Skip to content
GitLab
Projects
Groups
Snippets
/
Help
Help
Support
Community forum
Keyboard shortcuts
?
Submit feedback
Contribute to GitLab
Sign in / Register
Toggle navigation
Menu
Open sidebar
Gepetto
example-robot-data
Commits
15d5943f
Commit
15d5943f
authored
Aug 20, 2021
by
Wolfgang Merkt
Browse files
Add a1_description (Unitree A1 robot)
parent
5f580557
Pipeline
#15717
failed with stage
in 2 minutes and 25 seconds
Changes
11
Pipelines
1
Expand all
Hide whitespace changes
Inline
Side-by-side
python/example_robot_data/robots_loader.py
View file @
15d5943f
...
...
@@ -99,6 +99,15 @@ class RobotLoader(object):
return
self
.
robot
.
q0
class
A1Loader
(
RobotLoader
):
path
=
'a1_description'
urdf_filename
=
"a1.urdf"
urdf_subpath
=
"urdf"
srdf_filename
=
"a1.srdf"
ref_posture
=
"standing"
free_flyer
=
True
class
ANYmalLoader
(
RobotLoader
):
path
=
'anymal_b_simple_description'
urdf_filename
=
"anymal.urdf"
...
...
@@ -492,6 +501,7 @@ def loadIris():
ROBOTS
=
{
'a1'
:
A1Loader
,
'anymal'
:
ANYmalLoader
,
'anymal_kinova'
:
ANYmalKinovaLoader
,
'baxter'
:
BaxterLoader
,
...
...
robots/a1_description/README.md
0 → 100644
View file @
15d5943f
# Unitree A1
upstream: https://github.com/unitreerobotics/unitree_ros/tree/master/robots/a1_description
license: MPL-2.0
### Modifications:
-
Removed Gazebo and transmission tags
-
Added SRDF
robots/a1_description/meshes/calf.dae
0 → 100644
View file @
15d5943f
This diff is collapsed.
Click to expand it.
robots/a1_description/meshes/hip.dae
0 → 100644
View file @
15d5943f
This diff is collapsed.
Click to expand it.
robots/a1_description/meshes/thigh.dae
0 → 100644
View file @
15d5943f
This diff is collapsed.
Click to expand it.
robots/a1_description/meshes/thigh_mirror.dae
0 → 100644
View file @
15d5943f
This diff is collapsed.
Click to expand it.
robots/a1_description/meshes/trunk.dae
0 → 100644
View file @
15d5943f
This diff is collapsed.
Click to expand it.
robots/a1_description/meshes/trunk_A1.png
0 → 100644
View file @
15d5943f
70.2 KB
robots/a1_description/srdf/a1.srdf
0 → 100644
View file @
15d5943f
<?xml version="1.0" ?>
<robot
name=
"a1"
>
<group
name=
"whole_body"
>
<joint
name=
"root_joint"
/>
<joint
name=
"FL_hip_joint"
/>
<joint
name=
"FL_thigh_joint"
/>
<joint
name=
"FL_calf_joint"
/>
<joint
name=
"RL_hip_joint"
/>
<joint
name=
"RL_thigh_joint"
/>
<joint
name=
"RL_calf_joint"
/>
<joint
name=
"FR_hip_joint"
/>
<joint
name=
"FR_thigh_joint"
