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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>
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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">
<inertial>
<origin xyz="0.07850633428100248 0.7503938158233621 0.18713690989372062" rpy="0 0 0"/>
<mass value="10.036811625847252"/>
<inertia ixx="1.826857" iyy="0.260223" izz="1.689356" ixy="-0.163165" iyz="-0.402271" ixz="-0.042207"/>
</inertial>
<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"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<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"/>
</geometry>
</collision>
</link>
<link name="U_Waist_2v8_1">
<inertial>
<origin xyz="-0.0337346162481096 -0.04639529711879098 -0.0007679069985090381" rpy="0 0 0"/>
<mass value="6.477105878848885"/>
<inertia ixx="0.066569" iyy="0.080229" izz="0.025041" ixy="-0.000133" iyz="-0.000325" ixz="0.000159"/>
</inertial>
<visual>
<origin xyz="-0.11000000000058976 -0.6805999999999996 -0.18730049999999515" rpy="0 0 0"/>
<geometry>
<mesh filename="package://meshes/U_Waist_2v8_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="-0.11000000000058976 -0.6805999999999996 -0.18730049999999515" rpy="0 0 0"/>
<geometry>
<mesh filename="package://meshes/U_Waist_2v8_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="U_Waist_1v3_1">
<inertial>
<origin xyz="-0.0002659409585832606 -4.125846770230979e-06 -0.04482890885206928" rpy="0 0 0"/>
<mass value="2.69908052620212"/>
<inertia ixx="0.471513" iyy="0.067497" izz="0.441062" ixy="-0.077278" iyz="-0.138359" ixz="-0.025502"/>
</inertial>
<visual>
<origin xyz="-0.11000000000058888 -0.5955999999999999 -0.24130049999999575" rpy="0 0 0"/>
<geometry>
<mesh filename="package://meshes/U_Waist_1v3_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="-0.11000000000058888 -0.5955999999999999 -0.24130049999999575" rpy="0 0 0"/>
<geometry>
<mesh filename="package://meshes/U_Waist_1v3_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="U_Body_1v21_1">
<inertial>
<origin xyz="0.015155259714987449 -0.15771637872996064 -0.0012004300231659437" rpy="0 0 0"/>
<mass value="13.434139763717132"/>
<inertia ixx="1.802919" iyy="0.465399" izz="1.581973" ixy="-0.128737" iyz="-0.539786" ixz="-0.071474"/>
</inertial>
<visual>
<origin xyz="-0.04400000000058896 -0.5955999999999999 -0.18730049999999573" rpy="0 0 0"/>
<geometry>
<mesh filename="package://meshes/U_Body_1v21_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="-0.04400000000058896 -0.5955999999999999 -0.18730049999999573" rpy="0 0 0"/>
<geometry>
<mesh filename="package://meshes/U_Body_1v21_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="UL_Shoulder_1v3_1">
<inertial>
<origin xyz="-4.8748773014778424e-05 -0.0600535587620909 0.003562519143427867" rpy="0 0 0"/>
<mass value="0.4784016701329476"/>
<inertia ixx="0.239649" iyy="0.153624" izz="0.127989" ixy="-0.046121" iyz="-0.118057" ixz="-0.051461"/>
</inertial>
<visual>
<origin xyz="-0.13300000000094261 -0.36524750292855984 -0.3370001228884733" rpy="0 0 0"/>
<geometry>
<mesh filename="package://meshes/UL_Shoulder_1v3_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="-0.13300000000094261 -0.36524750292855984 -0.3370001228884733" rpy="0 0 0"/>
<geometry>
<mesh filename="package://meshes/UL_Shoulder_1v3_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="UR_Shoulder_1v3_1">
<inertial>
<origin xyz="4.874877301425107e-05 -0.059877374991490095 -0.005815619207582948" rpy="0 0 0"/>
<mass value="0.47840167013294754"/>
<inertia ixx="0.112616" iyy="0.022449" izz="0.132188" ixy="-0.04705" iyz="-0.008306" ixz="-0.003513"/>
</inertial>
<visual>
<origin xyz="-0.1330000000009486 -0.37103276923898365 -0.029054460971118613" rpy="0 0 0"/>
<geometry>
<mesh filename="package://meshes/UR_Shoulder_1v3_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="-0.1330000000009486 -0.37103276923898365 -0.029054460971118613" rpy="0 0 0"/>
<geometry>
<mesh filename="package://meshes/UR_Shoulder_1v3_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="UR_Shoulder_2v2_1">
<inertial>
<origin xyz="-0.0011896266413215784 0.0010390104749413154 -0.05640801893102957" rpy="0 0 0"/>
<mass value="0.23812084762668878"/>
<inertia ixx="0.024179" iyy="0.006403" izz="0.026767" ixy="-0.009409" iyz="0.004487" ixz="0.001878"/>
</inertial>
<visual>
<origin xyz="-0.13300000000094875 -0.3066847483187157 0.0062604396183596565" rpy="0 0 0"/>
<geometry>
<mesh filename="package://meshes/UR_Shoulder_2v2_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="-0.13300000000094875 -0.3066847483187157 0.0062604396183596565" rpy="0 0 0"/>
<geometry>
<mesh filename="package://meshes/UR_Shoulder_2v2_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="UR_Shoulder_3v2_1">
<inertial>
<origin xyz="-0.03031024672003585 0.04859132145441042 0.001152922799551509" rpy="0 0 0"/>
<mass value="0.56178745084814"/>
<inertia ixx="0.331765" iyy="0.077312" izz="0.340575" ixy="-0.109828" iyz="0.097492" ixz="0.037023"/>
</inertial>
<visual>
<origin xyz="-0.16590000000095106 -0.3088448315190362 0.12124015104853975" rpy="0 0 0"/>
<geometry>
<mesh filename="package://meshes/UR_Shoulder_3v2_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="-0.16590000000095106 -0.3088448315190362 0.12124015104853975" rpy="0 0 0"/>
<geometry>
<mesh filename="package://meshes/UR_Shoulder_3v2_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="UR_Arm_1v2_1">
<inertial>
<origin xyz="-0.019862841377670776 0.11172176408902107 0.013973801200149766" rpy="0 0 0"/>
<mass value="0.5789025929463171"/>
<inertia ixx="0.006256" iyy="0.001146" izz="0.006561" ixy="-0.000114" iyz="-0.000148" ixz="0.000149"/>
</inertial>
<visual>
<origin xyz="-0.13300000000095033 -0.4369222318164831 0.11883400619670591" rpy="0 0 0"/>
<geometry>
<mesh filename="package://meshes/UR_Arm_1v2_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="-0.13300000000095033 -0.4369222318164831 0.11883400619670591" rpy="0 0 0"/>
<geometry>
<mesh filename="package://meshes/UR_Arm_1v2_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="UR_Arm_2v6_1">
<inertial>
<origin xyz="-0.03049076949479987 0.05201895481737917 -0.01669934810431163" rpy="0 0 0"/>
<mass value="0.3152819939464439"/>
<inertia ixx="0.800277" iyy="0.046391" izz="0.812801" ixy="-0.14939" iyz="0.112382" ixz="0.021291"/>
</inertial>
<visual>
<origin xyz="-0.16400000000095022 -0.6432752540950658 0.08245159016238089" rpy="0 0 0"/>
<geometry>
<mesh filename="package://meshes/UR_Arm_2v6_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="-0.16400000000095022 -0.6432752540950658 0.08245159016238089" rpy="0 0 0"/>
<geometry>
<mesh filename="package://meshes/UR_Arm_2v6_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="UR_Arm_3v3_1">
<inertial>
<origin xyz="-0.016384028005943727 0.07698230687582608 0.0015476984755121437" rpy="0 0 0"/>
<mass value="0.40861586219416696"/>
<inertia ixx="0.002693" iyy="0.000575" izz="0.002948" ixy="2.6e-05" iyz="0.000165" ixz="-4e-06"/>
</inertial>
<visual>
<origin xyz="-0.1330000000009512 -0.7688636595975273 0.11259793991404056" rpy="0 0 0"/>
<geometry>
<mesh filename="package://meshes/UR_Arm_3v3_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="-0.1330000000009512 -0.7688636595975273 0.11259793991404056" rpy="0 0 0"/>
<geometry>
<mesh filename="package://meshes/UR_Arm_3v3_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="UL_Shoulder_2v3_1">
<inertial>
<origin xyz="-0.0011896266413236878 -0.0010804099433366354 0.056407241174085576" rpy="0 0 0"/>
<mass value="0.4701009156097212"/>
<inertia ixx="0.0013" iyy="0.001461" izz="0.00077" ixy="-1e-06" iyz="1.3e-05" ixz="3.8e-05"/>
</inertial>
<visual>
<origin xyz="-0.13300000000094164 -0.2996184587538408 -0.36987319029498056" rpy="0 0 0"/>
