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renanmb/Omniverse_legged_robotics/URDF-Descriptions/MIT_mini-cheetah/mini-cheetah-original/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-original/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="$(find yobotics_description)/xacro/robot.xacro"/>
<arg name="ros_control_file" default="$(find yobotics_gazebo)/config/ros_control.yaml" />
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find yobotics_gazebo)//worlds/default.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-original/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-original/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-original/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-original/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-original/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 ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/MIT_mini-cheetah/mini-cheetah-original/yobo_model/yobotics_description/package.xml | <?xml version="1.0"?>
<package format="2">
<name>yobotics_description</name>
<version>0.1.0</version>
<description>yobotics Description Package</description>
<maintainer email="[email protected]">Juan Miguel Jimeno</maintainer>
<author>Juan Miguel Jimeno</author>
<license>BSD</license>
<buildtool_depend>catkin</buildtool_depend>
<exec_depend>roslaunch</exec_depend>
<exec_depend>robot_state_publisher</exec_depend>
<exec_depend>joint_state_publisher</exec_depend>
<exec_depend>urdf</exec_depend>
<exec_depend>xacro</exec_depend>
<exec_depend>rviz</exec_depend>
<exec_depend>gazebo_plugins</exec_depend>
<exec_depend>hector_gazebo_plugins</exec_depend>
<exec_depend>hector_sensors_description</exec_depend>
</package> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/MIT_mini-cheetah/mini-cheetah-original/yobo_model/yobotics_description/launch/view_urdf.launch | <launch>
<param name="robot_description" command="$(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 $(find yobotics_description)/rviz/urdf_viewer.rviz" />
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
<param name="/use_gui" value="false"/>
<rosparam param="/source_list">[yobotics/joint_states]</rosparam>
</node>
</launch>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/MIT_mini-cheetah/mini-cheetah-original/yobo_model/yobotics_description/launch/description.launch | <launch>
<arg name="description_name" default="robot_description"/>
<arg name="description_file" default="$(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-original/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-original/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} ${126/255} 1.0"/>
</material>
<material name="red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="white">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/MIT_mini-cheetah/mini-cheetah-original/yobo_model/yobotics_description/xacro/transmission.xacro | <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="leg_transmission" params="name">
<transmission name="${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-original/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-original/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-original/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-original/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-original/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 ${base_z_length / 2}" rpy="0 0 0"/>
</xacro:champ_arm> -->
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/MIT_mini-cheetah/mini-cheetah-original/yobo_model/yobotics_description/xacro/robot_with_kinect.xacro | <?xml version="1.0"?>
<robot name="yobotics" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(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} ${kinect_offset_z}" rpy="0 0.523 0" />
<parent link="trunk"/>
<child link="camera_link"/>
</joint>
<xacro:kinect_camera prefix="camera"/>
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/MIT_mini-cheetah/mini-cheetah-original/yobo_model/yobotics_description/xacro/robot.xacro | <?xml version="1.0"?>
<robot name="yobotics_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(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-original/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-original/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-original/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-original/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 ${CATKIN_PACKAGE_BIN_DESTINATION}
)
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/MIT_mini-cheetah/mini-cheetah-original/yobo_model/yobotics_teleop/package.xml | <?xml version="1.0"?>
<package>
<name>yobotics_teleop</name>
<version>0.6.2</version>
<description>Generic keyboard teleop for twist robots.</description>
<maintainer email="[email protected]">Juan Miguel Jimeno></maintainer>
<license>BSD</license>
<url type="website"></url>
<author>Graylin Trevor Jay</author>
<author>Juan Miguel Jimeno</author>
<buildtool_depend>catkin</buildtool_depend>
<run_depend>sensor_msgs</run_depend>
<run_depend>geometry_msgs</run_depend>
<run_depend>rospy</run_depend>
</package>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/MIT_mini-cheetah/mini-cheetah-original/yobo_model/yobotics_teleop/README.md | # yobotics_teleop
yobotics Quadruped Robot's teleoperation node. This is a forked version of [teleop_twist_keyboard](https://github.com/ros-teleop/teleop_twist_keyboard/blob/master/teleop_twist_keyboard.py).
The software has been modified to control the robot's whole-body pose (roll, pitch, yaw).
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/MIT_mini-cheetah/mini-cheetah-original/yobo_model/yobotics_teleop/launch/teleop.launch | <launch>
<arg name="joy" default="false"/>
<arg name="dev" default="/dev/input/js0"/>
<node if="$(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/dream_walker-project/urdf.rviz | Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
Splitter Ratio: 0.5
Tree Height: 728
- 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: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
A0_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
A1_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
A2_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
A3_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
A4_Link:
Alpha: 1
Show Axes: false
Show Trail: false
All Links Enabled: true
B0_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
B1_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
B2_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
B3_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
B4_Link:
Alpha: 1
Show Axes: false
Show Trail: false
C0_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
C1_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
C2_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
C3_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
C4_Link:
Alpha: 1
Show Axes: false
Show Trail: false
D0_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
D1_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
D2_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
D3_Link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
D4_Link:
Alpha: 1
Show Axes: false
Show Trail: false
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
dummy:
Alpha: 1
Show Axes: false
Show Trail: false
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: 0.10000000149011612
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 25; 255; 0
Enabled: true
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Lines
Line Width: 0.029999999329447746
Name: Path
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic: ""
Unreliable: false
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: dummy
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: 4.552281856536865
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: -0.24185988306999207
Y: -0.05479062348604202
Z: 0.5061447620391846
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: -0.11460205167531967
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.020382538437843323
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1025
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000015600000363fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000363000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000363fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d00000363000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000003efc0100000002fb0000000800540069006d006501000000000000073d000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004cc0000036300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1853
X: 67
Y: 27
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/dream_walker-project/CMakeLists.txt | cmake_minimum_required(VERSION 2.8.3)
project(dream_walker)
find_package(catkin REQUIRED)
catkin_package()
find_package(roslaunch)
foreach(dir config launch meshes urdf)
install(DIRECTORY ${dir}/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
endforeach(dir)
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/dream_walker-project/package.xml | <package format="2">
<name>dream_walker</name>
<version>1.0.0</version>
<description>
<p>URDF Description package for dream_walker</p>
<p>This package contains configuration data, 3D models and launch files
for dream_walker robot</p>
</description>
<author>SHOMA</author>
<maintainer email="[email protected]" />
<license>BSD</license>
<buildtool_depend>catkin</buildtool_depend>
<depend>roslaunch</depend>
<depend>robot_state_publisher</depend>
<depend>rviz</depend>
<depend>joint_state_publisher</depend>
<depend>gazebo</depend>
<export>
<architecture_independent />
</export>
</package>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/dream_walker-project/README.md | # DreamWalker Project
***Develop a quadruped robot like Spot Mini***
# DEMO
**gazebo**
**Rviz**
# Features
This robot will be developed using a BLDC actuator optimized for a quadruped robot.
Gait control is performed using general kinematics control, and stability is guaranteed by dynamics control.
At this stage, the simulation environment is ready.
# Environment
OS:Ubuntu 18.04.4 LTS
CPU:Intel® Core™ i7-1065G7 CPU @ 1.30GHz × 8
GPU:Intel® Iris(R) Plus Graphics (Ice Lake 8x8 GT2)
ROS:Melodic
# Usage
```bash
source ~/catkin_ws/devel/setup.bash
(source ~/catkin_ws/devel/setup.zsh)
cd ~/catkin_ws/src
git clone https://github.com/Ohaginia/dream_walker.git
cd ~/catkin_ws
catkin_make
roslaunch dream_walker gazebo.launch
roslaunch dream_walker display.launch model:=dream_walker.urdf
```
# Note
**Change Fixed Frame of Global Options from map to dummy. (Default is map)**
# Author
* Shoma Uehara
* TRUST SMITH & COMPANY
* [email protected]
Change Fixed Frame of Global Options from map to dummy.
(Default is map)
# Author
* Shoma Uehara
* TRUST SMITH & COMPANY
* [email protected]
# License
"dream_walker" is under [MIT license](https://en.wikipedia.org/wiki/MIT_License).
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/dream_walker-project/launch/display.launch | <launch>
<arg
name="model" />
<arg
name="gui"
default="False" />
<param
name="robot_description"
textfile="$(find dream_walker)/urdf/dream_walker.urdf" />
<param
name="use_gui"
value="$(arg gui)" />
<node
name="joint_state_publisher"
pkg="joint_state_publisher"
type="joint_state_publisher" />
<node
name="robot_state_publisher"
pkg="robot_state_publisher"
type="robot_state_publisher" />
<node
name="rviz"
pkg="rviz"
type="rviz"
args="-d $(find dream_walker)/urdf.rviz" />
</launch>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/dream_walker-project/launch/gazebo.launch | <launch>
<include
file="$(find gazebo_ros)/launch/empty_world.launch" />
<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="spawn_model"
pkg="gazebo_ros"
type="spawn_model"
args="-file $(find dream_walker)/urdf/dream_walker.urdf -urdf -model dream_walker"
output="screen" />
<node
name="fake_joint_calibration"
pkg="rostopic"
type="rostopic"
args="pub /calibrated std_msgs/Bool true" />
</launch>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/dream_walker-project/config/joint_names_dw_descliption3.yaml | controller_joint_names: ['', 'A1_joint', 'A2_joint', 'A3_joint', 'B1_joint', 'B2_joint', 'B3_joint', 'C1_joint', 'C2_joint', 'C3_joint', 'D1_joint', 'D2_joint', 'D3_joint', ]
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/dream_walker-project/urdf/dream_walker.urdf | <?xml version="1.0" encoding="utf-8"?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner ([email protected])
Commit Version: 1.5.1-0-g916b5db Build Version: 1.5.7152.31018
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot name="dream_walker">
<material name="red">
<color rgba="1.0 0.0 0.0 2.0"/>
</material>
<material name="gray">
<color rgba="0.4 0.4 0.6 2.0"/>
</material>
<material name="light_gray">
<color rgba="0.8 0.8 0.8 2.0"/>
</material>
<link name="dummy">
<inertial>
<!-- <origin xyz="3.183E-14 1.3076E-14 0.55565" rpy="0 0 0" /> -->
<origin xyz="0 0 -0.555" rpy="0 0 0" />
<mass value="1.5634" />
<inertia ixx="0.007438" ixy="1.5146E-18" ixz="3.0063E-16" iyy="0.019355" iyz="6.1156E-17" izz="0.022991" />
</inertial>
</link>
<joint name="dummy_joint" type="fixed">
<parent link="base_link"/>
<child link="dummy"/>
</joint>
<link name="base_link">
<visual>
<origin xyz="0 0 -0.555" rpy="0 0 0" />
<geometry>
<mesh filename="package://dream_walker/meshes/base_link.STL" />
</geometry>
<material name="light_gray"/>
</visual>
<collision>
<origin xyz="0 0 -0.555" rpy="0 0 0" />
<geometry>
<mesh filename="package://dream_walker/meshes/base_link.STL" />
</geometry>
</collision>
</link>
<link name="A0_Link">
<inertial>
<origin xyz="0.0425 0 0" rpy="-1.5708 0 -1.5708" />
<mass value="1.174" />
<inertia ixx="0.00066725" ixy="-4.261E-09" ixz="9.7367E-09" iyy="0.00066813" iyz="-6.9091E-09" izz="0.0012253" />
</inertial>
<visual>
<!-- <origin xyz="0 0 0" rpy="0 0 0" /> -->
<origin xyz="0.0425 0 0" rpy="-1.5708 0 -1.5708" />
<geometry>
<mesh filename="package://dream_walker/meshes/A0_Link.STL" />
</geometry>
<material name="gray"/>
</visual>
<collision>
<origin xyz="0.0425 0 0" rpy="-1.5708 0 -1.5708" />
<geometry>
<mesh filename="package://dream_walker/meshes/A0_Link.STL" />
</geometry>
</collision>
</link>
<joint name="A0_joint" type="fixed">
<!-- <origin xyz="0.3 -0.083 0.55565" rpy="-1.5708 0 -1.5708" /> -->
<!-- <origin xyz="0.3 -0.083 0.55565" rpy="-1.57079632679 0 -1.57079632679" /> -->
<origin xyz="0.3485 -0.083 0" rpy="0 0 0" />
<parent link="base_link" />
<child link="A0_Link" />
</joint>
<link name="A1_Link">
<inertial>
<origin xyz="-0.0825 0 0" rpy="1.5708 -1.64933612679 0" />
<mass value="1.1557" />
<inertia ixx="0.00080796" ixy="7.0307E-06" ixz="9.8387E-09" iyy="0.00089568" iyz="-6.5363E-09" izz="0.0013937" />
</inertial>
<visual>
<!-- <origin xyz="0 0 0" rpy="0 0 0" /> -->
<origin xyz="-0.0825 0 0" rpy="1.5708 -1.64933612679 0" />
<geometry>
<mesh filename="package://dream_walker/meshes/A1_Link.STL" />
</geometry>
<material name="gray"/>
</visual>
<collision>
<origin xyz="-0.0825 0 0" rpy="1.5708 -1.64933612679 0" />
<geometry>
<mesh filename="package://dream_walker/meshes/A1_Link.STL" />
</geometry>
</collision>
</link>
<joint name="A1_joint" type="revolute">
<!-- <origin xyz="0 0 0" rpy="-1.5708 0.07854 -1.5708" /> -->
<origin xyz="0.11 0 0" rpy="0 0 0" />
<parent link="A0_Link" />
<child link="A1_Link" />
<!-- <axis xyz="0.078459 0.99692 0" /> -->
<axis xyz="1 0 0" />
<limit lower="-9.42" upper="9.42" effort="1000" velocity="1000" />
</joint>
<link name="A2_Link">
<inertial>
<origin xyz="0 0.17 0" rpy="1.5708 0 0" />
<mass value="3.0792" />
<inertia ixx="0.0033497" ixy="-3.3234E-08" ixz="-8.4729E-07" iyy="0.0027749" iyz="2.5095E-05" izz="0.0054304" />
</inertial>
<visual>
<origin xyz="0 0.17 0" rpy="1.5708 0 0" />
<geometry>
<mesh filename="package://dream_walker/meshes/A2_Link.STL" />
</geometry>
<material name="red"/>
</visual>
<collision>
<origin xyz="0 0.17 0" rpy="1.5708 0 0" />
<geometry>
<mesh filename="package://dream_walker/meshes/A2_Link.STL" />
</geometry>
</collision>
</link>
<joint name="A2_joint" type="revolute">
<!-- <origin xyz="-0.0065513 -0.083243 0.0315" rpy="0 0 -2.4347" /> -->
<origin xyz="0 -0.203 0" rpy="0 0 0" />
<parent link="A1_Link" />
<child link="A2_Link" />
<axis xyz="0 1 0" />
<limit lower="-9.42" upper="9.42" effort="1000" velocity="1000" />
</joint>
<link name="A3_Link">
<inertial>
<origin xyz="0 0.11 0" rpy="1.5708 0 0" />
<mass value="1.723" />
<inertia ixx="0.0071994" ixy="-1.4133E-11" ixz="1.5336E-09" iyy="0.00075757" iyz="3.5455E-05" izz="0.0075465" />
</inertial>
<visual>
<origin xyz="0 0.11 0" rpy="1.5708 0 0" />
<geometry>
<mesh filename="package://dream_walker/meshes/A3_Link.STL" />
</geometry>
<material name="gray"/>
</visual>
<collision>
<origin xyz="0 0.11 0" rpy="1.5708 0 0" />
<geometry>
<mesh filename="package://dream_walker/meshes/A3_Link.STL" />
</geometry>
</collision>
</link>
<joint name="A3_joint" type="revolute">
<!-- <origin xyz="0 -0.32 0.135" rpy="0 0 1.5708" /> -->
<!-- <origin xyz="0 -0.32 0.135" rpy="0 0 1.57079632679" /> -->
<origin xyz="0 -0.075 -0.32" rpy="0 0 0" />
<parent link="A2_Link" />
<child link="A3_Link" />
<!-- <axis xyz="0 0 1" /> -->
<axis xyz="0 1 0" />
<limit lower="-9.42" upper="9.42" effort="1000" velocity="1000" />
</joint>
<link name="A4_Link"/>
<joint name="A4_joint" type="fixed">
<origin xyz="0 0 -0.44" rpy="0 0 0" />
<parent link="A3_Link" />
<child link="A4_Link" />
</joint>
<link name="B0_Link">
<inertial>
<origin xyz="0.0425 0 0" rpy="-1.5708 0 -1.5708" />
<mass value="1.174" />
<inertia ixx="0.00066725" ixy="-4.261E-09" ixz="9.7367E-09" iyy="0.00066813" iyz="-6.9091E-09" izz="0.0012253" />
</inertial>
<visual>
<origin xyz="0.0425 0 0" rpy="-1.5708 0 -1.5708" />
<geometry>
<mesh filename="package://dream_walker/meshes/B0_Link.STL" />
</geometry>
<material name="gray"/>
</visual>
<collision>
<origin xyz="0.0425 0 0" rpy="-1.5708 0 -1.5708" />
<geometry>
<mesh filename="package://dream_walker/meshes/B0_Link.STL" />
</geometry>
</collision>
</link>
<joint name="B0_joint" type="fixed">
<!-- <origin xyz="0.3 0.083 0.55565" rpy="-1.5708 0 -1.5708" /> -->
<origin xyz="0.3485 0.083 0" rpy="0 0 0" />
<parent link="base_link" />
<child link="B0_Link" />
<axis xyz="0 0 0" />
</joint>
<link name="B1_Link">
<inertial>
<origin xyz="-0.0825 0 0" rpy="-1.5708 1.64933612679 0" />
<mass value="1.1557" />
<inertia ixx="0.00080796" ixy="7.0307E-06" ixz="9.8389E-09" iyy="0.00089568" iyz="-6.5362E-09" izz="0.0013937" />
</inertial>
<visual>
<origin xyz="-0.0825 0 0" rpy="-1.5708 1.64933612679 0" />
<geometry>
<mesh filename="package://dream_walker/meshes/B1_Link.STL" />
</geometry>
<material name="gray"/>
</visual>
<collision>
<origin xyz="-0.0825 0 0" rpy="-1.5708 1.64933612679 0" />
<geometry>
<mesh filename="package://dream_walker/meshes/B1_Link.STL" />
</geometry>
</collision>
</link>
<joint name="B1_joint" type="revolute">
<!-- <origin xyz="0 0 0" rpy="-1.5708 0.07854 1.5708" /> -->
<origin xyz="0.11 0 0" rpy="0 0 0" />
<parent link="B0_Link" />
<child link="B1_Link" />
<!-- <axis xyz="0.078459 0.99692 0" /> -->
<axis xyz="1 0 0" />
<limit lower="-9.42" upper="9.42" effort="1000" velocity="1000" />
</joint>
<link name="B2_Link">
<inertial>
<origin xyz="0 -0.17 0" rpy="-1.5708 3.1416 0" />
<mass value="3.0792" />
<inertia ixx="0.0033497" ixy="-3.3234E-08" ixz="-8.4729E-07" iyy="0.0027749" iyz="2.5095E-05" izz="0.0054304" />
</inertial>
<visual>
<origin xyz="0 -0.17 0" rpy="-1.5708 3.1416 0" />
<geometry>
<mesh filename="package://dream_walker/meshes/B2_Link.STL" />
</geometry>
<material name="red"/>
</visual>
<collision>
<origin xyz="0 -0.17 0" rpy="-1.5708 3.1416 0" />
<geometry>
<mesh filename="package://dream_walker/meshes/B2_Link.STL" />
</geometry>
</collision>
</link>
<joint name="B2_joint" type="revolute">
<origin xyz="0 0.203 0" rpy="0 0 0" />
<parent link="B1_Link" />
<child link="B2_Link" />
<axis xyz="0 1 0" />
<limit lower="-9.42" upper="9.42" effort="1000" velocity="1000" />
</joint>
<link name="B3_Link">
<inertial>
<origin xyz="0 -0.11 0" rpy="-1.5708 3.1416 0" />
<mass value="1.723" />
<inertia ixx="0.0071994" ixy="-1.4133E-11" ixz="1.5336E-09" iyy="0.00075757" iyz="3.5455E-05" izz="0.0075465" />
</inertial>
<visual>
<origin xyz="0 -0.11 0" rpy="-1.5708 3.1416 0" />
<geometry>
<mesh filename="package://dream_walker/meshes/B3_Link.STL" />
</geometry>
<material name="gray"/>
</visual>
<collision>
<origin xyz="0 -0.11 0" rpy="-1.5708 3.1416 0" />
<geometry>
<mesh filename="package://dream_walker/meshes/B3_Link.STL" />
</geometry>
</collision>
</link>
<joint name="B3_joint" type="revolute">
<!-- <origin xyz="0 -0.32 0.135" rpy="0 0 -1.5708" /> -->
<origin xyz="0 0.075 -0.32" rpy="0 0 0" />
<parent link="B2_Link" />
<child link="B3_Link" />
<axis xyz="0 1 0" />
<limit lower="-9.42" upper="9.42" effort="1000" velocity="1000" />
</joint>
<link name="B4_Link"/>
<joint name="B4_joint" type="fixed">
<origin xyz="0 0 -0.44" rpy="0 0 0" />
<parent link="B3_Link" />
<child link="B4_Link" />
</joint>
<link name="C0_Link">
<inertial>
<origin xyz="-0.0425 0 0" rpy="-1.5708 0 1.5708" />
<mass value="1.174" />
<inertia ixx="0.00066725" ixy="-4.2609E-09" ixz="9.7367E-09" iyy="0.00066813" iyz="-6.9091E-09" izz="0.0012253" />
</inertial>
<visual>
<origin xyz="-0.0425 0 0" rpy="-1.5708 0 1.5708" />
<geometry>
<mesh filename="package://dream_walker/meshes/C0_Link.STL" />
</geometry>
<material name="gray"/>
</visual>
<collision>
<origin xyz="-0.0425 0 0" rpy="-1.5708 0 1.5708" />
<geometry>
<mesh filename="package://dream_walker/meshes/C0_Link.STL" />
</geometry>
</collision>
</link>
<joint name="C0_joint" type="fixed">
<!-- <origin xyz="-0.3 -0.083 0.55565" rpy="1.5708 0 -1.5708" /> -->
<origin xyz="-0.3485 -0.083 0" rpy="0 0 0" />
<parent link="base_link" />
<child link="C0_Link" />
<axis xyz="0 0 0" />
</joint>
<link name="C1_Link">
<inertial>
<origin xyz="0.0825 0 0" rpy="1.5708 1.4837044 0" />
<mass value="1.1557" />
<inertia ixx="0.00080796" ixy="7.0307E-06" ixz="9.8389E-09" iyy="0.00089568" iyz="-6.5363E-09" izz="0.0013937" />
</inertial>
<visual>
<origin xyz="0.0825 0 0" rpy="1.5708 1.4837044 0" />
<geometry>
<mesh filename="package://dream_walker/meshes/C1_Link.STL" />
</geometry>
<material name="gray"/>
</visual>
<collision>
<origin xyz="0.0825 0 0" rpy="1.5708 1.4837044 0" />
<geometry>
<mesh filename="package://dream_walker/meshes/C1_Link.STL" />
</geometry>
</collision>
</link>
<joint name="C1_joint" type="revolute">
<!-- <origin xyz="0 0 0" rpy="-1.5708 0.07854 -1.5708" /> -->
<origin xyz="-0.11 0 0" rpy="0 0 0" />
<parent link="C0_Link" />
<child link="C1_Link" />
<!-- <axis xyz="0.078459 0.99692 0" /> -->
<axis xyz="1 0 0" />
<limit lower="-9.42" upper="9.42" effort="1000" velocity="1000" />
</joint>
<link name="C2_Link">
<inertial>
<origin xyz="0 0.17 0" rpy="1.5708 0 0" />
<mass value="3.0792" />
<inertia ixx="0.0033497" ixy="-3.3234E-08" ixz="-8.4729E-07" iyy="0.0027749" iyz="2.5095E-05" izz="0.0054304" />
</inertial>
<visual>
<origin xyz="0 0.17 0" rpy="1.5708 0 0" />
<geometry>
<mesh filename="package://dream_walker/meshes/C2_Link.STL" />
</geometry>
<material name="red"/>
</visual>
<collision>
<origin xyz="0 0.17 0" rpy="1.5708 0 0" />
<geometry>
<mesh filename="package://dream_walker/meshes/C2_Link.STL" />
</geometry>
</collision>
</link>
<joint name="C2_joint" type="revolute">
<origin xyz="0 -0.203 0" rpy="0 0 0" />
<parent link="C1_Link" />
<child link="C2_Link" />
<axis xyz="0 1 0" />
<limit lower="-9.42" upper="9.42" effort="1000" velocity="1000" />
</joint>
<link name="C3_Link">
<inertial>
<origin xyz="0 0.11 0" rpy="1.5708 0 0" />
<mass value="1.723" />
<inertia ixx="0.0071994" ixy="-1.4133E-11" ixz="1.5336E-09" iyy="0.00075757" iyz="3.5455E-05" izz="0.0075465" />
</inertial>
<visual>
<origin xyz="0 0.11 0" rpy="1.5708 0 0" />
<geometry>
<mesh filename="package://dream_walker/meshes/C3_Link.STL" />
</geometry>
<material name="gray"/>
</visual>
<collision>
<origin xyz="0 0.11 0" rpy="1.5708 0 0" />
<geometry>
<mesh filename="package://dream_walker/meshes/C3_Link.STL" />
</geometry>
</collision>
</link>
<joint name="C3_joint" type="revolute">
<!-- <origin xyz="0 -0.32 0.135" rpy="0 0 1.5708" /> -->
<origin xyz="0 -0.075 -0.32" rpy="0 0 0" />
<parent link="C2_Link" />
<child link="C3_Link" />
<axis xyz="0 1 0" />
<limit lower="-9.42" upper="9.42" effort="1000" velocity="1000" />
</joint>
<link name="C4_Link"/>
<joint name="C4_joint" type="fixed">
<origin xyz="0 0 -0.44" rpy="0 0 0" />
<parent link="C3_Link" />
<child link="C4_Link" />
</joint>
<link name="D0_Link">
<inertial>
<origin xyz="-0.0425 0 0" rpy="-1.5708 0 1.5708" />
<mass value="1.174" />
<inertia ixx="0.00066725" ixy="-4.261E-09" ixz="9.7367E-09" iyy="0.00066813" iyz="-6.9091E-09" izz="0.0012253" />
</inertial>
<visual>
<origin xyz="-0.0425 0 0" rpy="-1.5708 0 1.5708" />
<geometry>
<mesh filename="package://dream_walker/meshes/D0_Link.STL" />
</geometry>
<material name="gray"/>
</visual>
<collision>
<origin xyz="-0.0425 0 0" rpy="-1.5708 0 1.5708" />
<geometry>
<mesh filename="package://dream_walker/meshes/D0_Link.STL" />
</geometry>
</collision>
</link>
<joint name="D0_joint" type="fixed">
<!-- <origin xyz="-0.3 0.083 0.55565" rpy="1.5708 0 -1.5708" /> -->
<origin xyz="-0.3485 0.083 0" rpy="0 0 0" />
<parent link="base_link" />
<child link="D0_Link" />
<axis xyz="0 0 0" />
</joint>
<link name="D1_Link">
<inertial>
<origin xyz="0.0825 0 0" rpy="-1.5708 -1.483704 0" />
<mass value="1.1557" />
<inertia ixx="0.00080796" ixy="7.0307E-06" ixz="9.8387E-09" iyy="0.00089568" iyz="-6.5363E-09" izz="0.0013937" />
</inertial>
<visual>
<origin xyz="0.0825 0 0" rpy="-1.5708 -1.483704 0" />
<geometry>
<mesh filename="package://dream_walker/meshes/D1_Link.STL" />
</geometry>
<material name="gray"/>
</visual>
<collision>
<origin xyz="-0.0825 0 0" rpy="-1.5708 1.483704 0" />
<geometry>
<mesh filename="package://dream_walker/meshes/D1_Link.STL" />
</geometry>
</collision>
</link>
<joint name="D1_joint" type="revolute">
<!-- <origin xyz="0 0 0" rpy="-1.5708 0.07854 1.5708" /> -->
<origin xyz="-0.11 0 0" rpy="0 0 0" />
<parent link="D0_Link" />
<child link="D1_Link" />
<!-- <axis xyz="0.078459 0.99692 0" /> -->
<axis xyz="1 0 0" />
<limit lower="-9.42" upper="9.42" effort="1000" velocity="1000" />
</joint>
<link name="D2_Link">
<inertial>
<origin xyz="0 -0.17 0" rpy="-1.5708 3.1416 0" />
<mass value="3.0792" />
<inertia ixx="0.0033497" ixy="-3.3234E-08" ixz="-8.4729E-07" iyy="0.0027749" iyz="2.5095E-05" izz="0.0054304" />
</inertial>
<visual>
<origin xyz="0 -0.17 0" rpy="-1.5708 3.1416 0" />
<geometry>
<mesh filename="package://dream_walker/meshes/D2_Link.STL" />
</geometry>
<material name="red"/>
</visual>
<collision>
<origin xyz="0 -0.17 0" rpy="-1.5708 3.1416 0" />
<geometry>
<mesh filename="package://dream_walker/meshes/D2_Link.STL" />
</geometry>
</collision>
</link>
<joint name="D2_joint" type="revolute">
<origin xyz="0 0.203 0" rpy="0 0 0" />
<parent link="D1_Link" />