/>
<joint
name=
"FR_calf_joint"
/>
<joint
name=
"RR_hip_joint"
/>
<joint
name=
"RR_thigh_joint"
/>
<joint
name=
"RR_calf_joint"
/>
</group>
<virtual_joint
name=
"root_joint"
type=
"floating"
parent_frame=
"world_frame"
child_link=
"base"
/>
<group
name=
"lf_leg"
>
<joint
name=
"FL_hip_joint"
/>
<joint
name=
"FL_thigh_joint"
/>
<joint
name=
"FL_calf_joint"
/>
<chain
base_link=
"base"
tip_link=
"FL_foot"
/>
</group>
<group
name=
"lh_leg"
>
<joint
name=
"RL_hip_joint"
/>
<joint
name=
"RL_thigh_joint"
/>
<joint
name=
"RL_calf_joint"
/>
<chain
base_link=
"base"
tip_link=
"RL_foot"
/>
</group>
<group
name=
"rf_leg"
>
<joint
name=
"FR_hip_joint"
/>
<joint
name=
"FR_thigh_joint"
/>
<joint
name=
"FR_calf_joint"
/>
<chain
base_link=
"base"
tip_link=
"FR_foot"
/>
</group>
<group
name=
"rh_leg"
>
<joint
name=
"RR_hip_joint"
/>
<joint
name=
"RR_thigh_joint"
/>
<joint
name=
"RR_calf_joint"
/>
<chain
base_link=
"base"
tip_link=
"RR_foot"
/>
</group>
<group
name=
"all_legs"
>
<group
name=
"lf_leg"
/>
<group
name=
"rf_leg"
/>
<group
name=
"lh_leg"
/>
<group
name=
"rh_leg"
/>
</group>
<group
name=
"r_legs"
>
<group
name=
"rf_leg"
/>
<group
name=
"rh_leg"
/>
</group>
<group
name=
"l_legs"
>
<group
name=
"lf_leg"
/>
<group
name=
"lh_leg"
/>
</group>
<group
name=
"f_legs"
>
<group
name=
"lf_leg"
/>
<group
name=
"rf_leg"
/>
</group>
<group
name=
"h_legs"
>
<group
name=
"lh_leg"
/>
<group
name=
"rh_leg"
/>
</group>
<group
name=
"ld_legs"
>
<group
name=
"lf_leg"
/>
<group
name=
"rh_leg"
/>
</group>
<group
name=
"rd_legs"
>
<group
name=
"rf_leg"
/>
<group
name=
"lh_leg"
/>
</group>
<end_effector
name=
"lf_foot"
parent_link=
"FL_foot"
group=
"lf_leg"
/>
<end_effector
name=
"rf_foot"
parent_link=
"FR_foot"
group=
"rf_leg"
/>
<end_effector
name=
"lh_foot"
parent_link=
"RL_foot"
group=
"lh_leg"
/>
<end_effector
name=
"rh_foot"
parent_link=
"RR_foot"
group=
"rh_leg"
/>
<group_state
name=
"standing"
group=
"whole_body"
>
<joint
name=
"root_joint"
value=
"0. 0. 0.3 0. 0. 0. 1."
/>
<joint
name=
"FL_hip_joint"
value=
"0."
/>
<joint
name=
"FL_thigh_joint"
value=
"0.8"
/>
<joint
name=
"FL_calf_joint"
value=
"-1.81"
/>
<joint
name=
"FR_hip_joint"
value=
"0."
/>
<joint
name=
"FR_thigh_joint"
value=
"0.8"
/>
<joint
name=
"FR_calf_joint"
value=
"-1.81"
/>
<joint
name=
"RL_hip_joint"
value=
"0."
/>
<joint
name=
"RL_thigh_joint"
value=
"0.8"
/>
<joint
name=
"RL_calf_joint"
value=
"-1.81"
/>
<joint
name=
"RR_hip_joint"
value=
"0."
