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renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/docs/simulation.md | ## Simulation
This section contains information on the most up-to-date simulation solutions.
### Quickstart PyBullet
I have deployed a 12-point Bezier Curve gait to make Spot walk:
This example can be found in this [repository](https://github.com/moribots/spot_mini_mini). You can optionally use a Game Pad:
```
pip3 install numpy
pip3 install pybullet
pip3 install gym
cd spot_bullet/src
./env_tester.py
```
**Optional Arguments**
```
-h, --help show this help message and exit
-hf, --HeightField Use HeightField
-r, --DebugRack Put Spot on an Elevated Rack
-p, --DebugPath Draw Spot's Foot Path
-ay, --AutoYaw Automatically Adjust Spot's Yaw
```
If you decide to use a controller, you can achieve some fairly fluid motions!
Changing Step Length:
Yaw in Place:
### Kinematics
In this [repository](https://github.com/moribots/spot_mini_mini), there is a working IK solver for both Spot's legs and its body:
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/docs/make.bat | @ECHO OFF
pushd %~dp0
REM Command file for Sphinx documentation
if "%SPHINXBUILD%" == "" (
set SPHINXBUILD=sphinx-build
)
set SOURCEDIR=.
set BUILDDIR=_build
if "%1" == "" goto help
%SPHINXBUILD% >NUL 2>NUL
if errorlevel 9009 (
echo.
echo.The 'sphinx-build' command was not found. Make sure you have Sphinx
echo.installed, then set the SPHINXBUILD environment variable to point
echo.to the full path of the 'sphinx-build' executable. Alternatively you
echo.may add the Sphinx directory to PATH.
echo.
echo.If you don't have Sphinx installed, grab it from
echo.http://sphinx-doc.org/
exit /b 1
)
%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS%
goto end
:help
%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS%
:end
popd
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/docs/requirements.txt | pybullet==2.6.4
numpy==1.18.4
gym==0.17.2 |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/docs/index.rst | Welcome to Spot Mini Mini's documentation!
==========================================
Here is the documentation for the Spot Mini Mini Environment! Navigate to `SpotMicro <https://spot-mini-mini.readthedocs.io/en/latest/source/spotmicro.html>`_ for an overview of all my classes and methods, or visit `The Spot Micro AI Website <https://spotmicroai.readthedocs.io/en/latest/>`_ for a quick tutorial!
.. image:: ../spot_bullet/media/spot_rough_ARS.gif
:width: 500px
:align: center
.. toctree::
:maxdepth: 2
:caption: Contents:
source/modules
simulation
rl
Indices and tables
==================
* :ref:`genindex`
* :ref:`modindex`
* :ref:`search`
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/docs/conf.py | # -*- coding: utf-8 -*-
#
# Configuration file for the Sphinx documentation builder.
#
# This file does only contain a selection of the most common options. For a
# full list see the documentation:
# http://www.sphinx-doc.org/en/master/config
# -- Path setup --------------------------------------------------------------
# If extensions (or modules to document with autodoc) are in another directory,
# add these directories to sys.path here. If the directory is relative to the
# documentation root, use os.path.abspath to make it absolute, like shown here.
#
import os
import sys
from recommonmark.parser import CommonMarkParser
sys.path.insert(0, os.path.abspath('..'))
source_parsers = {
'.md': CommonMarkParser,
}
# -- Project information -----------------------------------------------------
project = u'spot_mini_mini'
copyright = u'2020, Maurice Rahme'
author = u'Maurice Rahme'
# The short X.Y version
version = u''
# The full version, including alpha/beta/rc tags
release = u'1.0.0'
# -- General configuration ---------------------------------------------------
# If your documentation needs a minimal Sphinx version, state it here.
#
# needs_sphinx = '1.0'
# Add any Sphinx extension module names here, as strings. They can be
# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
# ones.
extensions = [
'sphinx.ext.autodoc',
'sphinx.ext.coverage',
'sphinx.ext.mathjax',
'sphinx.ext.viewcode',
]
# Add any paths that contain templates here, relative to this directory.
templates_path = ['_templates']
# The suffix(es) of source filenames.
# You can specify multiple suffix as a list of string:
#
# source_suffix = ['.rst', '.md']
source_suffix = '.rst'
# The master toctree document.
master_doc = 'index'
# The language for content autogenerated by Sphinx. Refer to documentation
# for a list of supported languages.
#
# This is also used if you do content translation via gettext catalogs.
# Usually you set "language" from the command line for these cases.
language = None
# List of patterns, relative to source directory, that match files and
# directories to ignore when looking for source files.
# This pattern also affects html_static_path and html_extra_path.
exclude_patterns = [u'_build', 'Thumbs.db', '.DS_Store']
# The name of the Pygments (syntax highlighting) style to use.
pygments_style = None
# -- Options for HTML output -------------------------------------------------
# The theme to use for HTML and HTML Help pages. See the documentation for
# a list of builtin themes.
#
html_theme = 'sphinx_rtd_theme'
# Theme options are theme-specific and customize the look and feel of a theme
# further. For a list of options available for each theme, see the
# documentation.
#
# html_theme_options = {}
# Add any paths that contain custom static files (such as style sheets) here,
# relative to this directory. They are copied after the builtin static files,
# so a file named "default.css" will overwrite the builtin "default.css".
html_static_path = ['_static']
# Custom sidebar templates, must be a dictionary that maps document names
# to template names.
#
# The default sidebars (for documents that don't match any pattern) are
# defined by theme itself. Builtin themes are using these templates by
# default: ``['localtoc.html', 'relations.html', 'sourcelink.html',
# 'searchbox.html']``.
#
# html_sidebars = {}
# -- Options for HTMLHelp output ---------------------------------------------
# Output file base name for HTML help builder.
htmlhelp_basename = 'spot_mini_minidoc'
# -- Options for LaTeX output ------------------------------------------------
latex_elements = {
# The paper size ('letterpaper' or 'a4paper').
#
# 'papersize': 'letterpaper',
# The font size ('10pt', '11pt' or '12pt').
#
# 'pointsize': '10pt',
# Additional stuff for the LaTeX preamble.
#
# 'preamble': '',
# Latex figure (float) alignment
#
# 'figure_align': 'htbp',
}
# Grouping the document tree into LaTeX files. List of tuples
# (source start file, target name, title,
# author, documentclass [howto, manual, or own class]).
latex_documents = [
(master_doc, 'spot_mini_mini.tex', u'spot\\_mini\\_mini Documentation',
u'Maurice Rahme', 'manual'),
]
# -- Options for manual page output ------------------------------------------
# One entry per manual page. List of tuples
# (source start file, name, description, authors, manual section).
man_pages = [
(master_doc, 'spot_mini_mini', u'spot_mini_mini Documentation',
[author], 1)
]
# -- Options for Texinfo output ----------------------------------------------
# Grouping the document tree into Texinfo files. List of tuples
# (source start file, target name, title, author,
# dir menu entry, description, category)
texinfo_documents = [
(master_doc, 'spot_mini_mini', u'spot_mini_mini Documentation',
author, 'spot_mini_mini', 'One line description of project.',
'Miscellaneous'),
]
# -- Options for Epub output -------------------------------------------------
# Bibliographic Dublin Core info.
epub_title = project
# The unique identifier of the text. This can be a ISBN number
# or the project homepage.
#
# epub_identifier = ''
# A unique identification for the text.
#
# epub_uid = ''
# A list of files that should not be packed into the epub file.
epub_exclude_files = ['search.html']
# -- Extension configuration -------------------------------------------------
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/docs/source/spotmicro.util.rst | spotmicro.util package
======================
Subpackages
-----------
.. toctree::
spotmicro.util.pybullet_data
Submodules
----------
spotmicro.util.action\_mapper module
------------------------------------
.. automodule:: spotmicro.util.action_mapper
:members:
:undoc-members:
:show-inheritance:
spotmicro.util.bullet\_client module
------------------------------------
.. automodule:: spotmicro.util.bullet_client
:members:
:undoc-members:
:show-inheritance:
spotmicro.util.gui module
-------------------------
.. automodule:: spotmicro.util.gui
:members:
:undoc-members:
:show-inheritance:
Module contents
---------------
.. automodule:: spotmicro.util
:members:
:undoc-members:
:show-inheritance:
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/docs/source/spotmicro.rst | spotmicro package
=================
Subpackages
-----------
.. toctree::
spotmicro.GaitGenerator
spotmicro.GymEnvs
spotmicro.Kinematics
spotmicro.OpenLoopSM
spotmicro.util
Submodules
----------
spotmicro.env\_randomizer\_base module
--------------------------------------
.. automodule:: spotmicro.env_randomizer_base
:members:
:undoc-members:
:show-inheritance:
spotmicro.heightfield module
----------------------------
.. automodule:: spotmicro.heightfield
:members:
:undoc-members:
:show-inheritance:
spotmicro.motor module
----------------------
.. automodule:: spotmicro.motor
:members:
:undoc-members:
:show-inheritance:
spotmicro.spot module
---------------------
.. automodule:: spotmicro.spot
:members:
:undoc-members:
:show-inheritance:
spotmicro.spot\_env\_randomizer module
--------------------------------------
.. automodule:: spotmicro.spot_env_randomizer
:members:
:undoc-members:
:show-inheritance:
spotmicro.spot\_gym\_env module
-------------------------------
.. automodule:: spotmicro.spot_gym_env
:members:
:undoc-members:
:show-inheritance:
Module contents
---------------
.. automodule:: spotmicro
:members:
:undoc-members:
:show-inheritance:
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/docs/source/spotmicro.GaitGenerator.rst | spotmicro.GaitGenerator package
===============================
Submodules
----------
spotmicro.GaitGenerator.Bezier module
-------------------------------------
.. automodule:: spotmicro.GaitGenerator.Bezier
:members:
:undoc-members:
:show-inheritance:
spotmicro.GaitGenerator.Raibert module
--------------------------------------
.. automodule:: spotmicro.GaitGenerator.Raibert
:members:
:undoc-members:
:show-inheritance:
Module contents
---------------
.. automodule:: spotmicro.GaitGenerator
:members:
:undoc-members:
:show-inheritance:
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/docs/source/modules.rst | main
====
.. toctree::
:maxdepth: 4
spotmicro
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/docs/source/spotmicro.util.pybullet_data.rst | spotmicro.util.pybullet\_data package
=====================================
Module contents
---------------
.. automodule:: spotmicro.util.pybullet_data
:members:
:undoc-members:
:show-inheritance:
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/docs/source/spotmicro.GymEnvs.rst | spotmicro.GymEnvs package
=========================
Submodules
----------
spotmicro.GymEnvs.spot\_bezier\_env module
------------------------------------------
.. automodule:: spotmicro.GymEnvs.spot_bezier_env
:members:
:undoc-members:
:show-inheritance:
Module contents
---------------
.. automodule:: spotmicro.GymEnvs
:members:
:undoc-members:
:show-inheritance:
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/docs/source/spotmicro.Kinematics.rst | spotmicro.Kinematics package
============================
Submodules
----------
spotmicro.Kinematics.LegKinematics module
-----------------------------------------
.. automodule:: spotmicro.Kinematics.LegKinematics
:members:
:undoc-members:
:show-inheritance:
spotmicro.Kinematics.LieAlgebra module
--------------------------------------
.. automodule:: spotmicro.Kinematics.LieAlgebra
:members:
:undoc-members:
:show-inheritance:
spotmicro.Kinematics.SpotKinematics module
------------------------------------------
.. automodule:: spotmicro.Kinematics.SpotKinematics
:members:
:undoc-members:
:show-inheritance:
Module contents
---------------
.. automodule:: spotmicro.Kinematics
:members:
:undoc-members:
:show-inheritance:
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/OpenQuadruped-spot_mini_mini-spot/docs/source/spotmicro.OpenLoopSM.rst | spotmicro.OpenLoopSM package
============================
Submodules
----------
spotmicro.OpenLoopSM.SpotOL module
----------------------------------
.. automodule:: spotmicro.OpenLoopSM.SpotOL
:members:
:undoc-members:
:show-inheritance:
Module contents
---------------
.. automodule:: spotmicro.OpenLoopSM
:members:
:undoc-members:
:show-inheritance:
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/spotmicro_description-CHAMP/CMakeLists.txt |
cmake_minimum_required(VERSION 2.8.3)
project(spotmicro_description)
find_package(catkin REQUIRED COMPONENTS)
catkin_package()
install(DIRECTORY meshes launch urdf
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/spotmicro_description-CHAMP/package.xml | <?xml version="1.0"?>
<package format="2">
<name>spotmicro_description</name>
<version>0.1.0</version>
<description>CHAMP Description Package</description>
<maintainer email="[email protected]">Juan Miguel Jimeno</maintainer>
<author>Fran Ferri</author>
<author>Juan Miguel Jimeno</author>
<license>GPLv3</license>
<buildtool_depend>catkin</buildtool_depend>
<exec_depend>roslaunch</exec_depend>
<exec_depend>robot_state_publisher</exec_depend>
<exec_depend>joint_state_publisher</exec_depend>
<exec_depend>urdf</exec_depend>
<exec_depend>xacro</exec_depend>
<exec_depend>rviz</exec_depend>
</package> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/spotmicro_description-CHAMP/README.md | # spotmicro_description
A minimal and revamped version of [SpotMicroAI](https://spotmicroai.readthedocs.io/en/latest/) description file pulled from its [Gitlab](https://gitlab.com/custom_robots/spotmicroai/simulation) repository.
The meshes' path have been modified so the models can be located using its package name.
## Quick Start
You can view the model by running:
roslaunch spotmicro_description view_urdf.launch
## Testing
You can modify the Xacro description and see the changes in the UDF file with this command:
rosrun xacro xacro spotmicroai.urdf.xacro > spotmicroai.urdf
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/spotmicro_description-CHAMP/launch/view_urdf.launch | <launch>
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find spotmicro_description)/urdf/spotmicroai.urdf.xacro' " />
<node name="champ_robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen">
<param name="publish_frequency" type="double" value="30.0" />
<param name="ignore_timestamp" type="bool" value="true" />
</node>
<node type="rviz" name="rviz" pkg="rviz" args="-d $(find spotmicro_description)/rviz/urdf_viewer.rviz" />
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
<param name="/use_gui" value="false"/>
<rosparam param="/source_list">[champ/joint_states]</rosparam>
</node>
</launch>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/spotmicro_description-CHAMP/launch/description.launch | <launch>
<arg name="description_name" default="robot_description"/>
<arg name="description_file" default="$(find spotmicro_description)/urdf/champ.urdf"/>
<param name="$(arg description_name)" textfile="$(arg description_file)"/>
<node name="champ_robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen">
<param name="publish_frequency" value="100"/>
<param name="use_tf_static" value="true"/>
<remap from="robot_description" to="$(arg description_name)"/>
<remap from="/joint_states" to="/champ/joint_states" />
</node>
</launch> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/spotmicro_description-CHAMP/launch/LICENSE.txt | GNU GENERAL PUBLIC LICENSE
Version 3, 29 June 2007
Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
Everyone is permitted to copy and distribute verbatim copies
of this license document, but changing it is not allowed.
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|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/spotmicro_description-CHAMP/rviz/urdf_viewer.rviz | Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /TF1/Frames1
Splitter Ratio: 0.383333325
Tree Height: 739
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679016
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.0299999993
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_left_foot_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_left_leg_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_left_leg_link_cover:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_left_shoulder_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_left_toe_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_right_foot_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_right_leg_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_right_leg_link_cover:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_right_shoulder_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_right_toe_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
lidar_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_left_foot_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_left_leg_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_left_leg_link_cover:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_left_shoulder_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_left_toe_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_right_foot_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_right_leg_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_right_leg_link_cover:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_right_shoulder_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_right_toe_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz/Axes
Enabled: true
Length: 1
Name: Axes
Radius: 0.00100000005
Reference Frame: <Fixed Frame>
Value: true
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: false
base_link:
Value: false
front_left_foot_link:
Value: true
front_left_leg_link:
Value: true
front_left_leg_link_cover:
Value: true
front_left_shoulder_link:
Value: true
front_left_toe_link:
Value: true
front_link:
Value: true
front_right_foot_link:
Value: true
front_right_leg_link:
Value: true
front_right_leg_link_cover:
Value: true
front_right_shoulder_link:
Value: true
front_right_toe_link:
Value: true
lidar_link:
Value: true
rear_left_foot_link:
Value: true
rear_left_leg_link:
Value: true
rear_left_leg_link_cover:
Value: true
rear_left_shoulder_link:
Value: true
rear_left_toe_link:
Value: true
rear_link:
Value: true
rear_right_foot_link:
Value: true
rear_right_leg_link:
Value: true
rear_right_leg_link_cover:
Value: true
rear_right_shoulder_link:
Value: true
rear_right_toe_link:
Value: true
Marker Scale: 0.25
Name: TF
Show Arrows: true
Show Axes: false
Show Names: false
Tree:
base_link:
front_left_shoulder_link:
front_left_leg_link:
front_left_foot_link:
front_left_toe_link:
{}
front_left_leg_link_cover:
{}
front_link:
{}
front_right_shoulder_link:
front_right_leg_link:
front_right_foot_link:
front_right_toe_link:
{}
front_right_leg_link_cover:
{}
lidar_link:
{}
rear_left_shoulder_link:
rear_left_leg_link:
rear_left_foot_link:
rear_left_toe_link:
{}
rear_left_leg_link_cover:
{}
rear_link:
{}
rear_right_shoulder_link:
rear_right_leg_link:
rear_right_foot_link:
rear_right_toe_link:
{}
rear_right_leg_link_cover:
{}
Update Interval: 0
Value: true
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /champ/foot
Name: MarkerArray
Namespaces:
{}
Queue Size: 100
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: base_link
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 1.80411792
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
Z: 0
Focal Shape Fixed Size: false
Focal Shape Size: 0.0500000007
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 0.325398505
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 2.12536359
Saved: ~
Window Geometry:
Displays:
collapsed: true
Height: 1027
Hide Left Dock: true
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd00000004000000000000021e00000376fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006300fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000002800000376000000db00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000003eefc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000003ee000000b300fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003170000003ffc0100000002fb0000000800540069006d00650100000000000003170000031700fffffffb0000000800540069006d00650100000000000004500000000000000000000003170000037600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 791
X: 977
Y: 62
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/spotmicro_description-CHAMP/meshes/stl/attribution_card.html | <!-- from http://www.thingiverse.com/thing:8174 by whosawhatsis, used with permission -->
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<h1>Spotmicro - robot dog by KDY0523</h1>
<h2>Published on February 22, 2019</h2>
<h3>www.thingiverse.com/thing:3445283</h3>
<h4>
<div class="row-fluid cc-licenses">
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Creative Commons - Attribution<br /></h4>
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|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/spotmicro_description-CHAMP/meshes/stl/LICENSE.txt | Spotmicro - robot dog (http://www.thingiverse.com/thing:3445283) by KDY0523 is licensed under the Creative Commons - Attribution license.
http://creativecommons.org/licenses/by/3.0/
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/spotmicro_description-CHAMP/meshes/stl/README.txt | .: :,
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http://www.thingiverse.com/thing:3445283
Spotmicro - robot dog by KDY0523 is licensed under the Creative Commons - Attribution license.
http://creativecommons.org/licenses/by/3.0/
# Summary
I designed Spotmicro inspired by the Spotmini of Boston Dynamics.
It works on the basis of the Arduino mega, and if you use a different board, you have to redesign the 'plate' file yourself and print the non-mega file instead of the regular file.
The ultra sonic sensor can be used for mapping or obstacle avoidance.
When you attach the servo horn to the 3D printed parts, you must use the HOTGLUE.
THERE IS NO CODE YET, SO YOU HAVE TO WRITE IT YOURSELF.
Assembly video part 1 : https://youtu.be/03RR-mz2hwA
Assembly video part 2 : https://youtu.be/LV5vvmhwtxM
Instagram : https://www.instagram.com/kim.d.yeon/
To make this, you need the following...
_Electronics_
12 × MG 996 R servo motor
1 × Arduino Mega
2 × HC-SR04 Ultrasonic sensor
1 × HC-06 Bluetooth module
1 × MPU-6050 Gyro sensor
1 × I2C 16x2 LCD Module
1 × Rleil rocker switch RL3-4
7.4v Battery
_Screws, Nuts and Bearings_
8 × 'M5×15'
40 × 'M4×20'
8 × 'M4×15'
48 × 'M4 nut'
4 × 'M3×20'
28 × 'M3×10'
16 × 'M3 nut'
8 × 'F625zz Flange ball bearing'
Made by Deok-yeon Kim
# Print Settings
Printer Brand: Creality
Printer: Ender 3
Infill: 10~20%
Filament_brand: .
Filament_color: Yellow, Black, Gray
Filament_material: PLA, Flexible
# Post-Printing
 |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/spotmicro_description-CHAMP/urdf/stairs.urdf.xacro | <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="SpotMicroAI">
<material name="yellow">
<color rgba="0.92 0.83 0.0 1"/>
</material>
<material name="black">
<color rgba="0.1 0.1 0.1 1"/>
</material>
<material name="grey">
<color rgba="0.6 0.6 0.6 1"/>
</material>
<!-- Params -->
<xacro:property name="stair_length" value="0.640" />
<xacro:property name="stair_width" value="0.310" />
<xacro:property name="stair_height" value="0.070" />
<xacro:macro name="stairs" params="stairs xpos ypos zpos">
<link name="stair_link_${stairs}">
<visual>
<geometry>
<box size="${stair_length} ${stair_width} ${stair_height}"/>
</geometry>
<material name="grey"/>
<origin rpy="0 0 0" xyz="${xpos} ${ypos} ${zpos}"/>
</visual>
<collision>
<geometry>
<box size="${stair_length} ${stair_width} ${stair_height}"/>
</geometry>
</collision>
<inertial>
<mass value="0.80"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
</link>
<xacro:if value="${stairs}">
<xacro:stairs stairs="${stairs-1}" xpos="0" ypos="${ypos-stair_width/2}" zpos="${zpos+stair_height}"/>
<joint name="stair_joint_${stairs}" type="fixed">
<parent link="stair_link_${stairs}"/>
<child link="stair_link_${stairs-1}"/>
</joint>
</xacro:if>
</xacro:macro>
<xacro:stairs stairs="15" xpos="0" ypos="0" zpos="0" />
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/spotmicro_description-CHAMP/urdf/spotmicroai.urdf.xacro | <?xml version="1.0" encoding="UTF-8"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="SpotMicroAI">
<material name="yellow">
<color rgba="0.92 0.83 0.0 1" />
</material>
<material name="black">
<color rgba="0.1 0.1 0.1 1" />
</material>
<material name="grey">
<color rgba="0.6 0.6 0.6 1" />
</material>
<!-- Params -->
<xacro:property name="body_length" value="0.140" />
<xacro:property name="body_width" value="0.110" />
<xacro:property name="body_height" value="0.070" />
<xacro:property name="lidar_length" value="0.0985" />
<xacro:property name="lidar_width" value="0.0577" />
<xacro:property name="lidar_height" value="0.070" />
<xacro:property name="front_length" value="0.058" />
<xacro:property name="rear_length" value="0.040" />
<xacro:property name="shoulder_length" value="0.044" />
<xacro:property name="shoulder_width" value="0.038" />
<xacro:property name="leg_length" value="0.109" />
<xacro:property name="foot_length" value="0.13" />
<xacro:property name="toe_radius" value="0.020" />
<!-- <xacro:property name="toe_radius" value="0.014" /> -->
<xacro:property name="toe_width" value="0.020" />
<xacro:property name="shift" value="0.055" />
<xacro:property name="shiftx" value="0.093" />
<xacro:property name="shifty" value="0.0395" />
<!-- Macros -->
<xacro:macro name="gen_shoulder" params="name left">
<link name="${name}">
<visual>
<xacro:if value="${left}">
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/lshoulder.stl" scale="0.001 0.001 0.001" />
</geometry>
<origin rpy="0 0 3.1416" xyz="0.135 0.0163 -0.0195" />
</xacro:if>
<xacro:unless value="${left}">
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/rshoulder.stl" scale="0.001 0.001 0.001" />
</geometry>
<origin rpy="0 0 3.1416" xyz="0.135 0.0938 -0.0205" />
</xacro:unless>
<material name="black" />
</visual>
<collision>
<geometry>
<box size="${shoulder_length} ${shoulder_width} ${body_height}" />
</geometry>
<origin rpy="0 0 0" xyz="0 0 0" />
</collision>
<inertial>
<mass value="0.10" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
</link>
</xacro:macro>
<xacro:macro name="gen_shoulder_joint" params="pos shiftx shifty">
<joint name="${pos}_shoulder" type="revolute">
<parent link="base_link" />
<child link="${pos}_shoulder_link" />
<axis xyz="1 0 0" />
<origin rpy="0 0 0" xyz="${shiftx} ${shifty} 0" />
<limit effort="1000.0" velocity="0.7" lower="-0.548" upper="0.548"/>
<dynamics damping="0.0" friction="0.5" />
</joint>
<transmission name="${pos}_shoulder_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${pos}_shoulder">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="${pos}_shoulder_actuator">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</xacro:macro>
<xacro:macro name="gen_leg" params="name left">
<link name="${name}_cover">
<visual>
<xacro:if value="${left}">
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/larm_cover.stl" scale="0.001 0.001 0.001" />
</geometry>
<origin rpy="0 0 3.1416" xyz="0.134 -0.04 -0.0095" />
</xacro:if>
<xacro:unless value="${left}">
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/rarm_cover.stl" scale="0.001 0.001 0.001" />
</geometry>
<origin rpy="0 0 3.1416" xyz="0.134 0.149 -0.0095" />
</xacro:unless>
<material name="yellow" />
</visual>
</link>
<link name="${name}">
<visual>
<xacro:if value="${left}">
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/larm.stl" scale="0.001 0.001 0.001" />
</geometry>
<origin rpy="0 0 3.1416" xyz="0.134 -0.04 -0.0095" />
</xacro:if>
<xacro:unless value="${left}">
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/rarm.stl" scale="0.001 0.001 0.001" />
</geometry>
<origin rpy="0 0 3.1416" xyz="0.134 0.149 -0.0095" />
</xacro:unless>
<material name="black" />
</visual>
<collision>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050" />
<geometry>
<box size="0.028 0.036 ${leg_length}" />
</geometry>
</collision>
<inertial>
<mass value="0.15" />
<inertia ixx="1000" ixy="0" ixz="0" iyy="1000" iyz="0" izz="1000" />
</inertial>
</link>
<gazebo reference="${name}_cover">
<material>Gazebo/ZincYellow</material>
</gazebo>
</xacro:macro>
<xacro:macro name="gen_leg_joint" params="pos shift">
<joint name="${pos}_leg" type="revolute">
<parent link="${pos}_shoulder_link" />
<child link="${pos}_leg_link" />
<axis xyz="0 1 0" />
<origin rpy="0 0 0" xyz="0 ${shift} 0" />
<limit effort="1000.0" velocity="0.5" lower="-2.666" upper="1.548"/>
<dynamics damping="0.0" friction="0.0" />
</joint>
<transmission name="${pos}_leg_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${pos}_leg">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="${pos}_leg_actuator">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="${pos}_leg_cover_joint" type="fixed">
<parent link="${pos}_leg_link" />
<child link="${pos}_leg_link_cover" />
<origin xyz="0 0 0" />
</joint>
</xacro:macro>
<xacro:macro name="gen_foot" params="name left">
<link name="${name}">
<visual>
<xacro:if value="${left}">
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/lfoot.stl" scale="0.001 0.001 0.001" />
</geometry>
<origin rpy="0 0 3.1416 " xyz="0.1195 -0.04 0.099" />
</xacro:if>
<xacro:unless value="${left}">
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/rfoot.stl" scale="0.001 0.001 0.001" />
</geometry>
<origin rpy="0 0 3.1416" xyz="0.1195 0.149 0.099" />
</xacro:unless>
<material name="black" />
</visual>
<collision>
<geometry>
<box size="0.026 0.020 ${foot_length}" />
</geometry>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050" />
</collision>
<inertial>
<mass value="0.1" />
<inertia ixx="1000" ixy="0" ixz="0" iyy="1000" iyz="0" izz="1000" />
</inertial>
</link>
</xacro:macro>
<xacro:macro name="gen_foot_joint" params="pos">
<joint name="${pos}_foot" type="revolute">
<parent link="${pos}_leg_link" />
<child link="${pos}_foot_link" />
<axis xyz="0 1 0" />
<origin rpy="0 0 0" xyz="0.014 0 -${leg_length}" />
<limit effort="1000.0" velocity="0.5" lower="-2.59" upper="0.1"/>
<dynamics damping="0.0" friction="0.5" />
</joint>
<transmission name="${pos}_foot_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${pos}_foot">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="${pos}_foot_actuator">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</xacro:macro>
<xacro:macro name="gen_toe" params="name">
<link name="${name}">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/foot.stl" scale="0.001 0.001 0.001" />
</geometry>
<origin rpy="0 0.40010 0" xyz="0 -0.01 0.015" />
<material name="grey" />
</visual>
<collision>
<geometry>
<sphere radius="${toe_radius}" />
</geometry>
<origin rpy="0 0 0" xyz="0 0 0" />
<contact_coefficients mu="1.1" />
</collision>
<inertial>
<mass value="0.05" />
<inertia ixx="1000" ixy="0" ixz="0" iyy="1000" iyz="0" izz="1000" />
</inertial>
</link>
</xacro:macro>
<xacro:macro name="gen_toe_joint" params="pos">
<joint name="${pos}_toe" type="fixed">
<parent link="${pos}_foot_link" />
<child link="${pos}_toe_link" />
<origin xyz="0 0 -${foot_length}" />
</joint>
</xacro:macro>
<xacro:macro name="gen_full_leg_joint" params="pos shiftx shifty shift left">
<xacro:gen_shoulder name="${pos}_shoulder_link" left="${left}" />
<xacro:gen_leg name="${pos}_leg_link" left="${left}" />
<xacro:gen_foot name="${pos}_foot_link" left="${left}" />
<xacro:gen_toe name="${pos}_toe_link" />
<xacro:gen_shoulder_joint pos="${pos}" shiftx="${shiftx}" shifty="${shifty}" />
<xacro:gen_leg_joint pos="${pos}" shift="${shift}" />
<xacro:gen_foot_joint pos="${pos}" />
<xacro:gen_toe_joint pos="${pos}" />
</xacro:macro>
<!-- Robot Body -->
<link name="base_link"/>
<link name="base_inertia">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/mainbody.stl" scale="0.001 0.001 0.001" />
</geometry>
<material name="black" />
<origin rpy="0 0 3.1416" xyz="0.0425 0.055 -0.02" />
</visual>
<collision>
<geometry>
<box size="${body_length} ${body_width} ${body_height}" />
</geometry>
<origin rpy="0 0 3.1416" xyz="0 0 0" />
</collision>
<inertial>
<mass value="2.80" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
</link>
<joint name="base_inertia_joint" type="fixed">
<parent link="base_link" />
<child link="base_inertia" />
</joint>
<link name="rear_link">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/backpart.stl" scale="0.001 0.001 0.001" />
</geometry>
<origin rpy="0 0 3.1416" xyz="0.042 0.055 -0.0195" />
<material name="yellow" />
</visual>
<collision>
<geometry>
<box size="${rear_length} ${body_width} ${body_height}" />
</geometry>
<origin rpy="0 0 0" xyz="-0.135 0 0" />
</collision>
<inertial>
<mass value="0.20" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
</link>
<joint name="base_rear" type="fixed">
<parent link="base_link" />
<child link="rear_link" />
</joint>
<gazebo reference="rear_link">
<material>Gazebo/ZincYellow</material>
</gazebo>
<link name="front_link">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/frontpart.stl" scale="0.001 0.001 0.001" />
</geometry>
<origin rpy="0 0 3.1416" xyz="0.042 0.055 -0.0205" />
<material name="yellow" />
</visual>
<collision>
<geometry>
<box size="${front_length} ${body_width} ${body_height}" />
</geometry>
<origin rpy="0 0 0" xyz="0.135 0 0" />
</collision>
<inertial>
<mass value="0.20" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
</link>
<gazebo reference="front_link">
<material>Gazebo/ZincYellow</material>
</gazebo>
<joint name="base_front" type="fixed">
<parent link="base_link" />
<child link="front_link" />
</joint>
<!-- create Legs -->
<xacro:gen_full_leg_joint pos="front_left" shiftx="${shiftx}" shifty="${shifty}" shift="${shift}" left="true" />
<xacro:gen_full_leg_joint pos="front_right" shiftx="${shiftx}" shifty="-${shifty}" shift="-${shift}" left="false" />
<xacro:gen_full_leg_joint pos="rear_left" shiftx="-${shiftx}" shifty="${shifty}" shift="${shift}" left="true" />
<xacro:gen_full_leg_joint pos="rear_right" shiftx="-${shiftx}" shifty="-${shifty}" shift="-${shift}" left="false" />
</robot> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/OpenQuadruped/spotmicro_description-CHAMP/urdf/spotmicroai.urdf | <?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from spotmicroai.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="SpotMicroAI">
<material name="yellow">
<color rgba="0.92 0.83 0.0 1"/>
</material>
<material name="black">
<color rgba="0.1 0.1 0.1 1"/>
</material>
<material name="grey">
<color rgba="0.6 0.6 0.6 1"/>
</material>
<!-- Robot Body -->
<link name="base_link"/>
<link name="base_inertia">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/mainbody.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="black"/>
<origin rpy="0 0 3.1416" xyz="0.0425 0.055 -0.02"/>
</visual>
<collision>
<geometry>
<box size="0.14 0.11 0.07"/>
</geometry>
<origin rpy="0 0 3.1416" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="2.80"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
</inertial>
</link>
<joint name="base_inertia_joint" type="fixed">
<parent link="base_link"/>
<child link="base_inertia"/>
</joint>
<link name="rear_link">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/backpart.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 3.1416" xyz="0.042 0.055 -0.0195"/>
<material name="yellow"/>
</visual>
<collision>
<geometry>
<box size="0.04 0.11 0.07"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.135 0 0"/>
</collision>
<inertial>
<mass value="0.20"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
</inertial>
</link>
<joint name="base_rear" type="fixed">
<parent link="base_link"/>
<child link="rear_link"/>
</joint>
<gazebo reference="rear_link">
<material>Gazebo/ZincYellow</material>
</gazebo>
<link name="front_link">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/frontpart.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 3.1416" xyz="0.042 0.055 -0.0205"/>
<material name="yellow"/>
</visual>
<collision>
<geometry>
<box size="0.058 0.11 0.07"/>
</geometry>
<origin rpy="0 0 0" xyz="0.135 0 0"/>
</collision>
<inertial>
<mass value="0.20"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
</inertial>
</link>
<gazebo reference="front_link">
<material>Gazebo/ZincYellow</material>
</gazebo>
<joint name="base_front" type="fixed">
<parent link="base_link"/>
<child link="front_link"/>
</joint>
<link name="front_left_shoulder_link">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/lshoulder.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 3.1416" xyz="0.135 0.0163 -0.0195"/>
<material name="black"/>
</visual>
<collision>
<geometry>
<box size="0.044 0.038 0.07"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.10"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
</inertial>
</link>
<link name="front_left_leg_link_cover">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/larm_cover.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 3.1416" xyz="0.134 -0.04 -0.0095"/>
<material name="yellow"/>
</visual>
</link>
<link name="front_left_leg_link">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/larm.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 3.1416" xyz="0.134 -0.04 -0.0095"/>
<material name="black"/>
</visual>
<collision>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/>
<geometry>
<box size="0.028 0.036 0.109"/>
</geometry>
</collision>
<inertial>
<mass value="0.15"/>
<inertia ixx="1000" ixy="0" ixz="0" iyy="1000" iyz="0" izz="1000"/>
</inertial>
</link>
<gazebo reference="front_left_leg_link_cover">
<material>Gazebo/ZincYellow</material>
</gazebo>
<link name="front_left_foot_link">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/lfoot.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 3.1416 " xyz="0.1195 -0.04 0.099"/>
<material name="black"/>
</visual>
<collision>
<geometry>
<box size="0.026 0.020 0.13"/>
</geometry>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="1000" ixy="0" ixz="0" iyy="1000" iyz="0" izz="1000"/>
</inertial>
</link>
<link name="front_left_toe_link">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/foot.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0.40010 0" xyz="0 -0.01 0.015"/>
<material name="grey"/>
</visual>
<collision>
<geometry>
<sphere radius="0.02"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<contact_coefficients mu="1.1"/>
</collision>
<inertial>
<mass value="0.05"/>
<inertia ixx="1000" ixy="0" ixz="0" iyy="1000" iyz="0" izz="1000"/>
</inertial>
</link>
<joint name="front_left_shoulder" type="revolute">
<parent link="base_link"/>
<child link="front_left_shoulder_link"/>
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="0.093 0.0395 0"/>
<limit effort="1000.0" lower="-0.548" upper="0.548" velocity="0.7"/>
<dynamics damping="0.0" friction="0.5"/>
</joint>
<transmission name="front_left_shoulder_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="front_left_shoulder">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="front_left_shoulder_actuator">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="front_left_leg" type="revolute">
<parent link="front_left_shoulder_link"/>
<child link="front_left_leg_link"/>
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0 0.055 0"/>
<limit effort="1000.0" lower="-2.666" upper="1.548" velocity="0.5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<transmission name="front_left_leg_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="front_left_leg">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="front_left_leg_actuator">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="front_left_leg_cover_joint" type="fixed">
<parent link="front_left_leg_link"/>
<child link="front_left_leg_link_cover"/>
<origin xyz="0 0 0"/>
</joint>
<joint name="front_left_foot" type="revolute">
<parent link="front_left_leg_link"/>
<child link="front_left_foot_link"/>
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0.014 0 -0.109"/>
<limit effort="1000.0" lower="-2.59" upper="0.1" velocity="0.5"/>
<dynamics damping="0.0" friction="0.5"/>
</joint>
<transmission name="front_left_foot_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="front_left_foot">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="front_left_foot_actuator">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="front_left_toe" type="fixed">
<parent link="front_left_foot_link"/>
<child link="front_left_toe_link"/>
<origin xyz="0 0 -0.13"/>
</joint>
<link name="front_right_shoulder_link">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/rshoulder.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 3.1416" xyz="0.135 0.0938 -0.0205"/>
<material name="black"/>
</visual>
<collision>
<geometry>
<box size="0.044 0.038 0.07"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.10"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
</inertial>
</link>
<link name="front_right_leg_link_cover">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/rarm_cover.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 3.1416" xyz="0.134 0.149 -0.0095"/>
<material name="yellow"/>
</visual>
</link>
<link name="front_right_leg_link">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/rarm.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 3.1416" xyz="0.134 0.149 -0.0095"/>
<material name="black"/>
</visual>
<collision>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/>
<geometry>
<box size="0.028 0.036 0.109"/>
</geometry>
</collision>
<inertial>
<mass value="0.15"/>
<inertia ixx="1000" ixy="0" ixz="0" iyy="1000" iyz="0" izz="1000"/>
</inertial>
</link>
<gazebo reference="front_right_leg_link_cover">
<material>Gazebo/ZincYellow</material>
</gazebo>
<link name="front_right_foot_link">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/rfoot.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 3.1416" xyz="0.1195 0.149 0.099"/>
<material name="black"/>
</visual>
<collision>
<geometry>
<box size="0.026 0.020 0.13"/>
</geometry>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="1000" ixy="0" ixz="0" iyy="1000" iyz="0" izz="1000"/>
</inertial>
</link>
<link name="front_right_toe_link">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/foot.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0.40010 0" xyz="0 -0.01 0.015"/>
<material name="grey"/>
</visual>
<collision>
<geometry>
<sphere radius="0.02"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<contact_coefficients mu="1.1"/>
</collision>
<inertial>
<mass value="0.05"/>
<inertia ixx="1000" ixy="0" ixz="0" iyy="1000" iyz="0" izz="1000"/>
</inertial>
</link>
<joint name="front_right_shoulder" type="revolute">
<parent link="base_link"/>
<child link="front_right_shoulder_link"/>
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="0.093 -0.0395 0"/>
<limit effort="1000.0" lower="-0.548" upper="0.548" velocity="0.7"/>
<dynamics damping="0.0" friction="0.5"/>
</joint>
<transmission name="front_right_shoulder_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="front_right_shoulder">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="front_right_shoulder_actuator">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="front_right_leg" type="revolute">
<parent link="front_right_shoulder_link"/>
<child link="front_right_leg_link"/>
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0 -0.055 0"/>
<limit effort="1000.0" lower="-2.666" upper="1.548" velocity="0.5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<transmission name="front_right_leg_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="front_right_leg">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="front_right_leg_actuator">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="front_right_leg_cover_joint" type="fixed">
<parent link="front_right_leg_link"/>
<child link="front_right_leg_link_cover"/>
<origin xyz="0 0 0"/>
</joint>
<joint name="front_right_foot" type="revolute">
<parent link="front_right_leg_link"/>
<child link="front_right_foot_link"/>
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0.014 0 -0.109"/>
<limit effort="1000.0" lower="-2.59" upper="0.1" velocity="0.5"/>