<child link="D2_Link" />
<axis xyz="0 1 0" />
<limit lower="-9.42" upper="9.42" effort="1000" velocity="1000" />
</joint>
<link name="D3_Link">
<inertial>
<origin xyz="0 -0.11 0" rpy="-1.5708 3.1416 0" />
<mass value="1.723" />
<inertia ixx="0.0071994" ixy="-1.4133E-11" ixz="1.5338E-09" iyy="0.00075757" iyz="3.5455E-05" izz="0.0075465" />
</inertial>
<visual>
<origin xyz="0 -0.11 0" rpy="-1.5708 3.1416 0" />
<geometry>
<mesh filename="package://dream_walker/meshes/D3_Link.STL" />
</geometry>
<material name="gray"/>
</visual>
<collision>
<origin xyz="0 -0.11 0" rpy="-1.5708 3.1416 0" />
<geometry>
<mesh filename="package://dream_walker/meshes/D3_Link.STL" />
</geometry>
</collision>
</link>
<joint name="D3_joint" type="revolute">
<!-- <origin xyz="0 -0.32 0.135" rpy="0 0 -1.5708" /> -->
<origin xyz="0 0.075 -0.32" rpy="0 0 0" />
<parent link="D2_Link" />
<child link="D3_Link" />
<axis xyz="0 1 0" />
<limit lower="-9.42" upper="9.42" effort="1000" velocity="1000" />
</joint>
<link name="D4_Link"/>
<joint name="D4_joint" type="fixed">
<origin xyz="0 0 -0.44" rpy="0 0 0" />
<parent link="D3_Link" />
<child link="D4_Link" />
</joint>
<gazebo reference="base_link">
<material>Gazebo/Gray</material>
</gazebo>
<gazebo reference="A0_Link">
<material>Gazebo/Gray</material>
</gazebo>
<gazebo reference="A1_Link">
<material>Gazebo/FratBlack</material>
</gazebo>
<gazebo reference="A2_Link">
<material>Gazebo/Red</material>
</gazebo>
<gazebo reference="A3_Link">
<material>Gazebo/Gray</material>
</gazebo>
<gazebo reference="A4_Link">
<material>Gazebo/DarkGray</material>
</gazebo>
<gazebo reference="B0_Link">
<material>Gazebo/Gray</material>
</gazebo>
<gazebo reference="B1_Link">
<material>Gazebo/FratBlack</material>
</gazebo>
<gazebo reference="B2_Link">
<material>Gazebo/Red</material>
</gazebo>
<gazebo reference="B3_Link">
<material>Gazebo/Gray</material>
</gazebo>
<gazebo reference="B4_Link">
<material>Gazebo/DarkGray</material>
</gazebo>
<gazebo reference="C0_Link">
<material>Gazebo/Gray</material>
</gazebo>
<gazebo reference="C1_Link">
<material>Gazebo/FratBlack</material>
</gazebo>
<gazebo reference="C2_Link">
<material>Gazebo/Red</material>
</gazebo>
<gazebo reference="C3_Link">
<material>Gazebo/Gray</material>
</gazebo>
<gazebo reference="C4_Link">
<material>Gazebo/DarkGray</material>
</gazebo>
<gazebo reference="D0_Link">
<material>Gazebo/Gray</material>
</gazebo>
<gazebo reference="D1_Link">
<material>Gazebo/FratBlack</material>
</gazebo>
<gazebo reference="D2_Link">
<material>Gazebo/Red</material>
</gazebo>
<gazebo reference="D3_Link">
<material>Gazebo/Gray</material>
</gazebo>
<gazebo reference="D4_Link">
<material>Gazebo/DarkGray</material>
</gazebo>
<gazebo reference="A4_Link">
<kp>1000000.0</kp>
<kd>1.0</kd>
<mu1>0.8</mu1>
<mu2>0.8</mu2>
<maxVel>0.0</maxVel>
<minDepth>0.001</minDepth>
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="B4_Link">
<kp>1000000.0</kp>
<kd>1.0</kd>
<mu1>0.8</mu1>
<mu2>0.8</mu2>
<maxVel>0.0</maxVel>
<minDepth>0.001</minDepth>
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="C4_Link">
<kp>1000000.0</kp>
<kd>1.0</kd>
<mu1>0.8</mu1>
<mu2>0.8</mu2>
<maxVel>0.0</maxVel>
<minDepth>0.001</minDepth>
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="D4_Link">
<kp>1000000.0</kp>
<kd>1.0</kd>
<mu1>0.8</mu1>
<mu2>0.8</mu2>
<maxVel>0.0</maxVel>
<minDepth>0.001</minDepth>
<material>Gazebo/FlatBlack</material>
</gazebo>
<transmission name="A1_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="A1_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="A1_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="A2_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="A2_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="A2_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="A3_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="A3_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="A3_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="B1_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="B1_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="B1_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="B2_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="B2_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="B2_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="B3_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="B3_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="B3_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="C1_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="C1_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="C1_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="C2_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="C2_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="C2_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="C3_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="C3_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="C3_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="D1_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="D1_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="D1_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="D2_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="D2_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="D2_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="D3_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="D3_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="D3_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<gazebo>
<plugin filename="libgazebo_ros_p3d.so" name="p3d_base_controller">
<alwaysOn>true</alwaysOn>
<updateRate>25.0</updateRate>
<bodyName>base_link</bodyName>
<topicName>odom/ground_truth</topicName>
<gaussianNoise>0.01</gaussianNoise>
<frameName>world</frameName>
<xyzOffsets>0 0 0</xyzOffsets>
<rpyOffsets>0 0 0</rpyOffsets>
</plugin>
</gazebo>
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<robotNamespace>/champ</robotNamespace>
<legacyModeNS>true</legacyModeNS>
</plugin>
</gazebo>
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/dream_walker-project/urdf/dream_walker.csv | Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity
base_link,3.183E-14,1.3076E-14,0.55565,0,0,0,1.5634,0.007438,1.5146E-18,3.0063E-16,0.019355,6.1156E-17,0.022991,0,0,0,0,0,0,package://dw_descliption3/meshes/base_link.STL,0.75294,0.75294,0.75294,1,0,0,0,0,0,0,package://dw_descliption3/meshes/base_link.STL,,Body_comp-1,座標系1,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
A0_Link,-3.0966E-05,1.5445E-05,-0.027804,0,0,0,1.174,0.00066725,-4.261E-09,9.7367E-09,0.00066813,-6.9091E-09,0.0012253,0,0,0,0,0,0,package://dw_descliption3/meshes/A0_Link.STL,1,1,1,1,0,0,0,0,0,0,package://dw_descliption3/meshes/A0_Link.STL,,First_Joint-3,Origin_A0_joint,,A0_joint,fixed,0.3,-0.083,0.55565,-1.5708,0,-1.5708,base_link,0,0,0,,,,,,,,,,,,
A1_Link,-0.006102,-0.076629,0.007671,0,0,0,1.1557,0.00080796,7.0307E-06,9.8387E-09,0.00089568,-6.5363E-09,0.0013937,0,0,0,0,0,0,package://dw_descliption3/meshes/A1_Link.STL,0.75294,0.75294,0.75294,1,0,0,0,0,0,0,package://dw_descliption3/meshes/A1_Link.STL,,Second_Foot-4,Origin_A1_joint,Axis_A1_joint,A1_joint,revolute,0,0,0,-1.5708,0.07854,-1.5708,A0_Link,0.078459,0.99692,0,1000,1000,-1.5075,1.5075,,,10,10,,,,
A2_Link,-1.215E-05,-0.11553,0.14008,0,0,0,3.0792,0.0033497,-3.3234E-08,-8.4729E-07,0.0027749,2.5095E-05,0.0054304,0,0,0,0,0,0,package://dw_descliption3/meshes/A2_Link.STL,0.75294,0.75294,0.75294,1,0,0,0,0,0,0,package://dw_descliption3/meshes/A2_Link.STL,,Third_Foot-2,Origin_A2_joint,Axis_A2_joint,A2_joint,revolute,-0.0065513,-0.083243,0.0315,0,0,-2.4347,A1_Link,0,0,1,1000,1000,-1.5075,1.5075,,,10,10,,,,
A3_Link,-3.0691E-08,-0.19011,0.10587,0,0,0,1.723,0.0071994,-1.4133E-11,1.5336E-09,0.00075757,3.5455E-05,0.0075465,0,0,0,0,0,0,package://dw_descliption3/meshes/A3_Link.STL,0.75294,0.75294,0.75294,1,0,0,0,0,0,0,package://dw_descliption3/meshes/A3_Link.STL,,Fourth_Foot-1,Origin_A3_joint,Axis_A3_joint,A3_joint,revolute,0,-0.32,0.135,0,0,1.5708,A2_Link,0,0,1,1000,1000,-1.5075,1.5075,,,10,10,,,,
B0_Link,-3.0966E-05,1.5445E-05,-0.027804,0,0,0,1.174,0.00066725,-4.261E-09,9.7367E-09,0.00066813,-6.9091E-09,0.0012253,0,0,0,0,0,0,package://dw_descliption3/meshes/B0_Link.STL,1,1,1,1,0,0,0,0,0,0,package://dw_descliption3/meshes/B0_Link.STL,,First_Joint-4,Origin_B0_joint,,B0_joint,fixed,0.3,0.083,0.55565,-1.5708,0,-1.5708,base_link,0,0,0,,,,,,,,,,,,
B1_Link,-0.006102,-0.076629,0.007671,0,0,0,1.1557,0.00080796,7.0307E-06,9.8389E-09,0.00089568,-6.5362E-09,0.0013937,0,0,0,0,0,0,package://dw_descliption3/meshes/B1_Link.STL,0.75294,0.75294,0.75294,1,0,0,0,0,0,0,package://dw_descliption3/meshes/B1_Link.STL,,Second_Foot-2,Origin_B1_joint,Axis_B1_joint,B1_joint,revolute,0,0,0,-1.5708,0.07854,1.5708,B0_Link,0.078459,0.99692,0,1000,1000,-1.5075,1.5075,,,10,10,,,,
B2_Link,-1.215E-05,-0.11553,0.14008,0,0,0,3.0792,0.0033497,-3.3234E-08,-8.4729E-07,0.0027749,2.5095E-05,0.0054304,0,0,0,0,0,0,package://dw_descliption3/meshes/B2_Link.STL,0.75294,0.75294,0.75294,1,0,0,0,0,0,0,package://dw_descliption3/meshes/B2_Link.STL,,Third_Foot-4,Origin_B2_joint,Axis_B2_joint,B2_joint,revolute,-0.0065513,-0.083243,0.0315,0,0,2.2777,B1_Link,0,0,1,1000,1000,-1.5075,1.5075,,,10,10,,,,
B3_Link,-3.0691E-08,-0.19011,0.10587,0,0,0,1.723,0.0071994,-1.4133E-11,1.5336E-09,0.00075757,3.5455E-05,0.0075465,0,0,0,0,0,0,package://dw_descliption3/meshes/B3_Link.STL,0.75294,0.75294,0.75294,1,0,0,0,0,0,0,package://dw_descliption3/meshes/B3_Link.STL,,Fourth_Foot-2,Origin_B3_joint,Axis_B3_joint,B3_joint,revolute,0,-0.32,0.135,0,0,-1.5708,B2_Link,0,0,1,1000,1000,-1.5075,1.5075,,,10,10,,,,
C0_Link,-3.0966E-05,1.5445E-05,-0.027804,0,0,0,1.174,0.00066725,-4.2609E-09,9.7367E-09,0.00066813,-6.9091E-09,0.0012253,0,0,0,0,0,0,package://dw_descliption3/meshes/C0_Link.STL,1,1,1,1,0,0,0,0,0,0,package://dw_descliption3/meshes/C0_Link.STL,,First_Joint-2,Origin_C0_joint,,C0_joint,fixed,-0.3,-0.083,0.55565,1.5708,0,-1.5708,base_link,0,0,0,,,,,,,,,,,,
C1_Link,-0.006102,-0.076629,0.007671,0,0,0,1.1557,0.00080796,7.0307E-06,9.8389E-09,0.00089568,-6.5363E-09,0.0013937,0,0,0,0,0,0,package://dw_descliption3/meshes/C1_Link.STL,0.75294,0.75294,0.75294,1,0,0,0,0,0,0,package://dw_descliption3/meshes/C1_Link.STL,,Second_Foot-3,Origin_C1_joint,Axis_C1_joint,C1_joint,revolute,0,0,0,-1.5708,0.07854,-1.5708,C0_Link,0.078459,0.99692,0,1000,1000,-1.5075,1.5075,,,10,10,,,,
C2_Link,-1.215E-05,-0.11553,0.14008,0,0,0,3.0792,0.0033497,-3.3234E-08,-8.4729E-07,0.0027749,2.5095E-05,0.0054304,0,0,0,0,0,0,package://dw_descliption3/meshes/C2_Link.STL,0.75294,0.75294,0.75294,1,0,0,0,0,0,0,package://dw_descliption3/meshes/C2_Link.STL,,Third_Foot-1,Origin_C2_joint,Axis_C2_joint,C2_joint,revolute,-0.0065513,-0.083243,0.0315,0,0,0.70686,C1_Link,0,0,1,1000,1000,-1.5075,1.5075,,,10,10,,,,
C3_Link,-3.0691E-08,-0.19011,0.10587,0,0,0,1.723,0.0071994,-1.4133E-11,1.5336E-09,0.00075757,3.5455E-05,0.0075465,0,0,0,0,0,0,package://dw_descliption3/meshes/C3_Link.STL,0.75294,0.75294,0.75294,1,0,0,0,0,0,0,package://dw_descliption3/meshes/C3_Link.STL,,Fourth_Foot-4,Origin_C3_joint,Axis_C3_joint,C3_joint,revolute,0,-0.32,0.135,0,0,1.5708,C2_Link,0,0,1,1000,1000,-1.5075,1.5075,,,10,10,,,,
D0_Link,-3.0966E-05,1.5445E-05,-0.027804,0,0,0,1.174,0.00066725,-4.261E-09,9.7367E-09,0.00066813,-6.9091E-09,0.0012253,0,0,0,0,0,0,package://dw_descliption3/meshes/D0_Link.STL,1,1,1,1,0,0,0,0,0,0,package://dw_descliption3/meshes/D0_Link.STL,,First_Joint-1,Origin_D0_joint,,D0_joint,fixed,-0.3,0.083,0.55565,1.5708,0,-1.5708,base_link,0,0,0,,,,,,,,,,,,
D1_Link,-0.006102,-0.076629,0.007671,0,0,0,1.1557,0.00080796,7.0307E-06,9.8387E-09,0.00089568,-6.5363E-09,0.0013937,0,0,0,0,0,0,package://dw_descliption3/meshes/D1_Link.STL,0.75294,0.75294,0.75294,1,0,0,0,0,0,0,package://dw_descliption3/meshes/D1_Link.STL,,Second_Foot-1,Origin_D1_joint,Axis_D1_joint,D1_joint,revolute,0,0,0,-1.5708,0.07854,1.5708,D0_Link,0.078459,0.99692,0,1000,1000,-1.5075,1.5075,,,10,10,,,,
D2_Link,-1.215E-05,-0.11553,0.14008,0,0,0,3.0792,0.0033497,-3.3234E-08,-8.4729E-07,0.0027749,2.5095E-05,0.0054304,0,0,0,0,0,0,package://dw_descliption3/meshes/D2_Link.STL,0.75294,0.75294,0.75294,1,0,0,0,0,0,0,package://dw_descliption3/meshes/D2_Link.STL,,Third_Foot-3,Origin_D2_joint,Axis_D2_joint,D2_joint,revolute,-0.0065513,-0.083243,0.0315,0,0,-0.86394,D1_Link,0,0,1,1000,1000,-1.5075,1.5075,,,10,10,,,,
D3_Link,-3.0691E-08,-0.19011,0.10587,0,0,0,1.723,0.0071994,-1.4133E-11,1.5338E-09,0.00075757,3.5455E-05,0.0075465,0,0,0,0,0,0,package://dw_descliption3/meshes/D3_Link.STL,0.75294,0.75294,0.75294,1,0,0,0,0,0,0,package://dw_descliption3/meshes/D3_Link.STL,,Fourth_Foot-3,Origin_D3_joint,Axis_D3_joint,D3_joint,revolute,0,-0.32,0.135,0,0,-1.5708,D2_Link,0,0,1,1000,1000,-1.5075,1.5075,,,10,10,,,,
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/README.md | Has robots from Ghost Robotics:
vision60
spirit
minitaur |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/README.md | # kodlab_gazebo
ROS package for the simulation of robotic platforms using Gazebo
Maintainer: Vasileios Vasilopoulos (<[email protected]>)
## General notes
1. This ROS package can be used in conjunction with the Ghost Robotics SDK artifacts, which are independently distributed by Ghost Robotics.
2. At this point, there is no open source Vision60 control example in the SDK, but once released the following procedure should be identical. For now, you can just launch the Vision60 simulation as explained below.
3. The simulation depends a lot on friction parameters. These parameters can be configured in the URDF xacro files ([minitaur_gazebo.urdf.xacro](minitaur_description/urdf/minitaur_gazebo.urdf.xacro), [vision60_gazebo.urdf.xacro](vision60_description/urdf/vision60_gazebo.urdf.xacro) and [spirit_gazebo.urdf.xacro](spirit_description/urdf/spirit_gazebo.urdf.xacro)).
## Running the simulation
1. For the package to work properly, make sure you have installed the following packages:
```
$ sudo apt-get install ros-melodic-controller-manager ros-melodic-joint-state-controller ros-melodic-gazebo-ros-pkgs ros-melodic-gazebo-ros-control ros-melodic-effort-controllers python-catkin-tools
```
2. For some illustrations, we also use the package [3DGEMS](http://data.nvision2.eecs.yorku.ca/3DGEMS/). Download all the subfolders mentioned on the package website and put them in a separate folder.
3. Copy the package to your ROS workspace folder
```
$ cp -r <artifacts_location>/thirdparty/kodlab_gazebo <catkin_ws_location>/src
```
4. The following line needs to be added in `~/.bashrc` to allow for proper Gazebo model detection
```
export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:<catkin_ws_location>/src/kodlab_gazebo/minitaur_description/sdf:<catkin_ws_location>/src/kodlab_gazebo/minitaur_description:<catkin_ws_location>/src/kodlab_gazebo/vision60_description:<catkin_ws_location>/src/kodlab_gazebo/spirit_description
```
5. Also, the following line needs to be added in `~/.bashrc` to allow for proper use of [3DGEMS](http://data.nvision2.eecs.yorku.ca/3DGEMS/)
```
export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:<3dgems_models_location>/decoration:<3dgems_models_location>/earthquake:<3dgems_models_location>/electronics:<3dgems_models_location>/food:<3dgems_models_location>/furniture:<3dgems_models_location>/kitchen:<3dgems_models_location>/miscellaneous:<3dgems_models_location>/shapes:<3dgems_models_location>/stationery:<3dgems_models_location>/tools
```
6. Configure [ghost.world](gazebo_scripts/worlds/ghost.world) (or any other [world](gazebo_scripts/worlds) file) to include anything you want to show up in your simulation. In this file, you can also configure `max_step_size` and `real_time_update_rate` for the simulation. Usually a `max_step_size` of 0.0005 works for Minitaur. Vision needs a smaller value for contact forces (0.00005 should be enough). Currently, `real_time_update_rate` is configured to 2000Hz.
7. Build all the packages
```
$ cd <catkin_ws_location>
$ catkin build
```
8. To launch the simulation, build the package and run:
```
$ roslaunch gazebo_scripts minitaur_gazebo.launch
```
for standalone Minitaur, or
```
$ roslaunch gazebo_scripts minitaur_sensor_gazebo.launch
```
for Minitaur equipped with a sensor head, or
```
$ roslaunch gazebo_scripts vision60_gazebo.launch
```
for Vision60, or
```
$ roslaunch gazebo_scripts spirit_gazebo.launch
```
for Spirit.
9. (Optional) If you want to control the robot using the Ghost SDK, compile and run the corresponding Ghost Robotics SDK script. For this, please use the [Makefile example](extras/Makefile) provided here (the format might change in the future). The simulation exposes 3 ROS topics for control: `/behaviorId`, `/behaviorMode` and `/twist`, and several others for checking the robot state: `/<robot_name>/state/imu`, `/<robot_name>/state/batteryState`, `/<robot_name>/state/behaviorId`, `/<robot_name>/state/behaviorMode`, `/<robot_name>/state/joint`, `/<robot_name>/state/pose`. As an example following the Ghost Robotics SDK FirstHop example for Minitaur, the overall process should look like that:
```
$ mv <artifacts_location>/examples/FirstHop/Makefile <artifacts_location>/examples/FirstHop/Makefile.bk
$ cp <artifacts_location>/thirdparty/kodlab_gazebo/extras/Makefile <artifacts_location>/examples/FirstHop/Makefile
$ cd <artifacts_location>/examples/FirstHop
$ make
$ ./FirstHop_MINITAUR_E
```
## Converting Minitaur's URDF to SDF
The most important requirement to setup the simulation is to properly convert the Minitaur's URDF file to an SDF file. We have a URDF xacro file ([minitaur_gazebo.urdf.xacro](minitaur_description/urdf/minitaur_gazebo.urdf.xacro)) in the [urdf folder](minitaur_description/urdf) and properly converted URDF and SDF files (see [minitaur_constrained.sdf](minitaur_description/sdf/minitaur_constrained/minitaur_constrained.sdf)). If you need to modify any of the above, please run the following commands to convert the xacro file to URDF
```bash
$ python xacro.py minitaur_gazebo.urdf.xacro > minitaur_gazebo.urdf
```
and subsequently to SDF using
```bash
$ gz sdf -p minitaur_gazebo.urdf > minitaur_gazebo.sdf
```
However, you also need to do the following after the conversion:
1. Make sure to add the lines below to the end of the SDF file (before the model termination). These lines realize the 5-bar mechanism constraint for each leg (hence the name `constrained`).
```
<joint name='constraint_back_left' type='revolute'>
<parent>lower_leg_back_leftL_link</parent>
<child>lower_leg_back_leftR_link</child>
<pose frame=''>0 0 0.19 0 -0 0</pose>
<axis>
<xyz>0 1 0</xyz>
<use_parent_model_frame>0</use_parent_model_frame>
<limit>
<lower>-1.79769e+308</lower>
<upper>1.79769e+308</upper>
<effort>-1</effort>
<velocity>-1</velocity>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
<damping>0</damping>
</dynamics>
</axis>
<physics>
<ode>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
<suspension>
<cfm>0</cfm>
<erp>0.2</erp>
</suspension>
</ode>
</physics>
</joint>
<joint name='constraint_back_right' type='revolute'>
<parent>lower_leg_back_rightR_link</parent>
<child>lower_leg_back_rightL_link</child>
<pose frame=''>0 0 0.19 0 -0 0</pose>
<axis>
<xyz>-0 -1 -0</xyz>
<use_parent_model_frame>0</use_parent_model_frame>
<limit>
<lower>-1.79769e+308</lower>
<upper>1.79769e+308</upper>
<effort>-1</effort>
<velocity>-1</velocity>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
<damping>0</damping>
</dynamics>
</axis>
<physics>
<ode>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
<suspension>
<cfm>0</cfm>
<erp>0.2</erp>
</suspension>
</ode>
</physics>
</joint>
<joint name='constraint_front_left' type='revolute'>
<parent>lower_leg_front_leftL_link</parent>
<child>lower_leg_front_leftR_link</child>
<pose frame=''>0 0 0.19 0 -0 0</pose>
<axis>
<xyz>0 1 0</xyz>
<use_parent_model_frame>0</use_parent_model_frame>
<limit>
<lower>-1.79769e+308</lower>
<upper>1.79769e+308</upper>
<effort>-1</effort>
<velocity>-1</velocity>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
<damping>0</damping>
</dynamics>
</axis>
<physics>
<ode>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
<suspension>
<cfm>0</cfm>
<erp>0.2</erp>
</suspension>
</ode>
</physics>
</joint>
<joint name='constraint_front_right' type='revolute'>
<parent>lower_leg_front_rightR_link</parent>
<child>lower_leg_front_rightL_link</child>
<pose frame=''>0 0 0.19 0 -0 0</pose>
<axis>
<xyz>-0 -1 -0</xyz>
<use_parent_model_frame>0</use_parent_model_frame>
<limit>
<lower>-1.79769e+308</lower>
<upper>1.79769e+308</upper>
<effort>-1</effort>
<velocity>-1</velocity>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
<damping>0</damping>
</dynamics>
</axis>
<physics>
<ode>
<limit>
<cfm>0</cfm>
<erp>0.2</erp>
</limit>
<suspension>
<cfm>0</cfm>
<erp>0.2</erp>
</suspension>
</ode>
</physics>
</joint>
```
2. For each leg, rename all the toe collision descriptions to match the corresponding toe (e.g., for the front left leg, rename `lower_leg_front_leftL_link_fixed_joint_lump__toe0_collision_1` to `toe0_collision`), and also add the following lines immediately below this collision tag (change `0` to match each toe):
```
<sensor name="toe0_contact" type="contact">
<plugin name="toe0_plugin" filename="libcontact.so"/>
<contact>
<collision>toe0_collision</collision>
</contact>
</sensor>
```
3. To help Minitaur with turning, you need to make joints '8', '9', '10', '11', '12', '13', '14' and '15' universal, to match the following format example. Make sure that the sign of 1 in `<xyz>` for both axes is positive for joints '9', '11', '13' and '15' (and with limits -2.091 and 1.049) and negative for '8', '10', '12' and '14' (and with limits -1.049 and 2.091).
```
<joint name='9' type='universal'>
<child>lower_leg_front_leftR_link</child>
<parent>motor_front_leftR_link</parent>
<axis>
<xyz>-0 1 -0</xyz>
<limit>
<lower>-2.091</lower>
<upper>1.049</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
<axis2>
<xyz>1 0 0</xyz>
<limit>
<lower>-0.02</lower>
<upper>0.02</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis2>
</joint>
```
4. Make sure to move the SDF file to the [minitaur_constrained folder](minitaur_description/sdf/minitaur_constrained) and rename it from `minitaur_gazebo.sdf` to `minitaur_constrained.sdf`.
5. Rename the model name in [minitaur_constrained.sdf](minitaur_description/sdf/minitaur_constrained/minitaur_constrained.sdf) to `minitaur_constrained`. Do the same thing for the namespace in `libgazebo_ros_control.so`.
## Minitaur with sensor head
We have included an SDF file describing Minitaur equipped with a sensor head on top (see [minitaur_sensor.sdf](minitaur_description/sdf/minitaur_sensor/minitaur_sensor.sdf)). If you modify any of the xacro files describing Minitaur or want to generate this SDF file on your own, follow the steps above to generate [minitaur_constrained.sdf](minitaur_description/sdf/minitaur_constrained/minitaur_constrained.sdf) first. Then:
1. Copy the SDF file to the [minitaur_sensor folder](minitaur_description/sdf/minitaur_sensor) and rename it from `minitaur_constrained.sdf` to `minitaur_sensor.sdf`.
2. To add the sensor head, include the following lines at the end of the SDF file (before the model termination):
```
<include>
<uri>model://sensor_head</uri>
<pose>0 0 0.04 0 0 0</pose>
</include>
<joint name="sensor_head_joint" type="fixed">
<child>sensor_head::base</child>
<parent>base_chassis_link_dummy</parent>
</joint>
```
The sensor head description is included in [sensor_head.sdf](minitaur_description/sdf/sensor_head/sensor_head.sdf) and you are free to modify it as needed.
**NOTE**: For the LIDAR you can set the sensor type to either `gpu_ray` or `ray` depending on whether GPU acceleration is available or not. The corresponding plugin filenames to use are `libgazebo_ros_gpu_laser.so` and `libgazebo_ros_laser.so`.
## Converting Vision60's URDF to SDF
This process is more straightforward and we have already included properly converted URDF and SDF files. We have a URDF xacro file ([vision60_gazebo.urdf.xacro](vision60_description/urdf/vision60_gazebo.urdf.xacro)) in the urdf folder that can be converted to URDF with
```bash
$ python xacro.py vision60_gazebo.urdf.xacro > vision60_gazebo.urdf
```
and subsequently to SDF using
```bash
$ gz sdf -p vision60_gazebo.urdf > ../sdf/vision60.sdf
```
After the conversion:
1. For each leg, rename all the toe collision descriptions to match the corresponding toe (use `toe0_collision`, `toe1_collision` as in the Minitaur SDF), and also add the following lines immediately below this collision tag (change `0` to match each toe):
```
<sensor name="toe0_contact" type="contact">
<plugin name="toe0_plugin" filename="libcontact.so"/>
<contact>
<collision>toe0_collision</collision>
</contact>
</sensor>
```
2. Make sure to move the SDF file to the [vision60 SDF folder](vision60_description/sdf) and rename it to vision60.sdf.
## Converting Spirit's URDF to SDF
We have a URDF xacro file ([spirit_gazebo.urdf.xacro](spirit_description/urdf/spirit_gazebo.urdf.xacro)) in the urdf folder that can be converted to URDF with
```bash
$ python xacro.py spirit_gazebo.urdf.xacro > spirit_gazebo.urdf
```
and subsequently to SDF using
```bash
$ gz sdf -p spirit_gazebo.urdf > ../sdf/spirit.sdf
```
After the conversion:
1. For each leg, rename all the toe collision descriptions to match the corresponding toe (use `toe0_collision`, `toe1_collision` as in the Minitaur SDF), and also add the following lines immediately below this collision tag (change `0` to match each toe):
```
<sensor name="toe0_contact" type="contact">
<plugin name="toe0_plugin" filename="libcontact.so"/>
<contact>
<collision>toe0_collision</collision>
</contact>
</sensor>
```
2. Make sure to move the SDF file to the [spirit SDF folder](spirit_description/sdf) and rename it to spirit.sdf.
## Other
Except for the robots, we also include other useful descriptions of objects for autonomous tasks.
### AprilTags
We have included the Gazebo model descriptions of some members of the 36h11 [AprilTag](https://april.eecs.umich.edu/software/apriltag) family. Make sure to add the descriptions to your `GAZEBO_MODEL_PATH` by adding the following line to your `~/.bashrc` file:
```
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:<catkin_ws_location>/src/kodlab_gazebo/other/apriltags_description
```
If you want to generate your own descriptions, you can download pre-generated tags [here](https://april.eecs.umich.edu/software/apriltag). Those tags (`.png` images) are quite small, so you might need to enlarge them (we suggest [gimp](https://www.gimp.org/) - make sure to scale the images with `None` as the interpolation method). The package we used for the automated SDF model generation can be found [here](https://github.com/vvasilo/gazebo_models). The size of the generated tags (including the white margin) was set to 85mm. The dimension ratio between the tag's black square and the outside box (that includes the white margin) is approximately 0.8; this can be used to appropriately scale your tags.
