Robots_for_Omniverse/URDF_descriptions/spot_mini_mini/mini_ros/urdf/spot.urdf | <?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from spot.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="spot">
<material name="orange">
<color rgba="1.0 0.5 0.0 1"/>
</material>
<material name="black">
<color rgba="0.1 0.1 0.1 1"/>
</material>
<material name="grey">
<color rgba="0.6 0.6 0.6 1"/>
</material>
<!-- Left Leg: prefix is front or rear -->
<!-- <xacro:macro name="LeftLeg" params="prefix reflect">
<link name="${prefix}_Left_Leg">
<visual>
<geometry>
<box size="${leglen} 0.1 0.2"/>
</geometry>
<origin xyz="0 0 -${leglen/2}" rpy="0 ${pi/2} 0"/>
<material name="white"/>
</visual>
<collision>
<geometry>
<box size="${leglen} 0.1 0.2"/>
</geometry>
<origin xyz="0 0 -${leglen/2}" rpy="0 ${pi/2} 0"/>
</collision>
<xacro:default_inertial mass="10"/>
</link>
<joint name="base_to_${prefix}_leg" type="fixed">
<parent link="base_link"/>
<child link="${prefix}_leg"/>
<origin xyz="0 ${reflect*(width+.02)} 0.25" />
</joint>
</xacro:macro> -->
<!-- <xacro:include filename="$(find mini_ros)/urdf/accessories.urdf.xacro" /> -->
<!-- Robot description -->
<!-- STATIC Links -->
<link name="base_link"/>
<link name="base_inertia">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.16 0.035 -0.045"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/MAINBODY.stl" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
<geometry>
<box size="0.114 0.2 0.1"/>
</geometry>
</collision>
<inertial>
<mass value="0.6"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="0.0025" ixy="0" ixz="0" iyx="0" iyy="0.0011498" iyz="0" izx="0" izy="0" izz="0.0026498"/>
</inertial>
</link>
<gazebo reference="base_inertia">
<material>Gazebo/Orange</material>
</gazebo>
<!-- m to mm -->
<link name="battery">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.15 0.035 -0.022"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/Battery.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
<geometry>
<box size="0.048 0.145 0.026"/>
</geometry>
</collision>
<inertial>
<mass value="0.4"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="0.000723366666667" ixy="0" ixz="0" iyx="0" iyy="9.93333333333e-05" iyz="0" izx="0" izy="0" izz="0.000777633333333"/>
</inertial>
</link>
<gazebo reference="battery">
<material>Gazebo/Black</material>
</gazebo>
<!-- m to mm -->
<link name="chassis_left">
<visual>
<origin rpy="0 1.57079632679 -1.57079632679" xyz="0.016 0.003 0"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/Chassis_Left_Side.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 -1.57079632679" xyz="0 0 0"/>
<geometry>
<box size="0.06 0.15 0.006"/>
</geometry>
</collision>
<inertial>
<mass value="0.01"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="1.878e-05" ixy="0" ixz="0" iyx="0" iyy="3.03e-06" iyz="0" izx="0" izy="0" izz="2.175e-05"/>
</inertial>
</link>
<gazebo reference="chassis_left">
<material>Gazebo/Black</material>
</gazebo>
<!-- m to mm -->
<link name="chassis_right">
<visual>
<origin rpy="0 1.57079632679 1.57079632679" xyz="-0.016 -0.003 0"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/Chassis_Right_Side.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 1.57079632679" xyz="0 0 0"/>
<geometry>
<box size="0.06 0.15 0.006"/>
</geometry>
</collision>
<inertial>
<mass value="0.01"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="1.878e-05" ixy="0" ixz="0" iyx="0" iyy="3.03e-06" iyz="0" izx="0" izy="0" izz="2.175e-05"/>
</inertial>
</link>
<gazebo reference="chassis_right">
<material>Gazebo/Black</material>
</gazebo>
<!-- m to mm -->
<link name="front">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.16 0.035 -0.045"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/Front.stl" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0.16 0 0.006"/>
<geometry>
<box size="0.114 0.045 0.085"/>
</geometry>
</collision>
<inertial>
<mass value="0.1"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="7.70833333333e-05" ixy="0" ixz="0" iyx="0" iyy="0.000168508333333" iyz="0" izx="0" izy="0" izz="0.000125175"/>
</inertial>
</link>
<gazebo reference="front">
<material>Gazebo/Orange</material>
</gazebo>
<!-- m to mm -->
<link name="back">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.16 0.035 -0.045"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/Back.stl" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="-0.16 0 0.006"/>
<geometry>
<box size="0.114 0.075 0.085"/>
</geometry>
</collision>
<inertial>
<mass value="0.1"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="0.000107083333333" ixy="0" ixz="0" iyx="0" iyy="0.000168508333333" iyz="0" izx="0" izy="0" izz="0.000155175"/>
</inertial>
</link>
<gazebo reference="back">
<material>Gazebo/Orange</material>
</gazebo>
<!-- m to mm -->
<link name="front_bracket">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.16 0.035 -0.045"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/Front_Bracket.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0.1 0 0"/>
<geometry>
<box size="0.025 0.075 0.085"/>
</geometry>
</collision>
<inertial>
<mass value="0.1"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="0.000107083333333" ixy="0" ixz="0" iyx="0" iyy="6.54166666667e-05" iyz="0" izx="0" izy="0" izz="5.20833333333e-05"/>
