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jshrake-nvidia/kit-dynamic-texture-example/tools/packman/bootstrap/generate_temp_folder.ps1 | <#
Copyright 2019 NVIDIA CORPORATION
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
#>
param(
[Parameter(Mandatory=$true)][string]$parentPath=$null
)
[string] $name = [System.Guid]::NewGuid()
$out = Join-Path $parentPath $name
New-Item -ItemType Directory -Path ($out) | Out-Null
Write-Host $out
# SIG # Begin signature block
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# SIG # End signature block
|
jshrake-nvidia/kit-dynamic-texture-example/tools/packman/bootstrap/install_package.py | # Copyright 2019 NVIDIA CORPORATION
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
# http://www.apache.org/licenses/LICENSE-2.0
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
import logging
import zipfile
import tempfile
import sys
import shutil
__author__ = "hfannar"
logging.basicConfig(level=logging.WARNING, format="%(message)s")
logger = logging.getLogger("install_package")
class TemporaryDirectory:
def __init__(self):
self.path = None
def __enter__(self):
self.path = tempfile.mkdtemp()
return self.path
def __exit__(self, type, value, traceback):
# Remove temporary data created
shutil.rmtree(self.path)
def install_package(package_src_path, package_dst_path):
with zipfile.ZipFile(
package_src_path, allowZip64=True
) as zip_file, TemporaryDirectory() as temp_dir:
zip_file.extractall(temp_dir)
# Recursively copy (temp_dir will be automatically cleaned up on exit)
try:
# Recursive copy is needed because both package name and version folder could be missing in
# target directory:
shutil.copytree(temp_dir, package_dst_path)
except OSError as exc:
logger.warning(
"Directory %s already present, packaged installation aborted" % package_dst_path
)
else:
logger.info("Package successfully installed to %s" % package_dst_path)
install_package(sys.argv[1], sys.argv[2])
|
jshrake-nvidia/kit-dynamic-texture-example/exts/omni.dynamic_texture_example/config/extension.toml | [package]
# Semantic Versionning is used: https://semver.org/
version = "1.0.0"
# The title and description fields are primarily for displaying extension info in UI
title = "Dynamic Texture Example"
description = "Demonstrates how to programmatically generate a textured quad using the omni.ui.DynamicTextureProvider API"
# Path (relative to the root) or content of readme markdown file for UI.
readme = "docs/README.md"
# Path (relative to the root) of changelog
changelog = "docs/CHANGELOG.md"
# URL of the extension source repository.
repository = "https://github.com/NVIDIA-Omniverse/kit-extension-template"
# One of categories for UI.
category = "Example"
# Keywords for the extension
keywords = ["kit", "example"]
# Icon to show in the extension manager
icon = "data/icon.png"
# Preview to show in the extension manager
preview_image = "data/preview.png"
# Use omni.ui to build simple UI
[dependencies]
"omni.kit.uiapp" = {}
"omni.kit.pipapi" = {}
[python.pipapi]
requirements = [
"pillow"
]
use_online_index = true
# Main python module this extension provides, it will be publicly available as "import omni.hello.world".
[[python.module]]
name = "omni.dynamic_texture_example"
[[test]]
# Extra dependencies only to be used during test run
dependencies = [
"omni.kit.ui_test" # UI testing extension
]
|
jshrake-nvidia/kit-dynamic-texture-example/exts/omni.dynamic_texture_example/omni/dynamic_texture_example/extension.py | '''
Demonstrates how to programmatically generate a textured quad using the omni.ui.DynamicTextureProvider API.
This is contrived example that reads the image from the local filesystem (cat.jpg). You can imagine
sourcing the image bytes from a network request instead.
Resources:
- https://docs.omniverse.nvidia.com/kit/docs/omni.ui/latest/omni.ui/omni.ui.ByteImageProvider.html
- See the full list of omni.ui.TextureFormat variants at .\app\kit\extscore\omni.gpu_foundation\omni\gpu_foundation_factory\_gpu_foundation_factory.pyi
TODO(jshrake):
- [ ] Currently the dynamic texture name only works with the OmniPBR.mdl material. Need to understand why it doesn't work
with other materials, such as UsdPreviewSurface.
- [ ] Test instantiating and using the DynamicTextureProvider in a separate thread
'''
from typing import Tuple, Union
import pathlib
import omni
import omni.ui as ui
from PIL import Image
from pxr import Kind, Sdf, Usd, UsdGeom, UsdShade
def create_textured_plane_prim(stage: Usd.Stage, prim_path: str, texture_name: str) -> Usd.Prim:
# This code is mostly copy pasted from https://graphics.pixar.com/usd/release/tut_simple_shading.html
billboard: UsdGeom.Mesh = UsdGeom.Mesh.Define(stage, f"{prim_path}/Mesh")
billboard.CreatePointsAttr([(-430, -145, 0), (430, -145, 0), (430, 145, 0), (-430, 145, 0)])
billboard.CreateFaceVertexCountsAttr([4])
billboard.CreateFaceVertexIndicesAttr([0,1,2,3])
billboard.CreateExtentAttr([(-430, -145, 0), (430, 145, 0)])
texCoords = UsdGeom.PrimvarsAPI(billboard).CreatePrimvar("st",
Sdf.ValueTypeNames.TexCoord2fArray,
UsdGeom.Tokens.varying)
texCoords.Set([(0, 0), (1, 0), (1,1), (0, 1)])
material_path = f"{prim_path}/Material"
material = UsdShade.Material.Define(stage, material_path)
shader: UsdShade.Shader = UsdShade.Shader.Define(stage, f"{material_path}/Shader")
shader.SetSourceAsset("OmniPBR.mdl", "mdl")
shader.SetSourceAssetSubIdentifier("OmniPBR", "mdl")
shader.CreateIdAttr("OmniPBR")
shader.CreateInput("diffuse_texture", Sdf.ValueTypeNames.Asset).Set(f"dynamic://{texture_name}")
material.CreateSurfaceOutput().ConnectToSource(shader.ConnectableAPI(), "surface")
billboard.GetPrim().ApplyAPI(UsdShade.MaterialBindingAPI)
UsdShade.MaterialBindingAPI(billboard).Bind(material)
return billboard
def create_dynamic_texture(texture_name: str, bytes: bytes, resolution: Tuple[int, int], format: ui.TextureFormat) -> ui.DynamicTextureProvider:
# See https://docs.omniverse.nvidia.com/kit/docs/omni.ui/latest/omni.ui/omni.ui.ByteImageProvider.html#omni.ui.ByteImageProvider.set_bytes_data_from_gpu
bytes_list = list(bytes)
dtp = ui.DynamicTextureProvider(texture_name)
dtp.set_bytes_data(bytes_list, list(resolution), format)
return dtp
class DynamicTextureProviderExample(omni.ext.IExt):
def on_startup(self, ext_id):
self._texture: Union[None, ui.DynamicTextureProvider] = None
self._window = ui.Window("Create Dynamic Texture Provider Example", width=300, height=300)
with self._window.frame:
ui.Button("Create", clicked_fn=self._on_click_create)
def _on_click_create(self):
usd_context = omni.usd.get_context()
stage: Usd.Stage = usd_context.get_stage()
name = f"TexturePlane"
image_name = name
prim_path = f"/World/{name}"
# If the prim already exists, remove it so we can create it again
try:
stage.RemovePrim(prim_path)
self._texture = None
except:
pass
# Create the prim root
model_root = UsdGeom.Xform.Define(stage, prim_path)
Usd.ModelAPI(model_root).SetKind(Kind.Tokens.component)
# Create the mesh + material + shader
create_textured_plane_prim(stage, prim_path, image_name)
# Open the adjacent cat.jpg file and create the texture
dir = pathlib.Path(__file__).parent.resolve()
image_path = dir.joinpath("cat.jpg")
image: Image.Image = Image.open(image_path, mode='r')
# Ensure the image format is RGBA
image = image.convert('RGBA')
image_bytes = image.tobytes()
image_resolution = (image.width, image.height)
image_format = ui.TextureFormat.RGBA8_UNORM
self._texture = create_dynamic_texture(image_name, image_bytes, image_resolution, image_format)
def on_shutdown(self):
self._texture = None
|
jshrake-nvidia/kit-dynamic-texture-example/exts/omni.dynamic_texture_example/omni/dynamic_texture_example/__init__.py | from .extension import *
|
jshrake-nvidia/kit-dynamic-texture-example/exts/omni.dynamic_texture_example/omni/dynamic_texture_example/tests/__init__.py | from .test_hello_world import * |
jshrake-nvidia/kit-dynamic-texture-example/exts/omni.dynamic_texture_example/omni/dynamic_texture_example/tests/test_hello_world.py | # NOTE:
# omni.kit.test - std python's unittest module with additional wrapping to add suport for async/await tests
# For most things refer to unittest docs: https://docs.python.org/3/library/unittest.html
import omni.kit.test
# Extnsion for writing UI tests (simulate UI interaction)
import omni.kit.ui_test as ui_test
# Import extension python module we are testing with absolute import path, as if we are external user (other extension)
import omni.hello.world
# Having a test class dervived from omni.kit.test.AsyncTestCase declared on the root of module will make it auto-discoverable by omni.kit.test
class Test(omni.kit.test.AsyncTestCase):
# Before running each test
async def setUp(self):
pass
# After running each test
async def tearDown(self):
pass
# Actual test, notice it is "async" function, so "await" can be used if needed
async def test_hello_public_function(self):
result = omni.hello.world.some_public_function(4)
self.assertEqual(result, 256)
async def test_window_button(self):
# Find a label in our window
label = ui_test.find("My Window//Frame/**/Label[*]")
# Find buttons in our window
add_button = ui_test.find("My Window//Frame/**/Button[*].text=='Add'")
reset_button = ui_test.find("My Window//Frame/**/Button[*].text=='Reset'")
# Click reset button
await reset_button.click()
self.assertEqual(label.widget.text, "empty")
await add_button.click()
self.assertEqual(label.widget.text, "count: 1")
await add_button.click()
self.assertEqual(label.widget.text, "count: 2")
|
jshrake-nvidia/kit-dynamic-texture-example/exts/omni.dynamic_texture_example/docs/CHANGELOG.md | # Changelog
The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
## [1.0.0] - 2021-04-26
- Initial version of extension UI template with a window
|
jshrake-nvidia/kit-dynamic-texture-example/exts/omni.dynamic_texture_example/docs/README.md | # Simple UI Extension Template
The simplest python extension example. Use it as a starting point for your extensions.
|
renanmb/Omniverse_legged_robotics/README.md | The idea of this repo is to start converting open source models of robots into Omniverse Isaac-Sim friendly format.
# URDF Descriptions
The URDFs found in this repository have been forked/modified/linked from the following projects:
## Quadrupeds
- [kodlab_gazebo - Ghost Robotics](https://github.com/KodlabPenn/kodlab_gazebo)
- [ANYbotics](https://github.com/ANYbotics)
- [ANYbotics' ANYmal B](https://github.com/ANYbotics/anymal_b_simple_description)
- [ANYbotics' ANYmal B - Modified for CHAMP](https://github.com/chvmp/anymal_b_simple_description)
- [ANYbotics' ANYmal C](https://github.com/ANYbotics/anymal_c_simple_description)
- [ANYbotics' ANYmal B - Modified for CHAMP](https://github.com/chvmp/anymal_c_simple_description)
- Boston Dynamic's Little Dog
- [Boston Dynamic's Little Dog - by RobotLocomotion](https://github.com/RobotLocomotion/LittleDog)
- [Boston Dynamic's Little Dog - Modified for CHAMP](https://github.com/chvmp/littledog_description)
- Boston Dynamic's Spot
- [Boston Dynamic's Spot - by heuristicus](https://github.com/heuristicus/spot_ros)
- [Boston Dynamic's Spot - Modified for CHAMP](https://github.com/chvmp/spot_ros)
- [Dream Walker](https://github.com/Ohaginia/dream_walker)
- [MIT Mini Cheetah - Original](https://github.com/HitSZwang/mini-cheetah-gazebo-urdf)
- [MIT Mini Cheetah - Modified for CHAMP](https://github.com/chvmp/mini-cheetah-gazebo-urdf)
- [OpenDog V2 - Original](https://github.com/XRobots/openDogV2)
- [OpenDog V2 - Modified for CHAMP](https://github.com/chvmp/opendog_description)
- Open Quadruped
- [Open Quadruped](https://github.com/moribots/spot_mini_mini)
- [SpotMicroAI - Gitlab](https://gitlab.com/custom_robots/spotmicroai)
- [Spot Micro](https://github.com/chvmp/spotmicro_description)
- [Unitree Robotics All](https://github.com/unitreerobotics/unitree_ros)
- [Unitree Robotics All - Modified for CHAMP](https://github.com/chvmp/unitree_ros)
- [Unitree Robotics' A1](https://github.com/unitreerobotics/unitree_ros/tree/master/robots/a1_description)
- [Unitree Robotics' AliengoZ1](https://github.com/unitreerobotics/unitree_ros/tree/master/robots/aliengoZ1_description)
- [Unitree Robotics'Aliengo](https://github.com/unitreerobotics/unitree_ros/tree/master/robots/aliengo_description)
- [Unitree Robotics' B1](https://github.com/unitreerobotics/unitree_ros/tree/master/robots/b1_description)
- [Unitree Robotics' Go1](https://github.com/unitreerobotics/unitree_ros/tree/master/robots/go1_description)
- [Unitree Robotics' Laikago](https://github.com/unitreerobotics/unitree_ros/tree/master/robots/laikago_description)
- [Unitree Robotics' Z1](https://github.com/unitreerobotics/unitree_ros/tree/master/robots/z1_description)
- [Stochlab's Stochlite](https://stochlab.github.io/)
- [Stochlab's Stochlite - Modified by aditya-shirwatkar](https://github.com/aditya-shirwatkar/stochlite_description)
- Mini Pupper
- [MangDang's Mini Pupper](https://github.com/mangdangroboticsclub/QuadrupedRobot)
- [simplified robot description of the MangDang's Mini Pupper](https://github.com/nisshan-x/mini_pupper_description)
- [Stanford pupper - Original](https://stanfordstudentrobotics.org/pupper)
- [Stanford pupper - Modified by Chandykunju Alex](https://github.com/chandyalex/stanford_pupper_description.git)
## Bipedal
- [Agility Robotics' Cassie - UMich-BipedLab](https://github.com/UMich-BipedLab/cassie_description)
- [Agility Robotics' Digit - DigitRobot.jl](https://github.com/adubredu/DigitRobot.jl)
- [NJIT - TOCABI](https://github.com/cadop/tocabi)
## Manipulation
- [GoogleAI ROBEL D'Kitty](https://github.com/google-research/robel-scenes)
- [GoogleAI ROBEL D'Kitty - Modified for CHAMP](https://github.com/chvmp/dkitty_description)
- [The Shadow Robot Company](https://github.com/shadow-robot)
- [Shadow Hand - archived](https://github.com/AndrejOrsula/shadow_hand_ign)
#
## Cassie_description
This repository contains the .urdf model of the CASSIE robot from Agility Robotics. It also includes a way to visualize the robot using ROS and rviz.
https://github.com/UMich-BipedLab/cassie_description
## a1 robot simulation - Python version
This repository contains all the files and code needed to simulate the a1 quadrupedal robot using Gazebo and ROS. The software runs on ROS noetic and Ubuntu 20.04.
https://github.com/lnotspotl/a1_sim_py
## Here are the ROS simulation packages for Unitree robots
https://github.com/unitreerobotics/unitree_ros
## Zoo from CHAMP
This repository contains configuration packages of various quadrupedal robots generated by CHAMP's setup assistant.
The URDFs found in this repository have been forked/modified/linked from the following projects:
https://github.com/chvmp/robots
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/z1_description/CMakeLists.txt | cmake_minimum_required(VERSION 3.0.2)
project(z1_description)
find_package(catkin REQUIRED COMPONENTS
urdf
xacro
)
catkin_package()
include_directories(
${catkin_INCLUDE_DIRS}
) |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/z1_description/package.xml | <?xml version="1.0"?>
<package format="2">
<name>z1_description</name>
<version>0.0.0</version>
<description>The z1_description package</description>
<maintainer email="[email protected]">unitree</maintainer>
<license>TODO</license>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>urdf</build_depend>
<build_depend>xacro</build_depend>
<build_export_depend>urdf</build_export_depend>
<build_export_depend>xacro</build_export_depend>
<exec_depend>urdf</exec_depend>
<exec_depend>xacro</exec_depend>
</package>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/z1_description/launch/setting.rviz | Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /RobotModel1
- /RobotModel1/Links1
- /TF1
- /TF1/Frames1
Splitter Ratio: 0.6125907897949219
Tree Height: 719
- 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:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
gripperMover:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
gripperStator:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link00:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link01:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link02:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link03:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link04:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link05:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
link06:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
world:
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/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: false
gripperMover:
Value: true
gripperStator:
Value: false
link00:
Value: true
link01:
Value: false
link02:
Value: true
link03:
Value: true
link04:
Value: true
link05:
Value: true
link06:
Value: true
world:
Value: true
Marker Alpha: 1
Marker Scale: 0.5
Name: TF
Show Arrows: false
Show Axes: true
Show Names: false
Tree:
world:
link00:
link01:
link02:
link03:
link04:
link05:
link06:
gripperStator:
gripperMover:
{}
Update Interval: 0
Value: true
Enabled: true
Global Options:
Background Color: 255; 255; 255
Default Light: true
Fixed Frame: world
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Theta std deviation: 0.2617993950843811
Topic: /initialpose
X std deviation: 0.5
Y std deviation: 0.5
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 0.9349431395530701
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Field of View: 0.7853981852531433
Focal Point:
X: -0.06341491639614105
Y: -0.17587876319885254
Z: 0.08242372423410416
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.06539830565452576
Target Frame: <Fixed Frame>
Yaw: 1.5285662412643433
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1016
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd0000000400000000000001ce0000035afc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000035a000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000035afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000035a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000044f0000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1848
X: 72
Y: 27
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/z1_description/launch/z1_rviz.launch | <launch>
<!-- <arg name="user_debug" default="false"/> -->
<arg name="UnitreeGripperYN" default="true"/>
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find z1_description)/xacro/robot.xacro'
UnitreeGripper:=$(arg UnitreeGripperYN)"/>
<!-- for higher robot_state_publisher average rate-->
<!-- <param name="rate" value="1000"/> -->
<!-- send fake joint values -->
<node pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" name="joint_state_publisher_gui">
<param name="use_gui" value="TRUE"/>
</node>
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
<param name="publish_frequency" type="double" value="1000.0"/>
</node>
<node pkg="rviz" type="rviz" name="rviz" respawn="false" output="screen"
args="-d $(find z1_description)/launch/setting.rviz"/>
</launch>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/z1_description/xacro/transmission.xacro | <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="motorTransmission" params="name">
<transmission name="JointTrans${name}">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint${name}">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="Actuator${name}">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</xacro:macro>
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/z1_description/xacro/const.xacro | <?xml version="1.0"?>
<robot name="z1_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- Constants for robot dimensions -->
<xacro:property name="PI" value="3.1415926535897931"/>
<!-- Link 00 -->
<xacro:property name="L00_Mass" value="0.47247481"/>
<xacro:property name="L00_ComX" value="-0.00334984"/>
<xacro:property name="L00_ComY" value="-0.00013615"/>
<xacro:property name="L00_ComZ" value="0.02495843"/>
<xacro:property name="L00_Ixx" value="0.00037937"/>
<xacro:property name="L00_Ixy" value="0.00000035"/>
<xacro:property name="L00_Ixz" value="0.00001037"/>
<xacro:property name="L00_Iyy" value="0.00041521"/>
<xacro:property name="L00_Iyz" value="0.00000099"/>
<xacro:property name="L00_Izz" value="0.00053066"/>
<!-- Link 01 -->
<xacro:property name="L01_Mass" value="0.67332551"/>
<xacro:property name="L01_ComX" value="0.00000247"/>
<xacro:property name="L01_ComY" value="-0.00025198"/>
<xacro:property name="L01_ComZ" value="0.02317169"/>
<xacro:property name="L01_Ixx" value="0.00128328"/>
<xacro:property name="L01_Ixy" value="0.00000006"/>
<xacro:property name="L01_Ixz" value="0.00000040"/>
<xacro:property name="L01_Iyy" value="0.00071931"/>
<xacro:property name="L01_Iyz" value="-0.00000050"/>
<xacro:property name="L01_Izz" value="0.00083936"/>
<!-- Link 02 -->
<xacro:property name="L02_Mass" value="1.19132258"/>
<xacro:property name="L02_ComX" value="-0.11012601"/>
<xacro:property name="L02_ComY" value="0.00240029"/>
<xacro:property name="L02_ComZ" value="0.00158266"/>
<xacro:property name="L02_Ixx" value="0.00102138"/>
<xacro:property name="L02_Ixy" value="-0.00062358"/>
<xacro:property name="L02_Ixz" value="-0.00000513"/>
<xacro:property name="L02_Iyy" value="0.02429457"/>
<xacro:property name="L02_Iyz" value="0.00000210"/>
<xacro:property name="L02_Izz" value="0.02466114"/>
<!-- Link 03 -->
<xacro:property name="L03_Mass" value="0.83940874"/>
<xacro:property name="L03_ComX" value="0.10609208"/>
<xacro:property name="L03_ComY" value="-0.00541815"/>
<xacro:property name="L03_ComZ" value="0.03476383"/>
<xacro:property name="L03_Ixx" value="0.00108061"/>
<xacro:property name="L03_Ixy" value="0.00008669"/>
<xacro:property name="L03_Ixz" value="0.00208102"/>
<xacro:property name="L03_Iyy" value="0.00954238"/>
<xacro:property name="L03_Iyz" value="0.00001332"/>
<xacro:property name="L03_Izz" value="0.00886621"/>
<!-- Link 04 -->
<xacro:property name="L04_Mass" value="0.56404563"/>
<xacro:property name="L04_ComX" value="0.04366681"/>
<xacro:property name="L04_ComY" value="0.00364738"/>
<xacro:property name="L04_ComZ" value="-0.00170192"/>
<xacro:property name="L04_Ixx" value="0.00031576"/>
<xacro:property name="L04_Ixy" value="-0.00008130"/>
<xacro:property name="L04_Ixz" value="-0.00004091"/>
<xacro:property name="L04_Iyy" value="0.00092996"/>
<xacro:property name="L04_Iyz" value="0.00000596"/>
<xacro:property name="L04_Izz" value="0.00097912"/>
<!-- Link 05 -->
<xacro:property name="L05_Mass" value="0.38938492"/>
<xacro:property name="L05_ComX" value="0.03121533"/>
<xacro:property name="L05_ComY" value="0.0"/>
<xacro:property name="L05_ComZ" value="0.00646316"/>
<xacro:property name="L05_Ixx" value="0.00017605"/>
<xacro:property name="L05_Ixy" value="-0.00000040"/>
<xacro:property name="L05_Ixz" value="-0.00005689"/>
<xacro:property name="L05_Iyy" value="0.00055896"/>
<xacro:property name="L05_Iyz" value="0.00000013"/>
<xacro:property name="L05_Izz" value="0.00053860"/>
<!-- Link 06 -->
<xacro:property name="L06_Mass" value="0.28875807"/>
<xacro:property name="L06_ComX" value="0.02415690"/>
<xacro:property name="L06_ComY" value="-0.00017355"/>
<xacro:property name="L06_ComZ" value="-0.00143876"/>
<xacro:property name="L06_Ixx" value="0.00018328"/>
<xacro:property name="L06_Ixy" value="-0.00000122"/>
<xacro:property name="L06_Ixz" value="-0.00000054"/>
<xacro:property name="L06_Iyy" value="0.00014750"/>
<xacro:property name="L06_Iyz" value="-0.00000008"/>
<xacro:property name="L06_Izz" value="0.00014680"/>
<!-- Link Gripper Stator -->
<xacro:property name="GripperStator_Mass" value="0.52603655"/>
<xacro:property name="GripperStator_ComX" value="0.04764427"/>
<xacro:property name="GripperStator_ComY" value="-0.00035819"/>
<xacro:property name="GripperStator_ComZ" value="-0.00249162"/>
<xacro:property name="GripperStator_Ixx" value="0.00038683"/>
<xacro:property name="GripperStator_Ixy" value="0.00000359"/>
<xacro:property name="GripperStator_Ixz" value="-0.00007662"/>
<xacro:property name="GripperStator_Iyy" value="0.00068614"/>
<xacro:property name="GripperStator_Iyz" value="-0.00000209"/>
<xacro:property name="GripperStator_Izz" value="0.00066293"/>
<!-- Link Gripper Mover -->
<xacro:property name="GripperMover_Mass" value="0.27621302"/>
<xacro:property name="GripperMover_ComX" value="0.01320633"/>
<xacro:property name="GripperMover_ComY" value="0.00476708"/>
<xacro:property name="GripperMover_ComZ" value="0.00380534"/>
<xacro:property name="GripperMover_Ixx" value="0.00017716"/>
<xacro:property name="GripperMover_Ixy" value="-0.00001683"/>
<xacro:property name="GripperMover_Ixz" value="0.00001786"/>
<xacro:property name="GripperMover_Iyy" value="0.00026787"/>
<xacro:property name="GripperMover_Iyz" value="-0.00000262"/>
<xacro:property name="GripperMover_Izz" value="0.00035728"/>
<!-- joint limits -->
<!-- <xacro:property name="jointDamping" value="3.0"/> -->
<!-- <xacro:property name="jointFriction" value="2.0"/> -->
<xacro:property name="jointDamping" value="1.0"/>
<xacro:property name="jointFriction" value="1.0"/>
<xacro:property name="torqueMax" value="30.0"/>
<xacro:property name="velocityMax" value="10"/>
<xacro:property name="joint1_PositionMin" value="${-PI*150/180}"/>
<xacro:property name="joint1_PositionMax" value="${PI*150/180}"/>
<xacro:property name="joint2_PositionMin" value="0.0"/>
<xacro:property name="joint2_PositionMax" value="${PI}"/>
<xacro:property name="joint3_PositionMin" value="${-PI*274/180}"/>
<xacro:property name="joint3_PositionMax" value="0.0"/>
<xacro:property name="joint4_PositionMin" value="${-PI*100/180}"/>
<xacro:property name="joint4_PositionMax" value="${PI*90/180}"/>
<xacro:property name="joint5_PositionMin" value="${-PI*99/180}"/>
<xacro:property name="joint5_PositionMax" value="${PI*99/180}"/>
<xacro:property name="joint6_PositionMin" value="${-PI*160/180}"/>
<xacro:property name="joint6_PositionMax" value="${PI*160/180}"/>
<xacro:property name="Gripper_PositionMin" value="${-PI*90/180}"/>
<xacro:property name="Gripper_PositionMax" value="0.0"/>
<!-- collision size -->
<xacro:property name="motor_diameter" value="${0.065/2.0}"/>
<xacro:property name="motor_height" value="0.051"/>
<xacro:property name="arm1_diameter" value="${0.045/2.0}"/>
<xacro:property name="arm1_height" value="0.235"/>
<xacro:property name="arm2_diameter" value="${0.04/2.0}"/>
<xacro:property name="arm2_height" value="0.126"/>
<xacro:property name="gripperBox_X" value="0."/>
<xacro:property name="gripperBox_Y" value="0."/>
<xacro:property name="gripperBox_Z" value="0."/>
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/z1_description/xacro/gazebo.xacro | <?xml version="1.0"?>
<robot>
<!-- ros_control plugin -->
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/z1_gazebo</robotNamespace>
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
</plugin>
</gazebo>
<gazebo reference="link04">
<self_collide>true</self_collide>
</gazebo>
<gazebo reference="link05">
<self_collide>true</self_collide>
</gazebo>
<gazebo reference="link06">
<self_collide>true</self_collide>
</gazebo>
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/z1_description/xacro/z1.urdf | <?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from robot.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="z1_description">
<!-- ros_control plugin -->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<robotNamespace>/z1_gazebo</robotNamespace>
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
</plugin>
</gazebo>
<gazebo reference="link04">
<self_collide>true</self_collide>
</gazebo>
<gazebo reference="link05">
<self_collide>true</self_collide>
</gazebo>
<gazebo reference="link06">
<self_collide>true</self_collide>
</gazebo>
<link name="world"/>
<joint name="base_static_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="world"/>
<child link="link00"/>
</joint>
<link name="link00">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://z1_description/meshes/z1_Link00.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<geometry>
<cylinder length="0.051" radius="0.0325"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.0255"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.00334984 -0.00013615 0.02495843"/>
<mass value="0.47247481"/>
<inertia ixx="0.00037937" ixy="3.5e-07" ixz="1.037e-05" iyy="0.00041521" iyz="9.9e-07" izz="0.00053066"/>
</inertial>
</link>
<joint name="joint1" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0.0585"/>
<parent link="link00"/>
<child link="link01"/>
<axis xyz="0 0 1"/>
<dynamics damping="1.0" friction="1.0"/>
<limit effort="30.0" lower="-2.6179938779914944" upper="2.6179938779914944" velocity="10"/>
</joint>
<link name="link01">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://z1_description/meshes/z1_Link01.dae" scale="1 1 1"/>
</geometry>
</visual>
<!-- <collision>
<geometry>
<cylinder length="${2*motor_height}" radius="${motor_diameter}"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision> -->
<inertial>
<origin rpy="0 0 0" xyz="2.47e-06 -0.00025198 0.02317169"/>
<mass value="0.67332551"/>
<inertia ixx="0.00128328" ixy="6e-08" ixz="4e-07" iyy="0.00071931" iyz="-5e-07" izz="0.00083936"/>
</inertial>
</link>
<joint name="joint2" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0.045"/>
<parent link="link01"/>
<child link="link02"/>
<axis xyz="0 1 0"/>
<dynamics damping="2.0" friction="2.0"/>
<limit effort="60.0" lower="0.0" upper="3.141592653589793" velocity="10"/>
</joint>
<link name="link02">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://z1_description/meshes/z1_Link02.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<geometry>
<cylinder length="0.102" radius="0.0325"/>
</geometry>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
</collision>
<collision>
<geometry>
<cylinder length="0.235" radius="0.0225"/>
</geometry>
<origin rpy="0 1.5707963267948966 0" xyz="-0.16249999999999998 0 0"/>
</collision>
<collision>
<geometry>
<cylinder length="0.051" radius="0.0325"/>
</geometry>
<origin rpy="1.5707963267948966 0 0" xyz="-0.35 0 0"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.11012601 0.00240029 0.00158266"/>
<mass value="1.19132258"/>
<inertia ixx="0.00102138" ixy="-0.00062358" ixz="-5.13e-06" iyy="0.02429457" iyz="2.1e-06" izz="0.02466114"/>
</inertial>
</link>
<joint name="joint3" type="revolute">
<origin rpy="0 0 0" xyz="-0.35 0 0"/>
<parent link="link02"/>
<child link="link03"/>
<axis xyz="0 1 0"/>
<dynamics damping="1.0" friction="1.0"/>
<limit effort="30.0" lower="-4.782202150464463" upper="0.0" velocity="10"/>
</joint>
<link name="link03">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://z1_description/meshes/z1_Link03.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<geometry>
<cylinder length="0.116" radius="0.02"/>
</geometry>
<origin rpy="0 1.5707963267948966 0" xyz="0.128 0 0.055"/>
</collision>
<collision>
<geometry>
<cylinder length="0.059" radius="0.0325"/>
</geometry>
<origin rpy="0 1.5707963267948966 0" xyz="0.2205 0 0.055"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.10609208 -0.00541815 0.03476383"/>
<mass value="0.83940874"/>
<inertia ixx="0.00108061" ixy="8.669e-05" ixz="0.00208102" iyy="0.00954238" iyz="1.332e-05" izz="0.00886621"/>
</inertial>
</link>
<joint name="joint4" type="revolute">
<origin rpy="0 0 0" xyz="0.218 0 0.057"/>
<parent link="link03"/>
<child link="link04"/>
<axis xyz="0 1 0"/>
<dynamics damping="1.0" friction="1.0"/>
<limit effort="30.0" lower="-1.7453292519943295" upper="1.5707963267948966" velocity="10"/>
</joint>
<link name="link04">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://z1_description/meshes/z1_Link04.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<geometry>
<cylinder length="0.073" radius="0.0325"/>
</geometry>
<origin rpy="1.5707963267948966 0 0" xyz="0.0472 0 0"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.04366681 0.00364738 -0.00170192"/>
<mass value="0.56404563"/>
<inertia ixx="0.00031576" ixy="-8.13e-05" ixz="-4.091e-05" iyy="0.00092996" iyz="5.96e-06" izz="0.00097912"/>
</inertial>
</link>
<joint name="joint5" type="revolute">
<origin rpy="0 0 0" xyz="0.07 0.0 0.0"/>
<parent link="link04"/>
<child link="link05"/>
<axis xyz="0 0 1"/>
<dynamics damping="1.0" friction="1.0"/>
<limit effort="30.0" lower="-1.7278759594743864" upper="1.7278759594743864" velocity="10"/>
</joint>
<link name="link05">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://z1_description/meshes/z1_Link05.dae" scale="1 1 1"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0.03121533 0.0 0.00646316"/>
<mass value="0.38938492"/>
<inertia ixx="0.00017605" ixy="-4e-07" ixz="-5.689e-05" iyy="0.00055896" iyz="1.3e-07" izz="0.0005386"/>
</inertial>
</link>
<joint name="joint6" type="revolute">
<origin rpy="0 0 0" xyz="0.0492 0.0 0.0"/>
<parent link="link05"/>
<child link="link06"/>
<axis xyz="1 0 0"/>
<dynamics damping="1.0" friction="1.0"/>
<limit effort="30.0" lower="-2.792526803190927" upper="2.792526803190927" velocity="10"/>
</joint>
<link name="link06">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://z1_description/meshes/z1_Link06.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<geometry>
<cylinder length="0.051" radius="0.0325"/>
</geometry>
<origin rpy="0 1.5707963267948966 0" xyz="0.0255 0 0"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0241569 -0.00017355 -0.00143876"/>
<mass value="0.28875807"/>
<inertia ixx="0.00018328" ixy="-1.22e-06" ixz="-5.4e-07" iyy="0.0001475" iyz="-8e-08" izz="0.0001468"/>
</inertial>
</link>
<transmission name="JointTrans1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint1">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="Actuator1">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="JointTrans2">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint2">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="Actuator2">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="JointTrans3">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint3">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="Actuator3">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="JointTrans4">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint4">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="Actuator4">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="JointTrans5">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint5">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="Actuator5">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="JointTrans6">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint6">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="Actuator6">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/z1_description/xacro/robot.xacro | <?xml version="1.0"?>
<robot name="z1_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find z1_description)/xacro/const.xacro"/>
<xacro:include filename="$(find z1_description)/xacro/gazebo.xacro"/>
<xacro:include filename="$(find z1_description)/xacro/transmission.xacro"/>
<xacro:arg name="UnitreeGripper" default="false"/>
<link name="world"/>
<joint name="base_static_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="world"/>
<child link="link00"/>
</joint>
<link name="link00">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://z1_description/meshes/visual/z1_Link00.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<geometry>
<cylinder length="${motor_height}" radius="${motor_diameter}"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 ${motor_height/2.0}"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${L00_ComX} ${L00_ComY} ${L00_ComZ}"/>
<mass value="${L00_Mass}"/>