<geometry>
<mesh filename="package://meshes/UL_Shoulder_2v3_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="-0.13300000000094164 -0.2996184587538408 -0.36987319029498056" rpy="0 0 0"/>
<geometry>
<mesh filename="package://meshes/UL_Shoulder_2v3_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="UL_Shoulder_3v3_1">
<inertial>
<origin xyz="-0.034710246720033366 0.04859132145440942 0.0011529227995509261" rpy="0 0 0"/>
<mass value="1.6983659250719216"/>
<inertia ixx="0.413132" iyy="0.292098" izz="0.165365" ixy="-0.05299" iyz="-0.191232" ixz="-0.074887"/>
</inertial>
<visual>
<origin xyz="-0.17030000000093926 -0.2974583755535203 -0.4848529017251625" rpy="0 0 0"/>
<geometry>
<mesh filename="package://meshes/UL_Shoulder_3v3_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="-0.17030000000093926 -0.2974583755535203 -0.4848529017251625" rpy="0 0 0"/>
<geometry>
<mesh filename="package://meshes/UL_Shoulder_3v3_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
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</visual>
<collision>
<origin xyz="-0.1417999994764068 -0.9252939541819925 -0.582669905655134" rpy="0 0 0"/>
<geometry>
<mesh filename="package://meshes/UL_Wrist_2v1_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="UL_Arm_2v1_1">
<inertial>
<origin xyz="-0.029190769494796293 0.04031133921565788 0.0368747947717567" rpy="0 0 0"/>
<mass value="1.1202659214049093"/>
<inertia ixx="0.568856" iyy="0.215897" izz="0.383739" ixy="-0.073033" iyz="-0.271018" ixz="-0.05373"/>
</inertial>
<visual>
<origin xyz="-0.16400000000093695 -0.6331097147210338 -0.4586529300638273" rpy="0 0 0"/>
<geometry>
<mesh filename="package://meshes/UL_Arm_2v1_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="-0.16400000000093695 -0.6331097147210338 -0.4586529300638273" rpy="0 0 0"/>
<geometry>
<mesh filename="package://meshes/UL_Arm_2v1_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<joint name="Revolute48" type="revolute">
<origin xyz="0.11000000000058976 0.6805999999999996 0.18730049999999515" rpy="0 0 0"/>
<parent link="L_Pelvisv15_1"/>
<child link="U_Waist_2v8_1"/>
<axis xyz="8.135850272080543e-15 1.0000000000000007 -5.881300216741402e-15"/>
<limit upper="3.14159" lower="-3.14159" effort="100" velocity="100"/>
</joint>
<joint name="Revolute49" type="revolute">
<origin xyz="-8.881784197001252e-16 -0.08499999999999974 0.0540000000000006" rpy="0 0 0"/>
<parent link="U_Waist_2v8_1"/>
<child link="U_Waist_1v3_1"/>
<axis xyz="1.4360629127321063e-15 -5.873644089593395e-15 -1.0000000000000002"/>
<limit upper="3.14159" lower="-3.14159" effort="100" velocity="100"/>
</joint>
<joint name="Revolute51" type="revolute">
<origin xyz="-0.06599999999999992 0.0 -0.05400000000000002" rpy="0 0 0"/>
<parent link="U_Waist_1v3_1"/>
<child link="U_Body_1v21_1"/>
<axis xyz="1.0000000000000004 -7.95667976999021e-15 1.356581037105798e-15"/>
<limit upper="3.14159" lower="-3.14159" effort="100" velocity="100"/>
</joint>
<joint name="Revolute87" type="revolute">
<origin xyz="0.08900000000035366 -0.23035249707144007 0.14969962288847757" rpy="0 0 0"/>
<parent link="U_Body_1v21_1"/>
<child link="UL_Shoulder_1v3_1"/>
<axis xyz="2.774592544632578e-15 0.9998235776537481 0.018783332176700435"/>
<limit upper="3.14159" lower="-3.14159" effort="100" velocity="100"/>
</joint>
<joint name="Revolute53" type="revolute">
<origin xyz="0.08900000000035965 -0.22456723076101626 -0.15824603902887713" rpy="0 0 0"/>
<parent link="U_Body_1v21_1"/>
<child link="UR_Shoulder_1v3_1"/>
<axis xyz="2.800832321714712e-15 0.9998235776537475 0.018783332176700362"/>
<limit upper="3.14159" lower="-3.14159" effort="100" velocity="100"/>
</joint>
<joint name="Revolute54" type="revolute">
<origin xyz="1.3877787807814457e-16 -0.06434802092026792 -0.03531490058947827" rpy="0 0 0"/>
<parent link="UR_Shoulder_1v3_1"/>
<child link="UR_Shoulder_2v2_1"/>
<axis xyz="-2.05230925903742e-14 -0.01878333217670006 0.9998235776537472"/>
<limit upper="3.14159" lower="-3.14159" effort="100" velocity="100"/>
</joint>
<joint name="Revolute55" type="revolute">
<origin xyz="0.032900000000002316 0.0021600832003204617 -0.11497971143018008" rpy="0 0 0"/>
<parent link="UR_Shoulder_2v2_1"/>
<child link="UR_Shoulder_3v2_1"/>
<axis xyz="0.9999999999999998 -3.3977472609707566e-15 2.0426723347466497e-14"/>
<limit upper="3.14159" lower="-3.14159" effort="100" velocity="100"/>
</joint>
<joint name="Revolute88" type="revolute">
<origin xyz="-0.032900000000000734 0.1280774002974469 0.0024061448518338385" rpy="0 0 0"/>
<parent link="UR_Shoulder_3v2_1"/>
<child link="UR_Arm_1v2_1"/>
<axis xyz="-2.7155358698649516e-15 -0.9998235776537535 -0.01878333217670008"/>
<limit upper="3.14159" lower="-3.14159" effort="100" velocity="100"/>
</joint>
<joint name="Revolute89" type="revolute">
<origin xyz="0.03099999999999989 0.2063530222785827 0.036382416034325016" rpy="0 0 0"/>
<parent link="UR_Arm_1v2_1"/>
<child link="UR_Arm_2v6_1"/>
<axis xyz="0.9999999999999994 -3.0803690570051004e-15 1.7665040818381603e-14"/>
<limit upper="3.14159" lower="-3.14159" effort="100" velocity="100"/>
</joint>
<joint name="Revolute58" type="revolute">
<origin xyz="-0.03099999999999903 0.12558840550246153 -0.030146349751659668" rpy="0 0 0"/>
<parent link="UR_Arm_2v6_1"/>
<child link="UR_Arm_3v3_1"/>
<axis xyz="2.7611417940639986e-15 0.9998235776537469 0.018783332176698638"/>
<limit upper="3.14159" lower="-3.14159" effort="100" velocity="100"/>
</joint>
<joint name="Revolute90" type="revolute">
<origin xyz="-9.71445146547012e-16 -0.06562904417471904 0.03287306740650725" rpy="0 0 0"/>
<parent link="UL_Shoulder_1v3_1"/>
<child link="UL_Shoulder_2v3_1"/>
<axis xyz="2.032489389041666e-14 0.018783332176700446 -0.9998235776537474"/>
<limit upper="3.14159" lower="-3.14159" effort="100" velocity="100"/>
</joint>
<joint name="Revolute91" type="revolute">
<origin xyz="0.03729999999999761 -0.0021600832003205173 0.11497971143018193" rpy="0 0 0"/>
<parent link="UL_Shoulder_2v3_1"/>
<child link="UL_Shoulder_3v3_1"/>
<axis xyz="-1.0 3.7412631039392414e-15 -2.02925870096358e-14"/>
<limit upper="3.14159" lower="-3.14159" effort="100" velocity="100"/>
</joint>
<joint name="Revolute97" type="revolute">
<origin xyz="0.036999999475479745 0.14377213278323475 0.0028280186039150446" rpy="0 0 0"/>
<parent link="UR_Arm_3v3_1"/>
<child link="UR_Wrist_1v6_1"/>
<axis xyz="-0.999999999999997 2.143404853286814e-15 2.7487445739598234e-14"/>
<limit upper="3.14159" lower="-3.14159" effort="100" velocity="100"/>
</joint>
<joint name="Revolute99" type="revolute">
<origin xyz="-0.03700000000000142 0.04858072025831994 -0.02905019137945085" rpy="0 0 0"/>
<parent link="UR_Wrist_1v6_1"/>
<child link="UR_Wrist_2v3_1"/>
<axis xyz="2.5667004481387123e-14 -0.019666798232188747 0.9998065898198966"/>
<limit upper="3.14159" lower="-3.14159" effort="100" velocity="100"/>
</joint>
<joint name="Rigid71" type="fixed">
<origin xyz="-0.017677669529662474 0.037254823621300504 0.013057539030648296" rpy="0 0 0"/>
<parent link="UR_Wrist_2v3_1"/>
<child link="UR_Hand_1v3_1"/>
</joint>
<joint name="Revolute72" type="revolute">
<origin xyz="0.030000000000356117 -0.3794330477195974 -0.007128274561058218" rpy="0 0 0"/>
<parent link="U_Body_1v21_1"/>
<child link="U_Neck_1v4_1"/>
<axis xyz="-2.7602297695390973e-15 -0.9998235776537489 -0.018783332176704155"/>
<limit upper="3.14159" lower="-3.14159" effort="100" velocity="100"/>
</joint>
<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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|
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
|
XiaomingY/omni-ies-viewer/tools/packman/bootstrap/fetch_file_from_packman_bootstrap.cmd | :: 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.
