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vision60_gazebo.urdf.xacro
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vision60_gazebo.urdf.xacro
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<?xml version="1.0"?>
<!--
MIT License (modified)
Copyright (c) 2018 Ghost Robotics
Authors:
Avik De <[email protected]>
Tom Jacobs <[email protected]>
Vasileios Vasilopoulos <[email protected]>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="vision60">
<!-- Define parameters -->
<xacro:property name="pi" value="3.14159265359"/>
<xacro:property name="bodyLength" value="0.88"/>
<xacro:property name="bodyWidth" value="0.25"/>
<xacro:property name="bodyHeight" value="0.19"/>
<xacro:property name="bodyMass" value="12"/>
<xacro:property name="upperLegMass" value="0.625"/>
<xacro:property name="lowerLegMass" value="0.2"/>
<xacro:property name="toeMass" value="0.15"/>
<xacro:property name="upperLegLength" value="0.25"/>
<xacro:property name="upperLegWidth" value="0.044"/>
<xacro:property name="upperLegHeight" value="0.060"/>
<xacro:property name="lowerLegLength" value="0.28"/>
<xacro:property name="lowerLegRadius" value="0.011"/>
<xacro:property name="lowerLegAttachLinkLength" value="0.0355"/>
<xacro:property name="podMass" value="2.75"/>
<xacro:property name="podLength" value="0.195"/>
<xacro:property name="podWidth" value="0.170"/>
<xacro:property name="podHeight" value="0.1"/>
<xacro:property name="dPodAxisToEdge" value="0.046"/>
<xacro:property name="dx" value="0.325"/>
<xacro:property name="dy" value="0.1575"/>
<xacro:property name="toeRadius" value="0.03"/>
<xacro:property name="toeOffset" value="0.0106"/>
<xacro:property name="toeStiffness" value="30000.0"/>
<xacro:property name="toeDamping" value="1000.0"/>
<xacro:property name="toeSpinningFriction" value="0.3"/>
<xacro:property name="toeFriction" value="20.0"/>
<xacro:property name="toeLateralFriction" value="10.0"/>
<xacro:property name="abKinLimit" value="0.43"/>
<xacro:property name="abSpeedLimit" value="8.6"/>
<xacro:property name="abEffortLimit" value="375"/>
<xacro:property name="jointSpeedLimit" value="30"/>
<xacro:property name="jointEffortLimit" value="87.5"/>
<!-- Body -->
<link name="body">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="${bodyLength} ${bodyWidth} ${bodyHeight}"/>
</geometry>
</visual>
<inertial>
<mass value="${bodyMass}"/>
<!-- Uniform box -->
<inertia ixx="0.0986" ixy="0" ixz="0" iyy="0.8105" iyz="0" izz="0.8369" />
</inertial>
<!-- Just copy geometry for collision -->
<collision>
<geometry>
<box size="0.05 ${bodyWidth} ${bodyHeight}"/>
</geometry>
</collision>
</link>
<gazebo reference="body">
<material>Gazebo/BlackTransparent</material>
</gazebo>
<!-- Define our leg macro -->
<xacro:macro name="leg" params="suffix left front hipJointName kneeJointName abductionJointName hipJointLowerLimit hipJointUpperLimit">
<!-- Hip motor -->
<link name="hip${suffix}">
<visual>
<origin rpy="${pi/2} 0 0" xyz="0.0 ${left * (dPodAxisToEdge - podWidth/2) + left*0.15*0.0} 0"/>
<geometry>
<box size="${podLength} ${podHeight} ${podWidth}"/>
</geometry>
</visual>
<collision>
<origin rpy="${pi/2} 0 0" xyz="0.0 ${left * (dPodAxisToEdge - podWidth/2)} 0"/>
<geometry>
<box size="${podLength} ${podHeight} ${podWidth}"/>
</geometry>
</collision>
<inertial>
<mass value="${podMass}"/>
<inertia ixx="0.00891458" ixy="0" ixz="0" iyy="0.0100573" iyz="0" izz="0.01533698" />
</inertial>
</link>
<gazebo reference="hip${suffix}">
<material>Gazebo/Purple</material>
</gazebo>
<!-- Abduction joint. Joint names are: 8 9 10 11 -->