<inertia
ixx="${L00_Ixx}" ixy="${L00_Ixy}" ixz="${L00_Ixz}"
iyy="${L00_Iyy}" iyz="${L00_Iyz}"
izz="${L00_Izz}"/>
</inertial>
</link>
<joint name="joint1" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0.0585"/>
<parent link="link00"/>
<child link="link01"/>
<axis xyz="0 0 1"/>
<dynamics damping="${jointDamping}" friction="${jointFriction}"/>
<limit effort="${torqueMax}" velocity="${velocityMax}" lower="${joint1_PositionMin}" upper="${joint1_PositionMax}"/>
</joint>
<link name="link01">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://z1_description/meshes/visual/z1_Link01.dae" scale="1 1 1"/>
</geometry>
</visual>
<!-- <collision>
<geometry>
<cylinder length="${2*motor_height}" radius="${motor_diameter}"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision> -->
<inertial>
<origin rpy="0 0 0" xyz="${L01_ComX} ${L01_ComY} ${L01_ComZ}"/>
<mass value="${L01_Mass}"/>
<inertia
ixx="${L01_Ixx}" ixy="${L01_Ixy}" ixz="${L01_Ixz}"
iyy="${L01_Iyy}" iyz="${L01_Iyz}"
izz="${L01_Izz}"/>
</inertial>
</link>
<joint name="joint2" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0.045"/>
<parent link="link01"/>
<child link="link02"/>
<axis xyz="0 1 0"/>
<dynamics damping="${2*jointDamping}" friction="${2*jointFriction}"/>
<limit effort="${2*torqueMax}" velocity="${velocityMax}" lower="${joint2_PositionMin}" upper="${joint2_PositionMax}"/>
</joint>
<link name="link02">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://z1_description/meshes/visual/z1_Link02.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<geometry>
<cylinder length="${2.0*motor_height}" radius="${motor_diameter}"/>
</geometry>
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
</collision>
<collision>
<geometry>
<cylinder length="${arm1_height}" radius="${arm1_diameter}"/>
</geometry>
<origin rpy="0 ${PI/2.0} 0" xyz="${-0.045-arm1_height/2.0} 0 0"/>
</collision>
<collision>
<geometry>
<cylinder length="${motor_height}" radius="${motor_diameter}"/>
</geometry>
<origin rpy="${PI/2.0} 0 0" xyz="-0.35 0 0"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${L02_ComX} ${L02_ComY} ${L02_ComZ}"/>
<mass value="${L02_Mass}"/>
<inertia
ixx="${L02_Ixx}" ixy="${L02_Ixy}" ixz="${L02_Ixz}"
iyy="${L02_Iyy}" iyz="${L02_Iyz}"
izz="${L02_Izz}"/>
</inertial>
</link>
<joint name="joint3" type="revolute">
<origin rpy="0 0 0" xyz="-0.35 0 0"/>
<parent link="link02"/>
<child link="link03"/>
<axis xyz="0 1 0"/>
<dynamics damping="${jointDamping}" friction="${jointFriction}"/>
<limit effort="${torqueMax}" velocity="${velocityMax}" lower="${joint3_PositionMin}" upper="${joint3_PositionMax}"/>
</joint>
<link name="link03">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://z1_description/meshes/visual/z1_Link03.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<geometry>
<cylinder length="${arm2_height-0.01}" radius="${arm2_diameter}"/>
</geometry>
<origin rpy="0 ${PI/2.0} 0" xyz="${0.065+arm2_height/2.0} 0 0.055"/>
</collision>
<collision>
<geometry>
<cylinder length="0.059" radius="${motor_diameter}"/>
</geometry>
<origin rpy="0 ${PI/2.0} 0" xyz="${0.065+0.185-0.059/2.0} 0 0.055"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${L03_ComX} ${L03_ComY} ${L03_ComZ}"/>
<mass value="${L03_Mass}"/>
<inertia
ixx="${L03_Ixx}" ixy="${L03_Ixy}" ixz="${L03_Ixz}"
iyy="${L03_Iyy}" iyz="${L03_Iyz}"
izz="${L03_Izz}"/>
</inertial>
</link>
<joint name="joint4" type="revolute">
<origin rpy="0 0 0" xyz="0.218 0 0.057"/>
<parent link="link03"/>
<child link="link04"/>
<axis xyz="0 1 0"/>
<dynamics damping="${jointDamping}" friction="${jointFriction}"/>
<limit effort="${torqueMax}" velocity="${velocityMax}" lower="${joint4_PositionMin}" upper="${joint4_PositionMax}"/>
</joint>
<link name="link04">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://z1_description/meshes/visual/z1_Link04.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<geometry>
<cylinder length="0.073" radius="${motor_diameter}"/>
</geometry>
<origin rpy="${PI/2.0} 0 0" xyz="0.0472 0 0"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${L04_ComX} ${L04_ComY} ${L04_ComZ}"/>
<mass value="${L04_Mass}"/>
<inertia
ixx="${L04_Ixx}" ixy="${L04_Ixy}" ixz="${L04_Ixz}"
iyy="${L04_Iyy}" iyz="${L04_Iyz}"
izz="${L04_Izz}"/>
</inertial>
</link>
<joint name="joint5" type="revolute">
<origin rpy="0 0 0" xyz="0.07 0.0 0.0"/>
<parent link="link04"/>
<child link="link05"/>
<axis xyz="0 0 1"/>
<dynamics damping="${jointDamping}" friction="${jointFriction}"/>
<limit effort="${torqueMax}" velocity="${velocityMax}" lower="${joint5_PositionMin}" upper="${joint5_PositionMax}"/>
</joint>
<link name="link05">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://z1_description/meshes/visual/z1_Link05.dae" scale="1 1 1"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="${L05_ComX} ${L05_ComY} ${L05_ComZ}"/>
<mass value="${L05_Mass}"/>
<inertia
ixx="${L05_Ixx}" ixy="${L05_Ixy}" ixz="${L05_Ixz}"
iyy="${L05_Iyy}" iyz="${L05_Iyz}"
izz="${L05_Izz}"/>
</inertial>
</link>
<joint name="joint6" type="revolute">
<origin rpy="0 0 0" xyz="0.0492 0.0 0.0"/>
<parent link="link05"/>
<child link="link06"/>
<axis xyz="1 0 0"/>
<dynamics damping="${jointDamping}" friction="${jointFriction}"/>
<limit effort="${torqueMax}" velocity="${velocityMax}" lower="${joint6_PositionMin}" upper="${joint6_PositionMax}"/>
</joint>
<link name="link06">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://z1_description/meshes/visual/z1_Link06.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<geometry>
<cylinder length="${motor_height}" radius="${motor_diameter}"/>
</geometry>
<origin rpy="0 ${PI/2.0} 0" xyz="${motor_height/2.0} 0 0"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${L06_ComX} ${L06_ComY} ${L06_ComZ}"/>
<mass value="${L06_Mass}"/>
<inertia
ixx="${L06_Ixx}" ixy="${L06_Ixy}" ixz="${L06_Ixz}"
iyy="${L06_Iyy}" iyz="${L06_Iyz}"
izz="${L06_Izz}"/>
</inertial>
</link>
<xacro:if value="$(arg UnitreeGripper)">
<joint name="gripperStator" type="fixed">
<origin rpy="0 0 0" xyz="0.051 0.0 0.0"/>
<parent link="link06"/>
<child link="gripperStator"/>
</joint>
<link name="gripperStator">
<visual>
<geometry>
<mesh filename="package://z1_description/meshes/visual/z1_GripperStator.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://z1_description/meshes/collision/z1_GripperStator.STL" scale="1 1 1"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${GripperStator_ComX} ${GripperStator_ComY} ${GripperStator_ComZ}"/>
<mass value="${GripperStator_Mass}"/>
<inertia
ixx="${GripperStator_Ixx}" ixy="${GripperStator_Ixy}" ixz="${GripperStator_Ixz}"
iyy="${GripperStator_Iyy}" iyz="${GripperStator_Iyz}"
izz="${GripperStator_Izz}"/>
</inertial>
</link>
<joint name="jointGripper" type="revolute">
<origin rpy="0 0 0" xyz="0.049 0.0 0"/>
<parent link="gripperStator"/>
<child link="gripperMover"/>
<axis xyz="0 1 0"/>
<dynamics damping="${jointDamping}" friction="${jointFriction}"/>
<limit effort="${torqueMax}" velocity="${velocityMax}" lower="${Gripper_PositionMin}" upper="${Gripper_PositionMax}"/>
</joint>
<link name="gripperMover">
<visual>
<geometry>
<mesh filename="package://z1_description/meshes/visual/z1_GripperMover.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://z1_description/meshes/collision/z1_GripperMover.STL" scale="1 1 1"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${GripperMover_ComX} ${GripperMover_ComY} ${GripperMover_ComZ}"/>
<mass value="${GripperMover_Mass}"/>
<inertia
ixx="${GripperMover_Ixx}" ixy="${GripperMover_Ixy}" ixz="${GripperMover_Ixz}"
iyy="${GripperMover_Iyy}" iyz="${GripperMover_Iyz}"
izz="${GripperMover_Izz}"/>
</inertial>
</link>
<xacro:motorTransmission name="Gripper"/>
<gazebo reference="gripperStator">
<self_collide>true</self_collide>
</gazebo>
<gazebo reference="gripperMover">
<self_collide>true</self_collide>
</gazebo>
</xacro:if>
<xacro:motorTransmission name="1"/>
<xacro:motorTransmission name="2"/>
<xacro:motorTransmission name="3"/>
<xacro:motorTransmission name="4"/>
<xacro:motorTransmission name="5"/>
<xacro:motorTransmission name="6"/>
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/z1_description/config/robot_control.yaml | z1_gazebo:
# Publish all joint states -----------------------------------
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 1000
Joint01_controller:
type: unitree_legged_control/UnitreeJointController
joint: joint1
pid: {p: 300.0, i: 0.0, d: 5.0}
Joint02_controller:
type: unitree_legged_control/UnitreeJointController
joint: joint2
pid: {p: 300.0, i: 0.0, d: 5.0}
Joint03_controller:
type: unitree_legged_control/UnitreeJointController
joint: joint3
pid: {p: 300.0, i: 0.0, d: 5.0}
Joint04_controller:
type: unitree_legged_control/UnitreeJointController
joint: joint4
pid: {p: 300.0, i: 0.0, d: 5.0}
Joint05_controller:
type: unitree_legged_control/UnitreeJointController
joint: joint5
pid: {p: 300.0, i: 0.0, d: 5.0}
Joint06_controller:
type: unitree_legged_control/UnitreeJointController
joint: joint6
pid: {p: 300.0, i: 0.0, d: 5.0}
gripper_controller:
type: unitree_legged_control/UnitreeJointController
joint: jointGripper
pid: {p: 300.0, i: 0.0, d: 5.0} |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/laikago_description/CMakeLists.txt | cmake_minimum_required(VERSION 2.8.3)
project(laikago_description)
find_package(catkin REQUIRED COMPONENTS
genmsg
roscpp
std_msgs
tf
)
catkin_package(
CATKIN_DEPENDS
)
include_directories(
# include
${Boost_INCLUDE_DIR}
${catkin_INCLUDE_DIRS}
)
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/laikago_description/package.xml | <?xml version="1.0"?>
<package format="2">
<name>laikago_description</name>
<version>0.0.0</version>
<description>The laikago_description package</description>
<maintainer email="[email protected]">unitree</maintainer>
<license>TODO</license>
<buildtool_depend>catkin</buildtool_depend>
<depend>roscpp</depend>
<depend>std_msgs</depend>
</package> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/laikago_description/launch/check_joint.rviz | Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /State1
Splitter Ratio: 0.5
Tree Height: 414
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679016
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.0299999993
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
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
FL_thigh_shoulder:
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
FR_thigh_shoulder:
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
RL_thigh_shoulder:
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
RR_thigh_shoulder:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
imu_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
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: false
Length: 1
Name: Axes
Radius: 0.100000001
Reference Frame: <Fixed Frame>
Value: false
- Class: rviz/TF
Enabled: false
Frame Timeout: 15
Frames:
All Enabled: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
{}
Update Interval: 0
Value: false
Enabled: true
Global Options:
Background Color: 238; 238; 238
Default Light: true
Fixed Frame: base
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 1.61842203
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0.0760490671
Y: 0.114219323
Z: -0.157691121
Focal Shape Fixed Size: false
Focal Shape Size: 0.0500000007
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 0.589797318
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 5.11356974
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 627
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a0000022dfc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000022d000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d00650072006101000001be000001900000000000000000000000010000010f000002e2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002e2000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006400000003efc0100000002fb0000000800540069006d00650000000000000006400000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000002e40000022d00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1108
X: 812
Y: 241
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/laikago_description/launch/laikago_rviz.launch | <launch>
<arg name="user_debug" default="false"/>
<param name="robot_description" command="$(find xacro)/xacro '$(find laikago_description)/xacro/robot.xacro'
DEBUG:=$(arg user_debug)"/>
<!-- for higher robot_state_publisher average rate-->
<!-- <param name="rate" value="1000"/> -->
<!-- send fake joint values -->
<node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher">
<param name="use_gui" value="TRUE"/>
</node>
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
<param name="publish_frequency" type="double" value="1000.0"/>
</node>
<node pkg="rviz" type="rviz" name="rviz" respawn="false" output="screen"
args="-d $(find laikago_description)/launch/check_joint.rviz"/>
</launch>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/laikago_description/xacro/materials.xacro | <?xml version="1.0"?>
<robot>
<material name="black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<material name="green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>
<material name="grey">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
<material name="silver">
<color rgba="${233/255} ${233/255} ${216/255} 1.0"/>
</material>
<material name="orange">
<color rgba="${255/255} ${108/255} ${10/255} 1.0"/>
</material>
<material name="brown">
<color rgba="${222/255} ${207/255} ${195/255} 1.0"/>
</material>
<material name="red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="white">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/laikago_description/xacro/transmission.xacro | <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="leg_transmission" params="name">
<transmission name="${name}_hip_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${name}_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${name}_hip_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${name}_thigh_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${name}_thigh_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${name}_thigh_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${name}_calf_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${name}_calf_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${name}_calf_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</xacro:macro>
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/laikago_description/xacro/leg.xacro | <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find laikago_description)/xacro/transmission.xacro"/>
<xacro:macro name="leg" params="name mirror mirror_dae front_hind front_hind_dae *origin">
<joint name="${name}_hip_joint" type="revolute">
<xacro:insert_block name="origin"/>
<parent link="trunk"/>
<child link="${name}_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="${damping}" friction="${friction}"/>
<xacro:if value="${(mirror_dae == True)}">
<limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${hip_min*PI/180.0}" upper="${hip_max*PI/180.0}"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False)}">
<limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${-hip_max*PI/180.0}" upper="${-hip_min*PI/180.0}"/>
</xacro:if>
</joint>
<link name="${name}_hip">
<visual>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
<origin rpy="0 0 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
<origin rpy="${PI} 0 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
<origin rpy="0 ${PI} 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
<origin rpy="${PI} ${PI} 0" xyz="0 0 0"/>
</xacro:if>
<geometry>
<mesh filename="package://laikago_description/meshes/hip.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="${PI/2.0} 0 0" xyz="0 ${-(hip_length/2.0-hip_offset)*mirror} 0"/>
<geometry>
<cylinder length="${hip_length}" radius="${hip_radius}"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${hip_com_x*front_hind} ${hip_com_y*mirror} ${hip_com_z}"/>
<mass value="${hip_mass}"/>
<inertia
ixx="${hip_ixx}" ixy="${hip_ixy*mirror*front_hind}" ixz="${hip_ixz*front_hind}"
iyy="${hip_iyy}" iyz="${hip_iyz*mirror}"
izz="${hip_izz}"/>
</inertial>
</link>
<joint name="${name}_hip_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 ${(thigh_shoulder_length/2.0+hip_offset)*mirror} 0"/>
<parent link="${name}_hip"/>
<child link="${name}_thigh_shoulder"/>
</joint>
<!-- this link is only for collision -->
<link name="${name}_thigh_shoulder">
<collision>
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="${thigh_shoulder_length}" radius="${thigh_shoulder_radius}"/>
</geometry>
</collision>
</link>
<joint name="${name}_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 ${thigh_offset*mirror} 0"/>
<parent link="${name}_hip"/>
<child link="${name}_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="${damping}" friction="${friction}"/>
<limit effort="${thigh_torque_max}" velocity="${thigh_velocity_max}" lower="${thigh_min*PI/180.0}" upper="${thigh_max*PI/180.0}"/>
</joint>
<link name="${name}_thigh">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<xacro:if value="${mirror_dae == True}">
<mesh filename="package://laikago_description/meshes/thigh.dae" scale="1 1 1"/>
</xacro:if>
<xacro:if value="${mirror_dae == False}">
<mesh filename="package://laikago_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
</xacro:if>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-thigh_length/2.0}"/>
<geometry>
<box size="${thigh_length} ${thigh_width} ${thigh_height}"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${thigh_com_x} ${thigh_com_y*mirror} ${thigh_com_z}"/>
<mass value="${thigh_mass}"/>
<inertia
ixx="${thigh_ixx}" ixy="${thigh_ixy*mirror}" ixz="${thigh_ixz}"
iyy="${thigh_iyy}" iyz="${thigh_iyz*mirror}"
izz="${thigh_izz}"/>
</inertial>
</link>
<joint name="${name}_calf_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 ${-thigh_length}"/>
<parent link="${name}_thigh"/>
<child link="${name}_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="${damping}" friction="${friction}"/>
<limit effort="${calf_torque_max}" velocity="${calf_velocity_max}" lower="${calf_min*PI/180.0}" upper="${calf_max*PI/180.0}"/>
</joint>
<link name="${name}_calf">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://laikago_description/meshes/calf.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-calf_length/2.0}"/>
<geometry>
<box size="${calf_length} ${calf_width} ${calf_height}"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${calf_com_x} ${calf_com_y} ${calf_com_z}"/>
<mass value="${calf_mass}"/>
<inertia
ixx="${calf_ixx}" ixy="${calf_ixy}" ixz="${calf_ixz}"
iyy="${calf_iyy}" iyz="${calf_iyz}"
izz="${calf_izz}"/>
</inertial>
</link>
<joint name="${name}_foot_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 ${-(calf_length)}"/>
<parent link="${name}_calf"/>
<child link="${name}_foot"/>
</joint>
<link name="${name}_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="${foot_radius-0.01}"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="${foot_radius}"/>
</geometry>
</collision>
<inertial>
<mass value="${foot_mass}"/>
<inertia
ixx="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}" ixy="0.0" ixz="0.0"
iyy="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}" iyz="0.0"
izz="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}"/>
</inertial>
</link>
<xacro:leg_transmission name="${name}"/>
</xacro:macro>
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/laikago_description/xacro/const.xacro | <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- Constants for robot dimensions -->
<xacro:property name="PI" value="3.1415926535897931"/>
<xacro:property name="stick_mass" value="0.00001"/>
<!-- simplified collision value -->
<xacro:property name="trunk_width" value="0.172"/>
<xacro:property name="trunk_length" value="0.5616"/>
<xacro:property name="trunk_height" value="0.1875"/>
<xacro:property name="hip_radius" value="0.041"/>
<xacro:property name="hip_length" value="0.08"/>
<xacro:property name="thigh_shoulder_radius" value="0.044"/>
<xacro:property name="thigh_shoulder_length" value="0.08"/>
<xacro:property name="thigh_width" value="0.034"/>
<xacro:property name="thigh_height" value="0.043"/>
<xacro:property name="calf_width" value="0.016"/>
<xacro:property name="calf_height" value="0.016"/>
<xacro:property name="foot_radius" value="0.0265"/>
<xacro:property name="stick_radius" value="0.01"/>
<xacro:property name="stick_length" value="0.2"/>
<!-- kinematic value -->
<xacro:property name="thigh_offset" value="0.037"/>
<xacro:property name="thigh_length" value="0.25"/>
<xacro:property name="calf_length" value="0.25"/>
<!-- leg offset from trunk center value -->
<xacro:property name="leg_offset_x" value="0.21935"/>
<xacro:property name="leg_offset_y" value="0.0875"/>
<xacro:property name="trunk_offset_z" value="0.01675"/>
<xacro:property name="hip_offset" value="0.019"/>
<!-- joint limits -->
<xacro:property name="damping" value="0"/>
<xacro:property name="friction" value="0"/>
<xacro:property name="hip_max" value="60"/>
<xacro:property name="hip_min" value="-50"/>
<xacro:property name="hip_velocity_max" value="27"/>
<xacro:property name="hip_torque_max" value="18.954"/>
<xacro:property name="thigh_max" value="225"/>
<xacro:property name="thigh_min" value="-30"/>
<xacro:property name="thigh_velocity_max" value="12.794"/>
<xacro:property name="thigh_torque_max" value="40"/>
<xacro:property name="calf_max" value="-35"/>
<xacro:property name="calf_min" value="-159"/>
<xacro:property name="calf_velocity_max" value="12.794"/>
<xacro:property name="calf_torque_max" value="40"/>
<!-- dynamics inertial value -->
<!-- trunk -->
<xacro:property name="trunk_mass" value="13.733"/>
<xacro:property name="trunk_com_x" value="0.002284"/>
<xacro:property name="trunk_com_y" value="-0.000041"/>
<xacro:property name="trunk_com_z" value="0.025165"/>
<xacro:property name="trunk_ixx" value="0.073348887"/>
<xacro:property name="trunk_ixy" value="0.00030338"/>
<xacro:property name="trunk_ixz" value="0.001918218"/>
<xacro:property name="trunk_iyy" value="0.250684593"/>
<xacro:property name="trunk_iyz" value="-0.000075402"/>
<xacro:property name="trunk_izz" value="0.254469458"/>
<!-- hip (left front) -->
<xacro:property name="hip_mass" value="1.096"/>
<xacro:property name="hip_com_x" value="-0.001568"/>
<xacro:property name="hip_com_y" value="-0.008134"/>
<xacro:property name="hip_com_z" value="0.000864"/>
<xacro:property name="hip_ixx" value="0.000822113"/>
<xacro:property name="hip_ixy" value="-0.000004982"/>
<xacro:property name="hip_ixz" value="-0.00003672"/>
<xacro:property name="hip_iyy" value="0.000983196"/>
<xacro:property name="hip_iyz" value="0.000002811"/>
<xacro:property name="hip_izz" value="0.000864753"/>
<!-- thigh -->
<xacro:property name="thigh_mass" value="1.528"/>
<xacro:property name="thigh_com_x" value="-0.000482"/>
<xacro:property name="thigh_com_y" value="0.02001"/>
<xacro:property name="thigh_com_z" value="-0.031996"/>
<xacro:property name="thigh_ixx" value="0.00991611"/>
<xacro:property name="thigh_ixy" value="0.000010388"/>
<xacro:property name="thigh_ixz" value="0.000250428"/>
<xacro:property name="thigh_iyy" value="0.009280083"/>
<xacro:property name="thigh_iyz" value="-0.00008511"/>
<xacro:property name="thigh_izz" value="0.00178256"/>
<!-- calf -->
<xacro:property name="calf_mass" value="0.241"/>
<xacro:property name="calf_com_x" value="-0.002196"/>
<xacro:property name="calf_com_y" value="-0.000381"/>
<xacro:property name="calf_com_z" value="-0.12338"/>
<xacro:property name="calf_ixx" value="0.006181961"/>
<xacro:property name="calf_ixy" value="0.000000237"/>
<xacro:property name="calf_ixz" value="-0.000002985"/>
<xacro:property name="calf_iyy" value="0.006196546"/>
<xacro:property name="calf_iyz" value="0.000005138"/>
<xacro:property name="calf_izz" value="0.000034774"/>
<!-- foot -->
<xacro:property name="foot_mass" value="0.06"/>
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/laikago_description/xacro/gazebo.xacro | <?xml version="1.0"?>
<robot>
<!-- ros_control plugin -->
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/laikago_gazebo</robotNamespace>
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
</plugin>
</gazebo>
<!-- Show the trajectory of trunk center. -->
<gazebo>
<plugin name="3dplot" filename="libLinkPlot3DPlugin.so">
<frequency>10</frequency>
<plot>
<link>base</link>
<pose>0 0 0 0 0 0</pose>
<material>Gazebo/Yellow</material>
</plot>
</plugin>
</gazebo>
<!-- Show the trajectory of foot. You can add another trajectory about another foot. -->
<!-- <gazebo>
<plugin name="3dplot" filename="libLinkPlot3DPlugin.so">
<frequency>100</frequency>
<plot>
<link>FL_foot</link>
<pose>0 0 0 0 0 0</pose>
<material>Gazebo/Green</material>
</plot>
</plugin>
</gazebo> -->
<gazebo>
<plugin filename="libgazebo_ros_force.so" name="gazebo_ros_force">
<bodyName>trunk</bodyName>
<topicName>/apply_force/trunk</topicName>
</plugin>
</gazebo>
<gazebo reference="imu_link">
<gravity>true</gravity>
<sensor name="imu_sensor" type="imu">
<always_on>true</always_on>
<update_rate>1000</update_rate>
<visualize>true</visualize>
<topic>__default_topic__</topic>
<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
<topicName>trunk_imu</topicName>
<bodyName>imu_link</bodyName>
<updateRateHZ>1000.0</updateRateHZ>
<gaussianNoise>0.0</gaussianNoise>
<xyzOffset>0 0 0</xyzOffset>
<rpyOffset>0 0 0</rpyOffset>
<frameName>imu_link</frameName>
</plugin>
<pose>0 0 0 0 0 0</pose>
</sensor>
</gazebo>
<!-- Foot contacts. -->
<gazebo reference="FR_calf">
<sensor name="FR_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>FR_calf_fixed_joint_lump__FR_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="FL_calf">
<sensor name="FL_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>FL_calf_fixed_joint_lump__FL_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="RR_calf">
<sensor name="RR_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>RR_calf_fixed_joint_lump__RR_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="RL_calf">
<sensor name="RL_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>RL_calf_fixed_joint_lump__RL_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<!-- Visualization of Foot contacts. -->
<gazebo reference="FR_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>FR_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="FL_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>FL_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="RR_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>RR_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="RL_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>RL_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="base">
<material>Gazebo/Green</material>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="trunk">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="stick_link">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/White</material>
</gazebo>
<gazebo reference="imu_link">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/Red</material>
</gazebo>
<!-- FL leg -->
<gazebo reference="FL_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="FL_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="FL_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="FL_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- FR leg -->
<gazebo reference="FR_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="FR_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="FR_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="FR_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- RL leg -->
<gazebo reference="RL_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="RL_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="RL_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="RL_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- RR leg -->
<gazebo reference="RR_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="RR_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="RR_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="RR_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/laikago_description/xacro/robot.xacro | <?xml version="1.0"?>
<robot name="laikago" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:arg name="DEBUG" default="false"/>
<xacro:include filename="$(find laikago_description)/xacro/const.xacro"/>
<xacro:include filename="$(find laikago_description)/xacro/materials.xacro"/>
<xacro:include filename="$(find laikago_description)/xacro/leg.xacro"/>
<xacro:include filename="$(find laikago_description)/xacro/gazebo.xacro"/>
<!-- Rollover Protection mode will add an additional stick on the top, use "true" or "false" to switch it. -->
<xacro:property name="rolloverProtection" value="false"/>
<!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
<xacro:if value="$(arg DEBUG)">
<link name="world"/>
<joint name="base_static_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="world"/>
<child link="base"/>
</joint>
</xacro:if>
<link name="base">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
</visual>
</link>
<joint name="floating_base" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base"/>
<child link="trunk"/>
</joint>
<link name="trunk">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://laikago_description/meshes/trunk.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 ${trunk_offset_z}"/>
<geometry>
<box size="${trunk_length} ${trunk_width} ${trunk_height}"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${trunk_com_x} ${trunk_com_y} ${trunk_com_z}"/>
<mass value="${trunk_mass}"/>
<inertia
ixx="${trunk_ixx}" ixy="${trunk_ixy}" ixz="${trunk_ixz}"
iyy="${trunk_iyy}" iyz="${trunk_iyz}"
izz="${trunk_izz}"/>
</inertial>
</link>
<xacro:if value="${(rolloverProtection == 'true')}">
<joint name="stick_joint" type="fixed">
<parent link="trunk"/>
<child link="stick_link"/>
<origin rpy="0 0 0" xyz="${0.18} 0 ${stick_length/2.0+0.08}"/>
</joint>
<link name="stick_link">
<visual>
<geometry>
<cylinder length="${stick_length}" radius="${stick_radius}"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="white"/>
</visual>
<collision>
<geometry>
<cylinder length="${stick_length}" radius="${stick_radius}"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="${stick_mass}"/>
<inertia
ixx="${stick_mass / 2.0 * (stick_radius*stick_radius)}" ixy="0.0" ixz="0.0"
iyy="${stick_mass / 12.0 * (3*stick_radius*stick_radius + stick_length*stick_length)}" iyz="0.0"
izz="${stick_mass / 12.0 * (3*stick_radius*stick_radius + stick_length*stick_length)}"/>
</inertial>
</link>
</xacro:if>
<joint name="imu_joint" type="fixed">
<parent link="trunk"/>
<child link="imu_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<link name="imu_link">
<inertial>
<mass value="0.001"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
<material name="red"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".001 .001 .001"/>
</geometry>
</collision>
</link>
<xacro:leg name="FR" mirror="-1" mirror_dae="False" front_hind="1" front_hind_dae="True">
<origin rpy="0 0 0" xyz="${leg_offset_x} ${-leg_offset_y} 0"/>
</xacro:leg>
<xacro:leg name="FL" mirror="1" mirror_dae="True" front_hind="1" front_hind_dae="True">
<origin rpy="0 0 0" xyz="${leg_offset_x} ${leg_offset_y} 0"/>
</xacro:leg>
<xacro:leg name="RR" mirror="-1" mirror_dae="False" front_hind="-1" front_hind_dae="False">
<origin rpy="0 0 0" xyz="${-leg_offset_x} ${-leg_offset_y} 0"/>
</xacro:leg>
<xacro:leg name="RL" mirror="1" mirror_dae="True" front_hind="-1" front_hind_dae="False">
<origin rpy="0 0 0" xyz="${-leg_offset_x} ${leg_offset_y} 0"/>
</xacro:leg>
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/laikago_description/config/robot_control.yaml | laikago_gazebo:
# Publish all joint states -----------------------------------
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 1000
# FL Controllers ---------------------------------------
FL_hip_controller:
type: unitree_legged_control/UnitreeJointController
joint: FL_hip_joint
pid: {p: 100.0, i: 0.0, d: 5.0}
FL_thigh_controller:
type: unitree_legged_control/UnitreeJointController
joint: FL_thigh_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
FL_calf_controller:
type: unitree_legged_control/UnitreeJointController
joint: FL_calf_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
# FR Controllers ---------------------------------------
FR_hip_controller:
type: unitree_legged_control/UnitreeJointController
joint: FR_hip_joint
pid: {p: 100.0, i: 0.0, d: 5.0}
FR_thigh_controller:
type: unitree_legged_control/UnitreeJointController
joint: FR_thigh_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
FR_calf_controller:
type: unitree_legged_control/UnitreeJointController
joint: FR_calf_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
# RL Controllers ---------------------------------------
RL_hip_controller:
type: unitree_legged_control/UnitreeJointController
joint: RL_hip_joint
pid: {p: 100.0, i: 0.0, d: 5.0}
RL_thigh_controller:
type: unitree_legged_control/UnitreeJointController
joint: RL_thigh_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
RL_calf_controller:
type: unitree_legged_control/UnitreeJointController
joint: RL_calf_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
# RR Controllers ---------------------------------------
RR_hip_controller:
type: unitree_legged_control/UnitreeJointController
joint: RR_hip_joint
pid: {p: 100.0, i: 0.0, d: 5.0}
RR_thigh_controller:
type: unitree_legged_control/UnitreeJointController
joint: RR_thigh_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
RR_calf_controller:
type: unitree_legged_control/UnitreeJointController
joint: RR_calf_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/laikago_description/urdf/laikago.urdf | <?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from robot.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="laikago" xmlns:xacro="http://www.ros.org/wiki/xacro">
<material name="black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<material name="green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>
<material name="grey">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
<material name="silver">
<color rgba="0.913725490196 0.913725490196 0.847058823529 1.0"/>
</material>
<material name="orange">
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
</material>
<material name="brown">
<color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
</material>
<material name="red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="white">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<link name="trunk">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/trunk.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.01675"/>
<geometry>
<box size="0.5616 0.172 0.1875"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.002284 -4.1e-05 0.025165"/>
<mass value="13.733"/>
<inertia ixx="0.073348887" ixy="0.00030338" ixz="0.001918218" iyy="0.250684593" iyz="-7.5402e-05" izz="0.254469458"/>
</inertial>
</link>
<joint name="FR_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="0.21935 -0.0875 0"/>
<parent link="trunk"/>
<child link="FR_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="20" lower="-1.0471975512" upper="0.872664625997" velocity="52.4"/>
</joint>
<link name="FR_hip">
<visual>
<origin rpy="3.14159265359 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/hip.dae" scale="1 1 1"/>
</geometry>
<material name="grey"/>
</visual>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0.021 0"/>
<geometry>