:: You need to specify <package-name> <target-path> as input to this command
@setlocal
@set PACKAGE_NAME=%1
@set TARGET_PATH=%2
@echo Fetching %PACKAGE_NAME% ...
@powershell -ExecutionPolicy ByPass -NoLogo -NoProfile -File "%~dp0download_file_from_url.ps1" ^
-source "http://bootstrap.packman.nvidia.com/%PACKAGE_NAME%" -output %TARGET_PATH%
:: A bug in powershell prevents the errorlevel code from being set when using the -File execution option
:: We must therefore do our own failure analysis, basically make sure the file exists and is larger than 0 bytes:
@if not exist %TARGET_PATH% goto ERROR_DOWNLOAD_FAILED
@if %~z2==0 goto ERROR_DOWNLOAD_FAILED
@endlocal
@exit /b 0
:ERROR_DOWNLOAD_FAILED
@echo Failed to download file from S3
@echo Most likely because endpoint cannot be reached or file %PACKAGE_NAME% doesn't exist
@endlocal
@exit /b 1 |
XiaomingY/omni-ies-viewer/tools/packman/bootstrap/download_file_from_url.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.
#>
param(
[Parameter(Mandatory=$true)][string]$source=$null,
[string]$output="out.exe"
)
$filename = $output
$triesLeft = 3
do
{
$triesLeft -= 1
try
{
Write-Host "Downloading from bootstrap.packman.nvidia.com ..."
$wc = New-Object net.webclient
$wc.Downloadfile($source, $fileName)
$triesLeft = 0
}
catch
{
Write-Host "Error downloading $source!"
Write-Host $_.Exception|format-list -force
}
} while ($triesLeft -gt 0)
|
XiaomingY/omni-ies-viewer/tools/packman/bootstrap/generate_temp_folder.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.
#>
param(
[Parameter(Mandatory=$true)][string]$parentPath=$null
)
[string] $name = [System.Guid]::NewGuid()
$out = Join-Path $parentPath $name
New-Item -ItemType Directory -Path ($out) | Out-Null
Write-Host $out
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# SIG # End signature block
|
XiaomingY/omni-ies-viewer/tools/packman/bootstrap/install_package.py | # 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.
import logging
import zipfile
import tempfile
import sys
import shutil
__author__ = "hfannar"
logging.basicConfig(level=logging.WARNING, format="%(message)s")
logger = logging.getLogger("install_package")
class TemporaryDirectory:
def __init__(self):
self.path = None
def __enter__(self):
self.path = tempfile.mkdtemp()
return self.path
def __exit__(self, type, value, traceback):
# Remove temporary data created
shutil.rmtree(self.path)
def install_package(package_src_path, package_dst_path):
with zipfile.ZipFile(
package_src_path, allowZip64=True
) as zip_file, TemporaryDirectory() as temp_dir:
zip_file.extractall(temp_dir)
# Recursively copy (temp_dir will be automatically cleaned up on exit)
try:
# Recursive copy is needed because both package name and version folder could be missing in
# target directory:
shutil.copytree(temp_dir, package_dst_path)
except OSError as exc:
logger.warning(
"Directory %s already present, packaged installation aborted" % package_dst_path
)
else:
logger.info("Package successfully installed to %s" % package_dst_path)
install_package(sys.argv[1], sys.argv[2])
|
XiaomingY/omni-ies-viewer/exts/IESViewer/IESViewer/extension.py | import omni.ext
import omni.ui as ui
from omni.kit.viewport.utility import get_active_viewport_window
from .viewport_scene import ViewportSceneInfo
# Any class derived from `omni.ext.IExt` in top level module (defined in `python.modules` of `extension.toml`) will be
# instantiated when extension gets enabled and `on_startup(ext_id)` will be called. Later when extension gets disabled
# on_shutdown() is called.
class AimingToolExtension(omni.ext.IExt):
# ext_id is current extension id. It can be used with extension manager to query additional information, like where
# this extension is located on filesystem.
def __init__(self) -> None:
super().__init__()
self.viewport_scene = None
def on_startup(self, ext_id):
viewport_window = get_active_viewport_window()
self.viewport_scene = ViewportSceneInfo(viewport_window, ext_id)
def on_shutdown(self):
if self.viewport_scene:
self.viewport_scene.destroy()
self.viewport_scene = None
|
XiaomingY/omni-ies-viewer/exts/IESViewer/IESViewer/viewport_scene.py | from omni.ui import scene as sc
import omni.ui as ui
from .object_info_manipulator import ObjInfoManipulator
from .object_info_model import ObjInfoModel
class ViewportSceneInfo():
"""The Object Info Manipulator, placed into a Viewport"""
def __init__(self, viewport_window, ext_id) -> None:
self.scene_view = None
self.viewport_window = viewport_window
# NEW: Create a unique frame for our SceneView
with self.viewport_window.get_frame(ext_id):
# Create a default SceneView (it has a default camera-model)
self.scene_view = sc.SceneView()
# Add the manipulator into the SceneView's scene
with self.scene_view.scene:
ObjInfoManipulator(model=ObjInfoModel())
# Register the SceneView with the Viewport to get projection and view updates
self.viewport_window.viewport_api.add_scene_view(self.scene_view)
def __del__(self):
self.destroy()
def destroy(self):
if self.scene_view:
# Empty the SceneView of any elements it may have
self.scene_view.scene.clear()
# un-register the SceneView from Viewport updates
if self.viewport_window:
self.viewport_window.viewport_api.remove_scene_view(self.scene_view)
# Remove our references to these objects
self.viewport_window = None
self.scene_view = None |
XiaomingY/omni-ies-viewer/exts/IESViewer/IESViewer/__init__.py | from .extension import *
|
XiaomingY/omni-ies-viewer/exts/IESViewer/IESViewer/object_info_model.py | from pxr import Tf
from pxr import Gf
from pxr import Usd
from pxr import UsdGeom
from pxr import UsdShade
from pxr import UsdLux
from .IESReader import IESLight
import os.path
import numpy as np
from omni.ui import scene as sc
import omni.usd
def _flatten_matrix(matrix: Gf.Matrix4d):
m0, m1, m2, m3 = matrix[0], matrix[1], matrix[2], matrix[3]
return [
m0[0],
m0[1],
m0[2],
m0[3],
m1[0],
m1[1],
m1[2],
m1[3],
m2[0],
m2[1],
m2[2],
m2[3],
m3[0],
m3[1],
m3[2],
m3[3],
]
class ObjInfoModel(sc.AbstractManipulatorModel):
"""
The model tracks the position and info of the selected object.
"""
class MatrixItem(sc.AbstractManipulatorItem):
"""
The Model Item represents the tranformation. It doesn't contain anything
because we take the tranformation directly from USD when requesting.
"""
identity = [1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1]
def __init__(self):
super().__init__()
self.value = self.identity.copy()
class PositionItem(sc.AbstractManipulatorItem):
"""
The Model Item represents the position. It doesn't contain anything
because we take the position directly from USD when requesting.
"""
def __init__(self) -> None:
super().__init__()
self.value = [0, 0, 0]
class PositionList(sc.AbstractManipulatorItem):
"""
The Model Item represents the position. It doesn't contain anything
because we take the position directly from USD when requesting.