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/gazebo_scripts/CMakeLists.txt | # MIT License (modified)
# Copyright (c) 2018 The Trustees of the University of Pennsylvania
# Authors:
# Vasileios Vasilopoulos <[email protected]>
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this **file** (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
# The above copyright notice and this permission notice shall be included in all
# copies or substantial portions of the Software.
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
# SOFTWARE.
cmake_minimum_required(VERSION 2.8.3)
project(gazebo_scripts)
cmake_policy(SET CMP0054 OLD)
cmake_policy(SET CMP0045 OLD)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib)
set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib)
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
find_package(catkin REQUIRED COMPONENTS
geometry_msgs
nav_msgs
roscpp
rospy
std_msgs
message_filters
controller_manager
joint_state_controller
robot_state_publisher
tf
)
find_package(gazebo REQUIRED)
find_package(Boost REQUIRED COMPONENTS system)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# std_msgs # Or other packages containing msgs
# )
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES minitaur_gazebo
# CATKIN_DEPENDS other_catkin_pkg
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(SYSTEM ${Boost_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS} src)
include_directories(${catkin_INCLUDE_DIRS})
link_directories(${GAZEBO_LIBRARY_DIRS})
list(APPEND CMAKE_CXX_FLAGS "${GAZEBO_CXX_FLAGS}")
## Declare a C++ library
add_library(contact SHARED src/ContactPlugin.cc)
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
add_executable(odom_publisher src/odom_publisher.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
target_link_libraries(contact ${GAZEBO_LIBRARIES})
target_link_libraries(odom_publisher ${catkin_LIBRARIES} ${GAZEBO_LIBRARIES})
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation
# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_minitaur_gazebo.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/gazebo_scripts/package.xml | <?xml version="1.0"?>
<package format="2">
<name>gazebo_scripts</name>
<version>0.0.0</version>
<description>The gazebo_scripts package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
<maintainer email="[email protected]">vasilisvasilop</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>TODO</license>
<!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/gazebo_scripts</url> -->
<!-- Author tags are optional, multiple are allowed, one per tag -->
<!-- Authors do not have to be maintainers, but could be -->
<!-- Example: -->
<!-- <author email="[email protected]">Jane Doe</author> -->
<!-- The *depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
<!-- <depend>roscpp</depend> -->
<!-- Note that this is equivalent to the following: -->
<!-- <build_depend>roscpp</build_depend> -->
<!-- <exec_depend>roscpp</exec_depend> -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use build_export_depend for packages you need in order to build against this package: -->
<!-- <build_export_depend>message_generation</build_export_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use exec_depend for packages you need at runtime: -->
<!-- <exec_depend>message_runtime</exec_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<build_depend>controller_manager</build_depend>
<build_depend>joint_state_controller</build_depend>
<build_depend>robot_state_publisher</build_depend>
<build_export_depend>controller_manager</build_export_depend>
<build_export_depend>joint_state_controller</build_export_depend>
<build_export_depend>robot_state_publisher</build_export_depend>
<exec_depend>controller_manager</exec_depend>
<exec_depend>joint_state_controller</exec_depend>
<exec_depend>robot_state_publisher</exec_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
</export>
</package>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/gazebo_scripts/launch/minitaur_sensor_gazebo_building_complex_obstacles.launch | <!--
MIT License (modified)
Copyright (c) 2021 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<launch>
<!-- Arguments -->
<arg name="robot_name" default="minitaur"/> <!-- Robot name - minitaur or vision60 -->
<arg name="stereo_camera_frame" default="/zed_camera_center"/> <!-- Check your stereo camera - assumed to be facing backwards, not implemented here -->
<arg name="robot_frame" default="/base_chassis_link_dummy"/> <!-- Check your robot - base_chassis_link_dummy for Minitaur, body for Vision60 -->
<arg name="stereo_camera_frame_x" default="-0.115"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_y" default="0.03"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_z" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_roll" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_pitch" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_yaw" default="3.14"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="odom_frame" default="/odom"/>
<!-- Launch the minitaur world with specific physics parameters -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="paused" value="true"/>
<arg name="world_name" value="$(find gazebo_scripts)/worlds/building_complex_obstacles.world"/>
<arg name="gui" value="true"/>
<arg name="physics" value="ode"/>
</include>
<!-- Distinguish between URDF description for control and SDF description for simulation -->
<param name="robot_description" textfile="$(find minitaur_description)/urdf/minitaur_gazebo.urdf" />
<param name="robot_description_sdf" textfile="$(find minitaur_description)/sdf/minitaur_sensor/minitaur_sensor.sdf" />
<!-- Spawn SDF model -->
<node name="spawn_sdf_model" pkg="gazebo_ros" type="spawn_model" args="-sdf -param robot_description_sdf -model minitaur_constrained -x -6 -y -6 -z 0.4 -Y 0" output="screen"/>
<!-- Spawn TF tree -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen"/>
<!-- Define the transform between the base_chassis link frame and the (simulated) ZED frame -->
<node pkg="tf" type="static_transform_publisher" name="base_to_zed" args="$(arg stereo_camera_frame_x) $(arg stereo_camera_frame_y) $(arg stereo_camera_frame_z) $(arg stereo_camera_frame_yaw) $(arg stereo_camera_frame_pitch) $(arg stereo_camera_frame_roll) $(arg stereo_camera_frame) $(arg robot_frame) 5" />
<!-- Launch odometry tracking emulator -->
<node pkg="gazebo_scripts" type="odom_publisher" name="odom_publisher">
<param name="robot_name" value="$(arg robot_name)"/>
<param name="child_frame" value="$(arg stereo_camera_frame)"/>
<param name="odom_frame" value="$(arg odom_frame)"/>
<param name="child_frame_x" value="$(arg stereo_camera_frame_x)"/>
<param name="child_frame_y" value="$(arg stereo_camera_frame_y)"/>
<param name="child_frame_z" value="$(arg stereo_camera_frame_z)"/>
<param name="child_frame_roll" value="$(arg stereo_camera_frame_roll)"/>
<param name="child_frame_pitch" value="$(arg stereo_camera_frame_pitch)"/>
<param name="child_frame_yaw" value="$(arg stereo_camera_frame_yaw)"/>
</node>
<!-- Launch ros_controllers -->
<rosparam file="$(find gazebo_scripts)/config/minitaur_control.yaml" command="load"/>
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" ns="/minitaur_constrained" args="joint_state_controller joint0_effort_controller joint1_effort_controller joint2_effort_controller joint3_effort_controller joint4_effort_controller joint5_effort_controller joint6_effort_controller joint7_effort_controller"/>
</launch>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/gazebo_scripts/launch/minitaur_sensor_gazebo_building_wall.launch | <!--
MIT License (modified)
Copyright (c) 2021 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<launch>
<!-- Arguments -->
<arg name="robot_name" default="minitaur"/> <!-- Robot name - minitaur or vision60 -->
<arg name="stereo_camera_frame" default="/zed_camera_center"/> <!-- Check your stereo camera - assumed to be facing backwards, not implemented here -->
<arg name="robot_frame" default="/base_chassis_link_dummy"/> <!-- Check your robot - base_chassis_link_dummy for Minitaur, body for Vision60 -->
<arg name="stereo_camera_frame_x" default="-0.115"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_y" default="0.03"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_z" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_roll" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_pitch" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_yaw" default="3.14"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="odom_frame" default="/odom"/>
<!-- Launch the minitaur world with specific physics parameters -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="paused" value="true"/>
<arg name="world_name" value="$(find gazebo_scripts)/worlds/building_wall.world"/>
<arg name="gui" value="true"/>
<arg name="physics" value="ode"/>
</include>
<!-- Distinguish between URDF description for control and SDF description for simulation -->
<param name="robot_description" textfile="$(find minitaur_description)/urdf/minitaur_gazebo.urdf" />
<param name="robot_description_sdf" textfile="$(find minitaur_description)/sdf/minitaur_sensor/minitaur_sensor.sdf" />
<!-- Spawn SDF model -->
<node name="spawn_sdf_model" pkg="gazebo_ros" type="spawn_model" args="-sdf -param robot_description_sdf -model minitaur_constrained -x -5 -y 5 -z 0.4 -Y 0" output="screen"/>
<!-- Spawn TF tree -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen"/>
<!-- Define the transform between the base_chassis link frame and the (simulated) ZED frame -->
<node pkg="tf" type="static_transform_publisher" name="base_to_zed" args="$(arg stereo_camera_frame_x) $(arg stereo_camera_frame_y) $(arg stereo_camera_frame_z) $(arg stereo_camera_frame_yaw) $(arg stereo_camera_frame_pitch) $(arg stereo_camera_frame_roll) $(arg stereo_camera_frame) $(arg robot_frame) 5" />
<!-- Launch odometry tracking emulator -->
<node pkg="gazebo_scripts" type="odom_publisher" name="odom_publisher">
<param name="robot_name" value="$(arg robot_name)"/>
<param name="child_frame" value="$(arg stereo_camera_frame)"/>
<param name="odom_frame" value="$(arg odom_frame)"/>
<param name="child_frame_x" value="$(arg stereo_camera_frame_x)"/>
<param name="child_frame_y" value="$(arg stereo_camera_frame_y)"/>
<param name="child_frame_z" value="$(arg stereo_camera_frame_z)"/>
<param name="child_frame_roll" value="$(arg stereo_camera_frame_roll)"/>
<param name="child_frame_pitch" value="$(arg stereo_camera_frame_pitch)"/>
<param name="child_frame_yaw" value="$(arg stereo_camera_frame_yaw)"/>
</node>
<!-- Launch ros_controllers -->
<rosparam file="$(find gazebo_scripts)/config/minitaur_control.yaml" command="load"/>
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" ns="/minitaur_constrained" args="joint_state_controller joint0_effort_controller joint1_effort_controller joint2_effort_controller joint3_effort_controller joint4_effort_controller joint5_effort_controller joint6_effort_controller joint7_effort_controller"/>
</launch>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/gazebo_scripts/launch/minitaur_sensor_gazebo_box.launch | <!--
MIT License (modified)
Copyright (c) 2018 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<launch>
<!-- Arguments -->
<arg name="robot_name" default="minitaur"/> <!-- Robot name - minitaur or vision60 -->
<arg name="stereo_camera_frame" default="/zed_camera_center"/> <!-- Check your stereo camera - assumed to be facing backwards, not implemented here -->
<arg name="robot_frame" default="/base_chassis_link_dummy"/> <!-- Check your robot - base_chassis_link_dummy for Minitaur, body for Vision60 -->
<arg name="stereo_camera_frame_x" default="-0.115"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_y" default="0.03"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_z" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_roll" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_pitch" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_yaw" default="3.14"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="odom_frame" default="/odom"/>
<!-- Launch the minitaur world with specific physics parameters -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="paused" value="true"/>
<arg name="world_name" value="$(find gazebo_scripts)/worlds/box.world"/>
<arg name="gui" value="true"/>
<arg name="physics" value="ode"/>
</include>
<!-- Distinguish between URDF description for control and SDF description for simulation -->
<param name="robot_description" textfile="$(find minitaur_description)/urdf/minitaur_gazebo.urdf" />
<param name="robot_description_sdf" textfile="$(find minitaur_description)/sdf/minitaur_sensor/minitaur_sensor.sdf" />
<!-- Spawn SDF model -->
<node name="spawn_sdf_model" pkg="gazebo_ros" type="spawn_model" args="-sdf -param robot_description_sdf -model minitaur_constrained -x 0 -y 0.0 -z 0.4" output="screen"/>
<!-- Spawn TF tree -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen"/>
<!-- Define the transform between the base_chassis link frame and the (simulated) ZED frame -->
<node pkg="tf" type="static_transform_publisher" name="base_to_zed" args="$(arg stereo_camera_frame_x) $(arg stereo_camera_frame_y) $(arg stereo_camera_frame_z) $(arg stereo_camera_frame_yaw) $(arg stereo_camera_frame_pitch) $(arg stereo_camera_frame_roll) $(arg stereo_camera_frame) $(arg robot_frame) 5" />
<!-- Launch odometry tracking emulator -->
<node pkg="gazebo_scripts" type="odom_publisher" name="odom_publisher">
<param name="robot_name" value="$(arg robot_name)"/>
<param name="child_frame" value="$(arg stereo_camera_frame)"/>
<param name="odom_frame" value="$(arg odom_frame)"/>
<param name="child_frame_x" value="$(arg stereo_camera_frame_x)"/>
<param name="child_frame_y" value="$(arg stereo_camera_frame_y)"/>
<param name="child_frame_z" value="$(arg stereo_camera_frame_z)"/>
<param name="child_frame_roll" value="$(arg stereo_camera_frame_roll)"/>
<param name="child_frame_pitch" value="$(arg stereo_camera_frame_pitch)"/>
<param name="child_frame_yaw" value="$(arg stereo_camera_frame_yaw)"/>
</node>
<!-- Launch ros_controllers -->
<rosparam file="$(find gazebo_scripts)/config/minitaur_control.yaml" command="load"/>
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" ns="/minitaur_constrained" args="joint_state_controller joint0_effort_controller joint1_effort_controller joint2_effort_controller joint3_effort_controller joint4_effort_controller joint5_effort_controller joint6_effort_controller joint7_effort_controller"/>
</launch>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/gazebo_scripts/launch/minitaur_sensor_gazebo_ramp_table_stool.launch | <!--
MIT License (modified)
Copyright (c) 2019 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<launch>
<!-- Arguments -->
<arg name="robot_name" default="minitaur"/> <!-- Robot name - minitaur or vision60 -->
<arg name="stereo_camera_frame" default="/zed_camera_center"/> <!-- Check your stereo camera - assumed to be facing backwards, not implemented here -->
<arg name="robot_frame" default="/base_chassis_link_dummy"/> <!-- Check your robot - base_chassis_link_dummy for Minitaur, body for Vision60 -->
<arg name="stereo_camera_frame_x" default="-0.115"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_y" default="0.03"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_z" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_roll" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_pitch" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_yaw" default="3.14"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="odom_frame" default="/odom"/>
<!-- Launch the minitaur world with specific physics parameters -->
<!-- You need to have installed 3D Gems for Gazebo to get all the objects -->
<!-- Also change texture to cl5.jpg in miscellaneous/office_small/materials/scripts/Floor.material -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="paused" value="true"/>
<arg name="world_name" value="$(find gazebo_scripts)/worlds/ramp_table_stool.world"/>
<arg name="gui" value="true"/>
<arg name="physics" value="ode"/>
</include>
<!-- Distinguish between URDF description for control and SDF description for simulation -->
<param name="robot_description" textfile="$(find minitaur_description)/urdf/minitaur_gazebo.urdf" />
<param name="robot_description_sdf" textfile="$(find minitaur_description)/sdf/minitaur_sensor/minitaur_sensor.sdf" />
<!-- Spawn SDF model -->
<node name="spawn_sdf_model" pkg="gazebo_ros" type="spawn_model" args="-sdf -param robot_description_sdf -model minitaur_constrained -x 0 -y -3 -z 0.4 -Y 3.14" output="screen"/>
<!-- Spawn TF tree -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen"/>
<!-- Define the transform between the base_chassis link frame and the (simulated) ZED frame -->
<node pkg="tf" type="static_transform_publisher" name="base_to_zed" args="$(arg stereo_camera_frame_x) $(arg stereo_camera_frame_y) $(arg stereo_camera_frame_z) $(arg stereo_camera_frame_yaw) $(arg stereo_camera_frame_pitch) $(arg stereo_camera_frame_roll) $(arg stereo_camera_frame) $(arg robot_frame) 5" />
<!-- Launch odometry tracking emulator -->
<node pkg="gazebo_scripts" type="odom_publisher" name="odom_publisher">
<param name="robot_name" value="$(arg robot_name)"/>
<param name="child_frame" value="$(arg stereo_camera_frame)"/>
<param name="odom_frame" value="$(arg odom_frame)"/>
<param name="child_frame_x" value="$(arg stereo_camera_frame_x)"/>
<param name="child_frame_y" value="$(arg stereo_camera_frame_y)"/>
<param name="child_frame_z" value="$(arg stereo_camera_frame_z)"/>
<param name="child_frame_roll" value="$(arg stereo_camera_frame_roll)"/>
<param name="child_frame_pitch" value="$(arg stereo_camera_frame_pitch)"/>
<param name="child_frame_yaw" value="$(arg stereo_camera_frame_yaw)"/>
</node>
<!-- Launch ros_controllers -->
<rosparam file="$(find gazebo_scripts)/config/minitaur_control.yaml" command="load"/>
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" ns="/minitaur_constrained" args="joint_state_controller joint0_effort_controller joint1_effort_controller joint2_effort_controller joint3_effort_controller joint4_effort_controller joint5_effort_controller joint6_effort_controller joint7_effort_controller"/>
</launch>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/gazebo_scripts/launch/minitaur_sensor_gazebo_ramp_table.launch | <!--
MIT License (modified)
Copyright (c) 2019 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<launch>
<!-- Arguments -->
<arg name="robot_name" default="minitaur"/> <!-- Robot name - minitaur or vision60 -->
<arg name="stereo_camera_frame" default="/zed_camera_center"/> <!-- Check your stereo camera - assumed to be facing backwards, not implemented here -->
<arg name="robot_frame" default="/base_chassis_link_dummy"/> <!-- Check your robot - base_chassis_link_dummy for Minitaur, body for Vision60 -->
<arg name="stereo_camera_frame_x" default="-0.115"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_y" default="0.03"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_z" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_roll" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_pitch" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_yaw" default="3.14"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="odom_frame" default="/odom"/>
<!-- Launch the minitaur world with specific physics parameters -->
<!-- You need to have installed 3D Gems for Gazebo to get all the objects -->
<!-- Also change texture to cl5.jpg in miscellaneous/office_small/materials/scripts/Floor.material -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="paused" value="true"/>
<arg name="world_name" value="$(find gazebo_scripts)/worlds/ramp_table.world"/>
<arg name="gui" value="true"/>
<arg name="physics" value="ode"/>
</include>
<!-- Distinguish between URDF description for control and SDF description for simulation -->
<param name="robot_description" textfile="$(find minitaur_description)/urdf/minitaur_gazebo.urdf" />
<param name="robot_description_sdf" textfile="$(find minitaur_description)/sdf/minitaur_sensor/minitaur_sensor.sdf" />
<!-- Spawn SDF model -->
<node name="spawn_sdf_model" pkg="gazebo_ros" type="spawn_model" args="-sdf -param robot_description_sdf -model minitaur_constrained -x 0 -y -3 -z 0.4 -Y 0" output="screen"/>
<!-- Spawn TF tree -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen"/>
<!-- Define the transform between the base_chassis link frame and the (simulated) ZED frame -->
<node pkg="tf" type="static_transform_publisher" name="base_to_zed" args="$(arg stereo_camera_frame_x) $(arg stereo_camera_frame_y) $(arg stereo_camera_frame_z) $(arg stereo_camera_frame_yaw) $(arg stereo_camera_frame_pitch) $(arg stereo_camera_frame_roll) $(arg stereo_camera_frame) $(arg robot_frame) 5" />
<!-- Launch odometry tracking emulator -->
<node pkg="gazebo_scripts" type="odom_publisher" name="odom_publisher">
<param name="robot_name" value="$(arg robot_name)"/>
<param name="child_frame" value="$(arg stereo_camera_frame)"/>
<param name="odom_frame" value="$(arg odom_frame)"/>
<param name="child_frame_x" value="$(arg stereo_camera_frame_x)"/>
<param name="child_frame_y" value="$(arg stereo_camera_frame_y)"/>
<param name="child_frame_z" value="$(arg stereo_camera_frame_z)"/>
<param name="child_frame_roll" value="$(arg stereo_camera_frame_roll)"/>
<param name="child_frame_pitch" value="$(arg stereo_camera_frame_pitch)"/>
<param name="child_frame_yaw" value="$(arg stereo_camera_frame_yaw)"/>
</node>
<!-- Launch ros_controllers -->
<rosparam file="$(find gazebo_scripts)/config/minitaur_control.yaml" command="load"/>
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" ns="/minitaur_constrained" args="joint_state_controller joint0_effort_controller joint1_effort_controller joint2_effort_controller joint3_effort_controller joint4_effort_controller joint5_effort_controller joint6_effort_controller joint7_effort_controller"/>
</launch>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/gazebo_scripts/launch/minitaur_gazebo_stool.launch | <!--
MIT License (modified)
Copyright (c) 2019 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<launch>
<!-- Launch the minitaur world with specific physics parameters -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="paused" value="true"/>
<arg name="world_name" value="$(find gazebo_scripts)/worlds/stool.world"/>
<arg name="gui" value="true"/>
<arg name="physics" value="ode"/>
</include>
<!-- Distinguish between URDF description for control and SDF description for simulation -->
<param name="robot_description" textfile="$(find minitaur_description)/urdf/minitaur_gazebo.urdf" />
<param name="robot_description_sdf" textfile="$(find minitaur_description)/sdf/minitaur_constrained/minitaur_constrained.sdf" />
<!-- Spawn SDF model -->
<node name="spawn_sdf_model" pkg="gazebo_ros" type="spawn_model" args="-sdf -param robot_description_sdf -model minitaur_constrained -x 0 -y 0.0 -z 0.4" output="screen"/>
<!-- Launch ros_controllers -->
<rosparam file="$(find gazebo_scripts)/config/minitaur_control.yaml" command="load"/>
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" ns="/minitaur_constrained" args="joint_state_controller joint0_effort_controller joint1_effort_controller joint2_effort_controller joint3_effort_controller joint4_effort_controller joint5_effort_controller joint6_effort_controller joint7_effort_controller"/>
</launch>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/gazebo_scripts/launch/minitaur_gazebo_bars.launch | <!--
MIT License (modified)
Copyright (c) 2019 The Tru$tees of the University of Pennsylvania
Authors:
T Topping <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<launch>
<!-- Launch the minitaur world with specific physics parameters -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="paused" value="true"/>
<arg name="world_name" value="$(find gazebo_scripts)/worlds/bars.world"/>
<arg name="gui" value="true"/>
<arg name="physics" value="ode"/>
</include>
<!-- Distinguish between URDF description for control and SDF description for simulation -->
<param name="robot_description" textfile="$(find minitaur_description)/urdf/minitaur_gazebo.urdf" />
<param name="robot_description_sdf" textfile="$(find minitaur_description)/sdf/minitaur_hooks/minitaur_hooks.sdf" />
<!-- Spawn SDF model -->
<node name="spawn_sdf_model" pkg="gazebo_ros" type="spawn_model" args="-sdf -param robot_description_sdf -model minitaur_constrained -x -0.13 -y 0.0 -z 0.85 -R 0 -P -1.57 -Y 0" output="screen"/>
<!-- Launch ros_controllers -->
<rosparam file="$(find gazebo_scripts)/config/minitaur_control.yaml" command="load"/>
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" ns="/minitaur_constrained" args="joint_state_controller joint0_effort_controller joint1_effort_controller joint2_effort_controller joint3_effort_controller joint4_effort_controller joint5_effort_controller joint6_effort_controller joint7_effort_controller"/>
</launch>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/gazebo_scripts/launch/minitaur_sensor_gazebo_building_simple.launch | <!--
MIT License (modified)
Copyright (c) 2021 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<launch>
<!-- Arguments -->
<arg name="robot_name" default="minitaur"/> <!-- Robot name - minitaur or vision60 -->
<arg name="stereo_camera_frame" default="/zed_camera_center"/> <!-- Check your stereo camera - assumed to be facing backwards, not implemented here -->
<arg name="robot_frame" default="/base_chassis_link_dummy"/> <!-- Check your robot - base_chassis_link_dummy for Minitaur, body for Vision60 -->
<arg name="stereo_camera_frame_x" default="-0.115"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_y" default="0.03"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_z" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_roll" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_pitch" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_yaw" default="3.14"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="odom_frame" default="/odom"/>
<!-- Launch the minitaur world with specific physics parameters -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="paused" value="true"/>
<arg name="world_name" value="$(find gazebo_scripts)/worlds/building_simple.world"/>
<arg name="gui" value="true"/>
<arg name="physics" value="ode"/>
</include>
<!-- Distinguish between URDF description for control and SDF description for simulation -->
<param name="robot_description" textfile="$(find minitaur_description)/urdf/minitaur_gazebo.urdf" />
<param name="robot_description_sdf" textfile="$(find minitaur_description)/sdf/minitaur_sensor/minitaur_sensor.sdf" />
<!-- Spawn SDF model -->
<node name="spawn_sdf_model" pkg="gazebo_ros" type="spawn_model" args="-sdf -param robot_description_sdf -model minitaur_constrained -x -6 -y -6 -z 0.4 -Y 0" output="screen"/>
<!-- Spawn TF tree -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen"/>
<!-- Define the transform between the base_chassis link frame and the (simulated) ZED frame -->
<node pkg="tf" type="static_transform_publisher" name="base_to_zed" args="$(arg stereo_camera_frame_x) $(arg stereo_camera_frame_y) $(arg stereo_camera_frame_z) $(arg stereo_camera_frame_yaw) $(arg stereo_camera_frame_pitch) $(arg stereo_camera_frame_roll) $(arg stereo_camera_frame) $(arg robot_frame) 5" />
<!-- Launch odometry tracking emulator -->
<node pkg="gazebo_scripts" type="odom_publisher" name="odom_publisher">
<param name="robot_name" value="$(arg robot_name)"/>
<param name="child_frame" value="$(arg stereo_camera_frame)"/>
<param name="odom_frame" value="$(arg odom_frame)"/>
<param name="child_frame_x" value="$(arg stereo_camera_frame_x)"/>
<param name="child_frame_y" value="$(arg stereo_camera_frame_y)"/>
<param name="child_frame_z" value="$(arg stereo_camera_frame_z)"/>
<param name="child_frame_roll" value="$(arg stereo_camera_frame_roll)"/>
<param name="child_frame_pitch" value="$(arg stereo_camera_frame_pitch)"/>
<param name="child_frame_yaw" value="$(arg stereo_camera_frame_yaw)"/>
</node>
<!-- Launch ros_controllers -->
<rosparam file="$(find gazebo_scripts)/config/minitaur_control.yaml" command="load"/>
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" ns="/minitaur_constrained" args="joint_state_controller joint0_effort_controller joint1_effort_controller joint2_effort_controller joint3_effort_controller joint4_effort_controller joint5_effort_controller joint6_effort_controller joint7_effort_controller"/>
</launch>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/gazebo_scripts/launch/minitaur_sensor_gazebo_ramp_box_table_table.launch | <!--
MIT License (modified)
Copyright (c) 2019 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<launch>
<!-- Arguments -->
<arg name="robot_name" default="minitaur"/> <!-- Robot name - minitaur or vision60 -->
<arg name="stereo_camera_frame" default="/zed_camera_center"/> <!-- Check your stereo camera - assumed to be facing backwards, not implemented here -->
<arg name="robot_frame" default="/base_chassis_link_dummy"/> <!-- Check your robot - base_chassis_link_dummy for Minitaur, body for Vision60 -->
<arg name="stereo_camera_frame_x" default="-0.115"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_y" default="0.03"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_z" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_roll" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_pitch" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_yaw" default="3.14"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="odom_frame" default="/odom"/>
<!-- Launch the minitaur world with specific physics parameters -->
<!-- You need to have installed 3D Gems for Gazebo to get all the objects -->
<!-- Also change texture to cl5.jpg in miscellaneous/office_small/materials/scripts/Floor.material -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="paused" value="true"/>
<arg name="world_name" value="$(find gazebo_scripts)/worlds/ramp_box_table_table.world"/>
<arg name="gui" value="true"/>
<arg name="physics" value="ode"/>
</include>
<!-- Distinguish between URDF description for control and SDF description for simulation -->
<param name="robot_description" textfile="$(find minitaur_description)/urdf/minitaur_gazebo.urdf" />
<param name="robot_description_sdf" textfile="$(find minitaur_description)/sdf/minitaur_sensor/minitaur_sensor.sdf" />
<!-- Spawn SDF model -->
<node name="spawn_sdf_model" pkg="gazebo_ros" type="spawn_model" args="-sdf -param robot_description_sdf -model minitaur_constrained -x 0 -y -0 -z 0.4 -Y 0" output="screen"/>
<!-- Spawn TF tree -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen"/>
<!-- Define the transform between the base_chassis link frame and the (simulated) ZED frame -->
<node pkg="tf" type="static_transform_publisher" name="base_to_zed" args="$(arg stereo_camera_frame_x) $(arg stereo_camera_frame_y) $(arg stereo_camera_frame_z) $(arg stereo_camera_frame_yaw) $(arg stereo_camera_frame_pitch) $(arg stereo_camera_frame_roll) $(arg stereo_camera_frame) $(arg robot_frame) 5" />
<!-- Launch odometry tracking emulator -->
<node pkg="gazebo_scripts" type="odom_publisher" name="odom_publisher">
<param name="robot_name" value="$(arg robot_name)"/>
<param name="child_frame" value="$(arg stereo_camera_frame)"/>
<param name="odom_frame" value="$(arg odom_frame)"/>
<param name="child_frame_x" value="$(arg stereo_camera_frame_x)"/>
<param name="child_frame_y" value="$(arg stereo_camera_frame_y)"/>
<param name="child_frame_z" value="$(arg stereo_camera_frame_z)"/>
<param name="child_frame_roll" value="$(arg stereo_camera_frame_roll)"/>
<param name="child_frame_pitch" value="$(arg stereo_camera_frame_pitch)"/>
<param name="child_frame_yaw" value="$(arg stereo_camera_frame_yaw)"/>
</node>
<!-- Launch ros_controllers -->
<rosparam file="$(find gazebo_scripts)/config/minitaur_control.yaml" command="load"/>
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" ns="/minitaur_constrained" args="joint_state_controller joint0_effort_controller joint1_effort_controller joint2_effort_controller joint3_effort_controller joint4_effort_controller joint5_effort_controller joint6_effort_controller joint7_effort_controller"/>
</launch>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/gazebo_scripts/launch/minitaur_gazebo_box_short.launch | <!--
MIT License (modified)
Copyright (c) 2019 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<launch>
<!-- Launch the minitaur world with specific physics parameters -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="paused" value="true"/>
<arg name="world_name" value="$(find gazebo_scripts)/worlds/box_short.world"/>
<arg name="gui" value="true"/>
<arg name="physics" value="ode"/>
</include>
<!-- Distinguish between URDF description for control and SDF description for simulation -->
<param name="robot_description" textfile="$(find minitaur_description)/urdf/minitaur_gazebo.urdf" />
<param name="robot_description_sdf" textfile="$(find minitaur_description)/sdf/minitaur_constrained/minitaur_constrained.sdf" />
<!-- Spawn SDF model -->
<node name="spawn_sdf_model" pkg="gazebo_ros" type="spawn_model" args="-sdf -param robot_description_sdf -model minitaur_constrained -x 0 -y 0.0 -z 0.4" output="screen"/>
<!-- Launch ros_controllers -->
<rosparam file="$(find gazebo_scripts)/config/minitaur_control.yaml" command="load"/>
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" ns="/minitaur_constrained" args="joint_state_controller joint0_effort_controller joint1_effort_controller joint2_effort_controller joint3_effort_controller joint4_effort_controller joint5_effort_controller joint6_effort_controller joint7_effort_controller"/>
</launch>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/gazebo_scripts/launch/minitaur_sensor_gazebo_building_simple_obstacles.launch | <!--
MIT License (modified)