<cylinder length="0.08" radius="0.041"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.001568 0.008134 0.000864"/>
<mass value="1.096"/>
<inertia ixx="0.000822113" ixy="4.982e-06" ixz="-3.672e-05" iyy="0.000983196" iyz="-2.811e-06" izz="0.000864753"/>
</inertial>
</link>
<joint name="FR_hip_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 -0.059 0"/>
<parent link="FR_hip"/>
<child link="FR_thigh_shoulder"/>
</joint>
<!-- this link is only for collision -->
<link name="FR_thigh_shoulder">
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.08" radius="0.044"/>
</geometry>
</collision>
</link>
<joint name="FR_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 -0.037 0"/>
<parent link="FR_hip"/>
<child link="FR_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="55" lower="-0.523598775598" upper="3.92699081699" velocity="28.6"/>
</joint>
<link name="FR_thigh">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/thigh_mirror.dae" scale="1 1 1"/>
</geometry>
<material name="grey"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
<geometry>
<box size="0.25 0.034 0.043"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.000482 -0.02001 -0.031996"/>
<mass value="1.528"/>
<inertia ixx="0.00991611" ixy="-1.0388e-05" ixz="0.000250428" iyy="0.009280083" iyz="8.511e-05" izz="0.00178256"/>
</inertial>
</link>
<joint name="FR_calf_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
<parent link="FR_thigh"/>
<child link="FR_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="55" lower="-2.77507351067" upper="-0.610865238198" velocity="28.6"/>
</joint>
<link name="FR_calf">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/calf.dae" scale="1 1 1"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
<geometry>
<box size="0.25 0.016 0.016"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.002196 -0.000381 -0.12338"/>
<mass value="0.241"/>
<inertia ixx="0.006181961" ixy="2.37e-07" ixz="-2.985e-06" iyy="0.006196546" iyz="5.138e-06" izz="3.4774e-05"/>
</inertial>
</link>
<joint name="FR_foot_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
<parent link="FR_calf"/>
<child link="FR_foot"/>
</joint>
<link name="FR_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.0165"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.0265"/>
</geometry>
</collision>
<inertial>
<mass value="0.06"/>
<inertia ixx="1.6854e-05" ixy="0.0" ixz="0.0" iyy="1.6854e-05" iyz="0.0" izz="1.6854e-05"/>
</inertial>
</link>
<joint name="FL_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="0.21935 0.0875 0"/>
<parent link="trunk"/>
<child link="FL_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="20" lower="-0.872664625997" upper="1.0471975512" velocity="52.4"/>
</joint>
<link name="FL_hip">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/hip.dae" scale="1 1 1"/>
</geometry>
<material name="grey"/>
</visual>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 -0.021 0"/>
<geometry>
<cylinder length="0.08" radius="0.041"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.001568 -0.008134 0.000864"/>
<mass value="1.096"/>
<inertia ixx="0.000822113" ixy="-4.982e-06" ixz="-3.672e-05" iyy="0.000983196" iyz="2.811e-06" izz="0.000864753"/>
</inertial>
</link>
<joint name="FL_hip_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0.059 0"/>
<parent link="FL_hip"/>
<child link="FL_thigh_shoulder"/>
</joint>
<!-- this link is only for collision -->
<link name="FL_thigh_shoulder">
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.08" radius="0.044"/>
</geometry>
</collision>
</link>
<joint name="FL_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0.037 0"/>
<parent link="FL_hip"/>
<child link="FL_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="55" lower="-0.523598775598" upper="3.92699081699" velocity="28.6"/>
</joint>
<link name="FL_thigh">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/thigh.dae" scale="1 1 1"/>
</geometry>
<material name="grey"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
<geometry>
<box size="0.25 0.034 0.043"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.000482 0.02001 -0.031996"/>
<mass value="1.528"/>
<inertia ixx="0.00991611" ixy="1.0388e-05" ixz="0.000250428" iyy="0.009280083" iyz="-8.511e-05" izz="0.00178256"/>
</inertial>
</link>
<joint name="FL_calf_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
<parent link="FL_thigh"/>
<child link="FL_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="55" lower="-2.77507351067" upper="-0.610865238198" velocity="28.6"/>
</joint>
<link name="FL_calf">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/calf.dae" scale="1 1 1"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
<geometry>
<box size="0.25 0.016 0.016"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.002196 -0.000381 -0.12338"/>
<mass value="0.241"/>
<inertia ixx="0.006181961" ixy="2.37e-07" ixz="-2.985e-06" iyy="0.006196546" iyz="5.138e-06" izz="3.4774e-05"/>
</inertial>
</link>
<joint name="FL_foot_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
<parent link="FL_calf"/>
<child link="FL_foot"/>
</joint>
<link name="FL_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.0165"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.0265"/>
</geometry>
</collision>
<inertial>
<mass value="0.06"/>
<inertia ixx="1.6854e-05" ixy="0.0" ixz="0.0" iyy="1.6854e-05" iyz="0.0" izz="1.6854e-05"/>
</inertial>
</link>
<joint name="RR_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="-0.21935 -0.0875 0"/>
<parent link="trunk"/>
<child link="RR_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="20" lower="-1.0471975512" upper="0.872664625997" velocity="52.4"/>
</joint>
<link name="RR_hip">
<visual>
<origin rpy="3.14159265359 3.14159265359 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/hip.dae" scale="1 1 1"/>
</geometry>
<material name="grey"/>
</visual>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0.021 0"/>
<geometry>
<cylinder length="0.08" radius="0.041"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.001568 0.008134 0.000864"/>
<mass value="1.096"/>
<inertia ixx="0.000822113" ixy="-4.982e-06" ixz="3.672e-05" iyy="0.000983196" iyz="-2.811e-06" izz="0.000864753"/>
</inertial>
</link>
<joint name="RR_hip_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 -0.059 0"/>
<parent link="RR_hip"/>
<child link="RR_thigh_shoulder"/>
</joint>
<!-- this link is only for collision -->
<link name="RR_thigh_shoulder">
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.08" radius="0.044"/>
</geometry>
</collision>
</link>
<joint name="RR_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 -0.037 0"/>
<parent link="RR_hip"/>
<child link="RR_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="55" lower="-0.523598775598" upper="3.92699081699" velocity="28.6"/>
</joint>
<link name="RR_thigh">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/thigh_mirror.dae" scale="1 1 1"/>
</geometry>
<material name="grey"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
<geometry>
<box size="0.25 0.034 0.043"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.000482 -0.02001 -0.031996"/>
<mass value="1.528"/>
<inertia ixx="0.00991611" ixy="-1.0388e-05" ixz="0.000250428" iyy="0.009280083" iyz="8.511e-05" izz="0.00178256"/>
</inertial>
</link>
<joint name="RR_calf_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
<parent link="RR_thigh"/>
<child link="RR_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="55" lower="-2.77507351067" upper="-0.610865238198" velocity="28.6"/>
</joint>
<link name="RR_calf">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/calf.dae" scale="1 1 1"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
<geometry>
<box size="0.25 0.016 0.016"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.002196 -0.000381 -0.12338"/>
<mass value="0.241"/>
<inertia ixx="0.006181961" ixy="2.37e-07" ixz="-2.985e-06" iyy="0.006196546" iyz="5.138e-06" izz="3.4774e-05"/>
</inertial>
</link>
<joint name="RR_foot_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
<parent link="RR_calf"/>
<child link="RR_foot"/>
</joint>
<link name="RR_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.0165"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.0265"/>
</geometry>
</collision>
<inertial>
<mass value="0.06"/>
<inertia ixx="1.6854e-05" ixy="0.0" ixz="0.0" iyy="1.6854e-05" iyz="0.0" izz="1.6854e-05"/>
</inertial>
</link>
<joint name="RL_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="-0.21935 0.0875 0"/>
<parent link="trunk"/>
<child link="RL_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="20" lower="-0.872664625997" upper="1.0471975512" velocity="52.4"/>
</joint>
<link name="RL_hip">
<visual>
<origin rpy="0 3.14159265359 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/hip.dae" scale="1 1 1"/>
</geometry>
<material name="grey"/>
</visual>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 -0.021 0"/>
<geometry>
<cylinder length="0.08" radius="0.041"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.001568 -0.008134 0.000864"/>
<mass value="1.096"/>
<inertia ixx="0.000822113" ixy="4.982e-06" ixz="3.672e-05" iyy="0.000983196" iyz="2.811e-06" izz="0.000864753"/>
</inertial>
</link>
<joint name="RL_hip_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0.059 0"/>
<parent link="RL_hip"/>
<child link="RL_thigh_shoulder"/>
</joint>
<!-- this link is only for collision -->
<link name="RL_thigh_shoulder">
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.08" radius="0.044"/>
</geometry>
</collision>
</link>
<joint name="RL_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0.037 0"/>
<parent link="RL_hip"/>
<child link="RL_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="55" lower="-0.523598775598" upper="3.92699081699" velocity="28.6"/>
</joint>
<link name="RL_thigh">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/thigh.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
<geometry>
<box size="0.25 0.034 0.043"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.000482 0.02001 -0.031996"/>
<mass value="1.528"/>
<inertia ixx="0.00991611" ixy="1.0388e-05" ixz="0.000250428" iyy="0.009280083" iyz="-8.511e-05" izz="0.00178256"/>
</inertial>
</link>
<joint name="RL_calf_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
<parent link="RL_thigh"/>
<child link="RL_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="55" lower="-2.77507351067" upper="-0.610865238198" velocity="28.6"/>
</joint>
<link name="RL_calf">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/calf.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
<geometry>
<box size="0.25 0.016 0.016"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.002196 -0.000381 -0.12338"/>
<mass value="0.241"/>
<inertia ixx="0.006181961" ixy="2.37e-07" ixz="-2.985e-06" iyy="0.006196546" iyz="5.138e-06" izz="3.4774e-05"/>
</inertial>
</link>
<joint name="RL_foot_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
<parent link="RL_calf"/>
<child link="RL_foot"/>
</joint>
<link name="RL_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.0165"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.0265"/>
</geometry>
</collision>
<inertial>
<mass value="0.06"/>
<inertia ixx="1.6854e-05" ixy="0.0" ixz="0.0" iyy="1.6854e-05" iyz="0.0" izz="1.6854e-05"/>
</inertial>
</link>
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/a1_description/CMakeLists.txt | cmake_minimum_required(VERSION 2.8.3)
project(a1_description)
find_package(catkin REQUIRED COMPONENTS
genmsg
roscpp
std_msgs
tf
)
catkin_package(
CATKIN_DEPENDS
)
include_directories(
# include
${Boost_INCLUDE_DIR}
${catkin_INCLUDE_DIRS}
)
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/a1_description/package.xml | <?xml version="1.0"?>
<package format="2">
<name>a1_description</name>
<version>0.0.0</version>
<description>The a1_description package</description>
<maintainer email="[email protected]">unitree</maintainer>
<license>TODO</license>
<buildtool_depend>catkin</buildtool_depend>
<depend>roscpp</depend>
<depend>std_msgs</depend>
</package>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/a1_description/launch/check_joint.rviz | Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /RobotModel1
Splitter Ratio: 0.5
Tree Height: 420
- 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: ""
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:
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
FL_thigh_shoulder:
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
FR_thigh_shoulder:
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
RL_thigh_shoulder:
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
RR_thigh_shoulder:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
imu_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
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: false
Length: 1
Name: Axes
Radius: 0.10000000149011612
Reference Frame: <Fixed Frame>
Value: false
- Class: rviz/TF
Enabled: false
Frame Timeout: 15
Frames:
All Enabled: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
{}
Update Interval: 0
Value: false
Enabled: true
Global Options:
Background Color: 238; 238; 238
Default Light: true
Fixed Frame: base
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 1.0307118892669678
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0.0760490670800209
Y: 0.11421932280063629
Z: -0.1576911211013794
Focal Shape Fixed Size: false
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 1.0047969818115234
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 4.558584690093994
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 627
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a0000022ffc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000270000022f000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d00650072006101000001be000001900000000000000000000000010000010f000002e2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002e2000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006400000003efc0100000002fb0000000800540069006d0065000000000000000640000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000002e40000022f00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1108
X: 812
Y: 241
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/a1_description/launch/a1_rviz.launch | <launch>
<arg name="user_debug" default="false"/>
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find a1_description)/xacro/robot.xacro'
DEBUG:=$(arg user_debug)"/>
<!-- for higher robot_state_publisher average rate-->
<!-- <param name="rate" value="1000"/> -->
<!-- send fake joint values -->
<node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher">
<param name="use_gui" value="TRUE"/>
</node>
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
<param name="publish_frequency" type="double" value="1000.0"/>
</node>
<node pkg="rviz" type="rviz" name="rviz" respawn="false" output="screen"
args="-d $(find a1_description)/launch/check_joint.rviz"/>
</launch> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/a1_description/xacro/materials.xacro | <?xml version="1.0"?>
<robot>
<material name="black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<material name="green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>
<material name="grey">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
<material name="silver">
<color rgba="${233/255} ${233/255} ${216/255} 1.0"/>
</material>
<material name="orange">
<color rgba="${255/255} ${108/255} ${10/255} 1.0"/>
</material>
<material name="brown">
<color rgba="${222/255} ${207/255} ${195/255} 1.0"/>
</material>
<material name="red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="white">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/a1_description/xacro/transmission.xacro | <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="leg_transmission" params="name">
<transmission name="${name}_hip_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${name}_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${name}_hip_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${name}_thigh_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${name}_thigh_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${name}_thigh_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${name}_calf_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${name}_calf_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${name}_calf_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</xacro:macro>
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/a1_description/xacro/leg.xacro | <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find a1_description)/xacro/transmission.xacro"/>
<xacro:macro name="leg" params="name mirror mirror_dae front_hind front_hind_dae *origin">
<joint name="${name}_hip_joint" type="revolute">
<xacro:insert_block name="origin"/>
<parent link="trunk"/>
<child link="${name}_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="${damping}" friction="${friction}"/>
<xacro:if value="${(mirror_dae == True)}">
<limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${hip_min*PI/180.0}" upper="${hip_max*PI/180.0}"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False)}">
<limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${-hip_max*PI/180.0}" upper="${-hip_min*PI/180.0}"/>
</xacro:if>
</joint>
<link name="${name}_hip">
<visual>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
<origin rpy="0 0 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
<origin rpy="${PI} 0 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
<origin rpy="0 ${PI} 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
<origin rpy="${PI} ${PI} 0" xyz="0 0 0"/>
</xacro:if>
<geometry>
<mesh filename="package://a1_description/meshes/hip.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="${hip_length}" radius="${hip_radius}"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${hip_com_x*front_hind} ${hip_com_y*mirror} ${hip_com_z}"/>
<mass value="${hip_mass}"/>
<inertia
ixx="${hip_ixx}" ixy="${hip_ixy*mirror*front_hind}" ixz="${hip_ixz*front_hind}"
iyy="${hip_iyy}" iyz="${hip_iyz*mirror}"
izz="${hip_izz}"/>
</inertial>
</link>
<joint name="${name}_hip_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 ${(thigh_shoulder_length/2.0+hip_offset)*mirror} 0"/>
<parent link="${name}_hip"/>
<child link="${name}_thigh_shoulder"/>
</joint>
<!-- this link is only for collision -->
<link name="${name}_thigh_shoulder">
<collision>
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="${thigh_shoulder_length}" radius="${thigh_shoulder_radius}"/>
</geometry>
</collision>
</link>
<joint name="${name}_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 ${thigh_offset*mirror} 0"/>
<parent link="${name}_hip"/>
<child link="${name}_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="${damping}" friction="${friction}"/>
<limit effort="${thigh_torque_max}" velocity="${thigh_velocity_max}" lower="${thigh_min*PI/180.0}" upper="${thigh_max*PI/180.0}"/>
</joint>
<link name="${name}_thigh">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<xacro:if value="${mirror_dae == True}">
<mesh filename="package://a1_description/meshes/thigh.dae" scale="1 1 1"/>
</xacro:if>
<xacro:if value="${mirror_dae == False}">
<mesh filename="package://a1_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
</xacro:if>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-thigh_length/2.0}"/>
<geometry>
<box size="${thigh_length} ${thigh_width} ${thigh_height}"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${thigh_com_x} ${thigh_com_y*mirror} ${thigh_com_z}"/>
<mass value="${thigh_mass}"/>
<inertia
ixx="${thigh_ixx}" ixy="${thigh_ixy*mirror}" ixz="${thigh_ixz}"
iyy="${thigh_iyy}" iyz="${thigh_iyz*mirror}"
izz="${thigh_izz}"/>
</inertial>
</link>
<joint name="${name}_calf_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 ${-thigh_length}"/>
<parent link="${name}_thigh"/>
<child link="${name}_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="${damping}" friction="${friction}"/>
<limit effort="${calf_torque_max}" velocity="${calf_velocity_max}" lower="${calf_min*PI/180.0}" upper="${calf_max*PI/180.0}"/>
</joint>
<link name="${name}_calf">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://a1_description/meshes/calf.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-calf_length/2.0}"/>
<geometry>
<box size="${calf_length} ${calf_width} ${calf_height}"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${calf_com_x} ${calf_com_y} ${calf_com_z}"/>
<mass value="${calf_mass}"/>
<inertia
ixx="${calf_ixx}" ixy="${calf_ixy}" ixz="${calf_ixz}"
iyy="${calf_iyy}" iyz="${calf_iyz}"
izz="${calf_izz}"/>
</inertial>
</link>
<joint name="${name}_foot_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 ${-(calf_length)}"/>
<parent link="${name}_calf"/>
<child link="${name}_foot"/>
</joint>
<link name="${name}_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="${foot_radius-0.01}"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="${foot_radius}"/>
</geometry>
</collision>
<inertial>
<mass value="${foot_mass}"/>
<inertia
ixx="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}" ixy="0.0" ixz="0.0"
iyy="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}" iyz="0.0"
izz="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}"/>
</inertial>
</link>
<xacro:leg_transmission name="${name}"/>
</xacro:macro>
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/a1_description/xacro/const.xacro | <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- Constants for robot dimensions -->
<xacro:property name="PI" value="3.1415926535897931"/>
<xacro:property name="stick_mass" value="0.00001"/>
<!-- simplified collision value -->
<xacro:property name="trunk_width" value="0.194"/>
<xacro:property name="trunk_length" value="0.267"/>
<xacro:property name="trunk_height" value="0.114"/>
<xacro:property name="hip_radius" value="0.046"/>
<xacro:property name="hip_length" value="0.04"/>
<xacro:property name="thigh_shoulder_radius" value="0.041"/>
<xacro:property name="thigh_shoulder_length" value="0.032"/>
<xacro:property name="thigh_width" value="0.0245"/>
<xacro:property name="thigh_height" value="0.034"/>
<xacro:property name="calf_width" value="0.016"/>
<xacro:property name="calf_height" value="0.016"/>
<xacro:property name="foot_radius" value="0.02"/>
<xacro:property name="stick_radius" value="0.01"/>
<xacro:property name="stick_length" value="0.2"/>
<!-- kinematic value -->
<xacro:property name="thigh_offset" value="0.0838"/>
<xacro:property name="thigh_length" value="0.2"/>
<xacro:property name="calf_length" value="0.2"/>
<!-- leg offset from trunk center value -->
<xacro:property name="leg_offset_x" value="0.1805"/>
<xacro:property name="leg_offset_y" value="0.047"/>
<xacro:property name="trunk_offset_z" value="0.01675"/>
<xacro:property name="hip_offset" value="0.065"/>
<!-- joint limits -->
<xacro:property name="damping" value="0"/>
<xacro:property name="friction" value="0"/>
<xacro:property name="hip_max" value="46"/>
<xacro:property name="hip_min" value="-46"/>
<xacro:property name="hip_velocity_max" value="21"/>
<xacro:property name="hip_torque_max" value="33.5"/>
<xacro:property name="thigh_max" value="240"/>
<xacro:property name="thigh_min" value="-60"/>
<xacro:property name="thigh_velocity_max" value="21"/>
<xacro:property name="thigh_torque_max" value="33.5"/>
<xacro:property name="calf_max" value="-52.5"/>
<xacro:property name="calf_min" value="-154.5"/>
<xacro:property name="calf_velocity_max" value="21"/>
<xacro:property name="calf_torque_max" value="33.5"/>
<!-- dynamics inertial value total 13.9kg -->
<!-- trunk -->
<xacro:property name="trunk_mass" value="6.0"/>
<xacro:property name="trunk_com_x" value="0.0000"/>
<xacro:property name="trunk_com_y" value="0.0041"/>
<xacro:property name="trunk_com_z" value="-0.0005"/>
<xacro:property name="trunk_ixx" value="0.0158533"/>
<xacro:property name="trunk_ixy" value="-0.0000366"/>
<xacro:property name="trunk_ixz" value="-0.0000611"/>
<xacro:property name="trunk_iyy" value="0.0377999"/>
<xacro:property name="trunk_iyz" value="-0.0000275"/>
<xacro:property name="trunk_izz" value="0.0456542"/>
<!-- hip (left front) -->
<xacro:property name="hip_mass" value="0.595"/>
<xacro:property name="hip_com_x" value="-0.003875"/>
<xacro:property name="hip_com_y" value="0.001622"/>
<xacro:property name="hip_com_z" value="0.000042"/>
<xacro:property name="hip_ixx" value="0.000402747"/>
<xacro:property name="hip_ixy" value="-0.000008709"/>
<xacro:property name="hip_ixz" value="-0.000000297"/>
<xacro:property name="hip_iyy" value="0.000691123"/>
<xacro:property name="hip_iyz" value="-0.000000545"/>
<xacro:property name="hip_izz" value="0.000487919"/>
<!-- thigh -->
<xacro:property name="thigh_mass" value="0.888"/>
<xacro:property name="thigh_com_x" value="-0.003574"/>
<xacro:property name="thigh_com_y" value="-0.019529"/>
<xacro:property name="thigh_com_z" value="-0.030323"/>
<xacro:property name="thigh_ixx" value="0.005251806"/>
<xacro:property name="thigh_ixy" value="-0.000002168"/>
<xacro:property name="thigh_ixz" value="0.000346889"/>
<xacro:property name="thigh_iyy" value="0.005000475"/>
<xacro:property name="thigh_iyz" value="-0.000028174"/>
<xacro:property name="thigh_izz" value="0.001110200"/>
<!-- calf -->
<xacro:property name="calf_mass" value="0.151"/>
<xacro:property name="calf_com_x" value="0.007105"/>
<xacro:property name="calf_com_y" value="-0.000239"/>
<xacro:property name="calf_com_z" value="-0.096933"/>
<xacro:property name="calf_ixx" value="0.002344758"/>
<xacro:property name="calf_ixy" value="0.0"/>
<xacro:property name="calf_ixz" value="-0.000141275"/>
<xacro:property name="calf_iyy" value="0.002360755"/>
<xacro:property name="calf_iyz" value="0.0"/>
<xacro:property name="calf_izz" value="0.000031158"/>
<!-- foot -->
<xacro:property name="foot_mass" value="0.06"/>
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/a1_description/xacro/gazebo.xacro | <?xml version="1.0"?>
<robot>
<!-- ros_control plugin -->
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/a1_gazebo</robotNamespace>
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
</plugin>
</gazebo>
<!-- Show the trajectory of trunk center. -->
<gazebo>
<plugin name="3dplot" filename="libLinkPlot3DPlugin.so">
<frequency>10</frequency>
<plot>
<link>base</link>
<pose>0 0 0 0 0 0</pose>
<material>Gazebo/Yellow</material>
</plot>
</plugin>
</gazebo>
<!-- Show the trajectory of foot. You can add another trajectory about another foot. -->
<!-- <gazebo>
<plugin name="3dplot" filename="libLinkPlot3DPlugin.so">
<frequency>100</frequency>
<plot>
<link>FL_foot</link>
<pose>0 0 0 0 0 0</pose>
<material>Gazebo/Green</material>
</plot>
</plugin>
</gazebo> -->
<gazebo>
<plugin filename="libgazebo_ros_force.so" name="gazebo_ros_force">
<bodyName>trunk</bodyName>
<topicName>/apply_force/trunk</topicName>
</plugin>
</gazebo>
<gazebo reference="imu_link">
<gravity>true</gravity>
<sensor name="imu_sensor" type="imu">
<always_on>true</always_on>
<update_rate>1000</update_rate>
<visualize>true</visualize>
<topic>__default_topic__</topic>
<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
<topicName>trunk_imu</topicName>
<bodyName>imu_link</bodyName>
<updateRateHZ>1000.0</updateRateHZ>
<gaussianNoise>0.0</gaussianNoise>
<xyzOffset>0 0 0</xyzOffset>
<rpyOffset>0 0 0</rpyOffset>
<frameName>imu_link</frameName>
</plugin>
<pose>0 0 0 0 0 0</pose>
</sensor>
</gazebo>
<!-- Foot contacts. -->
<gazebo reference="FR_calf">
<sensor name="FR_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>FR_calf_fixed_joint_lump__FR_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="FL_calf">
<sensor name="FL_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>FL_calf_fixed_joint_lump__FL_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="RR_calf">
<sensor name="RR_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>RR_calf_fixed_joint_lump__RR_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="RL_calf">
<sensor name="RL_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>RL_calf_fixed_joint_lump__RL_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<!-- Visualization of Foot contacts. -->
<gazebo reference="FR_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>FR_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="FL_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>FL_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="RR_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>RR_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="RL_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>RL_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="base">
<material>Gazebo/Green</material>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="trunk">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="stick_link">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/White</material>
</gazebo>
<gazebo reference="imu_link">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/Red</material>
</gazebo>
<!-- FL leg -->
<gazebo reference="FL_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="FL_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="FL_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="FL_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- FR leg -->
<gazebo reference="FR_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="FR_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="FR_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="FR_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- RL leg -->
<gazebo reference="RL_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="RL_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="RL_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="RL_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- RR leg -->
<gazebo reference="RR_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="RR_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="RR_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="RR_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/a1_description/xacro/stairs.xacro | <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:property name="stair_length" value="0.640" />
<xacro:property name="stair_width" value="0.310" />
<xacro:property name="stair_height" value="0.170" />
<xacro:macro name="stairs" params="stairs xpos ypos zpos">
<joint name="stair_joint_origin" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="world"/>
<child link="stair_link_${stairs}"/>
</joint>
<link name="stair_link_${stairs}">
<visual>
<geometry>
<box size="${stair_length} ${stair_width} ${stair_height}"/>
</geometry>
<material name="grey"/>
<origin rpy="0 0 0" xyz="${xpos} ${ypos} ${zpos}"/>
</visual>
<collision>
<geometry>
<box size="${stair_length} ${stair_width} ${stair_height}"/>
</geometry>
</collision>
<inertial>
<mass value="0.80"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
</link>
<xacro:if value="${stairs}">
<xacro:stairs stairs="${stairs-1}" xpos="0" ypos="${ypos-stair_width/2}" zpos="${zpos+stair_height}"/>
<joint name="stair_joint_${stairs}" type="fixed">
<parent link="stair_link_${stairs}"/>
<child link="stair_link_${stairs-1}"/>
</joint>
</xacro:if>
</xacro:macro>
</robot> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/a1_description/xacro/robot.xacro | <?xml version="1.0"?>
<robot name="a1" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:arg name="DEBUG" default="false"/>
<xacro:include filename="$(find a1_description)/xacro/const.xacro"/>
<xacro:include filename="$(find a1_description)/xacro/materials.xacro"/>
<xacro:include filename="$(find a1_description)/xacro/leg.xacro"/>
<xacro:include filename="$(find a1_description)/xacro/stairs.xacro"/>
<xacro:include filename="$(find a1_description)/xacro/gazebo.xacro"/>
<!-- <xacro:include filename="$(find a1_gazebo)/launch/stairs.urdf.xacro"/> -->
<!-- <xacro:stairs stairs="15" xpos="0" ypos="0" zpos="0" /> -->
<!-- Rollover Protection mode will add an additional stick on the top, use "true" or "false" to switch it. -->
<xacro:property name="rolloverProtection" value="false"/>
<!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
<xacro:if value="$(arg DEBUG)">
<link name="world"/>
<joint name="base_static_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="world"/>
<child link="base"/>
</joint>
</xacro:if>
<link name="base">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
</visual>
</link>
<joint name="floating_base" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base"/>
<child link="trunk"/>
</joint>
<link name="trunk">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://a1_description/meshes/trunk.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="${trunk_length} ${trunk_width} ${trunk_height}"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${trunk_com_x} ${trunk_com_y} ${trunk_com_z}"/>
<mass value="${trunk_mass}"/>
<inertia
ixx="${trunk_ixx}" ixy="${trunk_ixy}" ixz="${trunk_ixz}"
iyy="${trunk_iyy}" iyz="${trunk_iyz}"
izz="${trunk_izz}"/>
</inertial>
</link>
<xacro:if value="${(rolloverProtection == 'true')}">
<joint name="stick_joint" type="fixed">
<parent link="trunk"/>
<child link="stick_link"/>
<origin rpy="0 0 0" xyz="${0.18} 0 ${stick_length/2.0+0.08}"/>
</joint>
<link name="stick_link">
<visual>
<geometry>
<cylinder length="${stick_length}" radius="${stick_radius}"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="white"/>
</visual>
<collision>
<geometry>
<cylinder length="${stick_length}" radius="${stick_radius}"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="${stick_mass}"/>
<inertia
ixx="${stick_mass / 2.0 * (stick_radius*stick_radius)}" ixy="0.0" ixz="0.0"
iyy="${stick_mass / 12.0 * (3*stick_radius*stick_radius + stick_length*stick_length)}" iyz="0.0"
izz="${stick_mass / 12.0 * (3*stick_radius*stick_radius + stick_length*stick_length)}"/>
</inertial>
</link>
</xacro:if>
<joint name="imu_joint" type="fixed">
<parent link="trunk"/>
<child link="imu_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<link name="imu_link">
<inertial>
<mass value="0.001"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
<material name="red"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".001 .001 .001"/>
</geometry>
</collision>
</link>
<xacro:leg name="FR" mirror="-1" mirror_dae="False" front_hind="1" front_hind_dae="True">
<origin rpy="0 0 0" xyz="${leg_offset_x} ${-leg_offset_y} 0"/>
</xacro:leg>
<xacro:leg name="FL" mirror="1" mirror_dae="True" front_hind="1" front_hind_dae="True">
<origin rpy="0 0 0" xyz="${leg_offset_x} ${leg_offset_y} 0"/>
</xacro:leg>
<xacro:leg name="RR" mirror="-1" mirror_dae="False" front_hind="-1" front_hind_dae="False">
<origin rpy="0 0 0" xyz="${-leg_offset_x} ${-leg_offset_y} 0"/>
</xacro:leg>
<xacro:leg name="RL" mirror="1" mirror_dae="True" front_hind="-1" front_hind_dae="False">
<origin rpy="0 0 0" xyz="${-leg_offset_x} ${leg_offset_y} 0"/>
</xacro:leg>
<!-- <xacro:stairs stairs="15" xpos="0" ypos="2.0" zpos="0" /> -->
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/a1_description/config/robot_control.yaml | a1_gazebo:
# Publish all joint states -----------------------------------
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 1000
# FL Controllers ---------------------------------------
FL_hip_controller:
type: unitree_legged_control/UnitreeJointController
joint: FL_hip_joint
pid: {p: 100.0, i: 0.0, d: 5.0}
FL_thigh_controller:
type: unitree_legged_control/UnitreeJointController
joint: FL_thigh_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
FL_calf_controller:
type: unitree_legged_control/UnitreeJointController
joint: FL_calf_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