"""
def __init__(self) -> None:
super().__init__()
self.value = [[0,0,0]]
def __init__(self) -> None:
super().__init__()
# Current selected prim list
self.prim = []
self.current_path = []
self.material_name = []
self.stage_listener = None
self.horizontal_step = 15
self.vertical_step = 15
self.IESPoints = [ObjInfoModel.PositionList()]
self.transformation = [ObjInfoModel.MatrixItem()]
# Save the UsdContext name (we currently only work with a single Context)
self.usd_context = self._get_context()
# Track selection changes
self.events = self.usd_context.get_stage_event_stream()
self.stage_event_delegate = self.events.create_subscription_to_pop(
self.on_stage_event, name="Object Info Selection Update"
)
@property
def _time(self):
return Usd.TimeCode.Default()
def _get_context(self) -> Usd.Stage:
# Get the UsdContext we are attached to
return omni.usd.get_context()
#Update when light are transformed or modified
def notice_changed(self, notice: Usd.Notice, stage: Usd.Stage) -> None:
"""Called by Tf.Notice. Used when the current selected object changes in some way."""
light_path = self.current_path
if not light_path:
return
for p in notice.GetChangedInfoOnlyPaths():
prim_path = p.GetPrimPath().pathString
#check if prim_path not in selected list but parent of prim_path is in selected list
if prim_path not in light_path:
if (True in (light_path_item.startswith(prim_path) for light_path_item in light_path)):
if UsdGeom.Xformable.IsTransformationAffectedByAttrNamed(p.name):
self._item_changed(self.transformation[0])
continue
if UsdGeom.Xformable.IsTransformationAffectedByAttrNamed(p.name):
self._item_changed(self.transformation[0])
#if light property changed such as ies file changed, update profile
self._item_changed(self.transformation[0])
def _get_transform(self, time: Usd.TimeCode):
"""Returns world transform of currently selected object"""
if not self.prim:
return [ObjInfoModel.MatrixItem.identity.copy()]
# Compute matrix from world-transform in USD
#get transform matrix for each selected light
world_xform_list = [UsdGeom.BasisCurves(prim).ComputeLocalToWorldTransform(time) for prim in self.prim]
# Flatten Gf.Matrix4d to list
return [_flatten_matrix(world_xform) for world_xform in world_xform_list]
def get_item(self, identifier):
if identifier == "IESPoints":
return self.IESPoints
if identifier == "transformation":
return self.transformation
def get_as_floats(self, item):
if item == self.transformation:
return self._get_transform(self._time)
if item == self.IESPoints:
return self.get_points(self._time)
return []
#get ies points for each selected light
def get_points(self, time: Usd.TimeCode):
if not self.prim:
return [[0,0,0]]
allIESPoint = []
for prim in self.prim:
iesFile = prim.GetAttribute('shaping:ies:file').Get()
allIESPoint.append(IESLight(str(iesFile).replace('@', '')).points)
return allIESPoint
def on_stage_event(self, event):
"""Called by stage_event_stream. We only care about selection changes."""
if event.type == int(omni.usd.StageEventType.SELECTION_CHANGED):
self.current_path = []
self.prim = []
primList = []
primPathList = []
usd_context = self._get_context()
stage = usd_context.get_stage()
if not stage:
return
prim_paths = usd_context.get_selection().get_selected_prim_paths()
if not prim_paths:
# This turns off the manipulator when everything is deselected
self._item_changed(self.transformation[0])
return
#select light with ies file applied.
lightCount = 0
for i in prim_paths:
prim = stage.GetPrimAtPath(i)
if(UsdLux.Light(prim) and prim.GetAttribute('shaping:ies:file').Get() and not (prim.IsA(UsdLux.DistantLight))):
primList.append(prim)
primPathList.append(i)
lightCount = lightCount +1
if(lightCount==0):
if self.stage_listener:
self.stage_listener.Revoke()
self.stage_listener = None
self._item_changed(self.transformation[0])
return
if not self.stage_listener:
# This handles camera movement
self.stage_listener = Tf.Notice.Register(Usd.Notice.ObjectsChanged, self.notice_changed, stage)
self.prim = primList
self.current_path = primPathList
# Position is changed because new selected object has a different position
self._item_changed(self.transformation[0])
def destroy(self):
self.events = None
self.stage_event_delegate.unsubscribe() |
XiaomingY/omni-ies-viewer/exts/IESViewer/IESViewer/object_info_manipulator.py | from __future__ import division
from omni.ui import scene as sc
from omni.ui import color as cl
import omni.ui as ui
import numpy as np
class ObjInfoManipulator(sc.Manipulator):
"""Manipulator that displays the object path and material assignment
with a leader line to the top of the object's bounding box.
"""
def on_build(self):
"""Called when the model is changed and rebuilds the whole manipulator"""
if not self.model:
return
IESPoints = self.model.get_as_floats(self.model.IESPoints)
numHorizontal = int((360/self.model.horizontal_step)+1)
primCount = 0
for transformation in self.model.get_as_floats(self.model.transformation):
self.__root_xf = sc.Transform(transformation)
with self.__root_xf:
self._x_xform = sc.Transform()
with self._x_xform:
self._shape_xform = sc.Transform()
IESPoint = IESPoints[primCount]
numVertical = int(len(IESPoint)/numHorizontal)
for index in range(0,numHorizontal):
points = IESPoint[index*numVertical:(index+1)*numVertical]
if(len(points)>0):
sc.Curve(points.tolist(), thicknesses=[1.0], colors=[cl.yellow],tessellation=9)
primCount = primCount+1
def on_model_updated(self, item):
# Regenerate the manipulator
self.invalidate() |
XiaomingY/omni-ies-viewer/exts/IESViewer/IESViewer/IESReader.py | import numpy as np
import re
import math
#import matplotlib.pyplot as plt
from scipy import interpolate
import os.path
#from mpl_toolkits.mplot3d.axes3d import Axes3D
import omni.ext
import omni.ui as ui
omni.kit.pipapi.install("astropy")
from astropy.coordinates import spherical_to_cartesian
DEFAULT_HORIZONTAL_STEP = 15
DEFAULT_VERTICAL_STEP = 15
IES_MaxLength = 80
class IESLight():
def __init__(self,iesFile):
# Current selected prim
if iesFile and os.path.exists(iesFile):
self.file = iesFile
else:
return
self.width = 0
self.length = 0
self.radius = 0
all_values = self.readIESfile(self.file)
verticalAngles,horizontalAngles,intensities,self.width,self.length,self.radius = self.getIESproperties(all_values)
horizontalAnglesMirrored, intensityMirrored = self.mirrorAngles(horizontalAngles,intensities)
horizontalResampled = np.arange(0, 361, DEFAULT_HORIZONTAL_STEP)
verticalResampled = np.arange(0, verticalAngles[-1]+1, DEFAULT_VERTICAL_STEP)
resampledIntensity = self.interpolateIESValues(np.array(horizontalAnglesMirrored),np.array(verticalAngles),horizontalResampled,verticalResampled,intensityMirrored)
self.points = self.IESCoord2XYZ(horizontalResampled,verticalResampled,resampledIntensity,IES_MaxLength)
#read ies files and return vertical angles, horizontal angles, intensities, width, length, radius.
#based on the symmetry, horizontal angles and resampled
def readIESfile(self, fileName):
f=open(fileName, encoding = "ISO-8859-1")#need rb to read \r\n correctly. Otherwise universial newline function ignores carriage return.