<dynamics damping="0.0" friction="0.5"/>
</joint>
<transmission name="front_right_foot_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="front_right_foot">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="front_right_foot_actuator">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="front_right_toe" type="fixed">
<parent link="front_right_foot_link"/>
<child link="front_right_toe_link"/>
<origin xyz="0 0 -0.13"/>
</joint>
<link name="rear_left_shoulder_link">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/lshoulder.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 3.1416" xyz="0.135 0.0163 -0.0195"/>
<material name="black"/>
</visual>
<collision>
<geometry>
<box size="0.044 0.038 0.07"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.10"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
</inertial>
</link>
<link name="rear_left_leg_link_cover">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/larm_cover.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 3.1416" xyz="0.134 -0.04 -0.0095"/>
<material name="yellow"/>
</visual>
</link>
<link name="rear_left_leg_link">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/larm.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 3.1416" xyz="0.134 -0.04 -0.0095"/>
<material name="black"/>
</visual>
<collision>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/>
<geometry>
<box size="0.028 0.036 0.109"/>
</geometry>
</collision>
<inertial>
<mass value="0.15"/>
<inertia ixx="1000" ixy="0" ixz="0" iyy="1000" iyz="0" izz="1000"/>
</inertial>
</link>
<gazebo reference="rear_left_leg_link_cover">
<material>Gazebo/ZincYellow</material>
</gazebo>
<link name="rear_left_foot_link">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/lfoot.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 3.1416 " xyz="0.1195 -0.04 0.099"/>
<material name="black"/>
</visual>
<collision>
<geometry>
<box size="0.026 0.020 0.13"/>
</geometry>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="1000" ixy="0" ixz="0" iyy="1000" iyz="0" izz="1000"/>
</inertial>
</link>
<link name="rear_left_toe_link">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/foot.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0.40010 0" xyz="0 -0.01 0.015"/>
<material name="grey"/>
</visual>
<collision>
<geometry>
<sphere radius="0.02"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<contact_coefficients mu="1.1"/>
</collision>
<inertial>
<mass value="0.05"/>
<inertia ixx="1000" ixy="0" ixz="0" iyy="1000" iyz="0" izz="1000"/>
</inertial>
</link>
<joint name="rear_left_shoulder" type="revolute">
<parent link="base_link"/>
<child link="rear_left_shoulder_link"/>
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="-0.093 0.0395 0"/>
<limit effort="1000.0" lower="-0.548" upper="0.548" velocity="0.7"/>
<dynamics damping="0.0" friction="0.5"/>
</joint>
<transmission name="rear_left_shoulder_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="rear_left_shoulder">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="rear_left_shoulder_actuator">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="rear_left_leg" type="revolute">
<parent link="rear_left_shoulder_link"/>
<child link="rear_left_leg_link"/>
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0 0.055 0"/>
<limit effort="1000.0" lower="-2.666" upper="1.548" velocity="0.5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<transmission name="rear_left_leg_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="rear_left_leg">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="rear_left_leg_actuator">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="rear_left_leg_cover_joint" type="fixed">
<parent link="rear_left_leg_link"/>
<child link="rear_left_leg_link_cover"/>
<origin xyz="0 0 0"/>
</joint>
<joint name="rear_left_foot" type="revolute">
<parent link="rear_left_leg_link"/>
<child link="rear_left_foot_link"/>
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0.014 0 -0.109"/>
<limit effort="1000.0" lower="-2.59" upper="0.1" velocity="0.5"/>
<dynamics damping="0.0" friction="0.5"/>
</joint>
<transmission name="rear_left_foot_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="rear_left_foot">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="rear_left_foot_actuator">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="rear_left_toe" type="fixed">
<parent link="rear_left_foot_link"/>
<child link="rear_left_toe_link"/>
<origin xyz="0 0 -0.13"/>
</joint>
<link name="rear_right_shoulder_link">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/rshoulder.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 3.1416" xyz="0.135 0.0938 -0.0205"/>
<material name="black"/>
</visual>
<collision>
<geometry>
<box size="0.044 0.038 0.07"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.10"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
</inertial>
</link>
<link name="rear_right_leg_link_cover">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/rarm_cover.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 3.1416" xyz="0.134 0.149 -0.0095"/>
<material name="yellow"/>
</visual>
</link>
<link name="rear_right_leg_link">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/rarm.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 3.1416" xyz="0.134 0.149 -0.0095"/>
<material name="black"/>
</visual>
<collision>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/>
<geometry>
<box size="0.028 0.036 0.109"/>
</geometry>
</collision>
<inertial>
<mass value="0.15"/>
<inertia ixx="1000" ixy="0" ixz="0" iyy="1000" iyz="0" izz="1000"/>
</inertial>
</link>
<gazebo reference="rear_right_leg_link_cover">
<material>Gazebo/ZincYellow</material>
</gazebo>
<link name="rear_right_foot_link">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/rfoot.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 3.1416" xyz="0.1195 0.149 0.099"/>
<material name="black"/>
</visual>
<collision>
<geometry>
<box size="0.026 0.020 0.13"/>
</geometry>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.050"/>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="1000" ixy="0" ixz="0" iyy="1000" iyz="0" izz="1000"/>
</inertial>
</link>
<link name="rear_right_toe_link">
<visual>
<geometry>
<mesh filename="package://spotmicro_description/meshes/stl/foot.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0.40010 0" xyz="0 -0.01 0.015"/>
<material name="grey"/>
</visual>
<collision>
<geometry>
<sphere radius="0.02"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<contact_coefficients mu="1.1"/>
</collision>
<inertial>
<mass value="0.05"/>
<inertia ixx="1000" ixy="0" ixz="0" iyy="1000" iyz="0" izz="1000"/>
</inertial>
</link>
<joint name="rear_right_shoulder" type="revolute">
<parent link="base_link"/>
<child link="rear_right_shoulder_link"/>
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="-0.093 -0.0395 0"/>
<limit effort="1000.0" lower="-0.548" upper="0.548" velocity="0.7"/>
<dynamics damping="0.0" friction="0.5"/>
</joint>
<transmission name="rear_right_shoulder_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="rear_right_shoulder">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="rear_right_shoulder_actuator">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="rear_right_leg" type="revolute">
<parent link="rear_right_shoulder_link"/>
<child link="rear_right_leg_link"/>
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0 -0.055 0"/>
<limit effort="1000.0" lower="-2.666" upper="1.548" velocity="0.5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<transmission name="rear_right_leg_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="rear_right_leg">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="rear_right_leg_actuator">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="rear_right_leg_cover_joint" type="fixed">
<parent link="rear_right_leg_link"/>
<child link="rear_right_leg_link_cover"/>
<origin xyz="0 0 0"/>
</joint>
<joint name="rear_right_foot" type="revolute">
<parent link="rear_right_leg_link"/>
<child link="rear_right_foot_link"/>
<axis xyz="0 1 0"/>
<origin rpy="0 0 0" xyz="0.014 0 -0.109"/>
<limit effort="1000.0" lower="-2.59" upper="0.1" velocity="0.5"/>
<dynamics damping="0.0" friction="0.5"/>
</joint>
<transmission name="rear_right_foot_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="rear_right_foot">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="rear_right_foot_actuator">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="rear_right_toe" type="fixed">
<parent link="rear_right_foot_link"/>
<child link="rear_right_toe_link"/>
<origin xyz="0 0 -0.13"/>
</joint>
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/Stochlab/stochlite-original/README.md | Stochastic Robotics Lab
https://www.stochlab.com/
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/Stochlab/stochlite_description-aditya-shirwatkar/Readme.md | # Stochlite Description files
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/Stochlab/stochlite_description-aditya-shirwatkar/CMakeLists.txt | cmake_minimum_required(VERSION 2.8.3)
project(stochlite_description)
find_package(catkin REQUIRED)
catkin_package()
find_package(roslaunch)
foreach(dir launch rviz meshes urdf)
install(DIRECTORY ${dir}/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
endforeach(dir)
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/Stochlab/stochlite_description-aditya-shirwatkar/package.xml | <?xml version="1.0"?>
<package format="2">
<name>stochlite_description</name>
<version>1.0.0</version>
<description>The stochlite_description package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
<maintainer email="[email protected]">Aditya Shirwatkar</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>MIT</license>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roslaunch</build_depend>
<exec_depend>robot_state_publisher</exec_depend>
<exec_depend>joint_state_publisher</exec_depend>
<exec_depend>rviz</exec_depend>
<exec_depend>gazebo</exec_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/Stochlab/stochlite_description-aditya-shirwatkar/launch/view_urdf.launch | <launch>
<param name="robot_description" command="$(find xacro)/xacro '$(find stochlite_description)/urdf/stochlite.urdf.xacro' " />
<node name="tf_footprint_base" pkg="tf" type="static_transform_publisher" args="0 0 0 0 0 0 base_link base_footprint 40" />
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
<node type="rviz" name="rviz" pkg="rviz" args="-d $(find stochlite_description)/rviz/stochlite_urdf.rviz" />
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
<param name="/use_gui" value="false"/>
<rosparam param="/source_list">[stochlite/joint_states]</rosparam>
</node>
</launch> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/Stochlab/stochlite_description-aditya-shirwatkar/rviz/stochlite_urdf.rviz | Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /TF1
- /TF1/Frames1
- /RobotModel1
- /RobotModel1/Links1
- /RobotModel1/Links1/base_link1
Splitter Ratio: 0.5
Tree Height: 721
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz/Views
Expanded:
- /Current View1
- /Current View1/Focal Point1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: true
base_footprint:
Value: true
base_link:
Value: true
bl_abd_link:
Value: true
bl_shank_link:
Value: true
bl_thigh_link:
Value: true
bl_toe_link:
Value: true
br_abd_link:
Value: true
br_shank_link:
Value: true
br_thigh_link:
Value: true
br_toe_link:
Value: true
fl_abd_link:
Value: true
fl_shank_link:
Value: true
fl_thigh_link:
Value: true
fl_toe_link:
Value: true
fr_abd_link:
Value: true
fr_shank_link:
Value: true
fr_thigh_link:
Value: true
fr_toe_link:
Value: true
imu_link_0:
Value: true
tof_link_0:
Value: true
tof_link_1:
Value: true
tof_link_2:
Value: true
tof_link_3:
Value: true
tof_link_4:
Value: true
tof_link_5:
Value: true
Marker Scale: 0.15000000596046448
Name: TF
Show Arrows: false
Show Axes: true
Show Names: false
Tree:
base_link:
base_footprint:
{}
bl_abd_link:
bl_thigh_link:
bl_shank_link:
bl_toe_link:
{}
br_abd_link:
br_thigh_link:
br_shank_link:
br_toe_link:
{}
fl_abd_link:
fl_thigh_link:
fl_shank_link:
fl_toe_link:
{}
fr_abd_link:
fr_thigh_link:
fr_shank_link:
fr_toe_link:
{}
imu_link_0:
{}
tof_link_0:
{}
tof_link_1:
{}
tof_link_2:
{}
tof_link_3:
{}
tof_link_4:
{}
tof_link_5:
{}
Update Interval: 0
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
bl_abd_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
bl_shank_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
bl_thigh_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
bl_toe_link:
Alpha: 1
Show Axes: false
Show Trail: false
br_abd_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
br_shank_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
br_thigh_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
br_toe_link:
Alpha: 1
Show Axes: false
Show Trail: false
fl_abd_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fl_shank_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fl_thigh_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fl_toe_link:
Alpha: 1
Show Axes: false
Show Trail: false
fr_abd_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fr_shank_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fr_thigh_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fr_toe_link:
Alpha: 1
Show Axes: false
Show Trail: false
imu_link_0:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
tof_link_0:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
tof_link_1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
tof_link_2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
tof_link_3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
tof_link_4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
tof_link_5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: base_link
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Theta std deviation: 0.2617993950843811
Topic: /initialpose
X std deviation: 0.5
Y std deviation: 0.5
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 0.6096445322036743
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0.03324843943119049
Y: 0.0019349625799804926
Z: 0.057387713342905045
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.6603994965553284
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.9703983068466187
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1025
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd0000000400000000000001560000035ffc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003f0000035f000000cc00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000035ffc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003f0000035f000000a900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d00650100000000000007800000031300fffffffb0000000800540069006d006501000000000000045000000000000000000000050f0000035f00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1920
X: 0
Y: 27
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/Stochlab/stochlite_description-aditya-shirwatkar/urdf/stochlite.sensors.xacro | <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="imu" params="id x y z roll pitch yaw update_rate gnoise">
<link name="imu_link_${id}">
<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>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0.005 0.005 0.005" />
</geometry>
<material name="">
<color rgba="0.6 0.8 0.1 1" />
</material>
</visual>
</link>
<joint name="imu_joint_${id}" type="fixed">
<parent link="base_link"/>
<child link="imu_link_${id}"/>
<origin xyz="${x} ${y} ${z}" rpy="${roll} ${pitch} ${yaw}"/>
</joint>
<gazebo>
<plugin filename="libhector_gazebo_ros_imu.so" name="imu_${id}_controller">
<updateRate>${update_rate}</updateRate>
<bodyName>imu_link_${id}</bodyName>
<topicName>sensors/imu_${id}</topicName>
<accelDrift>0.005 0.005 0.005</accelDrift>
<accelGaussianNoise>${gnoise} ${gnoise} ${gnoise}</accelGaussianNoise>
<rateDrift>0.005 0.005 0.005 </rateDrift>
<rateGaussianNoise>${gnoise} ${gnoise} ${gnoise}</rateGaussianNoise>
<headingDrift>0.005</headingDrift>
<headingGaussianNoise>${gnoise}</headingGaussianNoise>
</plugin>
<material>Gazebo/Yellow</material>
</gazebo>
</xacro:macro>
<xacro:macro name='tof' params="id x y z roll pitch yaw update_rate gnoise">
<!-- VL53L0X ToF sensor-->
<link name="tof_link_${id}">
<inertial>
<mass value="0.001"/>
<origin xyz="0 0 0"/>
<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0.005 0.015 0.005" />
</geometry>
<material name="Red">
<color rgba="1 0.2 0.2 1" />
</material>
</visual>
</link>
<joint name="tof_joint_${id}" type="fixed">
<origin xyz="${x} ${y} ${z}" rpy="${roll} ${pitch} ${yaw}"/>
<!-- <origin xyz="0 0 -0.029" rpy="0 1.57 0"/> -->
<parent link="base_link"/>
<child link="tof_link_${id}"/>
</joint>
<gazebo reference="tof_link_${id}">
<sensor type="ray" name="tof_sensor_${id}">
<visualize>true</visualize>
<update_rate>${update_rate}</update_rate>
<always_on>1</always_on>
<ray>
<scan>
<horizontal>
<samples>10</samples>
<resolution>1</resolution>
<min_angle>-0.02618</min_angle>
<max_angle>0.02618</max_angle>
</horizontal>
<vertical>
<samples>10</samples>
<resolution>1</resolution>
<min_angle>-0.02618</min_angle>
<max_angle>0.02618</max_angle>
</vertical>
</scan>
<range>
<min>0.002</min>
<max>2</max>
<resolution>0.005</resolution>
</range>
</ray>
<plugin name="tof_plugin_${id}" filename="libgazebo_ros_range.so">
<topicName>sensors/range_tof_${id}</topicName>
<frameName>frame_range_tof_${id}</frameName>
<gaussianNoise>${gnoise}</gaussianNoise>
<updateRate>${update_rate}</updateRate>
<radiation>light</radiation>
<fov>0.43</fov>
</plugin>
</sensor>
<material>Gazebo/Red</material>
</gazebo>
</xacro:macro>
<!-- Contact Sensor Plugins -->
<xacro:macro name="contact_sensor" params="leg_name">
<gazebo reference="${leg_name}_shank_link">
<sensor name="${leg_name}_link_contact_sensor" type="contact">
<contact>
<collision>${leg_name}_shank_link_collision</collision>
</contact>
<plugin name="gazebo_ros_bumper_controller" filename="libgazebo_ros_bumper.so">
<bumperTopicName>${leg_name}_contact</bumperTopicName>
<frameName>${leg_name}_shank_link</frameName>
</plugin>
</sensor>
</gazebo>
</xacro:macro>
</robot> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/Stochlab/stochlite_description-aditya-shirwatkar/urdf/stochlite.transmission.xacro | <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="stochlite_transmission" params="name">
<transmission name="${name}_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${name}_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${name}_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</xacro:macro>
</robot> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/Stochlab/stochlite_description-aditya-shirwatkar/urdf/stochlite_fixed.urdf | <?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from stochlite.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="stochlite">
<link name="world">
</link>
<joint name="fixed" type="fixed">
<parent link="world"/>
<child link="base_link"/>
</joint>
<link name="base_link">
<inertial>
<origin rpy="0 0 0" xyz="0.00011698 0.00043344 -0.0081282"/>
<mass value="1.582"/>
<inertia ixx="0.00575867" ixy="7.19E-06" ixz="3.71E-06" iyy="0.02534052" iyz="1.38E-06" izz="0.03025755"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stochlite_description/meshes/base_link.STL"/>
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stochlite_description/meshes/base_link.STL"/>
</geometry>
</collision>
</link>
<link name="fl_abd_link">
<inertial>
<origin rpy="0 0 0" xyz="0.0029662 0.011479 4.5103E-17"/>
<mass value="0.037"/>
<inertia ixx="0.00043261" ixy="0.00067195" ixz="-3.148E-05" iyy="0.00109285" iyz="-1.979E-05" izz="0.00151879"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stochlite_description/meshes/fl_abd_link.STL"/>
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stochlite_description/meshes/fl_abd_link.STL"/>
</geometry>
</collision>
</link>
<joint name="fl_abd_joint" type="revolute">
<origin rpy="0 0 0" xyz="0.16695 0.0956 -0.0050001"/>
<parent link="base_link"/>
<child link="fl_abd_link"/>
<axis xyz="1 0 0"/>
<limit effort="4.1" lower="-10.22" upper="10.22" velocity="4.6"/>
</joint>
<link name="fl_thigh_link">
<inertial>
<origin rpy="0 0 0" xyz="-1.9979E-05 -0.0017695 -0.073"/>
<mass value="0.32"/>
<inertia ixx="0.00983483" ixy="0.00779081" ixz="-0.0041665" iyy="0.01193972" iyz="-0.00364492" izz="0.01581035"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stochlite_description/meshes/fl_thigh_link.STL"/>
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stochlite_description/meshes/fl_thigh_link.STL"/>
</geometry>
</collision>
</link>
<joint name="fl_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0.052019 0"/>
<parent link="fl_abd_link"/>
<child link="fl_thigh_link"/>
<axis xyz="0 1 0"/>
<limit effort="4.1" lower="-10.22" upper="10.22" velocity="4.6"/>
</joint>
<link name="fl_shank_link">
<inertial>
<origin rpy="0 0 0" xyz="4.6786E-08 0.014581 -0.08739"/>
<mass value="0.055"/>
<inertia ixx="0.00511956" ixy="0.00170322" ixz="-0.0021654" iyy="0.00476045" iyz="-0.00242252" izz="0.00343153"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stochlite_description/meshes/fl_shank_link.STL"/>
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stochlite_description/meshes/fl_shank_link.STL"/>
</geometry>
</collision>
</link>
<joint name="fl_knee_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0.023481 -0.146"/>
<parent link="fl_thigh_link"/>
<child link="fl_shank_link"/>
<axis xyz="0 1 0"/>
<limit effort="4.1" lower="-10.22" upper="10.22" velocity="4.6"/>
</joint>
<link name="fl_toe_link">
</link>
<joint name="fl_toe_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0.023481 -0.169"/>
<axis xyz="0 1 0"/>
<parent link="fl_shank_link"/>
<child link="fl_toe_link"/>
</joint>
<link name="fr_abd_link">
<inertial>
<origin rpy="0 0 0" xyz="0.0029662 -0.011479 0"/>
<mass value="0.037"/>
<inertia ixx="0.00043896" ixy="-0.00067699" ixz="-3.147E-05" iyy="0.0010929" iyz="1.993E-05" izz="0.0015252"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stochlite_description/meshes/fr_abd_link.STL"/>
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stochlite_description/meshes/fr_abd_link.STL"/>
</geometry>
</collision>
</link>
<joint name="fr_abd_joint" type="revolute">
<origin rpy="0 0 0" xyz="0.16695 -0.0964 -0.0049999"/>
<parent link="base_link"/>
<child link="fr_abd_link"/>
<axis xyz="1 0 0"/>
<limit effort="4.1" lower="-10.22" upper="10.22" velocity="4.6"/>
</joint>
<link name="fr_thigh_link">
<inertial>
<origin rpy="0 0 0" xyz="1.9979E-05 0.0017695 -0.073"/>
<mass value="0.32"/>
<inertia ixx="0.0099097" ixy="-0.00783571" ixz="-0.00416764" iyy="0.01194464" iyz="0.00366487" izz="0.01589016"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stochlite_description/meshes/fr_thigh_link.STL"/>
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stochlite_description/meshes/fr_thigh_link.STL"/>
</geometry>
</collision>
</link>
<joint name="fr_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 -0.052019 0"/>
<parent link="fr_abd_link"/>
<child link="fr_thigh_link"/>
<axis xyz="0 1 0"/>
<limit effort="4.1" lower="-10.22" upper="10.22" velocity="4.6"/>
</joint>
<link name="fr_shank_link">
<inertial>
<origin rpy="0 0 0" xyz="-4.6856E-08 -0.014581 -0.08739"/>
<mass value="0.055"/>
<inertia ixx="0.00513592" ixy="-0.00171056" ixz="-0.0021654" iyy="0.00476044" iyz="0.0024329" izz="0.00344789"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stochlite_description/meshes/fr_shank_link.STL"/>
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stochlite_description/meshes/fr_shank_link.STL"/>
</geometry>
</collision>
</link>
<joint name="fr_knee_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 -0.023481 -0.146"/>
<parent link="fr_thigh_link"/>
<child link="fr_shank_link"/>
<axis xyz="0 1 0"/>
<limit effort="4.1" lower="-10.22" upper="10.22" velocity="4.6"/>
</joint>
<link name="fr_toe_link">
</link>
<joint name="fr_toe_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 -0.023481 -0.169"/>
<axis xyz="0 1 0"/>
<parent link="fr_shank_link"/>
<child link="fr_toe_link"/>
</joint>
<link name="bl_abd_link">
<inertial>
<origin rpy="0 0 0" xyz="-0.0029662 0.011479 -4.6838E-17"/>
<mass value="0.037"/>
<inertia ixx="0.00043261" ixy="-0.00067195" ixz="3.147E-05" iyy="0.0010929" iyz="-1.979E-05" izz="0.0051879"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stochlite_description/meshes/bl_abd_link.STL"/>
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stochlite_description/meshes/bl_abd_link.STL"/>
</geometry>
</collision>
</link>
<joint name="bl_abd_joint" type="revolute">
<origin rpy="0 0 0" xyz="-0.16695 0.0956 -0.0049999"/>
<parent link="base_link"/>
<child link="bl_abd_link"/>
<axis xyz="1 0 0"/>
<limit effort="4.1" lower="-10.22" upper="10.22" velocity="4.6"/>
</joint>
<link name="bl_thigh_link">
<inertial>
<origin rpy="0 0 0" xyz="-1.998E-05 -0.0017695 -0.073"/>
<mass value="0.32"/>
<inertia ixx="0.0098348" ixy="-0.007793" ixz="0.0041676" iyy="0.011945" iyz="-0.0036449" izz="0.015815"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stochlite_description/meshes/bl_thigh_link.STL"/>
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stochlite_description/meshes/bl_thigh_link.STL"/>
</geometry>
</collision>
</link>
<joint name="bl_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0.052019 0"/>
<parent link="bl_abd_link"/>
<child link="bl_thigh_link"/>
<axis xyz="0 1 0"/>
<limit effort="4.1" lower="-10.22" upper="10.22" velocity="4.6"/>
</joint>
<link name="bl_shank_link">
<inertial>
<origin rpy="0 0 0" xyz="4.678E-08 0.014581 -0.08739"/>
<mass value="0.055"/>
<inertia ixx="0.0051196" ixy="-0.0017032" ixz="0.0021654" iyy="0.0047604" iyz="-0.0024225" izz="0.0034315"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stochlite_description/meshes/bl_shank_link.STL"/>
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stochlite_description/meshes/bl_shank_link.STL"/>
</geometry>
</collision>
</link>
<joint name="bl_knee_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0.023481 -0.146"/>
<parent link="bl_thigh_link"/>
<child link="bl_shank_link"/>
<axis xyz="0 1 0"/>
<limit effort="4.1" lower="-10.22" upper="10.22" velocity="4.6"/>
</joint>
<link name="bl_toe_link">
</link>
<joint name="bl_toe_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0.023481 -0.169"/>
<axis xyz="0 1 0"/>
<parent link="bl_shank_link"/>
<child link="bl_toe_link"/>
</joint>
<link name="br_abd_link">
<inertial>
<origin rpy="0 0 0" xyz="-0.0029662 -0.011479 6.4185E-17"/>
<mass value="0.037"/>
<inertia ixx="0.00043896" ixy="0.00067699" ixz="3.148E-05" iyy="0.0010929" iyz="1.994E-05" izz="0.0015252"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stochlite_description/meshes/br_abd_link.STL"/>
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stochlite_description/meshes/br_abd_link.STL"/>
</geometry>
</collision>
</link>
<joint name="br_abd_joint" type="revolute">
<origin rpy="0 0 0" xyz="-0.16695 -0.0964 -0.0050001"/>
<parent link="base_link"/>
<child link="br_abd_link"/>
<axis xyz="1 0 0"/>
<limit effort="4.1" lower="-10.22" upper="10.22" velocity="4.6"/>
</joint>
<link name="br_thigh_link">
<inertial>
<origin rpy="0 0 0" xyz="1.998E-05 0.0017695 -0.073"/>
<mass value="0.32"/>
<inertia ixx="0.0099097" ixy="0.0078336" ixz="0.0041665" iyy="0.01194" iyz="0.0036649" izz="0.015885"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stochlite_description/meshes/br_thigh_link.STL"/>
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stochlite_description/meshes/br_thigh_link.STL"/>
</geometry>
</collision>
</link>
<joint name="br_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 -0.052019 0"/>
<parent link="br_abd_link"/>
<child link="br_thigh_link"/>
<axis xyz="0 1 0"/>
<limit effort="4.1" lower="-10.22" upper="10.22" velocity="4.6"/>
</joint>
<link name="br_shank_link">
<inertial>
<origin rpy="0 0 0" xyz="-4.6786E-08 -0.014581 -0.08739"/>
<mass value="0.055"/>
<inertia ixx="0.00513592" ixy="0.00171056" ixz="0.0021654" iyy="0.00476045" iyz="0.0024329" izz="0.00344789"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stochlite_description/meshes/br_shank_link.STL"/>
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stochlite_description/meshes/br_shank_link.STL"/>
</geometry>
</collision>
</link>
<joint name="br_knee_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 -0.023481 -0.146"/>
<parent link="br_thigh_link"/>
<child link="br_shank_link"/>
<axis xyz="0 1 0"/>
<limit effort="4.1" lower="-10.22" upper="10.22" velocity="4.6"/>
</joint>
<link name="br_toe_link">
</link>
<joint name="br_toe_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 -0.023481 -0.169"/>
<axis xyz="0 1 0"/>
<parent link="br_shank_link"/>
<child link="br_toe_link"/>
</joint>
<link name="fl_leg_frame">
</link>
<link name="fr_leg_frame">
</link>
<link name="bl_leg_frame">
</link>
<link name="br_leg_frame">
</link>
<joint name="fl_fixed" type="fixed">
<parent link="base_link"/>
<child link="fl_leg_frame"/>
<origin rpy="0 0 0" xyz="0.16695 0.0956 -0.0050001"/>
<axis xyz="1 0 0"/>
</joint>
<joint name="fr_fixed" type="fixed">
<parent link="base_link"/>
<child link="fr_leg_frame"/>
<origin rpy="0 0 0" xyz="0.16695 -0.0964 -0.0049999"/>
<axis xyz="1 0 0"/>
</joint>
<joint name="bl_fixed" type="fixed">
<parent link="base_link"/>
<child link="bl_leg_frame"/>
<origin rpy="0 0 0" xyz="-0.16695 0.0956 -0.0049999"/>
<axis xyz="1 0 0"/>
</joint>
<joint name="br_fixed" type="fixed">
<parent link="base_link"/>
<child link="br_leg_frame"/>
<origin rpy="0 0 0" xyz="-0.16695 -0.0964 -0.0050001"/>
<axis xyz="1 0 0"/>
</joint>
<transmission name="fl_abd_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="fl_abd_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="fl_abd_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="fl_hip_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="fl_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="fl_hip_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="fl_knee_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="fl_knee_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="fl_knee_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="bl_abd_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="bl_abd_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="bl_abd_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="bl_hip_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="bl_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="bl_hip_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="bl_knee_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="bl_knee_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="bl_knee_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="fr_abd_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="fr_abd_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="fr_abd_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="fr_hip_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="fr_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="fr_hip_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="fr_knee_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="fr_knee_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="fr_knee_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="br_abd_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="br_abd_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="br_abd_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="br_hip_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="br_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="br_hip_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="br_knee_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="br_knee_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="br_knee_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<gazebo reference="base_link_link">
<material>Gazebo/White</material>
<kp>10000000.0</kp>
<kd>1.0</kd>
<mu1>4.0</mu1>
<mu2>4.0</mu2>
<maxVel>0.0</maxVel>
<minDepth>0.001</minDepth>
</gazebo>
<gazebo reference="fl_abd_link">
<material>Gazebo/Grey</material>
<kp>10000000.0</kp>
<kd>1.0</kd>
<mu1>4.0</mu1>
<mu2>4.0</mu2>
<maxVel>0.0</maxVel>
<minDepth>0.001</minDepth>
</gazebo>
<gazebo reference="bl_abd_link">
<material>Gazebo/Grey</material>
<kp>10000000.0</kp>
<kd>1.0</kd>
<mu1>4.0</mu1>
<mu2>4.0</mu2>
<maxVel>0.0</maxVel>
<minDepth>0.001</minDepth>
</gazebo>
<gazebo reference="fr_abd_link">
<material>Gazebo/Grey</material>
<kp>10000000.0</kp>
<kd>1.0</kd>
<mu1>4.0</mu1>
<mu2>4.0</mu2>
<maxVel>0.0</maxVel>
<minDepth>0.001</minDepth>
</gazebo>
<gazebo reference="br_abd_link">
<material>Gazebo/Grey</material>
<kp>10000000.0</kp>
<kd>1.0</kd>
<mu1>4.0</mu1>
<mu2>4.0</mu2>
<maxVel>0.0</maxVel>
<minDepth>0.001</minDepth>
</gazebo>
<gazebo reference="fl_thigh_link">
<material>Gazebo/DarkGrey</material>
<kp>10000000.0</kp>
<kd>1.0</kd>
<mu1>4.0</mu1>
<mu2>4.0</mu2>
<maxVel>0.0</maxVel>
<minDepth>0.001</minDepth>
</gazebo>
<gazebo reference="bl_thigh_link">
<material>Gazebo/DarkGrey</material>
<kp>10000000.0</kp>
<kd>1.0</kd>
<mu1>4.0</mu1>
<mu2>4.0</mu2>
<maxVel>0.0</maxVel>
<minDepth>0.001</minDepth>
</gazebo>
<gazebo reference="fr_thigh_link">
<material>Gazebo/DarkGrey</material>
<kp>10000000.0</kp>
<kd>1.0</kd>
<mu1>4.0</mu1>
<mu2>4.0</mu2>
<maxVel>0.0</maxVel>
<minDepth>0.001</minDepth>
</gazebo>
<gazebo reference="br_thigh_link">
<material>Gazebo/DarkGrey</material>
<kp>10000000.0</kp>
<kd>1.0</kd>
<mu1>4.0</mu1>
<mu2>4.0</mu2>
<maxVel>0.0</maxVel>
<minDepth>0.001</minDepth>
</gazebo>
<gazebo reference="fl_shank_link">
<material>Gazebo/Grey</material>
<kp>10000000.0</kp>
<kd>1.0</kd>
<mu1>4.0</mu1>
<mu2>4.0</mu2>
<maxVel>0.0</maxVel>
<minDepth>0.001</minDepth>
</gazebo>
<gazebo reference="bl_shank_link">
<material>Gazebo/Grey</material>
<kp>10000000.0</kp>
<kd>1.0</kd>
<mu1>4.0</mu1>
<mu2>4.0</mu2>
<maxVel>0.0</maxVel>
<minDepth>0.001</minDepth>
</gazebo>
<gazebo reference="fr_shank_link">
<material>Gazebo/Grey</material>
<kp>10000000.0</kp>
<kd>1.0</kd>
<mu1>4.0</mu1>
<mu2>4.0</mu2>
<maxVel>0.0</maxVel>
<minDepth>0.001</minDepth>
</gazebo>
<gazebo reference="br_shank_link">
<material>Gazebo/Grey</material>
<kp>10000000.0</kp>
<kd>1.0</kd>
<mu1>4.0</mu1>
<mu2>4.0</mu2>
<maxVel>0.0</maxVel>
<minDepth>0.001</minDepth>
</gazebo>
<!-- Enable the Joint Control -->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<legacyModeNS>true</legacyModeNS>
</plugin>
</gazebo>
<gazebo>
<self_collide>1</self_collide>
</gazebo>
<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>
<link name="imu_link_1">
<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>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.005 0.005 0.005"/>
</geometry>
<material name="">
<color rgba="0.6 0.8 0.1 1"/>
</material>
</visual>
</link>
<joint name="imu_joint_1" type="fixed">
<parent link="base_link"/>
<child link="imu_link_1"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.005"/>
</joint>
<gazebo>
<plugin filename="libhector_gazebo_ros_imu.so" name="imu_1_controller">
<updateRate>100</updateRate>
<bodyName>imu_link_1</bodyName>
<topicName>sensors/imu_1</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>
<material>Gazebo/Yellow</material>
</gazebo>
<!-- VL53L0X ToF sensor-->
<link name="tof_link_1">
<inertial>
<mass value="0.001"/>
<origin xyz="0 0 0"/>
<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.005 0.015 0.005"/>
</geometry>
<material name="Red">
<color rgba="1 0.2 0.2 1"/>
</material>
</visual>
</link>
<joint name="tof_joint_1" type="fixed">
<origin rpy="0.0 1.57 0.0" xyz="0.15 0.0 -0.025"/>
<!-- <origin xyz="0 0 -0.029" rpy="0 1.57 0"/> -->
<parent link="base_link"/>
<child link="tof_link_1"/>
</joint>
<gazebo reference="tof_link_1">
<sensor name="tof_sensor_1" type="ray">
<visualize>true</visualize>
<update_rate>20</update_rate>
<always_on>1</always_on>
<ray>
<scan>
<horizontal>
<samples>10</samples>
<resolution>1</resolution>
<min_angle>-0.02618</min_angle>
<max_angle>0.02618</max_angle>
</horizontal>
<vertical>
<samples>10</samples>
<resolution>1</resolution>
<min_angle>-0.02618</min_angle>
<max_angle>0.02618</max_angle>
</vertical>
</scan>
<range>
<min>0.002</min>
<max>2</max>
<resolution>0.005</resolution>
</range>
</ray>
<plugin filename="libgazebo_ros_range.so" name="tof_plugin_1">
<topicName>sensors/range_tof_1</topicName>
<frameName>frame_range_tof_1</frameName>
<gaussianNoise>0.005</gaussianNoise>
<updateRate>20</updateRate>
<radiation>light</radiation>
<fov>0.43</fov>
</plugin>
</sensor>
<material>Gazebo/Red</material>
</gazebo>
<!-- VL53L0X ToF sensor-->
<link name="tof_link_2">
<inertial>
<mass value="0.001"/>
<origin xyz="0 0 0"/>
<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.005 0.015 0.005"/>
</geometry>
<material name="Red">
<color rgba="1 0.2 0.2 1"/>
</material>
</visual>
</link>
<joint name="tof_joint_2" type="fixed">
<origin rpy="0.0 1.57 0.0" xyz="0.065 0.047 -0.025"/>
<!-- <origin xyz="0 0 -0.029" rpy="0 1.57 0"/> -->
<parent link="base_link"/>
<child link="tof_link_2"/>
</joint>
<gazebo reference="tof_link_2">
<sensor name="tof_sensor_2" type="ray">
<visualize>true</visualize>
<update_rate>20</update_rate>
<always_on>1</always_on>
<ray>
<scan>
<horizontal>
<samples>10</samples>
<resolution>1</resolution>
<min_angle>-0.02618</min_angle>
<max_angle>0.02618</max_angle>
</horizontal>
<vertical>
<samples>10</samples>
<resolution>1</resolution>
<min_angle>-0.02618</min_angle>
<max_angle>0.02618</max_angle>
</vertical>
</scan>
<range>
<min>0.002</min>
<max>2</max>
<resolution>0.005</resolution>
</range>
</ray>
<plugin filename="libgazebo_ros_range.so" name="tof_plugin_2">
<topicName>sensors/range_tof_2</topicName>
<frameName>frame_range_tof_2</frameName>
<gaussianNoise>0.005</gaussianNoise>
<updateRate>20</updateRate>
<radiation>light</radiation>
<fov>0.43</fov>
</plugin>
</sensor>
<material>Gazebo/Red</material>
</gazebo>
<!-- VL53L0X ToF sensor-->
<link name="tof_link_6">
<inertial>
<mass value="0.001"/>
<origin xyz="0 0 0"/>
<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.005 0.015 0.005"/>
</geometry>
<material name="Red">
<color rgba="1 0.2 0.2 1"/>
</material>
</visual>
</link>
<joint name="tof_joint_6" type="fixed">
<origin rpy="0.0 1.57 0.0" xyz="0.065 -0.047 -0.025"/>
<!-- <origin xyz="0 0 -0.029" rpy="0 1.57 0"/> -->
<parent link="base_link"/>
<child link="tof_link_6"/>
</joint>
<gazebo reference="tof_link_6">
<sensor name="tof_sensor_6" type="ray">
<visualize>true</visualize>
<update_rate>20</update_rate>
<always_on>1</always_on>
<ray>
<scan>
<horizontal>
<samples>10</samples>
<resolution>1</resolution>
<min_angle>-0.02618</min_angle>
<max_angle>0.02618</max_angle>
</horizontal>
<vertical>
<samples>10</samples>
<resolution>1</resolution>
<min_angle>-0.02618</min_angle>
<max_angle>0.02618</max_angle>
</vertical>
</scan>
<range>
<min>0.002</min>
<max>2</max>
<resolution>0.005</resolution>
</range>
</ray>
<plugin filename="libgazebo_ros_range.so" name="tof_plugin_6">
<topicName>sensors/range_tof_6</topicName>
<frameName>frame_range_tof_6</frameName>
<gaussianNoise>0.005</gaussianNoise>
<updateRate>20</updateRate>
<radiation>light</radiation>
<fov>0.43</fov>
</plugin>
</sensor>
<material>Gazebo/Red</material>
</gazebo>
<!-- VL53L0X ToF sensor-->
<link name="tof_link_4">
<inertial>
<mass value="0.001"/>
<origin xyz="0 0 0"/>
<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.005 0.015 0.005"/>
</geometry>
<material name="Red">
<color rgba="1 0.2 0.2 1"/>
</material>
</visual>
</link>
<joint name="tof_joint_4" type="fixed">
<origin rpy="0.0 1.57 0.0" xyz="-0.15 0.0 -0.025"/>
<!-- <origin xyz="0 0 -0.029" rpy="0 1.57 0"/> -->
<parent link="base_link"/>
<child link="tof_link_4"/>
</joint>
<gazebo reference="tof_link_4">
<sensor name="tof_sensor_4" type="ray">
<visualize>true</visualize>
<update_rate>20</update_rate>
<always_on>1</always_on>
<ray>
<scan>
<horizontal>
<samples>10</samples>
<resolution>1</resolution>
<min_angle>-0.02618</min_angle>
<max_angle>0.02618</max_angle>
</horizontal>
<vertical>
<samples>10</samples>
<resolution>1</resolution>
<min_angle>-0.02618</min_angle>
<max_angle>0.02618</max_angle>
</vertical>
</scan>
<range>
<min>0.002</min>
<max>2</max>
<resolution>0.005</resolution>
</range>
</ray>
<plugin filename="libgazebo_ros_range.so" name="tof_plugin_4">
<topicName>sensors/range_tof_4</topicName>
<frameName>frame_range_tof_4</frameName>
<gaussianNoise>0.005</gaussianNoise>
<updateRate>20</updateRate>
<radiation>light</radiation>
<fov>0.43</fov>
</plugin>
</sensor>
<material>Gazebo/Red</material>
</gazebo>
<!-- VL53L0X ToF sensor-->
<link name="tof_link_3">
<inertial>
<mass value="0.001"/>
<origin xyz="0 0 0"/>
<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.005 0.015 0.005"/>
</geometry>
<material name="Red">
<color rgba="1 0.2 0.2 1"/>
</material>
</visual>
</link>
<joint name="tof_joint_3" type="fixed">
<origin rpy="0.0 1.57 0.0" xyz="-0.065 0.047 -0.025"/>
<!-- <origin xyz="0 0 -0.029" rpy="0 1.57 0"/> -->
<parent link="base_link"/>
<child link="tof_link_3"/>
</joint>
<gazebo reference="tof_link_3">
<sensor name="tof_sensor_3" type="ray">
<visualize>true</visualize>
<update_rate>20</update_rate>
<always_on>1</always_on>
<ray>
<scan>
<horizontal>
<samples>10</samples>
<resolution>1</resolution>
<min_angle>-0.02618</min_angle>
<max_angle>0.02618</max_angle>
</horizontal>
<vertical>
<samples>10</samples>
<resolution>1</resolution>
<min_angle>-0.02618</min_angle>
<max_angle>0.02618</max_angle>
</vertical>
</scan>
<range>
<min>0.002</min>
<max>2</max>
<resolution>0.005</resolution>
</range>
</ray>
<plugin filename="libgazebo_ros_range.so" name="tof_plugin_3">
<topicName>sensors/range_tof_3</topicName>
<frameName>frame_range_tof_3</frameName>
<gaussianNoise>0.005</gaussianNoise>
<updateRate>20</updateRate>
<radiation>light</radiation>
<fov>0.43</fov>
</plugin>
</sensor>
<material>Gazebo/Red</material>
</gazebo>
<!-- VL53L0X ToF sensor-->
<link name="tof_link_5">
<inertial>
<mass value="0.001"/>
<origin xyz="0 0 0"/>
<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.005 0.015 0.005"/>
</geometry>
<material name="Red">
<color rgba="1 0.2 0.2 1"/>
</material>
</visual>
</link>
<joint name="tof_joint_5" type="fixed">
<origin rpy="0.0 1.57 0.0" xyz="-0.065 -0.047 -0.025"/>
<!-- <origin xyz="0 0 -0.029" rpy="0 1.57 0"/> -->
<parent link="base_link"/>
<child link="tof_link_5"/>
</joint>
<gazebo reference="tof_link_5">
<sensor name="tof_sensor_5" type="ray">
<visualize>true</visualize>
<update_rate>20</update_rate>
<always_on>1</always_on>
<ray>
<scan>
<horizontal>
<samples>10</samples>
<resolution>1</resolution>
<min_angle>-0.02618</min_angle>
<max_angle>0.02618</max_angle>
</horizontal>
<vertical>
<samples>10</samples>
<resolution>1</resolution>
<min_angle>-0.02618</min_angle>
<max_angle>0.02618</max_angle>
</vertical>
</scan>
<range>
<min>0.002</min>
<max>2</max>
<resolution>0.005</resolution>
</range>
</ray>
<plugin filename="libgazebo_ros_range.so" name="tof_plugin_5">
<topicName>sensors/range_tof_5</topicName>
<frameName>frame_range_tof_5</frameName>
<gaussianNoise>0.005</gaussianNoise>
<updateRate>20</updateRate>
<radiation>light</radiation>
<fov>0.43</fov>
</plugin>
</sensor>
<material>Gazebo/Red</material>
</gazebo>
<gazebo reference="fl_shank_link">
<sensor name="fl_link_contact_sensor" type="contact">
<contact>
<collision>fl_shank_link_collision</collision>
</contact>
<plugin filename="libgazebo_ros_bumper.so" name="gazebo_ros_bumper_controller">
<bumperTopicName>fl_contact</bumperTopicName>
<frameName>fl_shank_link</frameName>
</plugin>
</sensor>
</gazebo>
<gazebo reference="fr_shank_link">
<sensor name="fr_link_contact_sensor" type="contact">
<contact>
<collision>fr_shank_link_collision</collision>
</contact>
<plugin filename="libgazebo_ros_bumper.so" name="gazebo_ros_bumper_controller">
<bumperTopicName>fr_contact</bumperTopicName>
<frameName>fr_shank_link</frameName>
</plugin>
</sensor>
</gazebo>
<gazebo reference="bl_shank_link">
<sensor name="bl_link_contact_sensor" type="contact">
<contact>
<collision>bl_shank_link_collision</collision>
</contact>
<plugin filename="libgazebo_ros_bumper.so" name="gazebo_ros_bumper_controller">
<bumperTopicName>bl_contact</bumperTopicName>
<frameName>bl_shank_link</frameName>
</plugin>
</sensor>
</gazebo>
<gazebo reference="br_shank_link">
<sensor name="br_link_contact_sensor" type="contact">
<contact>
<collision>br_shank_link_collision</collision>
</contact>
<plugin filename="libgazebo_ros_bumper.so" name="gazebo_ros_bumper_controller">
<bumperTopicName>br_contact</bumperTopicName>
<frameName>br_shank_link</frameName>
</plugin>
</sensor>
</gazebo>
