732 lines
28 KiB
XML
732 lines
28 KiB
XML
<?xml version="1.0" ?>
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<!-- =================================================================================== -->
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<!-- | This document was autogenerated by xacro from /home/dbellicoso/catkin_ws/src/anymal_beth/anymal_beth_description/urdf/anymal_beth.urdf.xacro | -->
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<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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<!-- =================================================================================== -->
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<!--Copyright (C) 2015 by Dario Bellicoso -->
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<!--bellicosodario@gmail.com -->
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<!-- -->
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<!--This program is free software; you can redistribute it and/or modify -->
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<!--it under the terms of the Lesser GNU General Public License as published -->
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<!--by the Free Software Foundation; either version 3 of the License, or -->
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<!--(at your option) any later version. -->
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<!-- -->
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<!--This program is distributed in the hope that it will be useful, -->
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<!--but WITHOUT ANY WARRANTY; without even the implied warranty of -->
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<!--MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -->
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<!--Lesser GNU General Public License for more details. -->
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<!-- -->
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<!--You should have received a copy of the Lesser GNU General Public License -->
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<!--along with this program. If not, see <http://www.gnu.org/licenses/>. -->
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<!-- This file contains the description of the ANYmal Beth robot. -->
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<robot name="anymal" xmlns:xacro="http://www.ros.org/wiki/xacro">
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<material name="black">
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<color rgba="0.0 0.0 0.0 1.0"/>
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</material>
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<material name="blue">
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<color rgba="0.0 0.0 0.8 1.0"/>
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</material>
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<material name="green">
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<color rgba="0.0 0.8 0.0 1.0"/>
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</material>
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<material name="grey">
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<color rgba="0.2 0.2 0.2 1.0"/>
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</material>
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<material name="light_grey">
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<color rgba="0.4 0.4 0.4 1.0"/>
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</material>
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<material name="orange">
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<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
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</material>
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<material name="brown">
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<color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
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</material>
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<material name="red">
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<color rgba="0.8 0.0 0.0 1.0"/>
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</material>
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<material name="white">
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<color rgba="1.0 1.0 1.0 1.0"/>
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</material>
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<gazebo>
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<plugin filename="libanymal_gazebo.so" name="gazebo_ros_control">
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<robotNamespace>anymal</robotNamespace>
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<!-- Currently unused -->
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<robotDescription>quadruped_description</robotDescription>