startReading = 0
line = f.readline()
allValues = ""
while line:
if( not(line.strip())):
break
else:
#after this line, there are actual useful values
if("TILT=NONE" in line.strip()):
line = f.readline()
startReading = 1
#read all number to one string
if(startReading):
allValues = allValues+line
line = f.readline()
f.close()
#one array with all values
dimentions = re.split('\s+',allValues.strip())
return dimentions
def getIESproperties(self, allValues):
#return
FEET2METER = 0.3048
verticalAngles = []
horizontalAngles = []
width = 0
length = 0
radius = 0
intensityMultiplier = 1
numberVerticalAngle = 0
numberHorizontalAngle = 0
unit = 1 #1 for feet, 2 for meter
#number of vertical angles and horizontal angles measured
numberVerticalAngle = int(allValues[3])
numberHorizontalAngle = int(allValues[4])
#check if shape is rectangle or disk
if(float(allValues[7])<0):
radius = allValues[7]*-1
else:
width = allValues[7]
length = allValues[8]
#convert dimentions to meter if measured in feet
if(float(allValues[6])==1):
radius = radius*FEET2METER
width = width *FEET2METER
length = length * FEET2METER
#the actual vertical angles and horizontal angles in list
verticalAngles = list(map(float, allValues[13:13+numberVerticalAngle]))
horizontalAngles = list(map(float,allValues[13+numberVerticalAngle:13+numberVerticalAngle+numberHorizontalAngle]))
#read intensities and convert it to 2d array
intensities = np.array(allValues[13+numberVerticalAngle+numberHorizontalAngle:len(allValues)])
intensities = intensities.reshape(numberHorizontalAngle,numberVerticalAngle).astype(np.float16)
return verticalAngles,horizontalAngles,intensities,width,length,radius
#ies could have several symmetry:
#(1)only measured in one horizontal angle (0) which need to be repeated to all horizontal angle from 0 to 360
#(2)only measured in horizontal angles (0~90) which need to be mirrored twice to horizontal angle from 0 to 360
#(3)only measured in horizontal angles (0~180) which need to be mirrored to horizontal angle from 0 to 360
#(4)only measured in horizontal angles (0~360) which could be used directly
def mirrorAngles(self, horizontalAngles,intensities):
#make use of symmetry in the file and produce horizontal angles from 0~360
if(horizontalAngles[-1]==0):
horizontalAnglesMirrored = list(np.arange(0,361,DEFAULT_HORIZONTAL_STEP))
else:
horizontalAnglesMirrored = list(np.arange(0,361,horizontalAngles[-1]/(len(horizontalAngles)-1)))
#make use of symmetry in the file and copy intensitys for horizontal angles from 0~360
if(horizontalAngles[-1]==90):
#mirror results [90:180]
a = np.concatenate((intensities, np.flip(intensities, 0)[1:]), axis=0)
intensityMirrored = np.concatenate((a, np.flip(a, 0)[1:]), axis=0)
elif(horizontalAngles[-1]==180):
intensityMirrored = np.concatenate((intensities, np.flip(intensities, 0)[1:]), axis=0)
elif(horizontalAngles[-1]==0):
intensityMirrored = np.array(([intensities[0],]*len(np.arange(0,361,DEFAULT_HORIZONTAL_STEP))))
else:
#print("Symmetry 360")
intensityMirrored = intensities
return horizontalAnglesMirrored, intensityMirrored
def IESCoord2XYZ(self, horizontalAngles,verticalAngles,intensity,maxLength):
maxValue = np.amax(intensity)
if(maxValue>maxLength):
intensity = intensity*(maxLength/maxValue)
for index, horizontalAngle in enumerate(horizontalAngles):
if(index ==0):
#Omniverse and 3ds Max makes the light upside down, horizontal angle rotation direction need to be flipped.
points = np.array(spherical_to_cartesian(intensity[index].tolist(), [math.radians(90-x) for x in verticalAngles], [math.radians(-1*horizontalAngle)]*len(verticalAngles))).transpose()
else:
newPoints = np.array(spherical_to_cartesian(intensity[index], [math.radians(90-x) for x in verticalAngles], [math.radians(-1*horizontalAngle)]*len(verticalAngles))).transpose()
points = np.concatenate((points, newPoints), axis=0)
#Omniverse and 3ds Max makes the light upside down, so flip z.
points[:,2] *= -1
return points
def interpolateIESValues(self, originalHorizontalAngles, originalVerticalAngles, newHorizontalAngles,newVerticalAngles, intensity):
fun = interpolate.interp2d(originalVerticalAngles, originalHorizontalAngles, intensity, kind='linear') # kind could be {'linear', 'cubic', 'quintic'}
interpolatedIntensity = fun(newVerticalAngles,newHorizontalAngles)
return interpolatedIntensity |
XiaomingY/omni-ies-viewer/exts/IESViewer/config/extension.toml | [package]
# Semantic Versionning is used: https://semver.org/
version = "1.0.0"
authors = ["Xiaoming Yang"]
# The title and description fields are primarily for displaying extension info in UI
title = "IES Viewer For Display IES Light Profiles"
description="This extension displays IES profiles for selected light objects."
# Path (relative to the root) or content of readme markdown file for UI.
readme = "docs/README.md"
# URL of the extension source repository.
repository = "https://github.com/XiaomingY/omni-ies-viewer"
# One of categories for UI.
category = "Lighting"
# Keywords for the extension
keywords = ["Lighting", "IES"]
changelog = "docs/CHANGELOG.md"
preview_image = "data/preview.png"
icon = "data/icon.png"
# Use omni.ui to build simple UI
[dependencies]
"omni.ui.scene" = { }
"omni.usd" = { }
"omni.kit.viewport.utility" = { }
# Main python module this extension provides, it will be publicly available as "import AimingTool".
[[python.module]]
name = "IESViewer"
|
XiaomingY/omni-ies-viewer/exts/IESViewer/docs/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 to render.
This entension 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 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. Turn on IESView Extension
|
Ekozmaster/NvidiaOmniverseRTXRemixTools/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 $@
|
Ekozmaster/NvidiaOmniverseRTXRemixTools/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%
|
Ekozmaster/NvidiaOmniverseRTXRemixTools/README.md | # RTX Remix Tools [ekozerski.rtxremixtools]
Focusing on improving RTX Remix modding workflows, this extension is designed to speed up iteration when producing assets and mods by providing useful UI operations inside Omniverse apps like USD Composer/Create or Code.
It provides some options for the "Right click" context menu to setup ideal replacement assets, as well as some converting operations to ensure assets will be compatible with the Remix runtime.
It is primarily designed to operate on Remix captured scenes, so users can have instant feedbacks on what their mods are gonna look like in the game scenes and iterate faster.
## Available Tools
### Fix Meshes Geometry
<i>(Operation is performed on every mesh of a USD/USDA source file and can\'t be undone)</i>
Interpolation Mode
- RTX Remix runtime only supports meshes with "vertex" interpolation mode, in which "points" "normals" and "uvs" arrays
must have the same length, but DCC tools usually export the mesh using "faceVarying" interpolation mode.
This operation reorganizes the geometry to be compatible with the runtime.
- See: "Interpolation of Geometric Primitive Variables" - https://openusd.org/dev/api/class_usd_geom_primvar.html
- This operation only applies for meshes inside the mods folder, not the captured ones.
UV Maps
- The runtime supports one single UV map per mesh, which should have one of a few known names, so this script finds many variations, picks one and renames to the standard "primvars:st", while also setting the appropriate type as "TextureCoordinate" (TexCoord2fArray / TexCoord2f[]). The other UVmaps are discarded.
Unused Primvars
- displayColor and displayOpacity are now removed from the mesh.
### Setup for Mesh Replacement
Exports the selected mesh in a selected path, already setting up the replacements and references to work in the runtime, so for every change the user only needs to:
- Open the exported mesh in it's DCC of choice, make the changes and export again (with the right settings, triangulating faces, no materials, etc.)
- Back in OV, refresh the reference to see the changes in the captured scene.
- Use the "Fix Meshes Geometry" again to make it Remix-compatible.
- Enjoy.
The original mesh is kept in case the user only wants to add more models. Make sure to delete it if the intention is to completely replace the original mesh.
### Add Model
If the user already has authored USD models, this option allows to select multiple models and add to the mesh_HASH prim.
### Add Material
This option allows to select a material .MDL file (AperturePBR_Opacity.mdl or AperturePBR_Translucent.mdl) to add a material prim to the mesh_HASH prim.
### Original Draw Call Preservation
Allows to set the "custom int preserveOriginalDrawCall" attribute to indicate whether the runtime should be forced to render the original mesh or not. Must be set to 1 when placing custom lights or else the original mesh disappears. PS: Remember to set this to 0 if you want to make a mesh replacement and remove the original mesh.
### Select Source Mesh
Quick way to select the originial source mesh_HASH prim in the scene when you have an instance prim selected.
<br>
## Things to Keep in mind
- In a capture scene, any changes made to the "inst_SOMEHASH_x" prims won't show up in the runtime, so every changes must be done in the "mesh_SOMEHASH" they're referencing. Whenever the user clicks a inst_ prim to perform an action like Fixing geometry or Add Model (Ex: Right clicking in the 3D viewport), this tool will try to find the referenced mesh_SOMEHASH and perform the operations in it instead.
- Having that in mind, always keep an eye in the "Layers" tab to check if you have done any changes to the "instances" path. Try to delete those changes as much as possible.
- The only material types that work in the runtime are described in the AperturePBR_Opacity.MDL and AperturePBR_Translucent.MDL, and every mesh must be triangulated. If you want to add a model you got from somewhere else like an asset store, make sure to convert the assets to work in the runtime.