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/Stochlab/stochlite_description-aditya-shirwatkar/urdf/stochlite.leg_frames.xacro | <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="stochlite_leg_frames">
<link name="fl_leg_frame">
</link>
<link name="fr_leg_frame">
</link>
<link name="bl_leg_frame">
</link>
<link name="br_leg_frame">
</link>
<joint name="fl_fixed" type="fixed">
<parent link="base_link"/>
<child link="fl_leg_frame"/>
<origin xyz="0.16695 0.0956 -0.0050001" rpy="0 0 0" />
<axis xyz="1 0 0" />
</joint>
<joint name="fr_fixed" type="fixed">
<parent link="base_link"/>
<child link="fr_leg_frame"/>
<origin xyz="0.16695 -0.0964 -0.0049999" rpy="0 0 0" />
<axis xyz="1 0 0" />
</joint>
<joint name="bl_fixed" type="fixed">
<parent link="base_link"/>
<child link="bl_leg_frame"/>
<origin xyz="-0.16695 0.0956 -0.0049999" rpy="0 0 0" />
<axis xyz="1 0 0" />
</joint>
<joint name="br_fixed" type="fixed">
<parent link="base_link"/>
<child link="br_leg_frame"/>
<origin xyz="-0.16695 -0.0964 -0.0050001" rpy="0 0 0" />
<axis xyz="1 0 0" />
</joint>
</xacro:macro>
</robot> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/Stochlab/stochlite_description-aditya-shirwatkar/urdf/stochlite.description.xacro | <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- Motor Limits b3m in N-m and rad/s -->
<xacro:property name="torque" value="4.1" />
<xacro:property name="velocity" value="4.6" />
<xacro:property name="abd_lim" value="10.22" />
<xacro:property name="hip_lim" value="10.22" />
<xacro:property name="knee_lim" value="10.22" />
<xacro:macro name="stochlite_description" params="fixed">
<!-- For KDL -->
<xacro:if value="${fixed}">
<link name="world">
</link>
<joint name="fixed" type="fixed">
<parent link="world"/>
<child link="base_link"/>
</joint>
</xacro:if>
<xacro:unless value="${fixed}">
<link name="dummy">
</link>
<joint name="dummy_joint" type="fixed">
<parent link="dummy"/>
<child link="base_link"/>
</joint>
</xacro:unless>
<link name="base_link">
<inertial>
<origin xyz="0.00011698 0.00043344 -0.0081282" rpy="0 0 0" />
<mass value="1.582" />
<inertia
ixx="0.00575867"
ixy="7.19E-06"
ixz="3.71E-06"
iyy="0.02534052"
iyz="1.38E-06"
izz="0.03025755" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://stochlite_description/meshes/base_link.STL" />
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://stochlite_description/meshes/base_link.STL" />
</geometry>
</collision>
</link>
<link name="fl_abd_link">
<inertial>
<origin xyz="0.0029662 0.011479 4.5103E-17" rpy="0 0 0" />
<mass value="0.037" />
<inertia
ixx="0.00043261"
ixy="0.00067195"
ixz="-3.148E-05"
iyy="0.00109285"
iyz="-1.979E-05"
izz="0.00151879" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://stochlite_description/meshes/fl_abd_link.STL" />
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://stochlite_description/meshes/fl_abd_link.STL" />
</geometry>
</collision>
</link>
<joint name="fl_abd_joint" type="revolute">
<origin xyz="0.16695 0.0956 -0.0050001" rpy="0 0 0" />
<parent link="base_link" />
<child link="fl_abd_link" />
<axis xyz="1 0 0" />
<limit
lower="${-1.0 * abd_lim}"
upper="${abd_lim}"
effort="${torque}"
velocity="${velocity}" />
</joint>
<link name="fl_thigh_link">
<inertial>
<origin xyz="-1.9979E-05 -0.0017695 -0.073" rpy="0 0 0" />
<mass value="0.32" />
<inertia
ixx="0.00983483"
ixy="0.00779081"
ixz="-0.0041665"
iyy="0.01193972"
iyz="-0.00364492"
izz="0.01581035" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://stochlite_description/meshes/fl_thigh_link.STL" />
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://stochlite_description/meshes/fl_thigh_link.STL" />
</geometry>
</collision>
</link>
<joint name="fl_hip_joint" type="revolute">
<origin xyz="0 0.052019 0" rpy="0 0 0" />
<parent link="fl_abd_link" />
<child link="fl_thigh_link" />
<axis xyz="0 1 0" />
<limit
lower="${-1.0 * hip_lim}"
upper="${hip_lim}"
effort="${torque}"
velocity="${velocity}" />
</joint>
<link name="fl_shank_link">
<inertial>
<origin
xyz="4.6786E-08 0.014581 -0.08739"
rpy="0 0 0" />
<mass
value="0.055" />
<inertia
ixx="0.00511956"
ixy="0.00170322"
ixz="-0.0021654"
iyy="0.00476045"
iyz="-0.00242252"
izz="0.00343153" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stochlite_description/meshes/fl_shank_link.STL" />
</geometry>
<material
name="">
<color
rgba="0.75294 0.75294 0.75294 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stochlite_description/meshes/fl_shank_link.STL" />
</geometry>
</collision>
</link>
<joint name="fl_knee_joint" type="revolute">
<origin xyz="0 0.023481 -0.146" rpy="0 0 0" />
<parent link="fl_thigh_link" />
<child link="fl_shank_link" />
<axis xyz="0 1 0" />
<limit
lower="${-1.0 * knee_lim}"
upper="${knee_lim}"
effort="${torque}"
velocity="${velocity}" />
</joint>
<link name="fl_toe_link">
</link>
<joint name="fl_toe_joint" type="fixed">
<origin xyz="0 0.023481 -0.169" rpy="0 0 0" />
<axis xyz="0 1 0" />
<parent link="fl_shank_link"/>
<child link="fl_toe_link"/>
</joint>
<link name="fr_abd_link">
<inertial>
<origin
xyz="0.0029662 -0.011479 0"
rpy="0 0 0" />
<mass
value="0.037" />
<inertia
ixx="0.00043896"
ixy="-0.00067699"
ixz="-3.147E-05"
iyy="0.0010929"
iyz="1.993E-05"
izz="0.0015252" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stochlite_description/meshes/fr_abd_link.STL" />
</geometry>
<material
name="">
<color
rgba="0.75294 0.75294 0.75294 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stochlite_description/meshes/fr_abd_link.STL" />
</geometry>
</collision>
</link>
<joint name="fr_abd_joint" type="revolute">
<origin xyz="0.16695 -0.0964 -0.0049999" rpy="0 0 0" />
<parent link="base_link" />
<child link="fr_abd_link" />
<axis xyz="1 0 0" />
<limit
lower="${-1.0 * abd_lim}"
upper="${abd_lim}"
effort="${torque}"
velocity="${velocity}" />
</joint>
<link name="fr_thigh_link">
<inertial>
<origin
xyz="1.9979E-05 0.0017695 -0.073"
rpy="0 0 0" />
<mass
value="0.32" />
<inertia
ixx="0.0099097"
ixy="-0.00783571"
ixz="-0.00416764"
iyy="0.01194464"
iyz="0.00366487"
izz="0.01589016" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stochlite_description/meshes/fr_thigh_link.STL" />
</geometry>
<material
name="">
<color
rgba="0.75294 0.75294 0.75294 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stochlite_description/meshes/fr_thigh_link.STL" />
</geometry>
</collision>
</link>
<joint name="fr_hip_joint" type="revolute">
<origin xyz="0 -0.052019 0" rpy="0 0 0" />
<parent link="fr_abd_link" />
<child link="fr_thigh_link" />
<axis xyz="0 1 0" />
<limit
lower="${-1.0 * hip_lim}"
upper="${hip_lim}"
effort="${torque}"
velocity="${velocity}" />
</joint>
<link name="fr_shank_link">
<inertial>
<origin
xyz="-4.6856E-08 -0.014581 -0.08739"
rpy="0 0 0" />
<mass
value="0.055" />
<inertia
ixx="0.00513592"
ixy="-0.00171056"
ixz="-0.0021654"
iyy="0.00476044"
iyz="0.0024329"
izz="0.00344789" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stochlite_description/meshes/fr_shank_link.STL" />
</geometry>
<material
name="">
<color
rgba="0.75294 0.75294 0.75294 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stochlite_description/meshes/fr_shank_link.STL" />
</geometry>
</collision>
</link>
<joint name="fr_knee_joint" type="revolute">
<origin xyz="0 -0.023481 -0.146" rpy="0 0 0" />
<parent link="fr_thigh_link" />
<child link="fr_shank_link" />
<axis xyz="0 1 0" />
<limit
lower="${-1 * knee_lim}"
upper="${knee_lim}"
effort="${torque}"
velocity="${velocity}" />
</joint>
<link name="fr_toe_link">
</link>
<joint name="fr_toe_joint" type="fixed">
<origin xyz="0 -0.023481 -0.169" rpy="0 0 0" />
<axis xyz="0 1 0" />
<parent link="fr_shank_link"/>
<child link="fr_toe_link"/>
</joint>
<link name="bl_abd_link">
<inertial>
<origin
xyz="-0.0029662 0.011479 -4.6838E-17"
rpy="0 0 0" />
<mass
value="0.037" />
<inertia
ixx="0.00043261"
ixy="-0.00067195"
ixz="3.147E-05"
iyy="0.0010929"
iyz="-1.979E-05"
izz="0.0051879" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stochlite_description/meshes/bl_abd_link.STL" />
</geometry>
<material
name="">
<color
rgba="0.75294 0.75294 0.75294 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stochlite_description/meshes/bl_abd_link.STL" />
</geometry>
</collision>
</link>
<joint name="bl_abd_joint" type="revolute">
<origin xyz="-0.16695 0.0956 -0.0049999" rpy="0 0 0" />
<parent link="base_link" />
<child link="bl_abd_link" />
<axis xyz="1 0 0" />
<limit
lower="${-1.0 * abd_lim}"
upper="${abd_lim}"
effort="${torque}"
velocity="${velocity}" />
</joint>
<link name="bl_thigh_link">
<inertial>
<origin
xyz="-1.998E-05 -0.0017695 -0.073"
rpy="0 0 0" />
<mass
value="0.32" />
<inertia
ixx="0.0098348"
ixy="-0.007793"
ixz="0.0041676"
iyy="0.011945"
iyz="-0.0036449"
izz="0.015815" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stochlite_description/meshes/bl_thigh_link.STL" />
</geometry>
<material
name="">
<color
rgba="0.75294 0.75294 0.75294 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stochlite_description/meshes/bl_thigh_link.STL" />
</geometry>
</collision>
</link>
<joint name="bl_hip_joint" type="revolute">
<origin xyz="0 0.052019 0" rpy="0 0 0" />
<parent link="bl_abd_link" />
<child link="bl_thigh_link" />
<axis xyz="0 1 0" />
<limit
lower="${-1.0 * hip_lim}"
upper="${hip_lim}"
effort="${torque}"
velocity="${velocity}" />
</joint>
<link name="bl_shank_link">
<inertial>
<origin
xyz="4.678E-08 0.014581 -0.08739"
rpy="0 0 0" />
<mass
value="0.055" />
<inertia
ixx="0.0051196"
ixy="-0.0017032"
ixz="0.0021654"
iyy="0.0047604"
iyz="-0.0024225"
izz="0.0034315" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stochlite_description/meshes/bl_shank_link.STL" />
</geometry>
<material
name="">
<color
rgba="0.75294 0.75294 0.75294 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stochlite_description/meshes/bl_shank_link.STL" />
</geometry>
</collision>
</link>
<joint name="bl_knee_joint" type="revolute">
<origin xyz="0 0.023481 -0.146" rpy="0 0 0" />
<parent link="bl_thigh_link" />
<child link="bl_shank_link" />
<axis xyz="0 1 0" />
<limit
lower="${-1.0 * knee_lim}"
upper="${knee_lim}"
effort="${torque}"
velocity="${velocity}" />
</joint>
<link name="bl_toe_link">
</link>
<joint name="bl_toe_joint" type="fixed">
<origin xyz="0 0.023481 -0.169" rpy="0 0 0" />
<axis xyz="0 1 0" />
<parent link="bl_shank_link"/>
<child link="bl_toe_link"/>
</joint>
<link name="br_abd_link">
<inertial>
<origin
xyz="-0.0029662 -0.011479 6.4185E-17"
rpy="0 0 0" />
<mass
value="0.037" />
<inertia
ixx="0.00043896"
ixy="0.00067699"
ixz="3.148E-05"
iyy="0.0010929"
iyz="1.994E-05"
izz="0.0015252" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stochlite_description/meshes/br_abd_link.STL" />
</geometry>
<material
name="">
<color
rgba="0.75294 0.75294 0.75294 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stochlite_description/meshes/br_abd_link.STL" />
</geometry>
</collision>
</link>
<joint name="br_abd_joint" type="revolute">
<origin xyz="-0.16695 -0.0964 -0.0050001" rpy="0 0 0" />
<parent link="base_link" />
<child link="br_abd_link" />
<axis xyz="1 0 0" />
<limit
lower="${-1.0 * abd_lim}"
upper="${abd_lim}"
effort="${torque}"
velocity="${velocity}" />
</joint>
<link name="br_thigh_link">
<inertial>
<origin
xyz="1.998E-05 0.0017695 -0.073"
rpy="0 0 0" />
<mass
value="0.32" />
<inertia
ixx="0.0099097"
ixy="0.0078336"
ixz="0.0041665"
iyy="0.01194"
iyz="0.0036649"
izz="0.015885" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stochlite_description/meshes/br_thigh_link.STL" />
</geometry>
<material
name="">
<color
rgba="0.75294 0.75294 0.75294 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stochlite_description/meshes/br_thigh_link.STL" />
</geometry>
</collision>
</link>
<joint name="br_hip_joint" type="revolute">
<origin xyz="0 -0.052019 0" rpy="0 0 0" />
<parent link="br_abd_link" />
<child link="br_thigh_link" />
<axis xyz="0 1 0" />
<limit
lower="${-1.0 * hip_lim}"
upper="${hip_lim}"
effort="${torque}"
velocity="${velocity}" />
</joint>
<link name="br_shank_link">
<inertial>
<origin
xyz="-4.6786E-08 -0.014581 -0.08739"
rpy="0 0 0" />
<mass
value="0.055" />
<inertia
ixx="0.00513592"
ixy="0.00171056"
ixz="0.0021654"
iyy="0.00476045"
iyz="0.0024329"
izz="0.00344789" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stochlite_description/meshes/br_shank_link.STL" />
</geometry>
<material
name="">
<color
rgba="0.75294 0.75294 0.75294 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://stochlite_description/meshes/br_shank_link.STL" />
</geometry>
</collision>
</link>
<joint name="br_knee_joint" type="revolute">
<origin xyz="0 -0.023481 -0.146" rpy="0 0 0" />
<parent link="br_thigh_link" />
<child link="br_shank_link" />
<axis xyz="0 1 0" />
<limit
lower="${-1.0 * knee_lim}"
upper="${knee_lim}"
effort="${torque}"
velocity="${velocity}" />
</joint>
<link name="br_toe_link">
</link>
<joint name="br_toe_joint" type="fixed">
<origin xyz="0 -0.023481 -0.169" rpy="0 0 0" />
<axis xyz="0 1 0" />
<parent link="br_shank_link"/>
<child link="br_toe_link"/>
</joint>
</xacro:macro>
</robot> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/Stochlab/stochlite_description-aditya-shirwatkar/urdf/stochlite.gazebo.xacro | <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="stochlite_gazebo">
<!-- Enable the Joint Control -->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<legacyModeNS>true</legacyModeNS>
</plugin>
</gazebo>
<gazebo>
<self_collide>1</self_collide>
</gazebo>
<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>
</xacro:macro>
</robot> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/Stochlab/stochlite_description-aditya-shirwatkar/urdf/stochlite.urdf | <?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from stochlite.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="stochlite">
<link name="dummy">
</link>
<joint name="dummy_joint" type="fixed">
<parent link="dummy"/>
<child link="base_link"/>
</joint>
<link name="base_link">
<inertial>
<origin rpy="0 0 0" xyz="0.00011698 0.00043344 -0.0081282"/>
<mass value="1.582"/>
<inertia ixx="0.00575867" ixy="7.19E-06" ixz="3.71E-06" iyy="0.02534052" iyz="1.38E-06" izz="0.03025755"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stochlite_description/meshes/base_link.STL"/>
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stochlite_description/meshes/base_link.STL"/>
</geometry>
</collision>
</link>
<link name="fl_abd_link">
<inertial>
<origin rpy="0 0 0" xyz="0.0029662 0.011479 4.5103E-17"/>
<mass value="0.037"/>
<inertia ixx="0.00043261" ixy="0.00067195" ixz="-3.148E-05" iyy="0.00109285" iyz="-1.979E-05" izz="0.00151879"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stochlite_description/meshes/fl_abd_link.STL"/>
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stochlite_description/meshes/fl_abd_link.STL"/>
</geometry>
</collision>
</link>
<joint name="fl_abd_joint" type="revolute">
<origin rpy="0 0 0" xyz="0.16695 0.0956 -0.0050001"/>
<parent link="base_link"/>
<child link="fl_abd_link"/>
<axis xyz="1 0 0"/>
<limit effort="4.1" lower="-10.22" upper="10.22" velocity="4.6"/>
</joint>
<link name="fl_thigh_link">
<inertial>
<origin rpy="0 0 0" xyz="-1.9979E-05 -0.0017695 -0.073"/>
<mass value="0.32"/>
<inertia ixx="0.00983483" ixy="0.00779081" ixz="-0.0041665" iyy="0.01193972" iyz="-0.00364492" izz="0.01581035"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stochlite_description/meshes/fl_thigh_link.STL"/>
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stochlite_description/meshes/fl_thigh_link.STL"/>
</geometry>
</collision>
</link>
<joint name="fl_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0.052019 0"/>
<parent link="fl_abd_link"/>
<child link="fl_thigh_link"/>
<axis xyz="0 1 0"/>
<limit effort="4.1" lower="-10.22" upper="10.22" velocity="4.6"/>
</joint>
<link name="fl_shank_link">
<inertial>
<origin rpy="0 0 0" xyz="4.6786E-08 0.014581 -0.08739"/>
<mass value="0.055"/>
<inertia ixx="0.00511956" ixy="0.00170322" ixz="-0.0021654" iyy="0.00476045" iyz="-0.00242252" izz="0.00343153"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stochlite_description/meshes/fl_shank_link.STL"/>
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stochlite_description/meshes/fl_shank_link.STL"/>
</geometry>
</collision>
</link>
<joint name="fl_knee_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0.023481 -0.146"/>
<parent link="fl_thigh_link"/>
<child link="fl_shank_link"/>
<axis xyz="0 1 0"/>
<limit effort="4.1" lower="-10.22" upper="10.22" velocity="4.6"/>
</joint>
<link name="fl_toe_link">
</link>
<joint name="fl_toe_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0.023481 -0.169"/>
<axis xyz="0 1 0"/>
<parent link="fl_shank_link"/>
<child link="fl_toe_link"/>
</joint>
<link name="fr_abd_link">
<inertial>
<origin rpy="0 0 0" xyz="0.0029662 -0.011479 0"/>
<mass value="0.037"/>
<inertia ixx="0.00043896" ixy="-0.00067699" ixz="-3.147E-05" iyy="0.0010929" iyz="1.993E-05" izz="0.0015252"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stochlite_description/meshes/fr_abd_link.STL"/>
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stochlite_description/meshes/fr_abd_link.STL"/>
</geometry>
</collision>
</link>
<joint name="fr_abd_joint" type="revolute">
<origin rpy="0 0 0" xyz="0.16695 -0.0964 -0.0049999"/>
<parent link="base_link"/>
<child link="fr_abd_link"/>
<axis xyz="1 0 0"/>
<limit effort="4.1" lower="-10.22" upper="10.22" velocity="4.6"/>
</joint>
<link name="fr_thigh_link">
<inertial>
<origin rpy="0 0 0" xyz="1.9979E-05 0.0017695 -0.073"/>
<mass value="0.32"/>
<inertia ixx="0.0099097" ixy="-0.00783571" ixz="-0.00416764" iyy="0.01194464" iyz="0.00366487" izz="0.01589016"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stochlite_description/meshes/fr_thigh_link.STL"/>
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stochlite_description/meshes/fr_thigh_link.STL"/>
</geometry>
</collision>
</link>
<joint name="fr_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 -0.052019 0"/>
<parent link="fr_abd_link"/>
<child link="fr_thigh_link"/>
<axis xyz="0 1 0"/>
<limit effort="4.1" lower="-10.22" upper="10.22" velocity="4.6"/>
</joint>
<link name="fr_shank_link">
<inertial>
<origin rpy="0 0 0" xyz="-4.6856E-08 -0.014581 -0.08739"/>
<mass value="0.055"/>
<inertia ixx="0.00513592" ixy="-0.00171056" ixz="-0.0021654" iyy="0.00476044" iyz="0.0024329" izz="0.00344789"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stochlite_description/meshes/fr_shank_link.STL"/>
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stochlite_description/meshes/fr_shank_link.STL"/>
</geometry>
</collision>
</link>
<joint name="fr_knee_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 -0.023481 -0.146"/>
<parent link="fr_thigh_link"/>
<child link="fr_shank_link"/>
<axis xyz="0 1 0"/>
<limit effort="4.1" lower="-10.22" upper="10.22" velocity="4.6"/>
</joint>
<link name="fr_toe_link">
</link>
<joint name="fr_toe_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 -0.023481 -0.169"/>
<axis xyz="0 1 0"/>
<parent link="fr_shank_link"/>
<child link="fr_toe_link"/>
</joint>
<link name="bl_abd_link">
<inertial>
<origin rpy="0 0 0" xyz="-0.0029662 0.011479 -4.6838E-17"/>
<mass value="0.037"/>
<inertia ixx="0.00043261" ixy="-0.00067195" ixz="3.147E-05" iyy="0.0010929" iyz="-1.979E-05" izz="0.0051879"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stochlite_description/meshes/bl_abd_link.STL"/>
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stochlite_description/meshes/bl_abd_link.STL"/>
</geometry>
</collision>
</link>
<joint name="bl_abd_joint" type="revolute">
<origin rpy="0 0 0" xyz="-0.16695 0.0956 -0.0049999"/>
<parent link="base_link"/>
<child link="bl_abd_link"/>
<axis xyz="1 0 0"/>
<limit effort="4.1" lower="-10.22" upper="10.22" velocity="4.6"/>
</joint>
<link name="bl_thigh_link">
<inertial>
<origin rpy="0 0 0" xyz="-1.998E-05 -0.0017695 -0.073"/>
<mass value="0.32"/>
<inertia ixx="0.0098348" ixy="-0.007793" ixz="0.0041676" iyy="0.011945" iyz="-0.0036449" izz="0.015815"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stochlite_description/meshes/bl_thigh_link.STL"/>
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stochlite_description/meshes/bl_thigh_link.STL"/>
</geometry>
</collision>
</link>
<joint name="bl_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0.052019 0"/>
<parent link="bl_abd_link"/>
<child link="bl_thigh_link"/>
<axis xyz="0 1 0"/>
<limit effort="4.1" lower="-10.22" upper="10.22" velocity="4.6"/>
</joint>
<link name="bl_shank_link">
<inertial>
<origin rpy="0 0 0" xyz="4.678E-08 0.014581 -0.08739"/>
<mass value="0.055"/>
<inertia ixx="0.0051196" ixy="-0.0017032" ixz="0.0021654" iyy="0.0047604" iyz="-0.0024225" izz="0.0034315"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stochlite_description/meshes/bl_shank_link.STL"/>
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stochlite_description/meshes/bl_shank_link.STL"/>
</geometry>
</collision>
</link>
<joint name="bl_knee_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0.023481 -0.146"/>
<parent link="bl_thigh_link"/>
<child link="bl_shank_link"/>
<axis xyz="0 1 0"/>
<limit effort="4.1" lower="-10.22" upper="10.22" velocity="4.6"/>
</joint>
<link name="bl_toe_link">
</link>
<joint name="bl_toe_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0.023481 -0.169"/>
<axis xyz="0 1 0"/>
<parent link="bl_shank_link"/>
<child link="bl_toe_link"/>
</joint>
<link name="br_abd_link">
<inertial>
<origin rpy="0 0 0" xyz="-0.0029662 -0.011479 6.4185E-17"/>
<mass value="0.037"/>
<inertia ixx="0.00043896" ixy="0.00067699" ixz="3.148E-05" iyy="0.0010929" iyz="1.994E-05" izz="0.0015252"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stochlite_description/meshes/br_abd_link.STL"/>
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stochlite_description/meshes/br_abd_link.STL"/>
</geometry>
</collision>
</link>
<joint name="br_abd_joint" type="revolute">
<origin rpy="0 0 0" xyz="-0.16695 -0.0964 -0.0050001"/>
<parent link="base_link"/>
<child link="br_abd_link"/>
<axis xyz="1 0 0"/>
<limit effort="4.1" lower="-10.22" upper="10.22" velocity="4.6"/>
</joint>
<link name="br_thigh_link">
<inertial>
<origin rpy="0 0 0" xyz="1.998E-05 0.0017695 -0.073"/>
<mass value="0.32"/>
<inertia ixx="0.0099097" ixy="0.0078336" ixz="0.0041665" iyy="0.01194" iyz="0.0036649" izz="0.015885"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stochlite_description/meshes/br_thigh_link.STL"/>
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stochlite_description/meshes/br_thigh_link.STL"/>
</geometry>
</collision>
</link>
<joint name="br_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 -0.052019 0"/>
<parent link="br_abd_link"/>
<child link="br_thigh_link"/>
<axis xyz="0 1 0"/>
<limit effort="4.1" lower="-10.22" upper="10.22" velocity="4.6"/>
</joint>
<link name="br_shank_link">
<inertial>
<origin rpy="0 0 0" xyz="-4.6786E-08 -0.014581 -0.08739"/>
<mass value="0.055"/>
<inertia ixx="0.00513592" ixy="0.00171056" ixz="0.0021654" iyy="0.00476045" iyz="0.0024329" izz="0.00344789"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stochlite_description/meshes/br_shank_link.STL"/>
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://stochlite_description/meshes/br_shank_link.STL"/>
</geometry>
</collision>
</link>
<joint name="br_knee_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 -0.023481 -0.146"/>
<parent link="br_thigh_link"/>
<child link="br_shank_link"/>
<axis xyz="0 1 0"/>
<limit effort="4.1" lower="-10.22" upper="10.22" velocity="4.6"/>
</joint>
<link name="br_toe_link">
</link>
<joint name="br_toe_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 -0.023481 -0.169"/>
<axis xyz="0 1 0"/>
<parent link="br_shank_link"/>
<child link="br_toe_link"/>
</joint>
<link name="fl_leg_frame">
</link>
<link name="fr_leg_frame">
</link>
<link name="bl_leg_frame">
</link>
<link name="br_leg_frame">
</link>
<joint name="fl_fixed" type="fixed">
<parent link="base_link"/>
<child link="fl_leg_frame"/>
<origin rpy="0 0 0" xyz="0.16695 0.0956 -0.0050001"/>
<axis xyz="1 0 0"/>
</joint>
<joint name="fr_fixed" type="fixed">
<parent link="base_link"/>
<child link="fr_leg_frame"/>
<origin rpy="0 0 0" xyz="0.16695 -0.0964 -0.0049999"/>
<axis xyz="1 0 0"/>
</joint>
<joint name="bl_fixed" type="fixed">
<parent link="base_link"/>
<child link="bl_leg_frame"/>
<origin rpy="0 0 0" xyz="-0.16695 0.0956 -0.0049999"/>
<axis xyz="1 0 0"/>
</joint>
<joint name="br_fixed" type="fixed">
<parent link="base_link"/>
<child link="br_leg_frame"/>
<origin rpy="0 0 0" xyz="-0.16695 -0.0964 -0.0050001"/>
<axis xyz="1 0 0"/>
</joint>
<transmission name="fl_abd_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="fl_abd_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="fl_abd_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="fl_hip_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="fl_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="fl_hip_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="fl_knee_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="fl_knee_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="fl_knee_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="bl_abd_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="bl_abd_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="bl_abd_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="bl_hip_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="bl_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="bl_hip_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="bl_knee_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="bl_knee_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="bl_knee_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="fr_abd_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="fr_abd_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="fr_abd_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="fr_hip_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="fr_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="fr_hip_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="fr_knee_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="fr_knee_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="fr_knee_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="br_abd_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="br_abd_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="br_abd_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="br_hip_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="br_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="br_hip_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="br_knee_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="br_knee_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="br_knee_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<gazebo reference="base_link_link">
<material>Gazebo/White</material>
<kp>10000000.0</kp>
<kd>1.0</kd>
<mu1>4.0</mu1>
<mu2>4.0</mu2>
<maxVel>0.0</maxVel>
<minDepth>0.001</minDepth>
</gazebo>
<gazebo reference="fl_abd_link">
<material>Gazebo/Grey</material>
<kp>10000000.0</kp>
<kd>1.0</kd>
<mu1>4.0</mu1>
<mu2>4.0</mu2>
<maxVel>0.0</maxVel>
<minDepth>0.001</minDepth>
</gazebo>
<gazebo reference="bl_abd_link">
<material>Gazebo/Grey</material>
<kp>10000000.0</kp>
<kd>1.0</kd>
<mu1>4.0</mu1>
<mu2>4.0</mu2>
<maxVel>0.0</maxVel>
<minDepth>0.001</minDepth>
</gazebo>
<gazebo reference="fr_abd_link">
<material>Gazebo/Grey</material>
<kp>10000000.0</kp>
<kd>1.0</kd>
<mu1>4.0</mu1>
<mu2>4.0</mu2>
<maxVel>0.0</maxVel>
<minDepth>0.001</minDepth>
</gazebo>
<gazebo reference="br_abd_link">
<material>Gazebo/Grey</material>
<kp>10000000.0</kp>
<kd>1.0</kd>
<mu1>4.0</mu1>
<mu2>4.0</mu2>
<maxVel>0.0</maxVel>
<minDepth>0.001</minDepth>
</gazebo>
<gazebo reference="fl_thigh_link">
<material>Gazebo/DarkGrey</material>
<kp>10000000.0</kp>
<kd>1.0</kd>
<mu1>4.0</mu1>
<mu2>4.0</mu2>
<maxVel>0.0</maxVel>
<minDepth>0.001</minDepth>
</gazebo>
<gazebo reference="bl_thigh_link">
<material>Gazebo/DarkGrey</material>
<kp>10000000.0</kp>
<kd>1.0</kd>
<mu1>4.0</mu1>
<mu2>4.0</mu2>
<maxVel>0.0</maxVel>
<minDepth>0.001</minDepth>
</gazebo>
<gazebo reference="fr_thigh_link">
<material>Gazebo/DarkGrey</material>
<kp>10000000.0</kp>
<kd>1.0</kd>
<mu1>4.0</mu1>
<mu2>4.0</mu2>
<maxVel>0.0</maxVel>
<minDepth>0.001</minDepth>
</gazebo>
<gazebo reference="br_thigh_link">
<material>Gazebo/DarkGrey</material>
<kp>10000000.0</kp>
<kd>1.0</kd>
<mu1>4.0</mu1>
<mu2>4.0</mu2>
<maxVel>0.0</maxVel>
<minDepth>0.001</minDepth>
</gazebo>
<gazebo reference="fl_shank_link">
<material>Gazebo/Grey</material>
<kp>10000000.0</kp>
<kd>1.0</kd>
<mu1>4.0</mu1>
<mu2>4.0</mu2>
<maxVel>0.0</maxVel>
<minDepth>0.001</minDepth>
</gazebo>
<gazebo reference="bl_shank_link">
<material>Gazebo/Grey</material>
<kp>10000000.0</kp>
<kd>1.0</kd>
<mu1>4.0</mu1>
<mu2>4.0</mu2>
<maxVel>0.0</maxVel>
<minDepth>0.001</minDepth>
</gazebo>
<gazebo reference="fr_shank_link">
<material>Gazebo/Grey</material>
<kp>10000000.0</kp>
<kd>1.0</kd>
<mu1>4.0</mu1>
<mu2>4.0</mu2>
<maxVel>0.0</maxVel>
<minDepth>0.001</minDepth>
</gazebo>
<gazebo reference="br_shank_link">
<material>Gazebo/Grey</material>
<kp>10000000.0</kp>
<kd>1.0</kd>
<mu1>4.0</mu1>
<mu2>4.0</mu2>
<maxVel>0.0</maxVel>
<minDepth>0.001</minDepth>
</gazebo>
<!-- Enable the Joint Control -->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<legacyModeNS>true</legacyModeNS>
</plugin>
</gazebo>
<gazebo>
<self_collide>1</self_collide>
</gazebo>
<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>
<link name="imu_link_1">
<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>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.005 0.005 0.005"/>
</geometry>
<material name="">
<color rgba="0.6 0.8 0.1 1"/>
</material>
</visual>
</link>
<joint name="imu_joint_1" type="fixed">
<parent link="base_link"/>
<child link="imu_link_1"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.005"/>
</joint>
<gazebo>
<plugin filename="libhector_gazebo_ros_imu.so" name="imu_1_controller">
<updateRate>100</updateRate>
<bodyName>imu_link_1</bodyName>
<topicName>sensors/imu_1</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>
<material>Gazebo/Yellow</material>
</gazebo>
<!-- VL53L0X ToF sensor-->
<link name="tof_link_1">
<inertial>
<mass value="0.001"/>
<origin xyz="0 0 0"/>
<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.005 0.015 0.005"/>
</geometry>
<material name="Red">
<color rgba="1 0.2 0.2 1"/>
</material>
</visual>
</link>
<joint name="tof_joint_1" type="fixed">
<origin rpy="0.0 1.57 0.0" xyz="0.15 0.0 -0.025"/>
<!-- <origin xyz="0 0 -0.029" rpy="0 1.57 0"/> -->
<parent link="base_link"/>
<child link="tof_link_1"/>
</joint>
<gazebo reference="tof_link_1">
<sensor name="tof_sensor_1" type="ray">
<visualize>true</visualize>
<update_rate>20</update_rate>
<always_on>1</always_on>
<ray>
<scan>
<horizontal>
<samples>10</samples>
<resolution>1</resolution>
<min_angle>-0.02618</min_angle>
<max_angle>0.02618</max_angle>
</horizontal>
<vertical>
<samples>10</samples>
<resolution>1</resolution>
<min_angle>-0.02618</min_angle>
<max_angle>0.02618</max_angle>
</vertical>
</scan>
<range>
<min>0.002</min>
<max>2</max>
<resolution>0.005</resolution>
</range>
</ray>
<plugin filename="libgazebo_ros_range.so" name="tof_plugin_1">
<topicName>sensors/range_tof_1</topicName>
<frameName>frame_range_tof_1</frameName>
<gaussianNoise>0.005</gaussianNoise>
<updateRate>20</updateRate>
<radiation>light</radiation>
<fov>0.43</fov>
</plugin>
</sensor>
<material>Gazebo/Red</material>
</gazebo>
<!-- VL53L0X ToF sensor-->
<link name="tof_link_2">
<inertial>
<mass value="0.001"/>
<origin xyz="0 0 0"/>
<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.005 0.015 0.005"/>
</geometry>
<material name="Red">
<color rgba="1 0.2 0.2 1"/>
</material>
</visual>
</link>
<joint name="tof_joint_2" type="fixed">
<origin rpy="0.0 1.57 0.0" xyz="0.065 0.047 -0.025"/>
<!-- <origin xyz="0 0 -0.029" rpy="0 1.57 0"/> -->
<parent link="base_link"/>
<child link="tof_link_2"/>
</joint>
<gazebo reference="tof_link_2">
<sensor name="tof_sensor_2" type="ray">
<visualize>true</visualize>
<update_rate>20</update_rate>
<always_on>1</always_on>
<ray>
<scan>
<horizontal>
<samples>10</samples>
<resolution>1</resolution>
<min_angle>-0.02618</min_angle>
<max_angle>0.02618</max_angle>
</horizontal>
<vertical>
<samples>10</samples>
<resolution>1</resolution>
<min_angle>-0.02618</min_angle>
<max_angle>0.02618</max_angle>
</vertical>
</scan>
<range>
<min>0.002</min>
<max>2</max>
<resolution>0.005</resolution>
</range>
</ray>
<plugin filename="libgazebo_ros_range.so" name="tof_plugin_2">
<topicName>sensors/range_tof_2</topicName>
<frameName>frame_range_tof_2</frameName>
<gaussianNoise>0.005</gaussianNoise>
<updateRate>20</updateRate>
<radiation>light</radiation>
<fov>0.43</fov>
</plugin>
</sensor>
<material>Gazebo/Red</material>
</gazebo>
<!-- VL53L0X ToF sensor-->
<link name="tof_link_6">
<inertial>
<mass value="0.001"/>
<origin xyz="0 0 0"/>
<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.005 0.015 0.005"/>
</geometry>
<material name="Red">
<color rgba="1 0.2 0.2 1"/>
</material>
</visual>
</link>
<joint name="tof_joint_6" type="fixed">
<origin rpy="0.0 1.57 0.0" xyz="0.065 -0.047 -0.025"/>
<!-- <origin xyz="0 0 -0.029" rpy="0 1.57 0"/> -->
<parent link="base_link"/>
<child link="tof_link_6"/>
</joint>
<gazebo reference="tof_link_6">
<sensor name="tof_sensor_6" type="ray">
<visualize>true</visualize>
<update_rate>20</update_rate>
<always_on>1</always_on>
<ray>
<scan>
<horizontal>
<samples>10</samples>
<resolution>1</resolution>
<min_angle>-0.02618</min_angle>
<max_angle>0.02618</max_angle>
</horizontal>
<vertical>
<samples>10</samples>
<resolution>1</resolution>
<min_angle>-0.02618</min_angle>
<max_angle>0.02618</max_angle>
</vertical>
</scan>
<range>
<min>0.002</min>
<max>2</max>
<resolution>0.005</resolution>
</range>
</ray>
<plugin filename="libgazebo_ros_range.so" name="tof_plugin_6">
<topicName>sensors/range_tof_6</topicName>
<frameName>frame_range_tof_6</frameName>
<gaussianNoise>0.005</gaussianNoise>
<updateRate>20</updateRate>
<radiation>light</radiation>
<fov>0.43</fov>
</plugin>
</sensor>
<material>Gazebo/Red</material>
</gazebo>
<!-- VL53L0X ToF sensor-->
<link name="tof_link_4">
<inertial>
<mass value="0.001"/>
<origin xyz="0 0 0"/>
<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.005 0.015 0.005"/>
</geometry>
<material name="Red">
<color rgba="1 0.2 0.2 1"/>
</material>
</visual>
</link>
<joint name="tof_joint_4" type="fixed">
<origin rpy="0.0 1.57 0.0" xyz="-0.15 0.0 -0.025"/>
<!-- <origin xyz="0 0 -0.029" rpy="0 1.57 0"/> -->
<parent link="base_link"/>
<child link="tof_link_4"/>
</joint>
<gazebo reference="tof_link_4">
<sensor name="tof_sensor_4" type="ray">
<visualize>true</visualize>
<update_rate>20</update_rate>
<always_on>1</always_on>
<ray>
<scan>
<horizontal>
<samples>10</samples>
<resolution>1</resolution>
<min_angle>-0.02618</min_angle>
<max_angle>0.02618</max_angle>
</horizontal>
<vertical>
<samples>10</samples>
<resolution>1</resolution>
<min_angle>-0.02618</min_angle>
<max_angle>0.02618</max_angle>
</vertical>
</scan>
<range>
<min>0.002</min>
<max>2</max>
<resolution>0.005</resolution>
</range>
</ray>
<plugin filename="libgazebo_ros_range.so" name="tof_plugin_4">
<topicName>sensors/range_tof_4</topicName>
<frameName>frame_range_tof_4</frameName>
<gaussianNoise>0.005</gaussianNoise>
<updateRate>20</updateRate>
<radiation>light</radiation>
<fov>0.43</fov>
</plugin>
</sensor>
<material>Gazebo/Red</material>
</gazebo>
<!-- VL53L0X ToF sensor-->
<link name="tof_link_3">
<inertial>
<mass value="0.001"/>
<origin xyz="0 0 0"/>
<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.005 0.015 0.005"/>
</geometry>
<material name="Red">
<color rgba="1 0.2 0.2 1"/>
</material>
</visual>
</link>
<joint name="tof_joint_3" type="fixed">
<origin rpy="0.0 1.57 0.0" xyz="-0.065 0.047 -0.025"/>
<!-- <origin xyz="0 0 -0.029" rpy="0 1.57 0"/> -->
<parent link="base_link"/>
<child link="tof_link_3"/>
</joint>
<gazebo reference="tof_link_3">
<sensor name="tof_sensor_3" type="ray">
<visualize>true</visualize>
<update_rate>20</update_rate>
<always_on>1</always_on>
<ray>
<scan>
<horizontal>
<samples>10</samples>
<resolution>1</resolution>
<min_angle>-0.02618</min_angle>
<max_angle>0.02618</max_angle>
</horizontal>
<vertical>
<samples>10</samples>
<resolution>1</resolution>
<min_angle>-0.02618</min_angle>
<max_angle>0.02618</max_angle>
</vertical>
</scan>
<range>
<min>0.002</min>
<max>2</max>
<resolution>0.005</resolution>
</range>
</ray>
<plugin filename="libgazebo_ros_range.so" name="tof_plugin_3">
<topicName>sensors/range_tof_3</topicName>
<frameName>frame_range_tof_3</frameName>
<gaussianNoise>0.005</gaussianNoise>
<updateRate>20</updateRate>
<radiation>light</radiation>
<fov>0.43</fov>
</plugin>
</sensor>
<material>Gazebo/Red</material>
</gazebo>
<!-- VL53L0X ToF sensor-->
<link name="tof_link_5">
<inertial>
<mass value="0.001"/>
<origin xyz="0 0 0"/>
<inertia ixx="1e-09" ixy="0" ixz="0" iyy="1e-09" iyz="0" izz="1e-09"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.005 0.015 0.005"/>
</geometry>
<material name="Red">
<color rgba="1 0.2 0.2 1"/>
</material>
</visual>
</link>
<joint name="tof_joint_5" type="fixed">
<origin rpy="0.0 1.57 0.0" xyz="-0.065 -0.047 -0.025"/>
<!-- <origin xyz="0 0 -0.029" rpy="0 1.57 0"/> -->
<parent link="base_link"/>
<child link="tof_link_5"/>
</joint>
<gazebo reference="tof_link_5">
<sensor name="tof_sensor_5" type="ray">
<visualize>true</visualize>
<update_rate>20</update_rate>
<always_on>1</always_on>
<ray>
<scan>
<horizontal>
<samples>10</samples>
<resolution>1</resolution>
<min_angle>-0.02618</min_angle>
<max_angle>0.02618</max_angle>
</horizontal>
<vertical>
<samples>10</samples>
<resolution>1</resolution>
<min_angle>-0.02618</min_angle>
<max_angle>0.02618</max_angle>
</vertical>
</scan>
<range>
<min>0.002</min>
<max>2</max>
<resolution>0.005</resolution>
</range>
</ray>
<plugin filename="libgazebo_ros_range.so" name="tof_plugin_5">
<topicName>sensors/range_tof_5</topicName>
<frameName>frame_range_tof_5</frameName>
<gaussianNoise>0.005</gaussianNoise>
<updateRate>20</updateRate>
<radiation>light</radiation>
<fov>0.43</fov>
</plugin>
</sensor>
<material>Gazebo/Red</material>
</gazebo>
<gazebo reference="fl_shank_link">
<sensor name="fl_link_contact_sensor" type="contact">
<contact>
<collision>fl_shank_link_collision</collision>
</contact>
<plugin filename="libgazebo_ros_bumper.so" name="gazebo_ros_bumper_controller">
<bumperTopicName>fl_contact</bumperTopicName>
<frameName>fl_shank_link</frameName>
</plugin>
</sensor>
</gazebo>
<gazebo reference="fr_shank_link">
<sensor name="fr_link_contact_sensor" type="contact">
<contact>
<collision>fr_shank_link_collision</collision>
</contact>
<plugin filename="libgazebo_ros_bumper.so" name="gazebo_ros_bumper_controller">
<bumperTopicName>fr_contact</bumperTopicName>
<frameName>fr_shank_link</frameName>
</plugin>
</sensor>
</gazebo>
<gazebo reference="bl_shank_link">
<sensor name="bl_link_contact_sensor" type="contact">
<contact>
<collision>bl_shank_link_collision</collision>
</contact>
<plugin filename="libgazebo_ros_bumper.so" name="gazebo_ros_bumper_controller">
<bumperTopicName>bl_contact</bumperTopicName>
<frameName>bl_shank_link</frameName>
</plugin>
</sensor>
</gazebo>
<gazebo reference="br_shank_link">
<sensor name="br_link_contact_sensor" type="contact">
<contact>
<collision>br_shank_link_collision</collision>
</contact>
<plugin filename="libgazebo_ros_bumper.so" name="gazebo_ros_bumper_controller">
<bumperTopicName>br_contact</bumperTopicName>
<frameName>br_shank_link</frameName>
</plugin>
</sensor>
</gazebo>
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/Stochlab/stochlite_description-aditya-shirwatkar/urdf/stochlite.materials.xacro | <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="stochlite_materials" params="name color">
<gazebo reference="${name}_link">
<material>Gazebo/${color}</material>
<kp>10000000.0</kp>
<kd>1.0</kd>
<mu1>4.0</mu1>
<mu2>4.0</mu2>
<maxVel>0.0</maxVel>
<minDepth>0.001</minDepth>
</gazebo>
</xacro:macro>
</robot> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/Stochlab/stochlite_description-aditya-shirwatkar/urdf/stochlite.urdf.xacro | <?xml version="1.0" encoding="utf-8"?>
<robot name = 'stochlite' xmlns:xacro = 'http://www.ros.org/wiki/xacro'>
<xacro:include filename="$(find stochlite_description)/urdf/stochlite.description.xacro" />
<xacro:include filename="$(find stochlite_description)/urdf/stochlite.transmission.xacro" />
<xacro:include filename="$(find stochlite_description)/urdf/stochlite.gazebo.xacro" />
<xacro:include filename="$(find stochlite_description)/urdf/stochlite.materials.xacro" />
<xacro:include filename="$(find stochlite_description)/urdf/stochlite.sensors.xacro" />
<xacro:include filename="$(find stochlite_description)/urdf/stochlite.leg_frames.xacro" />
<!-- For defining the links and joints-->
<xacro:stochlite_description fixed="false"/>
<xacro:stochlite_leg_frames />
<!-- For hardware interface and ros control-->
<xacro:stochlite_transmission name="fl_abd"/>
<xacro:stochlite_transmission name="fl_hip"/>
<xacro:stochlite_transmission name="fl_knee"/>
<xacro:stochlite_transmission name="bl_abd"/>
<xacro:stochlite_transmission name="bl_hip"/>
<xacro:stochlite_transmission name="bl_knee"/>
<xacro:stochlite_transmission name="fr_abd"/>
<xacro:stochlite_transmission name="fr_hip"/>
<xacro:stochlite_transmission name="fr_knee"/>
<xacro:stochlite_transmission name="br_abd"/>
<xacro:stochlite_transmission name="br_hip"/>
<xacro:stochlite_transmission name="br_knee"/>
<!-- Materials and friction properties-->
<xacro:stochlite_materials name="base_link" color="White"/>
<xacro:stochlite_materials name="fl_abd" color="Grey"/>
<xacro:stochlite_materials name="bl_abd" color="Grey"/>
<xacro:stochlite_materials name="fr_abd" color="Grey"/>
<xacro:stochlite_materials name="br_abd" color="Grey"/>
<xacro:stochlite_materials name="fl_thigh" color="DarkGrey"/>
<xacro:stochlite_materials name="bl_thigh" color="DarkGrey"/>
<xacro:stochlite_materials name="fr_thigh" color="DarkGrey"/>
<xacro:stochlite_materials name="br_thigh" color="DarkGrey"/>
<xacro:stochlite_materials name="fl_shank" color="Grey"/>
<xacro:stochlite_materials name="bl_shank" color="Grey"/>
<xacro:stochlite_materials name="fr_shank" color="Grey"/>
<xacro:stochlite_materials name="br_shank" color="Grey"/>
<!-- For miscellaneous gazebo properties like ros-control etc. -->
<xacro:stochlite_gazebo />
<!-- For sensors-->
<xacro:imu id="1" x="0.0" y="0.0" z="0.005" roll="0.0" pitch="0.0" yaw="0.0" update_rate="100" gnoise="0.005"/>
<!-- front triangle of tofs -->
<xacro:tof id="1" x="0.150" y=" 0.000" z="-0.025" roll="0.0" pitch="1.57" yaw="0.0" update_rate="20" gnoise="0.005"/>
<xacro:tof id="2" x="0.065" y=" 0.047" z="-0.025" roll="0.0" pitch="1.57" yaw="0.0" update_rate="20" gnoise="0.005"/>
<xacro:tof id="6" x="0.065" y="-0.047" z="-0.025" roll="0.0" pitch="1.57" yaw="0.0" update_rate="20" gnoise="0.005"/>
<!-- back triangle of tofs -->
<xacro:tof id="4" x="-0.150" y=" 0.000" z="-0.025" roll="0.0" pitch="1.57" yaw="0.0" update_rate="20" gnoise="0.005"/>
<xacro:tof id="3" x="-0.065" y=" 0.047" z="-0.025" roll="0.0" pitch="1.57" yaw="0.0" update_rate="20" gnoise="0.005"/>
<xacro:tof id="5" x="-0.065" y="-0.047" z="-0.025" roll="0.0" pitch="1.57" yaw="0.0" update_rate="20" gnoise="0.005"/>
<xacro:contact_sensor leg_name="fl"/>
<xacro:contact_sensor leg_name="fr"/>
<xacro:contact_sensor leg_name="bl"/>
<xacro:contact_sensor leg_name="br"/>
</robot> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/ANYbotics/anymal_c_simple_description-CHAMP/CMakeLists.txt | cmake_minimum_required(VERSION 3.5.1)
project(anymal_c_simple_description)
find_package(catkin)
catkin_package()
install(DIRECTORY launch urdf config
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
if(CATKIN_ENABLE_TESTING)
find_package(catkin REQUIRED
COMPONENTS
roslaunch
)
roslaunch_add_file_check(launch/load.launch)
endif()
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/ANYbotics/anymal_c_simple_description-CHAMP/package.xml | <?xml version="1.0"?>
<package format="2">
<name>anymal_c_simple_description</name>
<version>1.0.0</version>
<description>ANYmal C Description Package</description>
<license>BSD-3</license>
<author email="[email protected]">Linus Isler</author>
<maintainer email="[email protected]">Linus Isler</maintainer>
<maintainer email="[email protected]">Remo Diethelm</maintainer>
<buildtool_depend>catkin</buildtool_depend>
<test_depend>roslaunch</test_depend>
</package>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/ANYbotics/anymal_c_simple_description-CHAMP/README.md | # ANYmal C Robot Description (URDF)
## Overview
This package contains a simplified robot description (URDF) of the [ANYmal C robot](https://www.anybotics.com/anymal) developed by [ANYbotics](https://www.anybotics.com).