/>
<joint
name=
"RR_thigh_joint"
value=
"0.8"
/>
<joint
name=
"RR_calf_joint"
value=
"-1.81"
/>
</group_state>
<disable_collisions
link1=
"FL_calf"
link2=
"FL_foot"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"FL_calf"
link2=
"FL_hip"
reason=
"Never"
/>
<disable_collisions
link1=
"FL_calf"
link2=
"FL_thigh"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"FL_calf"
link2=
"FL_thigh_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"FL_calf"
link2=
"FR_hip"
reason=
"Never"
/>
<disable_collisions
link1=
"FL_calf"
link2=
"FR_thigh_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"FL_calf"
link2=
"RL_hip"
reason=
"Never"
/>
<disable_collisions
link1=
"FL_calf"
link2=
"RR_hip"
reason=
"Never"
/>
<disable_collisions
link1=
"FL_calf"
link2=
"RR_thigh_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"FL_calf"
link2=
"imu_link"
reason=
"Never"
/>
<disable_collisions
link1=
"FL_calf"
link2=
"trunk"
reason=
"Never"
/>
<disable_collisions
link1=
"FL_foot"
link2=
"FL_hip"
reason=
"Never"
/>
<disable_collisions
link1=
"FL_foot"
link2=
"FL_thigh"
reason=
"Never"
/>
<disable_collisions
link1=
"FL_foot"
link2=
"FL_thigh_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"FL_foot"
link2=
"FR_hip"
reason=
"Never"
/>
<disable_collisions
link1=
"FL_foot"
link2=
"FR_thigh_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"FL_foot"
link2=
"RL_hip"
reason=
"Never"
/>
<disable_collisions
link1=
"FL_foot"
link2=
"RR_hip"
reason=
"Never"
/>
<disable_collisions
link1=
"FL_foot"
link2=
"RR_thigh_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"FL_foot"
link2=
"imu_link"
reason=
"Never"
/>
<disable_collisions
link1=
"FL_hip"
link2=
"FL_thigh"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"FL_hip"
link2=
"FL_thigh_shoulder"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"FL_hip"
link2=
"FR_calf"
reason=
"Never"
/>
<disable_collisions
link1=
"FL_hip"
link2=
"FR_foot"
reason=
"Never"
/>
<disable_collisions
link1=
"FL_hip"
link2=
"FR_hip"
reason=
"Never"
/>
<disable_collisions
link1=
"FL_hip"
link2=
"FR_thigh"
reason=
"Never"
/>
<disable_collisions
link1=
"FL_hip"
link2=
"FR_thigh_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"FL_hip"
link2=
"RL_calf"
reason=
"Never"
/>
<disable_collisions
link1=
"FL_hip"
link2=
"RL_foot"
reason=
"Never"
/>
<disable_collisions
link1=
"FL_hip"
link2=
"RL_hip"
reason=
"Never"
/>
<disable_collisions
link1=
"FL_hip"
link2=
"RL_thigh"
reason=
"Never"
/>
<disable_collisions
link1=
"FL_hip"
link2=
"RL_thigh_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"FL_hip"
link2=
"RR_calf"
reason=
"Never"
/>
<disable_collisions
link1=
"FL_hip"
link2=
"RR_foot"
reason=
"Never"
/>
<disable_collisions
link1=
"FL_hip"
link2=
"RR_hip"
reason=
"Never"
/>
<disable_collisions
link1=
"FL_hip"
link2=
"RR_thigh"
reason=
"Never"
/>
<disable_collisions
link1=
"FL_hip"
link2=
"RR_thigh_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"FL_hip"
link2=
"imu_link"
reason=
"Never"
/>
<disable_collisions
link1=
"FL_hip"
link2=
"trunk"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"FL_thigh"
link2=
"FL_thigh_shoulder"
reason=
"Default"
/>
<disable_collisions
link1=
"FL_thigh"
link2=
"FR_hip"
reason=
"Never"
/>
<disable_collisions
link1=
"FL_thigh"
link2=
"FR_thigh_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"FL_thigh"