<joint name="${abductionJointName}" type="revolute">
<parent link="body"/>
<child link="hip${suffix}"/>
<axis xyz="1 0 0"/>
<origin xyz="${front * dx} ${left * dy} 0"/>
<limit effort="${abEffortLimit}" velocity="${abSpeedLimit}" lower="${-abKinLimit}" upper="${abKinLimit}"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Transmission elements required for Gazebo -->
<transmission name="transmission_${abductionJointName}">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${abductionJointName}">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_${abductionJointName}">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Upper leg -->
<link name="upper${suffix}">
<visual>
<origin rpy="0 0 0" xyz="-${upperLegLength/2} ${left*0.2*0.0} 0"/>
<geometry>
<box size="${upperLegLength} ${upperLegWidth} ${upperLegHeight}"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-${upperLegLength/2} 0 0"/>
<geometry>
<box size="${upperLegLength} ${upperLegWidth} ${upperLegHeight}"/>
</geometry>
</collision>
<inertial>
<mass value="${upperLegMass}"/>
<inertia ixx="0.0003125" ixy="0" ixz="0" iyy="0.0040625" iyz="0" izz="0.0040625" />
</inertial>
</link>
<gazebo reference="upper${suffix}">
<material>Gazebo/Blue</material>
</gazebo>
<!-- Hip joint. (Motor to upper leg). Joint names are: 0 2 4 6 -->
<joint name="${hipJointName}" type="revolute">
<parent link="hip${suffix}"/>
<child link="upper${suffix}"/>
<axis xyz="0 -1 0"/>
<origin xyz="0 ${left * (dPodAxisToEdge + upperLegWidth/2)} 0"/> <!-- rpy="0 -0.3 0" -->
<limit effort="${jointEffortLimit}" velocity="${jointSpeedLimit}" lower="${-pi}" upper="${pi}"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Transmission elements required for Gazebo -->
<transmission name="transmission_${hipJointName}">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${hipJointName}">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_${hipJointName}">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Lower leg -->
<link name="lower${suffix}">
<visual>
<origin rpy="0 ${pi/2} 0" xyz="${lowerLegLength/2} 0 -${lowerLegAttachLinkLength}"/>
<geometry>
<cylinder length="${lowerLegLength}" radius="${lowerLegRadius}"/>
</geometry>
</visual>
<collision>
<origin rpy="0 ${pi/2} 0" xyz="${lowerLegLength/2} 0 -${lowerLegAttachLinkLength}"/>
<geometry>
<cylinder length="${lowerLegLength}" radius="${lowerLegRadius}"/>
</geometry>
</collision>
<inertial>
<mass value="${lowerLegMass}"/>
<inertia ixx="0.00131075" ixy="0" ixz="0" iyy="0.00131075" iyz="0" izz="0.0001" />
</inertial>
</link>
<gazebo reference="lower${suffix}">
<material>Gazebo/Black</material>
</gazebo>
<!-- Knee joint. Joint names are: 1 3 5 7 -->
<joint name="${kneeJointName}" type="revolute">
<parent link="upper${suffix}"/>
<child link="lower${suffix}"/>
<axis xyz="0 1 0"/>
<origin xyz="-${upperLegLength} 0 0"/> <!--rpy="0 0.5 0"-->
<limit effort="${jointEffortLimit}" velocity="${jointSpeedLimit}" lower="0" upper="${pi}"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Transmission elements required for Gazebo -->
<transmission name="transmission_${kneeJointName}">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${kneeJointName}">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_${kneeJointName}">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Toe -->
<link name="toe${suffix}">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="${toeRadius}"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="${toeRadius}"/>
</geometry>
</collision>
<inertial>
<mass value="${toeMass}"/>
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025" />