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<robotBaseLink>base</robotBaseLink>
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<statePublisherRate>400.0</statePublisherRate>
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</plugin>
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</gazebo>
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<!-- Material for the visual primitives -->
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<material name="anymal_black_material">
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<color rgba="0.3 0.3 0.3 1"/>
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</material>
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<material name="anymal_material">
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<color rgba="0.7 0.7 0.7 1"/>
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</material>
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<!-- Xacro:Properties -->
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<!-- [m] -->
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<!-- Base link -->
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<link name="base">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="anymal_base_2.obj" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="anymal_black_material"/>
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</visual>
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<collision>
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<!-- Main Body -->
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<origin rpy="0 0 0" xyz="0 0 0.08"/>
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<geometry>
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<box size="0.531 0.232 0.26"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0.022 -0.01 0.01"/>
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<mass value="21.39"/>
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<inertia ixx="0.268388530624" ixy="0.000775392455422" ixz="-0.0151848534451" iyy="0.884235660795" iyz="-0.000989297489507" izz="0.829158678306"/>
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</inertial>
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</link>
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<!-- Xacro:Properties -->
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<!-- [m] -->
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<!-- [Nm] -->
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<link name="LF_HIP">
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<visual>
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<origin rpy="3.14159265359 1.5707963268 3.14159265359" xyz="0 0 0"/>
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<geometry>
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<mesh filename="anymal_hip.obj" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="anymal_material"/>
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</visual>
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<collision>
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<origin rpy="1.57079632679 0 0" xyz="0.0585 0.0315 0.0"/>
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<geometry>
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<cylinder length="0.08" radius="0.04"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0.0542 -0.0136 0.0"/>
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<mass value="1.1064"/>
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<inertia ixx="0.00123301508523" ixy="-6.4285329973e-05" ixz="6.9990104e-08" iyy="0.000993231183395" iyz="2.327401345e-06" izz="0.00142160349098"/>
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</inertial>
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</link>
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<!-- Hip joint -->
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<joint name="LF_HAA" type="revolute">
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<parent link="base"/>
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<child link="LF_HIP"/>
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<origin xyz="0.2629 0.115 0.0"/>
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<axis xyz="1 0 0"/>
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<limit effort="80" lower="-6.28" upper="6.28" velocity="15"/>
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<dynamics damping="0.0" friction="0.0"/>
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</joint>
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<!-- Xacro:Properties -->
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<!-- [m] -->
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<!-- [Nm] -->
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<link name="LF_THIGH">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="anymal_thigh.obj" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="anymal_material"/>
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</visual>
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<!--collision>