- When placing lights in the scene, it is necesssary to set an int "preserveOriginalDrawCall" to "1" in order to keep rendering the original mesh. If another layer is setting this flag somewhere and you want to replace/remove the original mesh in your own layer, you will notice that the original mesh can't be removed without setting this flag back to "0". You can do that on your own layer, set it back to "0", but make sure your layer comes on top of the other one that sets it to true.
|
Ekozmaster/NvidiaOmniverseRTXRemixTools/tools/scripts/link_app.py | import argparse
import json
import os
import sys
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!")
|
Ekozmaster/NvidiaOmniverseRTXRemixTools/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 "$@"
|
Ekozmaster/NvidiaOmniverseRTXRemixTools/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 %*
|
Ekozmaster/NvidiaOmniverseRTXRemixTools/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
|
Ekozmaster/NvidiaOmniverseRTXRemixTools/tools/packman/config.packman.xml | <config remotes="cloudfront">
<remote2 name="cloudfront">
<transport actions="download" protocol="https" packageLocation="d4i3qtqj3r0z5.cloudfront.net/${name}@${version}" />
</remote2>
</config>
|
Ekozmaster/NvidiaOmniverseRTXRemixTools/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
# SIG # Begin signature block
# MIIaVwYJKoZIhvcNAQcCoIIaSDCCGkQCAQExDzANBglghkgBZQMEAgEFADB5Bgor
# BgEEAYI3AgEEoGswaTA0BgorBgEEAYI3AgEeMCYCAwEAAAQQH8w7YFlLCE63JNLG
# KX7zUQIBAAIBAAIBAAIBAAIBADAxMA0GCWCGSAFlAwQCAQUABCAK+Ewup1N0/mdf
# 1l4R58rxyumHgZvTmEhrYTb2Zf0zd6CCCiIwggTTMIIDu6ADAgECAhBi50XpIWUh
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# SIG # End signature block
|
Ekozmaster/NvidiaOmniverseRTXRemixTools/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
|
Ekozmaster/NvidiaOmniverseRTXRemixTools/tools/packman/bootstrap/fetch_file_from_packman_bootstrap.cmd | :: 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.
:: You need to specify <package-name> <target-path> as input to this command
@setlocal
@set PACKAGE_NAME=%1
@set TARGET_PATH=%2
@echo Fetching %PACKAGE_NAME% ...
@powershell -ExecutionPolicy ByPass -NoLogo -NoProfile -File "%~dp0download_file_from_url.ps1" ^
-source "http://bootstrap.packman.nvidia.com/%PACKAGE_NAME%" -output %TARGET_PATH%
:: A bug in powershell prevents the errorlevel code from being set when using the -File execution option
:: We must therefore do our own failure analysis, basically make sure the file exists and is larger than 0 bytes:
@if not exist %TARGET_PATH% goto ERROR_DOWNLOAD_FAILED
@if %~z2==0 goto ERROR_DOWNLOAD_FAILED
@endlocal
@exit /b 0
:ERROR_DOWNLOAD_FAILED
@echo Failed to download file from S3
@echo Most likely because endpoint cannot be reached or file %PACKAGE_NAME% doesn't exist
@endlocal
@exit /b 1 |
Ekozmaster/NvidiaOmniverseRTXRemixTools/tools/packman/bootstrap/download_file_from_url.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.
#>
param(
[Parameter(Mandatory=$true)][string]$source=$null,
[string]$output="out.exe"
)
$filename = $output
$triesLeft = 3
do
{
$triesLeft -= 1
try
{
Write-Host "Downloading from bootstrap.packman.nvidia.com ..."
$wc = New-Object net.webclient
$wc.Downloadfile($source, $fileName)
$triesLeft = 0
}
catch
{
Write-Host "Error downloading $source!"
Write-Host $_.Exception|format-list -force
}
} while ($triesLeft -gt 0)
|
Ekozmaster/NvidiaOmniverseRTXRemixTools/tools/packman/bootstrap/generate_temp_folder.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.
#>
param(
[Parameter(Mandatory=$true)][string]$parentPath=$null
)
[string] $name = [System.Guid]::NewGuid()
$out = Join-Path $parentPath $name
New-Item -ItemType Directory -Path ($out) | Out-Null
Write-Host $out
# SIG # Begin signature block
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# SIG # End signature block
|
Ekozmaster/NvidiaOmniverseRTXRemixTools/tools/packman/bootstrap/install_package.py | # 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.
import logging
import shutil
import sys
import tempfile
import zipfile
__author__ = "hfannar"
logging.basicConfig(level=logging.WARNING, format="%(message)s")
logger = logging.getLogger("install_package")
class TemporaryDirectory:
def __init__(self):
self.path = None
def __enter__(self):
self.path = tempfile.mkdtemp()
return self.path
def __exit__(self, type, value, traceback):
# Remove temporary data created
shutil.rmtree(self.path)
def install_package(package_src_path, package_dst_path):
with zipfile.ZipFile(package_src_path, allowZip64=True) as zip_file, TemporaryDirectory() as temp_dir:
zip_file.extractall(temp_dir)
# Recursively copy (temp_dir will be automatically cleaned up on exit)
try:
# Recursive copy is needed because both package name and version folder could be missing in
# target directory:
shutil.copytree(temp_dir, package_dst_path)
except OSError as exc:
logger.warning("Directory %s already present, packaged installation aborted" % package_dst_path)
else:
logger.info("Package successfully installed to %s" % package_dst_path)
install_package(sys.argv[1], sys.argv[2])
|
Ekozmaster/NvidiaOmniverseRTXRemixTools/exts/ekozerski.rtxremixtools/ekozerski/rtxremixtools/add_model.py | import os
from pathlib import Path
from typing import List
import omni
from omni.client import make_relative_url
from omni.kit.window.file_importer import get_file_importer
from omni.kit.window.file_exporter import get_file_exporter
import omni.usd as usd
from pxr import UsdGeom, Usd, Sdf
from ekozerski.rtxremixtools.utils import find_inst_hash_prim, find_source_mesh_hash_prim
from ekozerski.rtxremixtools.commons import log_info
from ekozerski.rtxremixtools import mesh_utils
class UserCache:
LAST_OPENED_MODEL = None
def open_export_dialog_for_captured_mesh(prim_path, mesh):
def setup_references_in_stage(current_stage, reference_file_location):
_, mesh_hash, __ = Usd.Prim.GetName(mesh.GetParent()).split('_')
xform_prim_path = f'/RootNode/meshes/mesh_{mesh_hash}/Xform_{mesh_hash}_0'
omni.kit.commands.execute('CreatePrim', prim_type='Xform', prim_path=xform_prim_path)
editing_layer = current_stage.GetEditTarget().GetLayer()
relative_file_path = make_relative_url(editing_layer.realPath, reference_file_location)
omni.kit.commands.execute('AddReference',
stage=current_stage,
prim_path=Sdf.Path(xform_prim_path),
reference=Sdf.Reference(relative_file_path)
)
selection = omni.usd.get_context().get_selection()
selection.clear_selected_prim_paths()
source_layer = mesh.GetPrimStack()[-1].layer
source_layer.Reload()
selection.set_selected_prim_paths([xform_prim_path], False)
def file_export_handler(filename: str, dirname: str, extension: str = "", selections: List[str] = []):
stage = Usd.Stage.CreateInMemory()
root_xform = UsdGeom.Xform.Define(stage, '/root').GetPrim()
stage.SetDefaultPrim(root_xform)
new_mesh = UsdGeom.Mesh.Define(stage, f'/root/{prim_path.rsplit("/", 1)[-1]}')
needed_attr_names = ['doubleSided', 'extent', 'faceVertexCounts', 'faceVertexIndices', 'normals', 'points', 'primvars:st']
[
new_mesh.GetPrim().CreateAttribute(attr.GetName(), attr.GetTypeName()).Set(attr.Get())
for attr in mesh.GetAttributes()
if attr.Get() and attr.GetName() in needed_attr_names
]
mesh_utils.convert_mesh_to_vertex_interpolation_mode(new_mesh)
ctx = usd.get_context()
current_stage = ctx.get_stage()
upAxis = UsdGeom.GetStageUpAxis(current_stage)
UsdGeom.SetStageUpAxis(stage, upAxis)
save_location = dirname + filename + extension
stage.Export(save_location)
setup_references_in_stage(current_stage, save_location)
log_info(f"> Exporting {prim_path} in '{save_location}'")
source_layer = mesh.GetPrimStack()[-1].layer
rtx_remix_path_parts = source_layer.realPath.split(os.path.join("rtx-remix"), 1)
if len(rtx_remix_path_parts) > 1:
rtx_remix_path = os.path.join(rtx_remix_path_parts[0], "rtx-remix", "mods", "gameReadyAssets")
else:
rtx_remix_path = source_layer.realPath
rtx_remix_path = os.path.join(rtx_remix_path, "CustomMesh")
file_exporter = get_file_exporter()