Copyright (c) 2021 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<launch>
<!-- Arguments -->
<arg name="robot_name" default="minitaur"/> <!-- Robot name - minitaur or vision60 -->
<arg name="stereo_camera_frame" default="/zed_camera_center"/> <!-- Check your stereo camera - assumed to be facing backwards, not implemented here -->
<arg name="robot_frame" default="/base_chassis_link_dummy"/> <!-- Check your robot - base_chassis_link_dummy for Minitaur, body for Vision60 -->
<arg name="stereo_camera_frame_x" default="-0.115"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_y" default="0.03"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_z" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_roll" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_pitch" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_yaw" default="3.14"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="odom_frame" default="/odom"/>
<!-- Launch the minitaur world with specific physics parameters -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="paused" value="true"/>
<arg name="world_name" value="$(find gazebo_scripts)/worlds/building_simple_obstacles.world"/>
<arg name="gui" value="true"/>
<arg name="physics" value="ode"/>
</include>
<!-- Distinguish between URDF description for control and SDF description for simulation -->
<param name="robot_description" textfile="$(find minitaur_description)/urdf/minitaur_gazebo.urdf" />
<param name="robot_description_sdf" textfile="$(find minitaur_description)/sdf/minitaur_sensor/minitaur_sensor.sdf" />
<!-- Spawn SDF model -->
<node name="spawn_sdf_model" pkg="gazebo_ros" type="spawn_model" args="-sdf -param robot_description_sdf -model minitaur_constrained -x -6 -y -6 -z 0.4 -Y 0" output="screen"/>
<!-- Spawn TF tree -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen"/>
<!-- Define the transform between the base_chassis link frame and the (simulated) ZED frame -->
<node pkg="tf" type="static_transform_publisher" name="base_to_zed" args="$(arg stereo_camera_frame_x) $(arg stereo_camera_frame_y) $(arg stereo_camera_frame_z) $(arg stereo_camera_frame_yaw) $(arg stereo_camera_frame_pitch) $(arg stereo_camera_frame_roll) $(arg stereo_camera_frame) $(arg robot_frame) 5" />
<!-- Launch odometry tracking emulator -->
<node pkg="gazebo_scripts" type="odom_publisher" name="odom_publisher">
<param name="robot_name" value="$(arg robot_name)"/>
<param name="child_frame" value="$(arg stereo_camera_frame)"/>
<param name="odom_frame" value="$(arg odom_frame)"/>
<param name="child_frame_x" value="$(arg stereo_camera_frame_x)"/>
<param name="child_frame_y" value="$(arg stereo_camera_frame_y)"/>
<param name="child_frame_z" value="$(arg stereo_camera_frame_z)"/>
<param name="child_frame_roll" value="$(arg stereo_camera_frame_roll)"/>
<param name="child_frame_pitch" value="$(arg stereo_camera_frame_pitch)"/>
<param name="child_frame_yaw" value="$(arg stereo_camera_frame_yaw)"/>
</node>
<!-- Launch ros_controllers -->
<rosparam file="$(find gazebo_scripts)/config/minitaur_control.yaml" command="load"/>
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" ns="/minitaur_constrained" args="joint_state_controller joint0_effort_controller joint1_effort_controller joint2_effort_controller joint3_effort_controller joint4_effort_controller joint5_effort_controller joint6_effort_controller joint7_effort_controller"/>
</launch>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/gazebo_scripts/launch/vision60_gazebo.launch | <!--
MIT License (modified)
Copyright (c) 2018 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<launch>
<!-- Launch the Vision60 world with specific physics parameters -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="paused" value="true"/>
<arg name="world_name" value="$(find gazebo_scripts)/worlds/ghost.world"/>
<arg name="gui" value="true"/>
<arg name="physics" value="ode"/>
</include>
<!-- Distinguish between URDF description for control and SDF description for simulation -->
<param name="robot_description" textfile="$(find vision60_description)/urdf/vision60_gazebo.urdf" />
<param name="robot_description_sdf" textfile="$(find vision60_description)/sdf/vision60.sdf" />
<!-- Spawn SDF model -->
<node name="spawn_sdf_model" pkg="gazebo_ros" type="spawn_model" args="-sdf -param robot_description_sdf -model vision60 -x 0 -y 0.0 -z 1.0" output="screen"/>
<!-- Launch ros_controllers -->
<rosparam file="$(find gazebo_scripts)/config/vision60_control.yaml" command="load"/>
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" ns="/vision60" args="joint_state_controller joint0_effort_controller joint1_effort_controller joint2_effort_controller joint3_effort_controller joint4_effort_controller joint5_effort_controller joint6_effort_controller joint7_effort_controller joint8_effort_controller joint9_effort_controller joint10_effort_controller joint11_effort_controller"/>
</launch> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/gazebo_scripts/launch/minitaur_sensor_gazebo_ramp_box_roundtable_table_table.launch | <!--
MIT License (modified)
Copyright (c) 2019 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<launch>
<!-- Arguments -->
<arg name="robot_name" default="minitaur"/> <!-- Robot name - minitaur or vision60 -->
<arg name="stereo_camera_frame" default="/zed_camera_center"/> <!-- Check your stereo camera - assumed to be facing backwards, not implemented here -->
<arg name="robot_frame" default="/base_chassis_link_dummy"/> <!-- Check your robot - base_chassis_link_dummy for Minitaur, body for Vision60 -->
<arg name="stereo_camera_frame_x" default="-0.115"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_y" default="0.03"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_z" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_roll" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_pitch" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_yaw" default="3.14"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="odom_frame" default="/odom"/>
<!-- Launch the minitaur world with specific physics parameters -->
<!-- You need to have installed 3D Gems for Gazebo to get all the objects -->
<!-- Also change texture to cl5.jpg in miscellaneous/office_small/materials/scripts/Floor.material -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="paused" value="true"/>
<arg name="world_name" value="$(find gazebo_scripts)/worlds/ramp_box_roundtable_table_table.world"/>
<arg name="gui" value="true"/>
<arg name="physics" value="ode"/>
</include>
<!-- Distinguish between URDF description for control and SDF description for simulation -->
<param name="robot_description" textfile="$(find minitaur_description)/urdf/minitaur_gazebo.urdf" />
<param name="robot_description_sdf" textfile="$(find minitaur_description)/sdf/minitaur_sensor/minitaur_sensor.sdf" />
<!-- Spawn SDF model -->
<node name="spawn_sdf_model" pkg="gazebo_ros" type="spawn_model" args="-sdf -param robot_description_sdf -model minitaur_constrained -x 0 -y -0.3 -z 0.4 -Y 3.14" output="screen"/>
<!-- Spawn TF tree -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen"/>
<!-- Define the transform between the base_chassis link frame and the (simulated) ZED frame -->
<node pkg="tf" type="static_transform_publisher" name="base_to_zed" args="$(arg stereo_camera_frame_x) $(arg stereo_camera_frame_y) $(arg stereo_camera_frame_z) $(arg stereo_camera_frame_yaw) $(arg stereo_camera_frame_pitch) $(arg stereo_camera_frame_roll) $(arg stereo_camera_frame) $(arg robot_frame) 5" />
<!-- Launch odometry tracking emulator -->
<node pkg="gazebo_scripts" type="odom_publisher" name="odom_publisher">
<param name="robot_name" value="$(arg robot_name)"/>
<param name="child_frame" value="$(arg stereo_camera_frame)"/>
<param name="odom_frame" value="$(arg odom_frame)"/>
<param name="child_frame_x" value="$(arg stereo_camera_frame_x)"/>
<param name="child_frame_y" value="$(arg stereo_camera_frame_y)"/>
<param name="child_frame_z" value="$(arg stereo_camera_frame_z)"/>
<param name="child_frame_roll" value="$(arg stereo_camera_frame_roll)"/>
<param name="child_frame_pitch" value="$(arg stereo_camera_frame_pitch)"/>
<param name="child_frame_yaw" value="$(arg stereo_camera_frame_yaw)"/>
</node>
<!-- Launch ros_controllers -->
<rosparam file="$(find gazebo_scripts)/config/minitaur_control.yaml" command="load"/>
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" ns="/minitaur_constrained" args="joint_state_controller joint0_effort_controller joint1_effort_controller joint2_effort_controller joint3_effort_controller joint4_effort_controller joint5_effort_controller joint6_effort_controller joint7_effort_controller"/>
</launch>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/gazebo_scripts/launch/minitaur_gazebo_box.launch | <!--
MIT License (modified)
Copyright (c) 2019 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<launch>
<!-- Launch the minitaur world with specific physics parameters -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="paused" value="true"/>
<arg name="world_name" value="$(find gazebo_scripts)/worlds/box.world"/>
<arg name="gui" value="true"/>
<arg name="physics" value="ode"/>
</include>
<!-- Distinguish between URDF description for control and SDF description for simulation -->
<param name="robot_description" textfile="$(find minitaur_description)/urdf/minitaur_gazebo.urdf" />
<param name="robot_description_sdf" textfile="$(find minitaur_description)/sdf/minitaur_constrained/minitaur_constrained.sdf" />
<!-- Spawn SDF model -->
<node name="spawn_sdf_model" pkg="gazebo_ros" type="spawn_model" args="-sdf -param robot_description_sdf -model minitaur_constrained -x 0 -y 0.0 -z 0.4" output="screen"/>
<!-- Launch ros_controllers -->
<rosparam file="$(find gazebo_scripts)/config/minitaur_control.yaml" command="load"/>
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" ns="/minitaur_constrained" args="joint_state_controller joint0_effort_controller joint1_effort_controller joint2_effort_controller joint3_effort_controller joint4_effort_controller joint5_effort_controller joint6_effort_controller joint7_effort_controller"/>
</launch>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/gazebo_scripts/launch/minitaur_gazebo_cart.launch | <!--
MIT License (modified)
Copyright (c) 2019 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<launch>
<!-- Launch the minitaur world with specific physics parameters -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="paused" value="true"/>
<arg name="world_name" value="$(find gazebo_scripts)/worlds/cart.world"/>
<arg name="gui" value="true"/>
<arg name="physics" value="ode"/>
</include>
<!-- Distinguish between URDF description for control and SDF description for simulation -->
<param name="robot_description" textfile="$(find minitaur_description)/urdf/minitaur_gazebo.urdf" />
<param name="robot_description_sdf" textfile="$(find minitaur_description)/sdf/minitaur_constrained/minitaur_constrained.sdf" />
<!-- Spawn SDF model -->
<node name="spawn_sdf_model" pkg="gazebo_ros" type="spawn_model" args="-sdf -param robot_description_sdf -model minitaur_constrained -x 0 -y 0.0 -z 0.4" output="screen"/>
<!-- Launch ros_controllers -->
<rosparam file="$(find gazebo_scripts)/config/minitaur_control.yaml" command="load"/>
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" ns="/minitaur_constrained" args="joint_state_controller joint0_effort_controller joint1_effort_controller joint2_effort_controller joint3_effort_controller joint4_effort_controller joint5_effort_controller joint6_effort_controller joint7_effort_controller"/>
</launch>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/gazebo_scripts/launch/minitaur_sensor_gazebo_table_stool.launch | <!--
MIT License (modified)
Copyright (c) 2019 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<launch>
<!-- Arguments -->
<arg name="robot_name" default="minitaur"/> <!-- Robot name - minitaur or vision60 -->
<arg name="stereo_camera_frame" default="/zed_camera_center"/> <!-- Check your stereo camera - assumed to be facing backwards, not implemented here -->
<arg name="robot_frame" default="/base_chassis_link_dummy"/> <!-- Check your robot - base_chassis_link_dummy for Minitaur, body for Vision60 -->
<arg name="stereo_camera_frame_x" default="-0.115"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_y" default="0.03"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_z" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_roll" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_pitch" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_yaw" default="3.14"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="odom_frame" default="/odom"/>
<!-- Launch the minitaur world with specific physics parameters -->
<!-- You need to have installed 3D Gems for Gazebo to get all the objects -->
<!-- Also change texture to cl5.jpg in miscellaneous/office_small/materials/scripts/Floor.material -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="paused" value="true"/>
<arg name="world_name" value="$(find gazebo_scripts)/worlds/table_stool.world"/>
<arg name="gui" value="true"/>
<arg name="physics" value="ode"/>
</include>
<!-- Distinguish between URDF description for control and SDF description for simulation -->
<param name="robot_description" textfile="$(find minitaur_description)/urdf/minitaur_gazebo.urdf" />
<param name="robot_description_sdf" textfile="$(find minitaur_description)/sdf/minitaur_sensor/minitaur_sensor.sdf" />
<!-- Spawn SDF model -->
<node name="spawn_sdf_model" pkg="gazebo_ros" type="spawn_model" args="-sdf -param robot_description_sdf -model minitaur_constrained -x 3 -y -3 -z 0.4 -Y 0" output="screen"/>
<!-- Spawn TF tree -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen"/>
<!-- Define the transform between the base_chassis link frame and the (simulated) ZED frame -->
<node pkg="tf" type="static_transform_publisher" name="base_to_zed" args="$(arg stereo_camera_frame_x) $(arg stereo_camera_frame_y) $(arg stereo_camera_frame_z) $(arg stereo_camera_frame_yaw) $(arg stereo_camera_frame_pitch) $(arg stereo_camera_frame_roll) $(arg stereo_camera_frame) $(arg robot_frame) 5" />
<!-- Launch odometry tracking emulator -->
<node pkg="gazebo_scripts" type="odom_publisher" name="odom_publisher">
<param name="robot_name" value="$(arg robot_name)"/>
<param name="child_frame" value="$(arg stereo_camera_frame)"/>
<param name="odom_frame" value="$(arg odom_frame)"/>
<param name="child_frame_x" value="$(arg stereo_camera_frame_x)"/>
<param name="child_frame_y" value="$(arg stereo_camera_frame_y)"/>
<param name="child_frame_z" value="$(arg stereo_camera_frame_z)"/>
<param name="child_frame_roll" value="$(arg stereo_camera_frame_roll)"/>
<param name="child_frame_pitch" value="$(arg stereo_camera_frame_pitch)"/>
<param name="child_frame_yaw" value="$(arg stereo_camera_frame_yaw)"/>
</node>
<!-- Launch ros_controllers -->
<rosparam file="$(find gazebo_scripts)/config/minitaur_control.yaml" command="load"/>
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" ns="/minitaur_constrained" args="joint_state_controller joint0_effort_controller joint1_effort_controller joint2_effort_controller joint3_effort_controller joint4_effort_controller joint5_effort_controller joint6_effort_controller joint7_effort_controller"/>
</launch>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/gazebo_scripts/launch/minitaur_sensor_gazebo_ramp_box_roundtable_table.launch | <!--
MIT License (modified)
Copyright (c) 2019 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<launch>
<!-- Arguments -->
<arg name="robot_name" default="minitaur"/> <!-- Robot name - minitaur or vision60 -->
<arg name="stereo_camera_frame" default="/zed_camera_center"/> <!-- Check your stereo camera - assumed to be facing backwards, not implemented here -->
<arg name="robot_frame" default="/base_chassis_link_dummy"/> <!-- Check your robot - base_chassis_link_dummy for Minitaur, body for Vision60 -->
<arg name="stereo_camera_frame_x" default="-0.115"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_y" default="0.03"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_z" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_roll" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_pitch" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_yaw" default="3.14"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="odom_frame" default="/odom"/>
<!-- Launch the minitaur world with specific physics parameters -->
<!-- You need to have installed 3D Gems for Gazebo to get all the objects -->
<!-- Also change texture to cl5.jpg in miscellaneous/office_small/materials/scripts/Floor.material -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="paused" value="true"/>
<arg name="world_name" value="$(find gazebo_scripts)/worlds/ramp_box_roundtable_table.world"/>
<arg name="gui" value="true"/>
<arg name="physics" value="ode"/>
</include>
<!-- Distinguish between URDF description for control and SDF description for simulation -->
<param name="robot_description" textfile="$(find minitaur_description)/urdf/minitaur_gazebo.urdf" />
<param name="robot_description_sdf" textfile="$(find minitaur_description)/sdf/minitaur_sensor/minitaur_sensor.sdf" />
<!-- Spawn SDF model -->
<node name="spawn_sdf_model" pkg="gazebo_ros" type="spawn_model" args="-sdf -param robot_description_sdf -model minitaur_constrained -x 0 -y -0.3 -z 0.4 -Y 3.14" output="screen"/>
<!-- Spawn TF tree -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen"/>
<!-- Define the transform between the base_chassis link frame and the (simulated) ZED frame -->
<node pkg="tf" type="static_transform_publisher" name="base_to_zed" args="$(arg stereo_camera_frame_x) $(arg stereo_camera_frame_y) $(arg stereo_camera_frame_z) $(arg stereo_camera_frame_yaw) $(arg stereo_camera_frame_pitch) $(arg stereo_camera_frame_roll) $(arg stereo_camera_frame) $(arg robot_frame) 5" />
<!-- Launch odometry tracking emulator -->
<node pkg="gazebo_scripts" type="odom_publisher" name="odom_publisher">
<param name="robot_name" value="$(arg robot_name)"/>
<param name="child_frame" value="$(arg stereo_camera_frame)"/>
<param name="odom_frame" value="$(arg odom_frame)"/>
<param name="child_frame_x" value="$(arg stereo_camera_frame_x)"/>
<param name="child_frame_y" value="$(arg stereo_camera_frame_y)"/>
<param name="child_frame_z" value="$(arg stereo_camera_frame_z)"/>
<param name="child_frame_roll" value="$(arg stereo_camera_frame_roll)"/>
<param name="child_frame_pitch" value="$(arg stereo_camera_frame_pitch)"/>
<param name="child_frame_yaw" value="$(arg stereo_camera_frame_yaw)"/>
</node>
<!-- Launch ros_controllers -->
<rosparam file="$(find gazebo_scripts)/config/minitaur_control.yaml" command="load"/>
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" ns="/minitaur_constrained" args="joint_state_controller joint0_effort_controller joint1_effort_controller joint2_effort_controller joint3_effort_controller joint4_effort_controller joint5_effort_controller joint6_effort_controller joint7_effort_controller"/>
</launch>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/gazebo_scripts/launch/minitaur_sensor_gazebo_narrow_passage.launch | <!--
MIT License (modified)
Copyright (c) 2019 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<launch>
<!-- Arguments -->
<arg name="robot_name" default="minitaur"/> <!-- Robot name - minitaur or vision60 -->
<arg name="stereo_camera_frame" default="/zed_camera_center"/> <!-- Check your stereo camera - assumed to be facing backwards, not implemented here -->
<arg name="robot_frame" default="/base_chassis_link_dummy"/> <!-- Check your robot - base_chassis_link_dummy for Minitaur, body for Vision60 -->
<arg name="stereo_camera_frame_x" default="-0.115"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_y" default="0.03"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_z" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_roll" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_pitch" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_yaw" default="3.14"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="odom_frame" default="/odom"/>
<!-- Launch the minitaur world with specific physics parameters -->
<!-- You need to have installed 3D Gems for Gazebo to get all the objects -->
<!-- Also change texture to cl5.jpg in miscellaneous/office_small/materials/scripts/Floor.material -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="paused" value="true"/>
<arg name="world_name" value="$(find gazebo_scripts)/worlds/narrow_passage.world"/>
<arg name="gui" value="true"/>
<arg name="physics" value="ode"/>
</include>
<!-- Distinguish between URDF description for control and SDF description for simulation -->
<param name="robot_description" textfile="$(find minitaur_description)/urdf/minitaur_gazebo.urdf" />
<param name="robot_description_sdf" textfile="$(find minitaur_description)/sdf/minitaur_sensor/minitaur_sensor.sdf" />
<!-- Spawn SDF model -->
<node name="spawn_sdf_model" pkg="gazebo_ros" type="spawn_model" args="-sdf -param robot_description_sdf -model minitaur_constrained -x 0.2 -y -3.5 -z 0.4 -Y 0" output="screen"/>
<!-- Spawn TF tree -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen"/>
<!-- Define the transform between the base_chassis link frame and the (simulated) ZED frame -->
<node pkg="tf" type="static_transform_publisher" name="base_to_zed" args="$(arg stereo_camera_frame_x) $(arg stereo_camera_frame_y) $(arg stereo_camera_frame_z) $(arg stereo_camera_frame_yaw) $(arg stereo_camera_frame_pitch) $(arg stereo_camera_frame_roll) $(arg stereo_camera_frame) $(arg robot_frame) 5" />
<!-- Launch odometry tracking emulator -->
<node pkg="gazebo_scripts" type="odom_publisher" name="odom_publisher">
<param name="robot_name" value="$(arg robot_name)"/>
<param name="child_frame" value="$(arg stereo_camera_frame)"/>
<param name="odom_frame" value="$(arg odom_frame)"/>
<param name="child_frame_x" value="$(arg stereo_camera_frame_x)"/>
<param name="child_frame_y" value="$(arg stereo_camera_frame_y)"/>
<param name="child_frame_z" value="$(arg stereo_camera_frame_z)"/>
<param name="child_frame_roll" value="$(arg stereo_camera_frame_roll)"/>
<param name="child_frame_pitch" value="$(arg stereo_camera_frame_pitch)"/>
<param name="child_frame_yaw" value="$(arg stereo_camera_frame_yaw)"/>
</node>
<!-- Launch ros_controllers -->
<rosparam file="$(find gazebo_scripts)/config/minitaur_control.yaml" command="load"/>
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" ns="/minitaur_constrained" args="joint_state_controller joint0_effort_controller joint1_effort_controller joint2_effort_controller joint3_effort_controller joint4_effort_controller joint5_effort_controller joint6_effort_controller joint7_effort_controller"/>
</launch>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/gazebo_scripts/launch/minitaur_sensor_gazebo_building_complex.launch | <!--
MIT License (modified)
Copyright (c) 2021 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<launch>
<!-- Arguments -->
<arg name="robot_name" default="minitaur"/> <!-- Robot name - minitaur or vision60 -->
<arg name="stereo_camera_frame" default="/zed_camera_center"/> <!-- Check your stereo camera - assumed to be facing backwards, not implemented here -->
<arg name="robot_frame" default="/base_chassis_link_dummy"/> <!-- Check your robot - base_chassis_link_dummy for Minitaur, body for Vision60 -->
<arg name="stereo_camera_frame_x" default="-0.115"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_y" default="0.03"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_z" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_roll" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_pitch" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_yaw" default="3.14"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="odom_frame" default="/odom"/>
<!-- Launch the minitaur world with specific physics parameters -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="paused" value="true"/>
<arg name="world_name" value="$(find gazebo_scripts)/worlds/building_complex.world"/>
<arg name="gui" value="true"/>
<arg name="physics" value="ode"/>
</include>
<!-- Distinguish between URDF description for control and SDF description for simulation -->
<param name="robot_description" textfile="$(find minitaur_description)/urdf/minitaur_gazebo.urdf" />
<param name="robot_description_sdf" textfile="$(find minitaur_description)/sdf/minitaur_sensor/minitaur_sensor.sdf" />
<!-- Spawn SDF model -->
<node name="spawn_sdf_model" pkg="gazebo_ros" type="spawn_model" args="-sdf -param robot_description_sdf -model minitaur_constrained -x -6 -y -6 -z 0.4 -Y 0" output="screen"/>
<!-- Spawn TF tree -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen"/>
<!-- Define the transform between the base_chassis link frame and the (simulated) ZED frame -->
<node pkg="tf" type="static_transform_publisher" name="base_to_zed" args="$(arg stereo_camera_frame_x) $(arg stereo_camera_frame_y) $(arg stereo_camera_frame_z) $(arg stereo_camera_frame_yaw) $(arg stereo_camera_frame_pitch) $(arg stereo_camera_frame_roll) $(arg stereo_camera_frame) $(arg robot_frame) 5" />
<!-- Launch odometry tracking emulator -->
<node pkg="gazebo_scripts" type="odom_publisher" name="odom_publisher">
<param name="robot_name" value="$(arg robot_name)"/>
<param name="child_frame" value="$(arg stereo_camera_frame)"/>
<param name="odom_frame" value="$(arg odom_frame)"/>
<param name="child_frame_x" value="$(arg stereo_camera_frame_x)"/>
<param name="child_frame_y" value="$(arg stereo_camera_frame_y)"/>
<param name="child_frame_z" value="$(arg stereo_camera_frame_z)"/>
<param name="child_frame_roll" value="$(arg stereo_camera_frame_roll)"/>
<param name="child_frame_pitch" value="$(arg stereo_camera_frame_pitch)"/>
<param name="child_frame_yaw" value="$(arg stereo_camera_frame_yaw)"/>
</node>
<!-- Launch ros_controllers -->
<rosparam file="$(find gazebo_scripts)/config/minitaur_control.yaml" command="load"/>
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" ns="/minitaur_constrained" args="joint_state_controller joint0_effort_controller joint1_effort_controller joint2_effort_controller joint3_effort_controller joint4_effort_controller joint5_effort_controller joint6_effort_controller joint7_effort_controller"/>
</launch>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/gazebo_scripts/launch/minitaur_sensor_gazebo_box_short.launch | <!--
MIT License (modified)
Copyright (c) 2018 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<launch>
<!-- Arguments -->
<arg name="robot_name" default="minitaur"/> <!-- Robot name - minitaur or vision60 -->
<arg name="stereo_camera_frame" default="/zed_camera_center"/> <!-- Check your stereo camera - assumed to be facing backwards, not implemented here -->
<arg name="robot_frame" default="/base_chassis_link_dummy"/> <!-- Check your robot - base_chassis_link_dummy for Minitaur, body for Vision60 -->
<arg name="stereo_camera_frame_x" default="-0.115"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_y" default="0.03"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_z" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_roll" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_pitch" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_yaw" default="3.14"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="odom_frame" default="/odom"/>
<!-- Launch the minitaur world with specific physics parameters -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="paused" value="true"/>
<arg name="world_name" value="$(find gazebo_scripts)/worlds/box_short.world"/>
<arg name="gui" value="true"/>
<arg name="physics" value="ode"/>
</include>
<!-- Distinguish between URDF description for control and SDF description for simulation -->
<param name="robot_description" textfile="$(find minitaur_description)/urdf/minitaur_gazebo.urdf" />
<param name="robot_description_sdf" textfile="$(find minitaur_description)/sdf/minitaur_sensor/minitaur_sensor.sdf" />
<!-- Spawn SDF model -->
<node name="spawn_sdf_model" pkg="gazebo_ros" type="spawn_model" args="-sdf -param robot_description_sdf -model minitaur_constrained -x 0 -y 0.0 -z 0.4" output="screen"/>
<!-- Spawn TF tree -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen"/>
<!-- Define the transform between the base_chassis link frame and the (simulated) ZED frame -->
<node pkg="tf" type="static_transform_publisher" name="base_to_zed" args="$(arg stereo_camera_frame_x) $(arg stereo_camera_frame_y) $(arg stereo_camera_frame_z) $(arg stereo_camera_frame_yaw) $(arg stereo_camera_frame_pitch) $(arg stereo_camera_frame_roll) $(arg stereo_camera_frame) $(arg robot_frame) 5" />
<!-- Launch odometry tracking emulator -->
<node pkg="gazebo_scripts" type="odom_publisher" name="odom_publisher">
<param name="robot_name" value="$(arg robot_name)"/>
<param name="child_frame" value="$(arg stereo_camera_frame)"/>
<param name="odom_frame" value="$(arg odom_frame)"/>
<param name="child_frame_x" value="$(arg stereo_camera_frame_x)"/>
<param name="child_frame_y" value="$(arg stereo_camera_frame_y)"/>
<param name="child_frame_z" value="$(arg stereo_camera_frame_z)"/>
<param name="child_frame_roll" value="$(arg stereo_camera_frame_roll)"/>
<param name="child_frame_pitch" value="$(arg stereo_camera_frame_pitch)"/>
<param name="child_frame_yaw" value="$(arg stereo_camera_frame_yaw)"/>
</node>
<!-- Launch ros_controllers -->
<rosparam file="$(find gazebo_scripts)/config/minitaur_control.yaml" command="load"/>
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" ns="/minitaur_constrained" args="joint_state_controller joint0_effort_controller joint1_effort_controller joint2_effort_controller joint3_effort_controller joint4_effort_controller joint5_effort_controller joint6_effort_controller joint7_effort_controller"/>
</launch>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/gazebo_scripts/launch/spirit_gazebo.launch | <!--
MIT License (modified)
Copyright (c) 2020 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<launch>
<!-- Launch the Spirit world with specific physics parameters -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="paused" value="true"/>
<arg name="world_name" value="$(find gazebo_scripts)/worlds/ghost.world"/>
<arg name="gui" value="true"/>
<arg name="physics" value="ode"/>
</include>
<!-- Distinguish between URDF description for control and SDF description for simulation -->
<param name="robot_description" textfile="$(find spirit_description)/urdf/spirit_gazebo.urdf" />
<param name="robot_description_sdf" textfile="$(find spirit_description)/sdf/spirit.sdf" />
<!-- Spawn SDF model -->
<node name="spawn_sdf_model" pkg="gazebo_ros" type="spawn_model" args="-sdf -param robot_description_sdf -model spirit -x 0 -y 0.0 -z 1.0" output="screen"/>
<!-- Launch ros_controllers -->
<rosparam file="$(find gazebo_scripts)/config/spirit_control.yaml" command="load"/>
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" ns="/spirit" args="joint_state_controller joint0_effort_controller joint1_effort_controller joint2_effort_controller joint3_effort_controller joint4_effort_controller joint5_effort_controller joint6_effort_controller joint7_effort_controller joint8_effort_controller joint9_effort_controller joint10_effort_controller joint11_effort_controller"/>
</launch> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/gazebo_scripts/launch/minitaur_gazebo.launch | <!--
MIT License (modified)
Copyright (c) 2018 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<launch>
<!-- Launch the minitaur world with specific physics parameters -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="paused" value="true"/>
<arg name="world_name" value="$(find gazebo_scripts)/worlds/ghost.world"/>
<arg name="gui" value="true"/>
<arg name="physics" value="ode"/>
</include>
<!-- Distinguish between URDF description for control and SDF description for simulation -->
<param name="robot_description" textfile="$(find minitaur_description)/urdf/minitaur_gazebo.urdf" />
<param name="robot_description_sdf" textfile="$(find minitaur_description)/sdf/minitaur_constrained/minitaur_constrained.sdf" />
<!-- Spawn SDF model -->
<node name="spawn_sdf_model" pkg="gazebo_ros" type="spawn_model" args="-sdf -param robot_description_sdf -model minitaur_constrained -x 0 -y 0.0 -z 0.4" output="screen"/>
<!-- Launch ros_controllers -->
<rosparam file="$(find gazebo_scripts)/config/minitaur_control.yaml" command="load"/>
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" ns="/minitaur_constrained" args="joint_state_controller joint0_effort_controller joint1_effort_controller joint2_effort_controller joint3_effort_controller joint4_effort_controller joint5_effort_controller joint6_effort_controller joint7_effort_controller"/>
</launch>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/gazebo_scripts/launch/minitaur_sensor_gazebo.launch | <!--
MIT License (modified)
Copyright (c) 2018 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<launch>
<!-- Arguments -->
<arg name="robot_name" default="minitaur"/> <!-- Robot name - minitaur or vision60 -->
<arg name="stereo_camera_frame" default="/zed_camera_center"/> <!-- Check your stereo camera - assumed to be facing backwards, not implemented here -->
<arg name="robot_frame" default="/base_chassis_link_dummy"/> <!-- Check your robot - base_chassis_link_dummy for Minitaur, body for Vision60 -->
<arg name="stereo_camera_frame_x" default="-0.115"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_y" default="0.03"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_z" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_roll" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_pitch" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_yaw" default="3.14"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="odom_frame" default="/odom"/>
<!-- Launch the minitaur world with specific physics parameters -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="paused" value="true"/>