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<origin rpy="0.145 0 0" xyz="0 0.02 -0.1"/>
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<geometry>
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<cylinder length="0.2" radius="0.01"/>
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</geometry>
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</collision-->
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<collision>
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<origin rpy="1.57079632679 0 0" xyz="0.0 0.07 -0.25"/>
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<geometry>
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<cylinder length="0.08" radius="0.04"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0.0008 0.0545 -0.1975"/>
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<mass value="1.51"/>
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<inertia ixx="0.0147571628275" ixy="-1.7996507882e-05" ixz="0.000205877679383" iyy="0.0144188925719" iyz="-0.00181291342366" izz="0.00178449075964"/>
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</inertial>
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</link>
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<!-- Thigh joint -->
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<joint name="LF_HFE" type="revolute">
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<parent link="LF_HIP"/>
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<child link="LF_THIGH"/>
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<origin xyz="0.0585 0.0315 0.0"/>
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<axis xyz="0 1 0"/>
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<limit effort="80" lower="-6.28" upper="6.28" velocity="15"/>
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<dynamics damping="0.0" friction="0.0"/>
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</joint>
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<!-- Xacro:Properties -->
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<!-- [m] -->
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<!-- [Nm] -->
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<link name="LF_SHANK">
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<visual>
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<origin rpy="0 0 0.0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="anymal_shank_2_LF.obj" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="anymal_material"/>
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</visual>
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<!--collision>
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<origin rpy="0 -0.9 -0.2" xyz="0.04 -0.02 -0.04"/>
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<geometry>
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<cylinder length="0.13" radius="0.015"/>
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</geometry>
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</collision-->
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<collision>
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<origin rpy="-0.0 0.34 0" xyz="0.06 -0.03 -0.18"/>
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<geometry>
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<cylinder length="0.19" radius="0.015"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0.016355414056 -0.00562219106 -0.064350437219"/>
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<mass value="0.318"/>
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<inertia ixx="0.0037693717909" ixy="-7.7334500762e-05" ixz="-0.000152069372983" iyy="0.00400446467635" iyz="-0.0003218356083" izz="0.000418471691904"/>
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</inertial>
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</link>
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<!-- Shank joint -->
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<joint name="LF_KFE" type="revolute">
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<parent link="LF_THIGH"/>
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<child link="LF_SHANK"/>
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<origin xyz="0.0 0.111 -0.25"/>
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<axis xyz="0 1 0"/>
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<limit effort="80" lower="-6.28" upper="6.28" velocity="15"/>
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<dynamics damping="0.0" friction="0.0"/>
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</joint>
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<!-- Foot mount link -->
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<link name="LF_FOOT_MOUNT">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="anymal_optoforce.obj" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="anymal_material"/>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0.0 0.0 0"/>
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<geometry>