# FR Controllers ---------------------------------------
FR_hip_controller:
type: unitree_legged_control/UnitreeJointController
joint: FR_hip_joint
pid: {p: 100.0, i: 0.0, d: 5.0}
FR_thigh_controller:
type: unitree_legged_control/UnitreeJointController
joint: FR_thigh_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
FR_calf_controller:
type: unitree_legged_control/UnitreeJointController
joint: FR_calf_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
# RL Controllers ---------------------------------------
RL_hip_controller:
type: unitree_legged_control/UnitreeJointController
joint: RL_hip_joint
pid: {p: 100.0, i: 0.0, d: 5.0}
RL_thigh_controller:
type: unitree_legged_control/UnitreeJointController
joint: RL_thigh_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
RL_calf_controller:
type: unitree_legged_control/UnitreeJointController
joint: RL_calf_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
# RR Controllers ---------------------------------------
RR_hip_controller:
type: unitree_legged_control/UnitreeJointController
joint: RR_hip_joint
pid: {p: 100.0, i: 0.0, d: 5.0}
RR_thigh_controller:
type: unitree_legged_control/UnitreeJointController
joint: RR_thigh_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
RR_calf_controller:
type: unitree_legged_control/UnitreeJointController
joint: RR_calf_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/a1_description/urdf/a1.urdf | <?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from robot.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="a1">
<!-- dynamics inertial value -->
<!-- trunk -->
<!-- <xacro:property name="trunk_mass" value="5.660"/>
<xacro:property name="trunk_com_x" value="0.012731"/>
<xacro:property name="trunk_com_y" value="0.002186"/>
<xacro:property name="trunk_com_z" value="0.000515"/>
<xacro:property name="trunk_ixx" value="0.016839930"/>
<xacro:property name="trunk_ixy" value="0.000083902"/>
<xacro:property name="trunk_ixz" value="0.000597679"/>
<xacro:property name="trunk_iyy" value="0.056579028"/>
<xacro:property name="trunk_iyz" value="0.000025134"/>
<xacro:property name="trunk_izz" value="0.064713601"/> -->
<material name="black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<material name="green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>
<material name="grey">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
<material name="silver">
<color rgba="0.913725490196 0.913725490196 0.847058823529 1.0"/>
</material>
<material name="orange">
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
</material>
<material name="brown">
<color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
</material>
<material name="red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="white">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<!-- ros_control plugin -->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<robotNamespace>/a1_gazebo</robotNamespace>
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
</plugin>
</gazebo>
<!-- Show the trajectory of trunk center. -->
<gazebo>
<plugin filename="libLinkPlot3DPlugin.so" name="3dplotTrunk">
<frequency>10</frequency>
<plot>
<link>base</link>
<pose>0 0 0 0 0 0</pose>
<material>Gazebo/Yellow</material>
</plot>
</plugin>
</gazebo>
<!-- Show the trajectory of foot. You can add another trajectory about another foot. -->
<gazebo>
<plugin filename="libLinkPlot3DPlugin.so" name="3dplot">
<frequency>1000</frequency>
<plot>
<link>FR_calf</link>
<pose>0 0 -0.2 0 0 0</pose>
<material>Gazebo/Yellow</material>
</plot>
</plugin>
</gazebo>
<gazebo>
<plugin filename="libgazebo_ros_force.so" name="gazebo_ros_force">
<bodyName>trunk</bodyName>
<topicName>/apply_force/trunk</topicName>
</plugin>
</gazebo>
<gazebo reference="imu_link">
<gravity>true</gravity>
<sensor name="imu_sensor" type="imu">
<always_on>true</always_on>
<update_rate>1000</update_rate>
<visualize>true</visualize>
<topic>__default_topic__</topic>
<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
<topicName>trunk_imu</topicName>
<bodyName>imu_link</bodyName>
<updateRateHZ>1000.0</updateRateHZ>
<gaussianNoise>0.0</gaussianNoise>
<xyzOffset>0 0 0</xyzOffset>
<rpyOffset>0 0 0</rpyOffset>
<frameName>imu_link</frameName>
</plugin>
<pose>0 0 0 0 0 0</pose>
</sensor>
</gazebo>
<!-- Foot contacts. -->
<gazebo reference="FR_calf">
<sensor name="FR_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin filename="libunitreeFootContactPlugin.so" name="contactPlugin"/>
<contact>
<collision>FR_calf_fixed_joint_lump__FR_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="FL_calf">
<sensor name="FL_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin filename="libunitreeFootContactPlugin.so" name="contactPlugin"/>
<contact>
<collision>FL_calf_fixed_joint_lump__FL_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="RR_calf">
<sensor name="RR_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin filename="libunitreeFootContactPlugin.so" name="contactPlugin"/>
<contact>
<collision>RR_calf_fixed_joint_lump__RR_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="RL_calf">
<sensor name="RL_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin filename="libunitreeFootContactPlugin.so" name="contactPlugin"/>
<contact>
<collision>RL_calf_fixed_joint_lump__RL_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<!-- Visualization of Foot contacts. -->
<gazebo reference="FR_foot">
<visual>
<plugin filename="libunitreeDrawForcePlugin.so" name="drawForcePlugin">
<topicName>FR_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="FL_foot">
<visual>
<plugin filename="libunitreeDrawForcePlugin.so" name="drawForcePlugin">
<topicName>FL_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="RR_foot">
<visual>
<plugin filename="libunitreeDrawForcePlugin.so" name="drawForcePlugin">
<topicName>RR_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="RL_foot">
<visual>
<plugin filename="libunitreeDrawForcePlugin.so" name="drawForcePlugin">
<topicName>RL_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="base">
<material>Gazebo/Green</material>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="trunk">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="stick_link">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/White</material>
</gazebo>
<gazebo reference="imu_link">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/Red</material>
</gazebo>
<!-- FL leg -->
<gazebo reference="FL_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="FL_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="FL_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="FL_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- FR leg -->
<gazebo reference="FR_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="FR_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="FR_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="FR_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- RL leg -->
<gazebo reference="RL_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="RL_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="RL_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="RL_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- RR leg -->
<gazebo reference="RR_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="RR_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="RR_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="RR_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- <xacro:include filename="$(find a1_gazebo)/launch/stairs.urdf.xacro"/> -->
<!-- <xacro:stairs stairs="15" xpos="0" ypos="0" zpos="0" /> -->
<!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
<!-- <xacro:if value="$(arg DEBUG)">
<link name="world"/>
<joint name="base_static_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="world"/>
<child link="base"/>
</joint>
</xacro:if> -->
<link name="base">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
</visual>
</link>
<joint name="floating_base" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base"/>
<child link="trunk"/>
</joint>
<link name="trunk">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://a1_description/meshes/trunk.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.267 0.194 0.114"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0041 -0.0005"/>
<mass value="6.0"/>
<inertia ixx="0.0158533" ixy="-3.66e-05" ixz="-6.11e-05" iyy="0.0377999" iyz="-2.75e-05" izz="0.0456542"/>
</inertial>
</link>
<joint name="imu_joint" type="fixed">
<parent link="trunk"/>
<child link="imu_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<link name="imu_link">
<inertial>
<mass value="0.001"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
<material name="red"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".001 .001 .001"/>
</geometry>
</collision>
</link>
<joint name="FR_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="0.1805 -0.047 0"/>
<parent link="trunk"/>
<child link="FR_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0.01" friction="0.2"/>
<limit effort="33.5" lower="-0.802851455917" upper="0.802851455917" velocity="21"/>
</joint>
<link name="FR_hip">
<visual>
<origin rpy="3.14159265359 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://a1_description/meshes/hip.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.04" radius="0.046"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.003311 -0.000635 3.1e-05"/>
<mass value="0.696"/>
<inertia ixx="0.000469246" ixy="9.409e-06" ixz="-3.42e-07" iyy="0.00080749" iyz="4.66e-07" izz="0.000552929"/>
</inertial>
</link>
<joint name="FR_hip_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 -0.081 0"/>
<parent link="FR_hip"/>
<child link="FR_thigh_shoulder"/>
</joint>
<!-- this link is only for collision -->
<link name="FR_thigh_shoulder">
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.032" radius="0.041"/>
</geometry>
</collision>
</link>
<joint name="FR_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 -0.0838 0"/>
<parent link="FR_hip"/>
<child link="FR_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="0.01" friction="0.2"/>
<limit effort="33.5" lower="-1.0471975512" upper="4.18879020479" velocity="21"/>
</joint>
<link name="FR_thigh">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://a1_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1"/>
<geometry>
<box size="0.2 0.0245 0.034"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.003237 0.022327 -0.027326"/>
<mass value="1.013"/>
<inertia ixx="0.005529065" ixy="-4.825e-06" ixz="0.000343869" iyy="0.005139339" iyz="-2.2448e-05" izz="0.001367788"/>
</inertial>
</link>
<joint name="FR_calf_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 -0.2"/>
<parent link="FR_thigh"/>
<child link="FR_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="0.01" friction="0.2"/>
<limit effort="33.5" lower="-2.69653369433" upper="-0.916297857297" velocity="21"/>
</joint>
<link name="FR_calf">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://a1_description/meshes/calf.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1"/>
<geometry>
<box size="0.2 0.016 0.016"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.006435 0.0 -0.107388"/>
<mass value="0.166"/>
<inertia ixx="0.002997972" ixy="0.0" ixz="-0.000141163" iyy="0.003014022" iyz="0.0" izz="3.2426e-05"/>
</inertial>
</link>
<joint name="FR_foot_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.2"/>
<parent link="FR_calf"/>
<child link="FR_foot"/>
</joint>
<link name="FR_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.01"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.02"/>
</geometry>
</collision>
<inertial>
<mass value="0.06"/>
<inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06"/>
</inertial>
</link>
<transmission name="FR_hip_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FR_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="FR_hip_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="FR_thigh_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FR_thigh_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="FR_thigh_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="FR_calf_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FR_calf_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="FR_calf_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="FL_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="0.1805 0.047 0"/>
<parent link="trunk"/>
<child link="FL_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0.01" friction="0.2"/>
<limit effort="33.5" lower="-0.802851455917" upper="0.802851455917" velocity="21"/>
</joint>
<link name="FL_hip">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://a1_description/meshes/hip.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.04" radius="0.046"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.003311 0.000635 3.1e-05"/>
<mass value="0.696"/>
<inertia ixx="0.000469246" ixy="-9.409e-06" ixz="-3.42e-07" iyy="0.00080749" iyz="-4.66e-07" izz="0.000552929"/>
</inertial>
</link>
<joint name="FL_hip_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0.081 0"/>
<parent link="FL_hip"/>
<child link="FL_thigh_shoulder"/>
</joint>
<!-- this link is only for collision -->
<link name="FL_thigh_shoulder">
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.032" radius="0.041"/>
</geometry>
</collision>
</link>
<joint name="FL_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0.0838 0"/>
<parent link="FL_hip"/>
<child link="FL_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="0.01" friction="0.2"/>
<limit effort="33.5" lower="-1.0471975512" upper="4.18879020479" velocity="21"/>
</joint>
<link name="FL_thigh">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://a1_description/meshes/thigh.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1"/>
<geometry>
<box size="0.2 0.0245 0.034"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.003237 -0.022327 -0.027326"/>
<mass value="1.013"/>
<inertia ixx="0.005529065" ixy="4.825e-06" ixz="0.000343869" iyy="0.005139339" iyz="2.2448e-05" izz="0.001367788"/>
</inertial>
</link>
<joint name="FL_calf_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 -0.2"/>
<parent link="FL_thigh"/>
<child link="FL_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="0.01" friction="0.2"/>
<limit effort="33.5" lower="-2.69653369433" upper="-0.916297857297" velocity="21"/>
</joint>
<link name="FL_calf">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://a1_description/meshes/calf.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1"/>
<geometry>
<box size="0.2 0.016 0.016"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.006435 0.0 -0.107388"/>
<mass value="0.166"/>
<inertia ixx="0.002997972" ixy="0.0" ixz="-0.000141163" iyy="0.003014022" iyz="0.0" izz="3.2426e-05"/>
</inertial>
</link>
<joint name="FL_foot_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.2"/>
<parent link="FL_calf"/>
<child link="FL_foot"/>
</joint>
<link name="FL_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.01"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.02"/>
</geometry>
</collision>
<inertial>
<mass value="0.06"/>
<inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06"/>
</inertial>
</link>
<transmission name="FL_hip_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FL_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="FL_hip_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="FL_thigh_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FL_thigh_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="FL_thigh_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="FL_calf_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="FL_calf_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="FL_calf_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="RR_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="-0.1805 -0.047 0"/>
<parent link="trunk"/>
<child link="RR_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0.01" friction="0.2"/>
<limit effort="33.5" lower="-0.802851455917" upper="0.802851455917" velocity="21"/>
</joint>
<link name="RR_hip">
<visual>
<origin rpy="3.14159265359 3.14159265359 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://a1_description/meshes/hip.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.04" radius="0.046"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.003311 -0.000635 3.1e-05"/>
<mass value="0.696"/>
<inertia ixx="0.000469246" ixy="-9.409e-06" ixz="3.42e-07" iyy="0.00080749" iyz="4.66e-07" izz="0.000552929"/>
</inertial>
</link>
<joint name="RR_hip_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 -0.081 0"/>
<parent link="RR_hip"/>
<child link="RR_thigh_shoulder"/>
</joint>
<!-- this link is only for collision -->
<link name="RR_thigh_shoulder">
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.032" radius="0.041"/>
</geometry>
</collision>
</link>
<joint name="RR_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 -0.0838 0"/>
<parent link="RR_hip"/>
<child link="RR_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="0.01" friction="0.2"/>
<limit effort="33.5" lower="-1.0471975512" upper="4.18879020479" velocity="21"/>
</joint>
<link name="RR_thigh">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://a1_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1"/>
<geometry>
<box size="0.2 0.0245 0.034"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.003237 0.022327 -0.027326"/>
<mass value="1.013"/>
<inertia ixx="0.005529065" ixy="-4.825e-06" ixz="0.000343869" iyy="0.005139339" iyz="-2.2448e-05" izz="0.001367788"/>
</inertial>
</link>
<joint name="RR_calf_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 -0.2"/>
<parent link="RR_thigh"/>
<child link="RR_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="0.01" friction="0.2"/>
<limit effort="33.5" lower="-2.69653369433" upper="-0.916297857297" velocity="21"/>
</joint>
<link name="RR_calf">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://a1_description/meshes/calf.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1"/>
<geometry>
<box size="0.2 0.016 0.016"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.006435 0.0 -0.107388"/>
<mass value="0.166"/>
<inertia ixx="0.002997972" ixy="0.0" ixz="-0.000141163" iyy="0.003014022" iyz="0.0" izz="3.2426e-05"/>
</inertial>
</link>
<joint name="RR_foot_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.2"/>
<parent link="RR_calf"/>
<child link="RR_foot"/>
</joint>
<link name="RR_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.01"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.02"/>
</geometry>
</collision>
<inertial>
<mass value="0.06"/>
<inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06"/>
</inertial>
</link>
<transmission name="RR_hip_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RR_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RR_hip_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RR_thigh_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RR_thigh_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RR_thigh_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RR_calf_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RR_calf_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RR_calf_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="RL_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="-0.1805 0.047 0"/>
<parent link="trunk"/>
<child link="RL_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0.01" friction="0.2"/>
<limit effort="33.5" lower="-0.802851455917" upper="0.802851455917" velocity="21"/>
</joint>
<link name="RL_hip">
<visual>
<origin rpy="0 3.14159265359 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://a1_description/meshes/hip.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.04" radius="0.046"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.003311 0.000635 3.1e-05"/>
<mass value="0.696"/>
<inertia ixx="0.000469246" ixy="9.409e-06" ixz="3.42e-07" iyy="0.00080749" iyz="-4.66e-07" izz="0.000552929"/>
</inertial>
</link>
<joint name="RL_hip_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0.081 0"/>
<parent link="RL_hip"/>
<child link="RL_thigh_shoulder"/>
</joint>
<!-- this link is only for collision -->
<link name="RL_thigh_shoulder">
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.032" radius="0.041"/>
</geometry>
</collision>
</link>
<joint name="RL_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0.0838 0"/>
<parent link="RL_hip"/>
<child link="RL_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="0.01" friction="0.2"/>
<limit effort="33.5" lower="-1.0471975512" upper="4.18879020479" velocity="21"/>
</joint>
<link name="RL_thigh">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://a1_description/meshes/thigh.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1"/>
<geometry>
<box size="0.2 0.0245 0.034"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.003237 -0.022327 -0.027326"/>
<mass value="1.013"/>
<inertia ixx="0.005529065" ixy="4.825e-06" ixz="0.000343869" iyy="0.005139339" iyz="2.2448e-05" izz="0.001367788"/>
</inertial>
</link>
<joint name="RL_calf_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 -0.2"/>
<parent link="RL_thigh"/>
<child link="RL_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="0.01" friction="0.2"/>
<limit effort="33.5" lower="-2.69653369433" upper="-0.916297857297" velocity="21"/>
</joint>
<link name="RL_calf">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://a1_description/meshes/calf.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.1"/>
<geometry>
<box size="0.2 0.016 0.016"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.006435 0.0 -0.107388"/>
<mass value="0.166"/>
<inertia ixx="0.002997972" ixy="0.0" ixz="-0.000141163" iyy="0.003014022" iyz="0.0" izz="3.2426e-05"/>
</inertial>
</link>
<joint name="RL_foot_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.2"/>
<parent link="RL_calf"/>
<child link="RL_foot"/>
</joint>
<link name="RL_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.01"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.02"/>
</geometry>
</collision>
<inertial>
<mass value="0.06"/>
<inertia ixx="9.6e-06" ixy="0.0" ixz="0.0" iyy="9.6e-06" iyz="0.0" izz="9.6e-06"/>
</inertial>
</link>
<transmission name="RL_hip_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RL_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RL_hip_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RL_thigh_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RL_thigh_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RL_thigh_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="RL_calf_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="RL_calf_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="RL_calf_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- <xacro:stairs stairs="15" xpos="0" ypos="2.0" zpos="0" /> -->
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/aliengoZ1_description/CMakeLists.txt | cmake_minimum_required(VERSION 3.0.2)
project(aliengoZ1_description)
## 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
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
urdf
xacro
)
## 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 aliengoAndarm
# CATKIN_DEPENDS roscpp rospy urdf xacro
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
${catkin_INCLUDE_DIRS}
)
## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/aliengoAndarm.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/aliengoAndarm_node.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} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
# ${catkin_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
# catkin_install_python(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${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_aliengoAndarm.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/aliengoZ1_description/package.xml | <?xml version="1.0"?>
<package format="2">
<name>aliengoZ1_description</name>
<version>0.0.0</version>
<description>The aliengoZ1_description package</description>
<maintainer email="[email protected]">unitree</maintainer>
<license>TODO</license>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>urdf</build_depend>
<build_depend>xacro</build_depend>
<build_export_depend>urdf</build_export_depend>
<build_export_depend>xacro</build_export_depend>
<exec_depend>urdf</exec_depend>
<exec_depend>xacro</exec_depend>
</package>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/aliengoZ1_description/launch/aliengoZ1_rviz.launch | <launch>
<arg name="user_debug" default="true"/>
<arg name="UnitreeGripperYN" default="true"/>
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find aliengoZ1_description)/xacro/robot.xacro'
DEBUG:=$(arg user_debug) UnitreeGripper:=$(arg UnitreeGripperYN)"/>
<!-- send fake joint values -->
<node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher">
<param name="use_gui" value="TRUE"/>
</node>
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
<param name="publish_frequency" type="double" value="1000.0"/>
</node>
<node pkg="rviz" type="rviz" name="rviz" respawn="false" output="screen"
args="-d $(find aliengo_description)/launch/check_joint.rviz"/>
</launch>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/aliengoZ1_description/launch/aliengoZ1_gazebo.launch | <launch>
<arg name="wname" default="earth"/>
<arg name="rname" default="aliengoZ1"/>
<arg name="robot_path" value="(find $(arg rname)_description)"/>
<arg name="dollar" value="$"/>
<arg name="UnitreeGripperYN" default="true"/>
<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"/>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find unitree_gazebo)/worlds/$(arg wname).world"/>
<arg name="debug" value="$(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 dollar)$(arg robot_path)/xacro/robot.xacro'
DEBUG:=$(arg user_debug)"/>
<!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
<!-- Set trunk and joint positions at startup -->
<node pkg="gazebo_ros" type="spawn_model" name="urdf_spawner" respawn="false" output="screen"
args="-urdf -z 0.6 -model $(arg rname)_gazebo -param robot_description -unpause"/>
<!-- Load joint controller configurations from YAML file to parameter server -->
<rosparam file="$(arg dollar)$(arg robot_path)/config/robot_control.yaml" command="load"/>
<!-- load the controllers -->
<group unless="$(arg UnitreeGripperYN)">
<node pkg="controller_manager" type="spawner" name="controller_spawner" respawn="false"
output="screen" ns="/$(arg rname)_gazebo" args="joint_state_controller
Joint01_controller Joint02_controller Joint03_controller
Joint04_controller Joint05_controller Joint06_controller
FL_hip_controller FL_thigh_controller FL_calf_controller
FR_hip_controller FR_thigh_controller FR_calf_controller
RL_hip_controller RL_thigh_controller RL_calf_controller
RR_hip_controller RR_thigh_controller RR_calf_controller"/>
</group>
<group if="$(arg UnitreeGripperYN)">
<node pkg="controller_manager" type="spawner" name="controller_spawner" respawn="false"
output="screen" ns="/$(arg rname)_gazebo" args="joint_state_controller
Joint01_controller Joint02_controller Joint03_controller
Joint04_controller Joint05_controller Joint06_controller
gripper_controller
FL_hip_controller FL_thigh_controller FL_calf_controller
FR_hip_controller FR_thigh_controller FR_calf_controller
RL_hip_controller RL_thigh_controller RL_calf_controller
RR_hip_controller RR_thigh_controller RR_calf_controller"/>
</group>
<!-- convert joint states to TF transforms for rviz, etc -->
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher"
respawn="false" output="screen">
<remap from="/joint_states" to="/$(arg rname)_gazebo/joint_states"/>
</node>
<!-- load the parameter unitree_controller -->
<include file="$(find unitree_controller)/launch/set_ctrl.launch">
<arg name="rname" value="$(arg rname)"/>
</include>
</launch>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/aliengoZ1_description/xacro/const.xacro | <?xml version="1.0"?>
<robot name="aliengoZ1_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find aliengo_description)/xacro/const.xacro"/>
<!-- the base of arm offset -->
<xacro:property name="arm_offset_x" value="${trunk_length/2.0 - 0.07}"/>
<xacro:property name="arm_offset_y" value="0"/>
<xacro:property name="arm_offset_z" value="${trunk_height/2.0}"/>
<xacro:property name="arm_offset_r" value="0"/>
<xacro:property name="arm_offset_p" value="0"/>
<xacro:property name="arm_offset_yaw" value="0"/>
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/aliengoZ1_description/xacro/gazebo.xacro | <?xml version="1.0"?>
<robot>
<!-- ros_control plugin -->
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/aliengoZ1_gazebo</robotNamespace>
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
</plugin>
</gazebo>
<!-- Show the trajectory of trunk center. -->
<gazebo>
<plugin name="3dplot" filename="libLinkPlot3DPlugin.so">
<frequency>10</frequency>
<plot>
<link>base</link>
<pose>0 0 0 0 0 0</pose>
<material>Gazebo/Yellow</material>
</plot>
</plugin>
</gazebo>
<!-- Show the trajectory of foot. You can add another trajectory about another foot. -->
<!-- <gazebo>
<plugin name="3dplot" filename="libLinkPlot3DPlugin.so">
<frequency>100</frequency>
<plot>
<link>FL_foot</link>
<pose>0 0 0 0 0 0</pose>
<material>Gazebo/Green</material>
</plot>
</plugin>
</gazebo> -->
<gazebo>
<plugin filename="libgazebo_ros_force.so" name="gazebo_ros_force">
<bodyName>trunk</bodyName>
<topicName>/apply_force/trunk</topicName>
</plugin>
</gazebo>
<gazebo reference="imu_link">
<gravity>true</gravity>
<sensor name="imu_sensor" type="imu">
<always_on>true</always_on>
<update_rate>1000</update_rate>
<visualize>true</visualize>
<topic>__default_topic__</topic>
<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
<topicName>trunk_imu</topicName>
<bodyName>imu_link</bodyName>
<updateRateHZ>1000.0</updateRateHZ>
<gaussianNoise>0.0</gaussianNoise>
<xyzOffset>0 0 0</xyzOffset>
<rpyOffset>0 0 0</rpyOffset>
<frameName>imu_link</frameName>
</plugin>
<pose>0 0 0 0 0 0</pose>
</sensor>
</gazebo>
<!-- Foot contacts. -->
<gazebo reference="FR_calf">
<sensor name="FR_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>FR_calf_fixed_joint_lump__FR_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="FL_calf">
<sensor name="FL_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>FL_calf_fixed_joint_lump__FL_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="RR_calf">
<sensor name="RR_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>RR_calf_fixed_joint_lump__RR_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="RL_calf">
<sensor name="RL_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>RL_calf_fixed_joint_lump__RL_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<!-- Visualization of Foot contacts. -->
<gazebo reference="FR_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>FR_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="FL_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>FL_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="RR_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>RR_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="RL_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>RL_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="base">
<material>Gazebo/Green</material>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="trunk">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="stick_link">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/White</material>
</gazebo>
<gazebo reference="imu_link">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/Red</material>
</gazebo>
<!-- FL leg -->
<gazebo reference="FL_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="FL_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="FL_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="FL_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- FR leg -->
<gazebo reference="FR_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="FR_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="FR_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="FR_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- RL leg -->
<gazebo reference="RL_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="RL_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="RL_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="RL_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- RR leg -->
<gazebo reference="RR_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="RR_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="RR_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="RR_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- ros_control plugin -->
<gazebo reference="link04">
<self_collide>true</self_collide>
</gazebo>
<gazebo reference="link05">
<self_collide>true</self_collide>
</gazebo>
<gazebo reference="link06">
<self_collide>true</self_collide>
</gazebo>
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/aliengoZ1_description/xacro/stairs.xacro | <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:property name="stair_length" value="0.640" />
<xacro:property name="stair_width" value="0.310" />
<xacro:property name="stair_height" value="0.170" />
<xacro:macro name="stairs" params="stairs xpos ypos zpos">
<joint name="stair_joint_origin" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="world"/>
<child link="stair_link_${stairs}"/>
</joint>
<link name="stair_link_${stairs}">
<visual>
<geometry>
<box size="${stair_length} ${stair_width} ${stair_height}"/>
</geometry>
<material name="grey"/>
<origin rpy="0 0 0" xyz="${xpos} ${ypos} ${zpos}"/>
</visual>
<collision>
<geometry>
<box size="${stair_length} ${stair_width} ${stair_height}"/>
</geometry>
</collision>
<inertial>
<mass value="0.80"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
</link>
<xacro:if value="${stairs}">
<xacro:stairs stairs="${stairs-1}" xpos="0" ypos="${ypos-stair_width/2}" zpos="${zpos+stair_height}"/>
<joint name="stair_joint_${stairs}" type="fixed">
<parent link="stair_link_${stairs}"/>
<child link="stair_link_${stairs-1}"/>
</joint>
</xacro:if>
</xacro:macro>
</robot> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/aliengoZ1_description/xacro/robot.xacro | <?xml version="1.0"?>
<robot name="aliengoZ1_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find aliengoZ1_description)/xacro/gazebo.xacro"/>
<xacro:include filename="$(find aliengoZ1_description)/xacro/const.xacro"/>
<xacro:include filename="$(find aliengo_description)/xacro/leg.xacro"/>
<xacro:include filename="$(find aliengo_description)/xacro/const.xacro"/>
<xacro:include filename="$(find aliengo_description)/xacro/materials.xacro"/>
<xacro:include filename="$(find z1_description)/xacro/const.xacro"/>
<xacro:include filename="$(find z1_description)/xacro/transmission.xacro"/>
<xacro:arg name="UnitreeGripper" default="true"/>
<!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
<xacro:if value="$(arg DEBUG)">
<link name="world"/>
<joint name="base_static_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="world"/>
<child link="base"/>
</joint>
</xacro:if>
<link name="base">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
</visual>
</link>
<joint name="floating_base" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base"/>
<child link="trunk"/>
</joint>
<link name="trunk">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://aliengo_description/meshes/trunk.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="${trunk_length} ${trunk_width} ${trunk_height}"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${trunk_com_x} ${trunk_com_y} ${trunk_com_z}"/>