</inertial>
</link>
<gazebo reference="toe${suffix}">
<material>Gazebo/DarkGray</material>
<collision>
<surface>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<friction>
<torsional>
<coefficient>${toeSpinningFriction}</coefficient>
</torsional>
<ode>
<mu>${toeFriction}</mu>
<mu2>${toeLateralFriction}</mu2>
</ode>
<bullet>
<rolling_friction>${toeSpinningFriction}</rolling_friction>
<friction2>${toeLateralFriction}</friction2>
</bullet>
</friction>
<contact>
<bullet>
<kp>${toeStiffness}</kp>
<kd>${toeDamping}</kd>
</bullet>
<ode>
<kp>${toeStiffness}</kp>
<kd>${toeDamping}</kd>
</ode>
</contact>
</surface>
</collision>
</gazebo>
<joint name="jtoe${suffix}" type="fixed">
<parent link="lower${suffix}"/>
<child link="toe${suffix}"/>
<origin xyz="${lowerLegLength} 0 -${lowerLegAttachLinkLength + toeOffset}"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
</xacro:macro>
<!-- red new legs -->
<!-- TODO: clean this, it should be part of main leg macro -->
<!-- Define our leg macro -->
<xacro:macro name="red_leg" params="suffix left front hipJointName kneeJointName abductionJointName hipJointLowerLimit hipJointUpperLimit">
<!-- Hip motor -->
<link name="hip${suffix}">
<visual>
<origin rpy="${pi/2} 0 0" xyz="0.0 ${left * (dPodAxisToEdge - podWidth/2) + left*0.15*0.0} 0"/>
<geometry>
<box size="${podLength} ${podHeight} ${podWidth}"/>
</geometry>
</visual>
<collision>
<origin rpy="${pi/2} 0 0" xyz="0.0 ${left * (dPodAxisToEdge - podWidth/2)} 0"/>
<geometry>
<box size="${podLength} ${podHeight} ${podWidth}"/>
</geometry>
</collision>
<inertial>
<mass value="${podMass}"/>
<inertia ixx="0.00891458" ixy="0" ixz="0" iyy="0.0100573" iyz="0" izz="0.01533698" />
</inertial>
</link>
<gazebo reference="hip${suffix}">
<material>Gazebo/Red</material>
</gazebo>
<!-- Abduction joint. Joint names are: 8 9 10 11 -->
<joint name="${abductionJointName}" type="revolute">
<parent link="body"/>
<child link="hip${suffix}"/>
<axis xyz="1 0 0"/>
<origin xyz="${front * dx} ${left * dy} 0"/>
<limit effort="${abEffortLimit}" velocity="${abSpeedLimit}" lower="${-abKinLimit}" upper="${abKinLimit}"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Transmission elements required for Gazebo -->
<transmission name="transmission_${abductionJointName}">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${abductionJointName}">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_${abductionJointName}">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Upper leg -->
<link name="upper${suffix}">
<visual>
<origin rpy="0 0 0" xyz="-${upperLegLength/2} ${left*0.2*0.0} 0"/>
<geometry>
<box size="${upperLegLength} ${upperLegWidth} ${upperLegHeight}"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-${upperLegLength/2} 0 0"/>
<geometry>
<box size="${upperLegLength} ${upperLegWidth} ${upperLegHeight}"/>
</geometry>
</collision>
<inertial>
<mass value="${upperLegMass}"/>
<inertia ixx="0.0003125" ixy="0" ixz="0" iyy="0.0040625" iyz="0" izz="0.0040625" />
</inertial>
</link>
<gazebo reference="upper${suffix}">
<material>Gazebo/Blue</material>
</gazebo>
<!-- Hip joint. (Motor to upper leg). Joint names are: 0 2 4 6 -->
<joint name="${hipJointName}" type="revolute">
<parent link="hip${suffix}"/>
<child link="upper${suffix}"/>
<axis xyz="0 -1 0"/>
<origin xyz="0 ${left * (dPodAxisToEdge + upperLegWidth/2)} 0"/> <!-- rpy="0 -0.3 0" -->
<limit effort="${jointEffortLimit}" velocity="${jointSpeedLimit}" lower="${-pi}" upper="${pi}"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Transmission elements required for Gazebo -->