<arg name="world_name" value="$(find gazebo_scripts)/worlds/objects.world"/>
<arg name="gui" value="true"/>
<arg name="physics" value="ode"/>
</include>
<!-- Distinguish between URDF description for control and SDF description for simulation -->
<param name="robot_description" textfile="$(find minitaur_description)/urdf/minitaur_gazebo.urdf" />
<param name="robot_description_sdf" textfile="$(find minitaur_description)/sdf/minitaur_sensor/minitaur_sensor.sdf" />
<!-- Spawn SDF model -->
<node name="spawn_sdf_model" pkg="gazebo_ros" type="spawn_model" args="-sdf -param robot_description_sdf -model minitaur_constrained -x 0 -y 0.0 -z 0.4" output="screen"/>
<!-- Spawn TF tree -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen"/>
<!-- Define the transform between the base_chassis link frame and the (simulated) ZED frame -->
<node pkg="tf" type="static_transform_publisher" name="base_to_zed" args="$(arg stereo_camera_frame_x) $(arg stereo_camera_frame_y) $(arg stereo_camera_frame_z) $(arg stereo_camera_frame_yaw) $(arg stereo_camera_frame_pitch) $(arg stereo_camera_frame_roll) $(arg stereo_camera_frame) $(arg robot_frame) 5" />
<!-- Launch odometry tracking emulator -->
<node pkg="gazebo_scripts" type="odom_publisher" name="odom_publisher">
<param name="robot_name" value="$(arg robot_name)"/>
<param name="child_frame" value="$(arg stereo_camera_frame)"/>
<param name="odom_frame" value="$(arg odom_frame)"/>
<param name="child_frame_x" value="$(arg stereo_camera_frame_x)"/>
<param name="child_frame_y" value="$(arg stereo_camera_frame_y)"/>
<param name="child_frame_z" value="$(arg stereo_camera_frame_z)"/>
<param name="child_frame_roll" value="$(arg stereo_camera_frame_roll)"/>
<param name="child_frame_pitch" value="$(arg stereo_camera_frame_pitch)"/>
<param name="child_frame_yaw" value="$(arg stereo_camera_frame_yaw)"/>
</node>
<!-- Launch ros_controllers -->
<rosparam file="$(find gazebo_scripts)/config/minitaur_control.yaml" command="load"/>
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" ns="/minitaur_constrained" args="joint_state_controller joint0_effort_controller joint1_effort_controller joint2_effort_controller joint3_effort_controller joint4_effort_controller joint5_effort_controller joint6_effort_controller joint7_effort_controller"/>
</launch>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/gazebo_scripts/launch/minitaur_sensor_gazebo_building_table.launch | <!--
MIT License (modified)
Copyright (c) 2021 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<launch>
<!-- Arguments -->
<arg name="robot_name" default="minitaur"/> <!-- Robot name - minitaur or vision60 -->
<arg name="stereo_camera_frame" default="/zed_camera_center"/> <!-- Check your stereo camera - assumed to be facing backwards, not implemented here -->
<arg name="robot_frame" default="/base_chassis_link_dummy"/> <!-- Check your robot - base_chassis_link_dummy for Minitaur, body for Vision60 -->
<arg name="stereo_camera_frame_x" default="-0.115"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_y" default="0.03"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_z" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_roll" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_pitch" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_yaw" default="3.14"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="odom_frame" default="/odom"/>
<!-- Launch the minitaur world with specific physics parameters -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="paused" value="true"/>
<arg name="world_name" value="$(find gazebo_scripts)/worlds/building_table.world"/>
<arg name="gui" value="true"/>
<arg name="physics" value="ode"/>
</include>
<!-- Distinguish between URDF description for control and SDF description for simulation -->
<param name="robot_description" textfile="$(find minitaur_description)/urdf/minitaur_gazebo.urdf" />
<param name="robot_description_sdf" textfile="$(find minitaur_description)/sdf/minitaur_sensor/minitaur_sensor.sdf" />
<!-- Spawn SDF model -->
<node name="spawn_sdf_model" pkg="gazebo_ros" type="spawn_model" args="-sdf -param robot_description_sdf -model minitaur_constrained -x -6 -y -6 -z 0.4 -Y 0" output="screen"/>
<!-- Spawn TF tree -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen"/>
<!-- Define the transform between the base_chassis link frame and the (simulated) ZED frame -->
<node pkg="tf" type="static_transform_publisher" name="base_to_zed" args="$(arg stereo_camera_frame_x) $(arg stereo_camera_frame_y) $(arg stereo_camera_frame_z) $(arg stereo_camera_frame_yaw) $(arg stereo_camera_frame_pitch) $(arg stereo_camera_frame_roll) $(arg stereo_camera_frame) $(arg robot_frame) 5" />
<!-- Launch odometry tracking emulator -->
<node pkg="gazebo_scripts" type="odom_publisher" name="odom_publisher">
<param name="robot_name" value="$(arg robot_name)"/>
<param name="child_frame" value="$(arg stereo_camera_frame)"/>
<param name="odom_frame" value="$(arg odom_frame)"/>
<param name="child_frame_x" value="$(arg stereo_camera_frame_x)"/>
<param name="child_frame_y" value="$(arg stereo_camera_frame_y)"/>
<param name="child_frame_z" value="$(arg stereo_camera_frame_z)"/>
<param name="child_frame_roll" value="$(arg stereo_camera_frame_roll)"/>
<param name="child_frame_pitch" value="$(arg stereo_camera_frame_pitch)"/>
<param name="child_frame_yaw" value="$(arg stereo_camera_frame_yaw)"/>
</node>
<!-- Launch ros_controllers -->
<rosparam file="$(find gazebo_scripts)/config/minitaur_control.yaml" command="load"/>
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" ns="/minitaur_constrained" args="joint_state_controller joint0_effort_controller joint1_effort_controller joint2_effort_controller joint3_effort_controller joint4_effort_controller joint5_effort_controller joint6_effort_controller joint7_effort_controller"/>
</launch>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/gazebo_scripts/launch/minitaur_sensor_gazebo_office.launch | <!--
MIT License (modified)
Copyright (c) 2019 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<launch>
<!-- Arguments -->
<arg name="robot_name" default="minitaur"/> <!-- Robot name - minitaur or vision60 -->
<arg name="stereo_camera_frame" default="/zed_camera_center"/> <!-- Check your stereo camera - assumed to be facing backwards, not implemented here -->
<arg name="robot_frame" default="/base_chassis_link_dummy"/> <!-- Check your robot - base_chassis_link_dummy for Minitaur, body for Vision60 -->
<arg name="stereo_camera_frame_x" default="-0.115"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_y" default="0.03"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_z" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_roll" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_pitch" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_yaw" default="3.14"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="odom_frame" default="/odom"/>
<!-- Launch the minitaur world with specific physics parameters -->
<!-- You need to have installed 3D Gems for Gazebo to get all the objects -->
<!-- Also change texture to cl5.jpg in miscellaneous/office_small/materials/scripts/Floor.material -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="paused" value="true"/>
<arg name="world_name" value="$(find gazebo_scripts)/worlds/office.world"/>
<arg name="gui" value="true"/>
<arg name="physics" value="ode"/>
</include>
<!-- Distinguish between URDF description for control and SDF description for simulation -->
<param name="robot_description" textfile="$(find minitaur_description)/urdf/minitaur_gazebo.urdf" />
<param name="robot_description_sdf" textfile="$(find minitaur_description)/sdf/minitaur_sensor/minitaur_sensor.sdf" />
<!-- Spawn SDF model -->
<node name="spawn_sdf_model" pkg="gazebo_ros" type="spawn_model" args="-sdf -param robot_description_sdf -model minitaur_constrained -x -1 -y -0.4 -z 0.4 -Y 3.14" output="screen"/>
<!-- Spawn TF tree -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen"/>
<!-- Define the transform between the base_chassis link frame and the (simulated) ZED frame -->
<node pkg="tf" type="static_transform_publisher" name="base_to_zed" args="$(arg stereo_camera_frame_x) $(arg stereo_camera_frame_y) $(arg stereo_camera_frame_z) $(arg stereo_camera_frame_yaw) $(arg stereo_camera_frame_pitch) $(arg stereo_camera_frame_roll) $(arg stereo_camera_frame) $(arg robot_frame) 5" />
<!-- Launch odometry tracking emulator -->
<node pkg="gazebo_scripts" type="odom_publisher" name="odom_publisher">
<param name="robot_name" value="$(arg robot_name)"/>
<param name="child_frame" value="$(arg stereo_camera_frame)"/>
<param name="odom_frame" value="$(arg odom_frame)"/>
<param name="child_frame_x" value="$(arg stereo_camera_frame_x)"/>
<param name="child_frame_y" value="$(arg stereo_camera_frame_y)"/>
<param name="child_frame_z" value="$(arg stereo_camera_frame_z)"/>
<param name="child_frame_roll" value="$(arg stereo_camera_frame_roll)"/>
<param name="child_frame_pitch" value="$(arg stereo_camera_frame_pitch)"/>
<param name="child_frame_yaw" value="$(arg stereo_camera_frame_yaw)"/>
</node>
<!-- Launch ros_controllers -->
<rosparam file="$(find gazebo_scripts)/config/minitaur_control.yaml" command="load"/>
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" ns="/minitaur_constrained" args="joint_state_controller joint0_effort_controller joint1_effort_controller joint2_effort_controller joint3_effort_controller joint4_effort_controller joint5_effort_controller joint6_effort_controller joint7_effort_controller"/>
</launch>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/gazebo_scripts/launch/minitaur_sensor_gazebo_cart.launch | <!--
MIT License (modified)
Copyright (c) 2018 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<launch>
<!-- Arguments -->
<arg name="robot_name" default="minitaur"/> <!-- Robot name - minitaur or vision60 -->
<arg name="stereo_camera_frame" default="/zed_camera_center"/> <!-- Check your stereo camera - assumed to be facing backwards, not implemented here -->
<arg name="robot_frame" default="/base_chassis_link_dummy"/> <!-- Check your robot - base_chassis_link_dummy for Minitaur, body for Vision60 -->
<arg name="stereo_camera_frame_x" default="-0.115"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_y" default="0.03"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_z" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_roll" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_pitch" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_yaw" default="3.14"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="odom_frame" default="/odom"/>
<!-- Launch the minitaur world with specific physics parameters -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="paused" value="true"/>
<arg name="world_name" value="$(find gazebo_scripts)/worlds/cart.world"/>
<arg name="gui" value="true"/>
<arg name="physics" value="ode"/>
</include>
<!-- Distinguish between URDF description for control and SDF description for simulation -->
<param name="robot_description" textfile="$(find minitaur_description)/urdf/minitaur_gazebo.urdf" />
<param name="robot_description_sdf" textfile="$(find minitaur_description)/sdf/minitaur_sensor/minitaur_sensor.sdf" />
<!-- Spawn SDF model -->
<node name="spawn_sdf_model" pkg="gazebo_ros" type="spawn_model" args="-sdf -param robot_description_sdf -model minitaur_constrained -x 0 -y 0.0 -z 0.4" output="screen"/>
<!-- Spawn TF tree -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen"/>
<!-- Define the transform between the base_chassis link frame and the (simulated) ZED frame -->
<node pkg="tf" type="static_transform_publisher" name="base_to_zed" args="$(arg stereo_camera_frame_x) $(arg stereo_camera_frame_y) $(arg stereo_camera_frame_z) $(arg stereo_camera_frame_yaw) $(arg stereo_camera_frame_pitch) $(arg stereo_camera_frame_roll) $(arg stereo_camera_frame) $(arg robot_frame) 5" />
<!-- Launch odometry tracking emulator -->
<node pkg="gazebo_scripts" type="odom_publisher" name="odom_publisher">
<param name="robot_name" value="$(arg robot_name)"/>
<param name="child_frame" value="$(arg stereo_camera_frame)"/>
<param name="odom_frame" value="$(arg odom_frame)"/>
<param name="child_frame_x" value="$(arg stereo_camera_frame_x)"/>
<param name="child_frame_y" value="$(arg stereo_camera_frame_y)"/>
<param name="child_frame_z" value="$(arg stereo_camera_frame_z)"/>
<param name="child_frame_roll" value="$(arg stereo_camera_frame_roll)"/>
<param name="child_frame_pitch" value="$(arg stereo_camera_frame_pitch)"/>
<param name="child_frame_yaw" value="$(arg stereo_camera_frame_yaw)"/>
</node>
<!-- Launch ros_controllers -->
<rosparam file="$(find gazebo_scripts)/config/minitaur_control.yaml" command="load"/>
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" ns="/minitaur_constrained" args="joint_state_controller joint0_effort_controller joint1_effort_controller joint2_effort_controller joint3_effort_controller joint4_effort_controller joint5_effort_controller joint6_effort_controller joint7_effort_controller"/>
</launch>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/gazebo_scripts/launch/minitaur_sensor_gazebo_ramp_box_table.launch | <!--
MIT License (modified)
Copyright (c) 2019 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<launch>
<!-- Arguments -->
<arg name="robot_name" default="minitaur"/> <!-- Robot name - minitaur or vision60 -->
<arg name="stereo_camera_frame" default="/zed_camera_center"/> <!-- Check your stereo camera - assumed to be facing backwards, not implemented here -->
<arg name="robot_frame" default="/base_chassis_link_dummy"/> <!-- Check your robot - base_chassis_link_dummy for Minitaur, body for Vision60 -->
<arg name="stereo_camera_frame_x" default="-0.115"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_y" default="0.03"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_z" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_roll" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_pitch" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_yaw" default="3.14"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="odom_frame" default="/odom"/>
<!-- Launch the minitaur world with specific physics parameters -->
<!-- You need to have installed 3D Gems for Gazebo to get all the objects -->
<!-- Also change texture to cl5.jpg in miscellaneous/office_small/materials/scripts/Floor.material -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="paused" value="true"/>
<arg name="world_name" value="$(find gazebo_scripts)/worlds/ramp_box_table.world"/>
<arg name="gui" value="true"/>
<arg name="physics" value="ode"/>
</include>
<!-- Distinguish between URDF description for control and SDF description for simulation -->
<param name="robot_description" textfile="$(find minitaur_description)/urdf/minitaur_gazebo.urdf" />
<param name="robot_description_sdf" textfile="$(find minitaur_description)/sdf/minitaur_sensor/minitaur_sensor.sdf" />
<!-- Spawn SDF model -->
<node name="spawn_sdf_model" pkg="gazebo_ros" type="spawn_model" args="-sdf -param robot_description_sdf -model minitaur_constrained -x 0 -y -0 -z 0.4 -Y 0" output="screen"/>
<!-- Spawn TF tree -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen"/>
<!-- Define the transform between the base_chassis link frame and the (simulated) ZED frame -->
<node pkg="tf" type="static_transform_publisher" name="base_to_zed" args="$(arg stereo_camera_frame_x) $(arg stereo_camera_frame_y) $(arg stereo_camera_frame_z) $(arg stereo_camera_frame_yaw) $(arg stereo_camera_frame_pitch) $(arg stereo_camera_frame_roll) $(arg stereo_camera_frame) $(arg robot_frame) 5" />
<!-- Launch odometry tracking emulator -->
<node pkg="gazebo_scripts" type="odom_publisher" name="odom_publisher">
<param name="robot_name" value="$(arg robot_name)"/>
<param name="child_frame" value="$(arg stereo_camera_frame)"/>
<param name="odom_frame" value="$(arg odom_frame)"/>
<param name="child_frame_x" value="$(arg stereo_camera_frame_x)"/>
<param name="child_frame_y" value="$(arg stereo_camera_frame_y)"/>
<param name="child_frame_z" value="$(arg stereo_camera_frame_z)"/>
<param name="child_frame_roll" value="$(arg stereo_camera_frame_roll)"/>
<param name="child_frame_pitch" value="$(arg stereo_camera_frame_pitch)"/>
<param name="child_frame_yaw" value="$(arg stereo_camera_frame_yaw)"/>
</node>
<!-- Launch ros_controllers -->
<rosparam file="$(find gazebo_scripts)/config/minitaur_control.yaml" command="load"/>
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" ns="/minitaur_constrained" args="joint_state_controller joint0_effort_controller joint1_effort_controller joint2_effort_controller joint3_effort_controller joint4_effort_controller joint5_effort_controller joint6_effort_controller joint7_effort_controller"/>
</launch>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/gazebo_scripts/launch/minitaur_gazebo_cart_tall.launch | <!--
MIT License (modified)
Copyright (c) 2019 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<launch>
<!-- Launch the minitaur world with specific physics parameters -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="paused" value="true"/>
<arg name="world_name" value="$(find gazebo_scripts)/worlds/cart_tall.world"/>
<arg name="gui" value="true"/>
<arg name="physics" value="ode"/>
</include>
<!-- Distinguish between URDF description for control and SDF description for simulation -->
<param name="robot_description" textfile="$(find minitaur_description)/urdf/minitaur_gazebo.urdf" />
<param name="robot_description_sdf" textfile="$(find minitaur_description)/sdf/minitaur_constrained/minitaur_constrained.sdf" />
<!-- Spawn SDF model -->
<node name="spawn_sdf_model" pkg="gazebo_ros" type="spawn_model" args="-sdf -param robot_description_sdf -model minitaur_constrained -x 0 -y 0.0 -z 0.4" output="screen"/>
<!-- Launch ros_controllers -->
<rosparam file="$(find gazebo_scripts)/config/minitaur_control.yaml" command="load"/>
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" ns="/minitaur_constrained" args="joint_state_controller joint0_effort_controller joint1_effort_controller joint2_effort_controller joint3_effort_controller joint4_effort_controller joint5_effort_controller joint6_effort_controller joint7_effort_controller"/>
</launch>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/gazebo_scripts/launch/minitaur_sensor_gazebo_stool.launch | <!--
MIT License (modified)
Copyright (c) 2018 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<launch>
<!-- Arguments -->
<arg name="robot_name" default="minitaur"/> <!-- Robot name - minitaur or vision60 -->
<arg name="stereo_camera_frame" default="/zed_camera_center"/> <!-- Check your stereo camera - assumed to be facing backwards, not implemented here -->
<arg name="robot_frame" default="/base_chassis_link_dummy"/> <!-- Check your robot - base_chassis_link_dummy for Minitaur, body for Vision60 -->
<arg name="stereo_camera_frame_x" default="-0.115"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_y" default="0.03"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_z" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_roll" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_pitch" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_yaw" default="3.14"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="odom_frame" default="/odom"/>
<!-- Launch the minitaur world with specific physics parameters -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="paused" value="true"/>
<arg name="world_name" value="$(find gazebo_scripts)/worlds/stool.world"/>
<arg name="gui" value="true"/>
<arg name="physics" value="ode"/>
</include>
<!-- Distinguish between URDF description for control and SDF description for simulation -->
<param name="robot_description" textfile="$(find minitaur_description)/urdf/minitaur_gazebo.urdf" />
<param name="robot_description_sdf" textfile="$(find minitaur_description)/sdf/minitaur_sensor/minitaur_sensor.sdf" />
<!-- Spawn SDF model -->
<node name="spawn_sdf_model" pkg="gazebo_ros" type="spawn_model" args="-sdf -param robot_description_sdf -model minitaur_constrained -x 0 -y 0.0 -z 0.4" output="screen"/>
<!-- Spawn TF tree -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen"/>
<!-- Define the transform between the base_chassis link frame and the (simulated) ZED frame -->
<node pkg="tf" type="static_transform_publisher" name="base_to_zed" args="$(arg stereo_camera_frame_x) $(arg stereo_camera_frame_y) $(arg stereo_camera_frame_z) $(arg stereo_camera_frame_yaw) $(arg stereo_camera_frame_pitch) $(arg stereo_camera_frame_roll) $(arg stereo_camera_frame) $(arg robot_frame) 5" />
<!-- Launch odometry tracking emulator -->
<node pkg="gazebo_scripts" type="odom_publisher" name="odom_publisher">
<param name="robot_name" value="$(arg robot_name)"/>
<param name="child_frame" value="$(arg stereo_camera_frame)"/>
<param name="odom_frame" value="$(arg odom_frame)"/>
<param name="child_frame_x" value="$(arg stereo_camera_frame_x)"/>
<param name="child_frame_y" value="$(arg stereo_camera_frame_y)"/>
<param name="child_frame_z" value="$(arg stereo_camera_frame_z)"/>
<param name="child_frame_roll" value="$(arg stereo_camera_frame_roll)"/>
<param name="child_frame_pitch" value="$(arg stereo_camera_frame_pitch)"/>
<param name="child_frame_yaw" value="$(arg stereo_camera_frame_yaw)"/>
</node>
<!-- Launch ros_controllers -->
<rosparam file="$(find gazebo_scripts)/config/minitaur_control.yaml" command="load"/>
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" ns="/minitaur_constrained" args="joint_state_controller joint0_effort_controller joint1_effort_controller joint2_effort_controller joint3_effort_controller joint4_effort_controller joint5_effort_controller joint6_effort_controller joint7_effort_controller"/>
</launch>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/gazebo_scripts/launch/minitaur_sensor_gazebo_narrow_passage_obstacles.launch | <!--
MIT License (modified)
Copyright (c) 2019 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<launch>
<!-- Arguments -->
<arg name="robot_name" default="minitaur"/> <!-- Robot name - minitaur or vision60 -->
<arg name="stereo_camera_frame" default="/zed_camera_center"/> <!-- Check your stereo camera - assumed to be facing backwards, not implemented here -->
<arg name="robot_frame" default="/base_chassis_link_dummy"/> <!-- Check your robot - base_chassis_link_dummy for Minitaur, body for Vision60 -->
<arg name="stereo_camera_frame_x" default="-0.115"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_y" default="0.03"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_z" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_roll" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_pitch" default="0.0"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="stereo_camera_frame_yaw" default="3.14"/> <!-- Check your actual robot setup - This is the relation that gives stereo_camera_frame from robot_frame -->
<arg name="odom_frame" default="/odom"/>
<!-- Launch the minitaur world with specific physics parameters -->
<!-- You need to have installed 3D Gems for Gazebo to get all the objects -->
<!-- Also change texture to cl5.jpg in miscellaneous/office_small/materials/scripts/Floor.material -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="paused" value="true"/>
<arg name="world_name" value="$(find gazebo_scripts)/worlds/narrow_passage_obstacles.world"/>
<arg name="gui" value="true"/>
<arg name="physics" value="ode"/>
</include>
<!-- Distinguish between URDF description for control and SDF description for simulation -->
<param name="robot_description" textfile="$(find minitaur_description)/urdf/minitaur_gazebo.urdf" />
<param name="robot_description_sdf" textfile="$(find minitaur_description)/sdf/minitaur_sensor/minitaur_sensor.sdf" />
<!-- Spawn SDF model -->
<node name="spawn_sdf_model" pkg="gazebo_ros" type="spawn_model" args="-sdf -param robot_description_sdf -model minitaur_constrained -x -3.1 -y -3.5 -z 0.4 -Y 0" output="screen"/>
<!-- Spawn TF tree -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen"/>
<!-- Define the transform between the base_chassis link frame and the (simulated) ZED frame -->
<node pkg="tf" type="static_transform_publisher" name="base_to_zed" args="$(arg stereo_camera_frame_x) $(arg stereo_camera_frame_y) $(arg stereo_camera_frame_z) $(arg stereo_camera_frame_yaw) $(arg stereo_camera_frame_pitch) $(arg stereo_camera_frame_roll) $(arg stereo_camera_frame) $(arg robot_frame) 5" />
<!-- Launch odometry tracking emulator -->
<node pkg="gazebo_scripts" type="odom_publisher" name="odom_publisher">
<param name="robot_name" value="$(arg robot_name)"/>
<param name="child_frame" value="$(arg stereo_camera_frame)"/>
<param name="odom_frame" value="$(arg odom_frame)"/>
<param name="child_frame_x" value="$(arg stereo_camera_frame_x)"/>
<param name="child_frame_y" value="$(arg stereo_camera_frame_y)"/>
<param name="child_frame_z" value="$(arg stereo_camera_frame_z)"/>
<param name="child_frame_roll" value="$(arg stereo_camera_frame_roll)"/>
<param name="child_frame_pitch" value="$(arg stereo_camera_frame_pitch)"/>
<param name="child_frame_yaw" value="$(arg stereo_camera_frame_yaw)"/>
</node>
<!-- Launch ros_controllers -->
<rosparam file="$(find gazebo_scripts)/config/minitaur_control.yaml" command="load"/>
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" ns="/minitaur_constrained" args="joint_state_controller joint0_effort_controller joint1_effort_controller joint2_effort_controller joint3_effort_controller joint4_effort_controller joint5_effort_controller joint6_effort_controller joint7_effort_controller"/>
</launch>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/gazebo_scripts/src/odom_publisher.cpp | /**
MIT License (modified)
Copyright (c) 2018 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
*/
#include <map>
#include <string>
#include "odom_publisher.h"
// Model callback
void modelCallback(const gazebo_msgs::LinkStates::ConstPtr& msg) {
int des_index = 0;
// Determine the index of the robot from all the models included
if (robot_name == "minitaur") {
for (int j=0 ; j<msg->name.size() ; j++) {
if (msg->name[j] == "minitaur_constrained::base_chassis_link_dummy") {
des_index = j;
}
}
} else if (robot_name == "vision60") {
for (int j=0 ; j<msg->name.size() ; j++) {
if (msg->name[j] == "vision60::body") {
des_index = j;
}
}
}
// Find orientation and position of robot in the global frame
tf::Quaternion robot_to_global_orientation_quaternion = tf::Quaternion(msg->pose[des_index].orientation.x,
msg->pose[des_index].orientation.y,
msg->pose[des_index].orientation.z,
msg->pose[des_index].orientation.w);
tf::Matrix3x3 robot_to_global_orientation = tf::Matrix3x3(robot_to_global_orientation_quaternion);
tf::Vector3 robot_to_global_position = tf::Vector3(msg->pose[des_index].position.x, msg->pose[des_index].position.y, msg->pose[des_index].position.z);
// Find robot pose in the global frame
tf::Pose robot_to_global = tf::Pose(robot_to_global_orientation, robot_to_global_position);
// Find orientation and position of child in the robot frame
tf::Matrix3x3 child_to_robot_orientation;
child_to_robot_orientation.setRPY(child_frame_roll, child_frame_pitch, child_frame_yaw);
tf::Vector3 child_to_robot_position = tf::Vector3(child_frame_x, child_frame_y, child_frame_z);
// Find child pose in the robot frame
tf::Pose child_to_robot = tf::Pose(child_to_robot_orientation, child_to_robot_position);
// Store the first pose of the odom frame in the global Gazebo frame - Runs only once
if (flag_first) {
odom_to_global = robot_to_global * child_to_robot;
odom_to_global_pos = odom_to_global.getOrigin();
odom_to_global_rot = odom_to_global.getRotation();
flag_first = false;
}
// Find pose of child frame in odom frame
tf::Pose child_to_odom = odom_to_global.inverse()*robot_to_global*child_to_robot;
// Initialize Odometry message
nav_msgs::Odometry msg_odometry;
// Populate odometry message header
msg_odometry.header.stamp = ros::Time::now();
msg_odometry.header.frame_id = odom_frame;
// Populate odometry message
msg_odometry.child_frame_id = child_frame;
msg_odometry.pose.pose.position.x = child_to_odom.getOrigin().getX();
msg_odometry.pose.pose.position.y = child_to_odom.getOrigin().getY();
msg_odometry.pose.pose.position.z = child_to_odom.getOrigin().getZ();
msg_odometry.pose.pose.orientation.x = child_to_odom.getRotation().getX();
msg_odometry.pose.pose.orientation.y = child_to_odom.getRotation().getY();
msg_odometry.pose.pose.orientation.z = child_to_odom.getRotation().getZ();
msg_odometry.pose.pose.orientation.w = child_to_odom.getRotation().getW();
// Get angular twist
tf::Vector3 vector_angular(msg->twist[des_index].angular.x, msg->twist[des_index].angular.y, msg->twist[des_index].angular.z);
tf::Vector3 rotated_vector_angular = tf::quatRotate(((robot_to_global*child_to_robot).inverse()).getRotation(), vector_angular);
msg_odometry.twist.twist.angular.x = rotated_vector_angular.getX();
msg_odometry.twist.twist.angular.y = rotated_vector_angular.getY();
msg_odometry.twist.twist.angular.z = rotated_vector_angular.getZ();
// Get linear twist
tf::Vector3 vector_linear(msg->twist[des_index].linear.x, msg->twist[des_index].linear.y, msg->twist[des_index].linear.z);
tf::Vector3 rotated_vector_linear = tf::quatRotate(((robot_to_global*child_to_robot).inverse()).getRotation(), vector_linear);
msg_odometry.twist.twist.linear.x = rotated_vector_linear.getX();
msg_odometry.twist.twist.linear.y = rotated_vector_linear.getY();
msg_odometry.twist.twist.linear.z = rotated_vector_linear.getZ();
// Publish odometry
odomPub.publish(msg_odometry);
// Publish tf transform
static tf::TransformBroadcaster br;
tf::Transform transform;
transform.setOrigin(tf::Vector3(child_to_odom.getOrigin().getX(), child_to_odom.getOrigin().getY(), child_to_odom.getOrigin().getZ()));
transform.setRotation(child_to_odom.getRotation());
br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), odom_frame, child_frame));
return;
}
int main(int argc, char **argv) {
// Initialize ROS if necessary
if (!ros::isInitialized()) {
ros::init(argc, argv, "odom_publisher", ros::init_options::NoSigintHandler);
}
// Initialize node
rosNode.reset(new ros::NodeHandle("odom_publisher"));
// Get parameters
ros::param::get("~robot_name", robot_name);
ros::param::get("~child_frame", child_frame);
ros::param::get("~odom_frame", odom_frame);
ros::param::get("~child_frame_x", child_frame_x);
ros::param::get("~child_frame_y", child_frame_y);
ros::param::get("~child_frame_z", child_frame_z);
ros::param::get("~child_frame_roll", child_frame_roll);
ros::param::get("~child_frame_pitch", child_frame_pitch);
ros::param::get("~child_frame_yaw", child_frame_yaw);
// Initialize subscriber
modelSub = rosNode->subscribe("/gazebo/link_states", 1, &modelCallback);
// Initialize publisher
odomPub = rosNode->advertise<nav_msgs::Odometry>("/robot_odom", 1);
while (ros::ok()) {
// Set ROS rate
ros::Rate r(60);
// Spin once
ros::spinOnce();
r.sleep();
}
return 0;
}
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/gazebo_scripts/src/odom_publisher.h | /**
MIT License (modified)
Copyright (c) 2018 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
*/
// ROS includes
#include <ros/ros.h>
#include <sensor_msgs/Joy.h>
#include <rosgraph_msgs/Clock.h>
#include <gazebo_msgs/LinkStates.h>
#include <nav_msgs/Odometry.h>
#include <tf/transform_datatypes.h>
#include <tf/transform_broadcaster.h>
// ROS node handle
std::unique_ptr<ros::NodeHandle> rosNode;
// Declare callbacks
void modelCallback(const gazebo_msgs::LinkStates::ConstPtr& msg);
// Declare ROS subscribers and publishers
ros::Subscriber modelSub;
ros::Publisher odomPub;
// Declare ROS parameters
std::string robot_name;
std::string child_frame;
std::string odom_frame;
double child_frame_x;
double child_frame_y;
double child_frame_z;
double child_frame_roll;
double child_frame_pitch;
double child_frame_yaw;
// Declare global variables
bool flag_first = true;
tf::Pose odom_to_global;
tf::Vector3 odom_to_global_pos;
tf::Quaternion odom_to_global_rot; |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/gazebo_scripts/src/ContactPlugin.cc | /*
MIT License (modified)
Copyright (c) 2018 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
*/
#include "ContactPlugin.hh"
using namespace gazebo;
GZ_REGISTER_SENSOR_PLUGIN(ContactPlugin)
/////////////////////////////////////////////////
ContactPlugin::ContactPlugin() : SensorPlugin() {
}
/////////////////////////////////////////////////
ContactPlugin::~ContactPlugin() {
}
/////////////////////////////////////////////////
void ContactPlugin::Load(sensors::SensorPtr _sensor, sdf::ElementPtr /*_sdf*/) {
// Get the parent sensor.
this->parentSensor =
std::dynamic_pointer_cast<sensors::ContactSensor>(_sensor);
// Make sure the parent sensor is valid.
if (!this->parentSensor)
{
gzerr << "ContactPlugin requires a ContactSensor.\n";
return;
}
// Connect to the sensor update event.
this->updateConnection = this->parentSensor->ConnectUpdated(
std::bind(&ContactPlugin::OnUpdate, this));
// Make sure the parent sensor is active.
this->parentSensor->SetActive(true);
// Initialize ROS if necessary
if (!ros::isInitialized()) {
int argc = 0;
char **argv = NULL;
ros::init(argc, argv, "ContactPublisher",ros::init_options::NoSigintHandler);
}
// Initialize node
this->rosNode.reset(new ros::NodeHandle("ContactPublisher"));
// Initialize Publishers
this->toe0_publisher = this->rosNode->advertise<geometry_msgs::Vector3>("/gazebo/toe0_forces", 1, true);
this->toe1_publisher = this->rosNode->advertise<geometry_msgs::Vector3>("/gazebo/toe1_forces", 1, true);
this->toe2_publisher = this->rosNode->advertise<geometry_msgs::Vector3>("/gazebo/toe2_forces", 1, true);
this->toe3_publisher = this->rosNode->advertise<geometry_msgs::Vector3>("/gazebo/toe3_forces", 1, true);
}
/////////////////////////////////////////////////
void ContactPlugin::OnUpdate() {
// Get all the contacts.