</inertial>
</link>
<gazebo reference="front_bracket">
<material>Gazebo/Black</material>
</gazebo>
<!-- m to mm -->
<link name="back_bracket">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.16 0.035 -0.045"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/Back_Bracket.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="-0.1 0 0"/>
<geometry>
<box size="0.025 0.075 0.085"/>
</geometry>
</collision>
<inertial>
<mass value="0.1"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="0.000107083333333" ixy="0" ixz="0" iyx="0" iyy="6.54166666667e-05" iyz="0" izx="0" izy="0" izz="5.20833333333e-05"/>
</inertial>
</link>
<gazebo reference="back_bracket">
<material>Gazebo/Black</material>
</gazebo>
<!-- m to mm -->
<link name="front_left_hip">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.25 -0.0044 -0.067"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_HIP.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0.015 0.01 -0.01"/>
<geometry>
<box size="0.05 0.065 0.065"/>
</geometry>
</collision>
<inertial>
<mass value="0.2"/>
<origin rpy="0 0 0" xyz="0 0.075 0"/>
<!-- Inertial Axes -->
<inertia ixx="0.000140833333333" ixy="0" ixz="0" iyx="0" iyy="0.000112083333333" iyz="0" izx="0" izy="0" izz="0.000112083333333"/>
</inertial>
</link>
<gazebo reference="front_left_hip">
<material>Gazebo/Black</material>
</gazebo>
<joint name="motor_front_left_hip" type="revolute">
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="0.0915 0.0394 0.022"/>
<parent link="front_bracket"/>
<child link="front_left_hip"/>
<limit effort="4.0" lower="-1.04" upper="1.04" velocity="4.0"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="front_left_upper_leg">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.252 -0.05 -0.055"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_UPPER_LEG.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0 0.02 -0.05"/>
<geometry>
<box size="0.035 0.035 0.11"/>
</geometry>
</collision>
<inertial>
<mass value="0.13"/>
<origin rpy="0 0 0" xyz="-0.005 0.0175 -0.055"/>
<!-- Inertial Axes -->
<inertia ixx="0.000144354166667" ixy="0" ixz="0" iyx="0" iyy="0.000144354166667" iyz="0" izx="0" izy="0" izz="2.65416666667e-05"/>
</inertial>
</link>
<gazebo reference="front_left_upper_leg">
<material>Gazebo/Black</material>
</gazebo>
<joint name="motor_front_left_upper_leg" type="revolute">
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0.0015 0.045 -0.0087"/>
<parent link="front_left_hip"/>
<child link="front_left_upper_leg"/>
<limit effort="4.0" lower="-1.57079632679" upper="2.59" velocity="4.0"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="front_left_lower_leg">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.0535"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_LOWER_LEG.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0 0 -0.06"/>
<geometry>
<box size="0.035 0.035 0.12"/>
</geometry>
</collision>
<inertial>
<mass value="0.05"/>
<origin rpy="0 0 0" xyz="-0.01 0 -0.06"/>
<!-- Inertial Axes -->
<inertia ixx="6.51041666667e-05" ixy="0" ixz="0" iyx="0" iyy="6.51041666667e-05" iyz="0" izx="0" izy="0" izz="1.02083333333e-05"/>
</inertial>
</link>
<gazebo reference="front_left_lower_leg">
<material>Gazebo/Black</material>
</gazebo>
<joint name="motor_front_left_lower_leg" type="revolute">
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="-0.005 0.018 -0.109"/>
<parent link="front_left_upper_leg"/>
<child link="front_left_lower_leg"/>
<limit effort="4.0" lower="-2.9" upper="1.57079632679" velocity="4.0"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="front_left_foot">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.18"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_FOOT.stl" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.18"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_FOOT.stl" scale="1 1 1"/>
</geometry>
<contact_coefficients mu="10.1"/>
</collision>
<inertial>
<mass value="0.005"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="3.52083333333e-06" ixy="0" ixz="0" iyx="0" iyy="2.80208333333e-06" iyz="0" izx="0" izy="0" izz="2.80208333333e-06"/>
</inertial>
</link>
<gazebo reference="front_left_foot">
<kp>1000000.0</kp>
<kd>1.0</kd>
<mu1>0.8</mu1>
<mu2>0.8</mu2>
<maxVel>0.0</maxVel>
<minDepth>0.001</minDepth>
<material>Gazebo/Orange</material>
</gazebo>
<joint name="front_left_leg_foot" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.1265"/>
<parent link="front_left_lower_leg"/>
<child link="front_left_foot"/>
</joint>
<link name="back_left_hip">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.25 -0.0044 -0.067"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_HIP.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0.015 0.01 -0.01"/>
<geometry>
<box size="0.05 0.065 0.065"/>
</geometry>
</collision>
<inertial>
<mass value="0.2"/>
<origin rpy="0 0 0" xyz="0 0.075 0"/>
<!-- Inertial Axes -->
<inertia ixx="0.000140833333333" ixy="0" ixz="0" iyx="0" iyy="0.000112083333333" iyz="0" izx="0" izy="0" izz="0.000112083333333"/>
</inertial>
</link>
<gazebo reference="back_left_hip">
<material>Gazebo/Black</material>
</gazebo>
<joint name="motor_back_left_hip" type="revolute">
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="-0.1365 0.0394 0.022"/>
<parent link="back_bracket"/>