link2=
"RL_hip"
reason=
"Never"
/>
<disable_collisions
link1=
"FL_thigh"
link2=
"RL_thigh_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"FL_thigh"
link2=
"RR_hip"
reason=
"Never"
/>
<disable_collisions
link1=
"FL_thigh"
link2=
"RR_thigh"
reason=
"Never"
/>
<disable_collisions
link1=
"FL_thigh"
link2=
"RR_thigh_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"FL_thigh"
link2=
"imu_link"
reason=
"Never"
/>
<disable_collisions
link1=
"FL_thigh_shoulder"
link2=
"FR_calf"
reason=
"Never"
/>
<disable_collisions
link1=
"FL_thigh_shoulder"
link2=
"FR_foot"
reason=
"Never"
/>
<disable_collisions
link1=
"FL_thigh_shoulder"
link2=
"FR_hip"
reason=
"Never"
/>
<disable_collisions
link1=
"FL_thigh_shoulder"
link2=
"FR_thigh"
reason=
"Never"
/>
<disable_collisions
link1=
"FL_thigh_shoulder"
link2=
"FR_thigh_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"FL_thigh_shoulder"
link2=
"RL_hip"
reason=
"Never"
/>
<disable_collisions
link1=
"FL_thigh_shoulder"
link2=
"RL_thigh"
reason=
"Never"
/>
<disable_collisions
link1=
"FL_thigh_shoulder"
link2=
"RL_thigh_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"FL_thigh_shoulder"
link2=
"RR_calf"
reason=
"Never"
/>
<disable_collisions
link1=
"FL_thigh_shoulder"
link2=
"RR_foot"
reason=
"Never"
/>
<disable_collisions
link1=
"FL_thigh_shoulder"
link2=
"RR_hip"
reason=
"Never"
/>
<disable_collisions
link1=
"FL_thigh_shoulder"
link2=
"RR_thigh"
reason=
"Never"
/>
<disable_collisions
link1=
"FL_thigh_shoulder"
link2=
"RR_thigh_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"FL_thigh_shoulder"
link2=
"imu_link"
reason=
"Never"
/>
<disable_collisions
link1=
"FL_thigh_shoulder"
link2=
"trunk"
reason=
"Never"
/>
<disable_collisions
link1=
"FR_calf"
link2=
"FR_foot"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"FR_calf"
link2=
"FR_hip"
reason=
"Never"
/>
<disable_collisions
link1=
"FR_calf"
link2=
"FR_thigh"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"FR_calf"
link2=
"FR_thigh_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"FR_calf"
link2=
"RL_hip"
reason=
"Never"
/>
<disable_collisions
link1=
"FR_calf"
link2=
"RL_thigh_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"FR_calf"
link2=
"RR_hip"
reason=
"Never"
/>
<disable_collisions
link1=
"FR_calf"
link2=
"imu_link"
reason=
"Never"
/>
<disable_collisions
link1=
"FR_calf"
link2=
"trunk"
reason=
"Never"
/>
<disable_collisions
link1=
"FR_foot"
link2=
"FR_hip"
reason=
"Never"
/>
<disable_collisions
link1=
"FR_foot"
link2=
"FR_thigh"
reason=
"Never"
/>
<disable_collisions
link1=
"FR_foot"
link2=
"FR_thigh_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"FR_foot"
link2=
"RL_hip"
reason=
"Never"
/>
<disable_collisions
link1=
"FR_foot"
link2=
"RL_thigh_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"FR_foot"
link2=
"RR_hip"
reason=
"Never"
/>
<disable_collisions
link1=
"FR_foot"
link2=
"imu_link"
reason=
"Never"
/>
<disable_collisions
link1=
"FR_hip"
link2=
"FR_thigh"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"FR_hip"
link2=
"FR_thigh_shoulder"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"FR_hip"
link2=
"RL_calf"
reason=
"Never"
/>
<disable_collisions
link1=
"FR_hip"
link2=
"RL_foot"
reason=
"Never"
/>
<disable_collisions
link1=
"FR_hip"
link2=
"RL_hip"
reason=
"Never"
/>