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<sphere radius="0.03"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="-5.552058e-06 7.1133124e-05 -0.021388647779"/>
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<mass value="0.1922685"/>
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<inertia ixx="8.3086410294e-05" ixy="4.16901601e-07" ixz="3.99054799e-07" iyy="8.2860209667e-05" iyz="-3.45712252e-07" izz="8.1948124086e-05"/>
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</inertial>
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</link>
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<!-- Foot mount joint / ankle -->
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<joint name="LF_ANKLE_JOINT" type="fixed">
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<parent link="LF_SHANK"/>
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<child link="LF_FOOT_MOUNT"/>
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<origin rpy="0.323 0.549 0" xyz="0.0 -0.016 -0.31"/>
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</joint>
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<!-- Xacro:Properties -->
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<!-- [m] -->
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<!-- Gazebo customization -->
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<gazebo reference="LF_FOOT_SENSOR">
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<kp>1000000.0</kp>
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<kd>100.0</kd>
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<mu1>0.8</mu1>
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<mu2>0.8</mu2>
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</gazebo>
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<gazebo reference="LF_MOUNT_TO_SENSOR"/>
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<!-- Xacro:Properties -->
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<!-- [m] -->
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<!-- [Nm] -->
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<link name="RF_HIP">
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<visual>
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<origin rpy="0 -1.57079632679 3.14159265359" xyz="0 0 0"/>
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<geometry>
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<mesh filename="anymal_hip.obj" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="anymal_material"/>
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</visual>
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<collision>
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<origin rpy="1.57079632679 0 0" xyz="0.0585 -0.0315 0.0"/>
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<geometry>
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<cylinder length="0.08" radius="0.04"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0.0542 0.0136 0.0"/>
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<mass value="1.1064"/>
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<inertia ixx="0.00123301508523" ixy="6.4285329973e-05" ixz="6.9990104e-08" iyy="0.000993231183395" iyz="-2.327401345e-06" izz="0.00142160349098"/>
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</inertial>
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</link>
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<!-- Hip joint -->
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<joint name="RF_HAA" type="revolute">
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<parent link="base"/>
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<child link="RF_HIP"/>
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<origin xyz="0.2629 -0.115 0.0"/>
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<axis xyz="1 0 0"/>
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<limit effort="80" lower="-6.28" upper="6.28" velocity="15"/>
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<dynamics damping="0.0" friction="0.0"/>
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</joint>
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<!-- Xacro:Properties -->
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<!-- [m] -->
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<!-- [Nm] -->
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<link name="RF_THIGH">
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<visual>
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<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
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<geometry>
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<mesh filename="anymal_thigh.obj" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="anymal_material"/>
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</visual>
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<!--collision>
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<origin rpy="-0.145 0 0" xyz="0 -0.02 -0.1"/>