<child link="back_left_hip"/>
<limit effort="4.0" lower="-1.04" upper="1.04" velocity="4.0"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="back_left_upper_leg">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.252 -0.05 -0.055"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_UPPER_LEG.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0 0.02 -0.05"/>
<geometry>
<box size="0.035 0.035 0.11"/>
</geometry>
</collision>
<inertial>
<mass value="0.13"/>
<origin rpy="0 0 0" xyz="-0.005 0.0175 -0.055"/>
<!-- Inertial Axes -->
<inertia ixx="0.000144354166667" ixy="0" ixz="0" iyx="0" iyy="0.000144354166667" iyz="0" izx="0" izy="0" izz="2.65416666667e-05"/>
</inertial>
</link>
<gazebo reference="back_left_upper_leg">
<material>Gazebo/Black</material>
</gazebo>
<joint name="motor_back_left_upper_leg" type="revolute">
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0.0015 0.045 -0.0087"/>
<parent link="back_left_hip"/>
<child link="back_left_upper_leg"/>
<limit effort="4.0" lower="-1.57079632679" upper="2.59" velocity="4.0"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="back_left_lower_leg">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.0535"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_LOWER_LEG.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0 0 -0.06"/>
<geometry>
<box size="0.035 0.035 0.12"/>
</geometry>
</collision>
<inertial>
<mass value="0.05"/>
<origin rpy="0 0 0" xyz="-0.01 0 -0.06"/>
<!-- Inertial Axes -->
<inertia ixx="6.51041666667e-05" ixy="0" ixz="0" iyx="0" iyy="6.51041666667e-05" iyz="0" izx="0" izy="0" izz="1.02083333333e-05"/>
</inertial>
</link>
<gazebo reference="back_left_lower_leg">
<material>Gazebo/Black</material>
</gazebo>
<joint name="motor_back_left_lower_leg" type="revolute">
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="-0.005 0.018 -0.109"/>
<parent link="back_left_upper_leg"/>
<child link="back_left_lower_leg"/>
<limit effort="4.0" lower="-2.9" upper="1.57079632679" velocity="4.0"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="back_left_foot">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.18"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_FOOT.stl" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="-0.247 -0.068 0.18"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/LEFT_FOOT.stl" scale="1 1 1"/>
</geometry>
<contact_coefficients mu="10.1"/>
</collision>
<inertial>
<mass value="0.005"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="3.52083333333e-06" ixy="0" ixz="0" iyx="0" iyy="2.80208333333e-06" iyz="0" izx="0" izy="0" izz="2.80208333333e-06"/>
</inertial>
</link>
<gazebo reference="back_left_foot">
<kp>1000000.0</kp>
<kd>1.0</kd>
<mu1>0.8</mu1>
<mu2>0.8</mu2>
<maxVel>0.0</maxVel>
<minDepth>0.001</minDepth>
<material>Gazebo/Orange</material>
</gazebo>
<joint name="back_left_leg_foot" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.1265"/>
<parent link="back_left_lower_leg"/>
<child link="back_left_foot"/>
</joint>
<link name="front_right_hip">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.25 0.074 -0.067"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_HIP.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0.015 -0.01 -0.01"/>
<geometry>
<box size="0.05 0.065 0.065"/>
</geometry>
</collision>
<inertial>
<mass value="0.2"/>
<origin rpy="0 0 0" xyz="0 -0.075 0"/>
<!-- Inertial Axes -->
<inertia ixx="0.000140833333333" ixy="0" ixz="0" iyx="0" iyy="0.000112083333333" iyz="0" izx="0" izy="0" izz="0.000112083333333"/>
</inertial>
</link>
<gazebo reference="front_right_hip">
<material>Gazebo/Black</material>
</gazebo>
<joint name="motor_front_right_hip" type="revolute">
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="0.0915 -0.0394 0.022"/>
<parent link="front_bracket"/>
<child link="front_right_hip"/>
<limit effort="4.0" lower="-1.04" upper="1.04" velocity="4.0"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="front_right_upper_leg">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.252 0.12 -0.055"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_UPPER_LEG.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0 -0.02 -0.05"/>
<geometry>
<box size="0.035 0.035 0.11"/>
</geometry>
</collision>
<inertial>
<mass value="0.13"/>
<origin rpy="0 0 0" xyz="-0.005 -0.0175 -0.055"/>
<!-- Inertial Axes -->
<inertia ixx="0.000144354166667" ixy="0" ixz="0" iyx="0" iyy="0.000144354166667" iyz="0" izx="0" izy="0" izz="2.65416666667e-05"/>
</inertial>
</link>
<gazebo reference="front_right_upper_leg">
<material>Gazebo/Black</material>
</gazebo>
<joint name="motor_front_right_upper_leg" type="revolute">
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0.0015 -0.045 -0.0087"/>
<parent link="front_right_hip"/>
<child link="front_right_upper_leg"/>
<limit effort="4.0" lower="-1.57079632679" upper="2.59" velocity="4.0"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="front_right_lower_leg">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.0535"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_LOWER_LEG.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0 0 -0.06"/>
<geometry>
<box size="0.035 0.035 0.12"/>
</geometry>
</collision>
<inertial>
<mass value="0.05"/>
<origin rpy="0 0 0" xyz="-0.01 0 -0.06"/>
<!-- Inertial Axes -->