<mass value="${trunk_mass}"/>
<inertia
ixx="${trunk_ixx}" ixy="${trunk_ixy}" ixz="${trunk_ixz}"
iyy="${trunk_iyy}" iyz="${trunk_iyz}"
izz="${trunk_izz}"/>
</inertial>
</link>
<joint name="imu_joint" type="fixed">
<parent link="trunk"/>
<child link="imu_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<link name="imu_link">
<inertial>
<mass value="0.001"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.0001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
<material name="red"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".001 .001 .001"/>
</geometry>
</collision>
</link> -->
<joint name="trunk_arm_joint" type="fixed">
<origin rpy="${arm_offset_r} ${arm_offset_p} ${arm_offset_yaw}" xyz="${arm_offset_x} ${arm_offset_y} ${arm_offset_z}"/>
<parent link="trunk"/>
<child link="link00"/>
</joint>
<link name="link00">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://z1_description/meshes/visual/z1_Link00.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<geometry>
<cylinder length="${motor_height}" radius="${motor_diameter}"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 ${motor_height/2.0}"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${L00_ComX} ${L00_ComY} ${L00_ComZ}"/>
<mass value="${L00_Mass}"/>
<inertia
ixx="${L00_Ixx}" ixy="${L00_Ixy}" ixz="${L00_Ixz}"
iyy="${L00_Iyy}" iyz="${L00_Iyz}"
izz="${L00_Izz}"/>
</inertial>
</link>
<joint name="joint1" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0.0585"/>
<parent link="link00"/>
<child link="link01"/>
<axis xyz="0 0 1"/>
<dynamics damping="${jointDamping}" friction="${jointFriction}"/>
<limit effort="${torqueMax}" velocity="${velocityMax}" lower="${joint1_PositionMin}" upper="${joint1_PositionMax}"/>
</joint>
<link name="link01">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://z1_description/meshes/visual/z1_Link01.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<geometry>
<cylinder length="${2*motor_height}" radius="${motor_diameter}"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${L01_ComX} ${L01_ComY} ${L01_ComZ}"/>
<mass value="${L01_Mass}"/>
<inertia
ixx="${L01_Ixx}" ixy="${L01_Ixy}" ixz="${L01_Ixz}"
iyy="${L01_Iyy}" iyz="${L01_Iyz}"
izz="${L01_Izz}"/>
</inertial>
</link>
<joint name="joint2" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0.045"/>
<parent link="link01"/>
<child link="link02"/>
<axis xyz="0 1 0"/>
<dynamics damping="${2*jointDamping}" friction="${2*jointFriction}"/>
<limit effort="${2*torqueMax}" velocity="${velocityMax}" lower="${joint2_PositionMin}" upper="${joint2_PositionMax}"/>
</joint>
<link name="link02">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://z1_description/meshes/visual/z1_Link02.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<geometry>
<cylinder length="${2.0*motor_height}" radius="${motor_diameter}"/>
</geometry>
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
</collision>
<collision>
<geometry>
<cylinder length="${arm1_height}" radius="${arm1_diameter}"/>
</geometry>
<origin rpy="0 ${PI/2.0} 0" xyz="${-0.045-arm1_height/2.0} 0 0"/>
</collision>
<collision>
<geometry>
<cylinder length="${motor_height}" radius="${motor_diameter}"/>
</geometry>
<origin rpy="${PI/2.0} 0 0" xyz="-0.35 0 0"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${L02_ComX} ${L02_ComY} ${L02_ComZ}"/>
<mass value="${L02_Mass}"/>
<inertia
ixx="${L02_Ixx}" ixy="${L02_Ixy}" ixz="${L02_Ixz}"
iyy="${L02_Iyy}" iyz="${L02_Iyz}"
izz="${L02_Izz}"/>
</inertial>
</link>
<joint name="joint3" type="revolute">
<origin rpy="0 0 0" xyz="-0.35 0 0"/>
<parent link="link02"/>
<child link="link03"/>
<axis xyz="0 1 0"/>
<dynamics damping="${jointDamping}" friction="${jointFriction}"/>
<limit effort="${torqueMax}" velocity="${velocityMax}" lower="${joint3_PositionMin}" upper="${joint3_PositionMax}"/>
</joint>
<link name="link03">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://z1_description/meshes/visual/z1_Link03.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<geometry>
<cylinder length="${arm2_height-0.01}" radius="${arm2_diameter}"/>
</geometry>
<origin rpy="0 ${PI/2.0} 0" xyz="${0.065+arm2_height/2.0} 0 0.055"/>
</collision>
<collision>
<geometry>
<cylinder length="0.059" radius="${motor_diameter}"/>
</geometry>
<origin rpy="0 ${PI/2.0} 0" xyz="${0.065+0.185-0.059/2.0} 0 0.055"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${L03_ComX} ${L03_ComY} ${L03_ComZ}"/>
<mass value="${L03_Mass}"/>
<inertia
ixx="${L03_Ixx}" ixy="${L03_Ixy}" ixz="${L03_Ixz}"
iyy="${L03_Iyy}" iyz="${L03_Iyz}"
izz="${L03_Izz}"/>
</inertial>
</link>
<joint name="joint4" type="revolute">
<origin rpy="0 0 0" xyz="0.218 0 0.057"/>
<parent link="link03"/>
<child link="link04"/>
<axis xyz="0 1 0"/>
<dynamics damping="${jointDamping}" friction="${jointFriction}"/>
<limit effort="${torqueMax}" velocity="${velocityMax}" lower="${joint4_PositionMin}" upper="${joint4_PositionMax}"/>
</joint>
<link name="link04">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://z1_description/meshes/visual/z1_Link04.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<geometry>
<cylinder length="0.073" radius="${motor_diameter}"/>
</geometry>
<origin rpy="${PI/2.0} 0 0" xyz="0.0472 0 0"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${L04_ComX} ${L04_ComY} ${L04_ComZ}"/>
<mass value="${L04_Mass}"/>
<inertia
ixx="${L04_Ixx}" ixy="${L04_Ixy}" ixz="${L04_Ixz}"
iyy="${L04_Iyy}" iyz="${L04_Iyz}"
izz="${L04_Izz}"/>
</inertial>
</link>
<joint name="joint5" type="revolute">
<origin rpy="0 0 0" xyz="0.07 0.0 0.0"/>
<parent link="link04"/>
<child link="link05"/>
<axis xyz="0 0 1"/>
<dynamics damping="${jointDamping}" friction="${jointFriction}"/>
<limit effort="${torqueMax}" velocity="${velocityMax}" lower="${joint5_PositionMin}" upper="${joint5_PositionMax}"/>
</joint>
<link name="link05">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://z1_description/meshes/visual/z1_Link05.dae" scale="1 1 1"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="${L05_ComX} ${L05_ComY} ${L05_ComZ}"/>
<mass value="${L05_Mass}"/>
<inertia
ixx="${L05_Ixx}" ixy="${L05_Ixy}" ixz="${L05_Ixz}"
iyy="${L05_Iyy}" iyz="${L05_Iyz}"
izz="${L05_Izz}"/>
</inertial>
</link>
<joint name="joint6" type="revolute">
<origin rpy="0 0 0" xyz="0.0492 0.0 0.0"/>
<parent link="link05"/>
<child link="link06"/>
<axis xyz="1 0 0"/>
<dynamics damping="${jointDamping}" friction="${jointFriction}"/>
<limit effort="${torqueMax}" velocity="${velocityMax}" lower="${joint6_PositionMin}" upper="${joint6_PositionMax}"/>
</joint>
<link name="link06">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://z1_description/meshes/visual/z1_Link06.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<geometry>
<cylinder length="${motor_height}" radius="${motor_diameter}"/>
</geometry>
<origin rpy="0 ${PI/2.0} 0" xyz="${motor_height/2.0} 0 0"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${L06_ComX} ${L06_ComY} ${L06_ComZ}"/>
<mass value="${L06_Mass}"/>
<inertia
ixx="${L06_Ixx}" ixy="${L06_Ixy}" ixz="${L06_Ixz}"
iyy="${L06_Iyy}" iyz="${L06_Iyz}"
izz="${L06_Izz}"/>
</inertial>
</link>
<xacro:if value="$(arg UnitreeGripper)">
<joint name="gripperStator" type="fixed">
<origin rpy="0 0 0" xyz="0.051 0.0 0.0"/>
<parent link="link06"/>
<child link="gripperStator"/>
</joint>
<link name="gripperStator">
<visual>
<geometry>
<mesh filename="package://z1_description/meshes/visual/z1_GripperStator.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://z1_description/meshes/collision/z1_GripperStator.STL" scale="1 1 1"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${GripperStator_ComX} ${GripperStator_ComY} ${GripperStator_ComZ}"/>
<mass value="${GripperStator_Mass}"/>
<inertia
ixx="${GripperStator_Ixx}" ixy="${GripperStator_Ixy}" ixz="${GripperStator_Ixz}"
iyy="${GripperStator_Iyy}" iyz="${GripperStator_Iyz}"
izz="${GripperStator_Izz}"/>
</inertial>
</link>
<joint name="jointGripper" type="revolute">
<origin rpy="0 0 0" xyz="0.049 0.0 0"/>
<parent link="gripperStator"/>
<child link="gripperMover"/>
<axis xyz="0 1 0"/>
<dynamics damping="${jointDamping}" friction="${jointFriction}"/>
<limit effort="${torqueMax}" velocity="${velocityMax}" lower="${Gripper_PositionMin}" upper="${Gripper_PositionMax}"/>
</joint>
<link name="gripperMover">
<visual>
<geometry>
<mesh filename="package://z1_description/meshes/visual/z1_GripperMover.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://z1_description/meshes/collision/z1_GripperMover.STL" scale="1 1 1"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${GripperMover_ComX} ${GripperMover_ComY} ${GripperMover_ComZ}"/>
<mass value="${GripperMover_Mass}"/>
<inertia
ixx="${GripperMover_Ixx}" ixy="${GripperMover_Ixy}" ixz="${GripperMover_Ixz}"
iyy="${GripperMover_Iyy}" iyz="${GripperMover_Iyz}"
izz="${GripperMover_Izz}"/>
</inertial>
</link>
<xacro:motorTransmission name="Gripper"/>
<gazebo reference="gripperStator">
<self_collide>true</self_collide>
</gazebo>
<gazebo reference="gripperMover">
<self_collide>true</self_collide>
</gazebo>
</xacro:if>
<xacro:motorTransmission name="1"/>
<xacro:motorTransmission name="2"/>
<xacro:motorTransmission name="3"/>
<xacro:motorTransmission name="4"/>
<xacro:motorTransmission name="5"/>
<xacro:motorTransmission name="6"/>
<xacro:leg name="FR" mirror="-1" mirror_dae= "False" front_hind="1" front_hind_dae="True" />
<xacro:leg name="FL" mirror="1" mirror_dae="True" front_hind="1" front_hind_dae="True" />
<xacro:leg name="RR" mirror="-1" mirror_dae="False" front_hind="-1" front_hind_dae="False" />
<xacro:leg name="RL" mirror="1" mirror_dae="True" front_hind="-1" front_hind_dae="False" />
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/aliengoZ1_description/config/robot_control.yaml | aliengoZ1_gazebo:
# Publish all joint states -----------------------------------
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 1000
# FL Controllers ---------------------------------------
FL_hip_controller:
type: unitree_legged_control/UnitreeJointController
joint: FL_hip_joint
pid: {p: 100.0, i: 0.0, d: 5.0}
FL_thigh_controller:
type: unitree_legged_control/UnitreeJointController
joint: FL_thigh_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
FL_calf_controller:
type: unitree_legged_control/UnitreeJointController
joint: FL_calf_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
# FR Controllers ---------------------------------------
FR_hip_controller:
type: unitree_legged_control/UnitreeJointController
joint: FR_hip_joint
pid: {p: 100.0, i: 0.0, d: 5.0}
FR_thigh_controller:
type: unitree_legged_control/UnitreeJointController
joint: FR_thigh_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
FR_calf_controller:
type: unitree_legged_control/UnitreeJointController
joint: FR_calf_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
# RL Controllers ---------------------------------------
RL_hip_controller:
type: unitree_legged_control/UnitreeJointController
joint: RL_hip_joint
pid: {p: 100.0, i: 0.0, d: 5.0}
RL_thigh_controller:
type: unitree_legged_control/UnitreeJointController
joint: RL_thigh_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
RL_calf_controller:
type: unitree_legged_control/UnitreeJointController
joint: RL_calf_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
# RR Controllers ---------------------------------------
RR_hip_controller:
type: unitree_legged_control/UnitreeJointController
joint: RR_hip_joint
pid: {p: 100.0, i: 0.0, d: 5.0}
RR_thigh_controller:
type: unitree_legged_control/UnitreeJointController
joint: RR_thigh_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
RR_calf_controller:
type: unitree_legged_control/UnitreeJointController
joint: RR_calf_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
Joint01_controller:
type: unitree_legged_control/UnitreeJointController
joint: joint1
pid: {p: 300.0, i: 0.0, d: 5.0}
Joint02_controller:
type: unitree_legged_control/UnitreeJointController
joint: joint2
pid: {p: 300.0, i: 0.0, d: 5.0}
Joint03_controller:
type: unitree_legged_control/UnitreeJointController
joint: joint3
pid: {p: 300.0, i: 0.0, d: 5.0}
Joint04_controller:
type: unitree_legged_control/UnitreeJointController
joint: joint4
pid: {p: 300.0, i: 0.0, d: 5.0}
Joint05_controller:
type: unitree_legged_control/UnitreeJointController
joint: joint5
pid: {p: 300.0, i: 0.0, d: 5.0}
Joint06_controller:
type: unitree_legged_control/UnitreeJointController
joint: joint6
pid: {p: 300.0, i: 0.0, d: 5.0}
gripper_controller:
type: unitree_legged_control/UnitreeJointController
joint: jointGripper
pid: {p: 300.0, i: 0.0, d: 5.0}
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/unitree_ros-CHAMP/README.md | # Introduction
Here are the ROS simulation packages for Unitree robots, You can load robots and joint controllers in Gazebo, so you can perform low-level control (control the torque, position and angular velocity) of the robot joints. Please be aware that the Gazebo simulation cannot do high-level control, namely walking. Aside from these simulation functions, you can also control your real robots in ROS with the [unitree_ros_to_real](https://github.com/unitreerobotics/unitree_ros_to_real) packages. For real robots, you can do high-level and low-level control using our ROS packages.
## Packages:
Robot description: `go1_description`, `a1_description`, `aliengo_description`, `laikago_description`
Robot and joints controller: `unitree_controller`
Simulation related: `unitree_gazebo`, `unitree_legged_control`
# Dependencies
* [ROS](https://www.ros.org/) Melodic or ROS Kinetic (has not been tested)
* [Gazebo8](http://gazebosim.org/)
* [unitree_legged_msgs](https://github.com/unitreerobotics/unitree_ros_to_real): `unitree_legged_msgs` is a package under [unitree_ros_to_real](https://github.com/unitreerobotics/unitree_ros_to_real).
# Build
<!-- If you would like to fully compile the `unitree_ros`, please run the following command to install relative packages. -->
For ROS Melodic:
```
sudo apt-get install ros-melodic-controller-interface ros-melodic-gazebo-ros-control ros-melodic-joint-state-controller ros-melodic-effort-controllers ros-melodic-joint-trajectory-controller
```
For ROS Kinetic:
```
sudo apt-get install ros-kinetic-controller-manager ros-kinetic-ros-control ros-kinetic-ros-controllers ros-kinetic-joint-state-controller ros-kinetic-effort-controllers ros-kinetic-velocity-controllers ros-kinetic-position-controllers ros-kinetic-robot-controllers ros-kinetic-robot-state-publisher ros-kinetic-gazebo8-ros ros-kinetic-gazebo8-ros-control ros-kinetic-gazebo8-ros-pkgs ros-kinetic-gazebo8-ros-dev
```
And open the file `unitree_gazebo/worlds/stairs.world`. At the end of the file:
```
<include>
<uri>model:///home/unitree/catkin_ws/src/unitree_ros/unitree_gazebo/worlds/building_editor_models/stairs</uri>
</include>
```
Please change the path of `building_editor_models/stairs` to the real path on your PC.
Then you can use catkin_make to build:
```
cd ~/catkin_ws
catkin_make
```
If you face a dependency problem, you can just run `catkin_make` again.
# Detail of Packages
## unitree_legged_control:
It contains the joints controllers for Gazebo simulation, which allows users to control joints with position, velocity and torque. Refer to "[unitree_ros/unitree_controller/src/servo.cpp](https://github.com/unitreerobotics/unitree_ros/blob/master/unitree_controller/src/servo.cpp)" for joint control examples in different modes.
## The description of robots:
Namely the description of Go1, A1, Aliengo and Laikago. Each package includes mesh, urdf and xacro files of robot. Take Laikago for example, you can check the model in Rviz by:
```
roslaunch laikago_description laikago_rviz.launch
```
## unitree_gazebo & unitree_controller:
You can launch the Gazebo simulation with the following command:
```
roslaunch unitree_gazebo normal.launch rname:=a1 wname:=stairs
```
Where the `rname` means robot name, which can be `laikago`, `aliengo`, `a1` or `go1`. The `wname` means world name, which can be `earth`, `space` or `stairs`. And the default value of `rname` is `laikago`, while the default value of `wname` is `earth`. In Gazebo, the robot should be lying on the ground with joints not activated.
### Stand controller
After launching the gazebo simulation, you can start to control the robot:
```
rosrun unitree_controller unitree_servo
```
And you can add external disturbances, like a push or a kick:
```
rosrun unitree_controller unitree_external_force
```
### Position and pose publisher
Here we demonstrated how to control the position and pose of robot without a controller, which should be useful in SLAM or visual development.
Then run the position and pose publisher in another terminal:
```
rosrun unitree_controller unitree_move_kinetic
```
The robot will turn around the origin, which is the movement under the world coordinate frame. And inside of the source file [move_publisher.cpp](https://github.com/unitreerobotics/unitree_ros/blob/master/unitree_controller/src/move_publisher.cpp), we also provide the method to move using the robot coordinate frame. You can change the value of `def_frame` to `coord::ROBOT` and run the catkin_make again, then the `unitree_move_publisher` will move robot under its own coordinate frame.
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/unitree_ros-CHAMP/unitree_gazebo/CMakeLists.txt | cmake_minimum_required(VERSION 2.8.3)
project(unitree_gazebo)
find_package(catkin REQUIRED COMPONENTS
controller_manager
genmsg
joint_state_controller
robot_state_publisher
roscpp
gazebo_ros
std_msgs
tf
geometry_msgs
unitree_legged_msgs
)
find_package(gazebo REQUIRED)
catkin_package(
CATKIN_DEPENDS
unitree_legged_msgs
)
include_directories(
# include
${Boost_INCLUDE_DIR}
${catkin_INCLUDE_DIRS}
${GAZEBO_INCLUDE_DIRS}
)
link_directories(${GAZEBO_LIBRARY_DIRS})
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}")
# # Declare a C++ library
# add_library(${PROJECT_NAME}
# src/body.cpp
# )
# add_dependencies(${PROJECT_NAME} unitree_legged_msgs_gencpp)
# target_link_libraries(${PROJECT_NAME}
# ${catkin_LIBRARIES} ${EXTRA_LIBS}
# )
add_library(unitreeFootContactPlugin SHARED plugin/foot_contact_plugin.cc)
target_link_libraries(unitreeFootContactPlugin ${catkin_LIBRARIES} ${GAZEBO_LIBRARIES})
add_library(unitreeDrawForcePlugin SHARED plugin/draw_force_plugin.cc)
target_link_libraries(unitreeDrawForcePlugin ${catkin_LIBRARIES} ${GAZEBO_LIBRARIES})
# add_executable(unitree_external_force src/exe/external_force.cpp)
# target_link_libraries(unitree_external_force ${catkin_LIBRARIES})
# add_executable(unitree_servo src/exe/servo.cpp)
# target_link_libraries(unitree_servo ${PROJECT_NAME} ${catkin_LIBRARIES})
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/unitree_ros-CHAMP/unitree_gazebo/package.xml | <?xml version="1.0"?>
<package format="2">
<name>unitree_gazebo</name>
<version>0.0.0</version>
<description>The unitree_gazebo package. It can start a gazebo simulation</description>
<maintainer email="[email protected]">unitree</maintainer>
<license>TODO</license>
<buildtool_depend>catkin</buildtool_depend>
<buildtool_depend>genmsg</buildtool_depend>
<build_depend>controller_manager</build_depend>
<build_depend>joint_state_controller</build_depend>
<build_depend>robot_state_publisher</build_depend>
<build_depend>roscpp</build_depend>
<build_depend>std_msgs</build_depend>
<build_export_depend>controller_manager</build_export_depend>
<build_export_depend>joint_state_controller</build_export_depend>
<build_export_depend>robot_state_publisher</build_export_depend>
<build_export_depend>roscpp</build_export_depend>
<build_export_depend>std_msgs</build_export_depend>
<exec_depend>controller_manager</exec_depend>
<exec_depend>joint_state_controller</exec_depend>
<exec_depend>robot_state_publisher</exec_depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>std_msgs</exec_depend>
<depend>unitree_legged_msgs</depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
<gazebo_ros plugin_path="${prefix}/lib" gazebo_media_path="${prefix}"/>
</export>
</package>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/unitree_ros-CHAMP/unitree_gazebo/launch/normal.launch | <launch>
<arg name="wname" default="earth"/>
<arg name="rname" default="laikago"/>
<arg name="robot_path" value="(find $(arg rname)_description)"/>
<arg name="dollar" value="$"/>
<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"/>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find unitree_gazebo)/worlds/$(arg wname).world"/>
<arg name="debug" value="$(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 dollar)$(arg robot_path)/xacro/robot.xacro'
DEBUG:=$(arg user_debug)"/>
<!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
<!-- Set trunk and joint positions at startup -->
<node pkg="gazebo_ros" type="spawn_model" name="urdf_spawner" respawn="false" output="screen"
args="-urdf -z 0.6 -model $(arg rname)_gazebo -param robot_description -unpause"/>
<!-- Load joint controller configurations from YAML file to parameter server -->
<rosparam file="$(arg dollar)$(arg robot_path)/config/robot_control.yaml" command="load"/>
<!-- load the controllers -->
<node pkg="controller_manager" type="spawner" name="controller_spawner" respawn="false"
output="screen" ns="/$(arg rname)_gazebo" args="joint_state_controller
FL_hip_controller FL_thigh_controller FL_calf_controller
FR_hip_controller FR_thigh_controller FR_calf_controller
RL_hip_controller RL_thigh_controller RL_calf_controller
RR_hip_controller RR_thigh_controller RR_calf_controller "/>
<!-- 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="/$(arg rname)_gazebo/joint_states"/>
</node>
<!-- <node pkg="unitree_gazebo" type="servo" name="servo" required="true" output="screen"/> -->
<!-- load the parameter unitree_controller -->
<include file="$(find unitree_controller)/launch/set_ctrl.launch">
<arg name="rname" value="$(arg rname)"/>
</include>
</launch>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/unitree_ros-CHAMP/unitree_gazebo/plugin/foot_contact_plugin.cc | /************************************************************************
Copyright (c) 2018-2019, Unitree Robotics.Co.Ltd. All rights reserved.
Use of this source code is governed by the MPL-2.0 license, see LICENSE.
************************************************************************/
#include <string>
#include <gazebo/common/Events.hh>
#include <ros/ros.h>
#include <ros/advertise_options.h>
#include <gazebo/gazebo.hh>
#include <gazebo/sensors/sensors.hh>
#include <geometry_msgs/WrenchStamped.h>
namespace gazebo
{
class UnitreeFootContactPlugin : public SensorPlugin
{
public:
UnitreeFootContactPlugin() : SensorPlugin(){}
~UnitreeFootContactPlugin(){}
void Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf)
{
this->parentSensor = std::dynamic_pointer_cast<sensors::ContactSensor>(_sensor); // Make sure the parent sensor is valid.
if (!this->parentSensor){
gzerr << "UnitreeFootContactPlugin requires a ContactSensor.\n";
return;
}
this->contact_namespace = "contact/";
this->rosnode = new ros::NodeHandle(this->contact_namespace);
// add "visual" is for the same name of draw node
this->force_pub = this->rosnode->advertise<geometry_msgs::WrenchStamped>("/visual/"+_sensor->Name()+"/the_force", 100);
// Connect to the sensor update event.
this->update_connection = this->parentSensor->ConnectUpdated(std::bind(&UnitreeFootContactPlugin::OnUpdate, this));
this->parentSensor->SetActive(true); // Make sure the parent sensor is active.
count = 0;
Fx = 0;
Fy = 0;
Fz = 0;
ROS_INFO("Load %s plugin.", _sensor->Name().c_str());
}
private:
void OnUpdate()
{
msgs::Contacts contacts;
contacts = this->parentSensor->Contacts();
count = contacts.contact_size();
// std::cout << count <<"\n";
for (unsigned int i = 0; i < count; ++i){
if(contacts.contact(i).position_size() != 1){
ROS_ERROR("Contact count isn't correct!!!!");
}
for (unsigned int j = 0; j < contacts.contact(i).position_size(); ++j){
// std::cout << i <<" "<< contacts.contact(i).position_size() <<" Force:"
// << contacts.contact(i).wrench(j).body_1_wrench().force().x() << " "
// << contacts.contact(i).wrench(j).body_1_wrench().force().y() << " "
// << contacts.contact(i).wrench(j).body_1_wrench().force().z() << "\n";
Fx += contacts.contact(i).wrench(0).body_1_wrench().force().x(); // Notice: the force is in local coordinate, not in world or base coordnate.
Fy += contacts.contact(i).wrench(0).body_1_wrench().force().y();
Fz += contacts.contact(i).wrench(0).body_1_wrench().force().z();
}
}
if(count != 0){
force.wrench.force.x = Fx/double(count);
force.wrench.force.y = Fy/double(count);
force.wrench.force.z = Fz/double(count);
count = 0;
Fx = 0;
Fy = 0;
Fz = 0;
}
else{
force.wrench.force.x = 0;
force.wrench.force.y = 0;
force.wrench.force.z = 0;
}
this->force_pub.publish(force);
}
private:
ros::NodeHandle* rosnode;
ros::Publisher force_pub;
event::ConnectionPtr update_connection;
std::string contact_namespace;
sensors::ContactSensorPtr parentSensor;
geometry_msgs::WrenchStamped force;
int count = 0;
double Fx=0, Fy=0, Fz=0;
};
GZ_REGISTER_SENSOR_PLUGIN(UnitreeFootContactPlugin)
}
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/unitree_ros-CHAMP/unitree_gazebo/plugin/draw_force_plugin.cc | /************************************************************************
Copyright (c) 2018-2019, Unitree Robotics.Co.Ltd. All rights reserved.
Use of this source code is governed by the MPL-2.0 license, see LICENSE.
************************************************************************/
#include <ignition/math/Color.hh>
#include <gazebo/common/Events.hh>
#include <gazebo/msgs/msgs.hh>
#include <gazebo/transport/Node.hh>
#include <gazebo/common/Plugin.hh>
#include <ros/ros.h>
#include "gazebo/rendering/DynamicLines.hh"
#include "gazebo/rendering/RenderTypes.hh"
#include "gazebo/rendering/Visual.hh"
#include "gazebo/rendering/Scene.hh"
#include <ros/ros.h>
#include <boost/bind.hpp>
#include <geometry_msgs/WrenchStamped.h>
namespace gazebo
{
class UnitreeDrawForcePlugin : public VisualPlugin
{
public:
UnitreeDrawForcePlugin():line(NULL){}
~UnitreeDrawForcePlugin(){
this->visual->DeleteDynamicLine(this->line);
}
void Load(rendering::VisualPtr _parent, sdf::ElementPtr _sdf )
{
this->visual = _parent;
this->visual_namespace = "visual/";
if (!_sdf->HasElement("topicName")){
ROS_INFO("Force draw plugin missing <topicName>, defaults to /default_force_draw");
this->topic_name = "/default_force_draw";
} else{
this->topic_name = _sdf->Get<std::string>("topicName");
}
if (!ros::isInitialized()){
int argc = 0;
char** argv = NULL;
ros::init(argc,argv,"gazebo_visual",ros::init_options::NoSigintHandler|ros::init_options::AnonymousName);
}
this->line = this->visual->CreateDynamicLine(rendering::RENDERING_LINE_STRIP);
this->line->AddPoint(ignition::math::Vector3d(0, 0, 0), common::Color(0, 1, 0, 1.0));
this->line->AddPoint(ignition::math::Vector3d(1, 1, 1), common::Color(0, 1, 0, 1.0));
this->line->setMaterial("Gazebo/Purple");
this->line->setVisibilityFlags(GZ_VISIBILITY_GUI);
this->visual->SetVisible(true);
this->rosnode = new ros::NodeHandle(this->visual_namespace);
this->force_sub = this->rosnode->subscribe(this->topic_name+"/"+"the_force", 30, &UnitreeDrawForcePlugin::GetForceCallback, this);
this->update_connection = event::Events::ConnectPreRender(boost::bind(&UnitreeDrawForcePlugin::OnUpdate, this));
ROS_INFO("Load %s Draw Force plugin.", this->topic_name.c_str());
}
void OnUpdate()
{
this->line->SetPoint(1, ignition::math::Vector3d(Fx, Fy, Fz));
}
void GetForceCallback(const geometry_msgs::WrenchStamped & msg)
{
Fx = msg.wrench.force.x/20.0;
Fy = msg.wrench.force.y/20.0;
Fz = msg.wrench.force.z/20.0;
// Fx = msg.wrench.force.x;
// Fy = msg.wrench.force.y;
// Fz = msg.wrench.force.z;
}
private:
ros::NodeHandle* rosnode;
std::string topic_name;
rendering::VisualPtr visual;
rendering::DynamicLines *line;
std::string visual_namespace;
ros::Subscriber force_sub;
double Fx=0, Fy=0, Fz=0;
event::ConnectionPtr update_connection;
};
GZ_REGISTER_VISUAL_PLUGIN(UnitreeDrawForcePlugin)
}
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/unitree_ros-CHAMP/unitree_gazebo/worlds/building_editor_models/stairs/model.config | <?xml version="1.0" ?>
<model>
<name>stairs</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<author>
<name></name>
<email></email>
</author>
<description></description>
</model>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/unitree_ros-CHAMP/unitree_gazebo/worlds/building_editor_models/stairs/model.sdf | <?xml version='1.0'?>
<sdf version='1.6'>
<model name='stairs'>
<pose frame=''>3.7 0.009 0 0 -0 0</pose>
<link name='Stairs_1'>
<visual name='Stairs_1_Visual_0'>
<pose frame=''>-0.375 -0 0.09 0 -0 1.5708</pose>
<geometry>
<box>
<size>2 0.25 0.18</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<collision name='Stairs_1_Collision_0'>
<geometry>
<box>
<size>2 0.25 0.18</size>
</box>
</geometry>
<pose frame=''>-0.375 -0 0.09 0 -0 1.5708</pose>
</collision>
<visual name='Stairs_1_Visual_1'>
<pose frame=''>-0.125 -0 0.27 0 -0 1.5708</pose>
<geometry>
<box>
<size>2 0.25 0.18</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<collision name='Stairs_1_Collision_1'>
<geometry>
<box>
<size>2 0.25 0.18</size>
</box>
</geometry>
<pose frame=''>-0.125 -0 0.27 0 -0 1.5708</pose>
</collision>
<visual name='Stairs_1_Visual_2'>
<pose frame=''>0.125 0 0.45 0 -0 1.5708</pose>
<geometry>
<box>
<size>2 0.25 0.18</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<collision name='Stairs_1_Collision_2'>
<geometry>
<box>
<size>2 0.25 0.18</size>
</box>
</geometry>
<pose frame=''>0.125 0 0.45 0 -0 1.5708</pose>
</collision>
<visual name='Stairs_1_Visual_3'>
<pose frame=''>0.375 0 0.63 0 -0 1.5708</pose>
<geometry>
<box>
<size>2 0.25 0.18</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<collision name='Stairs_1_Collision_3'>
<geometry>
<box>
<size>2 0.25 0.18</size>
</box>
</geometry>
<pose frame=''>0.375 0 0.63 0 -0 1.5708</pose>
</collision>
</link>
<static>1</static>
</model>
</sdf>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/unitree_ros-CHAMP/unitree_controller/CMakeLists.txt | cmake_minimum_required(VERSION 2.8.3)
project(unitree_controller)
find_package(catkin REQUIRED COMPONENTS
controller_manager
genmsg
joint_state_controller
robot_state_publisher
roscpp
gazebo_ros
std_msgs
tf
geometry_msgs
unitree_legged_msgs
)
find_package(gazebo REQUIRED)
catkin_package(
CATKIN_DEPENDS
unitree_legged_msgs
)
include_directories(
include
${Boost_INCLUDE_DIR}
${catkin_INCLUDE_DIRS}
${GAZEBO_INCLUDE_DIRS}
)
link_directories(${GAZEBO_LIBRARY_DIRS})
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}")
# Declare a C++ library
add_library(${PROJECT_NAME}
src/body.cpp
)
add_dependencies(${PROJECT_NAME} unitree_legged_msgs_gencpp)
target_link_libraries(${PROJECT_NAME}
${catkin_LIBRARIES} ${EXTRA_LIBS}
)
# add_library(unitreeFootContactPlugin SHARED plugin/foot_contact_plugin.cc)
# target_link_libraries(unitreeFootContactPlugin ${catkin_LIBRARIES} ${GAZEBO_LIBRARIES})
# add_library(unitreeDrawForcePlugin SHARED plugin/draw_force_plugin.cc)
# target_link_libraries(unitreeDrawForcePlugin ${catkin_LIBRARIES} ${GAZEBO_LIBRARIES})
add_executable(unitree_external_force src/external_force.cpp)
target_link_libraries(unitree_external_force ${catkin_LIBRARIES})
add_executable(unitree_servo src/servo.cpp)
target_link_libraries(unitree_servo ${PROJECT_NAME} ${catkin_LIBRARIES})
add_executable(unitree_move_kinetic src/move_publisher.cpp)
target_link_libraries(unitree_move_kinetic ${catkin_LIBRARIES}) |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/unitree_ros-CHAMP/unitree_controller/package.xml | <?xml version="1.0"?>
<package format="2">
<name>unitree_controller</name>
<version>0.0.0</version>
<description>The unitree_controller package.</description>
<maintainer email="[email protected]">unitree</maintainer>
<license>TODO</license>
<buildtool_depend>catkin</buildtool_depend>
<buildtool_depend>genmsg</buildtool_depend>
<build_depend>controller_manager</build_depend>
<build_depend>joint_state_controller</build_depend>
<build_depend>robot_state_publisher</build_depend>
<build_depend>roscpp</build_depend>
<build_depend>std_msgs</build_depend>
<build_export_depend>controller_manager</build_export_depend>
<build_export_depend>joint_state_controller</build_export_depend>
<build_export_depend>robot_state_publisher</build_export_depend>
<build_export_depend>roscpp</build_export_depend>
<build_export_depend>std_msgs</build_export_depend>
<exec_depend>controller_manager</exec_depend>
<exec_depend>joint_state_controller</exec_depend>
<exec_depend>robot_state_publisher</exec_depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>std_msgs</exec_depend>
<depend>unitree_legged_msgs</depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
<!-- <gazebo_ros plugin_path="${prefix}/lib" gazebo_media_path="${prefix}"/> -->
</export>
</package>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/unitree_ros-CHAMP/unitree_controller/launch/set_ctrl.launch | <launch>
<arg name="rname" default="laikago"/>
<param name="robot_name" value="$(arg rname)"/>
<!-- <node pkg="unitree_controller" type="unitree_servo" name="unitree_servo" respawn="true"/> -->
</launch> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/unitree_ros-CHAMP/unitree_controller/src/move_publisher.cpp | #include <ros/ros.h>
#include <gazebo_msgs/ModelState.h>
#include <gazebo_msgs/SetModelState.h>
#include <string>
#include <stdio.h>
#include <tf/transform_datatypes.h>
// #include <std_msgs/Float64.h>
#include <math.h>
#include <iostream>
int main(int argc, char **argv)
{
enum coord
{
WORLD,
ROBOT
};
coord def_frame = coord::WORLD;
ros::init(argc, argv, "move_publisher");
ros::NodeHandle nh;
ros::Publisher move_publisher = nh.advertise<gazebo_msgs::ModelState>("/gazebo/set_model_state", 1000);
gazebo_msgs::ModelState model_state_pub;
std::string robot_name;
ros::param::get("/robot_name", robot_name);
std::cout << "robot_name: " << robot_name << std::endl;
model_state_pub.model_name = robot_name + "_gazebo";
ros::Rate loop_rate(1000);
if(def_frame == coord::WORLD)
{
model_state_pub.pose.position.x = 0.0;
model_state_pub.pose.position.y = 0.0;
model_state_pub.pose.position.z = 0.5;
model_state_pub.pose.orientation.x = 0.0;
model_state_pub.pose.orientation.y = 0.0;
model_state_pub.pose.orientation.z = 0.0;
model_state_pub.pose.orientation.w = 1.0;
model_state_pub.reference_frame = "world";
long long time_ms = 0; //time, ms
const double period = 5000; //ms
const double radius = 1.5; //m
tf::Quaternion q;
while(ros::ok())
{
model_state_pub.pose.position.x = radius * sin(2*M_PI*(double)time_ms/period);
model_state_pub.pose.position.y = radius * cos(2*M_PI*(double)time_ms/period);
model_state_pub.pose.orientation = tf::createQuaternionMsgFromRollPitchYaw(0, 0, - 2*M_PI*(double)time_ms/period);
move_publisher.publish(model_state_pub);
loop_rate.sleep();
time_ms += 1;
}
}
else if(def_frame == coord::ROBOT)
{
model_state_pub.twist.linear.x= 0.02; //0.02: 2cm/sec
model_state_pub.twist.linear.y= 0.0;
model_state_pub.twist.linear.z= 0.08;
model_state_pub.twist.angular.x= 0.0;
model_state_pub.twist.angular.y= 0.0;
model_state_pub.twist.angular.z= 0.0;
model_state_pub.reference_frame = "base";
while(ros::ok())
{
move_publisher.publish(model_state_pub);
loop_rate.sleep();
}
}
} |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/unitree_ros-CHAMP/unitree_controller/src/external_force.cpp | /************************************************************************
Copyright (c) 2018-2019, Unitree Robotics.Co.Ltd. All rights reserved.