file_exporter.show_window(
title=f'Export "{prim_path}"',
export_button_label="Save",
export_handler=file_export_handler,
filename_url=rtx_remix_path,
)
def copy_original_mesh(prim_path, mesh, output_path):
stage = Usd.Stage.CreateInMemory()
root_xform = UsdGeom.Xform.Define(stage, '/root').GetPrim()
stage.SetDefaultPrim(root_xform)
new_mesh = UsdGeom.Mesh.Define(stage, f'/root/{prim_path.rsplit("/", 1)[-1]}')
needed_attr_names = ['doubleSided', 'extent', 'faceVertexCounts', 'faceVertexIndices', 'normals', 'points', 'primvars:st']
[
new_mesh.GetPrim().CreateAttribute(attr.GetName(), attr.GetTypeName()).Set(attr.Get())
for attr in mesh.GetAttributes()
if attr.Get() and attr.GetName() in needed_attr_names
]
mesh_utils.convert_mesh_to_vertex_interpolation_mode(new_mesh)
ctx = usd.get_context()
current_stage = ctx.get_stage()
upAxis = UsdGeom.GetStageUpAxis(current_stage)
UsdGeom.SetStageUpAxis(stage, upAxis)
stage.Export(output_path)
def setup_references_in_stage(mesh, current_stage, reference_file_location):
inst_hash_prim = find_inst_hash_prim(mesh)
_, mesh_hash, __ = Usd.Prim.GetName(inst_hash_prim).split('_')
export_prim_name = os.path.basename(reference_file_location).split('.', 1)[0]
xform_prim_path = f'/RootNode/meshes/mesh_{mesh_hash}/{export_prim_name}'
omni.kit.commands.execute('CreatePrim', prim_type='Xform', prim_path=xform_prim_path)
editing_layer = current_stage.GetEditTarget().GetLayer()
relative_file_path = make_relative_url(editing_layer.realPath, reference_file_location)
omni.kit.commands.execute('AddReference',
stage=current_stage,
prim_path=Sdf.Path(xform_prim_path),
reference=Sdf.Reference(relative_file_path)
)
source_layer = mesh.GetPrimStack()[-1].layer
source_layer.Reload()
selection = omni.usd.get_context().get_selection()
selection.clear_selected_prim_paths()
selection.set_selected_prim_paths([xform_prim_path], False)
def open_export_dialog_for_captured_mesh(prim_path, mesh):
def export_mesh(filename: str, dirname: str, extension: str = "", selections: List[str] = []):
file_location = dirname + filename + extension
copy_original_mesh(prim_path, mesh, file_location)
ctx = usd.get_context()
current_stage = ctx.get_stage()
setup_references_in_stage(mesh, current_stage, file_location)
source_layer = mesh.GetPrimStack()[-1].layer
rtx_remix_path_parts = source_layer.realPath.split(os.path.join("rtx-remix"), 1)
rtx_remix_path = source_layer.realPath
if len(rtx_remix_path_parts) > 1:
rtx_remix_path = os.path.join(rtx_remix_path_parts[0], "rtx-remix", "mods", "gameReadyAssets")
rtx_remix_path = os.path.join(rtx_remix_path, "CustomMesh")
file_exporter = get_file_exporter()
file_exporter.show_window(
title=f'Export "{prim_path}"',
export_button_label="Save",
export_handler=export_mesh,
filename_url=rtx_remix_path,
)
def open_import_dialog_for_add_models(prim_path):
def import_mesh(filename: str, dirname: str, selections: List[str] = []):
# TODO: Loop through all selections and add them all to the mesh_HASH with their respective xforms correctly named without collisions.
mesh_path = mesh.GetPath().pathString
new_selection = list()
counter = 0
for reference_file in selections:
xform_name = Path(reference_file).stem
new_mesh_path = mesh_path + f'/{xform_name}_{counter}'
while current_stage.GetPrimAtPath(new_mesh_path).IsValid():
counter += 1
new_mesh_path = mesh_path + f'/{xform_name}_{counter}'
omni.kit.commands.execute('CreatePrim', prim_type='Xform', prim_path=new_mesh_path)
editing_layer = current_stage.GetEditTarget().GetLayer()
relative_file_path = make_relative_url(editing_layer.realPath, reference_file)
omni.kit.commands.execute('AddReference',
stage=current_stage,
prim_path=Sdf.Path(new_mesh_path),
reference=Sdf.Reference(relative_file_path)
)
new_selection.append(new_mesh_path)
UserCache.LAST_OPENED_MODEL = os.path.dirname(reference_file)
counter += 1
source_layer = mesh.GetPrimStack()[-1].layer
source_layer.Reload()
selection = omni.usd.get_context().get_selection()
selection.clear_selected_prim_paths()
selection.set_selected_prim_paths(new_selection, False)
ctx = usd.get_context()
current_stage = ctx.get_stage()
inst_prim = current_stage.GetPrimAtPath(prim_path)
mesh = find_source_mesh_hash_prim(current_stage, inst_prim)
source_layer = mesh.GetPrimStack()[-1].layer
filename_url = UserCache.LAST_OPENED_MODEL if UserCache.LAST_OPENED_MODEL is not None else source_layer.realPath
file_importer = get_file_importer()
file_importer.show_window(
title=f'Import Models',
import_button_label="Import",
import_handler=import_mesh,
filename_url=filename_url,
)
def open_add_model_dialog():
for path in usd.get_context().get_selection().get_selected_prim_paths():
open_import_dialog_for_add_models(path)
def open_mesh_replacement_setup_dialog():
for path, mesh in mesh_utils.get_selected_mesh_prims().items():
if mesh_utils.is_a_captured_mesh(mesh):
open_export_dialog_for_captured_mesh(path, mesh)
|
Ekozmaster/NvidiaOmniverseRTXRemixTools/exts/ekozerski.rtxremixtools/ekozerski/rtxremixtools/commons.py | import carb
def log_info(msg: str):
carb.log_info(f"[RTX Remix Tool] {msg}")
def log_warn(msg: str):
carb.log_warn(f"[RTX Remix Tool] {msg}")
def log_error(msg: str):
carb.log_error(f"[RTX Remix Tool] {msg}")
|
Ekozmaster/NvidiaOmniverseRTXRemixTools/exts/ekozerski.rtxremixtools/ekozerski/rtxremixtools/extension.py | import omni.ext
import omni.ui as ui
from omni.kit import context_menu
from omni.kit.hotkeys.core import get_hotkey_registry
from omni.kit.actions.core import get_action_registry
from . import commons
from .rtx_context_menu import build_rtx_remix_menu
# Any class derived from `omni.ext.IExt` in top level module (defined in `python.modules` of `extension.toml`) will be
# instantiated when extension gets enabled and `on_startup(ext_id)` will be called. Later when extension gets disabled
# on_shutdown() is called.
class RtxRemixTools(omni.ext.IExt):
def on_startup(self, ext_id):
self.ext_id = ext_id
commons.log_info(f"Starting Up")
menu = {"name": "RTX Remix", "populate_fn": build_rtx_remix_menu}
self._context_menu_subscription = context_menu.add_menu(menu, "MENU", "")
self.hotkey_registry = get_hotkey_registry()
register_actions(self.ext_id)
self.select_source_mesh_hotkey = self.hotkey_registry.register_hotkey(
self.ext_id,
"SHIFT + F",
self.ext_id,
"select_source_mesh",
filter=None,
)
def on_shutdown(self):
commons.log_info(f"Shutting Down")
# remove event
self._context_menu_subscription.release()
self.hotkey_registry.deregister_hotkey(
self.select_source_mesh_hotkey,
)
deregister_actions(self.ext_id)
def register_actions(extension_id):
from . import select_source_mesh
action_registry = get_action_registry()
actions_tag = "RTX Remix Tools Actions"
action_registry.register_action(
extension_id,
"select_source_mesh",
select_source_mesh.select_source_meshes,
display_name="Select Source Mesh",
description="Selects the corresponding mesh_HASH the prim is related to.",
tag=actions_tag,
)
def deregister_actions(extension_id):
action_registry = get_action_registry()
action_registry.deregister_all_actions_for_extension(extension_id)
|
Ekozmaster/NvidiaOmniverseRTXRemixTools/exts/ekozerski.rtxremixtools/ekozerski/rtxremixtools/__init__.py | from .extension import *
|
Ekozmaster/NvidiaOmniverseRTXRemixTools/exts/ekozerski.rtxremixtools/ekozerski/rtxremixtools/mesh_utils.py | from collections import OrderedDict
import os
from pxr import UsdGeom, Usd, Sdf
import omni.usd as usd
from ekozerski.rtxremixtools.commons import log_error
def get_selected_mesh_prims():
ctx = usd.get_context()
current_stage = ctx.get_stage()
selection = ctx.get_selection().get_selected_prim_paths()
selected_prims = {
path: current_stage.GetPrimAtPath(path)
for path in selection
}
meshes = {
prim_path: prim
for prim_path, prim in selected_prims.items()
if UsdGeom.Mesh(prim)
}
return meshes
def convert_mesh_to_vertex_interpolation_mode(mesh):
"""
This method attemps to convert Remix meshes' interpolation mode from constant or faceVarying to vertex.