<inertia ixx="6.51041666667e-05" ixy="0" ixz="0" iyx="0" iyy="6.51041666667e-05" iyz="0" izx="0" izy="0" izz="1.02083333333e-05"/>
</inertial>
</link>
<gazebo reference="front_right_lower_leg">
<material>Gazebo/Black</material>
</gazebo>
<joint name="motor_front_right_lower_leg" type="revolute">
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="-0.005 -0.018 -0.109"/>
<parent link="front_right_upper_leg"/>
<child link="front_right_lower_leg"/>
<limit effort="4.0" lower="-2.9" upper="1.57079632679" velocity="4.0"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="front_right_foot">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.18"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_FOOT.stl" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.18"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_FOOT.stl" scale="1 1 1"/>
</geometry>
<contact_coefficients mu="10.1"/>
</collision>
<inertial>
<mass value="0.005"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="3.52083333333e-06" ixy="0" ixz="0" iyx="0" iyy="2.80208333333e-06" iyz="0" izx="0" izy="0" izz="2.80208333333e-06"/>
</inertial>
</link>
<gazebo reference="front_right_foot">
<kp>1000000.0</kp>
<kd>1.0</kd>
<mu1>0.8</mu1>
<mu2>0.8</mu2>
<maxVel>0.0</maxVel>
<minDepth>0.001</minDepth>
<material>Gazebo/Orange</material>
</gazebo>
<joint name="front_right_leg_foot" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.1265"/>
<parent link="front_right_lower_leg"/>
<child link="front_right_foot"/>
</joint>
<link name="back_right_hip">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.25 0.074 -0.067"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_HIP.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0.015 -0.01 -0.01"/>
<geometry>
<box size="0.05 0.065 0.065"/>
</geometry>
</collision>
<inertial>
<mass value="0.2"/>
<origin rpy="0 0 0" xyz="0 -0.075 0"/>
<!-- Inertial Axes -->
<inertia ixx="0.000140833333333" ixy="0" ixz="0" iyx="0" iyy="0.000112083333333" iyz="0" izx="0" izy="0" izz="0.000112083333333"/>
</inertial>
</link>
<gazebo reference="back_right_hip">
<material>Gazebo/Black</material>
</gazebo>
<joint name="motor_back_right_hip" type="revolute">
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="-0.1365 -0.0394 0.022"/>
<parent link="back_bracket"/>
<child link="back_right_hip"/>
<limit effort="4.0" lower="-1.04" upper="1.04" velocity="4.0"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="back_right_upper_leg">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.252 0.12 -0.055"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_UPPER_LEG.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0 -0.02 -0.05"/>
<geometry>
<box size="0.035 0.035 0.11"/>
</geometry>
</collision>
<inertial>
<mass value="0.13"/>
<origin rpy="0 0 0" xyz="-0.005 -0.0175 -0.055"/>
<!-- Inertial Axes -->
<inertia ixx="0.000144354166667" ixy="0" ixz="0" iyx="0" iyy="0.000144354166667" iyz="0" izx="0" izy="0" izz="2.65416666667e-05"/>
</inertial>
</link>
<gazebo reference="back_right_upper_leg">
<material>Gazebo/Black</material>
</gazebo>
<joint name="motor_back_right_upper_leg" type="revolute">
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0.0015 -0.045 -0.0087"/>
<parent link="back_right_hip"/>
<child link="back_right_upper_leg"/>
<limit effort="4.0" lower="-1.57079632679" upper="2.59" velocity="4.0"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="back_right_lower_leg">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.0535"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_LOWER_LEG.stl" scale="1 1 1"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="0 0 -0.06"/>
<geometry>
<box size="0.035 0.035 0.12"/>
</geometry>
</collision>
<inertial>
<mass value="0.05"/>
<origin rpy="0 0 0" xyz="-0.01 0 -0.06"/>
<!-- Inertial Axes -->
<inertia ixx="6.51041666667e-05" ixy="0" ixz="0" iyx="0" iyy="6.51041666667e-05" iyz="0" izx="0" izy="0" izz="1.02083333333e-05"/>
</inertial>
</link>
<gazebo reference="back_right_lower_leg">
<material>Gazebo/Black</material>
</gazebo>
<joint name="motor_back_right_lower_leg" type="revolute">
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="-0.005 -0.018 -0.109"/>
<parent link="back_right_upper_leg"/>
<child link="back_right_lower_leg"/>
<limit effort="4.0" lower="-2.9" upper="1.57079632679" velocity="4.0"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="back_right_foot">
<visual>
<origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.18"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_FOOT.stl" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 1.57079632679" xyz="-0.247 0.138 0.18"/>
<geometry>
<mesh filename="package://mini_ros/stl/OpenQuadruped/RIGHT_FOOT.stl" scale="1 1 1"/>
</geometry>
<contact_coefficients mu="10.1"/>
</collision>
<inertial>
<mass value="0.005"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<!-- Inertial Axes -->
<inertia ixx="3.52083333333e-06" ixy="0" ixz="0" iyx="0" iyy="2.80208333333e-06" iyz="0" izx="0" izy="0" izz="2.80208333333e-06"/>
</inertial>
</link>
<gazebo reference="back_right_foot">
<kp>1000000.0</kp>
<kd>1.0</kd>
<mu1>0.8</mu1>
<mu2>0.8</mu2>
<maxVel>0.0</maxVel>
<minDepth>0.001</minDepth>
<material>Gazebo/Orange</material>
</gazebo>
<joint name="back_right_leg_foot" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.1265"/>