The extended ANYmal C robot description, simulation, and control software is available exclusively to members of the [ANYmal Research community](https://www.anymal-research.org). For more information and membership applications, contact [email protected].
**Author & Maintainer: Linus Isler, [ANYbotics](https://www.anybotics.com)**
[](doc/anymal_c_rviz.png)
## License
This software is released under a [BSD 3-Clause license](LICENSE).
## Usage
Load the ANYmal description to the ROS parameter server:
roslaunch anymal_c_simple_description load.launch
To visualize and debug the robot description, start the standalone visualization (note that you have to provide the following additional dependencies: `joint_state_publisher`, `robot_state_publisher`, `rviz`):
roslaunch anymal_c_simple_description standalone.launch
### Launch files
* **`load.launch`:** Loads the URDF to the parameter server. Meant to be included in higher level launch files.
* **`standalone.launch`:** A standalone launch file that starts RViz and a joint state publisher to debug the description.
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/ANYbotics/anymal_c_simple_description-CHAMP/launch/standalone.launch | <?xml version="1.0" encoding="utf-8"?>
<launch>
<!-- Name of the robot description parameter -->
<arg name="description_name" default="anymal_description"/>
<!-- Set robot description path -->
<arg name="description_file" default="$(find anymal_c_simple_description)/urdf/anymal.urdf"/>
<!-- Joint state topic name -->
<arg name="joint_states_topic" default="/joint_states"/>
<!-- Load robot description -->
<include file="$(find anymal_c_simple_description)/launch/load.launch">
<arg name="description_name" value="$(arg description_name)"/>
<arg name="description_file" value="$(arg description_file)"/>
</include>
<!-- Joint state publisher -->
<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" output="screen">
<param name="use_gui" value="true"/>
<param name="rate" value="100"/>
<remap from="robot_description" to="$(arg description_name)"/>
<remap from="joint_states" to="$(arg joint_states_topic)"/>
</node>
<!-- Robot state publisher -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen">
<param name="publish_frequency" value="100"/>
<param name="use_tf_static" value="true"/>
<remap from="robot_description" to="$(arg description_name)"/>
<remap from="joint_states" to="$(arg joint_states_topic)"/>
</node>
<!-- RViz -->
<node name="rviz" pkg="rviz" type="rviz"
args="-d $(find anymal_c_simple_description)/config/rviz/standalone.rviz"
output="screen"/>
</launch>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/ANYbotics/anymal_c_simple_description-CHAMP/launch/load.launch | <?xml version="1.0" encoding="utf-8"?>
<launch>
<!-- Give the robot description parameter a name -->
<arg name="description_name" default="anymal_description"/>
<!-- Set robot description path -->
<arg name="description_file" default="$(find anymal_c_simple_description)/urdf/anymal.urdf"/>
<!-- Run xacro script to generate ANYmal description -->
<param name="$(arg description_name)" textfile="$(arg description_file)"/>
</launch>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/ANYbotics/anymal_c_simple_description-CHAMP/config/rviz/standalone.rviz | Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded: ~
Splitter Ratio: 0.8294117450714111
Tree Height: 407
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz/Views
Expanded:
- /Current View1
- /Current View1/Focal Point1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: false
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: false
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
LF_FOOT:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LF_HAA:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LF_HFE:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LF_HIP:
Alpha: 1
Show Axes: false
Show Trail: false
LF_KFE:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LF_SHANK:
Alpha: 1
Show Axes: false
Show Trail: false
LF_THIGH:
Alpha: 1
Show Axes: false
Show Trail: false
LF_hip_fixed:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LF_shank_fixed:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LF_thigh_fixed:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LH_FOOT:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LH_HAA:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LH_HFE:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LH_HIP:
Alpha: 1
Show Axes: false
Show Trail: false
LH_KFE:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LH_SHANK:
Alpha: 1
Show Axes: false
Show Trail: false
LH_THIGH:
Alpha: 1
Show Axes: false
Show Trail: false
LH_hip_fixed:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LH_shank_fixed:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LH_thigh_fixed:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Link Tree Style: Links in Alphabetic Order
RF_FOOT:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RF_HAA:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RF_HFE:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RF_HIP:
Alpha: 1
Show Axes: false
Show Trail: false
RF_KFE:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RF_SHANK:
Alpha: 1
Show Axes: false
Show Trail: false
RF_THIGH:
Alpha: 1
Show Axes: false
Show Trail: false
RF_hip_fixed:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RF_shank_fixed:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RF_thigh_fixed:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RH_FOOT:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RH_HAA:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RH_HFE:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RH_HIP:
Alpha: 1
Show Axes: false
Show Trail: false
RH_KFE:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RH_SHANK:
Alpha: 1
Show Axes: false
Show Trail: false
RH_THIGH:
Alpha: 1
Show Axes: false
Show Trail: false
RH_hip_fixed:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RH_shank_fixed:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RH_thigh_fixed:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_inertia:
Alpha: 1
Show Axes: false
Show Trail: false
battery:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
bottom_shell:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
depth_camera_front_camera:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
depth_camera_front_camera_parent:
Alpha: 1
Show Axes: false
Show Trail: false
depth_camera_front_color_frame:
Alpha: 1
Show Axes: false
Show Trail: false
depth_camera_front_color_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
depth_camera_front_depth_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
depth_camera_left_camera:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
depth_camera_left_camera_parent:
Alpha: 1
Show Axes: false
Show Trail: false
depth_camera_left_color_frame:
Alpha: 1
Show Axes: false
Show Trail: false
depth_camera_left_color_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
depth_camera_left_depth_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
depth_camera_rear_camera:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
depth_camera_rear_camera_parent:
Alpha: 1
Show Axes: false
Show Trail: false
depth_camera_rear_color_frame:
Alpha: 1
Show Axes: false
Show Trail: false
depth_camera_rear_color_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
depth_camera_rear_depth_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
depth_camera_right_camera:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
depth_camera_right_camera_parent:
Alpha: 1
Show Axes: false
Show Trail: false
depth_camera_right_color_frame:
Alpha: 1
Show Axes: false
Show Trail: false
depth_camera_right_color_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
depth_camera_right_depth_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
docking_hatch_cover:
Alpha: 1
Show Axes: false
Show Trail: false
face_front:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
face_rear:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
handle:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
hatch:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
imu_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
lidar:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
lidar_cage:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
remote:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
top_shell:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wide_angle_camera_front_camera:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wide_angle_camera_front_camera_parent:
Alpha: 1
Show Axes: false
Show Trail: false
wide_angle_camera_rear_camera:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wide_angle_camera_rear_camera_parent:
Alpha: 1
Show Axes: false
Show Trail: false
Name: RobotModel
Robot Description: anymal_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: true
LF_FOOT:
Value: true
LF_HAA:
Value: true
LF_HFE:
Value: true
LF_HIP:
Value: true
LF_KFE:
Value: true
LF_SHANK:
Value: true
LF_THIGH:
Value: true
LF_hip_fixed:
Value: true
LF_shank_fixed:
Value: true
LF_thigh_fixed:
Value: true
LH_FOOT:
Value: true
LH_HAA:
Value: true
LH_HFE:
Value: true
LH_HIP:
Value: true
LH_KFE:
Value: true
LH_SHANK:
Value: true
LH_THIGH:
Value: true
LH_hip_fixed:
Value: true
LH_shank_fixed:
Value: true
LH_thigh_fixed:
Value: true
RF_FOOT:
Value: true
RF_HAA:
Value: true
RF_HFE:
Value: true
RF_HIP:
Value: true
RF_KFE:
Value: true
RF_SHANK:
Value: true
RF_THIGH:
Value: true
RF_hip_fixed:
Value: true
RF_shank_fixed:
Value: true
RF_thigh_fixed:
Value: true
RH_FOOT:
Value: true
RH_HAA:
Value: true
RH_HFE:
Value: true
RH_HIP:
Value: true
RH_KFE:
Value: true
RH_SHANK:
Value: true
RH_THIGH:
Value: true
RH_hip_fixed:
Value: true
RH_shank_fixed:
Value: true
RH_thigh_fixed:
Value: true
base:
Value: true
base_inertia:
Value: true
battery:
Value: true
bottom_shell:
Value: true
depth_camera_front_camera:
Value: true
depth_camera_front_camera_parent:
Value: true
depth_camera_front_color_frame:
Value: true
depth_camera_front_color_optical_frame:
Value: true
depth_camera_front_depth_optical_frame:
Value: true
depth_camera_left_camera:
Value: true
depth_camera_left_camera_parent:
Value: true
depth_camera_left_color_frame:
Value: true
depth_camera_left_color_optical_frame:
Value: true
depth_camera_left_depth_optical_frame:
Value: true
depth_camera_rear_camera:
Value: true
depth_camera_rear_camera_parent:
Value: true
depth_camera_rear_color_frame:
Value: true
depth_camera_rear_color_optical_frame:
Value: true
depth_camera_rear_depth_optical_frame:
Value: true
depth_camera_right_camera:
Value: true
depth_camera_right_camera_parent:
Value: true
depth_camera_right_color_frame:
Value: true
depth_camera_right_color_optical_frame:
Value: true
depth_camera_right_depth_optical_frame:
Value: true
docking_hatch_cover:
Value: true
face_front:
Value: true
face_rear:
Value: true
handle:
Value: true
hatch:
Value: true
imu_link:
Value: true
lidar:
Value: true
lidar_cage:
Value: true
remote:
Value: true
top_shell:
Value: true
wide_angle_camera_front_camera:
Value: true
wide_angle_camera_front_camera_parent:
Value: true
wide_angle_camera_rear_camera:
Value: true
wide_angle_camera_rear_camera_parent:
Value: true
Marker Scale: 0.5
Name: TF
Show Arrows: true
Show Axes: true
Show Names: false
Tree:
base:
LF_HAA:
LF_HIP:
LF_hip_fixed:
LF_HFE:
LF_THIGH:
LF_thigh_fixed:
LF_KFE:
LF_SHANK:
LF_shank_fixed:
LF_FOOT:
{}
LH_HAA:
LH_HIP:
LH_hip_fixed:
LH_HFE:
LH_THIGH:
LH_thigh_fixed:
LH_KFE:
LH_SHANK:
LH_shank_fixed:
LH_FOOT:
{}
RF_HAA:
RF_HIP:
RF_hip_fixed:
RF_HFE:
RF_THIGH:
RF_thigh_fixed:
RF_KFE:
RF_SHANK:
RF_shank_fixed:
RF_FOOT:
{}
RH_HAA:
RH_HIP:
RH_hip_fixed:
RH_HFE:
RH_THIGH:
RH_thigh_fixed:
RH_KFE:
RH_SHANK:
RH_shank_fixed:
RH_FOOT:
{}
base_inertia:
{}
battery:
{}
bottom_shell:
{}
depth_camera_left_camera:
depth_camera_left_camera_parent:
depth_camera_left_color_frame:
depth_camera_left_color_optical_frame:
{}
depth_camera_left_depth_optical_frame:
{}
depth_camera_right_camera:
depth_camera_right_camera_parent:
depth_camera_right_color_frame:
depth_camera_right_color_optical_frame:
{}
depth_camera_right_depth_optical_frame:
{}
docking_hatch_cover:
{}
face_front:
depth_camera_front_camera:
depth_camera_front_camera_parent:
depth_camera_front_color_frame:
depth_camera_front_color_optical_frame:
{}
depth_camera_front_depth_optical_frame:
{}
wide_angle_camera_front_camera:
wide_angle_camera_front_camera_parent:
{}
face_rear:
depth_camera_rear_camera:
depth_camera_rear_camera_parent:
depth_camera_rear_color_frame:
depth_camera_rear_color_optical_frame:
{}
depth_camera_rear_depth_optical_frame:
{}
wide_angle_camera_rear_camera:
wide_angle_camera_rear_camera_parent:
{}
handle:
{}
hatch:
{}
imu_link:
{}
lidar_cage:
lidar:
{}
remote:
{}
top_shell:
{}
Update Interval: 0
Value: true
Enabled: true
Global Options:
Background Color: 255; 255; 255
Default Light: true
Fixed Frame: base
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Theta std deviation: 0.2617993950843811
Topic: /initialpose
X std deviation: 0.5
Y std deviation: 0.5
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 2
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
Z: 0
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.707099974155426
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 786
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000015600000222fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed0000033e00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000001600000222000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000222fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000001600000222000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000055f0000003efc0100000002fb0000000800540069006d006500000000000000055f000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000024a0000022200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1024
X: 0
Y: 0
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/ANYbotics/anymal_c_simple_description-CHAMP/urdf/anymal.urdf | <?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- Copyright 2020 ANYbotics, https://www.anybotics.com -->
<!-- =================================================================================== -->
<!-- This file contains the description of the ANYmal C robot. -->
<robot name="anymal">
<!-- Base link -->
<link name="base">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/base.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.58 0.14 0.18"/>
</geometry>
</collision>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0.2175 0.07 0"/>
<geometry>
<cylinder length="0.145" radius="0.09"/>
</geometry>
</collision>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.2175 0.07 0"/>
<geometry>
<cylinder length="0.145" radius="0.09"/>
</geometry>
</collision>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0.2175 -0.07 0"/>
<geometry>
<cylinder length="0.145" radius="0.09"/>
</geometry>
</collision>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.2175 -0.07 0"/>
<geometry>
<cylinder length="0.145" radius="0.09"/>
</geometry>
</collision>
<!-- Shell self filtering -->
<self_filter>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="1.05 0.5 0.5"/>
</geometry>
</self_filter>
</link>
<!-- Fixed joint to add dummy inertia link -->
<joint name="base_to_base_inertia" type="fixed">
<parent link="base"/>
<child link="base_inertia"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<!-- Dummy inertia link, because KDL cannot have inertia on the base link -->
<link name="base_inertia">
<inertial>
<origin rpy="0 0 0" xyz="-0.018 -0.002 0.024"/>
<mass value="6.222"/>
<inertia ixx="0.017938806" ixy="0.00387963" ixz="0.001500772" iyy="0.370887745" iyz="6.8963e-05" izz="0.372497653"/>
</inertial>
</link>
<!-- Fixed joint base topshell -->
<joint name="base_top_shell" type="fixed">
<parent link="base"/>
<child link="top_shell"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<!-- Top shell link -->
<link name="top_shell">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/top_shell.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.00777 -0.00013 0.06523"/>
<mass value="0.534"/>
<inertia ixx="0.00664789486" ixy="1.247923e-05" ixz="0.00053990097" iyy="0.02587392411" iyz="3.7614e-07" izz="0.03152303792"/>
</inertial>
</link>
<!-- Fixed joint base topshell -->
<joint name="base_bottom_shell" type="fixed">
<parent link="base"/>
<child link="bottom_shell"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<!-- Bottom shell link -->
<link name="bottom_shell">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/bottom_shell.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.00333 1e-05 -0.07705"/>
<mass value="1.15"/>
<inertia ixx="0.00927353677" ixy="5.41222e-06" ixz="9.039821e-05" iyy="0.06134388239" iyz="2.3042e-07" izz="0.06853531465"/>
</inertial>
</link>
<!-- Fixed joint base remote -->
<joint name="base_remote" type="fixed">
<parent link="base"/>
<child link="remote"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<!-- Remote link -->
<link name="remote">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/remote.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.171 0.002 0.096"/>
<mass value="0.3262"/>
<inertia ixx="0.000528486" ixy="4.547e-05" ixz="1.10327e-05" iyy="0.001165035" iyz="7.4e-07" izz="0.00124026"/>
</inertial>
</link>
<!-- Fixed joint base handle -->
<joint name="base_handle" type="fixed">
<parent link="base"/>
<child link="handle"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<!-- Handle link -->
<link name="handle">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/handle.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0.37801 0.0 0.1372"/>
<mass value="0.314"/>
<inertia ixx="0.001525739" ixy="0.0" ixz="6.272e-05" iyy="0.00071584" iyz="1e-09" izz="0.001164779"/>
</inertial>
</link>
<!-- Fixed joint base face -->
<joint name="base_face_front" type="fixed">
<parent link="base"/>
<child link="face_front"/>
<origin rpy="0 0 -0.0" xyz="0.4145 0 0"/>
</joint>
<!-- Shell link -->
<link name="face_front">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/face.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.055 0 0"/>
<geometry>
<box size="0.11 0.14 0.18"/>
</geometry>
</collision>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0.055 0.07 0"/>
<geometry>
<cylinder length="0.11" radius="0.09"/>
</geometry>
</collision>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0.055 -0.07 0"/>
<geometry>
<cylinder length="0.11" radius="0.09"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.042 -0.001 0.004"/>
<mass value="0.73"/>
<inertia ixx="0.005238611" ixy="1.7609e-05" ixz="7.2167e-05" iyy="0.002643098" iyz="1.9548e-05" izz="0.004325938"/>
</inertial>
</link>
<!-- Camera joint -->
<!-- Is located between the two back screw holes at ground level. -->
<joint name="face_front_to_depth_camera_front_camera" type="fixed">
<parent link="face_front"/>
<child link="depth_camera_front_camera"/>
<origin rpy="0.0 0.523598775598 0" xyz="0.04715 0.0 -0.0292"/>
</joint>
<!-- Camera link -->
<link name="depth_camera_front_camera">
<visual>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/depth_camera.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.021 -0.002 0.025"/>
<mass value="0.16043"/>
<inertia ixx="0.000637051" ixy="0.000484569" ixz="0.000424211" iyy="0.000929402" iyz="5.138e-06" izz="0.000484569"/>
</inertial>
</link>
<!-- Camera parent joint -->
<!-- Frame lies on the left ir camera according to any_realsense2_camera urdf. -->
<joint name="depth_camera_front_camera_to_camera_parent" type="fixed">
<parent link="depth_camera_front_camera"/>
<child link="depth_camera_front_camera_parent"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0255 0.0175 0.0"/>
</joint>
<!-- Camera parent link -->
<link name="depth_camera_front_camera_parent"/>
<!-- Depth optical frame joint -->
<joint name="depth_camera_front_camera_parent_to_depth_optical_frame" type="fixed">
<parent link="depth_camera_front_camera_parent"/>
<child link="depth_camera_front_depth_optical_frame"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Depth optical frame link -->
<link name="depth_camera_front_depth_optical_frame"/>
<!-- Camera color frame joint -->
<joint name="depth_camera_front_camera_parent_to_color_frame" type="fixed">
<parent link="depth_camera_front_camera_parent"/>
<child link="depth_camera_front_color_frame"/>
<origin rpy="0 0 0" xyz="0 0.015 0"/>
</joint>
<!-- Camera color frame link -->
<link name="depth_camera_front_color_frame"/>
<!-- Camera color optical joint -->
<joint name="depth_camera_front_color_frame_to_color_optical_frame" type="fixed">
<parent link="depth_camera_front_color_frame"/>
<child link="depth_camera_front_color_optical_frame"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Camera color optical link -->
<link name="depth_camera_front_color_optical_frame"/>
<!-- Camera joint -->
<!-- Is located in the center of the mounting points. -->
<joint name="face_front_to_wide_angle_camera_front_camera" type="fixed">
<parent link="face_front"/>
<child link="wide_angle_camera_front_camera"/>
<origin rpy="0 0 0" xyz="0.09850 0.0 0.01497"/>
</joint>
<!-- Camera link -->
<link name="wide_angle_camera_front_camera">
<visual>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/wide_angle_camera.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.053 -0.001 0.025"/>
<mass value="0.287"/>
<inertia ixx="0.000559232" ixy="1.6875e-05" ixz="0.000423761" iyy="0.000946504" iyz="1.3234e-07" izz="0.000493052"/>
</inertial>
</link>
<!-- Camera parent joint -->
<joint name="wide_angle_camera_front_camera_to_camera_parent" type="fixed">
<parent link="wide_angle_camera_front_camera"/>
<child link="wide_angle_camera_front_camera_parent"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Camera parent link -->
<link name="wide_angle_camera_front_camera_parent"/>
<!-- Fixed joint base face -->
<joint name="base_face_rear" type="fixed">
<parent link="base"/>
<child link="face_rear"/>
<origin rpy="0 0 3.14159265359" xyz="-0.4145 0 0"/>
</joint>
<!-- Shell link -->
<link name="face_rear">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/face.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.055 0 0"/>
<geometry>
<box size="0.11 0.14 0.18"/>
</geometry>
</collision>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0.055 0.07 0"/>
<geometry>
<cylinder length="0.11" radius="0.09"/>
</geometry>
</collision>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0.055 -0.07 0"/>
<geometry>
<cylinder length="0.11" radius="0.09"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.042 -0.001 0.004"/>
<mass value="0.73"/>
<inertia ixx="0.005238611" ixy="1.7609e-05" ixz="7.2167e-05" iyy="0.002643098" iyz="1.9548e-05" izz="0.004325938"/>
</inertial>
</link>
<!-- Camera joint -->
<!-- Is located between the two back screw holes at ground level. -->
<joint name="face_rear_to_depth_camera_rear_camera" type="fixed">
<parent link="face_rear"/>
<child link="depth_camera_rear_camera"/>
<origin rpy="0.0 0.523598775598 0" xyz="0.04715 0.0 -0.0292"/>
</joint>
<!-- Camera link -->
<link name="depth_camera_rear_camera">
<visual>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/depth_camera.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.021 -0.002 0.025"/>
<mass value="0.16043"/>
<inertia ixx="0.000637051" ixy="0.000484569" ixz="0.000424211" iyy="0.000929402" iyz="5.138e-06" izz="0.000484569"/>
</inertial>
</link>
<!-- Camera parent joint -->
<!-- Frame lies on the left ir camera according to any_realsense2_camera urdf. -->
<joint name="depth_camera_rear_camera_to_camera_parent" type="fixed">
<parent link="depth_camera_rear_camera"/>
<child link="depth_camera_rear_camera_parent"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0255 0.0175 0.0"/>
</joint>
<!-- Camera parent link -->
<link name="depth_camera_rear_camera_parent"/>
<!-- Depth optical frame joint -->
<joint name="depth_camera_rear_camera_parent_to_depth_optical_frame" type="fixed">
<parent link="depth_camera_rear_camera_parent"/>
<child link="depth_camera_rear_depth_optical_frame"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Depth optical frame link -->
<link name="depth_camera_rear_depth_optical_frame"/>
<!-- Camera color frame joint -->
<joint name="depth_camera_rear_camera_parent_to_color_frame" type="fixed">
<parent link="depth_camera_rear_camera_parent"/>
<child link="depth_camera_rear_color_frame"/>
<origin rpy="0 0 0" xyz="0 0.015 0"/>
</joint>
<!-- Camera color frame link -->
<link name="depth_camera_rear_color_frame"/>
<!-- Camera color optical joint -->
<joint name="depth_camera_rear_color_frame_to_color_optical_frame" type="fixed">
<parent link="depth_camera_rear_color_frame"/>
<child link="depth_camera_rear_color_optical_frame"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Camera color optical link -->
<link name="depth_camera_rear_color_optical_frame"/>
<!-- Camera joint -->
<!-- Is located in the center of the mounting points. -->
<joint name="face_rear_to_wide_angle_camera_rear_camera" type="fixed">
<parent link="face_rear"/>
<child link="wide_angle_camera_rear_camera"/>
<origin rpy="0 0 0" xyz="0.09850 0.0 0.01497"/>
</joint>
<!-- Camera link -->
<link name="wide_angle_camera_rear_camera">
<visual>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/wide_angle_camera.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.053 -0.001 0.025"/>
<mass value="0.287"/>
<inertia ixx="0.000559232" ixy="1.6875e-05" ixz="0.000423761" iyy="0.000946504" iyz="1.3234e-07" izz="0.000493052"/>
</inertial>
</link>
<!-- Camera parent joint -->
<joint name="wide_angle_camera_rear_camera_to_camera_parent" type="fixed">
<parent link="wide_angle_camera_rear_camera"/>
<child link="wide_angle_camera_rear_camera_parent"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Camera parent link -->
<link name="wide_angle_camera_rear_camera_parent"/>
<!-- Fixed joint base battery -->
<joint name="base_battery" type="fixed">
<parent link="base"/>
<child link="battery"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<!-- Shell link -->
<link name="battery">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/battery.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.00067 -0.00023 -0.03362"/>
<mass value="5.53425"/>
<inertia ixx="0.00749474794" ixy="0.00016686282" ixz="7.82763e-05" iyy="0.0722338913" iyz="1.42902e-06" izz="0.07482717535"/>
</inertial>
</link>
<!-- Fixed joint to add docking -->
<joint name="base_to_docking_hatch_cover" type="fixed">
<parent link="base"/>
<child link="docking_hatch_cover"/>
<origin rpy="0 0 0" xyz="0.343 0.0 -0.07"/>
</joint>
<!-- Hatch cover link -->
<link name="docking_hatch_cover">
<!-- TODO(fgiraldez): add visual -->
<inertial>
<origin rpy="0 0 0" xyz="-0.003 0.0 0.005"/>
<mass value="0.065"/>
<inertia ixx="0.00063283" ixy="0.0" ixz="3.45e-07" iyy="0.00110971" iyz="0.0" izz="0.00171883"/>
</inertial>
</link>
<link name="imu_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0.005"/>
<geometry>
<box size="0.024 0.024 0.01"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.005"/>
<geometry>
<box size="0.024 0.024 0.01"/>
</geometry>
</collision>
<inertial>
<mass value="0.01"/>
<origin xyz="0 0 0"/>
<inertia ixx="5.63333333333e-07" ixy="0.0" ixz="0.0" iyy="9.6e-07" iyz="0.0" izz="5.63333333333e-07"/>
</inertial>
</link>
<joint name="imu_joint" type="fixed">
<parent link="base"/>
<child link="imu_link"/>
<origin rpy="0.0 0.0 1.57079632679" xyz="0.2488 0.00835 0.04628"/>
</joint>
<!-- Camera joint -->
<!-- Is located between the two back screw holes at ground level. -->
<joint name="base_to_depth_camera_left_camera" type="fixed">
<parent link="base"/>
<child link="depth_camera_left_camera"/>
<origin rpy="0.0 0.523598775598 1.57079632679" xyz="0.0 0.07646 0.02905"/>
</joint>
<!-- Camera link -->
<link name="depth_camera_left_camera">
<visual>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/depth_camera.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.021 -0.002 0.025"/>
<mass value="0.16043"/>
<inertia ixx="0.000637051" ixy="0.000484569" ixz="0.000424211" iyy="0.000929402" iyz="5.138e-06" izz="0.000484569"/>
</inertial>
</link>
<!-- Camera parent joint -->
<!-- Frame lies on the left ir camera according to any_realsense2_camera urdf. -->
<joint name="depth_camera_left_camera_to_camera_parent" type="fixed">
<parent link="depth_camera_left_camera"/>
<child link="depth_camera_left_camera_parent"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0255 0.0175 0.0"/>
</joint>
<!-- Camera parent link -->
<link name="depth_camera_left_camera_parent"/>
<!-- Depth optical frame joint -->
<joint name="depth_camera_left_camera_parent_to_depth_optical_frame" type="fixed">
<parent link="depth_camera_left_camera_parent"/>
<child link="depth_camera_left_depth_optical_frame"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Depth optical frame link -->
<link name="depth_camera_left_depth_optical_frame"/>
<!-- Camera color frame joint -->
<joint name="depth_camera_left_camera_parent_to_color_frame" type="fixed">
<parent link="depth_camera_left_camera_parent"/>
<child link="depth_camera_left_color_frame"/>
<origin rpy="0 0 0" xyz="0 0.015 0"/>
</joint>
<!-- Camera color frame link -->
<link name="depth_camera_left_color_frame"/>
<!-- Camera color optical joint -->
<joint name="depth_camera_left_color_frame_to_color_optical_frame" type="fixed">
<parent link="depth_camera_left_color_frame"/>
<child link="depth_camera_left_color_optical_frame"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Camera color optical link -->
<link name="depth_camera_left_color_optical_frame"/>
<!-- Camera joint -->
<!-- Is located between the two back screw holes at ground level. -->
<joint name="base_to_depth_camera_right_camera" type="fixed">
<parent link="base"/>
<child link="depth_camera_right_camera"/>
<origin rpy="0.0 0.523598775598 -1.57079632679" xyz="0.0 -0.07646 0.02905"/>
</joint>
<!-- Camera link -->
<link name="depth_camera_right_camera">
<visual>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/depth_camera.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.021 -0.002 0.025"/>
<mass value="0.16043"/>
<inertia ixx="0.000637051" ixy="0.000484569" ixz="0.000424211" iyy="0.000929402" iyz="5.138e-06" izz="0.000484569"/>
</inertial>
</link>
<!-- Camera parent joint -->
<!-- Frame lies on the left ir camera according to any_realsense2_camera urdf. -->
<joint name="depth_camera_right_camera_to_camera_parent" type="fixed">
<parent link="depth_camera_right_camera"/>
<child link="depth_camera_right_camera_parent"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0255 0.0175 0.0"/>
</joint>
<!-- Camera parent link -->
<link name="depth_camera_right_camera_parent"/>
<!-- Depth optical frame joint -->
<joint name="depth_camera_right_camera_parent_to_depth_optical_frame" type="fixed">
<parent link="depth_camera_right_camera_parent"/>
<child link="depth_camera_right_depth_optical_frame"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Depth optical frame link -->
<link name="depth_camera_right_depth_optical_frame"/>
<!-- Camera color frame joint -->
<joint name="depth_camera_right_camera_parent_to_color_frame" type="fixed">
<parent link="depth_camera_right_camera_parent"/>
<child link="depth_camera_right_color_frame"/>
<origin rpy="0 0 0" xyz="0 0.015 0"/>
</joint>
<!-- Camera color frame link -->
<link name="depth_camera_right_color_frame"/>
<!-- Camera color optical joint -->
<joint name="depth_camera_right_color_frame_to_color_optical_frame" type="fixed">
<parent link="depth_camera_right_color_frame"/>
<child link="depth_camera_right_color_optical_frame"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Camera color optical link -->
<link name="depth_camera_right_color_optical_frame"/>
<!-- parent to cage joint, located between mounting plate on trunk and the cage -->
<joint name="base_to_lidar_cage" type="fixed">
<parent link="base"/>
<child link="lidar_cage"/>
<origin rpy="0 0 0" xyz="-0.364 0.0 0.0735"/>
</joint>
<!-- Velodyne cage link -->
<link name="lidar_cage">
<visual>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/lidar_cage.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.06"/>
<geometry>
<cylinder length="0.12" radius="0.07"/>
</geometry>
</collision>
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="0.002 0.0 0.099"/>
<mass value="0.545"/>
<inertia ixx="0.003156254" ixy="0.0" ixz="1.0992e-05" iyy="0.002357216" iyz="0.0" izz="0.001326455"/>
</inertial>
</link>
<!-- parent to sensor joint -->
<joint name="lidar_cage_to_lidar" type="fixed">
<parent link="lidar_cage"/>
<child link="lidar"/>
<origin rpy="0.0 0.0 -1.57079632679" xyz="0.0 0.0 0.0687"/>
</joint>
<!-- Velodyne sensor link -->
<link name="lidar">
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="-0.012 0.001 -0.008"/>
<mass value="0.695"/>
<inertia ixx="0.000846765" ixy="6.9565e-05" ixz="0.00027111" iyy="0.001367583" iyz="5.8984e-05" izz="0.001363673"/>
</inertial>
<visual>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/lidar.dae"/>
</geometry>
</visual>
</link>
<!-- joint base HAA -->
<joint name="base_LF_HAA" type="fixed">
<parent link="base"/>
<child link="LF_HAA"/>
<origin rpy="2.61799387799 0 0.0" xyz="0.2999 0.104 0.0"/>
</joint>
<!-- Drive link -->
<link name="LF_HAA">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
<mass value="2.04"/>
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="LF_HAA" type="revolute">
<parent link="LF_HAA"/>
<child link="LF_HIP"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="80.0" lower="-0.72" upper="0.49" velocity="7.5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="LF_HIP">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- joint HAA hip -->
<joint name="LF_HIP_LF_hip_fixed" type="fixed">
<parent link="LF_HIP"/>
<child link="LF_hip_fixed"/>
<origin rpy="-2.61799387799 0 0.0" xyz="0 0 0"/>
</joint>
<!-- Hip link -->
<link name="LF_hip_fixed">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/hip_l.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0.048 0.008 -0.003"/>
<mass value="0.74"/>
<inertia ixx="0.001393106" ixy="8.4012e-05" ixz="2.3378e-05" iyy="0.003798579" iyz="7.1319e-05" izz="0.003897509"/>
</inertial>
</link>
<!-- joint hip HFE -->
<joint name="LF_hip_fixed_LF_HFE" type="fixed">
<parent link="LF_hip_fixed"/>
<child link="LF_HFE"/>
<origin rpy="0 0 1.57079632679" xyz="0.0599 0.08381 0.0"/>
</joint>
<!-- Drive link -->
<link name="LF_HFE">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.07 0 0"/>
<geometry>
<cylinder length="0.14" radius="0.05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
<mass value="2.04"/>
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="LF_HFE" type="revolute">
<parent link="LF_HFE"/>
<child link="LF_THIGH"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="80.0" lower="-9.42477796077" upper="9.42477796077" velocity="7.5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="LF_THIGH">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- joint HFE thigh -->
<joint name="LF_THIGH_LF_thigh_fixed" type="fixed">
<parent link="LF_THIGH"/>
<child link="LF_thigh_fixed"/>
<origin rpy="0 0 -1.57079632679" xyz="0 0 0"/>
</joint>
<!-- Thigh link -->
<link name="LF_thigh_fixed">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/thigh.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<!-- Thigh collision -->
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0.04 0"/>
<geometry>
<cylinder length="0.08" radius="0.065"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 0.03 -0.1413135"/>
<geometry>
<box size="0.075 0.06 0.282627"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.018 -0.169"/>
<mass value="1.03"/>
<inertia ixx="0.018644469" ixy="5.2e-08" ixz="1.0157e-05" iyy="0.019312599" iyz="0.002520077" izz="0.002838361"/>
</inertial>
</link>
<!-- joint thigh KFE -->
<joint name="LF_thigh_fixed_LF_KFE" type="fixed">
<parent link="LF_thigh_fixed"/>
<child link="LF_KFE"/>
<origin rpy="0 0 1.57079632679" xyz="0.0 0.1003 -0.285"/>
</joint>
<!-- Drive link -->
<link name="LF_KFE">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.07 0 0"/>
<geometry>
<cylinder length="0.14" radius="0.05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
<mass value="2.04"/>
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="LF_KFE" type="revolute">
<parent link="LF_KFE"/>
<child link="LF_SHANK"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="80.0" lower="-9.42477796077" upper="9.42477796077" velocity="7.5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="LF_SHANK">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- joint KFE shank -->
<joint name="LF_shank_LF_shank_fixed" type="fixed">
<parent link="LF_SHANK"/>
<child link="LF_shank_fixed"/>
<origin rpy="0 0 -1.57079632679" xyz="0 0 0"/>
</joint>
<!-- Shank link -->
<link name="LF_shank_fixed">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/shank_l.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<!-- Shank collision -->
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0.02 0"/>
<geometry>
<cylinder length="0.04" radius="0.06"/>
</geometry>
</collision>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0.057499 0.02 0"/>
<geometry>
<box size="0.114998 0.0675 0.04"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.03463 0.00688 0.00098"/>
<mass value="0.33742"/>
<inertia ixx="0.00032748005" ixy="2.142561e-05" ixz="1.33942e-05" iyy="0.00110974122" iyz="7.601e-08" izz="0.00089388521"/>
</inertial>
</link>
<!-- Leg configurations: xx (knees bent inwards), xo (knees bent backwards) -->
<!-- joint shank foot -->
<joint name="LF_shank_fixed_LF_FOOT" type="fixed">
<parent link="LF_shank_fixed"/>
<child link="LF_FOOT"/>
<origin rpy="0 0 0" xyz="0.08795 0.01305 -0.33797"/>
</joint>
<!-- Foot link -->
<link name="LF_FOOT">
<visual>
<origin rpy="0 0 -0.785398163397" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/foot.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<!-- Adapter collision -->
<collision>
<origin rpy="0 0 0" xyz="0 0 0.168985"/>
<geometry>
<cylinder length="0.282504" radius="0.0175"/>
</geometry>
</collision>
<!-- Foot collision -->
<collision>
<origin xyz="0 0 0.0225"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.00948 -0.00948 0.1468"/>
<mass value="0.25"/>
<inertia ixx="0.00317174097" ixy="2.63048e-06" ixz="6.815581e-05" iyy="0.00317174092" iyz="6.815583e-05" izz="8.319196e-05"/>
</inertial>
</link>
<!-- joint base HAA -->
<joint name="base_RF_HAA" type="fixed">
<parent link="base"/>
<child link="RF_HAA"/>
<origin rpy="-2.61799387799 0 0.0" xyz="0.2999 -0.104 0.0"/>
</joint>
<!-- Drive link -->
<link name="RF_HAA">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
<mass value="2.04"/>
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="RF_HAA" type="revolute">
<parent link="RF_HAA"/>
<child link="RF_HIP"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="80.0" lower="-0.49" upper="0.72" velocity="7.5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="RF_HIP">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- joint HAA hip -->