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<geometry>
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<cylinder length="0.2" radius="0.01"/>
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</geometry>
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</collision-->
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<collision>
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<origin rpy="1.57079632679 0 0" xyz="0.0 -0.07 -0.25"/>
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<geometry>
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<cylinder length="0.08" radius="0.04"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0.0008 -0.0545 -0.1975"/>
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<mass value="1.51"/>
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<inertia ixx="0.0147571628275" ixy="1.7996507882e-05" ixz="0.000205877679383" iyy="0.0144188925719" iyz="0.00181291342366" izz="0.00178449075964"/>
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</inertial>
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</link>
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<!-- Thigh joint -->
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<joint name="RF_HFE" type="revolute">
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<parent link="RF_HIP"/>
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<child link="RF_THIGH"/>
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<origin xyz="0.0585 -0.0315 0.0"/>
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<axis xyz="0 1 0"/>
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<limit effort="80" lower="-6.28" upper="6.28" velocity="15"/>
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<dynamics damping="0.0" friction="0.0"/>
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</joint>
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<!-- Xacro:Properties -->
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<!-- [m] -->
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<!-- [Nm] -->
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<link name="RF_SHANK">
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<visual>
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<origin rpy="3.14159265359 3.14159265359 3.14159265359" xyz="0 0 0"/>
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<geometry>
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<mesh filename="anymal_shank_2_RF.obj" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="anymal_material"/>
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</visual>
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<!--collision>
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<origin rpy="0 -0.9 0.2" xyz="0.04 0.02 -0.04"/>
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<geometry>
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<cylinder length="0.13" radius="0.015"/>
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</geometry>
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</collision-->
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<collision>
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<origin rpy="0.0 0.34 0" xyz="0.06 0.03 -0.18"/>
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<geometry>
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<cylinder length="0.19" radius="0.015"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0.016355414056 0.00562219106 -0.064350437219"/>
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<mass value="0.318"/>
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<inertia ixx="0.0037693717909" ixy="7.7334500762e-05" ixz="-0.000152069372983" iyy="0.00400446467635" iyz="0.0003218356083" izz="0.000418471691904"/>
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</inertial>
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</link>
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<!-- Shank joint -->
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<joint name="RF_KFE" type="revolute">
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<parent link="RF_THIGH"/>
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<child link="RF_SHANK"/>
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<origin xyz="0.0 -0.111 -0.25"/>
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<axis xyz="0 1 0"/>
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<limit effort="80" lower="-6.28" upper="6.28" velocity="15"/>
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<dynamics damping="0.0" friction="0.0"/>
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</joint>
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<!-- Foot mount link -->
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<link name="RF_FOOT_MOUNT">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="anymal_optoforce.obj" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="anymal_material"/>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0.0 0.0 0"/>
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<geometry>