<parent link="back_right_lower_leg"/>
<child link="back_right_foot"/>
</joint>
<joint name="base_base" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base_link"/>
<child link="base_inertia"/>
</joint>
<joint name="base_battery" type="fixed">
<origin rpy="0 0 0" xyz="-0.01 0 -0.0225"/>
<parent link="base_link"/>
<child link="battery"/>
</joint>
<joint name="base_left" type="fixed">
<origin rpy="0 0 0" xyz="0.00 0.052 0"/>
<parent link="base_link"/>
<child link="chassis_left"/>
</joint>
<joint name="base_right" type="fixed">
<origin rpy="0 0 0" xyz="0.00 -0.052 0"/>
<parent link="base_link"/>
<child link="chassis_right"/>
</joint>
<joint name="base_front" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base_link"/>
<child link="front"/>
</joint>
<joint name="base_back" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base_link"/>
<child link="back"/>
</joint>
<joint name="base_front_bracket" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base_link"/>
<child link="front_bracket"/>
</joint>
<joint name="base_back_bracket" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base_link"/>
<child link="back_bracket"/>
</joint>
<transmission name="front_left_hip_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="motor_front_left_hip">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="front_left_hip_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="front_left_upper_leg_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="motor_front_left_lower_leg">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="front_left_upper_leg_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="front_left_lower_leg_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="motor_front_left_upper_leg">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="front_left_lower_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="front_right_hip_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="motor_front_right_hip">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="front_right_hip_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="front_right_upper_leg_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="motor_front_right_lower_leg">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="front_right_upper_leg_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="front_right_lower_leg_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="motor_front_right_upper_leg">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="front_right_lower_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="back_left_hip_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="motor_back_left_hip">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="back_left_hip_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="back_left_upper_leg_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="motor_back_left_lower_leg">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="back_left_upper_leg_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="back_left_lower_leg_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="motor_back_left_upper_leg">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="back_left_lower_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="back_right_hip_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="motor_back_right_hip">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="back_right_hip_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="back_right_upper_leg_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="motor_back_right_lower_leg">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="back_right_upper_leg_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="back_right_lower_leg_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="motor_back_right_upper_leg">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="back_right_lower_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<legacyModeNS>true</legacyModeNS>
</plugin>
</gazebo>
</robot>
|
XiaomingY/omni-ies-viewer/link_app.sh | #!/bin/bash
set -e
SCRIPT_DIR=$(dirname ${BASH_SOURCE})
cd "$SCRIPT_DIR"
exec "tools/packman/python.sh" tools/scripts/link_app.py $@
|
XiaomingY/omni-ies-viewer/link_app.bat | @echo off
call "%~dp0tools\packman\python.bat" %~dp0tools\scripts\link_app.py %*
if %errorlevel% neq 0 ( goto Error )
:Success
exit /b 0
:Error
exit /b %errorlevel%
|
XiaomingY/omni-ies-viewer/README.md | # IES Viewer Omniverse Extension
This extension displays IES profile web for selected light objects. It is particularly useful for visualizing architectural lighting designs. Orientation of measured light distribution profiles could be quickly tested with visual feedback. IES files are resampled to be light weight and consistant to render. [A video demo](https://drive.google.com/file/d/1DxvjVGT6ZlfukfuTvyBu3iXaHz8qvY5Q/view?usp=sharing)
This extension is developed based on the [omni.example.ui_scene.object_info](https://github.com/NVIDIA-Omniverse/kit-extension-sample-ui-scene/tree/main/exts/omni.example.ui_scene.object_info)
Supported light type: sphere light, rectangular light, disk light and cylinder light.
Only Type C IES file is supported currently, which is also the most commonly used type for architectural light.