<joint name="RF_HIP_RF_hip_fixed" type="fixed">
<parent link="RF_HIP"/>
<child link="RF_hip_fixed"/>
<origin rpy="2.61799387799 0 0.0" xyz="0 0 0"/>
</joint>
<!-- Hip link -->
<link name="RF_hip_fixed">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/hip_r.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0.048 -0.008 -0.003"/>
<mass value="0.74"/>
<inertia ixx="0.001393106" ixy="-8.4012e-05" ixz="2.3378e-05" iyy="0.003798579" iyz="-7.1319e-05" izz="0.003897509"/>
</inertial>
</link>
<!-- joint hip HFE -->
<joint name="RF_hip_fixed_RF_HFE" type="fixed">
<parent link="RF_hip_fixed"/>
<child link="RF_HFE"/>
<origin rpy="0 0 -1.57079632679" xyz="0.0599 -0.08381 0.0"/>
</joint>
<!-- Drive link -->
<link name="RF_HFE">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.07 0 0"/>
<geometry>
<cylinder length="0.14" radius="0.05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
<mass value="2.04"/>
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="RF_HFE" type="revolute">
<parent link="RF_HFE"/>
<child link="RF_THIGH"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="-1 0 0"/>
<limit effort="80.0" lower="-9.42477796077" upper="9.42477796077" velocity="7.5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="RF_THIGH">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- joint HFE thigh -->
<joint name="RF_THIGH_RF_thigh_fixed" type="fixed">
<parent link="RF_THIGH"/>
<child link="RF_thigh_fixed"/>
<origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
</joint>
<!-- Thigh link -->
<link name="RF_thigh_fixed">
<visual>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/thigh.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<!-- Thigh collision -->
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 -0.04 0"/>
<geometry>
<cylinder length="0.08" radius="0.065"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 -0.03 -0.1413135"/>
<geometry>
<box size="0.075 0.06 0.282627"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 -0.018 -0.169"/>
<mass value="1.03"/>
<inertia ixx="0.018644469" ixy="-5.2e-08" ixz="1.0157e-05" iyy="0.019312599" iyz="-0.002520077" izz="0.002838361"/>
</inertial>
</link>
<!-- joint thigh KFE -->
<joint name="RF_thigh_fixed_RF_KFE" type="fixed">
<parent link="RF_thigh_fixed"/>
<child link="RF_KFE"/>
<origin rpy="0 0 -1.57079632679" xyz="0.0 -0.1003 -0.285"/>
</joint>
<!-- Drive link -->
<link name="RF_KFE">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.07 0 0"/>
<geometry>
<cylinder length="0.14" radius="0.05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
<mass value="2.04"/>
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="RF_KFE" type="revolute">
<parent link="RF_KFE"/>
<child link="RF_SHANK"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="-1 0 0"/>
<limit effort="80.0" lower="-9.42477796077" upper="9.42477796077" velocity="7.5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="RF_SHANK">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- joint KFE shank -->
<joint name="RF_shank_RF_shank_fixed" type="fixed">
<parent link="RF_SHANK"/>
<child link="RF_shank_fixed"/>
<origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
</joint>
<!-- Shank link -->
<link name="RF_shank_fixed">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/shank_r.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<!-- Shank collision -->
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 -0.02 0"/>
<geometry>
<cylinder length="0.04" radius="0.06"/>
</geometry>
</collision>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0.057499 -0.02 0"/>
<geometry>
<box size="0.114998 0.0675 0.04"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.03463 -0.00688 0.00098"/>
<mass value="0.33742"/>
<inertia ixx="0.00032748005" ixy="-2.142561e-05" ixz="1.33942e-05" iyy="0.00110974122" iyz="-7.601e-08" izz="0.00089388521"/>
</inertial>
</link>
<!-- Leg configurations: xx (knees bent inwards), xo (knees bent backwards) -->
<!-- joint shank foot -->
<joint name="RF_shank_fixed_RF_FOOT" type="fixed">
<parent link="RF_shank_fixed"/>
<child link="RF_FOOT"/>
<origin rpy="0 0 0" xyz="0.08795 -0.01305 -0.33797"/>
</joint>
<!-- Foot link -->
<link name="RF_FOOT">
<visual>
<origin rpy="0 0 0.785398163397" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/foot.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<!-- Adapter collision -->
<collision>
<origin rpy="0 0 0" xyz="0 0 0.168985"/>
<geometry>
<cylinder length="0.282504" radius="0.0175"/>
</geometry>
</collision>
<!-- Foot collision -->
<collision>
<origin xyz="0 0 0.0225"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.00948 0.00948 0.1468"/>
<mass value="0.25"/>
<inertia ixx="0.00317174097" ixy="-2.63048e-06" ixz="6.815581e-05" iyy="0.00317174092" iyz="-6.815583e-05" izz="8.319196e-05"/>
</inertial>
</link>
<!-- joint base HAA -->
<joint name="base_LH_HAA" type="fixed">
<parent link="base"/>
<child link="LH_HAA"/>
<origin rpy="-2.61799387799 0 -3.14159265359" xyz="-0.2999 0.104 0.0"/>
</joint>
<!-- Drive link -->
<link name="LH_HAA">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
<mass value="2.04"/>
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="LH_HAA" type="revolute">
<parent link="LH_HAA"/>
<child link="LH_HIP"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="-1 0 0"/>
<limit effort="80.0" lower="-0.72" upper="0.49" velocity="7.5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="LH_HIP">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- joint HAA hip -->
<joint name="LH_HIP_LH_hip_fixed" type="fixed">
<parent link="LH_HIP"/>
<child link="LH_hip_fixed"/>
<origin rpy="-2.61799387799 0 -3.14159265359" xyz="0 0 0"/>
</joint>
<!-- Hip link -->
<link name="LH_hip_fixed">
<visual>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/hip_r.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.048 0.008 -0.003"/>
<mass value="0.74"/>
<inertia ixx="0.001393106" ixy="-8.4012e-05" ixz="-2.3378e-05" iyy="0.003798579" iyz="7.1319e-05" izz="0.003897509"/>
</inertial>
</link>
<!-- joint hip HFE -->
<joint name="LH_hip_fixed_LH_HFE" type="fixed">
<parent link="LH_hip_fixed"/>
<child link="LH_HFE"/>
<origin rpy="0 0 1.57079632679" xyz="-0.0599 0.08381 0.0"/>
</joint>
<!-- Drive link -->
<link name="LH_HFE">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.07 0 0"/>
<geometry>
<cylinder length="0.14" radius="0.05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
<mass value="2.04"/>
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="LH_HFE" type="revolute">
<parent link="LH_HFE"/>
<child link="LH_THIGH"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="80.0" lower="-9.42477796077" upper="9.42477796077" velocity="7.5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="LH_THIGH">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- joint HFE thigh -->
<joint name="LH_THIGH_LH_thigh_fixed" type="fixed">
<parent link="LH_THIGH"/>
<child link="LH_thigh_fixed"/>
<origin rpy="0 0 -1.57079632679" xyz="0 0 0"/>
</joint>
<!-- Thigh link -->
<link name="LH_thigh_fixed">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/thigh.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<!-- Thigh collision -->
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0.04 0"/>
<geometry>
<cylinder length="0.08" radius="0.065"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 0.03 -0.1413135"/>
<geometry>
<box size="0.075 0.06 0.282627"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.0 0.018 -0.169"/>
<mass value="1.03"/>
<inertia ixx="0.018644469" ixy="-5.2e-08" ixz="-1.0157e-05" iyy="0.019312599" iyz="0.002520077" izz="0.002838361"/>
</inertial>
</link>
<!-- joint thigh KFE -->
<joint name="LH_thigh_fixed_LH_KFE" type="fixed">
<parent link="LH_thigh_fixed"/>
<child link="LH_KFE"/>
<origin rpy="0 0 1.57079632679" xyz="-0.0 0.1003 -0.285"/>
</joint>
<!-- Drive link -->
<link name="LH_KFE">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.07 0 0"/>
<geometry>
<cylinder length="0.14" radius="0.05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
<mass value="2.04"/>
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="LH_KFE" type="revolute">
<parent link="LH_KFE"/>
<child link="LH_SHANK"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="80.0" lower="-9.42477796077" upper="9.42477796077" velocity="7.5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="LH_SHANK">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- joint KFE shank -->
<joint name="LH_shank_LH_shank_fixed" type="fixed">
<parent link="LH_SHANK"/>
<child link="LH_shank_fixed"/>
<origin rpy="0 0 -1.57079632679" xyz="0 0 0"/>
</joint>
<!-- Shank link -->
<link name="LH_shank_fixed">
<visual>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/shank_r.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<!-- Shank collision -->
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0.02 0"/>
<geometry>
<cylinder length="0.04" radius="0.06"/>
</geometry>
</collision>
<collision>
<origin rpy="1.57079632679 0 0" xyz="-0.057499 0.02 0"/>
<geometry>
<box size="0.114998 0.0675 0.04"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.03463 0.00688 0.00098"/>
<mass value="0.33742"/>
<inertia ixx="0.00032748005" ixy="-2.142561e-05" ixz="-1.33942e-05" iyy="0.00110974122" iyz="7.601e-08" izz="0.00089388521"/>
</inertial>
</link>
<!-- Leg configurations: xx (knees bent inwards), xo (knees bent backwards) -->
<!-- joint shank foot -->
<joint name="LH_shank_fixed_LH_FOOT" type="fixed">
<parent link="LH_shank_fixed"/>
<child link="LH_FOOT"/>
<origin rpy="0 0 0" xyz="-0.08795 0.01305 -0.33797"/>
</joint>
<!-- Foot link -->
<link name="LH_FOOT">
<visual>
<origin rpy="0 0 -2.35619449019" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/foot.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<!-- Adapter collision -->
<collision>
<origin rpy="0 0 0" xyz="0 0 0.168985"/>
<geometry>
<cylinder length="0.282504" radius="0.0175"/>
</geometry>
</collision>
<!-- Foot collision -->
<collision>
<origin xyz="0 0 0.0225"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.00948 -0.00948 0.1468"/>
<mass value="0.25"/>
<inertia ixx="0.00317174097" ixy="-2.63048e-06" ixz="-6.815581e-05" iyy="0.00317174092" iyz="6.815583e-05" izz="8.319196e-05"/>
</inertial>
</link>
<!-- joint base HAA -->
<joint name="base_RH_HAA" type="fixed">
<parent link="base"/>
<child link="RH_HAA"/>
<origin rpy="2.61799387799 0 -3.14159265359" xyz="-0.2999 -0.104 0.0"/>
</joint>
<!-- Drive link -->
<link name="RH_HAA">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
<mass value="2.04"/>
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="RH_HAA" type="revolute">
<parent link="RH_HAA"/>
<child link="RH_HIP"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="-1 0 0"/>
<limit effort="80.0" lower="-0.49" upper="0.72" velocity="7.5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="RH_HIP">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- joint HAA hip -->
<joint name="RH_HIP_RH_hip_fixed" type="fixed">
<parent link="RH_HIP"/>
<child link="RH_hip_fixed"/>
<origin rpy="2.61799387799 0 -3.14159265359" xyz="0 0 0"/>
</joint>
<!-- Hip link -->
<link name="RH_hip_fixed">
<visual>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/hip_l.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.048 -0.008 -0.003"/>
<mass value="0.74"/>
<inertia ixx="0.001393106" ixy="8.4012e-05" ixz="-2.3378e-05" iyy="0.003798579" iyz="-7.1319e-05" izz="0.003897509"/>
</inertial>
</link>
<!-- joint hip HFE -->
<joint name="RH_hip_fixed_RH_HFE" type="fixed">
<parent link="RH_hip_fixed"/>
<child link="RH_HFE"/>
<origin rpy="0 0 -1.57079632679" xyz="-0.0599 -0.08381 0.0"/>
</joint>
<!-- Drive link -->
<link name="RH_HFE">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.07 0 0"/>
<geometry>
<cylinder length="0.14" radius="0.05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
<mass value="2.04"/>
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="RH_HFE" type="revolute">
<parent link="RH_HFE"/>
<child link="RH_THIGH"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="-1 0 0"/>
<limit effort="80.0" lower="-9.42477796077" upper="9.42477796077" velocity="7.5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="RH_THIGH">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- joint HFE thigh -->
<joint name="RH_THIGH_RH_thigh_fixed" type="fixed">
<parent link="RH_THIGH"/>
<child link="RH_thigh_fixed"/>
<origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
</joint>
<!-- Thigh link -->
<link name="RH_thigh_fixed">
<visual>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/thigh.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<!-- Thigh collision -->
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 -0.04 0"/>
<geometry>
<cylinder length="0.08" radius="0.065"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 -0.03 -0.1413135"/>
<geometry>
<box size="0.075 0.06 0.282627"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.0 -0.018 -0.169"/>
<mass value="1.03"/>
<inertia ixx="0.018644469" ixy="5.2e-08" ixz="-1.0157e-05" iyy="0.019312599" iyz="-0.002520077" izz="0.002838361"/>
</inertial>
</link>
<!-- joint thigh KFE -->
<joint name="RH_thigh_fixed_RH_KFE" type="fixed">
<parent link="RH_thigh_fixed"/>
<child link="RH_KFE"/>
<origin rpy="0 0 -1.57079632679" xyz="-0.0 -0.1003 -0.285"/>
</joint>
<!-- Drive link -->
<link name="RH_KFE">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.07 0 0"/>
<geometry>
<cylinder length="0.14" radius="0.05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
<mass value="2.04"/>
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="RH_KFE" type="revolute">
<parent link="RH_KFE"/>
<child link="RH_SHANK"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="-1 0 0"/>
<limit effort="80.0" lower="-9.42477796077" upper="9.42477796077" velocity="7.5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="RH_SHANK">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- joint KFE shank -->
<joint name="RH_shank_RH_shank_fixed" type="fixed">
<parent link="RH_SHANK"/>
<child link="RH_shank_fixed"/>
<origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
</joint>
<!-- Shank link -->
<link name="RH_shank_fixed">
<visual>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/shank_l.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<!-- Shank collision -->
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 -0.02 0"/>
<geometry>
<cylinder length="0.04" radius="0.06"/>
</geometry>
</collision>
<collision>
<origin rpy="1.57079632679 0 0" xyz="-0.057499 -0.02 0"/>
<geometry>
<box size="0.114998 0.0675 0.04"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.03463 -0.00688 0.00098"/>
<mass value="0.33742"/>
<inertia ixx="0.00032748005" ixy="2.142561e-05" ixz="-1.33942e-05" iyy="0.00110974122" iyz="-7.601e-08" izz="0.00089388521"/>
</inertial>
</link>
<!-- Leg configurations: xx (knees bent inwards), xo (knees bent backwards) -->
<!-- joint shank foot -->
<joint name="RH_shank_fixed_RH_FOOT" type="fixed">
<parent link="RH_shank_fixed"/>
<child link="RH_FOOT"/>
<origin rpy="0 0 0" xyz="-0.08795 -0.01305 -0.33797"/>
</joint>
<!-- Foot link -->
<link name="RH_FOOT">
<visual>
<origin rpy="0 0 -3.92699081699" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/foot.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<!-- Adapter collision -->
<collision>
<origin rpy="0 0 0" xyz="0 0 0.168985"/>
<geometry>
<cylinder length="0.282504" radius="0.0175"/>
</geometry>
</collision>
<!-- Foot collision -->
<collision>
<origin xyz="0 0 0.0225"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.00948 0.00948 0.1468"/>
<mass value="0.25"/>
<inertia ixx="0.00317174097" ixy="2.63048e-06" ixz="-6.815581e-05" iyy="0.00317174092" iyz="-6.815583e-05" izz="8.319196e-05"/>
</inertial>
</link>
<!-- Fixed joint base hatch -->
<joint name="base_hatch" type="fixed">
<parent link="base"/>
<child link="hatch"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Hatch link -->
<link name="hatch">
<visual>
<origin rpy="0 0 0" xyz="0.116 0 0.073"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/hatch.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0.116 0.0 0.0758"/>
<mass value="0.142"/>
<inertia ixx="0.001" ixy="0.001" ixz="0.001" iyy="0.001" iyz="0.001" izz="0.001"/>
</inertial>
</link>
<transmission name="LF_HAA_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="LF_HAA">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="LF_HAA_actuator">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="LF_HFE_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="LF_HFE">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="LF_HFE_actuator">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="LF_KFE_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="LF_KFE">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="LF_KFE_actuator">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RF_HAA_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RF_HAA">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RF_HAA_actuator">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RF_HFE_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RF_HFE">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RF_HFE_actuator">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RF_KFE_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RF_KFE">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RF_KFE_actuator">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="LH_HAA_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="LH_HAA">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="LH_HAA_actuator">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="LH_HFE_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="LH_HFE">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="LH_HFE_actuator">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="LH_KFE_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="LH_KFE">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="LH_KFE_actuator">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RH_HAA_trans">
<type>transmission_inteRHace/SimpleTransmission</type>
<joint name="RH_HAA">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RH_HAA_actuator">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RH_HFE_trans">
<type>transmission_inteRHace/SimpleTransmission</type>
<joint name="RH_HFE">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RH_HFE_actuator">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RH_KFE_trans">
<type>transmission_inteRHace/SimpleTransmission</type>
<joint name="RH_KFE">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RH_KFE_actuator">
<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>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/ANYbotics/anymal_c_simple_description/CMakeLists.txt | cmake_minimum_required(VERSION 3.5.1)
project(anymal_c_simple_description)
find_package(catkin)
catkin_package()
install(DIRECTORY config launch meshes urdf
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
if(CATKIN_ENABLE_TESTING)
find_package(catkin REQUIRED
COMPONENTS
roslaunch
)
roslaunch_add_file_check(launch/load.launch)
endif()
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/ANYbotics/anymal_c_simple_description/package.xml | <?xml version="1.0"?>
<package format="2">
<name>anymal_c_simple_description</name>
<version>1.0.12</version>
<description>ANYmal C Description Package</description>
<license>BSD-3</license>
<author email="[email protected]">Linus Isler</author>
<maintainer email="[email protected]">Linus Isler</maintainer>
<maintainer email="[email protected]">Remo Diethelm</maintainer>
<buildtool_depend>catkin</buildtool_depend>
<test_depend>roslaunch</test_depend>
</package>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/ANYbotics/anymal_c_simple_description/README.md | # ANYmal C Robot Description (URDF)
## Overview
This package contains a simplified robot description (URDF) of the [ANYmal C robot](https://www.anybotics.com/anymal) developed by [ANYbotics](https://www.anybotics.com).
The extended ANYmal C robot description, simulation, and control software is available exclusively to members of the [ANYmal Research community](https://www.anymal-research.org). For more information and membership applications, contact [email protected].
**Author & Maintainer: Linus Isler, [ANYbotics](https://www.anybotics.com)**
[](doc/anymal_c_rviz.png)
## License
This software is released under a [BSD 3-Clause license](LICENSE).
## Usage
Load the ANYmal description to the ROS parameter server:
roslaunch anymal_c_simple_description load.launch
To visualize and debug the robot description, start the standalone visualization (note that you have to provide the following additional dependencies: `joint_state_publisher`, `robot_state_publisher`, `rviz`):
roslaunch anymal_c_simple_description standalone.launch
### Launch files
* **`load.launch`:** Loads the URDF to the parameter server. Meant to be included in higher level launch files.
* **`standalone.launch`:** A standalone launch file that starts RViz and a joint state publisher to debug the description.
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/ANYbotics/anymal_c_simple_description/launch/standalone.launch | <?xml version="1.0" encoding="utf-8"?>
<launch>
<!-- Name of the robot description parameter -->
<arg name="description_name" default="anymal_description"/>
<!-- Set robot description path -->
<arg name="description_file" default="$(find anymal_c_simple_description)/urdf/anymal.urdf"/>
<!-- Joint state topic name -->
<arg name="joint_states_topic" default="/joint_states"/>
<!-- Load robot description -->
<include file="$(find anymal_c_simple_description)/launch/load.launch">
<arg name="description_name" value="$(arg description_name)"/>
<arg name="description_file" value="$(arg description_file)"/>
</include>
<!-- Joint state publisher -->
<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" output="screen">
<param name="use_gui" value="true"/>
<param name="rate" value="100"/>
<remap from="robot_description" to="$(arg description_name)"/>
<remap from="joint_states" to="$(arg joint_states_topic)"/>
</node>
<!-- Robot state publisher -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen">
<param name="publish_frequency" value="100"/>
<param name="use_tf_static" value="true"/>
<remap from="robot_description" to="$(arg description_name)"/>
<remap from="joint_states" to="$(arg joint_states_topic)"/>
</node>
<!-- RViz -->
<node name="rviz" pkg="rviz" type="rviz"
args="-d $(find anymal_c_simple_description)/config/rviz/standalone.rviz"
output="screen"/>
</launch>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/ANYbotics/anymal_c_simple_description/launch/load.launch | <?xml version="1.0" encoding="utf-8"?>
<launch>
<!-- Give the robot description parameter a name -->
<arg name="description_name" default="anymal_description"/>
<!-- Set robot description path -->
<arg name="description_file" default="$(find anymal_c_simple_description)/urdf/anymal.urdf"/>
<!-- Run xacro script to generate ANYmal description -->
<param name="$(arg description_name)" textfile="$(arg description_file)"/>
</launch>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/ANYbotics/anymal_c_simple_description/config/rviz/standalone.rviz | Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded: ~
Splitter Ratio: 0.8294117450714111
Tree Height: 407
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz/Views
Expanded:
- /Current View1
- /Current View1/Focal Point1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: false
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: false
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
LF_FOOT:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LF_HAA:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LF_HFE:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LF_HIP:
Alpha: 1
Show Axes: false
Show Trail: false
LF_KFE:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LF_SHANK:
Alpha: 1
Show Axes: false
Show Trail: false
LF_THIGH:
Alpha: 1
Show Axes: false
Show Trail: false
LF_hip_fixed:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LF_shank_fixed:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LF_thigh_fixed:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LH_FOOT:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LH_HAA:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LH_HFE:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LH_HIP:
Alpha: 1
Show Axes: false
Show Trail: false
LH_KFE:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LH_SHANK:
Alpha: 1
Show Axes: false
Show Trail: false
LH_THIGH:
Alpha: 1
Show Axes: false
Show Trail: false
LH_hip_fixed:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LH_shank_fixed:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LH_thigh_fixed:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Link Tree Style: Links in Alphabetic Order
RF_FOOT:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RF_HAA:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RF_HFE:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RF_HIP:
Alpha: 1
Show Axes: false
Show Trail: false
RF_KFE:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RF_SHANK:
Alpha: 1
Show Axes: false
Show Trail: false
RF_THIGH:
Alpha: 1
Show Axes: false
Show Trail: false
RF_hip_fixed:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RF_shank_fixed:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RF_thigh_fixed:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RH_FOOT:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RH_HAA:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RH_HFE:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RH_HIP:
Alpha: 1
Show Axes: false
Show Trail: false
RH_KFE:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RH_SHANK:
Alpha: 1
Show Axes: false
Show Trail: false
RH_THIGH:
Alpha: 1
Show Axes: false
Show Trail: false
RH_hip_fixed:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RH_shank_fixed:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RH_thigh_fixed:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_inertia:
Alpha: 1
Show Axes: false
Show Trail: false
battery:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
bottom_shell:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
depth_camera_front_camera:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
depth_camera_front_camera_parent:
Alpha: 1
Show Axes: false
Show Trail: false
depth_camera_front_color_frame:
Alpha: 1
Show Axes: false
Show Trail: false
depth_camera_front_color_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
depth_camera_front_depth_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
depth_camera_left_camera:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
depth_camera_left_camera_parent:
Alpha: 1
Show Axes: false
Show Trail: false
depth_camera_left_color_frame:
Alpha: 1
Show Axes: false
Show Trail: false
depth_camera_left_color_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
depth_camera_left_depth_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
depth_camera_rear_camera:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
depth_camera_rear_camera_parent:
Alpha: 1
Show Axes: false
Show Trail: false
depth_camera_rear_color_frame:
Alpha: 1
Show Axes: false
Show Trail: false
depth_camera_rear_color_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
depth_camera_rear_depth_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
depth_camera_right_camera:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
depth_camera_right_camera_parent:
Alpha: 1
Show Axes: false
Show Trail: false
depth_camera_right_color_frame:
Alpha: 1
Show Axes: false
Show Trail: false
depth_camera_right_color_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
depth_camera_right_depth_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
docking_hatch_cover:
Alpha: 1
Show Axes: false
Show Trail: false
face_front:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
face_rear:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
handle:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
hatch:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
imu_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
lidar:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
lidar_cage:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
remote:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
top_shell:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wide_angle_camera_front_camera:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wide_angle_camera_front_camera_parent:
Alpha: 1
Show Axes: false
Show Trail: false
wide_angle_camera_rear_camera:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
wide_angle_camera_rear_camera_parent:
Alpha: 1
Show Axes: false
Show Trail: false
Name: RobotModel
Robot Description: anymal_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: true
LF_FOOT:
Value: true
LF_HAA:
Value: true
LF_HFE:
Value: true
LF_HIP:
Value: true
LF_KFE:
Value: true
LF_SHANK:
Value: true
LF_THIGH:
Value: true
LF_hip_fixed:
Value: true
LF_shank_fixed:
Value: true
LF_thigh_fixed:
Value: true
LH_FOOT:
Value: true
LH_HAA:
Value: true
LH_HFE:
Value: true
LH_HIP:
Value: true
LH_KFE:
Value: true
LH_SHANK:
Value: true
LH_THIGH:
Value: true
LH_hip_fixed:
Value: true
LH_shank_fixed:
Value: true
LH_thigh_fixed:
Value: true
RF_FOOT:
Value: true
RF_HAA:
Value: true
RF_HFE:
Value: true
RF_HIP:
Value: true
RF_KFE:
Value: true
RF_SHANK:
Value: true
RF_THIGH:
Value: true
RF_hip_fixed:
Value: true
RF_shank_fixed:
Value: true
RF_thigh_fixed:
Value: true
RH_FOOT:
Value: true
RH_HAA:
Value: true
RH_HFE:
Value: true
RH_HIP:
Value: true
RH_KFE:
Value: true
RH_SHANK:
Value: true
RH_THIGH:
Value: true
RH_hip_fixed:
Value: true
RH_shank_fixed:
Value: true
RH_thigh_fixed:
Value: true
base:
Value: true
base_inertia:
Value: true
battery:
Value: true
bottom_shell:
Value: true
depth_camera_front_camera:
Value: true
depth_camera_front_camera_parent:
Value: true
depth_camera_front_color_frame:
Value: true
depth_camera_front_color_optical_frame:
Value: true
depth_camera_front_depth_optical_frame:
Value: true
depth_camera_left_camera:
Value: true
depth_camera_left_camera_parent:
Value: true
depth_camera_left_color_frame:
Value: true
depth_camera_left_color_optical_frame:
Value: true
depth_camera_left_depth_optical_frame:
Value: true
depth_camera_rear_camera:
Value: true
depth_camera_rear_camera_parent:
Value: true
depth_camera_rear_color_frame:
Value: true
depth_camera_rear_color_optical_frame:
Value: true
depth_camera_rear_depth_optical_frame:
Value: true
depth_camera_right_camera:
Value: true
depth_camera_right_camera_parent:
Value: true
depth_camera_right_color_frame:
Value: true
depth_camera_right_color_optical_frame:
Value: true
depth_camera_right_depth_optical_frame:
Value: true
docking_hatch_cover:
Value: true
face_front:
Value: true
face_rear:
Value: true
handle:
Value: true
hatch:
Value: true
imu_link:
Value: true
lidar:
Value: true
lidar_cage:
Value: true
remote:
Value: true
top_shell:
Value: true
wide_angle_camera_front_camera:
Value: true
wide_angle_camera_front_camera_parent:
Value: true
wide_angle_camera_rear_camera:
Value: true
wide_angle_camera_rear_camera_parent:
Value: true
Marker Scale: 0.5
Name: TF
Show Arrows: true
Show Axes: true
Show Names: false
Tree:
base:
LF_HAA:
LF_HIP:
LF_hip_fixed:
LF_HFE:
LF_THIGH:
LF_thigh_fixed:
LF_KFE:
LF_SHANK:
LF_shank_fixed:
LF_FOOT:
{}
LH_HAA:
LH_HIP:
LH_hip_fixed:
LH_HFE:
LH_THIGH:
LH_thigh_fixed:
LH_KFE:
LH_SHANK:
LH_shank_fixed:
LH_FOOT:
{}
RF_HAA:
RF_HIP:
RF_hip_fixed:
RF_HFE:
RF_THIGH:
RF_thigh_fixed:
RF_KFE:
RF_SHANK:
RF_shank_fixed:
RF_FOOT:
{}
RH_HAA:
RH_HIP:
RH_hip_fixed:
RH_HFE:
RH_THIGH:
RH_thigh_fixed:
RH_KFE:
RH_SHANK:
RH_shank_fixed:
RH_FOOT:
{}
base_inertia:
{}
battery:
{}
bottom_shell:
{}
depth_camera_left_camera:
depth_camera_left_camera_parent:
depth_camera_left_color_frame:
depth_camera_left_color_optical_frame:
{}
depth_camera_left_depth_optical_frame:
{}
depth_camera_right_camera:
depth_camera_right_camera_parent:
depth_camera_right_color_frame:
depth_camera_right_color_optical_frame:
{}
depth_camera_right_depth_optical_frame:
{}
docking_hatch_cover:
{}
face_front:
depth_camera_front_camera:
depth_camera_front_camera_parent:
depth_camera_front_color_frame:
depth_camera_front_color_optical_frame:
{}
depth_camera_front_depth_optical_frame:
{}
wide_angle_camera_front_camera:
wide_angle_camera_front_camera_parent:
{}
face_rear:
depth_camera_rear_camera:
depth_camera_rear_camera_parent:
depth_camera_rear_color_frame:
depth_camera_rear_color_optical_frame:
{}
depth_camera_rear_depth_optical_frame:
{}
wide_angle_camera_rear_camera:
wide_angle_camera_rear_camera_parent:
{}
handle:
{}
hatch:
{}
imu_link:
{}
lidar_cage:
lidar:
{}
remote:
{}
top_shell:
{}
Update Interval: 0
Value: true
Enabled: true
Global Options:
Background Color: 255; 255; 255
Default Light: true
Fixed Frame: base
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 2
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
Z: 0
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.707099974155426
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 786
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000015600000222fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed0000033e00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000001600000222000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000222fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000001600000222000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000055f0000003efc0100000002fb0000000800540069006d006500000000000000055f000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000024a0000022200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1024
X: 0
Y: 0
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/ANYbotics/anymal_c_simple_description/urdf/anymal.urdf | <?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- Copyright 2020 ANYbotics, https://www.anybotics.com -->
<!-- =================================================================================== -->
<!-- This file contains the description of the ANYmal C robot. -->
<robot name="anymal">
<!-- Base link -->
<link name="base">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/base.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.58 0.14 0.18"/>
</geometry>
</collision>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0.2175 0.07 0"/>
<geometry>
<cylinder length="0.145" radius="0.09"/>
</geometry>
</collision>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.2175 0.07 0"/>
<geometry>
<cylinder length="0.145" radius="0.09"/>
</geometry>
</collision>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0.2175 -0.07 0"/>
<geometry>
<cylinder length="0.145" radius="0.09"/>
</geometry>
</collision>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.2175 -0.07 0"/>
<geometry>
<cylinder length="0.145" radius="0.09"/>
</geometry>
</collision>
<!-- Shell self filtering -->
<self_filter>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="1.05 0.5 0.5"/>
</geometry>
</self_filter>
</link>
<!-- Fixed joint to add dummy inertia link -->
<joint name="base_to_base_inertia" type="fixed">
<parent link="base"/>
<child link="base_inertia"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<!-- Dummy inertia link, because KDL cannot have inertia on the base link -->
<link name="base_inertia">
<inertial>
<origin rpy="0 0 0" xyz="-0.018 -0.002 0.024"/>
<mass value="6.222"/>
<inertia ixx="0.017938806" ixy="0.00387963" ixz="0.001500772" iyy="0.370887745" iyz="6.8963e-05" izz="0.372497653"/>
</inertial>
</link>
<!-- Fixed joint base topshell -->
<joint name="base_top_shell" type="fixed">
<parent link="base"/>
<child link="top_shell"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<!-- Top shell link -->
<link name="top_shell">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/top_shell.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.00777 -0.00013 0.06523"/>
<mass value="0.534"/>
<inertia ixx="0.00664789486" ixy="1.247923e-05" ixz="0.00053990097" iyy="0.02587392411" iyz="3.7614e-07" izz="0.03152303792"/>
</inertial>
</link>
<!-- Fixed joint base topshell -->
<joint name="base_bottom_shell" type="fixed">
<parent link="base"/>
<child link="bottom_shell"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<!-- Bottom shell link -->
<link name="bottom_shell">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/bottom_shell.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.00333 1e-05 -0.07705"/>
<mass value="1.15"/>
<inertia ixx="0.00927353677" ixy="5.41222e-06" ixz="9.039821e-05" iyy="0.06134388239" iyz="2.3042e-07" izz="0.06853531465"/>
</inertial>
</link>
<!-- Fixed joint base remote -->
<joint name="base_remote" type="fixed">
<parent link="base"/>
<child link="remote"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<!-- Remote link -->
<link name="remote">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/remote.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.171 0.002 0.096"/>
<mass value="0.3262"/>
<inertia ixx="0.000528486" ixy="4.547e-05" ixz="1.10327e-05" iyy="0.001165035" iyz="7.4e-07" izz="0.00124026"/>
</inertial>
</link>
<!-- Fixed joint base handle -->
<joint name="base_handle" type="fixed">
<parent link="base"/>
<child link="handle"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<!-- Handle link -->
<link name="handle">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/handle.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0.37801 0.0 0.1372"/>
<mass value="0.314"/>
<inertia ixx="0.001525739" ixy="0.0" ixz="6.272e-05" iyy="0.00071584" iyz="1e-09" izz="0.001164779"/>
</inertial>
</link>
<!-- Fixed joint base face -->
<joint name="base_face_front" type="fixed">
<parent link="base"/>
<child link="face_front"/>
<origin rpy="0 0 -0.0" xyz="0.4145 0 0"/>
</joint>
<!-- Shell link -->
<link name="face_front">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/face.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.055 0 0"/>
<geometry>
<box size="0.11 0.14 0.18"/>
</geometry>
</collision>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0.055 0.07 0"/>
<geometry>
<cylinder length="0.11" radius="0.09"/>
</geometry>
</collision>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0.055 -0.07 0"/>
<geometry>
<cylinder length="0.11" radius="0.09"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.042 -0.001 0.004"/>
<mass value="0.73"/>
<inertia ixx="0.005238611" ixy="1.7609e-05" ixz="7.2167e-05" iyy="0.002643098" iyz="1.9548e-05" izz="0.004325938"/>
</inertial>
</link>
<!-- Camera joint -->
<!-- Is located between the two back screw holes at ground level. -->
<joint name="face_front_to_depth_camera_front_camera" type="fixed">
<parent link="face_front"/>
<child link="depth_camera_front_camera"/>
<origin rpy="0.0 0.523598775598 0" xyz="0.04715 0.0 -0.0292"/>