msgs::Contacts contacts;
contacts = this->parentSensor->Contacts();
for (unsigned int i = 0; i < contacts.contact_size(); ++i) {
std::string str = contacts.contact(i).collision1();
std::string toe0_string = "toe0_collision";
std::string toe1_string = "toe1_collision";
std::string toe2_string = "toe2_collision";
std::string toe3_string = "toe3_collision";
std::size_t found_toe0 = str.find(toe0_string);
std::size_t found_toe1 = str.find(toe1_string);
std::size_t found_toe2 = str.find(toe2_string);
std::size_t found_toe3 = str.find(toe3_string);
if (found_toe0 != std::string::npos) {
geometry_msgs::Vector3 toe0_msg; toe0_msg.x = 0.; toe0_msg.y = 0.; toe0_msg.z = 0.;
for (unsigned int j = 0; j < contacts.contact(i).position_size(); ++j) {
toe0_msg.x -= contacts.contact(i).wrench(j).body_1_wrench().force().x();
toe0_msg.y -= contacts.contact(i).wrench(j).body_1_wrench().force().y();
toe0_msg.z -= contacts.contact(i).wrench(j).body_1_wrench().force().z();
}
this->toe0_publisher.publish(toe0_msg);
}
if (found_toe1 != std::string::npos) {
geometry_msgs::Vector3 toe1_msg; toe1_msg.x = 0.; toe1_msg.y = 0.; toe1_msg.z = 0.;
for (unsigned int j = 0; j < contacts.contact(i).position_size(); ++j) {
toe1_msg.x -= contacts.contact(i).wrench(j).body_1_wrench().force().x();
toe1_msg.y -= contacts.contact(i).wrench(j).body_1_wrench().force().y();
toe1_msg.z -= contacts.contact(i).wrench(j).body_1_wrench().force().z();
}
this->toe1_publisher.publish(toe1_msg);
}
if (found_toe2 != std::string::npos) {
geometry_msgs::Vector3 toe2_msg; toe2_msg.x = 0.; toe2_msg.y = 0.; toe2_msg.z = 0.;
for (unsigned int j = 0; j < contacts.contact(i).position_size(); ++j) {
toe2_msg.x -= contacts.contact(i).wrench(j).body_1_wrench().force().x();
toe2_msg.y -= contacts.contact(i).wrench(j).body_1_wrench().force().y();
toe2_msg.z -= contacts.contact(i).wrench(j).body_1_wrench().force().z();
}
this->toe2_publisher.publish(toe2_msg);
}
if (found_toe3 != std::string::npos) {
geometry_msgs::Vector3 toe3_msg; toe3_msg.x = 0.; toe3_msg.y = 0.; toe3_msg.z = 0.;
for (unsigned int j = 0; j < contacts.contact(i).position_size(); ++j) {
toe3_msg.x -= contacts.contact(i).wrench(j).body_1_wrench().force().x();
toe3_msg.y -= contacts.contact(i).wrench(j).body_1_wrench().force().y();
toe3_msg.z -= contacts.contact(i).wrench(j).body_1_wrench().force().z();
}
this->toe3_publisher.publish(toe3_msg);
}
}
}
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/gazebo_scripts/config/spirit_control.yaml | # MIT License (modified)
# Copyright (c) 2020 The Trustees of the University of Pennsylvania
# Authors:
# Vasileios Vasilopoulos <[email protected]>
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this **file** (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
# The above copyright notice and this permission notice shall be included in all
# copies or substantial portions of the Software.
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
# SOFTWARE.
spirit:
# Publish all joint states -----------------------------------
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 2000
# Position Controllers ---------------------------------------
joint0_effort_controller:
type: effort_controllers/JointEffortController
joint: "0"
joint1_effort_controller:
type: effort_controllers/JointEffortController
joint: "1"
joint2_effort_controller:
type: effort_controllers/JointEffortController
joint: "2"
joint3_effort_controller:
type: effort_controllers/JointEffortController
joint: "3"
joint4_effort_controller:
type: effort_controllers/JointEffortController
joint: "4"
joint5_effort_controller:
type: effort_controllers/JointEffortController
joint: "5"
joint6_effort_controller:
type: effort_controllers/JointEffortController
joint: "6"
joint7_effort_controller:
type: effort_controllers/JointEffortController
joint: "7"
joint8_effort_controller:
type: effort_controllers/JointEffortController
joint: "8"
joint9_effort_controller:
type: effort_controllers/JointEffortController
joint: "9"
joint10_effort_controller:
type: effort_controllers/JointEffortController
joint: "10"
joint11_effort_controller:
type: effort_controllers/JointEffortController
joint: "11"
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/gazebo_scripts/config/vision60_control.yaml | # MIT License (modified)
# Copyright (c) 2018 The Trustees of the University of Pennsylvania
# Authors:
# Vasileios Vasilopoulos <[email protected]>
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this **file** (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
# The above copyright notice and this permission notice shall be included in all
# copies or substantial portions of the Software.
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
# SOFTWARE.
vision60:
# Publish all joint states -----------------------------------
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 2000
# Position Controllers ---------------------------------------
joint0_effort_controller:
type: effort_controllers/JointEffortController
joint: "0"
joint1_effort_controller:
type: effort_controllers/JointEffortController
joint: "1"
joint2_effort_controller:
type: effort_controllers/JointEffortController
joint: "2"
joint3_effort_controller:
type: effort_controllers/JointEffortController
joint: "3"
joint4_effort_controller:
type: effort_controllers/JointEffortController
joint: "4"
joint5_effort_controller:
type: effort_controllers/JointEffortController
joint: "5"
joint6_effort_controller:
type: effort_controllers/JointEffortController
joint: "6"
joint7_effort_controller:
type: effort_controllers/JointEffortController
joint: "7"
joint8_effort_controller:
type: effort_controllers/JointEffortController
joint: "8"
joint9_effort_controller:
type: effort_controllers/JointEffortController
joint: "9"
joint10_effort_controller:
type: effort_controllers/JointEffortController
joint: "10"
joint11_effort_controller:
type: effort_controllers/JointEffortController
joint: "11"
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/gazebo_scripts/config/minitaur_control.yaml | # MIT License (modified)
# Copyright (c) 2018 The Trustees of the University of Pennsylvania
# Authors:
# Vasileios Vasilopoulos <[email protected]>
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this **file** (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
# The above copyright notice and this permission notice shall be included in all
# copies or substantial portions of the Software.
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
# SOFTWARE.
minitaur_constrained:
# Publish all joint states -----------------------------------
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 2000
# Position Controllers ---------------------------------------
joint0_effort_controller:
type: effort_controllers/JointEffortController
joint: "0"
joint1_effort_controller:
type: effort_controllers/JointEffortController
joint: "1"
joint2_effort_controller:
type: effort_controllers/JointEffortController
joint: "2"
joint3_effort_controller:
type: effort_controllers/JointEffortController
joint: "3"
joint4_effort_controller:
type: effort_controllers/JointEffortController
joint: "4"
joint5_effort_controller:
type: effort_controllers/JointEffortController
joint: "5"
joint6_effort_controller:
type: effort_controllers/JointEffortController
joint: "6"
joint7_effort_controller:
type: effort_controllers/JointEffortController
joint: "7"
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/objects_description/cart/model.config | <!--
MIT License (modified)
Copyright (c) 2018 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<?xml version="1.0" ?>
<model>
<name>cart</name>
<version>1.0</version>
<sdf version="1.6">cart.sdf</sdf>
<author>
<name>Vasileios Vasilopoulos</name>
<email>[email protected]</email>
</author>
<description>Cart description</description>
</model>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/objects_description/cart/cart.sdf | <?xml version='1.0'?>
<!--
MIT License (modified)
Copyright (c) 2018 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<sdf version='1.6'>
<model name='cart'>
<link name='cart_main'>
<pose frame=''>0 0 0.125 0 -0 0</pose>
<inertial>
<mass>6</mass>
<inertia>
<ixx>0.1013</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.18005</iyy>
<iyz>0</iyz>
<izz>0.28125</izz>
</inertia>
<pose frame=''>0 0 0.3 0 -0 0</pose>
</inertial>
<gravity>1</gravity>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<visual name='base_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<box>
<size>0.6 0.45 0.01</size>
</box>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='base_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<box>
<size>0.6 0.45 0.01</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
<visual name='top_visual'>
<pose frame=''>0 0 0.39 0 -0 0</pose>
<geometry>
<box>
<size>0.6 0.45 0.01</size>
</box>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='top_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0.39 0 -0 0</pose>
<geometry>
<box>
<size>0.6 0.45 0.01</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
<visual name='bottom_front_visual'>
<pose frame=''>0 0.22 0.04 0 -0 0</pose>
<geometry>
<box>
<size>0.6 0.01 0.07</size>
</box>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='bottom_front_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0.22 0.04 0 -0 0</pose>
<geometry>
<box>
<size>0.6 0.01 0.07</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
<visual name='bottom_back_visual'>
<pose frame=''>0 -0.22 0.04 0 -0 0</pose>
<geometry>
<box>
<size>0.6 0.01 0.07</size>
</box>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='bottom_back_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 -0.22 0.04 0 -0 0</pose>
<geometry>
<box>
<size>0.6 0.01 0.07</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
<visual name='bottom_right_visual'>
<pose frame=''>0.295 0 0.04 0 -0 0</pose>
<geometry>
<box>
<size>0.01 0.43 0.07</size>
</box>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='bottom_right_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0.295 0 0.04 0 -0 0</pose>
<geometry>
<box>
<size>0.01 0.43 0.07</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
<visual name='bottom_left_visual'>
<pose frame=''>-0.295 0 0.04 0 -0 0</pose>
<geometry>
<box>
<size>0.01 0.43 0.07</size>
</box>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='bottom_left_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>-0.295 0 0.04 0 -0 0</pose>
<geometry>
<box>
<size>0.01 0.43 0.07</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
<visual name='top_front_visual'>
<pose frame=''>0 0.22 0.43 0 -0 0</pose>
<geometry>
<box>
<size>0.6 0.01 0.07</size>
</box>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='top_front_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0.22 0.43 0 -0 0</pose>
<geometry>
<box>
<size>0.6 0.01 0.07</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
<visual name='top_back_visual'>
<pose frame=''>0 -0.22 0.43 0 -0 0</pose>
<geometry>
<box>
<size>0.6 0.01 0.07</size>
</box>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='top_back_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 -0.22 0.43 0 -0 0</pose>
<geometry>
<box>
<size>0.6 0.01 0.07</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
<visual name='top_right_visual'>
<pose frame=''>0.295 0 0.43 0 -0 0</pose>
<geometry>
<box>
<size>0.01 0.43 0.07</size>
</box>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='top_right_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0.295 0 0.43 0 -0 0</pose>
<geometry>
<box>
<size>0.01 0.43 0.07</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
<visual name='top_left_visual'>
<pose frame=''>-0.295 0 0.43 0 -0 0</pose>
<geometry>
<box>
<size>0.01 0.43 0.07</size>
</box>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='top_left_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>-0.295 0 0.43 0 -0 0</pose>
<geometry>
<box>
<size>0.01 0.43 0.07</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
<visual name='cylinder_front_right_visual'>
<pose frame=''>0.269 0.194 0.23 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.021</radius>
<length>0.38</length>
</cylinder>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='cylinder_front_right_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0.269 0.194 0.23 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.021</radius>
<length>0.38</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
<visual name='cylinder_front_left_visual'>
<pose frame=''>-0.269 0.194 0.23 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.021</radius>
<length>0.38</length>
</cylinder>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='cylinder_front_left_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>-0.269 0.194 0.23 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.021</radius>
<length>0.38</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
<visual name='cylinder_back_left_visual'>
<pose frame=''>-0.269 -0.194 0.23 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.021</radius>
<length>0.38</length>
</cylinder>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='cylinder_back_left_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>-0.269 -0.194 0.23 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.021</radius>
<length>0.38</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
<visual name='cylinder_back_right_visual'>
<pose frame=''>0.269 -0.194 0.23 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.021</radius>
<length>0.38</length>
</cylinder>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='cylinder_back_right_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0.269 -0.194 0.23 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.021</radius>
<length>0.38</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
</link>
<include>
<name>tag_length_front</name>
<uri>model://tag36_11_00003</uri>
<pose>0 0.232 0.12 0 0 1.57</pose>
<static>false</static>
</include>
<joint name="tag_length_front_joint" type="fixed">
<child>tag_length_front::link</child>
<parent>cart_main</parent>
</joint>
<include>
<name>tag_length_back</name>
<uri>model://tag36_11_00003</uri>
<pose>0 -0.232 0.12 0 0 -1.57</pose>
<static>false</static>
</include>
<joint name="tag_length_back_joint" type="fixed">
<child>tag_length_back::link</child>
<parent>cart_main</parent>
</joint>
<include>
<name>tag_width_right</name>
<uri>model://tag36_11_00001</uri>
<pose>0.307 0 0.12 0 0 0</pose>
<static>false</static>
</include>
<joint name="tag_width_right_joint" type="fixed">
<child>tag_width_right::link</child>
<parent>cart_main</parent>
</joint>
<include>
<name>tag_width_left</name>
<uri>model://tag36_11_00001</uri>
<pose>-0.307 0 0.12 0 0 3.14</pose>
<static>false</static>
</include>
<joint name="tag_width_left_joint" type="fixed">
<child>tag_width_left::link</child>
<parent>cart_main</parent>
</joint>
<include>
<name>caster_front_left</name>
<uri>model://caster_cart</uri>
<pose>-0.269 0.194 0.12 0 0 3.14</pose>
</include>
<joint name="caster_front_left_joint" type="revolute">
<child>caster_front_left::caster_top</child>
<parent>cart_main</parent>
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.01</damping>
</dynamics>
</axis>
</joint>
<include>
<name>caster_front_right</name>
<uri>model://caster_cart</uri>
<pose>0.269 0.194 0.12 0 0 3.14</pose>
</include>
<joint name="caster_front_right_joint" type="revolute">
<child>caster_front_right::caster_top</child>
<parent>cart_main</parent>
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.01</damping>
</dynamics>
</axis>
</joint>
<include>
<name>caster_back_right</name>
<uri>model://caster_cart</uri>
<pose>0.269 -0.194 0.12 0 0 3.14</pose>
</include>
<joint name="caster_back_right_joint" type="revolute">
<child>caster_back_right::caster_top</child>
<parent>cart_main</parent>
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.01</damping>
</dynamics>
</axis>
</joint>
<include>
<name>caster_back_left</name>
<uri>model://caster_cart</uri>
<pose>-0.269 -0.194 0.12 0 0 3.14</pose>
</include>
<joint name="caster_back_left_joint" type="revolute">
<child>caster_back_left::caster_top</child>
<parent>cart_main</parent>
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.01</damping>
</dynamics>
</axis>
</joint>
<static>0</static>
<allow_auto_disable>1</allow_auto_disable>
</model>
</sdf>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/objects_description/stool_8/stool_8.sdf | <?xml version='1.0'?>
<!--
MIT License (modified)
Copyright (c) 2021 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<sdf version='1.6'>
<model name='stool_8'>
<link name='rim'>
<pose frame=''>0 0 0 0 -0 0</pose>
<inertial>
<mass>2</mass>
<inertia>
<ixx>0.018626</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.018626</iyy>
<iyz>0</iyz>
<izz>0.03725</izz>
</inertia>
<pose frame=''>0 0 0.0815 0 -0 0</pose>
</inertial>
<gravity>1</gravity>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<visual name='rim_visual'>
<pose frame=''>0 0 0.0815 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.193</radius>
<length>0.003</length>
</cylinder>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='rim_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0.0815 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.193</radius>
<length>0.003</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>2</mu>
<mu2>2</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
<visual name='rim_round_visual'>
<pose frame=''>0 0 0.0815 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://stool_8/meshes/rim.stl</uri>
<scale>0.001 0.001 0.001</scale>
</mesh>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='rim_round_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0.0815 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://stool_8/meshes/rim.stl</uri>
<scale>0.001 0.001 0.001</scale>
</mesh>
</geometry>
<surface>
<friction>
<ode>
<mu>2</mu>
<mu2>2</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
</link>
<link name='base_seat'>
<pose frame=''>0 0 0 0 -0 0</pose>
<inertial>
<mass>2.7</mass>
<inertia>
<ixx>0.062295</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.062295</iyy>
<iyz>0</iyz>
<izz>0.01159</izz>
</inertia>
<pose frame=''>0 0 0.283 0 -0 0</pose>
</inertial>
<gravity>1</gravity>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<visual name='base_visual'>
<pose frame=''>0 0 0.283 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.02</radius>
<length>0.4</length>
</cylinder>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/DarkGrey</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='base_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0.283 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.02</radius>
<length>0.4</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>2</mu>
<mu2>2</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
<visual name='seat_visual'>
<pose frame=''>0 0 0.508 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.15</radius>
<length>0.05</length>
</cylinder>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Red</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='seat_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0.508 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.15</radius>
<length>0.05</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>2</mu>
<mu2>2</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
</link>
<joint name="rim_to_base_seat_joint" type="revolute">
<child>base_seat</child>
<parent>rim</parent>
<axis>
<xyz>0 0 1</xyz>
</axis>
</joint>
<include>
<name>tag_1</name>
<uri>model://tag36_11_00008</uri>
<pose>0 -0.03 0.08 0 0 -1.57</pose>
<static>false</static>
</include>
<joint name="tag_1_joint" type="fixed">
<child>tag_1::link</child>
<parent>rim</parent>
</joint>
<include>
<name>tag_2</name>
<uri>model://tag36_11_00008</uri>
<pose>-0.026 0.015 0.08 0 0 2.618</pose>
<static>false</static>
</include>
<joint name="tag_2_joint" type="fixed">
<child>tag_2::link</child>
<parent>rim</parent>
</joint>
<include>
<name>tag_3</name>
<uri>model://tag36_11_00008</uri>
<pose>0.026 0.015 0.08 0 0 0.5236</pose>
<static>false</static>
</include>
<joint name="tag_3_joint" type="fixed">
<child>tag_3::link</child>
<parent>rim</parent>
</joint>
<include>
<name>caster_1</name>
<uri>model://caster_stool</uri>
<pose>0.18 0 0.08 0 0 3.14</pose>
</include>
<joint name="caster_1_joint" type="revolute">
<child>caster_1::caster_top</child>
<parent>rim</parent>
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.002</damping>
</dynamics>
</axis>
</joint>
<include>
<name>caster_2</name>
<uri>model://caster_stool</uri>
<pose>0.0556 -0.1712 0.08 0 0 3.14</pose>
</include>
<joint name="caster_2_joint" type="revolute">
<child>caster_2::caster_top</child>
<parent>rim</parent>
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.002</damping>
</dynamics>
</axis>
</joint>
<include>
<name>caster_3</name>
<uri>model://caster_stool</uri>
<pose>-0.1456 -0.1058 0.08 0 0 3.14</pose>
</include>
<joint name="caster_3_joint" type="revolute">
<child>caster_3::caster_top</child>
<parent>rim</parent>
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.002</damping>
</dynamics>
</axis>
</joint>
<include>
<name>caster_4</name>
<uri>model://caster_stool</uri>
<pose>-0.1456 0.1058 0.08 0 0 3.14</pose>
</include>
<joint name="caster_4_joint" type="revolute">
<child>caster_4::caster_top</child>
<parent>rim</parent>
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.002</damping>
</dynamics>
</axis>
</joint>
<include>
<name>caster_5</name>
<uri>model://caster_stool</uri>
<pose>0.0556 0.1712 0.08 0 0 3.14</pose>
</include>
<joint name="caster_5_joint" type="revolute">
<child>caster_5::caster_top</child>
<parent>rim</parent>
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.002</damping>
</dynamics>
</axis>
</joint>
<static>0</static>
<allow_auto_disable>1</allow_auto_disable>
</model>
</sdf>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/objects_description/stool_8/model.config | <!--
MIT License (modified)
Copyright (c) 2021 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<?xml version="1.0" ?>
<model>
<name>stool_8</name>
<version>1.0</version>
<sdf version="1.6">stool_8.sdf</sdf>
<author>
<name>Vasileios Vasilopoulos</name>
<email>[email protected]</email>
</author>
<description>Stool description with tag 8</description>
</model>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/objects_description/cart_tall/model.config | <!--
MIT License (modified)
Copyright (c) 2019 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<?xml version="1.0" ?>
<model>
<name>cart_tall</name>
<version>1.0</version>
<sdf version="1.6">cart_tall.sdf</sdf>
<author>
<name>Vasileios Vasilopoulos</name>
<email>[email protected]</email>
</author>
<description>Tall cart description</description>
</model>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/objects_description/cart_tall/cart_tall.sdf | <?xml version='1.0'?>
<!--
MIT License (modified)
Copyright (c) 2019 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<sdf version='1.6'>
<model name='cart_tall'>
<link name='cart_main'>
<pose frame=''>0 0 0 0 -0 0</pose>
<inertial>
<mass>6</mass>
<inertia>
<ixx>1.2</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>0.8748</izz>
</inertia>
<pose frame=''>0 0 0.3 0 -0 0</pose>
</inertial>
<gravity>1</gravity>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<visual name='base_visual'>
<pose frame=''>0 0 0.125 0 -0 0</pose>
<geometry>
<box>
<size>0.6 0.45 0.01</size>
</box>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='base_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0.125 0 -0 0</pose>
<geometry>
<box>
<size>0.6 0.45 0.01</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
<visual name='top_visual'>
<pose frame=''>0 0 0.655 0 -0 0</pose>
<geometry>
<box>
<size>0.6 0.45 0.01</size>
</box>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='top_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0.655 0 -0 0</pose>
<geometry>
<box>
<size>0.6 0.45 0.01</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
<visual name='bottom_front_visual'>
<pose frame=''>0 0.22 0.165 0 -0 0</pose>
<geometry>
<box>
<size>0.6 0.01 0.07</size>
</box>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='bottom_front_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0.22 0.165 0 -0 0</pose>
<geometry>
<box>
<size>0.6 0.01 0.07</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
<visual name='bottom_back_visual'>
<pose frame=''>0 -0.22 0.165 0 -0 0</pose>
<geometry>
<box>
<size>0.6 0.01 0.07</size>
</box>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='bottom_back_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 -0.22 0.165 0 -0 0</pose>
<geometry>
<box>
<size>0.6 0.01 0.07</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
<visual name='bottom_right_visual'>
<pose frame=''>0.295 0 0.165 0 -0 0</pose>
<geometry>
<box>
<size>0.01 0.43 0.07</size>
</box>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='bottom_right_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0.295 0 0.165 0 -0 0</pose>
<geometry>
<box>
<size>0.01 0.43 0.07</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
<visual name='bottom_left_visual'>
<pose frame=''>-0.295 0 0.165 0 -0 0</pose>
<geometry>
<box>
<size>0.01 0.43 0.07</size>
</box>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='bottom_left_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>-0.295 0 0.165 0 -0 0</pose>
<geometry>
<box>
<size>0.01 0.43 0.07</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
<visual name='top_front_visual'>
<pose frame=''>0 0.22 0.695 0 -0 0</pose>
<geometry>
<box>
<size>0.6 0.01 0.07</size>
</box>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='top_front_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0.22 0.695 0 -0 0</pose>
<geometry>
<box>
<size>0.6 0.01 0.07</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
<visual name='top_back_visual'>
<pose frame=''>0 -0.22 0.695 0 -0 0</pose>
<geometry>
<box>
<size>0.6 0.01 0.07</size>
</box>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='top_back_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 -0.22 0.695 0 -0 0</pose>
<geometry>
<box>
<size>0.6 0.01 0.07</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
<visual name='top_right_visual'>
<pose frame=''>0.295 0 0.695 0 -0 0</pose>
<geometry>
<box>
<size>0.01 0.43 0.07</size>
</box>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='top_right_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0.295 0 0.695 0 -0 0</pose>
<geometry>
<box>
<size>0.01 0.43 0.07</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
<visual name='top_left_visual'>
<pose frame=''>-0.295 0 0.695 0 -0 0</pose>
<geometry>
<box>
<size>0.01 0.43 0.07</size>
</box>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='top_left_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>-0.295 0 0.695 0 -0 0</pose>
<geometry>
<box>
<size>0.01 0.43 0.07</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
<visual name='cylinder_front_right_visual'>
<pose frame=''>0.269 0.194 0.488 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.021</radius>
<length>0.52</length>
</cylinder>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='cylinder_front_right_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0.269 0.194 0.488 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.021</radius>
<length>0.52</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
<visual name='cylinder_front_left_visual'>
<pose frame=''>-0.269 0.194 0.488 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.021</radius>
<length>0.52</length>
</cylinder>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='cylinder_front_left_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>-0.269 0.194 0.488 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.021</radius>
<length>0.52</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
<visual name='cylinder_back_left_visual'>
<pose frame=''>-0.269 -0.194 0.488 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.021</radius>
<length>0.52</length>
</cylinder>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='cylinder_back_left_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>-0.269 -0.194 0.488 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.021</radius>
<length>0.52</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
<visual name='cylinder_back_right_visual'>
<pose frame=''>0.269 -0.194 0.488 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.021</radius>
<length>0.52</length>
</cylinder>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='cylinder_back_right_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0.269 -0.194 0.488 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.021</radius>
<length>0.52</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
</link>
<include>
<name>tag_length_front</name>
<uri>model://tag36_11_00003</uri>
<pose>0 0.232 0.12 0 0 1.57</pose>
<static>false</static>
</include>
<joint name="tag_length_front_joint" type="fixed">
<child>tag_length_front::link</child>
<parent>cart_main</parent>
</joint>
<include>
<name>tag_length_back</name>
<uri>model://tag36_11_00003</uri>
<pose>0 -0.232 0.12 0 0 -1.57</pose>
<static>false</static>
</include>
<joint name="tag_length_back_joint" type="fixed">
<child>tag_length_back::link</child>
<parent>cart_main</parent>
</joint>
<include>
<name>tag_width_right</name>
<uri>model://tag36_11_00001</uri>
<pose>0.307 0 0.12 0 0 0</pose>
<static>false</static>
</include>
<joint name="tag_width_right_joint" type="fixed">
<child>tag_width_right::link</child>
<parent>cart_main</parent>
</joint>
<include>
<name>tag_width_left</name>
<uri>model://tag36_11_00001</uri>
<pose>-0.307 0 0.12 0 0 3.14</pose>
<static>false</static>
</include>
<joint name="tag_width_left_joint" type="fixed">
<child>tag_width_left::link</child>
<parent>cart_main</parent>
</joint>
<include>
<name>caster_front_left</name>
<uri>model://caster_cart</uri>
<pose>-0.269 0.194 0.12 0 0 3.14</pose>
</include>
<joint name="caster_front_left_joint" type="revolute">
<child>caster_front_left::caster_top</child>
<parent>cart_main</parent>
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.01</damping>
</dynamics>
</axis>
</joint>
<include>
<name>caster_front_right</name>
<uri>model://caster_cart</uri>
<pose>0.269 0.194 0.12 0 0 3.14</pose>
</include>
<joint name="caster_front_right_joint" type="revolute">
<child>caster_front_right::caster_top</child>
<parent>cart_main</parent>
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.01</damping>
</dynamics>
</axis>
</joint>
<include>
<name>caster_back_right</name>
<uri>model://caster_cart</uri>
<pose>0.269 -0.194 0.12 0 0 3.14</pose>
</include>
<joint name="caster_back_right_joint" type="revolute">
<child>caster_back_right::caster_top</child>
<parent>cart_main</parent>
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.01</damping>