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<sphere radius="0.03"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="-5.552058e-06 -7.1133124e-05 -0.021388647779"/>
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<mass value="0.1922685"/>
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|
<inertia ixx="8.3086410294e-05" ixy="-4.16901601e-07" ixz="3.99054799e-07" iyy="8.2860209667e-05" iyz="3.45712252e-07" izz="8.1948124086e-05"/>
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</inertial>
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</link>
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<!-- Foot mount joint / ankle -->
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<joint name="RF_ANKLE_JOINT" type="fixed">
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<parent link="RF_SHANK"/>
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<child link="RF_FOOT_MOUNT"/>
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<origin rpy="-0.323 0.549 0" xyz="0.0 0.016 -0.31"/>
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</joint>
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<!-- Xacro:Properties -->
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<!-- [m] -->
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<!-- Gazebo customization -->
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<gazebo reference="RF_FOOT_SENSOR">
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<kp>1000000.0</kp>
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<kd>100.0</kd>
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<mu1>0.8</mu1>
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<mu2>0.8</mu2>
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</gazebo>
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<gazebo reference="RF_MOUNT_TO_SENSOR"/>
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<!-- Xacro:Properties -->
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<!-- [m] -->
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<!-- [Nm] -->
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<link name="LH_HIP">
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<visual>
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<origin rpy="0 -1.5707963268 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="anymal_hip.obj" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="anymal_material"/>
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</visual>
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<collision>
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<origin rpy="-1.57079632679 0 0" xyz="-0.0585 0.0315 0.0"/>
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<geometry>
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<cylinder length="0.08" radius="0.04"/>
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</geometry>
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</collision>
|
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<inertial>
|
|
<origin rpy="0 0 0" xyz="-0.0542 -0.0136 0.0"/>
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<mass value="1.1064"/>
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|
<inertia ixx="0.00123301508523" ixy="6.4285329973e-05" ixz="-6.9990104e-08" iyy="0.000993231183395" iyz="2.327401345e-06" izz="0.00142160349098"/>
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</inertial>
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</link>
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<!-- Hip joint -->
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<joint name="LH_HAA" type="revolute">
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<parent link="base"/>
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<child link="LH_HIP"/>
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<origin xyz="-0.2629 0.115 0.0"/>
|
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<axis xyz="1 0 0"/>
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<limit effort="80" lower="-6.28" upper="6.28" velocity="15"/>
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<dynamics damping="0.0" friction="0.0"/>
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</joint>
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<!-- Xacro:Properties -->
|
|
<!-- [m] -->
|
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<!-- [Nm] -->
|
|
<link name="LH_THIGH">
|
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<visual>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
|
|
<mesh filename="anymal_thigh.obj" scale="0.001 0.001 0.001"/>
|
|
</geometry>
|
|
<material name="anymal_material"/>
|
|
</visual>
|
|
<!--collision>
|
|
<origin rpy="0.145 0 0" xyz="0 0.02 -0.1"/>
|
|
<geometry>
|
|
<cylinder length="0.2" radius="0.01"/>
|
|
</geometry>
|
|
</collision-->
|
|
<collision>
|
|
<origin rpy="1.57079632679 0 0" xyz="0.0 0.07 -0.25"/>
|
|
<geometry>
|
|
<cylinder length="0.08" radius="0.04"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<origin rpy="0 0 0" xyz="-0.0008 0.0545 -0.1975"/>
|
|
<mass value="1.51"/>
|
|