</joint>
<!-- Camera link -->
<link name="depth_camera_front_camera">
<visual>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/depth_camera.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.021 -0.002 0.025"/>
<mass value="0.16043"/>
<inertia ixx="0.000637051" ixy="0.000484569" ixz="0.000424211" iyy="0.000929402" iyz="5.138e-06" izz="0.000484569"/>
</inertial>
</link>
<!-- Camera parent joint -->
<!-- Frame lies on the left ir camera according to any_realsense2_camera urdf. -->
<joint name="depth_camera_front_camera_to_camera_parent" type="fixed">
<parent link="depth_camera_front_camera"/>
<child link="depth_camera_front_camera_parent"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0255 0.0175 0.0"/>
</joint>
<!-- Camera parent link -->
<link name="depth_camera_front_camera_parent"/>
<!-- Depth optical frame joint -->
<joint name="depth_camera_front_camera_parent_to_depth_optical_frame" type="fixed">
<parent link="depth_camera_front_camera_parent"/>
<child link="depth_camera_front_depth_optical_frame"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Depth optical frame link -->
<link name="depth_camera_front_depth_optical_frame"/>
<!-- Camera color frame joint -->
<joint name="depth_camera_front_camera_parent_to_color_frame" type="fixed">
<parent link="depth_camera_front_camera_parent"/>
<child link="depth_camera_front_color_frame"/>
<origin rpy="0 0 0" xyz="0 0.015 0"/>
</joint>
<!-- Camera color frame link -->
<link name="depth_camera_front_color_frame"/>
<!-- Camera color optical joint -->
<joint name="depth_camera_front_color_frame_to_color_optical_frame" type="fixed">
<parent link="depth_camera_front_color_frame"/>
<child link="depth_camera_front_color_optical_frame"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Camera color optical link -->
<link name="depth_camera_front_color_optical_frame"/>
<!-- Camera joint -->
<!-- Is located in the center of the mounting points. -->
<joint name="face_front_to_wide_angle_camera_front_camera" type="fixed">
<parent link="face_front"/>
<child link="wide_angle_camera_front_camera"/>
<origin rpy="0 0 0" xyz="0.09850 0.0 0.01497"/>
</joint>
<!-- Camera link -->
<link name="wide_angle_camera_front_camera">
<visual>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/wide_angle_camera.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.053 -0.001 0.025"/>
<mass value="0.287"/>
<inertia ixx="0.000559232" ixy="1.6875e-05" ixz="0.000423761" iyy="0.000946504" iyz="1.3234e-07" izz="0.000493052"/>
</inertial>
</link>
<!-- Camera parent joint -->
<joint name="wide_angle_camera_front_camera_to_camera_parent" type="fixed">
<parent link="wide_angle_camera_front_camera"/>
<child link="wide_angle_camera_front_camera_parent"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Camera parent link -->
<link name="wide_angle_camera_front_camera_parent"/>
<!-- Fixed joint base face -->
<joint name="base_face_rear" type="fixed">
<parent link="base"/>
<child link="face_rear"/>
<origin rpy="0 0 3.14159265359" xyz="-0.4145 0 0"/>
</joint>
<!-- Shell link -->
<link name="face_rear">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/face.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.055 0 0"/>
<geometry>
<box size="0.11 0.14 0.18"/>
</geometry>
</collision>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0.055 0.07 0"/>
<geometry>
<cylinder length="0.11" radius="0.09"/>
</geometry>
</collision>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0.055 -0.07 0"/>
<geometry>
<cylinder length="0.11" radius="0.09"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.042 -0.001 0.004"/>
<mass value="0.73"/>
<inertia ixx="0.005238611" ixy="1.7609e-05" ixz="7.2167e-05" iyy="0.002643098" iyz="1.9548e-05" izz="0.004325938"/>
</inertial>
</link>
<!-- Camera joint -->
<!-- Is located between the two back screw holes at ground level. -->
<joint name="face_rear_to_depth_camera_rear_camera" type="fixed">
<parent link="face_rear"/>
<child link="depth_camera_rear_camera"/>
<origin rpy="0.0 0.523598775598 0" xyz="0.04715 0.0 -0.0292"/>
</joint>
<!-- Camera link -->
<link name="depth_camera_rear_camera">
<visual>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/depth_camera.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.021 -0.002 0.025"/>
<mass value="0.16043"/>
<inertia ixx="0.000637051" ixy="0.000484569" ixz="0.000424211" iyy="0.000929402" iyz="5.138e-06" izz="0.000484569"/>
</inertial>
</link>
<!-- Camera parent joint -->
<!-- Frame lies on the left ir camera according to any_realsense2_camera urdf. -->
<joint name="depth_camera_rear_camera_to_camera_parent" type="fixed">
<parent link="depth_camera_rear_camera"/>
<child link="depth_camera_rear_camera_parent"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0255 0.0175 0.0"/>
</joint>
<!-- Camera parent link -->
<link name="depth_camera_rear_camera_parent"/>
<!-- Depth optical frame joint -->
<joint name="depth_camera_rear_camera_parent_to_depth_optical_frame" type="fixed">
<parent link="depth_camera_rear_camera_parent"/>
<child link="depth_camera_rear_depth_optical_frame"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Depth optical frame link -->
<link name="depth_camera_rear_depth_optical_frame"/>
<!-- Camera color frame joint -->
<joint name="depth_camera_rear_camera_parent_to_color_frame" type="fixed">
<parent link="depth_camera_rear_camera_parent"/>
<child link="depth_camera_rear_color_frame"/>
<origin rpy="0 0 0" xyz="0 0.015 0"/>
</joint>
<!-- Camera color frame link -->
<link name="depth_camera_rear_color_frame"/>
<!-- Camera color optical joint -->
<joint name="depth_camera_rear_color_frame_to_color_optical_frame" type="fixed">
<parent link="depth_camera_rear_color_frame"/>
<child link="depth_camera_rear_color_optical_frame"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Camera color optical link -->
<link name="depth_camera_rear_color_optical_frame"/>
<!-- Camera joint -->
<!-- Is located in the center of the mounting points. -->
<joint name="face_rear_to_wide_angle_camera_rear_camera" type="fixed">
<parent link="face_rear"/>
<child link="wide_angle_camera_rear_camera"/>
<origin rpy="0 0 0" xyz="0.09850 0.0 0.01497"/>
</joint>
<!-- Camera link -->
<link name="wide_angle_camera_rear_camera">
<visual>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/wide_angle_camera.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.053 -0.001 0.025"/>
<mass value="0.287"/>
<inertia ixx="0.000559232" ixy="1.6875e-05" ixz="0.000423761" iyy="0.000946504" iyz="1.3234e-07" izz="0.000493052"/>
</inertial>
</link>
<!-- Camera parent joint -->
<joint name="wide_angle_camera_rear_camera_to_camera_parent" type="fixed">
<parent link="wide_angle_camera_rear_camera"/>
<child link="wide_angle_camera_rear_camera_parent"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Camera parent link -->
<link name="wide_angle_camera_rear_camera_parent"/>
<!-- Fixed joint base battery -->
<joint name="base_battery" type="fixed">
<parent link="base"/>
<child link="battery"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<!-- Shell link -->
<link name="battery">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/battery.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.00067 -0.00023 -0.03362"/>
<mass value="5.53425"/>
<inertia ixx="0.00749474794" ixy="0.00016686282" ixz="7.82763e-05" iyy="0.0722338913" iyz="1.42902e-06" izz="0.07482717535"/>
</inertial>
</link>
<!-- Fixed joint to add docking -->
<joint name="base_to_docking_hatch_cover" type="fixed">
<parent link="base"/>
<child link="docking_hatch_cover"/>
<origin rpy="0 0 0" xyz="0.343 0.0 -0.07"/>
</joint>
<!-- Hatch cover link -->
<link name="docking_hatch_cover">
<!-- TODO(fgiraldez): add visual -->
<inertial>
<origin rpy="0 0 0" xyz="-0.003 0.0 0.005"/>
<mass value="0.065"/>
<inertia ixx="0.00063283" ixy="0.0" ixz="3.45e-07" iyy="0.00110971" iyz="0.0" izz="0.00171883"/>
</inertial>
</link>
<link name="imu_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0.005"/>
<geometry>
<box size="0.024 0.024 0.01"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.005"/>
<geometry>
<box size="0.024 0.024 0.01"/>
</geometry>
</collision>
<inertial>
<mass value="0.01"/>
<origin xyz="0 0 0"/>
<inertia ixx="5.63333333333e-07" ixy="0.0" ixz="0.0" iyy="9.6e-07" iyz="0.0" izz="5.63333333333e-07"/>
</inertial>
</link>
<joint name="imu_joint" type="fixed">
<parent link="base"/>
<child link="imu_link"/>
<origin rpy="0.0 0.0 1.57079632679" xyz="0.2488 0.00835 0.04628"/>
</joint>
<!-- Camera joint -->
<!-- Is located between the two back screw holes at ground level. -->
<joint name="base_to_depth_camera_left_camera" type="fixed">
<parent link="base"/>
<child link="depth_camera_left_camera"/>
<origin rpy="0.0 0.523598775598 1.57079632679" xyz="0.0 0.07646 0.02905"/>
</joint>
<!-- Camera link -->
<link name="depth_camera_left_camera">
<visual>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/depth_camera.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.021 -0.002 0.025"/>
<mass value="0.16043"/>
<inertia ixx="0.000637051" ixy="0.000484569" ixz="0.000424211" iyy="0.000929402" iyz="5.138e-06" izz="0.000484569"/>
</inertial>
</link>
<!-- Camera parent joint -->
<!-- Frame lies on the left ir camera according to any_realsense2_camera urdf. -->
<joint name="depth_camera_left_camera_to_camera_parent" type="fixed">
<parent link="depth_camera_left_camera"/>
<child link="depth_camera_left_camera_parent"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0255 0.0175 0.0"/>
</joint>
<!-- Camera parent link -->
<link name="depth_camera_left_camera_parent"/>
<!-- Depth optical frame joint -->
<joint name="depth_camera_left_camera_parent_to_depth_optical_frame" type="fixed">
<parent link="depth_camera_left_camera_parent"/>
<child link="depth_camera_left_depth_optical_frame"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Depth optical frame link -->
<link name="depth_camera_left_depth_optical_frame"/>
<!-- Camera color frame joint -->
<joint name="depth_camera_left_camera_parent_to_color_frame" type="fixed">
<parent link="depth_camera_left_camera_parent"/>
<child link="depth_camera_left_color_frame"/>
<origin rpy="0 0 0" xyz="0 0.015 0"/>
</joint>
<!-- Camera color frame link -->
<link name="depth_camera_left_color_frame"/>
<!-- Camera color optical joint -->
<joint name="depth_camera_left_color_frame_to_color_optical_frame" type="fixed">
<parent link="depth_camera_left_color_frame"/>
<child link="depth_camera_left_color_optical_frame"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Camera color optical link -->
<link name="depth_camera_left_color_optical_frame"/>
<!-- Camera joint -->
<!-- Is located between the two back screw holes at ground level. -->
<joint name="base_to_depth_camera_right_camera" type="fixed">
<parent link="base"/>
<child link="depth_camera_right_camera"/>
<origin rpy="0.0 0.523598775598 -1.57079632679" xyz="0.0 -0.07646 0.02905"/>
</joint>
<!-- Camera link -->
<link name="depth_camera_right_camera">
<visual>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/depth_camera.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.021 -0.002 0.025"/>
<mass value="0.16043"/>
<inertia ixx="0.000637051" ixy="0.000484569" ixz="0.000424211" iyy="0.000929402" iyz="5.138e-06" izz="0.000484569"/>
</inertial>
</link>
<!-- Camera parent joint -->
<!-- Frame lies on the left ir camera according to any_realsense2_camera urdf. -->
<joint name="depth_camera_right_camera_to_camera_parent" type="fixed">
<parent link="depth_camera_right_camera"/>
<child link="depth_camera_right_camera_parent"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0255 0.0175 0.0"/>
</joint>
<!-- Camera parent link -->
<link name="depth_camera_right_camera_parent"/>
<!-- Depth optical frame joint -->
<joint name="depth_camera_right_camera_parent_to_depth_optical_frame" type="fixed">
<parent link="depth_camera_right_camera_parent"/>
<child link="depth_camera_right_depth_optical_frame"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Depth optical frame link -->
<link name="depth_camera_right_depth_optical_frame"/>
<!-- Camera color frame joint -->
<joint name="depth_camera_right_camera_parent_to_color_frame" type="fixed">
<parent link="depth_camera_right_camera_parent"/>
<child link="depth_camera_right_color_frame"/>
<origin rpy="0 0 0" xyz="0 0.015 0"/>
</joint>
<!-- Camera color frame link -->
<link name="depth_camera_right_color_frame"/>
<!-- Camera color optical joint -->
<joint name="depth_camera_right_color_frame_to_color_optical_frame" type="fixed">
<parent link="depth_camera_right_color_frame"/>
<child link="depth_camera_right_color_optical_frame"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Camera color optical link -->
<link name="depth_camera_right_color_optical_frame"/>
<!-- parent to cage joint, located between mounting plate on trunk and the cage -->
<joint name="base_to_lidar_cage" type="fixed">
<parent link="base"/>
<child link="lidar_cage"/>
<origin rpy="0 0 0" xyz="-0.364 0.0 0.0735"/>
</joint>
<!-- Velodyne cage link -->
<link name="lidar_cage">
<visual>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/lidar_cage.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.06"/>
<geometry>
<cylinder length="0.12" radius="0.07"/>
</geometry>
</collision>
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="0.002 0.0 0.099"/>
<mass value="0.545"/>
<inertia ixx="0.003156254" ixy="0.0" ixz="1.0992e-05" iyy="0.002357216" iyz="0.0" izz="0.001326455"/>
</inertial>
</link>
<!-- parent to sensor joint -->
<joint name="lidar_cage_to_lidar" type="fixed">
<parent link="lidar_cage"/>
<child link="lidar"/>
<origin rpy="0.0 0.0 -1.57079632679" xyz="0.0 0.0 0.0687"/>
</joint>
<!-- Velodyne sensor link -->
<link name="lidar">
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="-0.012 0.001 -0.008"/>
<mass value="0.695"/>
<inertia ixx="0.000846765" ixy="6.9565e-05" ixz="0.00027111" iyy="0.001367583" iyz="5.8984e-05" izz="0.001363673"/>
</inertial>
<visual>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/lidar.dae"/>
</geometry>
</visual>
</link>
<!-- joint base HAA -->
<joint name="base_LF_HAA" type="fixed">
<parent link="base"/>
<child link="LF_HAA"/>
<origin rpy="2.61799387799 0 0.0" xyz="0.2999 0.104 0.0"/>
</joint>
<!-- Drive link -->
<link name="LF_HAA">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
<mass value="2.04"/>
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="LF_HAA" type="revolute">
<parent link="LF_HAA"/>
<child link="LF_HIP"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="80.0" lower="-0.72" upper="0.49" velocity="7.5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="LF_HIP">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- joint HAA hip -->
<joint name="LF_HIP_LF_hip_fixed" type="fixed">
<parent link="LF_HIP"/>
<child link="LF_hip_fixed"/>
<origin rpy="-2.61799387799 0 0.0" xyz="0 0 0"/>
</joint>
<!-- Hip link -->
<link name="LF_hip_fixed">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/hip_l.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0.048 0.008 -0.003"/>
<mass value="0.74"/>
<inertia ixx="0.001393106" ixy="8.4012e-05" ixz="2.3378e-05" iyy="0.003798579" iyz="7.1319e-05" izz="0.003897509"/>
</inertial>
</link>
<!-- joint hip HFE -->
<joint name="LF_hip_fixed_LF_HFE" type="fixed">
<parent link="LF_hip_fixed"/>
<child link="LF_HFE"/>
<origin rpy="0 0 1.57079632679" xyz="0.0599 0.08381 0.0"/>
</joint>
<!-- Drive link -->
<link name="LF_HFE">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.07 0 0"/>
<geometry>
<cylinder length="0.14" radius="0.05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
<mass value="2.04"/>
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="LF_HFE" type="revolute">
<parent link="LF_HFE"/>
<child link="LF_THIGH"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="80.0" lower="-9.42477796077" upper="9.42477796077" velocity="7.5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="LF_THIGH">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- joint HFE thigh -->
<joint name="LF_THIGH_LF_thigh_fixed" type="fixed">
<parent link="LF_THIGH"/>
<child link="LF_thigh_fixed"/>
<origin rpy="0 0 -1.57079632679" xyz="0 0 0"/>
</joint>
<!-- Thigh link -->
<link name="LF_thigh_fixed">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/thigh.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<!-- Thigh collision -->
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0.04 0"/>
<geometry>
<cylinder length="0.08" radius="0.065"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 0.03 -0.1413135"/>
<geometry>
<box size="0.075 0.06 0.282627"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.018 -0.169"/>
<mass value="1.03"/>
<inertia ixx="0.018644469" ixy="5.2e-08" ixz="1.0157e-05" iyy="0.019312599" iyz="0.002520077" izz="0.002838361"/>
</inertial>
</link>
<!-- joint thigh KFE -->
<joint name="LF_thigh_fixed_LF_KFE" type="fixed">
<parent link="LF_thigh_fixed"/>
<child link="LF_KFE"/>
<origin rpy="0 0 1.57079632679" xyz="0.0 0.1003 -0.285"/>
</joint>
<!-- Drive link -->
<link name="LF_KFE">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.07 0 0"/>
<geometry>
<cylinder length="0.14" radius="0.05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
<mass value="2.04"/>
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="LF_KFE" type="revolute">
<parent link="LF_KFE"/>
<child link="LF_SHANK"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="80.0" lower="-9.42477796077" upper="9.42477796077" velocity="7.5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="LF_SHANK">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- joint KFE shank -->
<joint name="LF_shank_LF_shank_fixed" type="fixed">
<parent link="LF_SHANK"/>
<child link="LF_shank_fixed"/>
<origin rpy="0 0 -1.57079632679" xyz="0 0 0"/>
</joint>
<!-- Shank link -->
<link name="LF_shank_fixed">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/shank_l.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<!-- Shank collision -->
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0.02 0"/>
<geometry>
<cylinder length="0.04" radius="0.06"/>
</geometry>
</collision>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0.057499 0.02 0"/>
<geometry>
<box size="0.114998 0.0675 0.04"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.03463 0.00688 0.00098"/>
<mass value="0.33742"/>
<inertia ixx="0.00032748005" ixy="2.142561e-05" ixz="1.33942e-05" iyy="0.00110974122" iyz="7.601e-08" izz="0.00089388521"/>
</inertial>
</link>
<!-- Leg configurations: xx (knees bent inwards), xo (knees bent backwards) -->
<!-- joint shank foot -->
<joint name="LF_shank_fixed_LF_FOOT" type="fixed">
<parent link="LF_shank_fixed"/>
<child link="LF_FOOT"/>
<origin rpy="0 0 0" xyz="0.08795 0.01305 -0.33797"/>
</joint>
<!-- Foot link -->
<link name="LF_FOOT">
<visual>
<origin rpy="0 0 -0.785398163397" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/foot.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<!-- Adapter collision -->
<collision>
<origin rpy="0 0 0" xyz="0 0 0.168985"/>
<geometry>
<cylinder length="0.282504" radius="0.0175"/>
</geometry>
</collision>
<!-- Foot collision -->
<collision>
<origin xyz="0 0 0.0225"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.00948 -0.00948 0.1468"/>
<mass value="0.25"/>
<inertia ixx="0.00317174097" ixy="2.63048e-06" ixz="6.815581e-05" iyy="0.00317174092" iyz="6.815583e-05" izz="8.319196e-05"/>
</inertial>
</link>
<!-- joint base HAA -->
<joint name="base_RF_HAA" type="fixed">
<parent link="base"/>
<child link="RF_HAA"/>
<origin rpy="-2.61799387799 0 0.0" xyz="0.2999 -0.104 0.0"/>
</joint>
<!-- Drive link -->
<link name="RF_HAA">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
<mass value="2.04"/>
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="RF_HAA" type="revolute">
<parent link="RF_HAA"/>
<child link="RF_HIP"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="80.0" lower="-0.49" upper="0.72" velocity="7.5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="RF_HIP">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- joint HAA hip -->
<joint name="RF_HIP_RF_hip_fixed" type="fixed">
<parent link="RF_HIP"/>
<child link="RF_hip_fixed"/>
<origin rpy="2.61799387799 0 0.0" xyz="0 0 0"/>
</joint>
<!-- Hip link -->
<link name="RF_hip_fixed">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/hip_r.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0.048 -0.008 -0.003"/>
<mass value="0.74"/>
<inertia ixx="0.001393106" ixy="-8.4012e-05" ixz="2.3378e-05" iyy="0.003798579" iyz="-7.1319e-05" izz="0.003897509"/>
</inertial>
</link>
<!-- joint hip HFE -->
<joint name="RF_hip_fixed_RF_HFE" type="fixed">
<parent link="RF_hip_fixed"/>
<child link="RF_HFE"/>
<origin rpy="0 0 -1.57079632679" xyz="0.0599 -0.08381 0.0"/>
</joint>
<!-- Drive link -->
<link name="RF_HFE">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.07 0 0"/>
<geometry>
<cylinder length="0.14" radius="0.05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
<mass value="2.04"/>
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="RF_HFE" type="revolute">
<parent link="RF_HFE"/>
<child link="RF_THIGH"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="-1 0 0"/>
<limit effort="80.0" lower="-9.42477796077" upper="9.42477796077" velocity="7.5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="RF_THIGH">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- joint HFE thigh -->
<joint name="RF_THIGH_RF_thigh_fixed" type="fixed">
<parent link="RF_THIGH"/>
<child link="RF_thigh_fixed"/>
<origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
</joint>
<!-- Thigh link -->
<link name="RF_thigh_fixed">
<visual>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/thigh.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<!-- Thigh collision -->
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 -0.04 0"/>
<geometry>
<cylinder length="0.08" radius="0.065"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 -0.03 -0.1413135"/>
<geometry>
<box size="0.075 0.06 0.282627"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 -0.018 -0.169"/>
<mass value="1.03"/>
<inertia ixx="0.018644469" ixy="-5.2e-08" ixz="1.0157e-05" iyy="0.019312599" iyz="-0.002520077" izz="0.002838361"/>
</inertial>
</link>
<!-- joint thigh KFE -->
<joint name="RF_thigh_fixed_RF_KFE" type="fixed">
<parent link="RF_thigh_fixed"/>
<child link="RF_KFE"/>
<origin rpy="0 0 -1.57079632679" xyz="0.0 -0.1003 -0.285"/>
</joint>
<!-- Drive link -->
<link name="RF_KFE">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.07 0 0"/>
<geometry>
<cylinder length="0.14" radius="0.05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
<mass value="2.04"/>
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="RF_KFE" type="revolute">
<parent link="RF_KFE"/>
<child link="RF_SHANK"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="-1 0 0"/>
<limit effort="80.0" lower="-9.42477796077" upper="9.42477796077" velocity="7.5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="RF_SHANK">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- joint KFE shank -->
<joint name="RF_shank_RF_shank_fixed" type="fixed">
<parent link="RF_SHANK"/>
<child link="RF_shank_fixed"/>
<origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
</joint>
<!-- Shank link -->
<link name="RF_shank_fixed">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/shank_r.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<!-- Shank collision -->
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 -0.02 0"/>
<geometry>
<cylinder length="0.04" radius="0.06"/>
</geometry>
</collision>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0.057499 -0.02 0"/>
<geometry>
<box size="0.114998 0.0675 0.04"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.03463 -0.00688 0.00098"/>
<mass value="0.33742"/>
<inertia ixx="0.00032748005" ixy="-2.142561e-05" ixz="1.33942e-05" iyy="0.00110974122" iyz="-7.601e-08" izz="0.00089388521"/>
</inertial>
</link>
<!-- Leg configurations: xx (knees bent inwards), xo (knees bent backwards) -->
<!-- joint shank foot -->
<joint name="RF_shank_fixed_RF_FOOT" type="fixed">
<parent link="RF_shank_fixed"/>
<child link="RF_FOOT"/>
<origin rpy="0 0 0" xyz="0.08795 -0.01305 -0.33797"/>
</joint>
<!-- Foot link -->
<link name="RF_FOOT">
<visual>
<origin rpy="0 0 0.785398163397" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/foot.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<!-- Adapter collision -->
<collision>
<origin rpy="0 0 0" xyz="0 0 0.168985"/>
<geometry>
<cylinder length="0.282504" radius="0.0175"/>
</geometry>
</collision>
<!-- Foot collision -->
<collision>
<origin xyz="0 0 0.0225"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.00948 0.00948 0.1468"/>
<mass value="0.25"/>
<inertia ixx="0.00317174097" ixy="-2.63048e-06" ixz="6.815581e-05" iyy="0.00317174092" iyz="-6.815583e-05" izz="8.319196e-05"/>
</inertial>
</link>
<!-- joint base HAA -->
<joint name="base_LH_HAA" type="fixed">
<parent link="base"/>
<child link="LH_HAA"/>
<origin rpy="-2.61799387799 0 -3.14159265359" xyz="-0.2999 0.104 0.0"/>
</joint>
<!-- Drive link -->
<link name="LH_HAA">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
<mass value="2.04"/>
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="LH_HAA" type="revolute">
<parent link="LH_HAA"/>
<child link="LH_HIP"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="-1 0 0"/>
<limit effort="80.0" lower="-0.72" upper="0.49" velocity="7.5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="LH_HIP">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- joint HAA hip -->
<joint name="LH_HIP_LH_hip_fixed" type="fixed">
<parent link="LH_HIP"/>
<child link="LH_hip_fixed"/>
<origin rpy="-2.61799387799 0 -3.14159265359" xyz="0 0 0"/>
</joint>
<!-- Hip link -->
<link name="LH_hip_fixed">
<visual>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/hip_r.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.048 0.008 -0.003"/>
<mass value="0.74"/>
<inertia ixx="0.001393106" ixy="-8.4012e-05" ixz="-2.3378e-05" iyy="0.003798579" iyz="7.1319e-05" izz="0.003897509"/>
</inertial>
</link>
<!-- joint hip HFE -->
<joint name="LH_hip_fixed_LH_HFE" type="fixed">
<parent link="LH_hip_fixed"/>
<child link="LH_HFE"/>
<origin rpy="0 0 1.57079632679" xyz="-0.0599 0.08381 0.0"/>
</joint>
<!-- Drive link -->
<link name="LH_HFE">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.07 0 0"/>
<geometry>
<cylinder length="0.14" radius="0.05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
<mass value="2.04"/>
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="LH_HFE" type="revolute">
<parent link="LH_HFE"/>
<child link="LH_THIGH"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="80.0" lower="-9.42477796077" upper="9.42477796077" velocity="7.5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="LH_THIGH">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- joint HFE thigh -->
<joint name="LH_THIGH_LH_thigh_fixed" type="fixed">
<parent link="LH_THIGH"/>
<child link="LH_thigh_fixed"/>
<origin rpy="0 0 -1.57079632679" xyz="0 0 0"/>
</joint>
<!-- Thigh link -->
<link name="LH_thigh_fixed">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/thigh.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<!-- Thigh collision -->
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0.04 0"/>
<geometry>
<cylinder length="0.08" radius="0.065"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 0.03 -0.1413135"/>
<geometry>
<box size="0.075 0.06 0.282627"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.0 0.018 -0.169"/>
<mass value="1.03"/>
<inertia ixx="0.018644469" ixy="-5.2e-08" ixz="-1.0157e-05" iyy="0.019312599" iyz="0.002520077" izz="0.002838361"/>
</inertial>
</link>
<!-- joint thigh KFE -->
<joint name="LH_thigh_fixed_LH_KFE" type="fixed">
<parent link="LH_thigh_fixed"/>
<child link="LH_KFE"/>
<origin rpy="0 0 1.57079632679" xyz="-0.0 0.1003 -0.285"/>
</joint>
<!-- Drive link -->
<link name="LH_KFE">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.07 0 0"/>
<geometry>
<cylinder length="0.14" radius="0.05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
<mass value="2.04"/>
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="LH_KFE" type="revolute">
<parent link="LH_KFE"/>
<child link="LH_SHANK"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="80.0" lower="-9.42477796077" upper="9.42477796077" velocity="7.5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="LH_SHANK">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- joint KFE shank -->
<joint name="LH_shank_LH_shank_fixed" type="fixed">
<parent link="LH_SHANK"/>
<child link="LH_shank_fixed"/>
<origin rpy="0 0 -1.57079632679" xyz="0 0 0"/>
</joint>
<!-- Shank link -->
<link name="LH_shank_fixed">
<visual>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/shank_r.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<!-- Shank collision -->
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0.02 0"/>
<geometry>
<cylinder length="0.04" radius="0.06"/>
</geometry>
</collision>
<collision>
<origin rpy="1.57079632679 0 0" xyz="-0.057499 0.02 0"/>
<geometry>
<box size="0.114998 0.0675 0.04"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.03463 0.00688 0.00098"/>
<mass value="0.33742"/>
<inertia ixx="0.00032748005" ixy="-2.142561e-05" ixz="-1.33942e-05" iyy="0.00110974122" iyz="7.601e-08" izz="0.00089388521"/>
</inertial>
</link>
<!-- Leg configurations: xx (knees bent inwards), xo (knees bent backwards) -->
<!-- joint shank foot -->
<joint name="LH_shank_fixed_LH_FOOT" type="fixed">
<parent link="LH_shank_fixed"/>
<child link="LH_FOOT"/>
<origin rpy="0 0 0" xyz="-0.08795 0.01305 -0.33797"/>
</joint>
<!-- Foot link -->
<link name="LH_FOOT">
<visual>
<origin rpy="0 0 -2.35619449019" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/foot.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<!-- Adapter collision -->
<collision>
<origin rpy="0 0 0" xyz="0 0 0.168985"/>
<geometry>
<cylinder length="0.282504" radius="0.0175"/>
</geometry>
</collision>
<!-- Foot collision -->
<collision>
<origin xyz="0 0 0.0225"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.00948 -0.00948 0.1468"/>
<mass value="0.25"/>
<inertia ixx="0.00317174097" ixy="-2.63048e-06" ixz="-6.815581e-05" iyy="0.00317174092" iyz="6.815583e-05" izz="8.319196e-05"/>
</inertial>
</link>
<!-- joint base HAA -->
<joint name="base_RH_HAA" type="fixed">
<parent link="base"/>
<child link="RH_HAA"/>
<origin rpy="2.61799387799 0 -3.14159265359" xyz="-0.2999 -0.104 0.0"/>
</joint>
<!-- Drive link -->
<link name="RH_HAA">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
<mass value="2.04"/>
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="RH_HAA" type="revolute">
<parent link="RH_HAA"/>
<child link="RH_HIP"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="-1 0 0"/>
<limit effort="80.0" lower="-0.49" upper="0.72" velocity="7.5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="RH_HIP">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- joint HAA hip -->
<joint name="RH_HIP_RH_hip_fixed" type="fixed">
<parent link="RH_HIP"/>
<child link="RH_hip_fixed"/>
<origin rpy="2.61799387799 0 -3.14159265359" xyz="0 0 0"/>
</joint>
<!-- Hip link -->
<link name="RH_hip_fixed">
<visual>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/hip_l.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.048 -0.008 -0.003"/>
<mass value="0.74"/>
<inertia ixx="0.001393106" ixy="8.4012e-05" ixz="-2.3378e-05" iyy="0.003798579" iyz="-7.1319e-05" izz="0.003897509"/>
</inertial>
</link>
<!-- joint hip HFE -->
<joint name="RH_hip_fixed_RH_HFE" type="fixed">
<parent link="RH_hip_fixed"/>
<child link="RH_HFE"/>
<origin rpy="0 0 -1.57079632679" xyz="-0.0599 -0.08381 0.0"/>
</joint>
<!-- Drive link -->
<link name="RH_HFE">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.07 0 0"/>
<geometry>
<cylinder length="0.14" radius="0.05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
<mass value="2.04"/>
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="RH_HFE" type="revolute">
<parent link="RH_HFE"/>
<child link="RH_THIGH"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="-1 0 0"/>
<limit effort="80.0" lower="-9.42477796077" upper="9.42477796077" velocity="7.5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="RH_THIGH">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- joint HFE thigh -->
<joint name="RH_THIGH_RH_thigh_fixed" type="fixed">
<parent link="RH_THIGH"/>
<child link="RH_thigh_fixed"/>
<origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
</joint>
<!-- Thigh link -->
<link name="RH_thigh_fixed">
<visual>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/thigh.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<!-- Thigh collision -->
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 -0.04 0"/>
<geometry>
<cylinder length="0.08" radius="0.065"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 -0.03 -0.1413135"/>
<geometry>
<box size="0.075 0.06 0.282627"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.0 -0.018 -0.169"/>
<mass value="1.03"/>
<inertia ixx="0.018644469" ixy="5.2e-08" ixz="-1.0157e-05" iyy="0.019312599" iyz="-0.002520077" izz="0.002838361"/>
</inertial>
</link>
<!-- joint thigh KFE -->
<joint name="RH_thigh_fixed_RH_KFE" type="fixed">
<parent link="RH_thigh_fixed"/>
<child link="RH_KFE"/>
<origin rpy="0 0 -1.57079632679" xyz="-0.0 -0.1003 -0.285"/>
</joint>
<!-- Drive link -->
<link name="RH_KFE">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.07 0 0"/>
<geometry>
<cylinder length="0.14" radius="0.05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
<mass value="2.04"/>
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="RH_KFE" type="revolute">
<parent link="RH_KFE"/>
<child link="RH_SHANK"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="-1 0 0"/>
<limit effort="80.0" lower="-9.42477796077" upper="9.42477796077" velocity="7.5"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="RH_SHANK">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- joint KFE shank -->
<joint name="RH_shank_RH_shank_fixed" type="fixed">
<parent link="RH_SHANK"/>
<child link="RH_shank_fixed"/>
<origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
</joint>
<!-- Shank link -->
<link name="RH_shank_fixed">
<visual>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/shank_l.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<!-- Shank collision -->
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 -0.02 0"/>
<geometry>
<cylinder length="0.04" radius="0.06"/>
</geometry>
</collision>
<collision>
<origin rpy="1.57079632679 0 0" xyz="-0.057499 -0.02 0"/>
<geometry>
<box size="0.114998 0.0675 0.04"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.03463 -0.00688 0.00098"/>
<mass value="0.33742"/>
<inertia ixx="0.00032748005" ixy="2.142561e-05" ixz="-1.33942e-05" iyy="0.00110974122" iyz="-7.601e-08" izz="0.00089388521"/>
</inertial>
</link>
<!-- Leg configurations: xx (knees bent inwards), xo (knees bent backwards) -->
<!-- joint shank foot -->
<joint name="RH_shank_fixed_RH_FOOT" type="fixed">
<parent link="RH_shank_fixed"/>
<child link="RH_FOOT"/>
<origin rpy="0 0 0" xyz="-0.08795 -0.01305 -0.33797"/>
</joint>
<!-- Foot link -->
<link name="RH_FOOT">
<visual>
<origin rpy="0 0 -3.92699081699" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/foot.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<!-- Adapter collision -->
<collision>
<origin rpy="0 0 0" xyz="0 0 0.168985"/>
<geometry>
<cylinder length="0.282504" radius="0.0175"/>
</geometry>
</collision>
<!-- Foot collision -->
<collision>
<origin xyz="0 0 0.0225"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.00948 0.00948 0.1468"/>
<mass value="0.25"/>
<inertia ixx="0.00317174097" ixy="2.63048e-06" ixz="-6.815581e-05" iyy="0.00317174092" iyz="-6.815583e-05" izz="8.319196e-05"/>
</inertial>
</link>
<!-- Fixed joint base hatch -->
<joint name="base_hatch" type="fixed">
<parent link="base"/>
<child link="hatch"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Hatch link -->
<link name="hatch">
<visual>
<origin rpy="0 0 0" xyz="0.116 0 0.073"/>
<geometry>
<mesh filename="package://anymal_c_simple_description/meshes/hatch.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0.116 0.0 0.0758"/>
<mass value="0.142"/>
<inertia ixx="0.001" ixy="0.001" ixz="0.001" iyy="0.001" iyz="0.001" izz="0.001"/>
</inertial>
</link>
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/ANYbotics/anymal_b_simple_description-CHAMP/Readme.md | # ANYmal B Robot Description (URDF)
## Overview
This package contains a simplified robot description (URDF) of the [ANYmal B anymalal robot](https://www.anybotics.com/anymal) developed by [ANYbotics](https://www.anybotics.com).
The extended ANYmal B robot description, simulation, and control software is available exclusively to members of the [ANYmal Research community](https://www.anymal-research.org). For more information and membership applications, contact [email protected].
**Author & Maintainer: Linus Isler, [ANYbotics](https://www.anybotics.com)**
[](doc/anymal_b_rviz.png)
## License
This software is released under a [BSD 3-Clause license](LICENSE).
## Publications
If you use this work in an academic context, please cite the following publications:
> M. Hutter, C. Gehring, A. Lauber, F. Gunther, C. D. Bellicoso, V. Tsounis, P. Fankhauser, R. Diethelm, S. Bachmann, M. Bloesch, H. Kolvenbach, M. Bjelonic, L. Isler and K. Meyer
> **"ANYmal - toward legged robots for harsh environments“**,
> in Advanced Robotics, 31.17, 2017. ([DOI](https://doi.org/10.1080/01691864.2017.1378591))
@article{anymal2017,
title={ANYmal-toward legged robots for harsh environments},
author={Hutter, Marco and Gehring, Christian and Lauber, Andreas and Gunther, Fabian and Bellicoso, Carmine Dario and Tsounis, Vassilios and Fankhauser, P{\'e}ter and Diethelm, Remo and Bachmann, Samuel and Bl{\"o}sch, Michael and Kolvenbach, Hendrik and Bjelonic, Marko and Isler, Linus and Meyer, Konrad},
journal={Advanced Robotics},
volume={31},
number={17},
pages={918--931},
year={2017},
publisher={Taylor \& Francis}
}
> ANYbotics,
> **"ANYmal – Autonomous Legged Robot“**,
> [https://www.anybotics.com/anymal](https://www.anybotics.com/anymal) (accessed: 01.01.2019)
@misc{anymal,
author = {ANYbotics},
title = {{ANYmal - Autonomous Legged Robot}},
howpublished = {\url{https://www.anybotics.com/anymal}},
note = {Accessed: 2019-01-01}
}
## Usage
Load the ANYmal description to the ROS parameter server:
roslaunch anymal_b_simple_description load.launch
To visualize and debug the robot description, start the standalone visualization (note that you have to provide the following additional dependencies: `joint_state_publisher`, `robot_state_publisher`, `rviz`):
roslaunch anymal_b_simple_description standalone.launch
### Launch files
* **`load.launch`:** Loads the URDF to the parameter server. Meant to be included in higher level launch files.
* **`standalone.launch`:** A standalone launch file that starts RViz and a joint state publisher to debug the description.