<disable_collisions
link1=
"FR_hip"
link2=
"RL_thigh"
reason=
"Never"
/>
<disable_collisions
link1=
"FR_hip"
link2=
"RL_thigh_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"FR_hip"
link2=
"RR_calf"
reason=
"Never"
/>
<disable_collisions
link1=
"FR_hip"
link2=
"RR_foot"
reason=
"Never"
/>
<disable_collisions
link1=
"FR_hip"
link2=
"RR_hip"
reason=
"Never"
/>
<disable_collisions
link1=
"FR_hip"
link2=
"RR_thigh"
reason=
"Never"
/>
<disable_collisions
link1=
"FR_hip"
link2=
"RR_thigh_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"FR_hip"
link2=
"imu_link"
reason=
"Never"
/>
<disable_collisions
link1=
"FR_hip"
link2=
"trunk"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"FR_thigh"
link2=
"FR_thigh_shoulder"
reason=
"Default"
/>
<disable_collisions
link1=
"FR_thigh"
link2=
"RL_calf"
reason=
"Never"
/>
<disable_collisions
link1=
"FR_thigh"
link2=
"RL_hip"
reason=
"Never"
/>
<disable_collisions
link1=
"FR_thigh"
link2=
"RL_thigh"
reason=
"Never"
/>
<disable_collisions
link1=
"FR_thigh"
link2=
"RL_thigh_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"FR_thigh"
link2=
"RR_hip"
reason=
"Never"
/>
<disable_collisions
link1=
"FR_thigh"
link2=
"RR_thigh_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"FR_thigh"
link2=
"imu_link"
reason=
"Never"
/>
<disable_collisions
link1=
"FR_thigh_shoulder"
link2=
"RL_calf"
reason=
"Never"
/>
<disable_collisions
link1=
"FR_thigh_shoulder"
link2=
"RL_foot"
reason=
"Never"
/>
<disable_collisions
link1=
"FR_thigh_shoulder"
link2=
"RL_hip"
reason=
"Never"
/>
<disable_collisions
link1=
"FR_thigh_shoulder"
link2=
"RL_thigh"
reason=
"Never"
/>
<disable_collisions
link1=
"FR_thigh_shoulder"
link2=
"RL_thigh_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"FR_thigh_shoulder"
link2=
"RR_hip"
reason=
"Never"
/>
<disable_collisions
link1=
"FR_thigh_shoulder"
link2=
"RR_thigh"
reason=
"Never"
/>
<disable_collisions
link1=
"FR_thigh_shoulder"
link2=
"RR_thigh_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"FR_thigh_shoulder"
link2=
"imu_link"
reason=
"Never"
/>
<disable_collisions
link1=
"FR_thigh_shoulder"
link2=
"trunk"
reason=
"Never"
/>
<disable_collisions
link1=
"RL_calf"
link2=
"RL_foot"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"RL_calf"
link2=
"RL_hip"
reason=
"Never"
/>
<disable_collisions
link1=
"RL_calf"
link2=
"RL_thigh"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"RL_calf"
link2=
"RL_thigh_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"RL_calf"
link2=
"RR_hip"
reason=
"Never"
/>
<disable_collisions
link1=
"RL_calf"
link2=
"RR_thigh_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"RL_calf"
link2=
"imu_link"
reason=
"Never"
/>
<disable_collisions
link1=
"RL_calf"
link2=
"trunk"
reason=
"Never"
/>
<disable_collisions
link1=
"RL_foot"
link2=
"RL_hip"
reason=
"Never"
/>
<disable_collisions
link1=
"RL_foot"
link2=
"RL_thigh"
reason=
"Never"
/>
<disable_collisions
link1=
"RL_foot"
link2=
"RL_thigh_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"RL_foot"
link2=
"RR_hip"
reason=
"Never"
/>
<disable_collisions
link1=
"RL_foot"
link2=
"RR_thigh_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"RL_foot"
link2=
"imu_link"
reason=
"Never"
/>
<disable_collisions
link1=
"RL_hip"
link2=
"RL_thigh"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"RL_hip"