## Adding This Extension
To add a this extension to your Omniverse app:
1. Go to Extension Manager and turn on Viewport Utility extension
2. Add `git://github.com/XiaomingY/omni-ies-viewer.git?branch=main&dir=exts` to extension search path
3. Turn on IES Viewer Extension
|
XiaomingY/omni-ies-viewer/tools/scripts/link_app.py | import os
import argparse
import sys
import json
import packmanapi
import urllib3
def find_omniverse_apps():
http = urllib3.PoolManager()
try:
r = http.request("GET", "http://127.0.0.1:33480/components")
except Exception as e:
print(f"Failed retrieving apps from an Omniverse Launcher, maybe it is not installed?\nError: {e}")
sys.exit(1)
apps = {}
for x in json.loads(r.data.decode("utf-8")):
latest = x.get("installedVersions", {}).get("latest", "")
if latest:
for s in x.get("settings", []):
if s.get("version", "") == latest:
root = s.get("launch", {}).get("root", "")
apps[x["slug"]] = (x["name"], root)
break
return apps
def create_link(src, dst):
print(f"Creating a link '{src}' -> '{dst}'")
packmanapi.link(src, dst)
APP_PRIORITIES = ["code", "create", "view"]
if __name__ == "__main__":
parser = argparse.ArgumentParser(description="Create folder link to Kit App installed from Omniverse Launcher")
parser.add_argument(
"--path",
help="Path to Kit App installed from Omniverse Launcher, e.g.: 'C:/Users/bob/AppData/Local/ov/pkg/create-2021.3.4'",
required=False,
)
parser.add_argument(
"--app", help="Name of Kit App installed from Omniverse Launcher, e.g.: 'code', 'create'", required=False
)
args = parser.parse_args()
path = args.path
if not path:
print("Path is not specified, looking for Omniverse Apps...")
apps = find_omniverse_apps()
if len(apps) == 0:
print(
"Can't find any Omniverse Apps. Use Omniverse Launcher to install one. 'Code' is the recommended app for developers."
)
sys.exit(0)
print("\nFound following Omniverse Apps:")
for i, slug in enumerate(apps):
name, root = apps[slug]
print(f"{i}: {name} ({slug}) at: '{root}'")
if args.app:
selected_app = args.app.lower()
if selected_app not in apps:
choices = ", ".join(apps.keys())
print(f"Passed app: '{selected_app}' is not found. Specify one of the following found Apps: {choices}")
sys.exit(0)
else:
selected_app = next((x for x in APP_PRIORITIES if x in apps), None)
if not selected_app:
selected_app = next(iter(apps))
print(f"\nSelected app: {selected_app}")
_, path = apps[selected_app]
if not os.path.exists(path):
print(f"Provided path doesn't exist: {path}")
else:
SCRIPT_ROOT = os.path.dirname(os.path.realpath(__file__))
create_link(f"{SCRIPT_ROOT}/../../app", path)
print("Success!")
|
XiaomingY/omni-ies-viewer/tools/packman/python.sh | #!/bin/bash
# Copyright 2019-2020 NVIDIA CORPORATION
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
# http://www.apache.org/licenses/LICENSE-2.0
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
set -e
PACKMAN_CMD="$(dirname "${BASH_SOURCE}")/packman"
if [ ! -f "$PACKMAN_CMD" ]; then
PACKMAN_CMD="${PACKMAN_CMD}.sh"
fi
source "$PACKMAN_CMD" init
export PYTHONPATH="${PM_MODULE_DIR}:${PYTHONPATH}"
export PYTHONNOUSERSITE=1
# workaround for our python not shipping with certs
if [[ -z ${SSL_CERT_DIR:-} ]]; then
export SSL_CERT_DIR=/etc/ssl/certs/
fi
"${PM_PYTHON}" -u "$@"
|
XiaomingY/omni-ies-viewer/tools/packman/python.bat | :: Copyright 2019-2020 NVIDIA CORPORATION
::
:: Licensed under the Apache License, Version 2.0 (the "License");
:: you may not use this file except in compliance with the License.
:: You may obtain a copy of the License at
::
:: http://www.apache.org/licenses/LICENSE-2.0
::
:: Unless required by applicable law or agreed to in writing, software
:: distributed under the License is distributed on an "AS IS" BASIS,
:: WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
:: See the License for the specific language governing permissions and
:: limitations under the License.
@echo off
setlocal
call "%~dp0\packman" init
set "PYTHONPATH=%PM_MODULE_DIR%;%PYTHONPATH%"
set PYTHONNOUSERSITE=1
"%PM_PYTHON%" -u %*
|
XiaomingY/omni-ies-viewer/tools/packman/packman.cmd | :: Reset errorlevel status (don't inherit from caller) [xxxxxxxxxxx]
@call :ECHO_AND_RESET_ERROR
:: You can remove the call below if you do your own manual configuration of the dev machines
call "%~dp0\bootstrap\configure.bat"
if %errorlevel% neq 0 ( exit /b %errorlevel% )
:: Everything below is mandatory
if not defined PM_PYTHON goto :PYTHON_ENV_ERROR
if not defined PM_MODULE goto :MODULE_ENV_ERROR
:: Generate temporary path for variable file
for /f "delims=" %%a in ('powershell -ExecutionPolicy ByPass -NoLogo -NoProfile ^
-File "%~dp0bootstrap\generate_temp_file_name.ps1"') do set PM_VAR_PATH=%%a
if %1.==. (
set PM_VAR_PATH_ARG=
) else (
set PM_VAR_PATH_ARG=--var-path="%PM_VAR_PATH%"
)
"%PM_PYTHON%" -S -s -u -E "%PM_MODULE%" %* %PM_VAR_PATH_ARG%
if %errorlevel% neq 0 ( exit /b %errorlevel% )
:: Marshall environment variables into the current environment if they have been generated and remove temporary file
if exist "%PM_VAR_PATH%" (
for /F "usebackq tokens=*" %%A in ("%PM_VAR_PATH%") do set "%%A"
)
if %errorlevel% neq 0 ( goto :VAR_ERROR )
if exist "%PM_VAR_PATH%" (
del /F "%PM_VAR_PATH%"
)
if %errorlevel% neq 0 ( goto :VAR_ERROR )
set PM_VAR_PATH=
goto :eof
:: Subroutines below
:PYTHON_ENV_ERROR
@echo User environment variable PM_PYTHON is not set! Please configure machine for packman or call configure.bat.