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/ANYbotics/anymal_b_simple_description-CHAMP/CMakeLists.txt | cmake_minimum_required(VERSION 2.8.3)
project(anymal_b_simple_description)
find_package(catkin REQUIRED
COMPONENTS
)
catkin_package(
CATKIN_DEPENDS
)
install(DIRECTORY launch urdf config
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/ANYbotics/anymal_b_simple_description-CHAMP/package.xml | <?xml version="1.0"?>
<package format="2">
<name>anymal_b_simple_description</name>
<version>0.0.1</version>
<description>ANYmal Description Package</description>
<license>BSD-3</license>
<author email="[email protected]">Linus Isler</author>
<maintainer email="[email protected]">Linus Isler</maintainer>
<buildtool_depend>catkin</buildtool_depend>
</package>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/ANYbotics/anymal_b_simple_description-CHAMP/launch/standalone.launch | <?xml version="1.0" encoding="utf-8"?>
<launch>
<!-- Name of the robot description parameter -->
<arg name="description_name" default="anymal_description"/>
<!-- Set robot description path -->
<arg name="description_file" default="$(find anymal_b_simple_description)/urdf/anymal.urdf"/>
<!-- Joint state topic name -->
<arg name="joint_states_topic" default="/joint_states"/>
<!-- Load robot description -->
<include file="$(find anymal_b_simple_description)/launch/load.launch">
<arg name="description_name" value="$(arg description_name)"/>
<arg name="description_file" value="$(arg description_file)"/>
</include>
<!-- Joint state publisher -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" output="screen">
<param name="use_gui" value="true"/>
<param name="rate" value="100"/>
<remap from="robot_description" to="$(arg description_name)"/>
<remap from="joint_states" to="$(arg joint_states_topic)"/>
</node>
<!-- Robot state publisher -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen">
<param name="publish_frequency" value="100"/>
<param name="use_tf_static" value="true"/>
<remap from="robot_description" to="$(arg description_name)"/>
<remap from="joint_states" to="$(arg joint_states_topic)"/>
</node>
<!-- RViz -->
<node name="rviz" pkg="rviz" type="rviz"
args="-d $(find anymal_b_simple_description)/config/rviz/standalone.rviz"
output="screen"/>
</launch>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/ANYbotics/anymal_b_simple_description-CHAMP/launch/load.launch | <?xml version="1.0" encoding="utf-8"?>
<launch>
<!-- Give the robot description parameter a name -->
<arg name="description_name" default="anymal_description"/>
<!-- Set robot description path -->
<arg name="description_file" default="$(find anymal_b_simple_description)/urdf/anymal.urdf"/>
<!-- Run xacro script to generate ANYmal description -->
<param name="$(arg description_name)" textfile="$(arg description_file)"/>
</launch>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/ANYbotics/anymal_b_simple_description-CHAMP/config/rviz/standalone.rviz | Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded: ~
Splitter Ratio: 0.8294117450714111
Tree Height: 407
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz/Views
Expanded:
- /Current View1
- /Current View1/Focal Point1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Preferences:
PromptSaveOnExit: true
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: false
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: false
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
LF_ADAPTER:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LF_FOOT:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LF_HIP:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LF_SHANK:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LF_THIGH:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LH_ADAPTER:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LH_FOOT:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LH_HIP:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LH_SHANK:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LH_THIGH:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Link Tree Style: Links in Alphabetic Order
RF_ADAPTER:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RF_FOOT:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RF_HIP:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RF_SHANK:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RF_THIGH:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RH_ADAPTER:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RH_FOOT:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RH_HIP:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RH_SHANK:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RH_THIGH:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_inertia:
Alpha: 1
Show Axes: false
Show Trail: false
imu_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: anymal_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: true
LF_ADAPTER:
Value: true
LF_FOOT:
Value: true
LF_HIP:
Value: true
LF_SHANK:
Value: true
LF_THIGH:
Value: true
LH_ADAPTER:
Value: true
LH_FOOT:
Value: true
LH_HIP:
Value: true
LH_SHANK:
Value: true
LH_THIGH:
Value: true
RF_ADAPTER:
Value: true
RF_FOOT:
Value: true
RF_HIP:
Value: true
RF_SHANK:
Value: true
RF_THIGH:
Value: true
RH_ADAPTER:
Value: true
RH_FOOT:
Value: true
RH_HIP:
Value: true
RH_SHANK:
Value: true
RH_THIGH:
Value: true
base:
Value: true
base_inertia:
Value: true
imu_link:
Value: true
Marker Scale: 0.5
Name: TF
Show Arrows: true
Show Axes: true
Show Names: false
Tree:
base:
LF_HIP:
LF_THIGH:
LF_SHANK:
LF_ADAPTER:
LF_FOOT:
{}
LH_HIP:
LH_THIGH:
LH_SHANK:
LH_ADAPTER:
LH_FOOT:
{}
RF_HIP:
RF_THIGH:
RF_SHANK:
RF_ADAPTER:
RF_FOOT:
{}
RH_HIP:
RH_THIGH:
RH_SHANK:
RH_ADAPTER:
RH_FOOT:
{}
base_inertia:
{}
imu_link:
{}
Update Interval: 0
Value: true
Enabled: true
Global Options:
Background Color: 255; 255; 255
Default Light: true
Fixed Frame: base
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 2
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
Z: 0
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.707099974155426
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 597
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000015600000222fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed0000033e00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000001600000222000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000222fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000001600000222000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000055f0000003efc0100000002fb0000000800540069006d006500000000000000055f000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000024a0000022200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 934
X: 67
Y: 857
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/ANYbotics/anymal_b_simple_description-CHAMP/urdf/anymal.urdf | <?xml version="1.0" encoding="UTF-8"?>
<!-- =================================================================================== -->
<!-- Copyright 2019 ANYbotics, https://www.anybotics.com -->
<!-- =================================================================================== -->
<!-- This file contains the description of the ANYmal B robot. -->
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="anymal">
<!-- Material for the visual primitives -->
<material name="anymal_material">
<color rgba="0.7 0.7 0.7 1.0" />
</material>
<!-- Base link -->
<link name="base">
<visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_base.dae" scale="0.001 0.001 0.001" />
</geometry>
<material name="anymal_material" />
</visual>
<collision>
<!-- Main Body -->
<origin rpy="0 0 0" xyz="0 0 0.08" />
<geometry>
<box size="0.531 0.27 0.24" />
</geometry>
</collision>
<collision>
<!-- HAA actuators -->
<origin rpy="0 1.57079632679 0" xyz="0.227 0.116 0" />
<geometry>
<cylinder length="0.1" radius="0.05" />
</geometry>
</collision>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0.227 -0.116 0" />
<geometry>
<cylinder length="0.1" radius="0.05" />
</geometry>
</collision>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.227 0.116 0" />
<geometry>
<cylinder length="0.1" radius="0.05" />
</geometry>
</collision>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.227 -0.116 0" />
<geometry>
<cylinder length="0.1" radius="0.05" />
</geometry>
</collision>
<collision>
<!-- Belly plate front bump -->
<origin rpy="0 0 0" xyz="0.2155 0.0 -0.09" />
<geometry>
<box size="0.1 0.1 0.07" />
</geometry>
</collision>
<collision>
<!-- Belly plate hind bump-->
<origin rpy="0 0 0" xyz="-0.2155 0.0 -0.09" />
<geometry>
<box size="0.1 0.1 0.07" />
</geometry>
</collision>
<collision>
<!-- Belly plate middle bump-->
<origin rpy="0 0 0" xyz="0 0 -0.09" />
<geometry>
<box size="0.531 0.02 0.07" />
</geometry>
</collision>
</link>
<!-- Fixed joint to add dummy inertia link -->
<joint name="base_to_base_inertia" type="fixed">
<parent link="base" />
<child link="base_inertia" />
<origin rpy="0 0 0" xyz="0 0 0" />
</joint>
<!-- Dummy inertia link, because KDL cannot have inertia on the base link -->
<link name="base_inertia">
<inertial>
<origin rpy="0 0 0" xyz="-0.001960558279 -0.001413217745 0.050207125344" />
<mass value="16.793507758" />
<inertia ixx="0.217391101503" ixy="-0.00132873239126" ixz="-0.00228200226173" iyy="0.639432546734" iyz="-0.00138078263145" izz="0.62414077654" />
</inertial>
</link>
<link name="LF_HIP">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0" />
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_hip_l.dae" scale="0.001 0.001 0.001" />
</geometry>
<material name="anymal_material" />
</visual>
<collision>
<!-- Protector -->
<origin rpy="1.57079632679 0 0" xyz="0.0635 -0.009 0.0" />
<geometry>
<cylinder length="0.1" radius="0.08" />
</geometry>
</collision>
<collision>
<!-- Heatfins -->
<origin rpy="1.57079632679 0 0" xyz="0.0635 -0.074 0.0" />
<geometry>
<cylinder length="0.03" radius="0.045" />
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.064516258147 -0.003787101702 -0.000152184388" />
<mass value="1.42462064" />
<inertia ixx="0.00243023349564" ixy="-1.53023971e-05" ixz="-2.1819095354e-05" iyy="0.00230257239103" iyz="2.6473021273e-05" izz="0.0019806759227" />
</inertial>
</link>
<!-- Hip joint -->
<joint name="LF_HAA" type="revolute">
<parent link="base" />
<child link="LF_HIP" />
<origin xyz="0.277 0.116 0.0" />
<axis xyz="1 0 0" />
<limit command_effort="40" current="10" effort="80" gear_velocity="10" lower="-9.42" upper="9.42" velocity="15" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="LF_THIGH">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0" />
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_thigh_l.dae" scale="0.001 0.001 0.001" />
</geometry>
<material name="anymal_material" />
</visual>
<collision>
<!-- thigh with heat fins -->
<origin rpy="0.145 0 0" xyz="0 0.035 -0.125" />
<geometry>
<box size="0.08 0.04 0.25" />
</geometry>
</collision>
<collision>
<!-- KFE actuator -->
<origin rpy="1.57079632679 0 0" xyz="0.0 0.069 -0.25" />
<geometry>
<cylinder length="0.12" radius="0.06" />
</geometry>
</collision>
<collision>
<!-- upper protector -->
<origin rpy="1.71579632679 0 0" xyz="0 -0.005 0" />
<geometry>
<cylinder length="0.12" radius="0.066" />
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.003897968082 0.054226618537 -0.214583373795" />
<mass value="1.634976467" />
<inertia ixx="0.0120367944369" ixy="6.762065206e-05" ixz="0.000287806340448" iyy="0.0120643637939" iyz="-0.00140610131218" izz="0.00249422574881" />
</inertial>
</link>
<!-- Thigh joint -->
<joint name="LF_HFE" type="revolute">
<parent link="LF_HIP" />
<child link="LF_THIGH" />
<origin xyz="0.0635 0.041 0.0" />
<axis xyz="0 1 0" />
<limit command_effort="40" current="10" effort="80" gear_velocity="10" lower="-9.42" upper="9.42" velocity="15.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="LF_SHANK">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0" />
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_shank_l.dae" scale="0.001 0.001 0.001" />
</geometry>
<material name="anymal_material" />
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0.065 -0.015 0.01" />
<geometry>
<box size="0.08 0.07 0.13" />
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.030816858139 -0.004617229294 0.000893125713" />
<mass value="0.207204302" />
<inertia ixx="0.0002104880248" ixy="-5.6750980345e-05" ixz="1.0127699391e-05" iyy="0.000676270210023" iyz="-8.22869024e-07" izz="0.000545032674924" />
</inertial>
</link>
<!-- Shank joint -->
<joint name="LF_KFE" type="revolute">
<parent link="LF_THIGH" />
<child link="LF_SHANK" />
<origin xyz="0.0 0.109 -0.25" />
<axis xyz="0 1 0" />
<limit command_effort="40" current="10" effort="80" gear_velocity="10" lower="-9.42" upper="9.42" velocity="15.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<!-- Shank to Adapter joint -->
<joint name="LF_SHANK_TO_ADAPTER" type="fixed">
<parent link="LF_SHANK" />
<child link="LF_ADAPTER" />
<origin rpy="0.0 0.0 0.0" xyz="0.1 -0.02 0.0" />
</joint>
<!-- Adapter link -->
<link name="LF_ADAPTER">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0.032" />
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_foot.dae" scale="0.001 0.001 0.001" />
</geometry>
<material name="anymal_material" />
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.160625" />
<geometry>
<cylinder length="0.32125" radius="0.015" />
</geometry>
<material name="anymal_material" />
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-8.66e-10 -1.472e-09 -0.244345749188" />
<mass value="0.140170767" />
<inertia ixx="0.00159938741862" ixy="-9.32e-13" ixz="1.039e-11" iyy="0.00159938741932" iyz="1.7563e-11" izz="5.4423177329e-05" />
</inertial>
</link>
<!-- Adapter to Foot joint -->
<joint name="LF_ADAPTER_TO_FOOT" type="fixed">
<parent link="LF_ADAPTER" />
<child link="LF_FOOT" />
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.32125" />
</joint>
<!-- Foot link -->
<link name="LF_FOOT">
<collision>
<origin xyz="0 0 0.02325" />
<geometry>
<sphere radius="0.031" />
</geometry>
</collision>
</link>
<!-- Gazebo customization -->
<gazebo reference="LF_FOOT">
<kp>1000000.0</kp>
<kd>100.0</kd>
<mu1>0.8</mu1>
<mu2>0.8</mu2>
</gazebo>
<link name="RF_HIP">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0" />
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_hip_r.dae" scale="0.001 0.001 0.001" />
</geometry>
<material name="anymal_material" />
</visual>
<collision>
<!-- Protector -->
<origin rpy="1.57079632679 0 0" xyz="0.0635 0.009 0.0" />
<geometry>
<cylinder length="0.1" radius="0.08" />
</geometry>
</collision>
<collision>
<!-- Heatfins -->
<origin rpy="1.57079632679 0 0" xyz="0.0635 0.074 0.0" />
<geometry>
<cylinder length="0.03" radius="0.045" />
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.064516258147 0.003787101702 -0.000152184388" />
<mass value="1.42462064" />
<inertia ixx="0.00243023349564" ixy="1.53023971e-05" ixz="-2.1819095354e-05" iyy="0.00230257239103" iyz="-2.6473021273e-05" izz="0.0019806759227" />
</inertial>
</link>
<!-- Hip joint -->
<joint name="RF_HAA" type="revolute">
<parent link="base" />
<child link="RF_HIP" />
<origin xyz="0.277 -0.116 0.0" />
<axis xyz="1 0 0" />
<limit command_effort="40" current="10" effort="80" gear_velocity="10" lower="-9.42" upper="9.42" velocity="15" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RF_THIGH">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0" />
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_thigh_r.dae" scale="0.001 0.001 0.001" />
</geometry>
<material name="anymal_material" />
</visual>
<collision>
<!-- thigh with heat fins -->
<origin rpy="-0.145 0 0" xyz="0 -0.035 -0.125" />
<geometry>
<box size="0.08 0.04 0.25" />
</geometry>
</collision>
<collision>
<!-- KFE actuator -->
<origin rpy="1.57079632679 0 0" xyz="0.0 -0.069 -0.25" />
<geometry>
<cylinder length="0.12" radius="0.06" />
</geometry>
</collision>
<collision>
<!-- upper protector -->
<origin rpy="-1.71579632679 0 0" xyz="0 0.005 0" />
<geometry>
<cylinder length="0.12" radius="0.066" />
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.003897968082 -0.054226618537 -0.214583373795" />
<mass value="1.634976467" />
<inertia ixx="0.0120367944369" ixy="-6.762065206e-05" ixz="0.000287806340448" iyy="0.0120643637939" iyz="0.00140610131218" izz="0.00249422574881" />
</inertial>
</link>
<!-- Thigh joint -->
<joint name="RF_HFE" type="revolute">
<parent link="RF_HIP" />
<child link="RF_THIGH" />
<origin xyz="0.0635 -0.041 0.0" />
<axis xyz="0 1 0" />
<limit command_effort="40" current="10" effort="80" gear_velocity="10" lower="-9.42" upper="9.42" velocity="15.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RF_SHANK">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0" />
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_shank_r.dae" scale="0.001 0.001 0.001" />
</geometry>
<material name="anymal_material" />
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0.065 0.015 0.01" />
<geometry>
<box size="0.08 0.07 0.13" />
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.030816858139 0.004617229294 0.000893125713" />
<mass value="0.207204302" />
<inertia ixx="0.0002104880248" ixy="5.6750980345e-05" ixz="1.0127699391e-05" iyy="0.000676270210023" iyz="8.22869024e-07" izz="0.000545032674924" />
</inertial>
</link>
<!-- Shank joint -->
<joint name="RF_KFE" type="revolute">
<parent link="RF_THIGH" />
<child link="RF_SHANK" />
<origin xyz="0.0 -0.109 -0.25" />
<axis xyz="0 1 0" />
<limit command_effort="40" current="10" effort="80" gear_velocity="10" lower="-9.42" upper="9.42" velocity="15.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<!-- Shank to Adapter joint -->
<joint name="RF_SHANK_TO_ADAPTER" type="fixed">
<parent link="RF_SHANK" />
<child link="RF_ADAPTER" />
<origin rpy="-0.0 0.0 -0.0" xyz="0.1 0.02 0.0" />
</joint>
<!-- Adapter link -->
<link name="RF_ADAPTER">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0.032" />
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_foot.dae" scale="0.001 0.001 0.001" />
</geometry>
<material name="anymal_material" />
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.160625" />
<geometry>
<cylinder length="0.32125" radius="0.015" />
</geometry>
<material name="anymal_material" />
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-8.66e-10 -1.472e-09 -0.244345749188" />
<mass value="0.140170767" />
<inertia ixx="0.00159938741862" ixy="-9.32e-13" ixz="1.039e-11" iyy="0.00159938741932" iyz="1.7563e-11" izz="5.4423177329e-05" />
</inertial>
</link>
<!-- Adapter to Foot joint -->
<joint name="RF_ADAPTER_TO_FOOT" type="fixed">
<parent link="RF_ADAPTER" />
<child link="RF_FOOT" />
<origin rpy="-0.0 0.0 -0.0" xyz="0.0 -0.0 -0.32125" />
</joint>
<!-- Foot link -->
<link name="RF_FOOT">
<collision>
<origin xyz="0 0 0.02325" />
<geometry>
<sphere radius="0.031" />
</geometry>
</collision>
</link>
<!-- Gazebo customization -->
<gazebo reference="RF_FOOT">
<kp>1000000.0</kp>
<kd>100.0</kd>
<mu1>0.8</mu1>
<mu2>0.8</mu2>
</gazebo>
<link name="LH_HIP">
<visual>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0" />
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_hip_r.dae" scale="0.001 0.001 0.001" />
</geometry>
<material name="anymal_material" />
</visual>
<collision>
<!-- Protector -->
<origin rpy="-1.57079632679 0 0" xyz="-0.0635 -0.009 0.0" />
<geometry>
<cylinder length="0.1" radius="0.08" />
</geometry>
</collision>
<collision>
<!-- Heatfins -->
<origin rpy="-1.57079632679 0 0" xyz="-0.0635 -0.074 0.0" />
<geometry>
<cylinder length="0.03" radius="0.045" />
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.064516258147 -0.003787101702 -0.000152184388" />
<mass value="1.42462064" />
<inertia ixx="0.00243023349564" ixy="1.53023971e-05" ixz="2.1819095354e-05" iyy="0.00230257239103" iyz="2.6473021273e-05" izz="0.0019806759227" />
</inertial>
</link>
<!-- Hip joint -->
<joint name="LH_HAA" type="revolute">
<parent link="base" />
<child link="LH_HIP" />
<origin xyz="-0.277 0.116 0.0" />
<axis xyz="1 0 0" />
<limit command_effort="40" current="10" effort="80" gear_velocity="10" lower="-9.42" upper="9.42" velocity="15" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="LH_THIGH">
<visual>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0" />
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_thigh_r.dae" scale="0.001 0.001 0.001" />
</geometry>
<material name="anymal_material" />
</visual>
<collision>
<!-- thigh with heat fins -->
<origin rpy="0.145 0 0" xyz="0 0.035 -0.125" />
<geometry>
<box size="0.08 0.04 0.25" />
</geometry>
</collision>
<collision>
<!-- KFE actuator -->
<origin rpy="1.57079632679 0 0" xyz="0.0 0.069 -0.25" />
<geometry>
<cylinder length="0.12" radius="0.06" />
</geometry>
</collision>
<collision>
<!-- upper protector -->
<origin rpy="1.71579632679 0 0" xyz="0 -0.005 0" />
<geometry>
<cylinder length="0.12" radius="0.066" />
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.003897968082 0.054226618537 -0.214583373795" />
<mass value="1.634976467" />
<inertia ixx="0.0120367944369" ixy="-6.762065206e-05" ixz="-0.000287806340448" iyy="0.0120643637939" iyz="-0.00140610131218" izz="0.00249422574881" />
</inertial>
</link>
<!-- Thigh joint -->
<joint name="LH_HFE" type="revolute">
<parent link="LH_HIP" />
<child link="LH_THIGH" />
<origin xyz="-0.0635 0.041 0.0" />
<axis xyz="0 1 0" />
<limit command_effort="40" current="10" effort="80" gear_velocity="10" lower="-9.42" upper="9.42" velocity="15.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="LH_SHANK">
<visual>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0" />
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_shank_r.dae" scale="0.001 0.001 0.001" />
</geometry>
<material name="anymal_material" />
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.065 -0.015 0.01" />
<geometry>
<box size="0.08 0.07 0.13" />
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.030816858139 -0.004617229294 0.000893125713" />
<mass value="0.207204302" />
<inertia ixx="0.0002104880248" ixy="5.6750980345e-05" ixz="-1.0127699391e-05" iyy="0.000676270210023" iyz="-8.22869024e-07" izz="0.000545032674924" />
</inertial>
</link>
<!-- Shank joint -->
<joint name="LH_KFE" type="revolute">
<parent link="LH_THIGH" />
<child link="LH_SHANK" />
<origin xyz="-0.0 0.109 -0.25" />
<axis xyz="0 1 0" />
<limit command_effort="40" current="10" effort="80" gear_velocity="10" lower="-9.42" upper="9.42" velocity="15.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<!-- Shank to Adapter joint -->
<joint name="LH_SHANK_TO_ADAPTER" type="fixed">
<parent link="LH_SHANK" />
<child link="LH_ADAPTER" />
<origin rpy="0.0 -0.0 -0.0" xyz="-0.1 -0.02 0.0" />
</joint>
<!-- Adapter link -->
<link name="LH_ADAPTER">
<visual>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0.032" />
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_foot.dae" scale="0.001 0.001 0.001" />
</geometry>
<material name="anymal_material" />
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.160625" />
<geometry>
<cylinder length="0.32125" radius="0.015" />
</geometry>
<material name="anymal_material" />
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-8.66e-10 -1.472e-09 -0.244345749188" />
<mass value="0.140170767" />
<inertia ixx="0.00159938741862" ixy="-9.32e-13" ixz="1.039e-11" iyy="0.00159938741932" iyz="1.7563e-11" izz="5.4423177329e-05" />
</inertial>
</link>
<!-- Adapter to Foot joint -->
<joint name="LH_ADAPTER_TO_FOOT" type="fixed">
<parent link="LH_ADAPTER" />
<child link="LH_FOOT" />
<origin rpy="0.0 -0.0 -0.0" xyz="-0.0 0.0 -0.32125" />
</joint>
<!-- Foot link -->
<link name="LH_FOOT">
<collision>
<origin xyz="0 0 0.02325" />
<geometry>
<sphere radius="0.031" />
</geometry>
</collision>
</link>
<!-- Gazebo customization -->
<gazebo reference="LH_FOOT">
<kp>1000000.0</kp>
<kd>100.0</kd>
<mu1>0.8</mu1>
<mu2>0.8</mu2>
</gazebo>
<link name="RH_HIP">
<visual>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0" />
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_hip_l.dae" scale="0.001 0.001 0.001" />
</geometry>
<material name="anymal_material" />
</visual>
<collision>
<!-- Protector -->
<origin rpy="-1.57079632679 0 0" xyz="-0.0635 0.009 0.0" />
<geometry>
<cylinder length="0.1" radius="0.08" />
</geometry>
</collision>
<collision>
<!-- Heatfins -->
<origin rpy="-1.57079632679 0 0" xyz="-0.0635 0.074 0.0" />
<geometry>
<cylinder length="0.03" radius="0.045" />
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.064516258147 0.003787101702 -0.000152184388" />
<mass value="1.42462064" />
<inertia ixx="0.00243023349564" ixy="-1.53023971e-05" ixz="2.1819095354e-05" iyy="0.00230257239103" iyz="-2.6473021273e-05" izz="0.0019806759227" />
</inertial>
</link>
<!-- Hip joint -->
<joint name="RH_HAA" type="revolute">
<parent link="base" />
<child link="RH_HIP" />
<origin xyz="-0.277 -0.116 0.0" />
<axis xyz="1 0 0" />
<limit command_effort="40" current="10" effort="80" gear_velocity="10" lower="-9.42" upper="9.42" velocity="15" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RH_THIGH">
<visual>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0" />
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_thigh_l.dae" scale="0.001 0.001 0.001" />
</geometry>
<material name="anymal_material" />
</visual>
<collision>
<!-- thigh with heat fins -->
<origin rpy="-0.145 0 0" xyz="0 -0.035 -0.125" />
<geometry>
<box size="0.08 0.04 0.25" />
</geometry>
</collision>
<collision>
<!-- KFE actuator -->
<origin rpy="1.57079632679 0 0" xyz="0.0 -0.069 -0.25" />
<geometry>
<cylinder length="0.12" radius="0.06" />
</geometry>
</collision>
<collision>
<!-- upper protector -->
<origin rpy="-1.71579632679 0 0" xyz="0 0.005 0" />
<geometry>
<cylinder length="0.12" radius="0.066" />
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.003897968082 -0.054226618537 -0.214583373795" />
<mass value="1.634976467" />
<inertia ixx="0.0120367944369" ixy="6.762065206e-05" ixz="-0.000287806340448" iyy="0.0120643637939" iyz="0.00140610131218" izz="0.00249422574881" />
</inertial>
</link>
<!-- Thigh joint -->
<joint name="RH_HFE" type="revolute">
<parent link="RH_HIP" />
<child link="RH_THIGH" />
<origin xyz="-0.0635 -0.041 0.0" />
<axis xyz="0 1 0" />
<limit command_effort="40" current="10" effort="80" gear_velocity="10" lower="-9.42" upper="9.42" velocity="15.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RH_SHANK">
<visual>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0" />
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_shank_l.dae" scale="0.001 0.001 0.001" />
</geometry>
<material name="anymal_material" />
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.065 0.015 0.01" />
<geometry>
<box size="0.08 0.07 0.13" />
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.030816858139 0.004617229294 0.000893125713" />
<mass value="0.207204302" />
<inertia ixx="0.0002104880248" ixy="-5.6750980345e-05" ixz="-1.0127699391e-05" iyy="0.000676270210023" iyz="8.22869024e-07" izz="0.000545032674924" />
</inertial>
</link>
<!-- Shank joint -->
<joint name="RH_KFE" type="revolute">
<parent link="RH_THIGH" />
<child link="RH_SHANK" />
<origin xyz="-0.0 -0.109 -0.25" />
<axis xyz="0 1 0" />
<limit command_effort="40" current="10" effort="80" gear_velocity="10" lower="-9.42" upper="9.42" velocity="15.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<!-- Shank to Adapter joint -->
<joint name="RH_SHANK_TO_ADAPTER" type="fixed">
<parent link="RH_SHANK" />
<child link="RH_ADAPTER" />
<origin rpy="-0.0 -0.0 0.0" xyz="-0.1 0.02 0.0" />
</joint>
<!-- Adapter link -->
<link name="RH_ADAPTER">
<visual>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0.032" />
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_foot.dae" scale="0.001 0.001 0.001" />
</geometry>
<material name="anymal_material" />
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.160625" />
<geometry>
<cylinder length="0.32125" radius="0.015" />
</geometry>
<material name="anymal_material" />
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-8.66e-10 -1.472e-09 -0.244345749188" />
<mass value="0.140170767" />
<inertia ixx="0.00159938741862" ixy="-9.32e-13" ixz="1.039e-11" iyy="0.00159938741932" iyz="1.7563e-11" izz="5.4423177329e-05" />
</inertial>
</link>
<!-- Adapter to Foot joint -->
<joint name="RH_ADAPTER_TO_FOOT" type="fixed">
<parent link="RH_ADAPTER" />
<child link="RH_FOOT" />
<origin rpy="-0.0 -0.0 0.0" xyz="-0.0 -0.0 -0.32125" />
</joint>
<!-- Foot link -->
<link name="RH_FOOT">
<collision>
<origin xyz="0 0 0.02325" />
<geometry>
<sphere radius="0.031" />
</geometry>
</collision>
</link>
<!-- Gazebo customization -->
<gazebo reference="RH_FOOT">
<kp>1000000.0</kp>
<kd>100.0</kd>
<mu1>0.8</mu1>
<mu2>0.8</mu2>
</gazebo>
<transmission name="LF_HAA_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="LF_HAA">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="LF_HAA_actuator">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="LF_HFE_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="LF_HFE">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="LF_HFE_actuator">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="LF_KFE_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="LF_KFE">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="LF_KFE_actuator">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RF_HAA_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RF_HAA">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RF_HAA_actuator">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RF_HFE_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RF_HFE">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RF_HFE_actuator">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RF_KFE_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RF_KFE">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RF_KFE_actuator">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="LH_HAA_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="LH_HAA">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="LH_HAA_actuator">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="LH_HFE_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="LH_HFE">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="LH_HFE_actuator">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="LH_KFE_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="LH_KFE">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="LH_KFE_actuator">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RH_HAA_trans">
<type>transmission_inteRHace/SimpleTransmission</type>
<joint name="RH_HAA">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RH_HAA_actuator">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RH_HFE_trans">
<type>transmission_inteRHace/SimpleTransmission</type>
<joint name="RH_HFE">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RH_HFE_actuator">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RH_KFE_trans">
<type>transmission_inteRHace/SimpleTransmission</type>
<joint name="RH_KFE">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RH_KFE_actuator">
<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> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/ANYbotics/anymal_b_simple_description/CMakeLists.txt | cmake_minimum_required(VERSION 3.5.1)
project(anymal_b_simple_description)
find_package(catkin)
catkin_package()
install(DIRECTORY config launch meshes urdf
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
if(CATKIN_ENABLE_TESTING)
find_package(catkin REQUIRED
COMPONENTS
roslaunch
)
roslaunch_add_file_check(launch/load.launch)
endif()
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/ANYbotics/anymal_b_simple_description/package.xml | <?xml version="1.0"?>
<package format="2">
<name>anymal_b_simple_description</name>
<version>1.0.0</version>
<description>ANYmal Description Package</description>
<license>BSD-3</license>
<author email="[email protected]">Linus Isler</author>
<maintainer email="[email protected]">Linus Isler</maintainer>
<maintainer email="[email protected]">Remo Diethelm</maintainer>
<buildtool_depend>catkin</buildtool_depend>
<test_depend>roslaunch</test_depend>
</package>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/ANYbotics/anymal_b_simple_description/README.md | # ANYmal B Robot Description (URDF)
## Overview
This package contains a simplified robot description (URDF) of the [ANYmal B robot](https://www.anybotics.com/anymal) developed by [ANYbotics](https://www.anybotics.com).
The extended ANYmal B robot description, simulation, and control software is available exclusively to members of the [ANYmal Research community](https://www.anymal-research.org). For more information and membership applications, contact [email protected].
**Author & Maintainer: Linus Isler, [ANYbotics](https://www.anybotics.com)**
[](doc/anymal_b_rviz.png)
## License
This software is released under a [BSD 3-Clause license](LICENSE).
## Publications
If you use this work in an academic context, please cite the following publications:
> M. Hutter, C. Gehring, A. Lauber, F. Gunther, C. D. Bellicoso, V. Tsounis, P. Fankhauser, R. Diethelm, S. Bachmann, M. Bloesch, H. Kolvenbach, M. Bjelonic, L. Isler and K. Meyer
> **"ANYmal - toward legged robots for harsh environments“**,
> in Advanced Robotics, 31.17, 2017. ([DOI](https://doi.org/10.1080/01691864.2017.1378591))
@article{anymal2017,
title={ANYmal-toward legged robots for harsh environments},
author={Hutter, Marco and Gehring, Christian and Lauber, Andreas and Gunther, Fabian and Bellicoso, Carmine Dario and Tsounis, Vassilios and Fankhauser, P{\'e}ter and Diethelm, Remo and Bachmann, Samuel and Bl{\"o}sch, Michael and Kolvenbach, Hendrik and Bjelonic, Marko and Isler, Linus and Meyer, Konrad},
journal={Advanced Robotics},
volume={31},
number={17},
pages={918--931},
year={2017},
publisher={Taylor \& Francis}
}
> ANYbotics,
> **"ANYmal – Autonomous Legged Robot“**,
> [https://www.anybotics.com/anymal](https://www.anybotics.com/anymal) (accessed: 01.01.2019)
@misc{anymal,
author = {ANYbotics},
title = {{ANYmal - Autonomous Legged Robot}},
howpublished = {\url{https://www.anybotics.com/anymal}},
note = {Accessed: 2019-01-01}
}
## Usage
Load the ANYmal description to the ROS parameter server:
roslaunch anymal_b_simple_description load.launch
To visualize and debug the robot description, start the standalone visualization (note that you have to provide the following additional dependencies: `joint_state_publisher`, `robot_state_publisher`, `rviz`):
roslaunch anymal_b_simple_description standalone.launch
### Launch files
* **`load.launch`:** Loads the URDF to the parameter server. Meant to be included in higher level launch files.
* **`standalone.launch`:** A standalone launch file that starts RViz and a joint state publisher to debug the description.
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/ANYbotics/anymal_b_simple_description/launch/standalone.launch | <?xml version="1.0" encoding="utf-8"?>
<launch>
<!-- Name of the robot description parameter -->
<arg name="description_name" default="anymal_description"/>
<!-- Set robot description path -->
<arg name="description_file" default="$(find anymal_b_simple_description)/urdf/anymal.urdf"/>
<!-- Joint state topic name -->
<arg name="joint_states_topic" default="/joint_states"/>
<!-- Load robot description -->
<include file="$(find anymal_b_simple_description)/launch/load.launch">
<arg name="description_name" value="$(arg description_name)"/>
<arg name="description_file" value="$(arg description_file)"/>
</include>
<!-- Joint state publisher -->
<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" output="screen">
<param name="use_gui" value="true"/>
<param name="rate" value="100"/>
<remap from="robot_description" to="$(arg description_name)"/>
<remap from="joint_states" to="$(arg joint_states_topic)"/>
</node>
<!-- Robot state publisher -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen">
<param name="publish_frequency" value="100"/>
<param name="use_tf_static" value="true"/>
<remap from="robot_description" to="$(arg description_name)"/>
<remap from="joint_states" to="$(arg joint_states_topic)"/>
</node>
<!-- RViz -->
<node name="rviz" pkg="rviz" type="rviz"
args="-d $(find anymal_b_simple_description)/config/rviz/standalone.rviz"
output="screen"/>
</launch>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/ANYbotics/anymal_b_simple_description/launch/load.launch | <?xml version="1.0" encoding="utf-8"?>
<launch>
<!-- Give the robot description parameter a name -->
<arg name="description_name" default="anymal_description"/>
<!-- Set robot description path -->
<arg name="description_file" default="$(find anymal_b_simple_description)/urdf/anymal.urdf"/>
<!-- Run xacro script to generate ANYmal description -->
<param name="$(arg description_name)" textfile="$(arg description_file)"/>
</launch>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/ANYbotics/anymal_b_simple_description/config/rviz/standalone.rviz | Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded: ~
Splitter Ratio: 0.8294117450714111
Tree Height: 407
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz/Views
Expanded:
- /Current View1
- /Current View1/Focal Point1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Preferences:
PromptSaveOnExit: true
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: false
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: false
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
LF_ADAPTER:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LF_FOOT:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LF_HIP:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LF_SHANK:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LF_THIGH:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LH_ADAPTER:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LH_FOOT:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LH_HIP:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LH_SHANK:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LH_THIGH:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Link Tree Style: Links in Alphabetic Order
RF_ADAPTER:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RF_FOOT:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RF_HIP:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RF_SHANK:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RF_THIGH:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RH_ADAPTER:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RH_FOOT:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RH_HIP:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RH_SHANK:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RH_THIGH:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_inertia:
Alpha: 1
Show Axes: false
Show Trail: false
imu_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: anymal_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: true
LF_ADAPTER:
Value: true
LF_FOOT:
Value: true
LF_HIP:
Value: true
LF_SHANK:
Value: true
LF_THIGH:
Value: true
LH_ADAPTER:
Value: true
LH_FOOT:
Value: true
LH_HIP:
Value: true
LH_SHANK:
Value: true
LH_THIGH:
Value: true
RF_ADAPTER:
Value: true
RF_FOOT:
Value: true
RF_HIP:
Value: true
RF_SHANK:
Value: true
RF_THIGH:
Value: true
RH_ADAPTER:
Value: true
RH_FOOT:
Value: true
RH_HIP:
Value: true
RH_SHANK:
Value: true
RH_THIGH:
Value: true
base:
Value: true
base_inertia:
Value: true
imu_link:
Value: true
Marker Scale: 0.5
Name: TF
Show Arrows: true
Show Axes: true
Show Names: false
Tree:
base:
LF_HIP:
LF_THIGH:
LF_SHANK:
LF_ADAPTER:
LF_FOOT:
{}
LH_HIP:
LH_THIGH:
LH_SHANK:
LH_ADAPTER:
LH_FOOT:
{}
RF_HIP:
RF_THIGH:
RF_SHANK:
RF_ADAPTER:
RF_FOOT:
{}
RH_HIP:
RH_THIGH:
RH_SHANK:
RH_ADAPTER:
RH_FOOT:
{}
base_inertia:
{}
imu_link:
{}
Update Interval: 0
Value: true
Enabled: true
Global Options:
Background Color: 255; 255; 255
Default Light: true
Fixed Frame: base
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 2
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
Z: 0
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.707099974155426
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 597
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000015600000222fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed0000033e00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000001600000222000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000222fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000001600000222000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000055f0000003efc0100000002fb0000000800540069006d006500000000000000055f000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000024a0000022200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 934
X: 67
Y: 857
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/ANYbotics/anymal_b_simple_description/urdf/anymal.urdf | <?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- Copyright 2019 ANYbotics, https://www.anybotics.com -->
<!-- =================================================================================== -->
<!-- This file contains the description of the ANYmal B robot. -->
<robot name="anymal"
xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- Material for the visual primitives -->
<material name="anymal_material">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
<!-- Base link -->
<link name="base">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_base.dae" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<!-- Main Body -->
<origin rpy="0 0 0" xyz="0 0 0.08"/>
<geometry>
<box size="0.531 0.27 0.24"/>
</geometry>
</collision>
<collision>
<!-- HAA actuators -->
<origin rpy="0 1.57079632679 0" xyz="0.227 0.116 0"/>
<geometry>
<cylinder length="0.1" radius="0.05"/>
</geometry>
</collision>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0.227 -0.116 0"/>
<geometry>
<cylinder length="0.1" radius="0.05"/>
</geometry>
</collision>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.227 0.116 0"/>
<geometry>
<cylinder length="0.1" radius="0.05"/>
</geometry>
</collision>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.227 -0.116 0"/>
<geometry>
<cylinder length="0.1" radius="0.05"/>
</geometry>
</collision>
<collision>
<!-- Belly plate front bump -->
<origin rpy="0 0 0" xyz="0.2155 0.0 -0.09"/>
<geometry>
<box size="0.1 0.1 0.07"/>
</geometry>
</collision>
<collision>
<!-- Belly plate hind bump-->
<origin rpy="0 0 0" xyz="-0.2155 0.0 -0.09"/>
<geometry>
<box size="0.1 0.1 0.07"/>
</geometry>
</collision>
<collision>
<!-- Belly plate middle bump-->
<origin rpy="0 0 0" xyz="0 0 -0.09"/>
<geometry>
<box size="0.531 0.02 0.07"/>
</geometry>
</collision>
</link>
<!-- Fixed joint to add dummy inertia link -->
<joint name="base_to_base_inertia" type="fixed">
<parent link="base"/>
<child link="base_inertia"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<!-- Dummy inertia link, because KDL cannot have inertia on the base link -->
<link name="base_inertia">
<inertial>
<origin rpy="0 0 0" xyz="-0.001960558279 -0.001413217745 0.050207125344"/>
<mass value="16.793507758"/>
<inertia ixx="0.217391101503" ixy="-0.00132873239126" ixz="-0.00228200226173" iyy="0.639432546734" iyz="-0.00138078263145" izz="0.62414077654"/>
</inertial>
</link>
<link name="LF_HIP">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_hip_l.dae" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<!-- Protector -->
<origin rpy="1.57079632679 0 0" xyz="0.0635 -0.009 0.0"/>
<geometry>
<cylinder length="0.1" radius="0.08"/>
</geometry>
</collision>
<collision>
<!-- Heatfins -->
<origin rpy="1.57079632679 0 0" xyz="0.0635 -0.074 0.0"/>
<geometry>
<cylinder length="0.03" radius="0.045"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.064516258147 -0.003787101702 -0.000152184388"/>
<mass value="1.42462064"/>
<inertia ixx="0.00243023349564" ixy="-1.53023971e-05" ixz="-2.1819095354e-05" iyy="0.00230257239103" iyz="2.6473021273e-05" izz="0.0019806759227"/>
</inertial>
</link>
<!-- Hip joint -->
<joint name="LF_HAA" type="revolute">
<parent link="base"/>
<child link="LF_HIP"/>
<origin xyz="0.277 0.116 0.0"/>
<axis xyz="1 0 0"/>
<limit command_effort="40" current="10" effort="80" gear_velocity="10" lower="-9.42" upper="9.42" velocity="15"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="LF_THIGH">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_thigh_l.dae" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<!-- thigh with heat fins -->
<origin rpy="0.145 0 0" xyz="0 0.035 -0.125"/>
<geometry>
<box size="0.08 0.04 0.25"/>
</geometry>
</collision>
<collision>
<!-- KFE actuator -->
<origin rpy="1.57079632679 0 0" xyz="0.0 0.069 -0.25"/>
<geometry>
<cylinder length="0.12" radius="0.06"/>
</geometry>
</collision>
<collision>
<!-- upper protector -->
<origin rpy="1.71579632679 0 0" xyz="0 -0.005 0"/>
<geometry>
<cylinder length="0.12" radius="0.066"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.003897968082 0.054226618537 -0.214583373795"/>
<mass value="1.634976467"/>
<inertia ixx="0.0120367944369" ixy="6.762065206e-05" ixz="0.000287806340448" iyy="0.0120643637939" iyz="-0.00140610131218" izz="0.00249422574881"/>
</inertial>
</link>
<!-- Thigh joint -->
<joint name="LF_HFE" type="revolute">
<parent link="LF_HIP"/>
<child link="LF_THIGH"/>
<origin xyz="0.0635 0.041 0.0"/>
<axis xyz="0 1 0"/>
<limit command_effort="40" current="10" effort="80" gear_velocity="10" lower="-9.42" upper="9.42" velocity="15.0"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="LF_SHANK">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_shank_l.dae" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0.065 -0.015 0.01"/>
<geometry>
<box size="0.08 0.07 0.13"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.030816858139 -0.004617229294 0.000893125713"/>
<mass value="0.207204302"/>
<inertia ixx="0.0002104880248" ixy="-5.6750980345e-05" ixz="1.0127699391e-05" iyy="0.000676270210023" iyz="-8.22869024e-07" izz="0.000545032674924"/>
</inertial>
</link>
<!-- Shank joint -->
<joint name="LF_KFE" type="revolute">
<parent link="LF_THIGH"/>
<child link="LF_SHANK"/>
<origin xyz="0.0 0.109 -0.25"/>
<axis xyz="0 1 0"/>
<limit command_effort="40" current="10" effort="80" gear_velocity="10" lower="-9.42" upper="9.42" velocity="15.0"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Shank to Adapter joint -->
<joint name="LF_SHANK_TO_ADAPTER" type="fixed">
<parent link="LF_SHANK"/>
<child link="LF_ADAPTER"/>
<origin rpy="0.0 0.0 0.0" xyz="0.1 -0.02 0.0"/>
</joint>
<!-- Adapter link -->
<link name="LF_ADAPTER">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0.032"/>
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_foot.dae" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.160625"/>
<geometry>
<cylinder length="0.32125" radius="0.015"/>
</geometry>
<material name="anymal_material"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-8.66e-10 -1.472e-09 -0.244345749188"/>
<mass value="0.140170767"/>
<inertia ixx="0.00159938741862" ixy="-9.32e-13" ixz="1.039e-11" iyy="0.00159938741932" iyz="1.7563e-11" izz="5.4423177329e-05"/>
</inertial>
</link>
<!-- Adapter to Foot joint -->
<joint name="LF_ADAPTER_TO_FOOT" type="fixed">
<parent link="LF_ADAPTER"/>
<child link="LF_FOOT"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.32125"/>
</joint>
<!-- Foot link -->
<link name="LF_FOOT">
<collision>
<origin xyz="0 0 0.02325"/>
<geometry>
<sphere radius="0.031"/>
</geometry>
</collision>
</link>
<!-- Gazebo customization -->
<gazebo reference="LF_FOOT">
<kp>1000000.0</kp>
<kd>100.0</kd>
<mu1>0.8</mu1>
<mu2>0.8</mu2>
</gazebo>
<link name="RF_HIP">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_hip_r.dae" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<!-- Protector -->
<origin rpy="1.57079632679 0 0" xyz="0.0635 0.009 0.0"/>
<geometry>
<cylinder length="0.1" radius="0.08"/>
</geometry>
</collision>
<collision>
<!-- Heatfins -->
<origin rpy="1.57079632679 0 0" xyz="0.0635 0.074 0.0"/>
<geometry>
<cylinder length="0.03" radius="0.045"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.064516258147 0.003787101702 -0.000152184388"/>
<mass value="1.42462064"/>
<inertia ixx="0.00243023349564" ixy="1.53023971e-05" ixz="-2.1819095354e-05" iyy="0.00230257239103" iyz="-2.6473021273e-05" izz="0.0019806759227"/>
</inertial>
</link>
<!-- Hip joint -->
<joint name="RF_HAA" type="revolute">
<parent link="base"/>
<child link="RF_HIP"/>
<origin xyz="0.277 -0.116 0.0"/>
<axis xyz="1 0 0"/>
<limit command_effort="40" current="10" effort="80" gear_velocity="10" lower="-9.42" upper="9.42" velocity="15"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="RF_THIGH">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_thigh_r.dae" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<!-- thigh with heat fins -->
<origin rpy="-0.145 0 0" xyz="0 -0.035 -0.125"/>
<geometry>
<box size="0.08 0.04 0.25"/>
</geometry>
</collision>
<collision>
<!-- KFE actuator -->
<origin rpy="1.57079632679 0 0" xyz="0.0 -0.069 -0.25"/>
<geometry>
<cylinder length="0.12" radius="0.06"/>
</geometry>
</collision>
<collision>
<!-- upper protector -->
<origin rpy="-1.71579632679 0 0" xyz="0 0.005 0"/>
<geometry>
<cylinder length="0.12" radius="0.066"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.003897968082 -0.054226618537 -0.214583373795"/>
<mass value="1.634976467"/>
<inertia ixx="0.0120367944369" ixy="-6.762065206e-05" ixz="0.000287806340448" iyy="0.0120643637939" iyz="0.00140610131218" izz="0.00249422574881"/>
</inertial>
</link>
<!-- Thigh joint -->
<joint name="RF_HFE" type="revolute">
<parent link="RF_HIP"/>
<child link="RF_THIGH"/>
<origin xyz="0.0635 -0.041 0.0"/>
<axis xyz="0 1 0"/>
<limit command_effort="40" current="10" effort="80" gear_velocity="10" lower="-9.42" upper="9.42" velocity="15.0"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="RF_SHANK">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_shank_r.dae" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0.065 0.015 0.01"/>
<geometry>
<box size="0.08 0.07 0.13"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.030816858139 0.004617229294 0.000893125713"/>
<mass value="0.207204302"/>
<inertia ixx="0.0002104880248" ixy="5.6750980345e-05" ixz="1.0127699391e-05" iyy="0.000676270210023" iyz="8.22869024e-07" izz="0.000545032674924"/>
</inertial>
</link>
<!-- Shank joint -->
<joint name="RF_KFE" type="revolute">
<parent link="RF_THIGH"/>
<child link="RF_SHANK"/>
<origin xyz="0.0 -0.109 -0.25"/>
<axis xyz="0 1 0"/>
<limit command_effort="40" current="10" effort="80" gear_velocity="10" lower="-9.42" upper="9.42" velocity="15.0"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Shank to Adapter joint -->
<joint name="RF_SHANK_TO_ADAPTER" type="fixed">
<parent link="RF_SHANK"/>
<child link="RF_ADAPTER"/>
<origin rpy="-0.0 0.0 -0.0" xyz="0.1 0.02 0.0"/>
</joint>
<!-- Adapter link -->
<link name="RF_ADAPTER">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0.032"/>
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_foot.dae" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.160625"/>
<geometry>
<cylinder length="0.32125" radius="0.015"/>
</geometry>
<material name="anymal_material"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-8.66e-10 -1.472e-09 -0.244345749188"/>
<mass value="0.140170767"/>
<inertia ixx="0.00159938741862" ixy="-9.32e-13" ixz="1.039e-11" iyy="0.00159938741932" iyz="1.7563e-11" izz="5.4423177329e-05"/>
</inertial>
</link>
<!-- Adapter to Foot joint -->
<joint name="RF_ADAPTER_TO_FOOT" type="fixed">
<parent link="RF_ADAPTER"/>
<child link="RF_FOOT"/>
<origin rpy="-0.0 0.0 -0.0" xyz="0.0 -0.0 -0.32125"/>
</joint>
<!-- Foot link -->
<link name="RF_FOOT">
<collision>
<origin xyz="0 0 0.02325"/>
<geometry>
<sphere radius="0.031"/>
</geometry>
</collision>
</link>
<!-- Gazebo customization -->
<gazebo reference="RF_FOOT">
<kp>1000000.0</kp>
<kd>100.0</kd>
<mu1>0.8</mu1>
<mu2>0.8</mu2>
</gazebo>
<link name="LH_HIP">
<visual>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_hip_r.dae" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<!-- Protector -->
<origin rpy="-1.57079632679 0 0" xyz="-0.0635 -0.009 0.0"/>
<geometry>
<cylinder length="0.1" radius="0.08"/>
</geometry>
</collision>
<collision>
<!-- Heatfins -->
<origin rpy="-1.57079632679 0 0" xyz="-0.0635 -0.074 0.0"/>
<geometry>
<cylinder length="0.03" radius="0.045"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.064516258147 -0.003787101702 -0.000152184388"/>
<mass value="1.42462064"/>
<inertia ixx="0.00243023349564" ixy="1.53023971e-05" ixz="2.1819095354e-05" iyy="0.00230257239103" iyz="2.6473021273e-05" izz="0.0019806759227"/>
</inertial>
</link>
<!-- Hip joint -->
<joint name="LH_HAA" type="revolute">
<parent link="base"/>
<child link="LH_HIP"/>
<origin xyz="-0.277 0.116 0.0"/>
<axis xyz="1 0 0"/>
<limit command_effort="40" current="10" effort="80" gear_velocity="10" lower="-9.42" upper="9.42" velocity="15"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="LH_THIGH">
<visual>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_thigh_r.dae" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<!-- thigh with heat fins -->
<origin rpy="0.145 0 0" xyz="0 0.035 -0.125"/>
<geometry>
<box size="0.08 0.04 0.25"/>
</geometry>
</collision>
<collision>
<!-- KFE actuator -->
<origin rpy="1.57079632679 0 0" xyz="0.0 0.069 -0.25"/>
<geometry>
<cylinder length="0.12" radius="0.06"/>
</geometry>
</collision>
<collision>
<!-- upper protector -->
<origin rpy="1.71579632679 0 0" xyz="0 -0.005 0"/>
<geometry>
<cylinder length="0.12" radius="0.066"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.003897968082 0.054226618537 -0.214583373795"/>
<mass value="1.634976467"/>
<inertia ixx="0.0120367944369" ixy="-6.762065206e-05" ixz="-0.000287806340448" iyy="0.0120643637939" iyz="-0.00140610131218" izz="0.00249422574881"/>
</inertial>
</link>
<!-- Thigh joint -->
<joint name="LH_HFE" type="revolute">
<parent link="LH_HIP"/>
<child link="LH_THIGH"/>
<origin xyz="-0.0635 0.041 0.0"/>
<axis xyz="0 1 0"/>
<limit command_effort="40" current="10" effort="80" gear_velocity="10" lower="-9.42" upper="9.42" velocity="15.0"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="LH_SHANK">
<visual>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_shank_r.dae" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.065 -0.015 0.01"/>
<geometry>
<box size="0.08 0.07 0.13"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.030816858139 -0.004617229294 0.000893125713"/>
<mass value="0.207204302"/>
<inertia ixx="0.0002104880248" ixy="5.6750980345e-05" ixz="-1.0127699391e-05" iyy="0.000676270210023" iyz="-8.22869024e-07" izz="0.000545032674924"/>
</inertial>
</link>
<!-- Shank joint -->
<joint name="LH_KFE" type="revolute">
<parent link="LH_THIGH"/>
<child link="LH_SHANK"/>
<origin xyz="-0.0 0.109 -0.25"/>
<axis xyz="0 1 0"/>
<limit command_effort="40" current="10" effort="80" gear_velocity="10" lower="-9.42" upper="9.42" velocity="15.0"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Shank to Adapter joint -->
<joint name="LH_SHANK_TO_ADAPTER" type="fixed">
<parent link="LH_SHANK"/>
<child link="LH_ADAPTER"/>
<origin rpy="0.0 -0.0 -0.0" xyz="-0.1 -0.02 0.0"/>
</joint>
<!-- Adapter link -->
<link name="LH_ADAPTER">
<visual>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0.032"/>
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_foot.dae" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.160625"/>
<geometry>
<cylinder length="0.32125" radius="0.015"/>
</geometry>
<material name="anymal_material"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-8.66e-10 -1.472e-09 -0.244345749188"/>
<mass value="0.140170767"/>
<inertia ixx="0.00159938741862" ixy="-9.32e-13" ixz="1.039e-11" iyy="0.00159938741932" iyz="1.7563e-11" izz="5.4423177329e-05"/>
</inertial>
</link>
<!-- Adapter to Foot joint -->
<joint name="LH_ADAPTER_TO_FOOT" type="fixed">
<parent link="LH_ADAPTER"/>
<child link="LH_FOOT"/>
<origin rpy="0.0 -0.0 -0.0" xyz="-0.0 0.0 -0.32125"/>
</joint>
<!-- Foot link -->
<link name="LH_FOOT">
<collision>
<origin xyz="0 0 0.02325"/>
<geometry>
<sphere radius="0.031"/>
</geometry>
</collision>
</link>
<!-- Gazebo customization -->
<gazebo reference="LH_FOOT">
<kp>1000000.0</kp>
<kd>100.0</kd>
<mu1>0.8</mu1>
<mu2>0.8</mu2>
</gazebo>
<link name="RH_HIP">
<visual>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_hip_l.dae" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<!-- Protector -->
<origin rpy="-1.57079632679 0 0" xyz="-0.0635 0.009 0.0"/>
<geometry>
<cylinder length="0.1" radius="0.08"/>
</geometry>
</collision>
<collision>
<!-- Heatfins -->
<origin rpy="-1.57079632679 0 0" xyz="-0.0635 0.074 0.0"/>
<geometry>
<cylinder length="0.03" radius="0.045"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.064516258147 0.003787101702 -0.000152184388"/>
<mass value="1.42462064"/>
<inertia ixx="0.00243023349564" ixy="-1.53023971e-05" ixz="2.1819095354e-05" iyy="0.00230257239103" iyz="-2.6473021273e-05" izz="0.0019806759227"/>
</inertial>
</link>
<!-- Hip joint -->
<joint name="RH_HAA" type="revolute">
<parent link="base"/>
<child link="RH_HIP"/>
<origin xyz="-0.277 -0.116 0.0"/>
<axis xyz="1 0 0"/>
<limit command_effort="40" current="10" effort="80" gear_velocity="10" lower="-9.42" upper="9.42" velocity="15"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="RH_THIGH">
<visual>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_thigh_l.dae" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<!-- thigh with heat fins -->
<origin rpy="-0.145 0 0" xyz="0 -0.035 -0.125"/>
<geometry>
<box size="0.08 0.04 0.25"/>
</geometry>
</collision>
<collision>
<!-- KFE actuator -->
<origin rpy="1.57079632679 0 0" xyz="0.0 -0.069 -0.25"/>
<geometry>
<cylinder length="0.12" radius="0.06"/>
</geometry>
</collision>
<collision>
<!-- upper protector -->
<origin rpy="-1.71579632679 0 0" xyz="0 0.005 0"/>
<geometry>
<cylinder length="0.12" radius="0.066"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.003897968082 -0.054226618537 -0.214583373795"/>
<mass value="1.634976467"/>
<inertia ixx="0.0120367944369" ixy="6.762065206e-05" ixz="-0.000287806340448" iyy="0.0120643637939" iyz="0.00140610131218" izz="0.00249422574881"/>
</inertial>
</link>
<!-- Thigh joint -->
<joint name="RH_HFE" type="revolute">
<parent link="RH_HIP"/>
<child link="RH_THIGH"/>
<origin xyz="-0.0635 -0.041 0.0"/>
<axis xyz="0 1 0"/>
<limit command_effort="40" current="10" effort="80" gear_velocity="10" lower="-9.42" upper="9.42" velocity="15.0"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="RH_SHANK">
<visual>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_shank_l.dae" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.065 0.015 0.01"/>
<geometry>
<box size="0.08 0.07 0.13"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.030816858139 0.004617229294 0.000893125713"/>
<mass value="0.207204302"/>
<inertia ixx="0.0002104880248" ixy="-5.6750980345e-05" ixz="-1.0127699391e-05" iyy="0.000676270210023" iyz="8.22869024e-07" izz="0.000545032674924"/>
</inertial>
</link>
<!-- Shank joint -->
<joint name="RH_KFE" type="revolute">
<parent link="RH_THIGH"/>
<child link="RH_SHANK"/>
<origin xyz="-0.0 -0.109 -0.25"/>
<axis xyz="0 1 0"/>
<limit command_effort="40" current="10" effort="80" gear_velocity="10" lower="-9.42" upper="9.42" velocity="15.0"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Shank to Adapter joint -->
<joint name="RH_SHANK_TO_ADAPTER" type="fixed">
<parent link="RH_SHANK"/>
<child link="RH_ADAPTER"/>
<origin rpy="-0.0 -0.0 0.0" xyz="-0.1 0.02 0.0"/>
</joint>
<!-- Adapter link -->
<link name="RH_ADAPTER">
<visual>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0.032"/>
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/anymal_foot.dae" scale="0.001 0.001 0.001"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.160625"/>
<geometry>
<cylinder length="0.32125" radius="0.015"/>
</geometry>
<material name="anymal_material"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-8.66e-10 -1.472e-09 -0.244345749188"/>
<mass value="0.140170767"/>
<inertia ixx="0.00159938741862" ixy="-9.32e-13" ixz="1.039e-11" iyy="0.00159938741932" iyz="1.7563e-11" izz="5.4423177329e-05"/>
</inertial>
</link>
<!-- Adapter to Foot joint -->
<joint name="RH_ADAPTER_TO_FOOT" type="fixed">
<parent link="RH_ADAPTER"/>
<child link="RH_FOOT"/>
<origin rpy="-0.0 -0.0 0.0" xyz="-0.0 -0.0 -0.32125"/>
</joint>
<!-- Foot link -->
<link name="RH_FOOT">
<collision>
<origin xyz="0 0 0.02325"/>
<geometry>
<sphere radius="0.031"/>
</geometry>
</collision>
</link>
<!-- Gazebo customization -->
<gazebo reference="RH_FOOT">
<kp>1000000.0</kp>
<kd>100.0</kd>
<mu1>0.8</mu1>
<mu2>0.8</mu2>
</gazebo>
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/MIT_mini-cheetah/mini-cheetah-CHAMP/README.md | # mini-cheetah-gazebo-urdf
An urdf description file of a quadruped robot modeled on mini cheetah. With this you can import the robot into the gazebo environment to realize the control of the robot.