Use of this source code is governed by the MPL-2.0 license, see LICENSE.
************************************************************************/
#include <ros/ros.h>
#include <geometry_msgs/Wrench.h>
#include <signal.h>
#include <termios.h>
#include <stdio.h>
#define KEYCODE_UP 0x41
#define KEYCODE_DOWN 0x42
#define KEYCODE_LEFT 0x44
#define KEYCODE_RIGHT 0x43
#define KEYCODE_SPACE 0x20
int mode = 1; // pulsed mode or continuous mode
class teleForceCmd
{
public:
teleForceCmd();
void keyLoop();
void pubForce(double x, double y, double z);
private:
double Fx, Fy, Fz;
ros::NodeHandle n;
ros::Publisher force_pub;
geometry_msgs::Wrench Force;
};
teleForceCmd::teleForceCmd()
{
Fx = 0;
Fy = 0;
Fz = 0;
force_pub = n.advertise<geometry_msgs::Wrench>("/apply_force/trunk", 20);
sleep(1);
pubForce(Fx, Fy, Fz);
}
int kfd = 0;
struct termios cooked, raw;
void quit(int sig)
{
tcsetattr(kfd, TCSANOW, &cooked);
ros::shutdown();
exit(0);
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "external_force");
teleForceCmd remote;
signal(SIGINT,quit);
remote.keyLoop();
return(0);
}
void teleForceCmd::pubForce(double x, double y, double z)
{
Force.force.x = Fx;
Force.force.y = Fy;
Force.force.z = Fz;
force_pub.publish(Force);
ros::spinOnce();
}
void teleForceCmd::keyLoop()
{
char c;
bool dirty=false;
// get the console in raw mode
tcgetattr(kfd, &cooked);
memcpy(&raw, &cooked, sizeof(struct termios));
raw.c_lflag &=~ (ICANON | ECHO);
// Setting a new line, then end of file
raw.c_cc[VEOL] = 1;
raw.c_cc[VEOF] = 2;
tcsetattr(kfd, TCSANOW, &raw);
puts("Reading from keyboard");
puts("---------------------------");
puts("Use 'Space' to change mode, default is Pulsed mode:");
puts("Use 'Up/Down/Left/Right' to change direction");
for(;;){
// get the next event from the keyboard
if(read(kfd, &c, 1) < 0){
perror("read():");
exit(-1);
}
ROS_DEBUG("value: 0x%02X\n", c);
switch(c){
case KEYCODE_UP:
if(mode > 0) {
Fx = 60;
} else {
Fx += 16;
if(Fx > 220) Fx = 220;
if(Fx < -220) Fx = -220;
}
ROS_INFO("Fx:%3d Fy:%3d Fz:%3d", (int)Fx, (int)Fy, (int)Fz);
dirty = true;
break;
case KEYCODE_DOWN:
if(mode > 0) {
Fx = -60;
} else {
Fx -= 16;
if(Fx > 220) Fx = 220;
if(Fx < -220) Fx = -220;
}
ROS_INFO("Fx:%3d Fy:%3d Fz:%3d", (int)Fx, (int)Fy, (int)Fz);
dirty = true;
break;
case KEYCODE_LEFT:
if(mode > 0) {
Fy = 30;
} else {
Fy += 8;
if(Fy > 220) Fy = 220;
if(Fy < -220) Fy = -220;
}
ROS_INFO("Fx:%3d Fy:%3d Fz:%3d", (int)Fx, (int)Fy, (int)Fz);
dirty = true;
break;
case KEYCODE_RIGHT:
if(mode > 0) {
Fy = -30;
} else {
Fy -= 8;
if(Fy > 220) Fy = 220;
if(Fy < -220) Fy = -220;
}
ROS_INFO("Fx:%3d Fy:%3d Fz:%3d", (int)Fx, (int)Fy, (int)Fz);
dirty = true;
break;
case KEYCODE_SPACE:
mode = mode*(-1);
if(mode > 0){
ROS_INFO("Change to Pulsed mode.");
} else {
ROS_INFO("Change to Continuous mode.");
}
Fx = 0;
Fy = 0;
Fz = 0;
ROS_INFO("Fx:%3d Fy:%3d Fz:%3d", (int)Fx, (int)Fy, (int)Fz);
dirty = true;
break;
}
if(dirty == true){
pubForce(Fx, Fy, Fz);
if(mode > 0){
usleep(100000); // 100 ms
Fx = 0;
Fy = 0;
Fz = 0;
pubForce(Fx, Fy, Fz);
}
dirty=false;
}
}
return;
}
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/unitree_ros-CHAMP/unitree_controller/src/body.cpp | /************************************************************************
Copyright (c) 2018-2019, Unitree Robotics.Co.Ltd. All rights reserved.
Use of this source code is governed by the MPL-2.0 license, see LICENSE.
************************************************************************/
#include "body.h"
namespace unitree_model {
ros::Publisher servo_pub[12];
unitree_legged_msgs::LowCmd lowCmd;
unitree_legged_msgs::LowState lowState;
// These parameters are only for reference.
// Actual patameters need to be debugged if you want to run on real robot.
void paramInit()
{
for(int i=0; i<4; i++){
lowCmd.motorCmd[i*3+0].mode = 0x0A;
lowCmd.motorCmd[i*3+0].Kp = 70;
lowCmd.motorCmd[i*3+0].dq = 0;
lowCmd.motorCmd[i*3+0].Kd = 3;
lowCmd.motorCmd[i*3+0].tau = 0;
lowCmd.motorCmd[i*3+1].mode = 0x0A;
lowCmd.motorCmd[i*3+1].Kp = 180;
lowCmd.motorCmd[i*3+1].dq = 0;
lowCmd.motorCmd[i*3+1].Kd = 8;
lowCmd.motorCmd[i*3+1].tau = 0;
lowCmd.motorCmd[i*3+2].mode = 0x0A;
lowCmd.motorCmd[i*3+2].Kp = 300;
lowCmd.motorCmd[i*3+2].dq = 0;
lowCmd.motorCmd[i*3+2].Kd = 15;
lowCmd.motorCmd[i*3+2].tau = 0;
}
for(int i=0; i<12; i++){
lowCmd.motorCmd[i].q = lowState.motorState[i].q;
}
}
void stand()
{
double pos[12] = {0.0, 0.67, -1.3, -0.0, 0.67, -1.3,
0.0, 0.67, -1.3, -0.0, 0.67, -1.3};
moveAllPosition(pos, 2*1000);
}
void motion_init()
{
paramInit();
stand();
}
void sendServoCmd()
{
for(int m=0; m<12; m++){
servo_pub[m].publish(lowCmd.motorCmd[m]);
}
ros::spinOnce();
usleep(1000);
}
void moveAllPosition(double* targetPos, double duration)
{
double pos[12] ,lastPos[12], percent;
for(int j=0; j<12; j++) lastPos[j] = lowState.motorState[j].q;
for(int i=1; i<=duration; i++){
if(!ros::ok()) break;
percent = (double)i/duration;
for(int j=0; j<12; j++){
lowCmd.motorCmd[j].q = lastPos[j]*(1-percent) + targetPos[j]*percent;
}
sendServoCmd();
}
}
}
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/unitree_ros-CHAMP/unitree_controller/src/servo.cpp | /************************************************************************
Copyright (c) 2018-2019, Unitree Robotics.Co.Ltd. All rights reserved.
Use of this source code is governed by the MPL-2.0 license, see LICENSE.
************************************************************************/
#include "ros/ros.h"
#include <stdio.h>
#include <stdlib.h>
#include "unitree_legged_msgs/LowCmd.h"
#include "unitree_legged_msgs/LowState.h"
#include "unitree_legged_msgs/MotorCmd.h"
#include "unitree_legged_msgs/MotorState.h"
#include <geometry_msgs/WrenchStamped.h>
#include <sensor_msgs/Imu.h>
#include <std_msgs/Bool.h>
#include <vector>
#include <string>
#include <math.h>
#include <nav_msgs/Odometry.h>
#include "body.h"
using namespace std;
using namespace unitree_model;
bool start_up = true;
class multiThread
{
public:
multiThread(string rname){
robot_name = rname;
imu_sub = nm.subscribe("/trunk_imu", 1, &multiThread::imuCallback, this);
footForce_sub[0] = nm.subscribe("/visual/FR_foot_contact/the_force", 1, &multiThread::FRfootCallback, this);
footForce_sub[1] = nm.subscribe("/visual/FL_foot_contact/the_force", 1, &multiThread::FLfootCallback, this);
footForce_sub[2] = nm.subscribe("/visual/RR_foot_contact/the_force", 1, &multiThread::RRfootCallback, this);
footForce_sub[3] = nm.subscribe("/visual/RL_foot_contact/the_force", 1, &multiThread::RLfootCallback, this);
servo_sub[0] = nm.subscribe("/" + robot_name + "_gazebo/FR_hip_controller/state", 1, &multiThread::FRhipCallback, this);
servo_sub[1] = nm.subscribe("/" + robot_name + "_gazebo/FR_thigh_controller/state", 1, &multiThread::FRthighCallback, this);
servo_sub[2] = nm.subscribe("/" + robot_name + "_gazebo/FR_calf_controller/state", 1, &multiThread::FRcalfCallback, this);
servo_sub[3] = nm.subscribe("/" + robot_name + "_gazebo/FL_hip_controller/state", 1, &multiThread::FLhipCallback, this);
servo_sub[4] = nm.subscribe("/" + robot_name + "_gazebo/FL_thigh_controller/state", 1, &multiThread::FLthighCallback, this);
servo_sub[5] = nm.subscribe("/" + robot_name + "_gazebo/FL_calf_controller/state", 1, &multiThread::FLcalfCallback, this);
servo_sub[6] = nm.subscribe("/" + robot_name + "_gazebo/RR_hip_controller/state", 1, &multiThread::RRhipCallback, this);
servo_sub[7] = nm.subscribe("/" + robot_name + "_gazebo/RR_thigh_controller/state", 1, &multiThread::RRthighCallback, this);
servo_sub[8] = nm.subscribe("/" + robot_name + "_gazebo/RR_calf_controller/state", 1, &multiThread::RRcalfCallback, this);
servo_sub[9] = nm.subscribe("/" + robot_name + "_gazebo/RL_hip_controller/state", 1, &multiThread::RLhipCallback, this);
servo_sub[10] = nm.subscribe("/" + robot_name + "_gazebo/RL_thigh_controller/state", 1, &multiThread::RLthighCallback, this);
servo_sub[11] = nm.subscribe("/" + robot_name + "_gazebo/RL_calf_controller/state", 1, &multiThread::RLcalfCallback, this);
}
void imuCallback(const sensor_msgs::Imu & msg)
{
lowState.imu.quaternion[0] = msg.orientation.w;
lowState.imu.quaternion[1] = msg.orientation.x;
lowState.imu.quaternion[2] = msg.orientation.y;
lowState.imu.quaternion[3] = msg.orientation.z;
lowState.imu.gyroscope[0] = msg.angular_velocity.x;
lowState.imu.gyroscope[1] = msg.angular_velocity.y;
lowState.imu.gyroscope[2] = msg.angular_velocity.z;
lowState.imu.accelerometer[0] = msg.linear_acceleration.x;
lowState.imu.accelerometer[1] = msg.linear_acceleration.y;
lowState.imu.accelerometer[2] = msg.linear_acceleration.z;
}
void FRhipCallback(const unitree_legged_msgs::MotorState& msg)
{
start_up = false;
lowState.motorState[0].mode = msg.mode;
lowState.motorState[0].q = msg.q;
lowState.motorState[0].dq = msg.dq;
lowState.motorState[0].tauEst = msg.tauEst;
}
void FRthighCallback(const unitree_legged_msgs::MotorState& msg)
{
lowState.motorState[1].mode = msg.mode;
lowState.motorState[1].q = msg.q;
lowState.motorState[1].dq = msg.dq;
lowState.motorState[1].tauEst = msg.tauEst;
}
void FRcalfCallback(const unitree_legged_msgs::MotorState& msg)
{
lowState.motorState[2].mode = msg.mode;
lowState.motorState[2].q = msg.q;
lowState.motorState[2].dq = msg.dq;
lowState.motorState[2].tauEst = msg.tauEst;
}
void FLhipCallback(const unitree_legged_msgs::MotorState& msg)
{
start_up = false;
lowState.motorState[3].mode = msg.mode;
lowState.motorState[3].q = msg.q;
lowState.motorState[3].dq = msg.dq;
lowState.motorState[3].tauEst = msg.tauEst;
}
void FLthighCallback(const unitree_legged_msgs::MotorState& msg)
{
lowState.motorState[4].mode = msg.mode;
lowState.motorState[4].q = msg.q;
lowState.motorState[4].dq = msg.dq;
lowState.motorState[4].tauEst = msg.tauEst;
}
void FLcalfCallback(const unitree_legged_msgs::MotorState& msg)
{
lowState.motorState[5].mode = msg.mode;
lowState.motorState[5].q = msg.q;
lowState.motorState[5].dq = msg.dq;
lowState.motorState[5].tauEst = msg.tauEst;
}
void RRhipCallback(const unitree_legged_msgs::MotorState& msg)
{
start_up = false;
lowState.motorState[6].mode = msg.mode;
lowState.motorState[6].q = msg.q;
lowState.motorState[6].dq = msg.dq;
lowState.motorState[6].tauEst = msg.tauEst;
}
void RRthighCallback(const unitree_legged_msgs::MotorState& msg)
{
lowState.motorState[7].mode = msg.mode;
lowState.motorState[7].q = msg.q;
lowState.motorState[7].dq = msg.dq;
lowState.motorState[7].tauEst = msg.tauEst;
}
void RRcalfCallback(const unitree_legged_msgs::MotorState& msg)
{
lowState.motorState[8].mode = msg.mode;
lowState.motorState[8].q = msg.q;
lowState.motorState[8].dq = msg.dq;
lowState.motorState[8].tauEst = msg.tauEst;
}
void RLhipCallback(const unitree_legged_msgs::MotorState& msg)
{
start_up = false;
lowState.motorState[9].mode = msg.mode;
lowState.motorState[9].q = msg.q;
lowState.motorState[9].dq = msg.dq;
lowState.motorState[9].tauEst = msg.tauEst;
}
void RLthighCallback(const unitree_legged_msgs::MotorState& msg)
{
lowState.motorState[10].mode = msg.mode;
lowState.motorState[10].q = msg.q;
lowState.motorState[10].dq = msg.dq;
lowState.motorState[10].tauEst = msg.tauEst;
}
void RLcalfCallback(const unitree_legged_msgs::MotorState& msg)
{
lowState.motorState[11].mode = msg.mode;
lowState.motorState[11].q = msg.q;
lowState.motorState[11].dq = msg.dq;
lowState.motorState[11].tauEst = msg.tauEst;
}
void FRfootCallback(const geometry_msgs::WrenchStamped& msg)
{
lowState.eeForce[0].x = msg.wrench.force.x;
lowState.eeForce[0].y = msg.wrench.force.y;
lowState.eeForce[0].z = msg.wrench.force.z;
lowState.footForce[0] = msg.wrench.force.z;
}
void FLfootCallback(const geometry_msgs::WrenchStamped& msg)
{
lowState.eeForce[1].x = msg.wrench.force.x;
lowState.eeForce[1].y = msg.wrench.force.y;
lowState.eeForce[1].z = msg.wrench.force.z;
lowState.footForce[1] = msg.wrench.force.z;
}
void RRfootCallback(const geometry_msgs::WrenchStamped& msg)
{
lowState.eeForce[2].x = msg.wrench.force.x;
lowState.eeForce[2].y = msg.wrench.force.y;
lowState.eeForce[2].z = msg.wrench.force.z;
lowState.footForce[2] = msg.wrench.force.z;
}
void RLfootCallback(const geometry_msgs::WrenchStamped& msg)
{
lowState.eeForce[3].x = msg.wrench.force.x;
lowState.eeForce[3].y = msg.wrench.force.y;
lowState.eeForce[3].z = msg.wrench.force.z;
lowState.footForce[3] = msg.wrench.force.z;
}
private:
ros::NodeHandle nm;
ros::Subscriber servo_sub[12], footForce_sub[4], imu_sub;
string robot_name;
};
int main(int argc, char **argv)
{
ros::init(argc, argv, "unitree_gazebo_servo");
string robot_name;
ros::param::get("/robot_name", robot_name);
cout << "robot_name: " << robot_name << endl;
multiThread listen_publish_obj(robot_name);
ros::AsyncSpinner spinner(1); // one threads
spinner.start();
usleep(300000); // must wait 300ms, to get first state
ros::NodeHandle n;
ros::Publisher lowState_pub; //for rviz visualization
// ros::Rate loop_rate(1000);
// the following nodes have been initialized by "gazebo.launch"
lowState_pub = n.advertise<unitree_legged_msgs::LowState>("/" + robot_name + "_gazebo/lowState/state", 1);
servo_pub[0] = n.advertise<unitree_legged_msgs::MotorCmd>("/" + robot_name + "_gazebo/FR_hip_controller/command", 1);
servo_pub[1] = n.advertise<unitree_legged_msgs::MotorCmd>("/" + robot_name + "_gazebo/FR_thigh_controller/command", 1);
servo_pub[2] = n.advertise<unitree_legged_msgs::MotorCmd>("/" + robot_name + "_gazebo/FR_calf_controller/command", 1);
servo_pub[3] = n.advertise<unitree_legged_msgs::MotorCmd>("/" + robot_name + "_gazebo/FL_hip_controller/command", 1);
servo_pub[4] = n.advertise<unitree_legged_msgs::MotorCmd>("/" + robot_name + "_gazebo/FL_thigh_controller/command", 1);
servo_pub[5] = n.advertise<unitree_legged_msgs::MotorCmd>("/" + robot_name + "_gazebo/FL_calf_controller/command", 1);
servo_pub[6] = n.advertise<unitree_legged_msgs::MotorCmd>("/" + robot_name + "_gazebo/RR_hip_controller/command", 1);
servo_pub[7] = n.advertise<unitree_legged_msgs::MotorCmd>("/" + robot_name + "_gazebo/RR_thigh_controller/command", 1);
servo_pub[8] = n.advertise<unitree_legged_msgs::MotorCmd>("/" + robot_name + "_gazebo/RR_calf_controller/command", 1);
servo_pub[9] = n.advertise<unitree_legged_msgs::MotorCmd>("/" + robot_name + "_gazebo/RL_hip_controller/command", 1);
servo_pub[10] = n.advertise<unitree_legged_msgs::MotorCmd>("/" + robot_name + "_gazebo/RL_thigh_controller/command", 1);
servo_pub[11] = n.advertise<unitree_legged_msgs::MotorCmd>("/" + robot_name + "_gazebo/RL_calf_controller/command", 1);
motion_init();
while (ros::ok()){
/*
control logic
*/
lowState_pub.publish(lowState);
sendServoCmd();
}
return 0;
}
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/unitree_ros-CHAMP/unitree_controller/include/body.h | /************************************************************************
Copyright (c) 2018-2019, Unitree Robotics.Co.Ltd. All rights reserved.
Use of this source code is governed by the MPL-2.0 license, see LICENSE.
************************************************************************/
#ifndef __BODY_H__
#define __BODY_H__
#include "ros/ros.h"
#include "unitree_legged_msgs/LowCmd.h"
#include "unitree_legged_msgs/LowState.h"
#include "unitree_legged_msgs/HighState.h"
#define PosStopF (2.146E+9f)
#define VelStopF (16000.f)
namespace unitree_model {
extern ros::Publisher servo_pub[12];
extern ros::Publisher highState_pub;
extern unitree_legged_msgs::LowCmd lowCmd;
extern unitree_legged_msgs::LowState lowState;
void stand();
void motion_init();
void sendServoCmd();
void moveAllPosition(double* jointPositions, double duration);
}
#endif
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/unitree_ros-CHAMP/unitree_legged_control/unitree_controller_plugins.xml | <library path="lib/libunitree_legged_control">
<class name="unitree_legged_control/UnitreeJointController"
type="unitree_legged_control::UnitreeJointController"
base_class_type="controller_interface::ControllerBase"/>
<description>
The unitree joint controller.
</description>
</library>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/unitree_ros-CHAMP/unitree_legged_control/CMakeLists.txt | cmake_minimum_required(VERSION 2.8.3)
project(unitree_legged_control)
find_package(catkin REQUIRED COMPONENTS
controller_interface
hardware_interface
pluginlib
roscpp
realtime_tools
unitree_legged_msgs
)
catkin_package(
CATKIN_DEPENDS
unitree_legged_msgs
controller_interface
hardware_interface
pluginlib
roscpp
INCLUDE_DIRS include
LIBRARIES ${PROJECT_NAME}
)
include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIR})
link_directories($(catkin_LIB_DIRS) lib)
add_library( unitree_legged_control
src/joint_controller.cpp
)
add_dependencies(${PROJECT_NAME} unitree_legged_msgs_gencpp)
target_link_libraries(unitree_legged_control ${catkin_LIBRARIES} unitree_joint_control_tool)
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/unitree_ros-CHAMP/unitree_legged_control/package.xml | <?xml version="1.0"?>
<package format="2">
<name>unitree_legged_control</name>
<version>0.0.0</version>
<description>The unitree_legged_control package</description>
<maintainer email="[email protected]">unitree</maintainer>
<license>TODO</license>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>controller_interface</build_depend>
<build_depend>hardware_interface</build_depend>
<build_depend>pluginlib</build_depend>
<build_depend>roscpp</build_depend>
<build_export_depend>controller_interface</build_export_depend>
<build_export_depend>hardware_interface</build_export_depend>
<build_export_depend>pluginlib</build_export_depend>
<build_export_depend>roscpp</build_export_depend>
<exec_depend>controller_interface</exec_depend>
<exec_depend>hardware_interface</exec_depend>
<exec_depend>pluginlib</exec_depend>
<exec_depend>roscpp</exec_depend>
<depend>unitree_legged_msgs</depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
<controller_interface plugin="${prefix}/unitree_controller_plugins.xml"/>
</export>
</package> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/unitree_ros-CHAMP/unitree_legged_control/src/joint_controller.cpp | /************************************************************************
Copyright (c) 2018-2019, Unitree Robotics.Co.Ltd. All rights reserved.
Use of this source code is governed by the MPL-2.0 license, see LICENSE.
************************************************************************/
// #include "unitree_legged_control/joint_controller.h"
#include "joint_controller.h"
#include <pluginlib/class_list_macros.h>
// #define rqtTune // use rqt or not
namespace unitree_legged_control
{
UnitreeJointController::UnitreeJointController(){
memset(&lastCmd, 0, sizeof(unitree_legged_msgs::MotorCmd));
memset(&lastState, 0, sizeof(unitree_legged_msgs::MotorState));
memset(&servoCmd, 0, sizeof(ServoCmd));
}
UnitreeJointController::~UnitreeJointController(){
sub_ft.shutdown();
sub_cmd.shutdown();
}
void UnitreeJointController::setTorqueCB(const geometry_msgs::WrenchStampedConstPtr& msg)
{
if(isHip) sensor_torque = msg->wrench.torque.x;
else sensor_torque = msg->wrench.torque.y;
// printf("sensor torque%f\n", sensor_torque);
}
void UnitreeJointController::setCommandCB(const unitree_legged_msgs::MotorCmdConstPtr& msg)
{
lastCmd.mode = msg->mode;
lastCmd.q = msg->q;
lastCmd.Kp = msg->Kp;
lastCmd.dq = msg->dq;
lastCmd.Kd = msg->Kd;
lastCmd.tau = msg->tau;
// the writeFromNonRT can be used in RT, if you have the guarantee that
// * no non-rt thread is calling the same function (we're not subscribing to ros callbacks)
// * there is only one single rt thread
command.writeFromNonRT(lastCmd);
}
// Controller initialization in non-realtime
bool UnitreeJointController::init(hardware_interface::EffortJointInterface *robot, ros::NodeHandle &n)
{
isHip = false;
isThigh = false;
isCalf = false;
// rqtTune = false;
sensor_torque = 0;
name_space = n.getNamespace();
if (!n.getParam("joint", joint_name)){
ROS_ERROR("No joint given in namespace: '%s')", n.getNamespace().c_str());
return false;
}
// load pid param from ymal only if rqt need
// if(rqtTune) {
#ifdef rqtTune
// Load PID Controller using gains set on parameter server
if (!pid_controller_.init(ros::NodeHandle(n, "pid")))
return false;
#endif
// }
urdf::Model urdf; // Get URDF info about joint
if (!urdf.initParamWithNodeHandle("robot_description", n)){
ROS_ERROR("Failed to parse urdf file");
return false;
}
joint_urdf = urdf.getJoint(joint_name);
if (!joint_urdf){
ROS_ERROR("Could not find joint '%s' in urdf", joint_name.c_str());
return false;
}
if(joint_name == "FR_hip_joint" || joint_name == "FL_hip_joint" || joint_name == "RR_hip_joint" || joint_name == "RL_hip_joint"){
isHip = true;
}
if(joint_name == "FR_calf_joint" || joint_name == "FL_calf_joint" || joint_name == "RR_calf_joint" || joint_name == "RL_calf_joint"){
isCalf = true;
}
joint = robot->getHandle(joint_name);
// Start command subscriber
sub_ft = n.subscribe(name_space + "/" +"joint_wrench", 1, &UnitreeJointController::setTorqueCB, this);
sub_cmd = n.subscribe("command", 20, &UnitreeJointController::setCommandCB, this);
// pub_state = n.advertise<unitree_legged_msgs::MotorState>(name_space + "/state", 20);
// Start realtime state publisher
controller_state_publisher_.reset(
new realtime_tools::RealtimePublisher<unitree_legged_msgs::MotorState>(n, name_space + "/state", 1));
return true;
}
void UnitreeJointController::setGains(const double &p, const double &i, const double &d, const double &i_max, const double &i_min, const bool &antiwindup)
{
pid_controller_.setGains(p,i,d,i_max,i_min,antiwindup);
}
void UnitreeJointController::getGains(double &p, double &i, double &d, double &i_max, double &i_min, bool &antiwindup)
{
pid_controller_.getGains(p,i,d,i_max,i_min,antiwindup);
}
void UnitreeJointController::getGains(double &p, double &i, double &d, double &i_max, double &i_min)
{
bool dummy;
pid_controller_.getGains(p,i,d,i_max,i_min,dummy);
}
// Controller startup in realtime
void UnitreeJointController::starting(const ros::Time& time)
{
// lastCmd.Kp = 0;
// lastCmd.Kd = 0;
double init_pos = joint.getPosition();
lastCmd.q = init_pos;
lastState.q = init_pos;
lastCmd.dq = 0;
lastState.dq = 0;
lastCmd.tau = 0;
lastState.tauEst = 0;
command.initRT(lastCmd);
pid_controller_.reset();
}
// Controller update loop in realtime
void UnitreeJointController::update(const ros::Time& time, const ros::Duration& period)
{
double currentPos, currentVel, calcTorque;
lastCmd = *(command.readFromRT());
// set command data
if(lastCmd.mode == PMSM) {
servoCmd.pos = lastCmd.q;
positionLimits(servoCmd.pos);
servoCmd.posStiffness = lastCmd.Kp;
if(fabs(lastCmd.q - PosStopF) < 0.00001){
servoCmd.posStiffness = 0;
}
servoCmd.vel = lastCmd.dq;
velocityLimits(servoCmd.vel);
servoCmd.velStiffness = lastCmd.Kd;
if(fabs(lastCmd.dq - VelStopF) < 0.00001){
servoCmd.velStiffness = 0;
}
servoCmd.torque = lastCmd.tau;
effortLimits(servoCmd.torque);
}
if(lastCmd.mode == BRAKE) {
servoCmd.posStiffness = 0;
servoCmd.vel = 0;
servoCmd.velStiffness = 20;
servoCmd.torque = 0;
effortLimits(servoCmd.torque);
}
// } else {
// servoCmd.posStiffness = 0;
// servoCmd.velStiffness = 5;
// servoCmd.torque = 0;
// }
// rqt set P D gains
// if(rqtTune) {
#ifdef rqtTune
double i, i_max, i_min;
getGains(servoCmd.posStiffness,i,servoCmd.velStiffness,i_max,i_min);
#endif
// }
currentPos = joint.getPosition();
currentVel = computeVel(currentPos, (double)lastState.q, (double)lastState.dq, period.toSec());
calcTorque = computeTorque(currentPos, currentVel, servoCmd);
effortLimits(calcTorque);
joint.setCommand(calcTorque);
lastState.q = currentPos;
lastState.dq = currentVel;
// lastState.tauEst = calcTorque;
// lastState.tauEst = sensor_torque;
lastState.tauEst = joint.getEffort();
// pub_state.publish(lastState);
// publish state
if (controller_state_publisher_ && controller_state_publisher_->trylock()) {
controller_state_publisher_->msg_.q = lastState.q;
controller_state_publisher_->msg_.dq = lastState.dq;
controller_state_publisher_->msg_.tauEst = lastState.tauEst;
controller_state_publisher_->unlockAndPublish();
}
// printf("sensor torque%f\n", sensor_torque);
// if(joint_name == "wrist1_joint") printf("wrist1 setp:%f getp:%f t:%f\n", servoCmd.pos, currentPos, calcTorque);
}
// Controller stopping in realtime
void UnitreeJointController::stopping(){}
void UnitreeJointController::positionLimits(double &position)
{
if (joint_urdf->type == urdf::Joint::REVOLUTE || joint_urdf->type == urdf::Joint::PRISMATIC)
clamp(position, joint_urdf->limits->lower, joint_urdf->limits->upper);
}
void UnitreeJointController::velocityLimits(double &velocity)
{
if (joint_urdf->type == urdf::Joint::REVOLUTE || joint_urdf->type == urdf::Joint::PRISMATIC)
clamp(velocity, -joint_urdf->limits->velocity, joint_urdf->limits->velocity);
}
void UnitreeJointController::effortLimits(double &effort)
{
if (joint_urdf->type == urdf::Joint::REVOLUTE || joint_urdf->type == urdf::Joint::PRISMATIC)
clamp(effort, -joint_urdf->limits->effort, joint_urdf->limits->effort);
}
} // namespace
// Register controller to pluginlib
PLUGINLIB_EXPORT_CLASS(unitree_legged_control::UnitreeJointController, controller_interface::ControllerBase);
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/unitree_ros-CHAMP/unitree_legged_control/include/unitree_joint_control_tool.h | /************************************************************************
Copyright (c) 2018-2019, Unitree Robotics.Co.Ltd. All rights reserved.