exit /b 1
:MODULE_ENV_ERROR
@echo User environment variable PM_MODULE is not set! Please configure machine for packman or call configure.bat.
exit /b 1
:VAR_ERROR
@echo Error while processing and setting environment variables!
exit /b 1
:ECHO_AND_RESET_ERROR
@echo off
if /I "%PM_VERBOSITY%"=="debug" (
@echo on
)
exit /b 0
|
XiaomingY/omni-ies-viewer/tools/packman/config.packman.xml | <config remotes="cloudfront">
<remote2 name="cloudfront">
<transport actions="download" protocol="https" packageLocation="d4i3qtqj3r0z5.cloudfront.net/${name}@${version}" />
</remote2>
</config>
|
XiaomingY/omni-ies-viewer/tools/packman/bootstrap/generate_temp_file_name.ps1 | <#
Copyright 2019 NVIDIA CORPORATION
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
#>
$out = [System.IO.Path]::GetTempFileName()
Write-Host $out
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# SIG # End signature block
|
XiaomingY/omni-ies-viewer/tools/packman/bootstrap/configure.bat | :: Copyright 2019 NVIDIA CORPORATION
::
:: Licensed under the Apache License, Version 2.0 (the "License");
:: you may not use this file except in compliance with the License.
:: You may obtain a copy of the License at
::
:: http://www.apache.org/licenses/LICENSE-2.0
::
:: Unless required by applicable law or agreed to in writing, software
:: distributed under the License is distributed on an "AS IS" BASIS,
:: WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
:: See the License for the specific language governing permissions and
:: limitations under the License.
set PM_PACKMAN_VERSION=6.33.2
:: Specify where packman command is rooted
set PM_INSTALL_PATH=%~dp0..
:: The external root may already be configured and we should do minimal work in that case
if defined PM_PACKAGES_ROOT goto ENSURE_DIR
:: If the folder isn't set we assume that the best place for it is on the drive that we are currently
:: running from
set PM_DRIVE=%CD:~0,2%
set PM_PACKAGES_ROOT=%PM_DRIVE%\packman-repo
:: We use *setx* here so that the variable is persisted in the user environment
echo Setting user environment variable PM_PACKAGES_ROOT to %PM_PACKAGES_ROOT%
setx PM_PACKAGES_ROOT %PM_PACKAGES_ROOT%
if %errorlevel% neq 0 ( goto ERROR )
:: The above doesn't work properly from a build step in VisualStudio because a separate process is
:: spawned for it so it will be lost for subsequent compilation steps - VisualStudio must
:: be launched from a new process. We catch this odd-ball case here:
if defined PM_DISABLE_VS_WARNING goto ENSURE_DIR
if not defined VSLANG goto ENSURE_DIR
echo The above is a once-per-computer operation. Unfortunately VisualStudio cannot pick up environment change
echo unless *VisualStudio is RELAUNCHED*.
echo If you are launching VisualStudio from command line or command line utility make sure
echo you have a fresh launch environment (relaunch the command line or utility).
echo If you are using 'linkPath' and referring to packages via local folder links you can safely ignore this warning.
echo You can disable this warning by setting the environment variable PM_DISABLE_VS_WARNING.
echo.
:: Check for the directory that we need. Note that mkdir will create any directories
:: that may be needed in the path
:ENSURE_DIR
if not exist "%PM_PACKAGES_ROOT%" (
echo Creating directory %PM_PACKAGES_ROOT%
mkdir "%PM_PACKAGES_ROOT%"
)
if %errorlevel% neq 0 ( goto ERROR_MKDIR_PACKAGES_ROOT )
:: The Python interpreter may already be externally configured
if defined PM_PYTHON_EXT (
set PM_PYTHON=%PM_PYTHON_EXT%
goto PACKMAN
)
set PM_PYTHON_VERSION=3.7.9-windows-x86_64
set PM_PYTHON_BASE_DIR=%PM_PACKAGES_ROOT%\python
set PM_PYTHON_DIR=%PM_PYTHON_BASE_DIR%\%PM_PYTHON_VERSION%
set PM_PYTHON=%PM_PYTHON_DIR%\python.exe
if exist "%PM_PYTHON%" goto PACKMAN
if not exist "%PM_PYTHON_BASE_DIR%" call :CREATE_PYTHON_BASE_DIR
set PM_PYTHON_PACKAGE=python@%PM_PYTHON_VERSION%.cab
for /f "delims=" %%a in ('powershell -ExecutionPolicy ByPass -NoLogo -NoProfile -File "%~dp0\generate_temp_file_name.ps1"') do set TEMP_FILE_NAME=%%a
set TARGET=%TEMP_FILE_NAME%.zip
call "%~dp0fetch_file_from_packman_bootstrap.cmd" %PM_PYTHON_PACKAGE% "%TARGET%"
if %errorlevel% neq 0 (
echo !!! Error fetching python from CDN !!!