link2=
"RL_thigh_shoulder"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"RL_hip"
link2=
"RR_calf"
reason=
"Never"
/>
<disable_collisions
link1=
"RL_hip"
link2=
"RR_foot"
reason=
"Never"
/>
<disable_collisions
link1=
"RL_hip"
link2=
"RR_hip"
reason=
"Never"
/>
<disable_collisions
link1=
"RL_hip"
link2=
"RR_thigh"
reason=
"Never"
/>
<disable_collisions
link1=
"RL_hip"
link2=
"RR_thigh_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"RL_hip"
link2=
"imu_link"
reason=
"Never"
/>
<disable_collisions
link1=
"RL_hip"
link2=
"trunk"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"RL_thigh"
link2=
"RL_thigh_shoulder"
reason=
"Default"
/>
<disable_collisions
link1=
"RL_thigh"
link2=
"RR_hip"
reason=
"Never"
/>
<disable_collisions
link1=
"RL_thigh"
link2=
"RR_thigh_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"RL_thigh"
link2=
"imu_link"
reason=
"Never"
/>
<disable_collisions
link1=
"RL_thigh_shoulder"
link2=
"RR_calf"
reason=
"Never"
/>
<disable_collisions
link1=
"RL_thigh_shoulder"
link2=
"RR_foot"
reason=
"Never"
/>
<disable_collisions
link1=
"RL_thigh_shoulder"
link2=
"RR_hip"
reason=
"Never"
/>
<disable_collisions
link1=
"RL_thigh_shoulder"
link2=
"RR_thigh"
reason=
"Never"
/>
<disable_collisions
link1=
"RL_thigh_shoulder"
link2=
"RR_thigh_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"RL_thigh_shoulder"
link2=
"imu_link"
reason=
"Never"
/>
<disable_collisions
link1=
"RL_thigh_shoulder"
link2=
"trunk"
reason=
"Never"
/>
<disable_collisions
link1=
"RR_calf"
link2=
"RR_foot"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"RR_calf"
link2=
"RR_hip"
reason=
"Never"
/>
<disable_collisions
link1=
"RR_calf"
link2=
"RR_thigh"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"RR_calf"
link2=
"RR_thigh_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"RR_calf"
link2=
"imu_link"
reason=
"Never"
/>
<disable_collisions
link1=
"RR_calf"
link2=
"trunk"
reason=
"Never"
/>
<disable_collisions
link1=
"RR_foot"
link2=
"RR_hip"
reason=
"Never"
/>
<disable_collisions
link1=
"RR_foot"
link2=
"RR_thigh"
reason=
"Never"
/>
<disable_collisions
link1=
"RR_foot"
link2=
"RR_thigh_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"RR_foot"
link2=
"imu_link"
reason=
"Never"
/>
<disable_collisions
link1=
"RR_hip"
link2=
"RR_thigh"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"RR_hip"
link2=
"RR_thigh_shoulder"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"RR_hip"
link2=
"imu_link"
reason=
"Never"
/>
<disable_collisions
link1=
"RR_hip"
link2=
"trunk"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"RR_thigh"
link2=
"RR_thigh_shoulder"
reason=
"Default"
/>
<disable_collisions
link1=
"RR_thigh"
link2=
"imu_link"
reason=
"Never"
/>
<disable_collisions
link1=
"RR_thigh_shoulder"
link2=
"imu_link"
reason=
"Never"
/>
<disable_collisions
link1=
"RR_thigh_shoulder"
link2=
"trunk"
reason=
"Never"
/>
<disable_collisions
link1=
"imu_link"
link2=
"trunk"
reason=
"Adjacent"
/>
</robot>
robots/a1_description/urdf/a1.urdf
0 → 100644
View file @
15d5943f
<?xml version="1.0" ?>
<!-- ==================================================================================================== -->
<!-- | This document was autogenerated by xacro, then had the Gazebo and transmission tags removed | -->