<transmission name="transmission_${hipJointName}">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${hipJointName}">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_${hipJointName}">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Lower leg -->
<link name="lower${suffix}">
<visual>
<origin rpy="0 ${pi/2} 0" xyz="${lowerLegLength/2} 0 -${lowerLegAttachLinkLength}"/>
<geometry>
<cylinder length="${lowerLegLength}" radius="${lowerLegRadius}"/>
</geometry>
</visual>
<collision>
<origin rpy="0 ${pi/2} 0" xyz="${lowerLegLength/2} 0 -${lowerLegAttachLinkLength}"/>
<geometry>
<cylinder length="${lowerLegLength}" radius="${lowerLegRadius}"/>
</geometry>
</collision>
<inertial>
<mass value="${lowerLegMass}"/>
<inertia ixx="0.00131075" ixy="0" ixz="0" iyy="0.00131075" iyz="0" izz="0.0001" />
</inertial>
</link>
<gazebo reference="lower${suffix}">
<material>Gazebo/Black</material>
</gazebo>
<!-- Knee joint. Joint names are: 1 3 5 7 -->
<joint name="${kneeJointName}" type="revolute">
<parent link="upper${suffix}"/>
<child link="lower${suffix}"/>
<axis xyz="0 1 0"/>
<origin xyz="-${upperLegLength} 0 0"/> <!--rpy="0 0.5 0"-->
<limit effort="${jointEffortLimit}" velocity="${jointSpeedLimit}" lower="0" upper="${pi}"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Transmission elements required for Gazebo -->
<transmission name="transmission_${kneeJointName}">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${kneeJointName}">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_${kneeJointName}">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Toe -->
<link name="toe${suffix}">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="${toeRadius}"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="${toeRadius}"/>
</geometry>
</collision>
<inertial>
<mass value="${toeMass}"/>
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025" />
</inertial>
</link>
<gazebo reference="toe${suffix}">
<material>Gazebo/DarkGray</material>
<collision>
<surface>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<friction>
<torsional>
<coefficient>${toeSpinningFriction}</coefficient>
</torsional>
<ode>
<mu>${toeFriction}</mu>
<mu2>${toeLateralFriction}</mu2>
</ode>
<bullet>
<rolling_friction>${toeSpinningFriction}</rolling_friction>
<friction2>${toeLateralFriction}</friction2>
</bullet>
</friction>
<contact>
<bullet>
<kp>${toeStiffness}</kp>
<kd>${toeDamping}</kd>
</bullet>
<ode>
<kp>${toeStiffness}</kp>
<kd>${toeDamping}</kd>
</ode>
</contact>
</surface>
</collision>
</gazebo>
<joint name="jtoe${suffix}" type="fixed">
<parent link="lower${suffix}"/>
<child link="toe${suffix}"/>
<origin xyz="${lowerLegLength} 0 -${lowerLegAttachLinkLength + toeOffset}"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
</xacro:macro>
<!-- Our four legs -->
<xacro:red_leg suffix="0" hipJointName="0" kneeJointName="1" abductionJointName="8" front="1" left="1" hipJointLowerLimit="${-pi/2}" hipJointUpperLimit="${3*pi/2}"/>
<xacro:leg suffix="1" hipJointName="2" kneeJointName="3" abductionJointName="9" front="-1" left="1" hipJointLowerLimit="${-pi}" hipJointUpperLimit="${pi}"/>
<xacro:red_leg suffix="2" hipJointName="4" kneeJointName="5" abductionJointName="10" front="1" left="-1" hipJointLowerLimit="${-pi/2}" hipJointUpperLimit="${3*pi/2}"/>
<xacro:leg suffix="3" hipJointName="6" kneeJointName="7" abductionJointName="11" front="-1" left="-1" hipJointLowerLimit="${-pi}" hipJointUpperLimit="${pi}"/>
<!-- Add ros_control plugin -->
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/vision60</robotNamespace>
</plugin>
</gazebo>
</robot>