</dynamics>
</axis>
</joint>
<include>
<name>caster_back_left</name>
<uri>model://caster_cart</uri>
<pose>-0.269 -0.194 0.12 0 0 3.14</pose>
</include>
<joint name="caster_back_left_joint" type="revolute">
<child>caster_back_left::caster_top</child>
<parent>cart_main</parent>
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.01</damping>
</dynamics>
</axis>
</joint>
<static>0</static>
<allow_auto_disable>1</allow_auto_disable>
</model>
</sdf>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/objects_description/stool_9/model.config | <!--
MIT License (modified)
Copyright (c) 2021 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<?xml version="1.0" ?>
<model>
<name>stool_9</name>
<version>1.0</version>
<sdf version="1.6">stool_9.sdf</sdf>
<author>
<name>Vasileios Vasilopoulos</name>
<email>[email protected]</email>
</author>
<description>Stool description with tag 9</description>
</model>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/objects_description/stool_9/stool_9.sdf | <?xml version='1.0'?>
<!--
MIT License (modified)
Copyright (c) 2021 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<sdf version='1.6'>
<model name='stool_9'>
<link name='rim'>
<pose frame=''>0 0 0 0 -0 0</pose>
<inertial>
<mass>2</mass>
<inertia>
<ixx>0.018626</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.018626</iyy>
<iyz>0</iyz>
<izz>0.03725</izz>
</inertia>
<pose frame=''>0 0 0.0815 0 -0 0</pose>
</inertial>
<gravity>1</gravity>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<visual name='rim_visual'>
<pose frame=''>0 0 0.0815 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.193</radius>
<length>0.003</length>
</cylinder>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='rim_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0.0815 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.193</radius>
<length>0.003</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>2</mu>
<mu2>2</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
<visual name='rim_round_visual'>
<pose frame=''>0 0 0.0815 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://stool_9/meshes/rim.stl</uri>
<scale>0.001 0.001 0.001</scale>
</mesh>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='rim_round_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0.0815 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://stool_9/meshes/rim.stl</uri>
<scale>0.001 0.001 0.001</scale>
</mesh>
</geometry>
<surface>
<friction>
<ode>
<mu>2</mu>
<mu2>2</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
</link>
<link name='base_seat'>
<pose frame=''>0 0 0 0 -0 0</pose>
<inertial>
<mass>2.7</mass>
<inertia>
<ixx>0.062295</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.062295</iyy>
<iyz>0</iyz>
<izz>0.01159</izz>
</inertia>
<pose frame=''>0 0 0.283 0 -0 0</pose>
</inertial>
<gravity>1</gravity>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<visual name='base_visual'>
<pose frame=''>0 0 0.283 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.02</radius>
<length>0.4</length>
</cylinder>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/DarkGrey</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='base_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0.283 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.02</radius>
<length>0.4</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>2</mu>
<mu2>2</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
<visual name='seat_visual'>
<pose frame=''>0 0 0.508 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.15</radius>
<length>0.05</length>
</cylinder>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Red</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='seat_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0.508 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.15</radius>
<length>0.05</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>2</mu>
<mu2>2</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
</link>
<joint name="rim_to_base_seat_joint" type="revolute">
<child>base_seat</child>
<parent>rim</parent>
<axis>
<xyz>0 0 1</xyz>
</axis>
</joint>
<include>
<name>tag_1</name>
<uri>model://tag36_11_00009</uri>
<pose>0 -0.03 0.08 0 0 -1.57</pose>
<static>false</static>
</include>
<joint name="tag_1_joint" type="fixed">
<child>tag_1::link</child>
<parent>rim</parent>
</joint>
<include>
<name>tag_2</name>
<uri>model://tag36_11_00009</uri>
<pose>-0.026 0.015 0.08 0 0 2.618</pose>
<static>false</static>
</include>
<joint name="tag_2_joint" type="fixed">
<child>tag_2::link</child>
<parent>rim</parent>
</joint>
<include>
<name>tag_3</name>
<uri>model://tag36_11_00009</uri>
<pose>0.026 0.015 0.08 0 0 0.5236</pose>
<static>false</static>
</include>
<joint name="tag_3_joint" type="fixed">
<child>tag_3::link</child>
<parent>rim</parent>
</joint>
<include>
<name>caster_1</name>
<uri>model://caster_stool</uri>
<pose>0.18 0 0.08 0 0 3.14</pose>
</include>
<joint name="caster_1_joint" type="revolute">
<child>caster_1::caster_top</child>
<parent>rim</parent>
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.002</damping>
</dynamics>
</axis>
</joint>
<include>
<name>caster_2</name>
<uri>model://caster_stool</uri>
<pose>0.0556 -0.1712 0.08 0 0 3.14</pose>
</include>
<joint name="caster_2_joint" type="revolute">
<child>caster_2::caster_top</child>
<parent>rim</parent>
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.002</damping>
</dynamics>
</axis>
</joint>
<include>
<name>caster_3</name>
<uri>model://caster_stool</uri>
<pose>-0.1456 -0.1058 0.08 0 0 3.14</pose>
</include>
<joint name="caster_3_joint" type="revolute">
<child>caster_3::caster_top</child>
<parent>rim</parent>
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.002</damping>
</dynamics>
</axis>
</joint>
<include>
<name>caster_4</name>
<uri>model://caster_stool</uri>
<pose>-0.1456 0.1058 0.08 0 0 3.14</pose>
</include>
<joint name="caster_4_joint" type="revolute">
<child>caster_4::caster_top</child>
<parent>rim</parent>
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.002</damping>
</dynamics>
</axis>
</joint>
<include>
<name>caster_5</name>
<uri>model://caster_stool</uri>
<pose>0.0556 0.1712 0.08 0 0 3.14</pose>
</include>
<joint name="caster_5_joint" type="revolute">
<child>caster_5::caster_top</child>
<parent>rim</parent>
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.002</damping>
</dynamics>
</axis>
</joint>
<static>0</static>
<allow_auto_disable>1</allow_auto_disable>
</model>
</sdf>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/objects_description/box_tall/model.config | <!--
MIT License (modified)
Copyright (c) 2019 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<?xml version="1.0" ?>
<model>
<name>box_tall</name>
<version>1.0</version>
<sdf version="1.6">box_tall.sdf</sdf>
<author>
<name>Vasileios Vasilopoulos</name>
<email>[email protected]</email>
</author>
<description>Tall box description</description>
</model>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/objects_description/box_tall/box_tall.sdf | <?xml version='1.0'?>
<!--
MIT License (modified)
Copyright (c) 2019 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<sdf version='1.6'>
<model name='box_tall'>
<link name='box'>
<pose frame=''>0 0 0 0 -0 0</pose>
<inertial>
<mass>1000</mass>
<inertia>
<ixx>4.78</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>6.26</iyy>
<iyz>0</iyz>
<izz>8.235</izz>
</inertia>
<pose frame=''>0 0 0.22 0 -0 0</pose>
</inertial>
<gravity>1</gravity>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<visual name='box_visual'>
<pose frame=''>0 0 0.22 0 -0 0</pose>
<geometry>
<box>
<size>0.72 0.72 0.44</size>
</box>
</geometry>
<material>
<script>
<uri>model://box_tall/materials/scripts</uri>
<uri>model://box_tall/materials/textures</uri>
<name>box_tall</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='box_collision'>
<pose frame=''>0 0 0.22 0 -0 0</pose>
<geometry>
<box>
<size>0.72 0.72 0.44</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>100</mu>
<mu2>50</mu2>
</ode>
</friction>
</surface>
</collision>
</link>
<include>
<name>tag_length_front</name>
<uri>model://tag36_11_00007</uri>
<pose>0 0.362 0.375 0 0 1.57</pose>
<static>false</static>
</include>
<joint name="tag_length_front_joint" type="fixed">
<child>tag_length_front::link</child>
<parent>box</parent>
</joint>
<include>
<name>tag_length_back</name>
<uri>model://tag36_11_00007</uri>
<pose>0 -0.362 0.375 0 0 -1.57</pose>
<static>false</static>
</include>
<joint name="tag_length_back_joint" type="fixed">
<child>tag_length_back::link</child>
<parent>box</parent>
</joint>
<include>
<name>tag_width_right</name>
<uri>model://tag36_11_00007</uri>
<pose>0.362 0 0.375 0 0 0</pose>
<static>false</static>
</include>
<joint name="tag_width_right_joint" type="fixed">
<child>tag_width_right::link</child>
<parent>box</parent>
</joint>
<include>
<name>tag_width_left</name>
<uri>model://tag36_11_00007</uri>
<pose>-0.362 0 0.375 0 0 3.14</pose>
<static>false</static>
</include>
<joint name="tag_width_left_joint" type="fixed">
<child>tag_width_left::link</child>
<parent>box</parent>
</joint>
<static>1</static>
<allow_auto_disable>1</allow_auto_disable>
</model>
</sdf>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/objects_description/cart_short/cart_short.sdf | <?xml version='1.0'?>
<!--
MIT License (modified)
Copyright (c) 2018 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<sdf version='1.6'>
<model name='cart_short'>
<link name='cart_main'>
<pose frame=''>0 0 0 0 -0 0</pose>
<inertial>
<mass>6</mass>
<inertia>
<ixx>1.2</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>0.8748</izz>
</inertia>
<pose frame=''>0 0 0.3 0 -0 0</pose>
</inertial>
<gravity>1</gravity>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<visual name='base_visual'>
<pose frame=''>0 0 0.125 0 -0 0</pose>
<geometry>
<box>
<size>0.6 0.45 0.01</size>
</box>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='base_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0.125 0 -0 0</pose>
<geometry>
<box>
<size>0.6 0.45 0.01</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
<visual name='top_visual'>
<pose frame=''>0 0 0.375 0 -0 0</pose>
<geometry>
<box>
<size>0.6 0.45 0.01</size>
</box>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='top_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0.375 0 -0 0</pose>
<geometry>
<box>
<size>0.6 0.45 0.01</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
<visual name='bottom_front_visual'>
<pose frame=''>0 0.22 0.165 0 -0 0</pose>
<geometry>
<box>
<size>0.6 0.01 0.07</size>
</box>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='bottom_front_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0.22 0.165 0 -0 0</pose>
<geometry>
<box>
<size>0.6 0.01 0.07</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
<visual name='bottom_back_visual'>
<pose frame=''>0 -0.22 0.165 0 -0 0</pose>
<geometry>
<box>
<size>0.6 0.01 0.07</size>
</box>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='bottom_back_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 -0.22 0.165 0 -0 0</pose>
<geometry>
<box>
<size>0.6 0.01 0.07</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
<visual name='bottom_right_visual'>
<pose frame=''>0.295 0 0.165 0 -0 0</pose>
<geometry>
<box>
<size>0.01 0.43 0.07</size>
</box>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='bottom_right_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0.295 0 0.165 0 -0 0</pose>
<geometry>
<box>
<size>0.01 0.43 0.07</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
<visual name='bottom_left_visual'>
<pose frame=''>-0.295 0 0.165 0 -0 0</pose>
<geometry>
<box>
<size>0.01 0.43 0.07</size>
</box>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='bottom_left_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>-0.295 0 0.165 0 -0 0</pose>
<geometry>
<box>
<size>0.01 0.43 0.07</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
<visual name='top_front_visual'>
<pose frame=''>0 0.22 0.415 0 -0 0</pose>
<geometry>
<box>
<size>0.6 0.01 0.07</size>
</box>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='top_front_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0.22 0.415 0 -0 0</pose>
<geometry>
<box>
<size>0.6 0.01 0.07</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
<visual name='top_back_visual'>
<pose frame=''>0 -0.22 0.415 0 -0 0</pose>
<geometry>
<box>
<size>0.6 0.01 0.07</size>
</box>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='top_back_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 -0.22 0.415 0 -0 0</pose>
<geometry>
<box>
<size>0.6 0.01 0.07</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
<visual name='top_right_visual'>
<pose frame=''>0.295 0 0.415 0 -0 0</pose>
<geometry>
<box>
<size>0.01 0.43 0.07</size>
</box>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='top_right_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0.295 0 0.415 0 -0 0</pose>
<geometry>
<box>
<size>0.01 0.43 0.07</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
<visual name='top_left_visual'>
<pose frame=''>-0.295 0 0.415 0 -0 0</pose>
<geometry>
<box>
<size>0.01 0.43 0.07</size>
</box>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='top_left_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>-0.295 0 0.415 0 -0 0</pose>
<geometry>
<box>
<size>0.01 0.43 0.07</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
<visual name='cylinder_front_right_visual'>
<pose frame=''>0.269 0.194 0.285 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.021</radius>
<length>0.24</length>
</cylinder>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='cylinder_front_right_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0.269 0.194 0.285 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.021</radius>
<length>0.24</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
<visual name='cylinder_front_left_visual'>
<pose frame=''>-0.269 0.194 0.285 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.021</radius>
<length>0.24</length>
</cylinder>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='cylinder_front_left_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>-0.269 0.194 0.285 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.021</radius>
<length>0.24</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
<visual name='cylinder_back_left_visual'>
<pose frame=''>-0.269 -0.194 0.285 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.021</radius>
<length>0.24</length>
</cylinder>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='cylinder_back_left_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>-0.269 -0.194 0.285 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.021</radius>
<length>0.24</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
<visual name='cylinder_back_right_visual'>
<pose frame=''>0.269 -0.194 0.285 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.021</radius>
<length>0.24</length>
</cylinder>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='cylinder_back_right_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0.269 -0.194 0.285 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.021</radius>
<length>0.24</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
</link>
<include>
<name>tag_length_front</name>
<uri>model://tag36_11_00003</uri>
<pose>0 0.232 0.12 0 0 1.57</pose>
<static>false</static>
</include>
<joint name="tag_length_front_joint" type="fixed">
<child>tag_length_front::link</child>
<parent>cart_main</parent>
</joint>
<include>
<name>tag_length_back</name>
<uri>model://tag36_11_00003</uri>
<pose>0 -0.232 0.12 0 0 -1.57</pose>
<static>false</static>
</include>
<joint name="tag_length_back_joint" type="fixed">
<child>tag_length_back::link</child>
<parent>cart_main</parent>
</joint>
<include>
<name>tag_width_right</name>
<uri>model://tag36_11_00001</uri>
<pose>0.307 0 0.12 0 0 0</pose>
<static>false</static>
</include>
<joint name="tag_width_right_joint" type="fixed">
<child>tag_width_right::link</child>
<parent>cart_main</parent>
</joint>
<include>
<name>tag_width_left</name>
<uri>model://tag36_11_00001</uri>
<pose>-0.307 0 0.12 0 0 3.14</pose>
<static>false</static>
</include>
<joint name="tag_width_left_joint" type="fixed">
<child>tag_width_left::link</child>
<parent>cart_main</parent>
</joint>
<include>
<name>caster_front_left</name>
<uri>model://caster_cart</uri>
<pose>-0.269 0.194 0.12 0 0 3.14</pose>
</include>
<joint name="caster_front_left_joint" type="revolute">
<child>caster_front_left::caster_top</child>
<parent>cart_main</parent>
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.01</damping>
</dynamics>
</axis>
</joint>
<include>
<name>caster_front_right</name>
<uri>model://caster_cart</uri>
<pose>0.269 0.194 0.12 0 0 3.14</pose>
</include>
<joint name="caster_front_right_joint" type="revolute">
<child>caster_front_right::caster_top</child>
<parent>cart_main</parent>
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.01</damping>
</dynamics>
</axis>
</joint>
<include>
<name>caster_back_right</name>
<uri>model://caster_cart</uri>
<pose>0.269 -0.194 0.12 0 0 3.14</pose>
</include>
<joint name="caster_back_right_joint" type="revolute">
<child>caster_back_right::caster_top</child>
<parent>cart_main</parent>
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.01</damping>
</dynamics>
</axis>
</joint>
<include>
<name>caster_back_left</name>
<uri>model://caster_cart</uri>
<pose>-0.269 -0.194 0.12 0 0 3.14</pose>
</include>
<joint name="caster_back_left_joint" type="revolute">
<child>caster_back_left::caster_top</child>
<parent>cart_main</parent>
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.01</damping>
</dynamics>
</axis>
</joint>
<static>0</static>
<allow_auto_disable>1</allow_auto_disable>
</model>
</sdf>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/objects_description/cart_short/model.config | <!--
MIT License (modified)
Copyright (c) 2019 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<?xml version="1.0" ?>
<model>
<name>cart_short</name>
<version>1.0</version>
<sdf version="1.6">cart_short.sdf</sdf>
<author>
<name>Vasileios Vasilopoulos</name>
<email>[email protected]</email>
</author>
<description>Short cart description</description>
</model>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/objects_description/stool_7/model.config | <!--
MIT License (modified)
Copyright (c) 2021 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<?xml version="1.0" ?>
<model>
<name>stool_7</name>
<version>1.0</version>
<sdf version="1.6">stool_7.sdf</sdf>
<author>
<name>Vasileios Vasilopoulos</name>
<email>[email protected]</email>
</author>
<description>Stool description with tag 7</description>
</model>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/objects_description/stool_7/stool_7.sdf | <?xml version='1.0'?>
<!--
MIT License (modified)
Copyright (c) 2021 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<sdf version='1.6'>
<model name='stool_7'>
<link name='rim'>
<pose frame=''>0 0 0 0 -0 0</pose>
<inertial>
<mass>2</mass>
<inertia>
<ixx>0.018626</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.018626</iyy>
<iyz>0</iyz>
<izz>0.03725</izz>
</inertia>
<pose frame=''>0 0 0.0815 0 -0 0</pose>
</inertial>
<gravity>1</gravity>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<visual name='rim_visual'>
<pose frame=''>0 0 0.0815 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.193</radius>
<length>0.003</length>
</cylinder>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='rim_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0.0815 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.193</radius>
<length>0.003</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>2</mu>
<mu2>2</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
<visual name='rim_round_visual'>
<pose frame=''>0 0 0.0815 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://stool_7/meshes/rim.stl</uri>
<scale>0.001 0.001 0.001</scale>
</mesh>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='rim_round_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0.0815 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://stool_7/meshes/rim.stl</uri>
<scale>0.001 0.001 0.001</scale>
</mesh>
</geometry>
<surface>
<friction>
<ode>
<mu>2</mu>
<mu2>2</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
</link>
<link name='base_seat'>
<pose frame=''>0 0 0 0 -0 0</pose>
<inertial>
<mass>2.7</mass>
<inertia>
<ixx>0.062295</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.062295</iyy>
<iyz>0</iyz>
<izz>0.01159</izz>
</inertia>
<pose frame=''>0 0 0.283 0 -0 0</pose>
</inertial>
<gravity>1</gravity>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<visual name='base_visual'>
<pose frame=''>0 0 0.283 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.02</radius>
<length>0.4</length>
</cylinder>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/DarkGrey</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='base_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0.283 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.02</radius>
<length>0.4</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>2</mu>
<mu2>2</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
<visual name='seat_visual'>
<pose frame=''>0 0 0.508 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.15</radius>
<length>0.05</length>
</cylinder>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Red</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='seat_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0.508 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.15</radius>
<length>0.05</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>2</mu>
<mu2>2</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
</link>
<joint name="rim_to_base_seat_joint" type="revolute">
<child>base_seat</child>
<parent>rim</parent>
<axis>
<xyz>0 0 1</xyz>
</axis>
</joint>
<include>
<name>tag_1</name>
<uri>model://tag36_11_00007</uri>
<pose>0 -0.03 0.08 0 0 -1.57</pose>
<static>false</static>
</include>
<joint name="tag_1_joint" type="fixed">
<child>tag_1::link</child>
<parent>rim</parent>
</joint>
<include>
<name>tag_2</name>
<uri>model://tag36_11_00007</uri>
<pose>-0.026 0.015 0.08 0 0 2.618</pose>
<static>false</static>
</include>
<joint name="tag_2_joint" type="fixed">
<child>tag_2::link</child>
<parent>rim</parent>
</joint>
<include>
<name>tag_3</name>
<uri>model://tag36_11_00007</uri>
<pose>0.026 0.015 0.08 0 0 0.5236</pose>
<static>false</static>
</include>
<joint name="tag_3_joint" type="fixed">
<child>tag_3::link</child>
<parent>rim</parent>
</joint>
<include>
<name>caster_1</name>
<uri>model://caster_stool</uri>
<pose>0.18 0 0.08 0 0 3.14</pose>
</include>
<joint name="caster_1_joint" type="revolute">
<child>caster_1::caster_top</child>
<parent>rim</parent>
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.002</damping>
</dynamics>
</axis>
</joint>
<include>
<name>caster_2</name>
<uri>model://caster_stool</uri>
<pose>0.0556 -0.1712 0.08 0 0 3.14</pose>
</include>
<joint name="caster_2_joint" type="revolute">
<child>caster_2::caster_top</child>
<parent>rim</parent>
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.002</damping>
</dynamics>
</axis>
</joint>
<include>
<name>caster_3</name>
<uri>model://caster_stool</uri>
<pose>-0.1456 -0.1058 0.08 0 0 3.14</pose>
</include>
<joint name="caster_3_joint" type="revolute">
<child>caster_3::caster_top</child>
<parent>rim</parent>
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.002</damping>
</dynamics>
</axis>
</joint>
<include>
<name>caster_4</name>
<uri>model://caster_stool</uri>
<pose>-0.1456 0.1058 0.08 0 0 3.14</pose>
</include>
<joint name="caster_4_joint" type="revolute">
<child>caster_4::caster_top</child>
<parent>rim</parent>
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.002</damping>
</dynamics>
</axis>
</joint>
<include>
<name>caster_5</name>
<uri>model://caster_stool</uri>
<pose>0.0556 0.1712 0.08 0 0 3.14</pose>
</include>
<joint name="caster_5_joint" type="revolute">
<child>caster_5::caster_top</child>
<parent>rim</parent>
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.002</damping>
</dynamics>
</axis>
</joint>
<static>0</static>
<allow_auto_disable>1</allow_auto_disable>
</model>
</sdf>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/objects_description/caster_stool/xacro.py | #! /usr/bin/env python
# Copyright (c) 2013, Willow Garage, Inc.
# Copyright (c) 2014, Open Source Robotics Foundation, Inc.
# 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 Open Source Robotics Foundation, Inc.
# nor the names of its contributors may be used to endorse or promote
# products derived from this software without specific prior
# written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
# Author: Stuart Glaser
# Maintainer: William Woodall <[email protected]>
from __future__ import print_function
import getopt
import glob
import os
import re
import string
import sys
import xml
from xml.dom.minidom import parse
try:
_basestr = basestring
except NameError:
_basestr = str
# Dictionary of subtitution args
substitution_args_context = {}
class XacroException(Exception):
pass
def isnumber(x):
return hasattr(x, '__int__')
# Better pretty printing of xml
# Taken from http://ronrothman.com/public/leftbraned/xml-dom-minidom-toprettyxml-and-silly-whitespace/
def fixed_writexml(self, writer, indent="", addindent="", newl=""):
# indent = current indentation
# addindent = indentation to add to higher levels
# newl = newline string
writer.write(indent + "<" + self.tagName)
attrs = self._get_attributes()
a_names = list(attrs.keys())
a_names.sort()
for a_name in a_names:
writer.write(" %s=\"" % a_name)
xml.dom.minidom._write_data(writer, attrs[a_name].value)
writer.write("\"")
if self.childNodes:
if len(self.childNodes) == 1 \
and self.childNodes[0].nodeType == xml.dom.minidom.Node.TEXT_NODE:
writer.write(">")
self.childNodes[0].writexml(writer, "", "", "")
writer.write("</%s>%s" % (self.tagName, newl))
return
writer.write(">%s" % (newl))
for node in self.childNodes:
# skip whitespace-only text nodes
if node.nodeType == xml.dom.minidom.Node.TEXT_NODE and \
not node.data.strip():
continue
node.writexml(writer, indent + addindent, addindent, newl)
writer.write("%s</%s>%s" % (indent, self.tagName, newl))
else:
writer.write("/>%s" % (newl))
# replace minidom's function with ours
xml.dom.minidom.Element.writexml = fixed_writexml
class Table:
def __init__(self, parent=None):
self.parent = parent
self.table = {}
def __getitem__(self, key):
if key in self.table:
return self.table[key]
elif self.parent:
return self.parent[key]
else:
raise KeyError(key)
def __setitem__(self, key, value):
self.table[key] = value
def __contains__(self, key):
return \
key in self.table or \
(self.parent and key in self.parent)
class QuickLexer(object):
def __init__(self, **res):
self.str = ""
self.top = None
self.res = []
for k, v in res.items():
self.__setattr__(k, len(self.res))
self.res.append(v)
def lex(self, str):
self.str = str
self.top = None
self.next()
def peek(self):
return self.top
def next(self):
result = self.top
self.top = None
for i in range(len(self.res)):
m = re.match(self.res[i], self.str)
if m:
self.top = (i, m.group(0))
self.str = self.str[m.end():]
break
return result
def first_child_element(elt):
c = elt.firstChild
while c:
if c.nodeType == xml.dom.Node.ELEMENT_NODE:
return c
c = c.nextSibling
return None
def next_sibling_element(elt):
c = elt.nextSibling
while c:
if c.nodeType == xml.dom.Node.ELEMENT_NODE:
return c
c = c.nextSibling
return None
# Pre-order traversal of the elements
def next_element(elt):
child = first_child_element(elt)
if child:
return child
while elt and elt.nodeType == xml.dom.Node.ELEMENT_NODE:
next = next_sibling_element(elt)
if next:
return next
elt = elt.parentNode
return None
# Pre-order traversal of all the nodes
def next_node(node):
if node.firstChild:
return node.firstChild
while node:
if node.nextSibling:
return node.nextSibling
node = node.parentNode
return None
def child_nodes(elt):
c = elt.firstChild
while c:
yield c
c = c.nextSibling
all_includes = []
# Deprecated message for <include> tags that don't have <xacro:include> prepended:
deprecated_include_msg = """DEPRECATED IN HYDRO:
The <include> tag should be prepended with 'xacro' if that is the intended use
of it, such as <xacro:include ...>. Use the following script to fix incorrect
xacro includes:
sed -i 's/<include/<xacro:include/g' `find . -iname *.xacro`"""
include_no_matches_msg = """Include tag filename spec \"{}\" matched no files."""
## @throws XacroException if a parsing error occurs with an included document
def process_includes(doc, base_dir):
namespaces = {}
previous = doc.documentElement
elt = next_element(previous)
while elt:
# Xacro should not use plain 'include' tags but only namespaced ones. Causes conflicts with
# other XML elements including Gazebo's <gazebo> extensions
is_include = False
if elt.tagName == 'xacro:include' or elt.tagName == 'include':
is_include = True
# Temporary fix for ROS Hydro and the xacro include scope problem
if elt.tagName == 'include':
# check if there is any element within the <include> tag. mostly we are concerned
# with Gazebo's <uri> element, but it could be anything. also, make sure the child
# nodes aren't just a single Text node, which is still considered a deprecated
# instance
if elt.childNodes and not (len(elt.childNodes) == 1 and
elt.childNodes[0].nodeType == elt.TEXT_NODE):
# this is not intended to be a xacro element, so we can ignore it
is_include = False
else:
# throw a deprecated warning
print(deprecated_include_msg, file=sys.stderr)
# Process current element depending on previous conditions
if is_include:
filename_spec = eval_text(elt.getAttribute('filename'), {})
if not os.path.isabs(filename_spec):
filename_spec = os.path.join(base_dir, filename_spec)
if re.search('[*[?]+', filename_spec):
# Globbing behaviour
filenames = sorted(glob.glob(filename_spec))
if len(filenames) == 0:
print(include_no_matches_msg.format(filename_spec), file=sys.stderr)
else:
# Default behaviour
filenames = [filename_spec]
for filename in filenames:
global all_includes
all_includes.append(filename)
try:
with open(filename) as f:
try:
included = parse(f)
except Exception as e:
raise XacroException(
"included file \"%s\" generated an error during XML parsing: %s"
% (filename, str(e)))
except IOError as e:
raise XacroException("included file \"%s\" could not be opened: %s" % (filename, str(e)))
# Replaces the include tag with the elements of the included file
for c in child_nodes(included.documentElement):
elt.parentNode.insertBefore(c.cloneNode(deep=True), elt)
# Grabs all the declared namespaces of the included document
for name, value in included.documentElement.attributes.items():
if name.startswith('xmlns:'):
namespaces[name] = value
elt.parentNode.removeChild(elt)
elt = None
else:
previous = elt
elt = next_element(previous)