<!-- ==================================================================================================== -->
<robot
name=
"a1"
>
<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=
"0.9137254901960784 0.9137254901960784 0.8470588235294118 1.0"
/>
</material>
<material
name=
"orange"
>
<color
rgba=
"1.0 0.4235294117647059 0.0392156862745098 1.0"
/>
</material>
<material
name=
"brown"
>
<color
rgba=
"0.8705882352941177 0.8117647058823529 0.7647058823529411 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=
"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://example-robot-data/robots/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"
friction=
"0"
/>
<limit
effort=
"33.5"
lower=
"-0.8028514559173915"
upper=
"0.8028514559173915"
velocity=
"21"
/>
</joint>
<link
name=
"FR_hip"
>
<visual>
<origin
rpy=
"3.141592653589793 0 0"
xyz=
"0 0 0"
/>
<geometry>
<mesh
filename=
"package://example-robot-data/robots/a1_description/meshes/hip.dae"
scale=
"1 1 1"
/>
</geometry>
<material
name=
"orange"
/>
</visual>
<collision>
<origin
rpy=
"1.5707963267948966 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=
"1.5707963267948966 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"
friction=
"0"
/>
<limit
effort=
"33.5"
lower=
"-1.0471975511965976"
upper=
"4.1887902047863905"
velocity=
"21"
/>
</joint>
<link
name=
"FR_thigh"
>
<visual>
<origin
rpy=
"0 0 0"
xyz=
"0 0 0"
/>
<geometry>
<mesh
filename=
"package://example-robot-data/robots/a1_description/meshes/thigh_mirror.dae"
scale=
"1 1 1"
/>
</geometry>
<material
name=
"orange"
/>
</visual>
<collision>
<origin
rpy=
"0 1.5707963267948966 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"
friction=
"0"
/>
<limit
effort=
"33.5"
lower=
"-2.6965336943312392"
upper=
"-0.9162978572970231"
velocity=
"21"
/>
</joint>
<link
name=
"FR_calf"
>
<visual>
<origin
rpy=
"0 0 0"
xyz=
"0 0 0"
/>
<geometry>
<mesh
filename=
"package://example-robot-data/robots/a1_description/meshes/calf.dae"
scale=
"1 1 1"
/>
</geometry>
<material
name=
"orange"
/>
</visual>
<collision>
<origin
rpy=
"0 1.5707963267948966 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=
"9.600000000000001e-06"
ixy=
"0.0"
ixz=
"0.0"
iyy=
"9.600000000000001e-06"
iyz=
"0.0"
izz=
"9.600000000000001e-06"
/>
</inertial>
</link>
<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"
friction=
"0"
/>
<limit
effort=
"33.5"
lower=
"-0.8028514559173915"
upper=
"0.8028514559173915"
velocity=
"21"
/>
</joint>
<link
name=
"FL_hip"
>
<visual>
<origin
rpy=
"0 0 0"
xyz=
"0 0 0"
/>
<geometry>
<mesh
filename=
"package://example-robot-data/robots/a1_description/meshes/hip.dae"
scale=
"1 1 1"
/>
</geometry>
<material
name=
"orange"
/>
</visual>
<collision>
<origin
rpy=
"1.5707963267948966 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=
"1.5707963267948966 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"
friction=
"0"
/>
<limit
effort=
"33.5"
lower=
"-1.0471975511965976"
upper=
"4.1887902047863905"
velocity=
"21"
/>
</joint>
<link
name=
"FL_thigh"
>
<visual>
<origin
rpy=
"0 0 0"
xyz=
"0 0 0"
/>
<geometry>
<mesh
filename=
"package://example-robot-data/robots/a1_description/meshes/thigh.dae"
scale=
"1 1 1"
/>
</geometry>
<material
name=
"orange"
/>
</visual>
<collision>
<origin
rpy=
"0 1.5707963267948966 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"
/>