<inertia ixx="0.0147571628275" ixy="1.7996507882e-05" ixz="-0.000205877679383" iyy="0.0144188925719" iyz="-0.00181291342366" izz="0.00178449075964"/>
|
|
</inertial>
|
|
</link>
|
|
<!-- Thigh joint -->
|
|
<joint name="LH_HFE" type="revolute">
|
|
<parent link="LH_HIP"/>
|
|
<child link="LH_THIGH"/>
|
|
<origin xyz="-0.0585 0.0315 0.0"/>
|
|
<axis xyz="0 1 0"/>
|
|
<limit effort="80" lower="-6.28" upper="6.28" velocity="15"/>
|
|
<dynamics damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
<!-- Xacro:Properties -->
|
|
<!-- [m] -->
|
|
<!-- [Nm] -->
|
|
<link name="LH_SHANK">
|
|
<visual>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<mesh filename="anymal_shank_2_LH.obj" scale="0.001 0.001 0.001"/>
|
|
</geometry>
|
|
<material name="anymal_material"/>
|
|
</visual>
|
|
<!--collision>
|
|
<origin rpy="0 0.9 0.2" xyz="-0.04 -0.02 -0.04"/>
|
|
<geometry>
|
|
<cylinder length="0.13" radius="0.015"/>
|
|
</geometry>
|
|
</collision-->
|
|
<collision>
|
|
<origin rpy="-0.0 -0.34 0" xyz="-0.06 -0.03 -0.18"/>
|
|
<geometry>
|
|
<cylinder length="0.19" radius="0.015"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<origin rpy="0 0 0" xyz="-0.016355414056 -0.00562219106 -0.064350437219"/>
|
|
<mass value="0.318"/>
|
|
<inertia ixx="0.0037693717909" ixy="7.7334500762e-05" ixz="0.000152069372983" iyy="0.00400446467635" iyz="-0.0003218356083" izz="0.000418471691904"/>
|
|
</inertial>
|
|
</link>
|
|
<!-- Shank joint -->
|
|
<joint name="LH_KFE" type="revolute">
|
|
<parent link="LH_THIGH"/>
|
|
<child link="LH_SHANK"/>
|
|
<origin xyz="-0.0 0.111 -0.25"/>
|
|
<axis xyz="0 1 0"/>
|
|
<limit effort="80" lower="-6.28" upper="6.28" velocity="15"/>
|
|
<dynamics damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
<!-- Foot mount link -->
|
|
<link name="LH_FOOT_MOUNT">
|
|
<visual>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<mesh filename="anymal_optoforce.obj" scale="0.001 0.001 0.001"/>
|
|
</geometry>
|
|
<material name="anymal_material"/>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="0.0 0.0 0"/>
|
|
<geometry>
|
|
<sphere radius="0.03"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<origin rpy="0 0 0" xyz="5.552058e-06 7.1133124e-05 -0.021388647779"/>
|
|
<mass value="0.1922685"/>
|
|
<inertia ixx="8.3086410294e-05" ixy="-4.16901601e-07" ixz="-3.99054799e-07" iyy="8.2860209667e-05" iyz="-3.45712252e-07" izz="8.1948124086e-05"/>
|
|
</inertial>
|
|
</link>
|
|
<!-- Foot mount joint / ankle -->
|
|
<joint name="LH_ANKLE_JOINT" type="fixed">
|
|
<parent link="LH_SHANK"/>
|
|
<child link="LH_FOOT_MOUNT"/>
|
|
<origin rpy="0.323 -0.549 0" xyz="-0.0 -0.016 -0.31"/>
|
|
</joint>
|
|
<!-- Xacro:Properties -->
|
|
<!-- [m] -->
|
|
<!-- Gazebo customization -->
|
|
<gazebo reference="LH_FOOT_SENSOR">
|
|
<kp>1000000.0</kp>
|
|
<kd>100.0</kd>
|
|
<mu1>0.8</mu1>
|
|
<mu2>0.8</mu2>
|
|
</gazebo>
|
|
<gazebo reference="LH_MOUNT_TO_SENSOR"/>
|
|
<!-- Xacro:Properties -->
|
|
<!-- [m] -->
|
|
<!-- [Nm] -->
|
|
<link name="RH_HIP">
|
|
<visual>
|
|
<origin rpy="1.5707963268 1.5707963268 -1.5707963268" xyz="0 0 0"/>
|
|
<geometry>
|
|
<mesh filename="anymal_hip.obj" scale="0.001 0.001 0.001"/>
|
|
</geometry>
|
|
<material name="anymal_material"/>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="-1.57079632679 0 0" xyz="-0.0585 -0.0315 0.0"/>
|
|
<geometry>
|
|
<cylinder length="0.08" radius="0.04"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<origin rpy="0 0 0" xyz="-0.0542 0.0136 0.0"/>
|
|
<mass value="1.1064"/>
|
|
<inertia ixx="0.00123301508523" ixy="-6.4285329973e-05" ixz="-6.9990104e-08" iyy="0.000993231183395" iyz="-2.327401345e-06" izz="0.00142160349098"/>
|
|
</inertial>
|
|
</link>
|
|
<!-- Hip joint -->
|
|
<joint name="RH_HAA" type="revolute">
|
|
<parent link="base"/>
|
|
<child link="RH_HIP"/>
|
|
<origin xyz="-0.2629 -0.115 0.0"/>
|
|
<axis xyz="1 0 0"/>
|
|
<limit effort="80" lower="-6.28" upper="6.28" velocity="15"/>
|
|
<dynamics damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
<!-- Xacro:Properties -->
|
|
<!-- [m] -->
|
|
<!-- [Nm] -->
|
|
<link name="RH_THIGH">
|
|
<visual>
|
|
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
|
|
<geometry>
|
|
<mesh filename="anymal_thigh.obj" scale="0.001 0.001 0.001"/>
|
|
</geometry>
|
|
<material name="anymal_material"/>
|
|
</visual>
|
|
<!--collision>
|
|
<origin rpy="-0.145 0 0" xyz="0 -0.02 -0.1"/>
|
|
<geometry>
|
|
<cylinder length="0.2" radius="0.01"/>
|
|
</geometry>
|
|
</collision-->
|
|
<collision>
|
|
<origin rpy="1.57079632679 0 0" xyz="0.0 -0.07 -0.25"/>
|
|
<geometry>
|
|
<cylinder length="0.08" radius="0.04"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<origin rpy="0 0 0" xyz="-0.0008 -0.0545 -0.1975"/>
|
|
<mass value="1.51"/>
|
|
<inertia ixx="0.0147571628275" ixy="-1.7996507882e-05" ixz="-0.000205877679383" iyy="0.0144188925719" iyz="0.00181291342366" izz="0.00178449075964"/>
|
|
</inertial>
|
|
</link>
|
|
<!-- Thigh joint -->
|
|
<joint name="RH_HFE" type="revolute">
|
|
<parent link="RH_HIP"/>
|
|
<child link="RH_THIGH"/>
|
|
<origin xyz="-0.0585 -0.0315 0.0"/>