Use of this source code is governed by the MPL-2.0 license, see LICENSE.
************************************************************************/
// #ifndef _UNITREE_JOINT_CONTROL_TOOL_H_
// #define _UNITREE_JOINT_CONTROL_TOOL_H_
#ifndef _LAIKAGO_CONTROL_TOOL_H_
#define _LAIKAGO_CONTROL_TOOL_H_
#include <stdio.h>
#include <stdint.h>
#include <algorithm>
#include <math.h>
#define posStopF (2.146E+9f) // stop position control mode
#define velStopF (16000.0f) // stop velocity control mode
typedef struct
{
uint8_t mode;
double pos;
double posStiffness;
double vel;
double velStiffness;
double torque;
} ServoCmd;
double clamp(double&, double, double); // eg. clamp(1.5, -1, 1) = 1
double computeVel(double current_position, double last_position, double last_velocity, double duration); // get current velocity
double computeTorque(double current_position, double current_velocity, ServoCmd&); // get torque
#endif
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/unitree_ros-CHAMP/unitree_legged_control/include/joint_controller.h | /************************************************************************
Copyright (c) 2018-2019, Unitree Robotics.Co.Ltd. All rights reserved.
Use of this source code is governed by the MPL-2.0 license, see LICENSE.
************************************************************************/
#ifndef _UNITREE_ROS_JOINT_CONTROLLER_H_
#define _UNITREE_ROS_JOINT_CONTROLLER_H_
#include <ros/node_handle.h>
#include <urdf/model.h>
#include <control_toolbox/pid.h>
#include <boost/scoped_ptr.hpp>
#include <boost/thread/condition.hpp>
#include <realtime_tools/realtime_publisher.h>
#include <hardware_interface/joint_command_interface.h>
#include <controller_interface/controller.h>
#include <std_msgs/Float64.h>
#include <realtime_tools/realtime_buffer.h>
#include <controller_interface/controller.h>
#include <hardware_interface/joint_command_interface.h>
#include "unitree_legged_msgs/MotorCmd.h"
#include "unitree_legged_msgs/MotorState.h"
#include <geometry_msgs/WrenchStamped.h>
#include "unitree_joint_control_tool.h"
#define PMSM (0x0A)
#define BRAKE (0x00)
#define PosStopF (2.146E+9f)
#define VelStopF (16000.0f)
namespace unitree_legged_control
{
class UnitreeJointController: public controller_interface::Controller<hardware_interface::EffortJointInterface>
{
private:
hardware_interface::JointHandle joint;
ros::Subscriber sub_cmd, sub_ft;
// ros::Publisher pub_state;
control_toolbox::Pid pid_controller_;
boost::scoped_ptr<realtime_tools::RealtimePublisher<unitree_legged_msgs::MotorState> > controller_state_publisher_ ;
public:
// bool start_up;
std::string name_space;
std::string joint_name;
float sensor_torque;
bool isHip, isThigh, isCalf, rqtTune;
urdf::JointConstSharedPtr joint_urdf;
realtime_tools::RealtimeBuffer<unitree_legged_msgs::MotorCmd> command;
unitree_legged_msgs::MotorCmd lastCmd;
unitree_legged_msgs::MotorState lastState;
ServoCmd servoCmd;
UnitreeJointController();
~UnitreeJointController();
virtual bool init(hardware_interface::EffortJointInterface *robot, ros::NodeHandle &n);
virtual void starting(const ros::Time& time);
virtual void update(const ros::Time& time, const ros::Duration& period);
virtual void stopping();
void setTorqueCB(const geometry_msgs::WrenchStampedConstPtr& msg);
void setCommandCB(const unitree_legged_msgs::MotorCmdConstPtr& msg);
void positionLimits(double &position);
void velocityLimits(double &velocity);
void effortLimits(double &effort);
void setGains(const double &p, const double &i, const double &d, const double &i_max, const double &i_min, const bool &antiwindup = false);
void getGains(double &p, double &i, double &d, double &i_max, double &i_min, bool &antiwindup);
void getGains(double &p, double &i, double &d, double &i_max, double &i_min);
};
}
#endif
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/unitree_ros-CHAMP/robots/laikago_description/CMakeLists.txt | cmake_minimum_required(VERSION 2.8.3)
project(laikago_description)
find_package(catkin REQUIRED COMPONENTS
genmsg
roscpp
std_msgs
tf
)
catkin_package(
CATKIN_DEPENDS
)
include_directories(
# include
${Boost_INCLUDE_DIR}
${catkin_INCLUDE_DIRS}
)
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/unitree_ros-CHAMP/robots/laikago_description/package.xml | <?xml version="1.0"?>
<package format="2">
<name>laikago_description</name>
<version>0.0.0</version>
<description>The laikago_description package</description>
<maintainer email="[email protected]">unitree</maintainer>
<license>TODO</license>
<buildtool_depend>catkin</buildtool_depend>
<depend>roscpp</depend>
<depend>std_msgs</depend>
</package> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/unitree_ros-CHAMP/robots/laikago_description/launch/check_joint.rviz | Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /State1
Splitter Ratio: 0.5
Tree Height: 414
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679016
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.0299999993
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
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
FL_thigh_shoulder:
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
FR_thigh_shoulder:
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
RL_thigh_shoulder:
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
RR_thigh_shoulder:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
imu_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
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: false
Length: 1
Name: Axes
Radius: 0.100000001
Reference Frame: <Fixed Frame>
Value: false
- Class: rviz/TF
Enabled: false
Frame Timeout: 15
Frames:
All Enabled: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
{}
Update Interval: 0
Value: false
Enabled: true
Global Options:
Background Color: 238; 238; 238
Default Light: true
Fixed Frame: base
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 1.61842203
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0.0760490671
Y: 0.114219323
Z: -0.157691121
Focal Shape Fixed Size: false
Focal Shape Size: 0.0500000007
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 0.589797318
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 5.11356974
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 627
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a0000022dfc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000022d000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d00650072006101000001be000001900000000000000000000000010000010f000002e2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002e2000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006400000003efc0100000002fb0000000800540069006d00650000000000000006400000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000002e40000022d00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1108
X: 812
Y: 241
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/unitree_ros-CHAMP/robots/laikago_description/launch/laikago_rviz.launch | <launch>
<arg name="user_debug" default="false"/>
<param name="robot_description" command="$(find xacro)/xacro '$(find laikago_description)/xacro/robot.xacro'
DEBUG:=$(arg user_debug)"/>
<!-- for higher robot_state_publisher average rate-->
<!-- <param name="rate" value="1000"/> -->
<!-- send fake joint values -->
<node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher">
<param name="use_gui" value="TRUE"/>
</node>
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
<param name="publish_frequency" type="double" value="1000.0"/>
</node>
<node pkg="rviz" type="rviz" name="rviz" respawn="false" output="screen"
args="-d $(find laikago_description)/launch/check_joint.rviz"/>
</launch>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/unitree_ros-CHAMP/robots/laikago_description/xacro/materials.xacro | <?xml version="1.0"?>
<robot>
<material name="black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<material name="green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>
<material name="grey">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
<material name="silver">
<color rgba="${233/255} ${233/255} ${216/255} 1.0"/>
</material>
<material name="orange">
<color rgba="${255/255} ${108/255} ${10/255} 1.0"/>
</material>
<material name="brown">
<color rgba="${222/255} ${207/255} ${195/255} 1.0"/>
</material>
<material name="red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="white">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/unitree_ros-CHAMP/robots/laikago_description/xacro/transmission.xacro | <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="leg_transmission" params="name">
<transmission name="${name}_hip_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${name}_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${name}_hip_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${name}_thigh_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${name}_thigh_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${name}_thigh_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${name}_calf_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${name}_calf_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${name}_calf_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</xacro:macro>
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/unitree_ros-CHAMP/robots/laikago_description/xacro/leg.xacro | <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find laikago_description)/xacro/transmission.xacro"/>
<xacro:macro name="leg" params="name mirror mirror_dae front_hind front_hind_dae *origin">
<joint name="${name}_hip_joint" type="revolute">
<xacro:insert_block name="origin"/>
<parent link="trunk"/>
<child link="${name}_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="${damping}" friction="${friction}"/>
<xacro:if value="${(mirror_dae == True)}">
<limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${hip_min*PI/180.0}" upper="${hip_max*PI/180.0}"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False)}">
<limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${-hip_max*PI/180.0}" upper="${-hip_min*PI/180.0}"/>
</xacro:if>
</joint>
<link name="${name}_hip">
<visual>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
<origin rpy="0 0 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
<origin rpy="${PI} 0 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
<origin rpy="0 ${PI} 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
<origin rpy="${PI} ${PI} 0" xyz="0 0 0"/>
</xacro:if>
<geometry>
<mesh filename="package://laikago_description/meshes/hip.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="${PI/2.0} 0 0" xyz="0 ${-(hip_length/2.0-hip_offset)*mirror} 0"/>
<geometry>
<cylinder length="${hip_length}" radius="${hip_radius}"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${hip_com_x*front_hind} ${hip_com_y*mirror} ${hip_com_z}"/>
<mass value="${hip_mass}"/>
<inertia
ixx="${hip_ixx}" ixy="${hip_ixy*mirror*front_hind}" ixz="${hip_ixz*front_hind}"
iyy="${hip_iyy}" iyz="${hip_iyz*mirror}"
izz="${hip_izz}"/>
</inertial>
</link>
<joint name="${name}_hip_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 ${(thigh_shoulder_length/2.0+hip_offset)*mirror} 0"/>
<parent link="${name}_hip"/>
<child link="${name}_thigh_shoulder"/>
</joint>
<!-- this link is only for collision -->
<link name="${name}_thigh_shoulder">
<collision>
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="${thigh_shoulder_length}" radius="${thigh_shoulder_radius}"/>
</geometry>
</collision>
</link>
<joint name="${name}_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 ${thigh_offset*mirror} 0"/>
<parent link="${name}_hip"/>
<child link="${name}_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="${damping}" friction="${friction}"/>
<limit effort="${thigh_torque_max}" velocity="${thigh_velocity_max}" lower="${thigh_min*PI/180.0}" upper="${thigh_max*PI/180.0}"/>
</joint>
<link name="${name}_thigh">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<xacro:if value="${mirror_dae == True}">
<mesh filename="package://laikago_description/meshes/thigh.dae" scale="1 1 1"/>
</xacro:if>
<xacro:if value="${mirror_dae == False}">
<mesh filename="package://laikago_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
</xacro:if>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-thigh_length/2.0}"/>
<geometry>
<box size="${thigh_length} ${thigh_width} ${thigh_height}"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${thigh_com_x} ${thigh_com_y*mirror} ${thigh_com_z}"/>
<mass value="${thigh_mass}"/>
<inertia
ixx="${thigh_ixx}" ixy="${thigh_ixy*mirror}" ixz="${thigh_ixz}"
iyy="${thigh_iyy}" iyz="${thigh_iyz*mirror}"
izz="${thigh_izz}"/>
</inertial>
</link>
<joint name="${name}_calf_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 ${-thigh_length}"/>
<parent link="${name}_thigh"/>
<child link="${name}_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="${damping}" friction="${friction}"/>
<limit effort="${calf_torque_max}" velocity="${calf_velocity_max}" lower="${calf_min*PI/180.0}" upper="${calf_max*PI/180.0}"/>
</joint>
<link name="${name}_calf">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://laikago_description/meshes/calf.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-calf_length/2.0}"/>
<geometry>
<box size="${calf_length} ${calf_width} ${calf_height}"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${calf_com_x} ${calf_com_y} ${calf_com_z}"/>
<mass value="${calf_mass}"/>
<inertia
ixx="${calf_ixx}" ixy="${calf_ixy}" ixz="${calf_ixz}"
iyy="${calf_iyy}" iyz="${calf_iyz}"
izz="${calf_izz}"/>
</inertial>
</link>
<joint name="${name}_foot_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 ${-(calf_length)}"/>
<parent link="${name}_calf"/>
<child link="${name}_foot"/>
</joint>
<link name="${name}_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="${foot_radius-0.01}"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="${foot_radius}"/>
</geometry>
</collision>
<inertial>
<mass value="${foot_mass}"/>
<inertia
ixx="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}" ixy="0.0" ixz="0.0"
iyy="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}" iyz="0.0"
izz="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}"/>
</inertial>
</link>
<xacro:leg_transmission name="${name}"/>
</xacro:macro>
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/unitree_ros-CHAMP/robots/laikago_description/xacro/const.xacro | <?xml version="1.0"?>
<robot name="laikago_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- Constants for robot dimensions -->
<xacro:property name="PI" value="3.1415926535897931"/>
<xacro:property name="stick_mass" value="0.00001"/>
<!-- simplified collision value -->
<xacro:property name="trunk_width" value="0.172"/>
<xacro:property name="trunk_length" value="0.5616"/>
<xacro:property name="trunk_height" value="0.1875"/>
<xacro:property name="hip_radius" value="0.041"/>
<xacro:property name="hip_length" value="0.08"/>
<xacro:property name="thigh_shoulder_radius" value="0.044"/>
<xacro:property name="thigh_shoulder_length" value="0.08"/>
<xacro:property name="thigh_width" value="0.034"/>
<xacro:property name="thigh_height" value="0.043"/>
<xacro:property name="calf_width" value="0.016"/>
<xacro:property name="calf_height" value="0.016"/>
<xacro:property name="foot_radius" value="0.0265"/>
<xacro:property name="stick_radius" value="0.01"/>
<xacro:property name="stick_length" value="0.2"/>
<!-- kinematic value -->
<xacro:property name="thigh_offset" value="0.037"/>
<xacro:property name="thigh_length" value="0.25"/>
<xacro:property name="calf_length" value="0.25"/>
<!-- leg offset from trunk center value -->
<xacro:property name="leg_offset_x" value="0.21935"/>
<xacro:property name="leg_offset_y" value="0.0875"/>
<xacro:property name="trunk_offset_z" value="0.01675"/>
<xacro:property name="hip_offset" value="0.019"/>
<!-- joint limits -->
<xacro:property name="damping" value="0"/>
<xacro:property name="friction" value="0"/>
<xacro:property name="hip_max" value="60"/>
<xacro:property name="hip_min" value="-50"/>
<xacro:property name="hip_velocity_max" value="27"/>
<xacro:property name="hip_torque_max" value="18.954"/>
<xacro:property name="thigh_max" value="225"/>
<xacro:property name="thigh_min" value="-30"/>
<xacro:property name="thigh_velocity_max" value="12.794"/>
<xacro:property name="thigh_torque_max" value="40"/>
<xacro:property name="calf_max" value="-35"/>
<xacro:property name="calf_min" value="-159"/>
<xacro:property name="calf_velocity_max" value="12.794"/>
<xacro:property name="calf_torque_max" value="40"/>
<!-- dynamics inertial value -->
<!-- trunk -->
<xacro:property name="trunk_mass" value="13.733"/>
<xacro:property name="trunk_com_x" value="0.002284"/>
<xacro:property name="trunk_com_y" value="-0.000041"/>
<xacro:property name="trunk_com_z" value="0.025165"/>
<xacro:property name="trunk_ixx" value="0.073348887"/>
<xacro:property name="trunk_ixy" value="0.00030338"/>
<xacro:property name="trunk_ixz" value="0.001918218"/>
<xacro:property name="trunk_iyy" value="0.250684593"/>
<xacro:property name="trunk_iyz" value="-0.000075402"/>
<xacro:property name="trunk_izz" value="0.254469458"/>
<!-- hip (left front) -->
<xacro:property name="hip_mass" value="1.096"/>
<xacro:property name="hip_com_x" value="-0.001568"/>
<xacro:property name="hip_com_y" value="-0.008134"/>
<xacro:property name="hip_com_z" value="0.000864"/>
<xacro:property name="hip_ixx" value="0.000822113"/>
<xacro:property name="hip_ixy" value="-0.000004982"/>
<xacro:property name="hip_ixz" value="-0.00003672"/>
<xacro:property name="hip_iyy" value="0.000983196"/>
<xacro:property name="hip_iyz" value="0.000002811"/>
<xacro:property name="hip_izz" value="0.000864753"/>
<!-- thigh -->
<xacro:property name="thigh_mass" value="1.528"/>
<xacro:property name="thigh_com_x" value="-0.000482"/>
<xacro:property name="thigh_com_y" value="0.02001"/>
<xacro:property name="thigh_com_z" value="-0.031996"/>
<xacro:property name="thigh_ixx" value="0.00991611"/>
<xacro:property name="thigh_ixy" value="0.000010388"/>
<xacro:property name="thigh_ixz" value="0.000250428"/>
<xacro:property name="thigh_iyy" value="0.009280083"/>
<xacro:property name="thigh_iyz" value="-0.00008511"/>
<xacro:property name="thigh_izz" value="0.00178256"/>
<!-- calf -->
<xacro:property name="calf_mass" value="0.241"/>
<xacro:property name="calf_com_x" value="-0.002196"/>
<xacro:property name="calf_com_y" value="-0.000381"/>
<xacro:property name="calf_com_z" value="-0.12338"/>
<xacro:property name="calf_ixx" value="0.006181961"/>
<xacro:property name="calf_ixy" value="0.000000237"/>
<xacro:property name="calf_ixz" value="-0.000002985"/>
<xacro:property name="calf_iyy" value="0.006196546"/>
<xacro:property name="calf_iyz" value="0.000005138"/>
<xacro:property name="calf_izz" value="0.000034774"/>
<!-- foot -->
<xacro:property name="foot_mass" value="0.06"/>
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/unitree_ros-CHAMP/robots/laikago_description/xacro/gazebo.xacro | <?xml version="1.0"?>
<robot>
<!-- ros_control plugin -->
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/laikago_gazebo</robotNamespace>
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
</plugin>
</gazebo>
<!-- Show the trajectory of trunk center. -->
<gazebo>
<plugin name="3dplot" filename="libLinkPlot3DPlugin.so">
<frequency>10</frequency>
<plot>
<link>base</link>
<pose>0 0 0 0 0 0</pose>
<material>Gazebo/Yellow</material>
</plot>
</plugin>
</gazebo>
<!-- Show the trajectory of foot. You can add another trajectory about another foot. -->
<!-- <gazebo>
<plugin name="3dplot" filename="libLinkPlot3DPlugin.so">
<frequency>100</frequency>
<plot>
<link>FL_foot</link>
<pose>0 0 0 0 0 0</pose>
<material>Gazebo/Green</material>
</plot>
</plugin>
</gazebo> -->
<gazebo>
<plugin filename="libgazebo_ros_force.so" name="gazebo_ros_force">
<bodyName>trunk</bodyName>
<topicName>/apply_force/trunk</topicName>
</plugin>
</gazebo>
<gazebo reference="imu_link">
<gravity>true</gravity>
<sensor name="imu_sensor" type="imu">
<always_on>true</always_on>
<update_rate>1000</update_rate>
<visualize>true</visualize>
<topic>__default_topic__</topic>
<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
<topicName>trunk_imu</topicName>
<bodyName>imu_link</bodyName>
<updateRateHZ>1000.0</updateRateHZ>
<gaussianNoise>0.0</gaussianNoise>
<xyzOffset>0 0 0</xyzOffset>
<rpyOffset>0 0 0</rpyOffset>
<frameName>imu_link</frameName>
</plugin>
<pose>0 0 0 0 0 0</pose>
</sensor>
</gazebo>
<!-- Foot contacts. -->
<gazebo reference="FR_calf">
<sensor name="FR_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>FR_calf_fixed_joint_lump__FR_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="FL_calf">
<sensor name="FL_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>FL_calf_fixed_joint_lump__FL_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="RR_calf">
<sensor name="RR_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>RR_calf_fixed_joint_lump__RR_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="RL_calf">
<sensor name="RL_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>RL_calf_fixed_joint_lump__RL_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<!-- Visualization of Foot contacts. -->
<gazebo reference="FR_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>FR_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="FL_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>FL_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="RR_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>RR_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="RL_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>RL_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="base">
<material>Gazebo/Green</material>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="trunk">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="stick_link">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/White</material>
</gazebo>
<gazebo reference="imu_link">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/Red</material>
</gazebo>
<!-- FL leg -->
<gazebo reference="FL_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="FL_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="FL_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="FL_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- FR leg -->
<gazebo reference="FR_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="FR_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="FR_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="FR_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- RL leg -->
<gazebo reference="RL_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="RL_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="RL_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="RL_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- RR leg -->
<gazebo reference="RR_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="RR_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="RR_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="RR_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/unitree_ros-CHAMP/robots/laikago_description/xacro/robot.xacro | <?xml version="1.0"?>
<robot name="laikago_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find laikago_description)/xacro/const.xacro"/>
<xacro:include filename="$(find laikago_description)/xacro/materials.xacro"/>
<xacro:include filename="$(find laikago_description)/xacro/leg.xacro"/>
<xacro:include filename="$(find laikago_description)/xacro/gazebo.xacro"/>
<!-- Rollover Protection mode will add an additional stick on the top, use "true" or "false" to switch it. -->
<xacro:property name="rolloverProtection" value="false"/>
<!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
<xacro:if value="$(arg DEBUG)">
<link name="world"/>
<joint name="base_static_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="world"/>
<child link="base"/>
</joint>
</xacro:if>
<link name="base">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
</visual>
</link>
<joint name="floating_base" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base"/>
<child link="trunk"/>
</joint>
<link name="trunk">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://laikago_description/meshes/trunk.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 ${trunk_offset_z}"/>
<geometry>
<box size="${trunk_length} ${trunk_width} ${trunk_height}"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${trunk_com_x} ${trunk_com_y} ${trunk_com_z}"/>
<mass value="${trunk_mass}"/>
<inertia
ixx="${trunk_ixx}" ixy="${trunk_ixy}" ixz="${trunk_ixz}"
iyy="${trunk_iyy}" iyz="${trunk_iyz}"
izz="${trunk_izz}"/>
</inertial>
</link>
<xacro:if value="${(rolloverProtection == 'true')}">
<joint name="stick_joint" type="fixed">
<parent link="trunk"/>
<child link="stick_link"/>
<origin rpy="0 0 0" xyz="${0.18} 0 ${stick_length/2.0+0.08}"/>
</joint>
<link name="stick_link">
<visual>
<geometry>
<cylinder length="${stick_length}" radius="${stick_radius}"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="white"/>
</visual>
<collision>
<geometry>
<cylinder length="${stick_length}" radius="${stick_radius}"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="${stick_mass}"/>
<inertia
ixx="${stick_mass / 2.0 * (stick_radius*stick_radius)}" ixy="0.0" ixz="0.0"
iyy="${stick_mass / 12.0 * (3*stick_radius*stick_radius + stick_length*stick_length)}" iyz="0.0"
izz="${stick_mass / 12.0 * (3*stick_radius*stick_radius + stick_length*stick_length)}"/>
</inertial>
</link>
</xacro:if>
<joint name="imu_joint" type="fixed">
<parent link="trunk"/>
<child link="imu_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<link name="imu_link">
<inertial>
<mass value="0.001"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.0001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
<material name="red"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".001 .001 .001"/>
</geometry>
</collision>
</link>
<xacro:leg name="FR" mirror="-1" mirror_dae="False" front_hind="1" front_hind_dae="True">
<origin rpy="0 0 0" xyz="${leg_offset_x} ${-leg_offset_y} 0"/>
</xacro:leg>
<xacro:leg name="FL" mirror="1" mirror_dae="True" front_hind="1" front_hind_dae="True">
<origin rpy="0 0 0" xyz="${leg_offset_x} ${leg_offset_y} 0"/>
</xacro:leg>
<xacro:leg name="RR" mirror="-1" mirror_dae="False" front_hind="-1" front_hind_dae="False">
<origin rpy="0 0 0" xyz="${-leg_offset_x} ${-leg_offset_y} 0"/>
</xacro:leg>
<xacro:leg name="RL" mirror="1" mirror_dae="True" front_hind="-1" front_hind_dae="False">
<origin rpy="0 0 0" xyz="${-leg_offset_x} ${leg_offset_y} 0"/>
</xacro:leg>
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/unitree_ros-CHAMP/robots/laikago_description/config/robot_control.yaml | laikago_gazebo:
# Publish all joint states -----------------------------------
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 1000
# FL Controllers ---------------------------------------
FL_hip_controller:
type: unitree_legged_control/UnitreeJointController
joint: FL_hip_joint
pid: {p: 100.0, i: 0.0, d: 5.0}
FL_thigh_controller:
type: unitree_legged_control/UnitreeJointController
joint: FL_thigh_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
FL_calf_controller:
type: unitree_legged_control/UnitreeJointController
joint: FL_calf_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
# FR Controllers ---------------------------------------
FR_hip_controller:
type: unitree_legged_control/UnitreeJointController
joint: FR_hip_joint
pid: {p: 100.0, i: 0.0, d: 5.0}
FR_thigh_controller:
type: unitree_legged_control/UnitreeJointController
joint: FR_thigh_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
FR_calf_controller:
type: unitree_legged_control/UnitreeJointController
joint: FR_calf_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
# RL Controllers ---------------------------------------
RL_hip_controller:
type: unitree_legged_control/UnitreeJointController
joint: RL_hip_joint
pid: {p: 100.0, i: 0.0, d: 5.0}
RL_thigh_controller:
type: unitree_legged_control/UnitreeJointController
joint: RL_thigh_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
RL_calf_controller:
type: unitree_legged_control/UnitreeJointController
joint: RL_calf_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
# RR Controllers ---------------------------------------
RR_hip_controller:
type: unitree_legged_control/UnitreeJointController
joint: RR_hip_joint
pid: {p: 100.0, i: 0.0, d: 5.0}
RR_thigh_controller:
type: unitree_legged_control/UnitreeJointController
joint: RR_thigh_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
RR_calf_controller:
type: unitree_legged_control/UnitreeJointController
joint: RR_calf_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/unitree_ros-CHAMP/robots/laikago_description/urdf/laikago.urdf | <?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from robot.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="laikago_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
<material name="black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<material name="green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>
<material name="grey">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
<material name="silver">
<color rgba="0.913725490196 0.913725490196 0.847058823529 1.0"/>
</material>
<material name="orange">
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
</material>
<material name="brown">
<color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
</material>
<material name="red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="white">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<link name="trunk">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/trunk.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.01675"/>
<geometry>
<box size="0.5616 0.172 0.1875"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.002284 -4.1e-05 0.025165"/>
<mass value="13.733"/>
<inertia ixx="0.073348887" ixy="0.00030338" ixz="0.001918218" iyy="0.250684593" iyz="-7.5402e-05" izz="0.254469458"/>
</inertial>
</link>
<joint name="FR_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="0.21935 -0.0875 0"/>
<parent link="trunk"/>
<child link="FR_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="20" lower="-1.0471975512" upper="0.872664625997" velocity="52.4"/>
</joint>
<link name="FR_hip">
<visual>
<origin rpy="3.14159265359 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/hip.dae" scale="1 1 1"/>
</geometry>
<material name="grey"/>
</visual>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0.021 0"/>
<geometry>
<cylinder length="0.08" radius="0.041"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.001568 0.008134 0.000864"/>
<mass value="1.096"/>
<inertia ixx="0.000822113" ixy="4.982e-06" ixz="-3.672e-05" iyy="0.000983196" iyz="-2.811e-06" izz="0.000864753"/>
</inertial>
</link>
<joint name="FR_hip_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 -0.059 0"/>
<parent link="FR_hip"/>
<child link="FR_thigh_shoulder"/>
</joint>
<!-- this link is only for collision -->
<link name="FR_thigh_shoulder">
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.08" radius="0.044"/>
</geometry>
</collision>
</link>
<joint name="FR_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 -0.037 0"/>
<parent link="FR_hip"/>
<child link="FR_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="55" lower="-0.523598775598" upper="3.92699081699" velocity="28.6"/>
</joint>
<link name="FR_thigh">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/thigh_mirror.dae" scale="1 1 1"/>
</geometry>
<material name="grey"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
<geometry>
<box size="0.25 0.034 0.043"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.000482 -0.02001 -0.031996"/>
<mass value="1.528"/>
<inertia ixx="0.00991611" ixy="-1.0388e-05" ixz="0.000250428" iyy="0.009280083" iyz="8.511e-05" izz="0.00178256"/>
</inertial>
</link>
<joint name="FR_calf_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
<parent link="FR_thigh"/>
<child link="FR_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="55" lower="-2.77507351067" upper="-0.610865238198" velocity="28.6"/>
</joint>
<link name="FR_calf">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/calf.dae" scale="1 1 1"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
<geometry>
<box size="0.25 0.016 0.016"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.002196 -0.000381 -0.12338"/>
<mass value="0.241"/>
<inertia ixx="0.006181961" ixy="2.37e-07" ixz="-2.985e-06" iyy="0.006196546" iyz="5.138e-06" izz="3.4774e-05"/>
</inertial>
</link>
<joint name="FR_foot_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
<parent link="FR_calf"/>
<child link="FR_foot"/>
</joint>
<link name="FR_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.0165"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.0265"/>
</geometry>
</collision>
<inertial>
<mass value="0.06"/>
<inertia ixx="1.6854e-05" ixy="0.0" ixz="0.0" iyy="1.6854e-05" iyz="0.0" izz="1.6854e-05"/>
</inertial>
</link>
<joint name="FL_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="0.21935 0.0875 0"/>
<parent link="trunk"/>
<child link="FL_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="20" lower="-0.872664625997" upper="1.0471975512" velocity="52.4"/>
</joint>
<link name="FL_hip">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/hip.dae" scale="1 1 1"/>
</geometry>
<material name="grey"/>
</visual>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 -0.021 0"/>
<geometry>
<cylinder length="0.08" radius="0.041"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.001568 -0.008134 0.000864"/>
<mass value="1.096"/>
<inertia ixx="0.000822113" ixy="-4.982e-06" ixz="-3.672e-05" iyy="0.000983196" iyz="2.811e-06" izz="0.000864753"/>
</inertial>
</link>
<joint name="FL_hip_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0.059 0"/>
<parent link="FL_hip"/>
<child link="FL_thigh_shoulder"/>
</joint>
<!-- this link is only for collision -->
<link name="FL_thigh_shoulder">
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.08" radius="0.044"/>
</geometry>
</collision>
</link>
<joint name="FL_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0.037 0"/>
<parent link="FL_hip"/>