Ubuntu 16.04(ROS Kinetic)
gazebo 8.6
Step:
cd <your_ws>/src
git clone https://github.com/HitSZwang/mini-cheetah-gazebo-urdf
cd ..
catkin_make
source devel/setup.bash
1.If you want to browse the robot model
roslaunch yobo_gazebo demo.launch
2.You can ues the teleop to control the robot
This model was used in champ and achieved good results.
the champ program https://github.com/chvmp/champ
if you use champ_setup_assistant: https://github.com/chvmp/champ_setup_assistant
you should choose the yobotics.urdf
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/MIT_mini-cheetah/mini-cheetah-CHAMP/yobo_model/yobotics_gazebo/CMakeLists.txt |
cmake_minimum_required(VERSION 2.8.3)
project(yobotics_gazebo)
find_package(catkin REQUIRED COMPONENTS)
catkin_package()
install(PROGRAMS
scripts/imu_sensor.py
scripts/odometry_tf.py
scripts/odometry.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/MIT_mini-cheetah/mini-cheetah-CHAMP/yobo_model/yobotics_gazebo/package.xml | <?xml version="1.0"?>
<package format="2">
<name>yobotics_gazebo</name>
<version>0.1.0</version>
<description>yobotics Gazebo Package</description>
<maintainer email="[email protected]">Juan Miguel Jimeno</maintainer>
<author>Juan Miguel Jimeno</author>
<license>BSD</license>
<buildtool_depend>catkin</buildtool_depend>
<exec_depend>roslaunch</exec_depend>
<exec_depend>gazebo_ros</exec_depend>
<exec_depend>gazebo_ros_pkgs</exec_depend>
<exec_depend>gazebo_ros_control</exec_depend>
<exec_depend>gazebo_plugins</exec_depend>
<exec_depend>ros_controllers</exec_depend>
</package>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/MIT_mini-cheetah/mini-cheetah-CHAMP/yobo_model/yobotics_gazebo/launch/demo.launch | <launch>
<arg name="paused" default="true"/>
<arg name="use_sim_time" default="true"/>
<arg name="gui" default="true"/>
<arg name="headless" default="false"/>
<arg name="debug" default="false"/>
<!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
<arg name="user_debug" default="false"/>
<arg name="description_file" default="$(find yobotics_description)/xacro/robot_with_kinect.xacro"/>
<arg name="ros_control_file" default="$(find yobotics_gazebo)/config/ros_control.yaml" />
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find yobotics_gazebo)/launch/world/normal.world"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="paused" value="$(arg paused)"/>
<arg name="use_sim_time" value="$(arg use_sim_time)"/>
<arg name="headless" value="$(arg headless)"/>
</include>
<!-- Load the URDF into the ROS Parameter Server -->
<param name="robot_description"
command="$(find xacro)/xacro --inorder '$(arg description_file)' DEBUG:=$(arg user_debug)"/>
<!-- Set trunk and joint positions at startup -->
<node pkg="gazebo_ros" type="spawn_model" name="urdf_spawner" respawn="false" output="screen"
args="-urdf -z 0.5 -model yobotics_gazebo -param robot_description -unpause "/>
<!-- Load joint controller configurations from YAML file to parameter server -->
<rosparam file="$(arg ros_control_file)" command="load"/>
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="
joint_states_controller
joint_group_position_controller
">
</node>
<!-- convert joint states to TF transforms for rviz, etc -->
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher"
respawn="false" output="screen">
<remap from="/joint_states" to="/yobotics_gazebo/joint_states"/>
</node>
<!-- <node pkg="yobotics_gazebo" type="servo" name="servo" required="true" output="screen"/> -->
</launch>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/MIT_mini-cheetah/mini-cheetah-CHAMP/yobo_model/yobotics_gazebo/scripts/imu_sensor.py | #! /usr/bin/env python
'''
Copyright (c) 2019-2020, Juan Miguel Jimeno
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the copyright holder nor the names of its
contributors may be used to endorse or promote products derived
from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
'''
import rospy
from nav_msgs.msg import Odometry
from geometry_msgs.msg import Point, Quaternion
from yobotics_msgs.msg import Pose
import tf
class SimPose:
def __init__(self):
rospy.Subscriber("odom/ground_truth", Odometry, self.odometry_callback)
self.sim_pose_publisher = rospy.Publisher("/yobotics/gazebo/pose", Pose, queue_size=50)
def odometry_callback(self, data):
sim_pose_msg = Pose()
sim_pose_msg.roll = data.pose.pose.orientation.x
sim_pose_msg.pitch = data.pose.pose.orientation.y
sim_pose_msg.yaw = data.pose.pose.orientation.z
self.sim_pose_publisher.publish(sim_pose_msg)
if __name__ == "__main__":
rospy.init_node("yobotics_gazebo_sim_pose", anonymous = True)
odom = SimPose()
rospy.spin() |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/MIT_mini-cheetah/mini-cheetah-CHAMP/yobo_model/yobotics_gazebo/scripts/odometry_tf.py | #! /usr/bin/env python
'''
Copyright (c) 2019-2020, Juan Miguel Jimeno
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the copyright holder nor the names of its
contributors may be used to endorse or promote products derived
from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
'''
import rospy
from nav_msgs.msg import Odometry
from geometry_msgs.msg import Point, Quaternion
import tf
class Odom:
def __init__(self):
rospy.Subscriber("odom/raw", Odometry, self.odometry_callback)
self.odom_broadcaster = tf.TransformBroadcaster()
def odometry_callback(self, data):
self.current_linear_speed_x = data.twist.twist.linear.x
self.current_angular_speed_z = data.twist.twist.angular.z
current_time = rospy.Time.now()
odom_quat = (
data.pose.pose.orientation.x,
data.pose.pose.orientation.y,
data.pose.pose.orientation.z,
data.pose.pose.orientation.w
)
self.odom_broadcaster.sendTransform(
(data.pose.pose.position.x, data.pose.pose.position.y, 0),
odom_quat,
current_time,
"base_footprint",
"odom"
)
if __name__ == "__main__":
rospy.init_node("yobotics_gazebo_odometry_transform", anonymous = True)
odom = Odom()
rospy.spin() |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/MIT_mini-cheetah/mini-cheetah-CHAMP/yobo_model/yobotics_gazebo/scripts/odometry.py | #! /usr/bin/env python
'''
Copyright (c) 2019-2020, Juan Miguel Jimeno
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the copyright holder nor the names of its
contributors may be used to endorse or promote products derived
from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
'''
import rospy
from yobotics_msgs.msg import Contacts
from nav_msgs.msg import Odometry
from geometry_msgs.msg import Point, Quaternion, Pose, Twist, Vector3
import tf
from tf import TransformListener
from tf.transformations import euler_from_quaternion, quaternion_from_euler
from nav_msgs.msg import Odometry
import math
class yoboticsOdometry:
def __init__(self):
rospy.Subscriber("/yobotics/gazebo/contacts", Contacts, self.contacts_callback)
self.odom_publisher = rospy.Publisher("odom/raw", Odometry, queue_size=50)
self.odom_broadcaster = tf.TransformBroadcaster()
self.tf = TransformListener()
self.foot_links = [
"lf_foot_link",
"rf_foot_link",
"lh_foot_link",
"rh_foot_link"
]
self.nominal_foot_positions = [[0,0],[0,0],[0,0],[0,0]]
self.prev_foot_positions = [[0,0],[0,0],[0,0],[0,0]]
self.prev_theta = [0,0,0,0]
self.prev_stance_angles = [0,0,0,0]
self.prev_time = 0
self.pos_x = 0
self.pos_y = 0
self.theta = 0
self.publish_odom_tf(0,0,0,0)
rospy.sleep(1)
for i in range(4):
self.nominal_foot_positions[i] = self.get_foot_position(i)
self.prev_foot_positions[i] = self.nominal_foot_positions[i]
self.prev_theta[i] = math.atan2(self.prev_foot_positions[i][1], self.prev_foot_positions[i][0])
def publish_odom(self, x, y, z, theta, vx, vy, vth):
current_time = rospy.Time.now()
odom = Odometry()
odom.header.stamp = current_time
odom.header.frame_id = "odom"
odom_quat = tf.transformations.quaternion_from_euler(0, 0, theta)
odom.pose.pose = Pose(Point(x, y, z), Quaternion(*odom_quat))
odom.child_frame_id = "base_footprint"
odom.twist.twist = Twist(Vector3(vx, vy, 0), Vector3(0, 0, vth))
# publish the message
self.odom_publisher.publish(odom)
def publish_odom_tf(self, x, y, z, theta):
current_time = rospy.Time.now()
odom_quat = quaternion_from_euler (0, 0, theta)
self.odom_broadcaster.sendTransform(
(x, y, z),
odom_quat,
current_time,
"base_footprint",
"odom"
)
def get_foot_position(self, leg_id):
if self.tf.frameExists("base_link" and self.foot_links[leg_id]) :
t = self.tf.getLatestCommonTime("base_link", self.foot_links[leg_id])
position, quaternion = self.tf.lookupTransform("base_link", self.foot_links[leg_id], t)
return position
else:
return 0, 0, 0
def contacts_callback(self, data):
self.leg_contact_states = data.contacts
def is_almost_equal(self, a, b, max_rel_diff):
diff = abs(a - b)
a = abs(a)
b = abs(b)
largest = 0
if b > a:
largest = b
else:
larget = a
if diff <= (largest * max_rel_diff):
return True
return False
def run(self):
while not rospy.is_shutdown():
leg_contact_states = self.leg_contact_states
current_foot_position = [[0,0],[0,0],[0,0],[0,0]]
stance_angles = [0, 0, 0, 0]
current_theta = [0, 0, 0, 0]
delta_theta = 0
in_xy = False
total_contact = sum(leg_contact_states)
x_sum = 0
y_sum = 0
theta_sum = 0
for i in range(4):
current_foot_position[i] = self.get_foot_position(i)
for i in range(4):
current_theta[i] = math.atan2(current_foot_position[i][1], current_foot_position[i][0])
from_nominal_x = self.nominal_foot_positions[i][0] - current_foot_position[i][0]
from_nominal_y = self.nominal_foot_positions[i][1] - current_foot_position[i][1]
stance_angles[i] = math.atan2(from_nominal_y, from_nominal_x)
# print stance_angles
#check if it's moving in the x or y axis
if self.is_almost_equal(stance_angles[i], abs(1.5708), 0.001) or self.is_almost_equal(stance_angles[i], abs(3.1416), 0.001):
in_xy = True
if current_foot_position[i] != None and leg_contact_states[i] == True and total_contact == 2:
delta_x = (self.prev_foot_positions[i][0] - current_foot_position[i][0]) / 2
delta_y = (self.prev_foot_positions[i][1] - current_foot_position[i][1]) / 2
x = delta_x * math.cos(self.theta) - delta_y * math.sin(self.theta)
y = delta_x * math.sin(self.theta) + delta_y * math.cos(self.theta)
x_sum += delta_x
y_sum += delta_y
self.pos_x += x
self.pos_y += y
if not in_xy:
delta_theta = self.prev_theta[i] - current_theta[i]
theta_sum += delta_theta
self.theta += delta_theta / 2
now = rospy.Time.now().to_sec()
dt = now - self.prev_time
vx = x_sum / dt
vy = y_sum / dt
vth = theta_sum / dt
self.publish_odom(self.pos_x, self.pos_y, 0, self.theta, vx, vy, vth)
# self.publish_odom_tf(self.pos_x, self.pos_y, 0, self.theta)
self.prev_foot_positions = current_foot_position
self.prev_theta = current_theta
self.prev_stance_angles = stance_angles
self.prev_time = now
rospy.sleep(0.01)
if __name__ == "__main__":
rospy.init_node("yobotics_gazebo_odometry", anonymous = True)
odom = yoboticsOdometry()
odom.run()
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/MIT_mini-cheetah/mini-cheetah-CHAMP/yobo_model/yobotics_gazebo/config/ros_control.yaml | "":
joint_states_controller:
type: joint_state_controller/JointStateController
publish_rate: 30
joint_group_position_controller:
type: effort_controllers/JointTrajectoryController
joints:
- FL_hip_joint
- FL_thigh_joint
- FL_calf_joint
- FR_hip_joint
- FR_thigh_joint
- FR_calf_joint
- RL_hip_joint
- RL_thigh_joint
- RL_calf_joint
- RR_hip_joint
- RR_thigh_joint
- RR_calf_joint
gains:
FL_hip_joint : {p: 180, d: 0.9, i: 20}
FL_thigh_joint : {p: 180, d: 0.9, i: 20}
FL_calf_joint : {p: 180, d: 0.9, i: 20}
FR_hip_joint : {p: 180, d: 0.9, i: 20}
FR_thigh_joint : {p: 180, d: 0.9, i: 20}
FR_calf_joint : {p: 180, d: 0.9, i: 20}
RL_hip_joint : {p: 180, d: 0.9, i: 20}
RL_thigh_joint : {p: 180, d: 0.9, i: 20}
RL_calf_joint : {p: 180, d: 0.9, i: 20}
RR_hip_joint : {p: 180, d: 0.9, i: 20}
RR_thigh_joint : {p: 180, d: 0.9, i: 20}
RR_calf_joint : {p: 180, d: 0.9, i: 20}
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/MIT_mini-cheetah/mini-cheetah-CHAMP/yobo_model/yobotics_description/CMakeLists.txt |
cmake_minimum_required(VERSION 2.8.3)
project(yobotics_description)
find_package(catkin REQUIRED COMPONENTS)
catkin_package()
install(DIRECTORY meshes launch urdf
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/MIT_mini-cheetah/mini-cheetah-CHAMP/yobo_model/yobotics_description/package.xml | <?xml version="1.0"?>
<package format="2">
<name>yobotics_description</name>
<version>0.1.0</version>
<description>yobotics Description Package</description>
<maintainer email="[email protected]">Juan Miguel Jimeno</maintainer>
<author>Juan Miguel Jimeno</author>
<license>BSD</license>
<buildtool_depend>catkin</buildtool_depend>
<exec_depend>roslaunch</exec_depend>
<exec_depend>robot_state_publisher</exec_depend>
<exec_depend>joint_state_publisher</exec_depend>
<exec_depend>urdf</exec_depend>
<exec_depend>xacro</exec_depend>
<exec_depend>rviz</exec_depend>
<exec_depend>gazebo_plugins</exec_depend>
<exec_depend>hector_gazebo_plugins</exec_depend>
<exec_depend>hector_sensors_description</exec_depend>
</package> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/MIT_mini-cheetah/mini-cheetah-CHAMP/yobo_model/yobotics_description/launch/view_urdf.launch | <launch>
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find yobotics_description)/urdf/yobotics.urdf' " />
<node name="yobotics_robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen">
<param name="publish_frequency" type="double" value="30.0" />
<param name="ignore_timestamp" type="bool" value="true" />
</node>
<node type="rviz" name="rviz" pkg="rviz" args="-d $(find yobotics_description)/rviz/urdf_viewer.rviz" />
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
<param name="/use_gui" value="false"/>
<rosparam param="/source_list">[yobotics/joint_states]</rosparam>
</node>
</launch>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/MIT_mini-cheetah/mini-cheetah-CHAMP/yobo_model/yobotics_description/launch/description.launch | <launch>
<arg name="description_name" default="robot_description"/>
<arg name="description_file" default="$(find yobotics_description)/xacro/robot_with_kinect.xacro"/>
<arg name="user_debug" default="false"/>
<!-- <param name="$(arg description_name)" textfile="$(arg description_file)"/> -->
<param name="robot_description"
command="$(find xacro)/xacro --inorder '$(arg description_file)' DEBUG:=$(arg user_debug)"/>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen">
<param name="use_tf_static" value="true"/>
<param name="publish_frequency" value="200"/>
<remap from="robot_description" to="$(arg description_name)"/>
</node>
</launch> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/MIT_mini-cheetah/mini-cheetah-CHAMP/yobo_model/yobotics_description/rviz/urdf_viewer.rviz | Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Grid1
- /TF1
- /TF1/Frames1
Splitter Ratio: 0.38333332538604736
Tree Height: 845
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 1000
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
FL_calf:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FL_foot:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FL_hip:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FL_thigh:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FR_calf:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FR_foot:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FR_hip:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
FR_thigh:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Link Tree Style: Links in Alphabetic Order
RL_calf:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RL_foot:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RL_hip:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RL_thigh:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RR_calf:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RR_foot:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RR_hip:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RR_thigh:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
camera_depth_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_depth_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
camera_rgb_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_rgb_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
hokuyo_frame:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
imu_link:
Alpha: 1
Show Axes: false
Show Trail: false
trunk:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz/Axes
Enabled: true
Length: 1
Name: Axes
Radius: 0.0010000000474974513
Reference Frame: <Fixed Frame>
Value: true
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: false
FL_calf:
Value: true
FL_foot:
Value: true
FL_hip:
Value: true
FL_thigh:
Value: true
FR_calf:
Value: true
FR_foot:
Value: true
FR_hip:
Value: true
FR_thigh:
Value: true
RL_calf:
Value: true
RL_foot:
Value: true
RL_hip:
Value: true
RL_thigh:
Value: true
RR_calf:
Value: true
RR_foot:
Value: true
RR_hip:
Value: true
RR_thigh:
Value: true
camera_depth_frame:
Value: true
camera_depth_optical_frame:
Value: true
camera_link:
Value: true
camera_rgb_frame:
Value: true
camera_rgb_optical_frame:
Value: true
hokuyo_frame:
Value: true
imu_link:
Value: true
trunk:
Value: true
Marker Scale: 0.25
Name: TF
Show Arrows: true
Show Axes: true
Show Names: false
Tree:
trunk:
FL_hip:
FL_thigh:
FL_calf:
FL_foot:
{}
FR_hip:
FR_thigh:
FR_calf:
FR_foot:
{}
RL_hip:
RL_thigh:
RL_calf:
RL_foot:
{}
RR_hip:
RR_thigh:
RR_calf:
RR_foot:
{}
camera_link:
camera_depth_frame:
camera_depth_optical_frame:
{}
camera_rgb_frame:
camera_rgb_optical_frame:
{}
hokuyo_frame:
{}
imu_link:
{}
Update Interval: 0
Value: true
- Class: rviz/MarkerArray
Enabled: false
Marker Topic: foot
Name: MarkerArray
Namespaces:
{}
Queue Size: 100
Value: false
- Alpha: 1
Axes Length: 1
Axes Radius: 0.10000000149011612
Class: rviz/Pose
Color: 255; 25; 0
Enabled: true
Head Length: 0.30000001192092896
Head Radius: 0.10000000149011612
Name: Pose
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Shape: Arrow
Topic: /pose_debug
Unreliable: false
Value: true
Enabled: true
Global Options:
Background Color: 238; 238; 236
Default Light: true
Fixed Frame: trunk
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Theta std deviation: 0.2617993950843811
Topic: /initialpose
X std deviation: 0.5
Y std deviation: 0.5
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 1.8748247623443604
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0.27266740798950195
Y: -0.10151305049657822
Z: 0.08205118030309677
Focal Shape Fixed Size: false
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: -0.19960175454616547
Target Frame: base_footprint
Value: Orbit (rviz)
Yaw: 1.800366759300232
Saved: ~
Window Geometry:
Displays:
collapsed: true
Height: 1143
Hide Left Dock: true
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd00000004000000000000021e000003d8fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000003d000003d8000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000003d8fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000003d8000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003ab0000003ffc0100000002fb0000000800540069006d00650100000000000003ab000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000003ab000003d800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 939
X: 981
Y: 27
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/MIT_mini-cheetah/mini-cheetah-CHAMP/yobo_model/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} ${126/255} 1.0"/>
</material>
<material name="red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="white">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/MIT_mini-cheetah/mini-cheetah-CHAMP/yobo_model/yobotics_description/xacro/transmission.xacro | <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="leg_transmission" params="name">
<transmission name="${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>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/MIT_mini-cheetah/mini-cheetah-CHAMP/yobo_model/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>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/MIT_mini-cheetah/mini-cheetah-CHAMP/yobo_model/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>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/MIT_mini-cheetah/mini-cheetah-CHAMP/yobo_model/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>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/MIT_mini-cheetah/mini-cheetah-CHAMP/yobo_model/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>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/MIT_mini-cheetah/mini-cheetah-CHAMP/yobo_model/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 ${base_z_length / 2}" rpy="0 0 0"/>
</xacro:champ_arm> -->
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/MIT_mini-cheetah/mini-cheetah-CHAMP/yobo_model/yobotics_description/xacro/robot_with_kinect.xacro | <?xml version="1.0"?>
<robot name="yobotics" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(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} ${kinect_offset_z}" rpy="0 0.523 0" />
<parent link="trunk"/>
<child link="camera_link"/>
</joint>
<xacro:kinect_camera prefix="camera"/>
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/MIT_mini-cheetah/mini-cheetah-CHAMP/yobo_model/yobotics_description/xacro/robot.xacro | <?xml version="1.0"?>
<robot name="yobotics_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(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>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/MIT_mini-cheetah/mini-cheetah-CHAMP/yobo_model/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>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/MIT_mini-cheetah/mini-cheetah-CHAMP/yobo_model/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>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/MIT_mini-cheetah/mini-cheetah-CHAMP/yobo_model/yobotics_teleop/yobotics_teleop.py | #!/usr/bin/env python
#credits to: https://github.com/ros-teleop/teleop_twist_keyboard/blob/master/teleop_twist_keyboard.py
from __future__ import print_function
import roslib; roslib.load_manifest('yobotics_teleop')
import rospy
from sensor_msgs.msg import Joy
from geometry_msgs.msg import Twist
from yobotics_msgs.msg import Pose
import sys, select, termios, tty
import numpy as np
class Teleop:
def __init__(self):
self.velocity_publisher = rospy.Publisher('cmd_vel', Twist, queue_size = 1)
self.pose_publisher = rospy.Publisher('cmd_pose', Pose, queue_size = 1)
self.joy_subscriber = rospy.Subscriber('joy', Joy, self.joy_callback)
self.speed = rospy.get_param("~speed", 0.3)
self.turn = rospy.get_param("~turn", 1.0)
self.msg = """
Reading from the keyboard and Publishing to Twist!
---------------------------
Moving around:
u i o
j k l
m , .
For Holonomic mode (strafing), hold down the shift key:
---------------------------
U I O
J K L
M < >
t : up (+z)
b : down (-z)
anything else : stop
q/z : increase/decrease max speeds by 10%
w/x : increase/decrease only linear speed by 10%
e/c : increase/decrease only angular speed by 10%
CTRL-C to quit
"""
self.velocityBindings = {
'i':(1,0,0,0),
'o':(1,0,0,-1),
'j':(0,0,0,1),
'l':(0,0,0,-1),
'u':(1,0,0,1),
',':(-1,0,0,0),
'.':(-1,0,0,1),
'm':(-1,0,0,-1),
'O':(1,-1,0,0),
'I':(1,0,0,0),
'J':(0,1,0,0),
'L':(0,-1,0,0),
'U':(1,1,0,0),
'<':(-1,0,0,0),
'>':(-1,-1,0,0),
'M':(-1,1,0,0),
'v':(0,0,1,0),
'n':(0,0,-1,0),
}
self.poseBindings = {
'f':(-1,0,0,0),
'h':(1,0,0,0),
't':(0,1,0,0),
'b':(0,-1,0,0),
'r':(0,0,1,0),
'y':(0,0,-1,0),
}
self.speedBindings={
'q':(1.1,1.1),
'z':(.9,.9),
'w':(1.1,1),
'x':(.9,1),
'e':(1,1.1),
'c':(1,.9),
}
self.poll_keys()
def joy_callback(self, data):
twist = Twist()
twist.linear.x = data.axes[7] * self.speed
twist.linear.y = data.buttons[4] * data.axes[6] * self.speed
twist.linear.z = 0
twist.angular.x = 0
twist.angular.y = 0
twist.angular.z = (not data.buttons[4]) * data.axes[6] * self.turn
self.velocity_publisher.publish(twist)
body_pose = Pose()
body_pose.x = 0
body_pose.y = 0
body_pose.roll = (not data.buttons[5]) *-data.axes[3] * 0.349066
body_pose.pitch = data.axes[4] * 0.261799
body_pose.yaw = data.buttons[5] * data.axes[3] * 0.436332
if data.axes[5] < 0:
body_pose.z = self.map(data.axes[5], 0, -1.0, 1, 0.00001)
else:
body_pose.z = 1.0
self.pose_publisher.publish(body_pose)
def poll_keys(self):
self.settings = termios.tcgetattr(sys.stdin)
x = 0
y = 0
z = 0
th = 0
roll = 0
pitch = 0
yaw = 0
status = 0
cmd_attempts = 0
try:
print(self.msg)
print(self.vels( self.speed, self.turn))
while not rospy.is_shutdown():
key = self.getKey()
if key in self.velocityBindings.keys():
x = self.velocityBindings[key][0]
y = self.velocityBindings[key][1]
z = self.velocityBindings[key][2]
th = self.velocityBindings[key][3]
if cmd_attempts > 1:
twist = Twist()
twist.linear.x = x *self.speed
twist.linear.y = y * self.speed
twist.linear.z = z * self.speed
twist.angular.x = 0
twist.angular.y = 0
twist.angular.z = th * self.turn
self.velocity_publisher.publish(twist)
cmd_attempts += 1
elif key in self.poseBindings.keys():
#TODO: changes these values as rosparam
roll += 0.0174533 * self.poseBindings[key][0]
pitch += 0.0174533 * self.poseBindings[key][1]
yaw += 0.0174533 * self.poseBindings[key][2]
roll = np.clip(roll, -0.523599, 0.523599)
pitch = np.clip(pitch, -0.349066, 0.349066)
yaw = np.clip(yaw, -0.436332, 0.436332)
if cmd_attempts > 1:
body_pose = Pose()
body_pose.x = 0
body_pose.y = 0
body_pose.z = 0
body_pose.roll = roll
body_pose.pitch = pitch
body_pose.yaw = yaw
self.pose_publisher.publish(body_pose)
cmd_attempts += 1
elif key in self.speedBindings.keys():
self.speed = self.speed * self.speedBindings[key][0]
self.turn = self.turn * self.speedBindings[key][1]
print(self.vels(self.speed, self.turn))
if (status == 14):
print(self.msg)
status = (status + 1) % 15
else:
cmd_attempts = 0
if (key == '\x03'):
break
except Exception as e:
print(e)
finally:
twist = Twist()
twist.linear.x = 0
twist.linear.y = 0
twist.linear.z = 0
twist.angular.x = 0
twist.angular.y = 0
twist.angular.z = 0
self.velocity_publisher.publish(twist)
termios.tcsetattr(sys.stdin, termios.TCSADRAIN, self.settings)
def getKey(self):
tty.setraw(sys.stdin.fileno())
rlist, _, _ = select.select([sys.stdin], [], [], 0.1)
if rlist:
key = sys.stdin.read(1)
else:
key = ''
termios.tcsetattr(sys.stdin, termios.TCSADRAIN, self.settings)
return key
def vels(self, speed, turn):
return "currently:\tspeed %s\tturn %s " % (speed,turn)
def map(self, x, in_min, in_max, out_min, out_max):
return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
if __name__ == "__main__":
rospy.init_node('yobotics_teleop')
teleop = Teleop() |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/MIT_mini-cheetah/mini-cheetah-CHAMP/yobo_model/yobotics_teleop/CMakeLists.txt | cmake_minimum_required(VERSION 2.8.3)
project(yobotics_teleop)
find_package(catkin REQUIRED)
catkin_package()
catkin_install_python(PROGRAMS
yobotics_teleop.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/MIT_mini-cheetah/mini-cheetah-CHAMP/yobo_model/yobotics_teleop/package.xml | <?xml version="1.0"?>
<package>
<name>yobotics_teleop</name>
<version>0.6.2</version>
<description>Generic keyboard teleop for twist robots.</description>
<maintainer email="[email protected]">Juan Miguel Jimeno></maintainer>
<license>BSD</license>
<url type="website"></url>
<author>Graylin Trevor Jay</author>
<author>Juan Miguel Jimeno</author>
<buildtool_depend>catkin</buildtool_depend>
<run_depend>sensor_msgs</run_depend>
<run_depend>geometry_msgs</run_depend>
<run_depend>rospy</run_depend>
</package>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/MIT_mini-cheetah/mini-cheetah-CHAMP/yobo_model/yobotics_teleop/README.md | # yobotics_teleop
yobotics Quadruped Robot's teleoperation node. This is a forked version of [teleop_twist_keyboard](https://github.com/ros-teleop/teleop_twist_keyboard/blob/master/teleop_twist_keyboard.py).
The software has been modified to control the robot's whole-body pose (roll, pitch, yaw).
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/MIT_mini-cheetah/mini-cheetah-CHAMP/yobo_model/yobotics_teleop/launch/teleop.launch | <launch>
<arg name="joy" default="false"/>
<arg name="dev" default="/dev/input/js0"/>
<node if="$(arg joy)" name="joy" pkg="joy" type="joy_node" required="true">
<param name="autorepeat_rate" value="5" />
<param name="dev" value="$(arg dev)" />
</node>
<node name="yobotics_teleop" pkg="yobotics_teleop" type="yobotics_teleop.py" output="screen" required="true">
<param name="joy" value="$(arg joy)" />
</node>
</launch> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/MIT_mini-cheetah/mini-cheetah-original/README.md | # mini-cheetah-gazebo-urdf
An urdf description file of a quadruped robot modeled on mini cheetah. With this you can import the robot into the gazebo environment to realize the control of the robot.
Ubuntu 16.04(ROS Kinetic)
gazebo 8.6
Step:
cd <your_ws>/src
git clone https://github.com/HitSZwang/mini-cheetah-gazebo-urdf
cd ..
catkin_make
source devel/setup.bash
1.If you want to browse the robot model
roslaunch yobo_gazebo demo.launch
2.You can ues the teleop to control the robot
This model was used in champ and achieved good results.
the champ program https://github.com/chvmp/champ
if you use champ_setup_assistant: https://github.com/chvmp/champ_setup_assistant
you should choose the yobotics.urdf
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/MIT_mini-cheetah/mini-cheetah-original/yobo_model/yobotics_gazebo/CMakeLists.txt |
cmake_minimum_required(VERSION 2.8.3)
project(yobotics_gazebo)
find_package(catkin REQUIRED COMPONENTS)
catkin_package()
install(PROGRAMS
scripts/imu_sensor.py
scripts/odometry_tf.py
scripts/odometry.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
|
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