goto ERROR
)
for /f "delims=" %%a in ('powershell -ExecutionPolicy ByPass -NoLogo -NoProfile -File "%~dp0\generate_temp_folder.ps1" -parentPath "%PM_PYTHON_BASE_DIR%"') do set TEMP_FOLDER_NAME=%%a
echo Unpacking Python interpreter ...
"%SystemRoot%\system32\expand.exe" -F:* "%TARGET%" "%TEMP_FOLDER_NAME%" 1> nul
del "%TARGET%"
:: Failure during extraction to temp folder name, need to clean up and abort
if %errorlevel% neq 0 (
echo !!! Error unpacking python !!!
call :CLEAN_UP_TEMP_FOLDER
goto ERROR
)
:: If python has now been installed by a concurrent process we need to clean up and then continue
if exist "%PM_PYTHON%" (
call :CLEAN_UP_TEMP_FOLDER
goto PACKMAN
) else (
if exist "%PM_PYTHON_DIR%" ( rd /s /q "%PM_PYTHON_DIR%" > nul )
)
:: Perform atomic rename
rename "%TEMP_FOLDER_NAME%" "%PM_PYTHON_VERSION%" 1> nul
:: Failure during move, need to clean up and abort
if %errorlevel% neq 0 (
echo !!! Error renaming python !!!
call :CLEAN_UP_TEMP_FOLDER
goto ERROR
)
:PACKMAN
:: The packman module may already be externally configured
if defined PM_MODULE_DIR_EXT (
set PM_MODULE_DIR=%PM_MODULE_DIR_EXT%
) else (
set PM_MODULE_DIR=%PM_PACKAGES_ROOT%\packman-common\%PM_PACKMAN_VERSION%
)
set PM_MODULE=%PM_MODULE_DIR%\packman.py
if exist "%PM_MODULE%" goto ENSURE_7ZA
set PM_MODULE_PACKAGE=packman-common@%PM_PACKMAN_VERSION%.zip
for /f "delims=" %%a in ('powershell -ExecutionPolicy ByPass -NoLogo -NoProfile -File "%~dp0\generate_temp_file_name.ps1"') do set TEMP_FILE_NAME=%%a
set TARGET=%TEMP_FILE_NAME%
call "%~dp0fetch_file_from_packman_bootstrap.cmd" %PM_MODULE_PACKAGE% "%TARGET%"
if %errorlevel% neq 0 (
echo !!! Error fetching packman from CDN !!!
goto ERROR
)
echo Unpacking ...
"%PM_PYTHON%" -S -s -u -E "%~dp0\install_package.py" "%TARGET%" "%PM_MODULE_DIR%"
if %errorlevel% neq 0 (
echo !!! Error unpacking packman !!!
goto ERROR
)
del "%TARGET%"
:ENSURE_7ZA
set PM_7Za_VERSION=16.02.4
set PM_7Za_PATH=%PM_PACKAGES_ROOT%\7za\%PM_7ZA_VERSION%
if exist "%PM_7Za_PATH%" goto END
set PM_7Za_PATH=%PM_PACKAGES_ROOT%\chk\7za\%PM_7ZA_VERSION%
if exist "%PM_7Za_PATH%" goto END
"%PM_PYTHON%" -S -s -u -E "%PM_MODULE%" pull "%PM_MODULE_DIR%\deps.packman.xml"
if %errorlevel% neq 0 (
echo !!! Error fetching packman dependencies !!!
goto ERROR
)
goto END
:ERROR_MKDIR_PACKAGES_ROOT
echo Failed to automatically create packman packages repo at %PM_PACKAGES_ROOT%.
echo Please set a location explicitly that packman has permission to write to, by issuing:
echo.
echo setx PM_PACKAGES_ROOT {path-you-choose-for-storing-packman-packages-locally}
echo.
echo Then launch a new command console for the changes to take effect and run packman command again.
exit /B %errorlevel%
:ERROR
echo !!! Failure while configuring local machine :( !!!
exit /B %errorlevel%
:CLEAN_UP_TEMP_FOLDER
rd /S /Q "%TEMP_FOLDER_NAME%"
exit /B
:CREATE_PYTHON_BASE_DIR
:: We ignore errors and clean error state - if two processes create the directory one will fail which is fine
md "%PM_PYTHON_BASE_DIR%" > nul 2>&1
exit /B 0
:END
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