# Makes sure the final document declares all the namespaces of the included documents.
for k, v in namespaces.items():
doc.documentElement.setAttribute(k, v)
# Returns a dictionary: { macro_name => macro_xml_block }
def grab_macros(doc):
macros = {}
previous = doc.documentElement
elt = next_element(previous)
while elt:
if elt.tagName == 'macro' or elt.tagName == 'xacro:macro':
name = elt.getAttribute('name')
macros[name] = elt
macros['xacro:' + name] = elt
elt.parentNode.removeChild(elt)
elt = None
else:
previous = elt
elt = next_element(previous)
return macros
# Returns a Table of the properties
def grab_properties(doc):
table = Table()
previous = doc.documentElement
elt = next_element(previous)
while elt:
if elt.tagName == 'property' or elt.tagName == 'xacro:property':
name = elt.getAttribute('name')
value = None
if elt.hasAttribute('value'):
value = elt.getAttribute('value')
else:
name = '**' + name
value = elt # debug
bad = string.whitespace + "${}"
has_bad = False
for b in bad:
if b in name:
has_bad = True
break
if has_bad:
sys.stderr.write('Property names may not have whitespace, ' +
'"{", "}", or "$" : "' + name + '"')
else:
table[name] = value
elt.parentNode.removeChild(elt)
elt = None
else:
previous = elt
elt = next_element(previous)
return table
def eat_ignore(lex):
while lex.peek() and lex.peek()[0] == lex.IGNORE:
lex.next()
def eval_lit(lex, symbols):
eat_ignore(lex)
if lex.peek()[0] == lex.NUMBER:
return float(lex.next()[1])
if lex.peek()[0] == lex.SYMBOL:
try:
key = lex.next()[1]
value = symbols[key]
except KeyError as ex:
raise XacroException("Property wasn't defined: %s" % str(ex))
if not (isnumber(value) or isinstance(value, _basestr)):
if value is None:
raise XacroException("Property %s recursively used" % key)
raise XacroException("WTF2")
try:
return int(value)
except:
try:
return float(value)
except:
# prevent infinite recursion
symbols[key] = None
result = eval_text(value, symbols)
# restore old entry
symbols[key] = value
return result
raise XacroException("Bad literal")
def eval_factor(lex, symbols):
eat_ignore(lex)
neg = 1
if lex.peek()[1] == '-':
lex.next()
neg = -1
if lex.peek()[0] in [lex.NUMBER, lex.SYMBOL]:
return neg * eval_lit(lex, symbols)
if lex.peek()[0] == lex.LPAREN:
lex.next()
eat_ignore(lex)
result = eval_expr(lex, symbols)
eat_ignore(lex)
if lex.next()[0] != lex.RPAREN:
raise XacroException("Unmatched left paren")
eat_ignore(lex)
return neg * result
raise XacroException("Misplaced operator")
def eval_term(lex, symbols):
eat_ignore(lex)
result = 0
if lex.peek()[0] in [lex.NUMBER, lex.SYMBOL, lex.LPAREN] \
or lex.peek()[1] == '-':
result = eval_factor(lex, symbols)
eat_ignore(lex)
while lex.peek() and lex.peek()[1] in ['*', '/']:
op = lex.next()[1]
n = eval_factor(lex, symbols)
if op == '*':
result = float(result) * float(n)
elif op == '/':
result = float(result) / float(n)
else:
raise XacroException("WTF")
eat_ignore(lex)
return result
def eval_expr(lex, symbols):
eat_ignore(lex)
op = None
if lex.peek()[0] == lex.OP:
op = lex.next()[1]
if not op in ['+', '-']:
raise XacroException("Invalid operation. Must be '+' or '-'")
result = eval_term(lex, symbols)
if op == '-':
result = -float(result)
eat_ignore(lex)
while lex.peek() and lex.peek()[1] in ['+', '-']:
op = lex.next()[1]
n = eval_term(lex, symbols)
if op == '+':
result = float(result) + float(n)
if op == '-':
result = float(result) - float(n)
eat_ignore(lex)
return result
def eval_text(text, symbols):
def handle_expr(s):
lex = QuickLexer(IGNORE=r"\s+",
NUMBER=r"(\d+(\.\d*)?|\.\d+)([eE][-+]?\d+)?",
SYMBOL=r"[a-zA-Z_]\w*",
OP=r"[\+\-\*/^]",
LPAREN=r"\(",
RPAREN=r"\)")
lex.lex(s)
return eval_expr(lex, symbols)
def handle_extension(s):
return ("$(%s)" % s)
results = []
lex = QuickLexer(DOLLAR_DOLLAR_BRACE=r"\$\$+\{",
EXPR=r"\$\{[^\}]*\}",
EXTENSION=r"\$\([^\)]*\)",
TEXT=r"([^\$]|\$[^{(]|\$$)+")
lex.lex(text)
while lex.peek():
if lex.peek()[0] == lex.EXPR:
results.append(handle_expr(lex.next()[1][2:-1]))
elif lex.peek()[0] == lex.EXTENSION:
results.append(handle_extension(lex.next()[1][2:-1]))
elif lex.peek()[0] == lex.TEXT:
results.append(lex.next()[1])
elif lex.peek()[0] == lex.DOLLAR_DOLLAR_BRACE:
results.append(lex.next()[1][1:])
return ''.join(map(str, results))
# Expands macros, replaces properties, and evaluates expressions
def eval_all(root, macros, symbols):
# Evaluates the attributes for the root node
for at in root.attributes.items():
result = eval_text(at[1], symbols)
root.setAttribute(at[0], result)
previous = root
node = next_node(previous)
while node:
if node.nodeType == xml.dom.Node.ELEMENT_NODE:
if node.tagName in macros:
body = macros[node.tagName].cloneNode(deep=True)
params = body.getAttribute('params').split()
# Parse default values for any parameters
defaultmap = {}
for param in params[:]:
splitParam = param.split(':=')
if len(splitParam) == 2:
defaultmap[splitParam[0]] = splitParam[1]
params.remove(param)
params.append(splitParam[0])
elif len(splitParam) != 1:
raise XacroException("Invalid parameter definition")
# Expands the macro
scoped = Table(symbols)
for name, value in node.attributes.items():
if not name in params:
raise XacroException("Invalid parameter \"%s\" while expanding macro \"%s\"" %
(str(name), str(node.tagName)))
params.remove(name)
scoped[name] = eval_text(value, symbols)
# Pulls out the block arguments, in order
cloned = node.cloneNode(deep=True)
eval_all(cloned, macros, symbols)
block = cloned.firstChild
for param in params[:]:
if param[0] == '*':
while block and block.nodeType != xml.dom.Node.ELEMENT_NODE:
block = block.nextSibling
if not block:
raise XacroException("Not enough blocks while evaluating macro %s" % str(node.tagName))
params.remove(param)
scoped[param] = block
block = block.nextSibling
# Try to load defaults for any remaining non-block parameters
for param in params[:]:
if param[0] != '*' and param in defaultmap:
scoped[param] = defaultmap[param]
params.remove(param)
if params:
raise XacroException("Parameters [%s] were not set for macro %s" %
(",".join(params), str(node.tagName)))
eval_all(body, macros, scoped)
# Replaces the macro node with the expansion
for e in list(child_nodes(body)): # Ew
node.parentNode.insertBefore(e, node)
node.parentNode.removeChild(node)
node = None
elif node.tagName == 'arg' or node.tagName == 'xacro:arg':
name = node.getAttribute('name')
if not name:
raise XacroException("Argument name missing")
default = node.getAttribute('default')
if default and name not in substitution_args_context['arg']:
substitution_args_context['arg'][name] = default
node.parentNode.removeChild(node)
node = None
elif node.tagName == 'insert_block' or node.tagName == 'xacro:insert_block':
name = node.getAttribute('name')
if ("**" + name) in symbols:
# Multi-block
block = symbols['**' + name]
for e in list(child_nodes(block)):
node.parentNode.insertBefore(e.cloneNode(deep=True), node)
node.parentNode.removeChild(node)
elif ("*" + name) in symbols:
# Single block
block = symbols['*' + name]
node.parentNode.insertBefore(block.cloneNode(deep=True), node)
node.parentNode.removeChild(node)
else:
raise XacroException("Block \"%s\" was never declared" % name)
node = None
elif node.tagName in ['if', 'xacro:if', 'unless', 'xacro:unless']:
value = eval_text(node.getAttribute('value'), symbols)
try:
if value == 'true': keep = True
elif value == 'false': keep = False
else: keep = float(value)
except ValueError:
raise XacroException("Xacro conditional evaluated to \"%s\". Acceptable evaluations are one of [\"1\",\"true\",\"0\",\"false\"]" % value)
if node.tagName in ['unless', 'xacro:unless']: keep = not keep
if keep:
for e in list(child_nodes(node)):
node.parentNode.insertBefore(e.cloneNode(deep=True), node)
node.parentNode.removeChild(node)
else:
# Evals the attributes
for at in node.attributes.items():
result = eval_text(at[1], symbols)
node.setAttribute(at[0], result)
previous = node
elif node.nodeType == xml.dom.Node.TEXT_NODE:
node.data = eval_text(node.data, symbols)
previous = node
else:
previous = node
node = next_node(previous)
return macros
# Expands everything except includes
def eval_self_contained(doc):
macros = grab_macros(doc)
symbols = grab_properties(doc)
eval_all(doc.documentElement, macros, symbols)
def print_usage(exit_code=0):
print("Usage: %s [-o <output>] <input>" % 'xacro.py')
print(" %s --deps Prints dependencies" % 'xacro.py')
print(" %s --includes Only evalutes includes" % 'xacro.py')
sys.exit(exit_code)
def set_substitution_args_context(context={}):
substitution_args_context['arg'] = context
def open_output(output_filename):
if output_filename is None:
return sys.stdout
else:
return open(output_filename, 'w')
def main():
try:
opts, args = getopt.gnu_getopt(sys.argv[1:], "ho:", ['deps', 'includes'])
except getopt.GetoptError as err:
print(str(err))
print_usage(2)
just_deps = False
just_includes = False
output_filename = None
for o, a in opts:
if o == '-h':
print_usage(0)
elif o == '-o':
output_filename = a
elif o == '--deps':
just_deps = True
elif o == '--includes':
just_includes = True
if len(args) < 1:
print("No input given")
print_usage(2)
# Process substitution args
# set_substitution_args_context(load_mappings(sys.argv))
set_substitution_args_context((sys.argv))
f = open(args[0])
doc = None
try:
doc = parse(f)
except xml.parsers.expat.ExpatError:
sys.stderr.write("Expat parsing error. Check that:\n")
sys.stderr.write(" - Your XML is correctly formed\n")
sys.stderr.write(" - You have the xacro xmlns declaration: " +
"xmlns:xacro=\"http://www.ros.org/wiki/xacro\"\n")
sys.stderr.write("\n")
raise
finally:
f.close()
process_includes(doc, os.path.dirname(args[0]))
if just_deps:
for inc in all_includes:
sys.stdout.write(inc + " ")
sys.stdout.write("\n")
elif just_includes:
doc.writexml(open_output(output_filename))
print()
else:
eval_self_contained(doc)
banner = [xml.dom.minidom.Comment(c) for c in
[" %s " % ('=' * 83),
" | This document was autogenerated by xacro from %-30s | " % args[0],
" | EDITING THIS FILE BY HAND IS NOT RECOMMENDED %-30s | " % "",
" %s " % ('=' * 83)]]
first = doc.firstChild
for comment in banner:
doc.insertBefore(comment, first)
open_output(output_filename).write(doc.toprettyxml(indent=' '))
print()
if __name__ == '__main__':
main()
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/objects_description/caster_stool/model.config | <!--
MIT License (modified)
Copyright (c) 2018 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<?xml version="1.0" ?>
<model>
<name>caster_stool</name>
<version>1.0</version>
<sdf version="1.6">caster_stool.sdf</sdf>
<author>
<name>Vasileios Vasilopoulos</name>
<email>[email protected]</email>
</author>
<description>Stool caster wheel description</description>
</model>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/objects_description/caster_stool/caster_stool.sdf | <?xml version='1.0'?>
<!--
MIT License (modified)
Copyright (c) 2018 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<sdf version='1.6'>
<model name='caster_cart'>
<link name='caster_top'>
<pose frame=''>0 0 0 0 -0 0</pose>
<inertial>
<pose frame=''>-0.006133 0 -0.016533 0 -0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.000546</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000546</iyy>
<iyz>0</iyz>
<izz>0.00034</izz>
</inertia>
</inertial>
<collision name='caster_top_collision'>
<pose frame=''>0 0 -0.01333 0 -0 0</pose>
<geometry>
<cylinder>
<length>0.024</length>
<radius>0.01866</radius>
</cylinder>
</geometry>
</collision>
<visual name='caster_top_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>0.267 0.267 0.267</scale>
<uri>model://caster_cart/meshes/caster_top.STL</uri>
</mesh>
</geometry>
</visual>
</link>
<link name='caster_wheel'>
<pose frame=''>-0.0213 -0.00373 -0.0453 0 -0 0.003</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<mass>0.05</mass>
<inertia>
<ixx>0.000113</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0002</iyy>
<iyz>0</iyz>
<izz>0.000113</izz>
</inertia>
</inertial>
<collision name='caster_wheel_collision'>
<pose frame=''>0 0 0 -1.57 0 0</pose>
<geometry>
<cylinder>
<length>0.02267</length>
<radius>0.0333</radius>
</cylinder>
</geometry>
<max_contacts>1000</max_contacts>
<surface>
<friction>
<torsional>
<coefficient>0.1</coefficient>
<patch_radius>0.001</patch_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0.1</slip>
</ode>
</torsional>
<ode>
<mu>10</mu>
<mu2>10</mu2>
</ode>
</friction>
<contact>
<ode>
<min_depth>0.005</min_depth>
</ode>
</contact>
</surface>
</collision>
<visual name='caster_wheel_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>0.267 0.267 0.267</scale>
<uri>model://caster_cart/meshes/caster_wheel.STL</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
</link>
<joint name='caster_wheel_joint' type='revolute'>
<child>caster_wheel</child>
<parent>caster_top</parent>
<axis>
<xyz>-0.003 0.999996 0</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<damping>0.004</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
</model>
</sdf>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/objects_description/caster_stool/caster_stool.urdf.xacro | <?xml version="1.0"?>
<!--
Description of the caster module for the Innok Heros mobile platform.
Software License Agreement (BSD)
\authors Jonathan Hechtbauer
\maintainer Sabrina Heerklotz <[email protected]>
\copyright Copyright (c) 2015, Innok Robotics GmbH, All rights reserved
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
2. 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.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 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.
-->
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="caster_cart">
<link name="caster_top">
<inertial>
<origin xyz="-0.006133 0 -0.016533" rpy="0 0 0" />
<mass value="0.1" />
<inertia ixx="5.46e-4" ixy="0" ixz="0" iyy="5.46e-4" iyz="0" izz="3.4e-4" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="model://caster_cart/meshes/caster_top.STL" scale="0.267 0.267 0.267"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0 -0.01333" rpy="0 0 0" />
<geometry>
<cylinder radius="0.01866" length="0.024" />
</geometry>
</collision>
</link>
<link name="caster_wheel">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="0.05" />
<inertia ixx="1.13e-4" ixy="0" ixz="0" iyy="2e-4" iyz="0" izz="1.13e-4" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="model://caster_cart/meshes/caster_wheel.STL" scale="0.267 0.267 0.267"/>
</geometry>
<material name="">
<color rgba="0.25 0.25 0.25 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0 " rpy="-1.57 0 0" />
<geometry>
<cylinder radius="0.0333" length="0.02267" />
</geometry>
</collision>
</link>
<gazebo reference="caster_wheel">
<collision>
<max_contacts>1000</max_contacts>
<surface>
<friction>
<torsional>
<coefficient>0.1</coefficient>
<patch_radius>0.001</patch_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0.1</slip>
</ode>
</torsional>
<ode>
<mu>10</mu>
<mu2>10</mu2>
</ode>
</friction>
<contact>
<ode>
<min_depth>0.005</min_depth>
</ode>
</contact>
</surface>
</collision>
<material>Gazebo/Grey</material>
</gazebo>
<joint name="caster_wheel_joint" type="continuous">
<origin xyz="-0.0213 -0.00373 -0.0453" rpy="0 0 0.003" />
<parent link="caster_top" />
<child link="caster_wheel" />
<axis xyz="0 1 0"/>
<dynamics damping="0.004"/>
</joint>
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/objects_description/caster_stool/caster_stool.urdf | <?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from caster_stool.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<!--
Description of the caster module for the Innok Heros mobile platform.
Software License Agreement (BSD)
\authors Jonathan Hechtbauer
\maintainer Sabrina Heerklotz <[email protected]>
\copyright Copyright (c) 2015, Innok Robotics GmbH, All rights reserved
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
2. 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.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 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.
-->
<robot name="caster_cart" xmlns:xacro="http://ros.org/wiki/xacro">
<link name="caster_top">
<inertial>
<origin rpy="0 0 0" xyz="-0.006133 0 -0.016533"/>
<mass value="0.1"/>
<inertia ixx="5.46e-4" ixy="0" ixz="0" iyy="5.46e-4" iyz="0" izz="3.4e-4"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="model://caster_cart/meshes/caster_top.STL" scale="0.267 0.267 0.267"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.01333"/>
<geometry>
<cylinder length="0.024" radius="0.01866"/>
</geometry>
</collision>
</link>
<link name="caster_wheel">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.05"/>
<inertia ixx="1.13e-4" ixy="0" ixz="0" iyy="2e-4" iyz="0" izz="1.13e-4"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="model://caster_cart/meshes/caster_wheel.STL" scale="0.267 0.267 0.267"/>
</geometry>
<material name="">
<color rgba="0.25 0.25 0.25 1"/>
</material>
</visual>
<collision>
<origin rpy="-1.57 0 0" xyz="0 0 0 "/>
<geometry>
<cylinder length="0.02267" radius="0.0333"/>
</geometry>
</collision>
</link>
<gazebo reference="caster_wheel">
<collision>
<max_contacts>1000</max_contacts>
<surface>
<friction>
<torsional>
<coefficient>0.1</coefficient>
<patch_radius>0.001</patch_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0.1</slip>
</ode>
</torsional>
<ode>
<mu>10</mu>
<mu2>10</mu2>
</ode>
</friction>
<contact>
<ode>
<min_depth>0.005</min_depth>
</ode>
</contact>
</surface>
</collision>
<material>Gazebo/Grey</material>
</gazebo>
<joint name="caster_wheel_joint" type="continuous">
<origin rpy="0 0 0.003" xyz="-0.0213 -0.00373 -0.0453"/>
<parent link="caster_top"/>
<child link="caster_wheel"/>
<axis xyz="0 1 0"/>
<dynamics damping="0.004"/>
</joint>
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/objects_description/stool_10/model.config | <!--
MIT License (modified)
Copyright (c) 2021 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<?xml version="1.0" ?>
<model>
<name>stool_10</name>
<version>1.0</version>
<sdf version="1.6">stool_10.sdf</sdf>
<author>
<name>Vasileios Vasilopoulos</name>
<email>[email protected]</email>
</author>
<description>Stool description with tag 10</description>
</model>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/objects_description/stool_10/stool_10.sdf | <?xml version='1.0'?>
<!--
MIT License (modified)
Copyright (c) 2021 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<sdf version='1.6'>
<model name='stool_10'>
<link name='rim'>
<pose frame=''>0 0 0 0 -0 0</pose>
<inertial>
<mass>2</mass>
<inertia>
<ixx>0.018626</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.018626</iyy>
<iyz>0</iyz>
<izz>0.03725</izz>
</inertia>
<pose frame=''>0 0 0.0815 0 -0 0</pose>
</inertial>
<gravity>1</gravity>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<visual name='rim_visual'>
<pose frame=''>0 0 0.0815 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.193</radius>
<length>0.003</length>
</cylinder>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='rim_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0.0815 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.193</radius>
<length>0.003</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>2</mu>
<mu2>2</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
<visual name='rim_round_visual'>
<pose frame=''>0 0 0.0815 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://stool_10/meshes/rim.stl</uri>
<scale>0.001 0.001 0.001</scale>
</mesh>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='rim_round_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0.0815 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://stool_10/meshes/rim.stl</uri>
<scale>0.001 0.001 0.001</scale>
</mesh>
</geometry>
<surface>
<friction>
<ode>
<mu>2</mu>
<mu2>2</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
</link>
<link name='base_seat'>
<pose frame=''>0 0 0 0 -0 0</pose>
<inertial>
<mass>2.7</mass>
<inertia>
<ixx>0.062295</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.062295</iyy>
<iyz>0</iyz>
<izz>0.01159</izz>
</inertia>
<pose frame=''>0 0 0.283 0 -0 0</pose>
</inertial>
<gravity>1</gravity>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<visual name='base_visual'>
<pose frame=''>0 0 0.283 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.02</radius>
<length>0.4</length>
</cylinder>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/DarkGrey</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='base_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0.283 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.02</radius>
<length>0.4</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>2</mu>
<mu2>2</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
<visual name='seat_visual'>
<pose frame=''>0 0 0.508 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.15</radius>
<length>0.05</length>
</cylinder>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Red</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='seat_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0.508 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.15</radius>
<length>0.05</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>2</mu>
<mu2>2</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
</link>
<joint name="rim_to_base_seat_joint" type="revolute">
<child>base_seat</child>
<parent>rim</parent>
<axis>
<xyz>0 0 1</xyz>
</axis>
</joint>
<include>
<name>tag_1</name>
<uri>model://tag36_11_00010</uri>
<pose>0 -0.03 0.08 0 0 -1.57</pose>
<static>false</static>
</include>
<joint name="tag_1_joint" type="fixed">
<child>tag_1::link</child>
<parent>rim</parent>
</joint>
<include>
<name>tag_2</name>
<uri>model://tag36_11_00010</uri>
<pose>-0.026 0.015 0.08 0 0 2.618</pose>
<static>false</static>
</include>
<joint name="tag_2_joint" type="fixed">
<child>tag_2::link</child>
<parent>rim</parent>
</joint>
<include>
<name>tag_3</name>
<uri>model://tag36_11_00010</uri>
<pose>0.026 0.015 0.08 0 0 0.5236</pose>
<static>false</static>
</include>
<joint name="tag_3_joint" type="fixed">
<child>tag_3::link</child>
<parent>rim</parent>
</joint>
<include>
<name>caster_1</name>
<uri>model://caster_stool</uri>
<pose>0.18 0 0.08 0 0 3.14</pose>
</include>
<joint name="caster_1_joint" type="revolute">
<child>caster_1::caster_top</child>
<parent>rim</parent>
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.002</damping>
</dynamics>
</axis>
</joint>
<include>
<name>caster_2</name>
<uri>model://caster_stool</uri>
<pose>0.0556 -0.1712 0.08 0 0 3.14</pose>
</include>
<joint name="caster_2_joint" type="revolute">
<child>caster_2::caster_top</child>
<parent>rim</parent>
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.002</damping>
</dynamics>
</axis>
</joint>
<include>
<name>caster_3</name>
<uri>model://caster_stool</uri>
<pose>-0.1456 -0.1058 0.08 0 0 3.14</pose>
</include>
<joint name="caster_3_joint" type="revolute">
<child>caster_3::caster_top</child>
<parent>rim</parent>
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.002</damping>
</dynamics>
</axis>
</joint>
<include>
<name>caster_4</name>
<uri>model://caster_stool</uri>
<pose>-0.1456 0.1058 0.08 0 0 3.14</pose>
</include>
<joint name="caster_4_joint" type="revolute">
<child>caster_4::caster_top</child>
<parent>rim</parent>
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.002</damping>
</dynamics>
</axis>
</joint>
<include>
<name>caster_5</name>
<uri>model://caster_stool</uri>
<pose>0.0556 0.1712 0.08 0 0 3.14</pose>
</include>
<joint name="caster_5_joint" type="revolute">
<child>caster_5::caster_top</child>
<parent>rim</parent>
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.002</damping>
</dynamics>
</axis>
</joint>
<static>0</static>
<allow_auto_disable>1</allow_auto_disable>
</model>
</sdf>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/objects_description/stool/model.config | <!--
MIT License (modified)
Copyright (c) 2018 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<?xml version="1.0" ?>
<model>
<name>stool</name>
<version>1.0</version>
<sdf version="1.6">stool.sdf</sdf>
<author>
<name>Vasileios Vasilopoulos</name>
<email>[email protected]</email>
</author>
<description>Stool description</description>
</model>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/objects_description/stool/stool.sdf | <?xml version='1.0'?>
<!--
MIT License (modified)
Copyright (c) 2018 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<sdf version='1.6'>
<model name='stool'>
<link name='rim'>
<pose frame=''>0 0 0 0 -0 0</pose>
<inertial>
<mass>2</mass>
<inertia>
<ixx>0.018626</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.018626</iyy>
<iyz>0</iyz>
<izz>0.03725</izz>
</inertia>
<pose frame=''>0 0 0.0815 0 -0 0</pose>
</inertial>
<gravity>1</gravity>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<visual name='rim_visual'>
<pose frame=''>0 0 0.0815 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.193</radius>
<length>0.003</length>
</cylinder>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='rim_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0.0815 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.193</radius>
<length>0.003</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>2</mu>
<mu2>2</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
<visual name='rim_round_visual'>
<pose frame=''>0 0 0.0815 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://stool/meshes/rim.stl</uri>
<scale>0.001 0.001 0.001</scale>
</mesh>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='rim_round_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0.0815 0 -0 0</pose>
<geometry>
<mesh>
<uri>model://stool/meshes/rim.stl</uri>
<scale>0.001 0.001 0.001</scale>
</mesh>
</geometry>
<surface>
<friction>
<ode>
<mu>2</mu>
<mu2>2</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
</link>
<link name='base_seat'>
<pose frame=''>0 0 0 0 -0 0</pose>
<inertial>
<mass>2.7</mass>
<inertia>
<ixx>0.062295</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.062295</iyy>
<iyz>0</iyz>
<izz>0.01159</izz>
</inertia>
<pose frame=''>0 0 0.283 0 -0 0</pose>
</inertial>
<gravity>1</gravity>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<visual name='base_visual'>
<pose frame=''>0 0 0.283 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.02</radius>
<length>0.4</length>
</cylinder>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/DarkGrey</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='base_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0.283 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.02</radius>
<length>0.4</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>2</mu>
<mu2>2</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
<visual name='seat_visual'>
<pose frame=''>0 0 0.508 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.15</radius>
<length>0.05</length>
</cylinder>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Red</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='seat_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0.508 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.15</radius>
<length>0.05</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>2</mu>
<mu2>2</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
</link>
<joint name="rim_to_base_seat_joint" type="revolute">
<child>base_seat</child>
<parent>rim</parent>
<axis>
<xyz>0 0 1</xyz>
</axis>
</joint>
<include>
<name>tag_1</name>
<uri>model://tag36_11_00002</uri>
<pose>0 -0.03 0.08 0 0 -1.57</pose>
<static>false</static>
</include>
<joint name="tag_1_joint" type="fixed">
<child>tag_1::link</child>
<parent>rim</parent>
</joint>
<include>
<name>tag_2</name>
<uri>model://tag36_11_00002</uri>
<pose>-0.026 0.015 0.08 0 0 2.618</pose>
<static>false</static>
</include>
<joint name="tag_2_joint" type="fixed">
<child>tag_2::link</child>
<parent>rim</parent>
</joint>
<include>
<name>tag_3</name>
<uri>model://tag36_11_00002</uri>
<pose>0.026 0.015 0.08 0 0 0.5236</pose>
<static>false</static>
</include>
<joint name="tag_3_joint" type="fixed">
<child>tag_3::link</child>
<parent>rim</parent>
</joint>
<include>
<name>caster_1</name>
<uri>model://caster_stool</uri>
<pose>0.18 0 0.08 0 0 3.14</pose>
</include>
<joint name="caster_1_joint" type="revolute">
<child>caster_1::caster_top</child>
<parent>rim</parent>
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.002</damping>
</dynamics>
</axis>
</joint>
<include>
<name>caster_2</name>
<uri>model://caster_stool</uri>
<pose>0.0556 -0.1712 0.08 0 0 3.14</pose>
</include>
<joint name="caster_2_joint" type="revolute">
<child>caster_2::caster_top</child>
<parent>rim</parent>
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.002</damping>
</dynamics>
</axis>
</joint>
<include>
<name>caster_3</name>
<uri>model://caster_stool</uri>
<pose>-0.1456 -0.1058 0.08 0 0 3.14</pose>
</include>
<joint name="caster_3_joint" type="revolute">
<child>caster_3::caster_top</child>
<parent>rim</parent>
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.002</damping>
</dynamics>
</axis>
</joint>
<include>
<name>caster_4</name>
<uri>model://caster_stool</uri>
<pose>-0.1456 0.1058 0.08 0 0 3.14</pose>
</include>
<joint name="caster_4_joint" type="revolute">
<child>caster_4::caster_top</child>
<parent>rim</parent>
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.002</damping>
</dynamics>
</axis>
</joint>
<include>
<name>caster_5</name>
<uri>model://caster_stool</uri>
<pose>0.0556 0.1712 0.08 0 0 3.14</pose>
</include>
<joint name="caster_5_joint" type="revolute">
<child>caster_5::caster_top</child>
<parent>rim</parent>
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.002</damping>
</dynamics>
</axis>
</joint>
<static>0</static>
<allow_auto_disable>1</allow_auto_disable>
</model>
</sdf>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/KodlabPenn/kodlab_gazebo-master/other/objects_description/cart_rail/cart_rail.sdf | <?xml version='1.0'?>
<!--
MIT License (modified)
Copyright (c) 2018 The Trustees of the University of Pennsylvania
Authors:
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<sdf version='1.6'>
<model name='cart_rail'>
<link name='cart_main'>
<pose frame=''>0 0 0.125 0 -0 0</pose>
<inertial>
<mass>6</mass>
<inertia>
<ixx>0.1013</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.18005</iyy>
<iyz>0</iyz>
<izz>0.28125</izz>
</inertia>
<pose frame=''>0 0 0.3 0 -0 0</pose>
</inertial>
<gravity>1</gravity>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<visual name='base_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<box>
<size>0.6 0.45 0.01</size>
</box>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='base_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<box>
<size>0.6 0.45 0.01</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
</surface>
</collision>
<visual name='bump_visual'>
<pose frame=''>0 0 0.06 0 -0 0</pose>
<geometry>
<box>
<size>0.23 0.35 0.04</size>
</box>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='bump_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0.06 0 -0 0</pose>
<geometry>
<box>
<size>0.23 0.35 0.04</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
</surface>
</collision>
<visual name='top_visual'>
<pose frame=''>0 0 0.39 0 -0 0</pose>
<geometry>
<box>
<size>0.6 0.45 0.01</size>
</box>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='top_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0 0.39 0 -0 0</pose>
<geometry>
<box>
<size>0.6 0.45 0.01</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
</surface>
</collision>
<visual name='bottom_front_visual'>
<pose frame=''>0 0.22 0.04 0 -0 0</pose>
<geometry>
<box>
<size>0.6 0.01 0.07</size>
</box>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='bottom_front_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0.22 0.04 0 -0 0</pose>
<geometry>
<box>
<size>0.6 0.01 0.07</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
</surface>
</collision>
<visual name='bottom_back_visual'>
<pose frame=''>0 -0.22 0.04 0 -0 0</pose>
<geometry>
<box>
<size>0.6 0.01 0.07</size>
</box>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='bottom_back_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 -0.22 0.04 0 -0 0</pose>
<geometry>
<box>
<size>0.6 0.01 0.07</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
</surface>
</collision>
<visual name='bottom_right_visual'>
<pose frame=''>0.295 0 0.04 0 -0 0</pose>
<geometry>
<box>
<size>0.01 0.43 0.07</size>
</box>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='bottom_right_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0.295 0 0.04 0 -0 0</pose>
<geometry>
<box>
<size>0.01 0.43 0.07</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
</surface>
</collision>
<visual name='bottom_left_visual'>
<pose frame=''>-0.295 0 0.04 0 -0 0</pose>
<geometry>
<box>
<size>0.01 0.43 0.07</size>
</box>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='bottom_left_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>-0.295 0 0.04 0 -0 0</pose>
<geometry>
<box>
<size>0.01 0.43 0.07</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
</surface>
</collision>
<visual name='top_front_visual'>
<pose frame=''>0 0.22 0.43 0 -0 0</pose>
<geometry>
<box>
<size>0.6 0.01 0.07</size>
</box>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='top_front_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 0.22 0.43 0 -0 0</pose>
<geometry>
<box>
<size>0.6 0.01 0.07</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
</surface>
</collision>
<visual name='top_back_visual'>
<pose frame=''>0 -0.22 0.43 0 -0 0</pose>
<geometry>
<box>
<size>0.6 0.01 0.07</size>
</box>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='top_back_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0 -0.22 0.43 0 -0 0</pose>
<geometry>
<box>
<size>0.6 0.01 0.07</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
</surface>
</collision>
<visual name='top_right_visual'>
<pose frame=''>0.295 0 0.43 0 -0 0</pose>
<geometry>
<box>
<size>0.01 0.43 0.07</size>
</box>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='top_right_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0.295 0 0.43 0 -0 0</pose>
<geometry>
<box>
<size>0.01 0.43 0.07</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
</surface>
</collision>
<visual name='top_left_visual'>
<pose frame=''>-0.295 0 0.43 0 -0 0</pose>
<geometry>
<box>
<size>0.01 0.43 0.07</size>
</box>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='top_left_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>-0.295 0 0.43 0 -0 0</pose>
<geometry>
<box>
<size>0.01 0.43 0.07</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
</surface>
</collision>
<visual name='cylinder_front_right_visual'>
<pose frame=''>0.269 0.194 0.23 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.021</radius>
<length>0.38</length>
</cylinder>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='cylinder_front_right_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0.269 0.194 0.23 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.021</radius>
<length>0.38</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
</surface>
</collision>
<visual name='cylinder_front_left_visual'>
<pose frame=''>-0.269 0.194 0.23 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.021</radius>
<length>0.38</length>
</cylinder>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='cylinder_front_left_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>-0.269 0.194 0.23 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.021</radius>
<length>0.38</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
</surface>
</collision>
<visual name='cylinder_back_left_visual'>
<pose frame=''>-0.269 -0.194 0.23 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.021</radius>
<length>0.38</length>
</cylinder>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='cylinder_back_left_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>-0.269 -0.194 0.23 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.021</radius>
<length>0.38</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
</surface>
</collision>
<visual name='cylinder_back_right_visual'>
<pose frame=''>0.269 -0.194 0.23 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.021</radius>
<length>0.38</length>
</cylinder>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Black</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
<transparency>0</transparency>
</visual>
<collision name='cylinder_back_right_collision'>
<laser_retro>0</laser_retro>
<max_contacts>10</max_contacts>
<pose frame=''>0.269 -0.194 0.23 0 -0 0</pose>
<geometry>
<cylinder>
<radius>0.021</radius>
<length>0.38</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
</surface>
</collision>
</link>
<include>
<name>tag_length_front</name>
<uri>model://tag36_11_00003</uri>
<pose>0 0.232 0.12 0 0 1.57</pose>
<static>false</static>
</include>
<joint name="tag_length_front_joint" type="fixed">
<child>tag_length_front::link</child>
<parent>cart_main</parent>
</joint>
<include>
<name>tag_length_back</name>
<uri>model://tag36_11_00003</uri>
<pose>0 -0.232 0.12 0 0 -1.57</pose>
<static>false</static>
</include>
<joint name="tag_length_back_joint" type="fixed">
<child>tag_length_back::link</child>
<parent>cart_main</parent>
</joint>
<include>
<name>tag_width_right</name>
<uri>model://tag36_11_00001</uri>
<pose>0.307 0 0.12 0 0 0</pose>
<static>false</static>
</include>
<joint name="tag_width_right_joint" type="fixed">
<child>tag_width_right::link</child>
<parent>cart_main</parent>
</joint>
<include>
<name>tag_width_left</name>
<uri>model://tag36_11_00001</uri>
<pose>-0.307 0 0.12 0 0 3.14</pose>
<static>false</static>
</include>
<joint name="tag_width_left_joint" type="fixed">
<child>tag_width_left::link</child>
<parent>cart_main</parent>
</joint>
<include>
<name>caster_front_left</name>
<uri>model://caster_cart</uri>
<pose>-0.269 0.194 0.12 0 0 3.14</pose>
</include>
<joint name="caster_front_left_joint" type="revolute">
<child>caster_front_left::caster_top</child>
<parent>cart_main</parent>
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.01</damping>
</dynamics>
</axis>
</joint>
<include>
<name>caster_front_right</name>
<uri>model://caster_cart</uri>
<pose>0.269 0.194 0.12 0 0 3.14</pose>
</include>
<joint name="caster_front_right_joint" type="revolute">
<child>caster_front_right::caster_top</child>
<parent>cart_main</parent>
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.01</damping>
</dynamics>
</axis>
</joint>
<include>
<name>caster_back_right</name>
<uri>model://caster_cart</uri>
<pose>0.269 -0.194 0.12 0 0 3.14</pose>
</include>
<joint name="caster_back_right_joint" type="revolute">
<child>caster_back_right::caster_top</child>
<parent>cart_main</parent>
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.01</damping>
</dynamics>
</axis>
</joint>
<include>
<name>caster_back_left</name>
<uri>model://caster_cart</uri>
<pose>-0.269 -0.194 0.12 0 0 3.14</pose>
</include>
<joint name="caster_back_left_joint" type="revolute">
<child>caster_back_left::caster_top</child>
<parent>cart_main</parent>
<axis>
<xyz>0 0 1</xyz>
<dynamics>
<damping>0.01</damping>
</dynamics>
</axis>
</joint>
<static>0</static>
<allow_auto_disable>1</allow_auto_disable>
</model>
</sdf>
|
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