If there is any faceVarying attribute, it means the data arrays (points, uvs, normals...) will have different
lengths, so this script will copy data around using the faceVertexIndices array to ensure they all end up with the
same length.
"""
# TODO: Study interpolation modes in depth to implement a decent conversion script.
prim = mesh.GetPrim()
primvar_api = UsdGeom.PrimvarsAPI(prim)
primvars = {var for var in primvar_api.GetPrimvars()}
face_varying_primvars = [v for v in primvars if v.GetInterpolation() == UsdGeom.Tokens.faceVarying]
if face_varying_primvars or mesh.GetNormalsInterpolation() == UsdGeom.Tokens.faceVarying:
non_face_varying_primvars = list(primvars.difference(face_varying_primvars))
non_face_varying_primvars = [var for var in non_face_varying_primvars if var.GetInterpolation() != 'uniform']
indices = prim.GetAttribute("faceVertexIndices")
# Settings points separately since it doesn't have a "SetInterpolation" like primvars.
points = prim.GetAttribute("points")
points_arr = points.Get()
new_arr = [points_arr[i] for i in indices.Get()]
points.Set(new_arr)
for var in non_face_varying_primvars:
original_arr = var.Get()
if original_arr:
new_arr = [original_arr[i] for i in indices.Get()]
var.Set(new_arr)
indices.Set([i for i in range(len(indices.Get()))])
[var.SetInterpolation(UsdGeom.Tokens.vertex) for var in primvars]
mesh.SetNormalsInterpolation(UsdGeom.Tokens.vertex)
def convert_uv_primvars_to_st(mesh):
# https://github.com/NVIDIAGameWorks/dxvk-remix/blob/ebb0ecfd638d6a32ab5f10708b5b07bc763cf79b/src/dxvk/rtx_render/rtx_mod_usd.cpp#L696
# https://github.com/Kim2091/RTXRemixTools/blob/8ae25224ef8d1d284f3e208f671b2ce6a35b82af/RemixMeshConvert/For%20USD%20Composer/RemixMeshConvert_OV.py#L4
known_uv_names = [
'primvars:st',
'primvars:uv',
'primvars:st0',
'primvars:st1',
'primvars:st2',
'primvars:UVMap',
'primvars:UVChannel_1',
'primvars:map1',
]
# Preserving the order of found primvars to use the first one, in case a primvars:st can't be found.
primvar_api = UsdGeom.PrimvarsAPI(mesh)
uv_primvars = OrderedDict(
(primvar.GetName(), primvar)
for primvar in primvar_api.GetPrimvars()
if primvar.GetTypeName().role == 'TextureCoordinate'
or primvar.GetName() in known_uv_names
)
if not uv_primvars:
return
# Picking only one UV and blowing up everything else as the runtime only reads the first anyway.
considered_uv = uv_primvars.get('primvars:st') or next(iter(uv_primvars.values()))
uv_data = considered_uv.Get()
[primvar_api.RemovePrimvar(uv_name) for uv_name in uv_primvars.keys()]
# Recreating the primvar with appropriate name, type and role
new_uv_primvar = primvar_api.CreatePrimvar('primvars:st', Sdf.ValueTypeNames.TexCoord2fArray, UsdGeom.Tokens.vertex)
new_uv_primvar.Set(uv_data)
def remove_unused_primvars(mesh):
unused_primvar_names = [
'primvars:displayColor',
'primvars:displayOpacity',
]
primvar_api = UsdGeom.PrimvarsAPI(mesh)
[primvar_api.RemovePrimvar(uv_name) for uv_name in unused_primvar_names]
def fix_meshes_in_file(usd_file_path):
stage = Usd.Stage.Open(usd_file_path)
mesh_prims = [prim for prim in stage.TraverseAll() if UsdGeom.Mesh(prim)]
for prim in mesh_prims:
faceVertices = prim.GetAttribute("faceVertexCounts").Get()
if not faceVertices or not all({x == 3 for x in faceVertices}):
log_error(f"Mesh {prim.GetPath()} in '{usd_file_path}' hasn't been triangulated and this tools doesn't do that for you yet :(")
continue
convert_mesh_to_vertex_interpolation_mode(UsdGeom.Mesh(prim))
convert_uv_primvars_to_st(UsdGeom.Mesh(prim))
remove_unused_primvars(UsdGeom.Mesh(prim))
stage.Save()
def is_a_captured_mesh(mesh):
"""
Returns True if the Mesh's defining USD file is located in the captures folder.
"""
return os.path.normpath("captures/meshes") in os.path.normpath(mesh.GetPrimStack()[-1].layer.realPath)
def fix_meshes_geometry():
meshes = {k: v for k,v in get_selected_mesh_prims().items() if not is_a_captured_mesh(v)}
for path, mesh in meshes.items():
source_layer = mesh.GetPrimStack()[-1].layer
fix_meshes_in_file(source_layer.realPath)
source_layer.Reload()
|
Ekozmaster/NvidiaOmniverseRTXRemixTools/exts/ekozerski.rtxremixtools/ekozerski/rtxremixtools/add_material.py | import os
from typing import List
from omni import usd, kit
from omni.kit.window.file_importer import get_file_importer
from omni.client import make_relative_url
from ekozerski.rtxremixtools.utils import find_source_mesh_hash_prim
def open_add_material_dialog_for_prim(mesh_hash, ctx, current_stage):
def create_material_from_mdl_file(filename: str, dirname: str, selections: List[str] = []):
if not filename.endswith('mdl'):
raise ValueError(f"The selected file '{filename}' doesn't have a mdl extension.")
mesh_hash_path = mesh_hash.GetPath().pathString
counter = 0
material_name = os.path.basename(filename).replace('.mdl', '')
new_material_path = mesh_hash_path + f'/{material_name}_{counter}'
while current_stage.GetPrimAtPath(new_material_path).IsValid():
counter += 1
new_material_path = mesh_hash_path + f'/{material_name}_{counter}'
# TODO: Get material name by inspecting the MDL file rather than guessing from it's name, so users can
# rename it at will.
mtl_name = 'AperturePBR_Opacity' if 'Opacity' in filename else 'AperturePBR_Translucent'
editing_layer = current_stage.GetEditTarget().GetLayer()
relative_file_path = make_relative_url(editing_layer.realPath, os.path.join(dirname, filename))
success, _ = kit.commands.execute('CreateMdlMaterialPrimCommand',
mtl_url=relative_file_path,
mtl_name=mtl_name,
mtl_path=new_material_path,
select_new_prim=True,
)
def filter_handler(filename: str, _, extension_option):
if extension_option == '.mdl':
return filename.lower().endswith('.mdl')
return True
file_importer = get_file_importer()
file_importer.show_window(
title=f'Select MDL File',
import_button_label="Select",
import_handler=create_material_from_mdl_file,
file_extension_types=[(".mdl", "Opacity or Translucent MDL file")],
file_filter_handler=filter_handler,
)
def open_add_material_dialog():
ctx = usd.get_context()
current_stage = ctx.get_stage()
selection = ctx.get_selection().get_selected_prim_paths()
selected_prims = {
path: current_stage.GetPrimAtPath(path)
for path in selection
}
source_meshes = [find_source_mesh_hash_prim(current_stage, prim) for prim in selected_prims.values()]
source_meshes = set([mesh for mesh in source_meshes if mesh is not None])
for mesh_hash in list(source_meshes):
open_add_material_dialog_for_prim(mesh_hash, ctx, current_stage)
|
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