<child link="FL_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="55" lower="-0.523598775598" upper="3.92699081699" velocity="28.6"/>
</joint>
<link name="FL_thigh">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/thigh.dae" scale="1 1 1"/>
</geometry>
<material name="grey"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
<geometry>
<box size="0.25 0.034 0.043"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.000482 0.02001 -0.031996"/>
<mass value="1.528"/>
<inertia ixx="0.00991611" ixy="1.0388e-05" ixz="0.000250428" iyy="0.009280083" iyz="-8.511e-05" izz="0.00178256"/>
</inertial>
</link>
<joint name="FL_calf_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
<parent link="FL_thigh"/>
<child link="FL_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="55" lower="-2.77507351067" upper="-0.610865238198" velocity="28.6"/>
</joint>
<link name="FL_calf">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/calf.dae" scale="1 1 1"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
<geometry>
<box size="0.25 0.016 0.016"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.002196 -0.000381 -0.12338"/>
<mass value="0.241"/>
<inertia ixx="0.006181961" ixy="2.37e-07" ixz="-2.985e-06" iyy="0.006196546" iyz="5.138e-06" izz="3.4774e-05"/>
</inertial>
</link>
<joint name="FL_foot_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
<parent link="FL_calf"/>
<child link="FL_foot"/>
</joint>
<link name="FL_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.0165"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.0265"/>
</geometry>
</collision>
<inertial>
<mass value="0.06"/>
<inertia ixx="1.6854e-05" ixy="0.0" ixz="0.0" iyy="1.6854e-05" iyz="0.0" izz="1.6854e-05"/>
</inertial>
</link>
<joint name="RR_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="-0.21935 -0.0875 0"/>
<parent link="trunk"/>
<child link="RR_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="20" lower="-1.0471975512" upper="0.872664625997" velocity="52.4"/>
</joint>
<link name="RR_hip">
<visual>
<origin rpy="3.14159265359 3.14159265359 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/hip.dae" scale="1 1 1"/>
</geometry>
<material name="grey"/>
</visual>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0.021 0"/>
<geometry>
<cylinder length="0.08" radius="0.041"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.001568 0.008134 0.000864"/>
<mass value="1.096"/>
<inertia ixx="0.000822113" ixy="-4.982e-06" ixz="3.672e-05" iyy="0.000983196" iyz="-2.811e-06" izz="0.000864753"/>
</inertial>
</link>
<joint name="RR_hip_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 -0.059 0"/>
<parent link="RR_hip"/>
<child link="RR_thigh_shoulder"/>
</joint>
<!-- this link is only for collision -->
<link name="RR_thigh_shoulder">
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.08" radius="0.044"/>
</geometry>
</collision>
</link>
<joint name="RR_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 -0.037 0"/>
<parent link="RR_hip"/>
<child link="RR_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="55" lower="-0.523598775598" upper="3.92699081699" velocity="28.6"/>
</joint>
<link name="RR_thigh">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/thigh_mirror.dae" scale="1 1 1"/>
</geometry>
<material name="grey"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
<geometry>
<box size="0.25 0.034 0.043"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.000482 -0.02001 -0.031996"/>
<mass value="1.528"/>
<inertia ixx="0.00991611" ixy="-1.0388e-05" ixz="0.000250428" iyy="0.009280083" iyz="8.511e-05" izz="0.00178256"/>
</inertial>
</link>
<joint name="RR_calf_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
<parent link="RR_thigh"/>
<child link="RR_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="55" lower="-2.77507351067" upper="-0.610865238198" velocity="28.6"/>
</joint>
<link name="RR_calf">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/calf.dae" scale="1 1 1"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
<geometry>
<box size="0.25 0.016 0.016"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.002196 -0.000381 -0.12338"/>
<mass value="0.241"/>
<inertia ixx="0.006181961" ixy="2.37e-07" ixz="-2.985e-06" iyy="0.006196546" iyz="5.138e-06" izz="3.4774e-05"/>
</inertial>
</link>
<joint name="RR_foot_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
<parent link="RR_calf"/>
<child link="RR_foot"/>
</joint>
<link name="RR_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.0165"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.0265"/>
</geometry>
</collision>
<inertial>
<mass value="0.06"/>
<inertia ixx="1.6854e-05" ixy="0.0" ixz="0.0" iyy="1.6854e-05" iyz="0.0" izz="1.6854e-05"/>
</inertial>
</link>
<joint name="RL_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="-0.21935 0.0875 0"/>
<parent link="trunk"/>
<child link="RL_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="20" lower="-0.872664625997" upper="1.0471975512" velocity="52.4"/>
</joint>
<link name="RL_hip">
<visual>
<origin rpy="0 3.14159265359 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/hip.dae" scale="1 1 1"/>
</geometry>
<material name="grey"/>
</visual>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 -0.021 0"/>
<geometry>
<cylinder length="0.08" radius="0.041"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.001568 -0.008134 0.000864"/>
<mass value="1.096"/>
<inertia ixx="0.000822113" ixy="4.982e-06" ixz="3.672e-05" iyy="0.000983196" iyz="2.811e-06" izz="0.000864753"/>
</inertial>
</link>
<joint name="RL_hip_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0.059 0"/>
<parent link="RL_hip"/>
<child link="RL_thigh_shoulder"/>
</joint>
<!-- this link is only for collision -->
<link name="RL_thigh_shoulder">
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.08" radius="0.044"/>
</geometry>
</collision>
</link>
<joint name="RL_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0.037 0"/>
<parent link="RL_hip"/>
<child link="RL_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="55" lower="-0.523598775598" upper="3.92699081699" velocity="28.6"/>
</joint>
<link name="RL_thigh">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/thigh.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
<geometry>
<box size="0.25 0.034 0.043"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.000482 0.02001 -0.031996"/>
<mass value="1.528"/>
<inertia ixx="0.00991611" ixy="1.0388e-05" ixz="0.000250428" iyy="0.009280083" iyz="-8.511e-05" izz="0.00178256"/>
</inertial>
</link>
<joint name="RL_calf_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
<parent link="RL_thigh"/>
<child link="RL_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="0" friction="0"/>
<limit effort="55" lower="-2.77507351067" upper="-0.610865238198" velocity="28.6"/>
</joint>
<link name="RL_calf">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/calf.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 -0.125"/>
<geometry>
<box size="0.25 0.016 0.016"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.002196 -0.000381 -0.12338"/>
<mass value="0.241"/>
<inertia ixx="0.006181961" ixy="2.37e-07" ixz="-2.985e-06" iyy="0.006196546" iyz="5.138e-06" izz="3.4774e-05"/>
</inertial>
</link>
<joint name="RL_foot_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.25"/>
<parent link="RL_calf"/>
<child link="RL_foot"/>
</joint>
<link name="RL_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.0165"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.0265"/>
</geometry>
</collision>
<inertial>
<mass value="0.06"/>
<inertia ixx="1.6854e-05" ixy="0.0" ixz="0.0" iyy="1.6854e-05" iyz="0.0" izz="1.6854e-05"/>
</inertial>
</link>
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/unitree_ros-CHAMP/robots/a1_description/CMakeLists.txt | cmake_minimum_required(VERSION 2.8.3)
project(a1_description)
find_package(catkin REQUIRED COMPONENTS
genmsg
roscpp
std_msgs
tf
)
catkin_package(
CATKIN_DEPENDS
)
include_directories(
# include
${Boost_INCLUDE_DIR}
${catkin_INCLUDE_DIRS}
)
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/unitree_ros-CHAMP/robots/a1_description/package.xml | <?xml version="1.0"?>
<package format="2">
<name>a1_description</name>
<version>0.0.0</version>
<description>The a1_description package</description>
<maintainer email="[email protected]">unitree</maintainer>
<license>TODO</license>
<buildtool_depend>catkin</buildtool_depend>
<depend>roscpp</depend>
<depend>std_msgs</depend>
</package>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/unitree_ros-CHAMP/robots/a1_description/launch/check_joint.rviz | Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /RobotModel1
Splitter Ratio: 0.5
Tree Height: 420
- 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: ""
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:
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
FL_thigh_shoulder:
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
FR_thigh_shoulder:
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
RL_thigh_shoulder:
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
RR_thigh_shoulder:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
imu_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
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: false
Length: 1
Name: Axes
Radius: 0.10000000149011612
Reference Frame: <Fixed Frame>
Value: false
- Class: rviz/TF
Enabled: false
Frame Timeout: 15
Frames:
All Enabled: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
{}
Update Interval: 0
Value: false
Enabled: true
Global Options:
Background Color: 238; 238; 238
Default Light: true
Fixed Frame: base
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 1.0307118892669678
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0.0760490670800209
Y: 0.11421932280063629
Z: -0.1576911211013794
Focal Shape Fixed Size: false
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 1.0047969818115234
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 4.558584690093994
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 627
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a0000022ffc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000270000022f000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d00650072006101000001be000001900000000000000000000000010000010f000002e2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002e2000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006400000003efc0100000002fb0000000800540069006d0065000000000000000640000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000002e40000022f00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1108
X: 812
Y: 241
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/unitree_ros-CHAMP/robots/a1_description/launch/a1_rviz.launch | <launch>
<arg name="user_debug" default="false"/>
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find a1_description)/xacro/robot.xacro'
DEBUG:=$(arg user_debug)"/>
<!-- for higher robot_state_publisher average rate-->
<!-- <param name="rate" value="1000"/> -->
<!-- send fake joint values -->
<node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher">
<param name="use_gui" value="TRUE"/>
</node>
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
<param name="publish_frequency" type="double" value="1000.0"/>
</node>
<node pkg="rviz" type="rviz" name="rviz" respawn="false" output="screen"
args="-d $(find a1_description)/launch/check_joint.rviz"/>
</launch> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/unitree_ros-CHAMP/robots/a1_description/xacro/materials.xacro | <?xml version="1.0"?>
<robot>
<material name="black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<material name="green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>
<material name="grey">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
<material name="silver">
<color rgba="${233/255} ${233/255} ${216/255} 1.0"/>
</material>
<material name="orange">
<color rgba="${255/255} ${108/255} ${10/255} 1.0"/>
</material>
<material name="brown">
<color rgba="${222/255} ${207/255} ${195/255} 1.0"/>
</material>
<material name="red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="white">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/unitree_ros-CHAMP/robots/a1_description/xacro/transmission.xacro | <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="leg_transmission" params="name">
<transmission name="${name}_hip_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${name}_hip_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${name}_hip_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${name}_thigh_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${name}_thigh_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${name}_thigh_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${name}_calf_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${name}_calf_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${name}_calf_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</xacro:macro>
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/unitree_ros-CHAMP/robots/a1_description/xacro/leg.xacro | <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find a1_description)/xacro/transmission.xacro"/>
<xacro:macro name="leg" params="name mirror mirror_dae front_hind front_hind_dae *origin">
<joint name="${name}_hip_joint" type="revolute">
<xacro:insert_block name="origin"/>
<parent link="trunk"/>
<child link="${name}_hip"/>
<axis xyz="1 0 0"/>
<dynamics damping="${damping}" friction="${friction}"/>
<xacro:if value="${(mirror_dae == True)}">
<limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${hip_min*PI/180.0}" upper="${hip_max*PI/180.0}"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False)}">
<limit effort="${hip_torque_max}" velocity="${hip_velocity_max}" lower="${-hip_max*PI/180.0}" upper="${-hip_min*PI/180.0}"/>
</xacro:if>
</joint>
<link name="${name}_hip">
<visual>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == True)}">
<origin rpy="0 0 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == True)}">
<origin rpy="${PI} 0 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == True) and (front_hind_dae == False)}">
<origin rpy="0 ${PI} 0" xyz="0 0 0"/>
</xacro:if>
<xacro:if value="${(mirror_dae == False) and (front_hind_dae == False)}">
<origin rpy="${PI} ${PI} 0" xyz="0 0 0"/>
</xacro:if>
<geometry>
<mesh filename="package://a1_description/meshes/hip.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="${hip_length}" radius="${hip_radius}"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${hip_com_x*front_hind} ${hip_com_y*mirror} ${hip_com_z}"/>
<mass value="${hip_mass}"/>
<inertia
ixx="${hip_ixx}" ixy="${hip_ixy*mirror*front_hind}" ixz="${hip_ixz*front_hind}"
iyy="${hip_iyy}" iyz="${hip_iyz*mirror}"
izz="${hip_izz}"/>
</inertial>
</link>
<joint name="${name}_hip_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 ${(thigh_shoulder_length/2.0+hip_offset)*mirror} 0"/>
<parent link="${name}_hip"/>
<child link="${name}_thigh_shoulder"/>
</joint>
<!-- this link is only for collision -->
<link name="${name}_thigh_shoulder">
<collision>
<origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="${thigh_shoulder_length}" radius="${thigh_shoulder_radius}"/>
</geometry>
</collision>
</link>
<joint name="${name}_thigh_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 ${thigh_offset*mirror} 0"/>
<parent link="${name}_hip"/>
<child link="${name}_thigh"/>
<axis xyz="0 1 0"/>
<dynamics damping="${damping}" friction="${friction}"/>
<limit effort="${thigh_torque_max}" velocity="${thigh_velocity_max}" lower="${thigh_min*PI/180.0}" upper="${thigh_max*PI/180.0}"/>
</joint>
<link name="${name}_thigh">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<xacro:if value="${mirror_dae == True}">
<mesh filename="package://a1_description/meshes/thigh.dae" scale="1 1 1"/>
</xacro:if>
<xacro:if value="${mirror_dae == False}">
<mesh filename="package://a1_description/meshes/thigh_mirror.dae" scale="1 1 1"/>
</xacro:if>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-thigh_length/2.0}"/>
<geometry>
<box size="${thigh_length} ${thigh_width} ${thigh_height}"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${thigh_com_x} ${thigh_com_y*mirror} ${thigh_com_z}"/>
<mass value="${thigh_mass}"/>
<inertia
ixx="${thigh_ixx}" ixy="${thigh_ixy*mirror}" ixz="${thigh_ixz}"
iyy="${thigh_iyy}" iyz="${thigh_iyz*mirror}"
izz="${thigh_izz}"/>
</inertial>
</link>
<joint name="${name}_calf_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 ${-thigh_length}"/>
<parent link="${name}_thigh"/>
<child link="${name}_calf"/>
<axis xyz="0 1 0"/>
<dynamics damping="${damping}" friction="${friction}"/>
<limit effort="${calf_torque_max}" velocity="${calf_velocity_max}" lower="${calf_min*PI/180.0}" upper="${calf_max*PI/180.0}"/>
</joint>
<link name="${name}_calf">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://a1_description/meshes/calf.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 ${PI/2.0} 0" xyz="0 0 ${-calf_length/2.0}"/>
<geometry>
<box size="${calf_length} ${calf_width} ${calf_height}"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${calf_com_x} ${calf_com_y} ${calf_com_z}"/>
<mass value="${calf_mass}"/>
<inertia
ixx="${calf_ixx}" ixy="${calf_ixy}" ixz="${calf_ixz}"
iyy="${calf_iyy}" iyz="${calf_iyz}"
izz="${calf_izz}"/>
</inertial>
</link>
<joint name="${name}_foot_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 ${-(calf_length)}"/>
<parent link="${name}_calf"/>
<child link="${name}_foot"/>
</joint>
<link name="${name}_foot">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="${foot_radius-0.01}"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="${foot_radius}"/>
</geometry>
</collision>
<inertial>
<mass value="${foot_mass}"/>
<inertia
ixx="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}" ixy="0.0" ixz="0.0"
iyy="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}" iyz="0.0"
izz="${(2*foot_mass)/5.0*(foot_radius*foot_radius)}"/>
</inertial>
</link>
<xacro:leg_transmission name="${name}"/>
</xacro:macro>
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/unitree_ros-CHAMP/robots/a1_description/xacro/const.xacro | <?xml version="1.0"?>
<robot name="a1_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- Constants for robot dimensions -->
<xacro:property name="PI" value="3.1415926535897931"/>
<xacro:property name="stick_mass" value="0.00001"/>
<!-- simplified collision value -->
<xacro:property name="trunk_width" value="0.194"/>
<xacro:property name="trunk_length" value="0.267"/>
<xacro:property name="trunk_height" value="0.114"/>
<xacro:property name="hip_radius" value="0.046"/>
<xacro:property name="hip_length" value="0.04"/>
<xacro:property name="thigh_shoulder_radius" value="0.041"/>
<xacro:property name="thigh_shoulder_length" value="0.032"/>
<xacro:property name="thigh_width" value="0.0245"/>
<xacro:property name="thigh_height" value="0.034"/>
<xacro:property name="calf_width" value="0.016"/>
<xacro:property name="calf_height" value="0.016"/>
<xacro:property name="foot_radius" value="0.02"/>
<xacro:property name="stick_radius" value="0.01"/>
<xacro:property name="stick_length" value="0.2"/>
<!-- kinematic value -->
<xacro:property name="thigh_offset" value="0.0838"/>
<xacro:property name="thigh_length" value="0.2"/>
<xacro:property name="calf_length" value="0.2"/>
<!-- leg offset from trunk center value -->
<xacro:property name="leg_offset_x" value="0.1805"/>
<xacro:property name="leg_offset_y" value="0.047"/>
<xacro:property name="trunk_offset_z" value="0.01675"/>
<xacro:property name="hip_offset" value="0.065"/>
<!-- joint limits -->
<xacro:property name="damping" value="0"/>
<xacro:property name="friction" value="0"/>
<xacro:property name="hip_max" value="46"/>
<xacro:property name="hip_min" value="-46"/>
<xacro:property name="hip_velocity_max" value="21"/>
<xacro:property name="hip_torque_max" value="33.5"/>
<xacro:property name="thigh_max" value="240"/>
<xacro:property name="thigh_min" value="-60"/>
<xacro:property name="thigh_velocity_max" value="21"/>
<xacro:property name="thigh_torque_max" value="33.5"/>
<xacro:property name="calf_max" value="-52.5"/>
<xacro:property name="calf_min" value="-154.5"/>
<xacro:property name="calf_velocity_max" value="21"/>
<xacro:property name="calf_torque_max" value="33.5"/>
<!-- dynamics inertial value total 13.9kg -->
<!-- trunk -->
<xacro:property name="trunk_mass" value="6.0"/>
<xacro:property name="trunk_com_x" value="0.0000"/>
<xacro:property name="trunk_com_y" value="0.0041"/>
<xacro:property name="trunk_com_z" value="-0.0005"/>
<xacro:property name="trunk_ixx" value="0.0158533"/>
<xacro:property name="trunk_ixy" value="-0.0000366"/>
<xacro:property name="trunk_ixz" value="-0.0000611"/>
<xacro:property name="trunk_iyy" value="0.0377999"/>
<xacro:property name="trunk_iyz" value="-0.0000275"/>
<xacro:property name="trunk_izz" value="0.0456542"/>
<!-- hip (left front) -->
<xacro:property name="hip_mass" value="0.595"/>
<xacro:property name="hip_com_x" value="-0.003875"/>
<xacro:property name="hip_com_y" value="0.001622"/>
<xacro:property name="hip_com_z" value="0.000042"/>
<xacro:property name="hip_ixx" value="0.000402747"/>
<xacro:property name="hip_ixy" value="-0.000008709"/>
<xacro:property name="hip_ixz" value="-0.000000297"/>
<xacro:property name="hip_iyy" value="0.000691123"/>
<xacro:property name="hip_iyz" value="-0.000000545"/>
<xacro:property name="hip_izz" value="0.000487919"/>
<!-- thigh -->
<xacro:property name="thigh_mass" value="0.888"/>
<xacro:property name="thigh_com_x" value="-0.003574"/>
<xacro:property name="thigh_com_y" value="-0.019529"/>
<xacro:property name="thigh_com_z" value="-0.030323"/>
<xacro:property name="thigh_ixx" value="0.005251806"/>
<xacro:property name="thigh_ixy" value="-0.000002168"/>
<xacro:property name="thigh_ixz" value="0.000346889"/>
<xacro:property name="thigh_iyy" value="0.005000475"/>
<xacro:property name="thigh_iyz" value="-0.000028174"/>
<xacro:property name="thigh_izz" value="0.001110200"/>
<!-- calf -->
<xacro:property name="calf_mass" value="0.151"/>
<xacro:property name="calf_com_x" value="0.007105"/>
<xacro:property name="calf_com_y" value="-0.000239"/>
<xacro:property name="calf_com_z" value="-0.096933"/>
<xacro:property name="calf_ixx" value="0.002344758"/>
<xacro:property name="calf_ixy" value="0.0"/>
<xacro:property name="calf_ixz" value="-0.000141275"/>
<xacro:property name="calf_iyy" value="0.002360755"/>
<xacro:property name="calf_iyz" value="0.0"/>
<xacro:property name="calf_izz" value="0.000031158"/>
<!-- foot -->
<xacro:property name="foot_mass" value="0.06"/>
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/unitree_ros-CHAMP/robots/a1_description/xacro/gazebo.xacro | <?xml version="1.0"?>
<robot>
<!-- ros_control plugin -->
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/a1_gazebo</robotNamespace>
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
</plugin>
</gazebo>
<!-- Show the trajectory of trunk center. -->
<gazebo>
<plugin name="3dplot" filename="libLinkPlot3DPlugin.so">
<frequency>10</frequency>
<plot>
<link>base</link>
<pose>0 0 0 0 0 0</pose>
<material>Gazebo/Yellow</material>
</plot>
</plugin>
</gazebo>
<!-- Show the trajectory of foot. You can add another trajectory about another foot. -->
<!-- <gazebo>
<plugin name="3dplot" filename="libLinkPlot3DPlugin.so">
<frequency>100</frequency>
<plot>
<link>FL_foot</link>
<pose>0 0 0 0 0 0</pose>
<material>Gazebo/Green</material>
</plot>
</plugin>
</gazebo> -->
<gazebo>
<plugin filename="libgazebo_ros_force.so" name="gazebo_ros_force">
<bodyName>trunk</bodyName>
<topicName>/apply_force/trunk</topicName>
</plugin>
</gazebo>
<gazebo reference="imu_link">
<gravity>true</gravity>
<sensor name="imu_sensor" type="imu">
<always_on>true</always_on>
<update_rate>1000</update_rate>
<visualize>true</visualize>
<topic>__default_topic__</topic>
<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
<topicName>trunk_imu</topicName>
<bodyName>imu_link</bodyName>
<updateRateHZ>1000.0</updateRateHZ>
<gaussianNoise>0.0</gaussianNoise>
<xyzOffset>0 0 0</xyzOffset>
<rpyOffset>0 0 0</rpyOffset>
<frameName>imu_link</frameName>
</plugin>
<pose>0 0 0 0 0 0</pose>
</sensor>
</gazebo>
<!-- Foot contacts. -->
<gazebo reference="FR_calf">
<sensor name="FR_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>FR_calf_fixed_joint_lump__FR_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="FL_calf">
<sensor name="FL_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>FL_calf_fixed_joint_lump__FL_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="RR_calf">
<sensor name="RR_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>RR_calf_fixed_joint_lump__RR_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<gazebo reference="RL_calf">
<sensor name="RL_foot_contact" type="contact">
<update_rate>100</update_rate>
<plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
<contact>
<collision>RL_calf_fixed_joint_lump__RL_foot_collision_1</collision>
</contact>
</sensor>
</gazebo>
<!-- Visualization of Foot contacts. -->
<gazebo reference="FR_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>FR_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="FL_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>FL_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="RR_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>RR_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="RL_foot">
<visual>
<plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
<topicName>RL_foot_contact</topicName>
</plugin>
</visual>
</gazebo>
<gazebo reference="base">
<material>Gazebo/Green</material>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="trunk">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="stick_link">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/White</material>
</gazebo>
<gazebo reference="imu_link">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/Red</material>
</gazebo>
<!-- FL leg -->
<gazebo reference="FL_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="FL_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="FL_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="FL_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- FR leg -->
<gazebo reference="FR_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="FR_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="FR_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="FR_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- RL leg -->
<gazebo reference="RL_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="RL_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="RL_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="RL_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<!-- RR leg -->
<gazebo reference="RR_hip">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="RR_thigh">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
<gazebo reference="RR_calf">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<self_collide>1</self_collide>
</gazebo>
<gazebo reference="RR_foot">
<mu1>0.6</mu1>
<mu2>0.6</mu2>
<self_collide>1</self_collide>
<material>Gazebo/DarkGrey</material>
<kp value="1000000.0"/>
<kd value="1.0"/>
</gazebo>
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/unitree_ros-CHAMP/robots/a1_description/xacro/stairs.xacro | <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:property name="stair_length" value="0.640" />
<xacro:property name="stair_width" value="0.310" />
<xacro:property name="stair_height" value="0.170" />
<xacro:macro name="stairs" params="stairs xpos ypos zpos">
<joint name="stair_joint_origin" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="world"/>
<child link="stair_link_${stairs}"/>
</joint>
<link name="stair_link_${stairs}">
<visual>
<geometry>
<box size="${stair_length} ${stair_width} ${stair_height}"/>
</geometry>
<material name="grey"/>
<origin rpy="0 0 0" xyz="${xpos} ${ypos} ${zpos}"/>
</visual>
<collision>
<geometry>
<box size="${stair_length} ${stair_width} ${stair_height}"/>
</geometry>
</collision>
<inertial>
<mass value="0.80"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
</link>
<xacro:if value="${stairs}">
<xacro:stairs stairs="${stairs-1}" xpos="0" ypos="${ypos-stair_width/2}" zpos="${zpos+stair_height}"/>
<joint name="stair_joint_${stairs}" type="fixed">
<parent link="stair_link_${stairs}"/>
<child link="stair_link_${stairs-1}"/>
</joint>
</xacro:if>
</xacro:macro>
</robot> |
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/unitree_ros-CHAMP/robots/a1_description/xacro/robot.xacro | <?xml version="1.0"?>
<robot name="a1_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find a1_description)/xacro/const.xacro"/>
<xacro:include filename="$(find a1_description)/xacro/materials.xacro"/>
<xacro:include filename="$(find a1_description)/xacro/leg.xacro"/>
<xacro:include filename="$(find a1_description)/xacro/stairs.xacro"/>
<xacro:include filename="$(find a1_description)/xacro/gazebo.xacro"/>
<!-- <xacro:include filename="$(find a1_gazebo)/launch/stairs.urdf.xacro"/> -->
<!-- <xacro:stairs stairs="15" xpos="0" ypos="0" zpos="0" /> -->
<!-- Rollover Protection mode will add an additional stick on the top, use "true" or "false" to switch it. -->
<xacro:property name="rolloverProtection" value="false"/>
<!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
<xacro:if value="$(arg DEBUG)">
<link name="world"/>
<joint name="base_static_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="world"/>
<child link="base"/>
</joint>
</xacro:if>
<link name="base">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
</visual>
</link>
<joint name="floating_base" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base"/>
<child link="trunk"/>
</joint>
<link name="trunk">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://a1_description/meshes/trunk.dae" scale="1 1 1"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="${trunk_length} ${trunk_width} ${trunk_height}"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="${trunk_com_x} ${trunk_com_y} ${trunk_com_z}"/>
<mass value="${trunk_mass}"/>
<inertia
ixx="${trunk_ixx}" ixy="${trunk_ixy}" ixz="${trunk_ixz}"
iyy="${trunk_iyy}" iyz="${trunk_iyz}"
izz="${trunk_izz}"/>
</inertial>
</link>
<xacro:if value="${(rolloverProtection == 'true')}">
<joint name="stick_joint" type="fixed">
<parent link="trunk"/>
<child link="stick_link"/>
<origin rpy="0 0 0" xyz="${0.18} 0 ${stick_length/2.0+0.08}"/>
</joint>
<link name="stick_link">
<visual>
<geometry>
<cylinder length="${stick_length}" radius="${stick_radius}"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="white"/>
</visual>
<collision>
<geometry>
<cylinder length="${stick_length}" radius="${stick_radius}"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="${stick_mass}"/>
<inertia
ixx="${stick_mass / 2.0 * (stick_radius*stick_radius)}" ixy="0.0" ixz="0.0"
iyy="${stick_mass / 12.0 * (3*stick_radius*stick_radius + stick_length*stick_length)}" iyz="0.0"
izz="${stick_mass / 12.0 * (3*stick_radius*stick_radius + stick_length*stick_length)}"/>
</inertial>
</link>
</xacro:if>
<joint name="imu_joint" type="fixed">
<parent link="trunk"/>
<child link="imu_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<link name="imu_link">
<inertial>
<mass value="0.001"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
<material name="red"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".001 .001 .001"/>
</geometry>
</collision>
</link>
<xacro:leg name="FR" mirror="-1" mirror_dae="False" front_hind="1" front_hind_dae="True">
<origin rpy="0 0 0" xyz="${leg_offset_x} ${-leg_offset_y} 0"/>
</xacro:leg>
<xacro:leg name="FL" mirror="1" mirror_dae="True" front_hind="1" front_hind_dae="True">
<origin rpy="0 0 0" xyz="${leg_offset_x} ${leg_offset_y} 0"/>
</xacro:leg>
<xacro:leg name="RR" mirror="-1" mirror_dae="False" front_hind="-1" front_hind_dae="False">
<origin rpy="0 0 0" xyz="${-leg_offset_x} ${-leg_offset_y} 0"/>
</xacro:leg>
<xacro:leg name="RL" mirror="1" mirror_dae="True" front_hind="-1" front_hind_dae="False">
<origin rpy="0 0 0" xyz="${-leg_offset_x} ${leg_offset_y} 0"/>
</xacro:leg>
<!-- <xacro:stairs stairs="15" xpos="0" ypos="2.0" zpos="0" /> -->
</robot>
|
renanmb/Omniverse_legged_robotics/URDF-Descriptions/unitreerobotics/unitree_ros-CHAMP/robots/a1_description/config/robot_control.yaml | a1_gazebo:
# Publish all joint states -----------------------------------
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 1000
# FL Controllers ---------------------------------------
FL_hip_controller:
type: unitree_legged_control/UnitreeJointController
joint: FL_hip_joint
pid: {p: 100.0, i: 0.0, d: 5.0}
FL_thigh_controller:
type: unitree_legged_control/UnitreeJointController
joint: FL_thigh_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
FL_calf_controller:
type: unitree_legged_control/UnitreeJointController
joint: FL_calf_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
# FR Controllers ---------------------------------------
FR_hip_controller:
type: unitree_legged_control/UnitreeJointController
joint: FR_hip_joint
pid: {p: 100.0, i: 0.0, d: 5.0}
FR_thigh_controller:
type: unitree_legged_control/UnitreeJointController
joint: FR_thigh_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
FR_calf_controller:
type: unitree_legged_control/UnitreeJointController
joint: FR_calf_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
# RL Controllers ---------------------------------------
RL_hip_controller:
type: unitree_legged_control/UnitreeJointController
joint: RL_hip_joint
pid: {p: 100.0, i: 0.0, d: 5.0}
RL_thigh_controller:
type: unitree_legged_control/UnitreeJointController
joint: RL_thigh_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
RL_calf_controller:
type: unitree_legged_control/UnitreeJointController
joint: RL_calf_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
# RR Controllers ---------------------------------------
RR_hip_controller:
type: unitree_legged_control/UnitreeJointController
joint: RR_hip_joint
pid: {p: 100.0, i: 0.0, d: 5.0}
RR_thigh_controller:
type: unitree_legged_control/UnitreeJointController
joint: RR_thigh_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
RR_calf_controller:
type: unitree_legged_control/UnitreeJointController
joint: RR_calf_joint
pid: {p: 300.0, i: 0.0, d: 8.0}
|
Subsets and Splits