|
|
<axis xyz="0 1 0"/>
|
|
<limit effort="80" lower="-6.28" upper="6.28" velocity="15"/>
|
|
<dynamics damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
<!-- Xacro:Properties -->
|
|
<!-- [m] -->
|
|
<!-- [Nm] -->
|
|
<link name="RH_SHANK">
|
|
<visual>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<mesh filename="anymal_shank_2_RH.obj" scale="0.001 0.001 0.001"/>
|
|
</geometry>
|
|
<material name="anymal_material"/>
|
|
</visual>
|
|
<!--collision>
|
|
<origin rpy="0 0.9 -0.2" xyz="-0.04 0.02 -0.04"/>
|
|
<geometry>
|
|
<cylinder length="0.13" radius="0.015"/>
|
|
</geometry>
|
|
</collision-->
|
|
<collision>
|
|
<origin rpy="0.0 -0.34 0" xyz="-0.06 0.03 -0.18"/>
|
|
<geometry>
|
|
<cylinder length="0.19" radius="0.015"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<origin rpy="0 0 0" xyz="-0.016355414056 0.00562219106 -0.064350437219"/>
|
|
<mass value="0.318"/>
|
|
<inertia ixx="0.0037693717909" ixy="-7.7334500762e-05" ixz="0.000152069372983" iyy="0.00400446467635" iyz="0.0003218356083" izz="0.000418471691904"/>
|
|
</inertial>
|
|
</link>
|
|
<!-- Shank joint -->
|
|
<joint name="RH_KFE" type="revolute">
|
|
<parent link="RH_THIGH"/>
|
|
<child link="RH_SHANK"/>
|
|
<origin xyz="-0.0 -0.111 -0.25"/>
|
|
<axis xyz="0 1 0"/>
|
|
<limit effort="80" lower="-6.28" upper="6.28" velocity="15"/>
|
|
<dynamics damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
<!-- Foot mount link -->
|
|
<link name="RH_FOOT_MOUNT">
|
|
<visual>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<mesh filename="anymal_optoforce.obj" scale="0.001 0.001 0.001"/>
|
|
</geometry>
|
|
<material name="anymal_material"/>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="0.0 0.0 0"/>
|
|
<geometry>
|
|
<sphere radius="0.03"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<origin rpy="0 0 0" xyz="5.552058e-06 -7.1133124e-05 -0.021388647779"/>
|
|
<mass value="0.1922685"/>
|
|
<inertia ixx="8.3086410294e-05" ixy="4.16901601e-07" ixz="-3.99054799e-07" iyy="8.2860209667e-05" iyz="3.45712252e-07" izz="8.1948124086e-05"/>
|
|
</inertial>
|
|
</link>
|
|
<!-- Foot mount joint / ankle -->
|
|
<joint name="RH_ANKLE_JOINT" type="fixed">
|
|
<parent link="RH_SHANK"/>
|
|
<child link="RH_FOOT_MOUNT"/>
|
|
<origin rpy="-0.323 -0.549 0" xyz="-0.0 0.016 -0.31"/>
|
|
</joint>
|
|
<!-- Xacro:Properties -->
|
|
<!-- [m] -->
|
|
<!-- Gazebo customization -->
|
|
<gazebo reference="RH_FOOT_SENSOR">
|
|
<kp>1000000.0</kp>
|
|
<kd>100.0</kd>
|
|
<mu1>0.8</mu1>
|
|
<mu2>0.8</mu2>
|
|
</gazebo>
|
|
<gazebo reference="RH_MOUNT_TO_SENSOR"/>
|
|
<link name="imu_link">
|
|
<visual>
|
|
<origin rpy="0 0 0" xyz="0 0 0.011"/>
|
|
<geometry>
|
|
<box size="0.058 0.058 0.022"/>
|
|
</geometry>
|
|
<material name="orange"/>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="0 0 0.011"/>
|
|
<geometry>
|
|
<box size="0.058 0.058 0.022"/>
|
|
</geometry>
|
|
</collision>
|
|
<inertial>
|
|
<mass value="0.05"/>
|
|
<origin xyz="0 0 0"/>
|
|
<inertia ixx="1.60333333333e-05" ixy="0.0" ixz="0.0" iyy="2.80333333333e-05" iyz="0.0" izz="1.60333333333e-05"/>
|
|
</inertial>
|
|
</link>
|
|
<joint name="imu_joint" type="fixed">
|
|
<parent link="base"/>
|
|
<child link="imu_link"/>
|
|
<origin rpy="3.14159265359 0 0" xyz="0.0245 -0.04255 0.1857"/>
|
|
</joint>
|
|
<gazebo reference="imu_link">
|
|
<material>Gazebo/Orange</material>
|
|
<mu1>0.8</mu1>
|
|
<mu2>0.8</mu2>
|
|
</gazebo>
|
|
<gazebo reference="imu_joint">
|
|
</gazebo>
|
|
<gazebo>
|
|
<plugin filename="libhector_gazebo_ros_imu.so" name="imu_plugin">
|
|
<robotNamespace>sensors</robotNamespace>
|
|
<bodyName>imu_link</bodyName>
|
|
<frameId>/imu_link</frameId>
|
|
<topicName>imu</topicName>
|
|
<biasTopicName>imu/bias</biasTopicName>
|
|
<serviceName>imu/calibrate</serviceName>
|
|
<updateRate>400</updateRate>
|
|
</plugin>
|
|
</gazebo>
|
|
<!-- Omniview -->
|
|
<!-- <xacro:include filename="$(find anymal_beth_description)/urdf/omniview/anymal_beth_omniview_macro.urdf.xacro"/> -->
|
|
<!-- <xacro:anymal_beth_omniview_mesh link_name="omniview_mesh_front" parent_name="base" joint_name="omniview_mesh_front_joint"> -->
|
|
<!-- <origin xyz="0.3312 0.0 0.025" rpy="-1.57079632679 0.0 0.0"/> -->
|
|
<!-- </xacro:anymal_beth_omniview_mesh> -->
|
|
<!-- <xacro:anymal_beth_omniview_mesh link_name="omniview_mesh_back" parent_name="base" joint_name="omniview_mesh_back_joint"> -->
|
|
<!-- <origin xyz="-0.3312 0.0 0.025" rpy="-1.57079632679 0.0 3.14159265359"/> -->
|
|
<!-- </xacro:anymal_beth_omniview_mesh> -->
|
|
<!--<link name="static_lidar_front"/>-->
|
|
<!--<joint name="base_to_static_lidar_front" type="fixed">-->
|
|
<!--<origin rpy="1.57079632679 0.0 1.57079632679" xyz="0.2 0.0 0.1415"/>-->
|
|
<!--<parent link="base"/>-->
|
|
<!--<child link="static_lidar_front"/>-->
|
|
<!--<origin rpy="0 0 0" xyz="0 0 0"/>-->
|
|
<!--</joint>-->
|
|
<!-- <xacro:anymal_lidar_fix name="static_lidar_back" parent="base" dynamixel_lidar_offset="0.1515">
|
|
<origin xyz="-0.2 0.0 0.1415" rpy="1.57079632679 0.0 -1.57079632679"/>
|
|
</xacro:anymal_lidar_fix> -->
|
|
</robot>
|