support MuJoCo sim2sim;
refactor resource files structure; update readme;
This commit is contained in:
wertyuilife
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resources/go2/assets/base_0.obj
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resources/go2/assets/base_0.obj
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resources/go2/assets/base_1.obj
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resources/go2/assets/base_1.obj
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resources/go2/assets/base_2.obj
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resources/go2/assets/base_3.obj
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resources/go2/assets/base_4.obj
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resources/go2/assets/calf_0.obj
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resources/go2/assets/calf_0.obj
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resources/go2/assets/calf_1.obj
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resources/go2/assets/calf_1.obj
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resources/go2/assets/calf_mirror_0.obj
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resources/go2/assets/calf_mirror_0.obj
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resources/go2/assets/calf_mirror_1.obj
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resources/go2/assets/calf_mirror_1.obj
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resources/go2/assets/foot.obj
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resources/go2/assets/foot.obj
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resources/go2/assets/height_field.png
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resources/go2/assets/height_field.png
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resources/go2/assets/hip_0.obj
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resources/go2/assets/hip_1.obj
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resources/go2/assets/thigh_0.obj
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resources/go2/assets/thigh_0.obj
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resources/go2/assets/thigh_1.obj
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resources/go2/assets/thigh_1.obj
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resources/go2/assets/thigh_mirror_0.obj
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resources/go2/assets/thigh_mirror_0.obj
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resources/go2/assets/thigh_mirror_1.obj
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resources/go2/assets/wood.png
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resources/go2/boxes.xml
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resources/go2/boxes.xml
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<mujoco model="boxes">
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<include file="go2.xml" />
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<statistic center="0 0 0.1" extent="0.8" />
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<visual>
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<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
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<rgba haze="0.15 0.25 0.35 1" />
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<global azimuth="-130" elevation="-20" />
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</visual>
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<asset>
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<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072" />
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<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300" />
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<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
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</asset>
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<worldbody>
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<light pos="0 0 1.5" dir="0 0 -1" directional="true" />
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<geom name="floor" size="0 0 0.05" type="plane" material="groundplane" />
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<!-- Rough terrain: full coverage with dense bumps -->
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<geom pos="0.5 -2.0 0.07" type="box" size="0.15 0.15 0.07" />
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<geom pos="0.8 -2.0 0.03" type="box" size="0.15 0.15 0.03" />
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<geom pos="2.0 -2.0 0.08" type="box" size="0.15 0.15 0.08" />
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<geom pos="3.2 -2.0 0.03" type="box" size="0.15 0.15 0.03" />
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<geom pos="9.5 -2.0 0.09" type="box" size="0.15 0.15 0.09" />
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<geom pos="10.1 -2.0 0.07" type="box" size="0.15 0.15 0.07" />
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<geom pos="6.5 1.3 0.08" type="box" size="0.15 0.15 0.08" />
|
||||
<geom pos="6.8 1.3 0.04" type="box" size="0.15 0.15 0.04" />
|
||||
<geom pos="7.1 1.3 0.08" type="box" size="0.15 0.15 0.08" />
|
||||
<geom pos="7.4 1.3 0.07" type="box" size="0.15 0.15 0.07" />
|
||||
<geom pos="7.7 1.3 0.04" type="box" size="0.15 0.15 0.04" />
|
||||
<geom pos="8.0 1.3 0.08" type="box" size="0.15 0.15 0.08" />
|
||||
<geom pos="8.3 1.3 0.09" type="box" size="0.15 0.15 0.09" />
|
||||
<geom pos="8.6 1.3 0.07" type="box" size="0.15 0.15 0.07" />
|
||||
<geom pos="8.9 1.3 0.04" type="box" size="0.15 0.15 0.04" />
|
||||
<geom pos="9.2 1.3 0.1" type="box" size="0.15 0.15 0.1" />
|
||||
<geom pos="9.5 1.3 0.08" type="box" size="0.15 0.15 0.08" />
|
||||
<geom pos="9.8 1.3 0.05" type="box" size="0.15 0.15 0.05" />
|
||||
<geom pos="10.1 1.3 0.06" type="box" size="0.15 0.15 0.06" />
|
||||
<geom pos="10.4 1.3 0.06" type="box" size="0.15 0.15 0.06" />
|
||||
<geom pos="10.7 1.3 0.07" type="box" size="0.15 0.15 0.07" />
|
||||
<geom pos="11.0 1.3 0.05" type="box" size="0.15 0.15 0.05" />
|
||||
<geom pos="11.3 1.3 0.09" type="box" size="0.15 0.15 0.09" />
|
||||
<geom pos="11.6 1.3 0.09" type="box" size="0.15 0.15 0.09" />
|
||||
<geom pos="11.9 1.3 0.04" type="box" size="0.15 0.15 0.04" />
|
||||
<geom pos="12.2 1.3 0.1" type="box" size="0.15 0.15 0.1" />
|
||||
<geom pos="12.5 1.3 0.07" type="box" size="0.15 0.15 0.07" />
|
||||
<geom pos="12.8 1.3 0.09" type="box" size="0.15 0.15 0.09" />
|
||||
<geom pos="13.1 1.3 0.08" type="box" size="0.15 0.15 0.08" />
|
||||
<geom pos="13.4 1.3 0.06" type="box" size="0.15 0.15 0.06" />
|
||||
<geom pos="13.7 1.3 0.08" type="box" size="0.15 0.15 0.08" />
|
||||
<geom pos="14.0 1.3 0.1" type="box" size="0.15 0.15 0.1" />
|
||||
<geom pos="14.3 1.3 0.05" type="box" size="0.15 0.15 0.05" />
|
||||
<geom pos="14.6 1.3 0.09" type="box" size="0.15 0.15 0.09" />
|
||||
<geom pos="0.5 1.6 0.07" type="box" size="0.15 0.15 0.07" />
|
||||
<geom pos="0.8 1.6 0.06" type="box" size="0.15 0.15 0.06" />
|
||||
<geom pos="1.1 1.6 0.06" type="box" size="0.15 0.15 0.06" />
|
||||
<geom pos="1.4 1.6 0.08" type="box" size="0.15 0.15 0.08" />
|
||||
<geom pos="1.7 1.6 0.05" type="box" size="0.15 0.15 0.05" />
|
||||
<geom pos="2.0 1.6 0.09" type="box" size="0.15 0.15 0.09" />
|
||||
<geom pos="2.3 1.6 0.09" type="box" size="0.15 0.15 0.09" />
|
||||
<geom pos="2.6 1.6 0.04" type="box" size="0.15 0.15 0.04" />
|
||||
<geom pos="2.9 1.6 0.09" type="box" size="0.15 0.15 0.09" />
|
||||
<geom pos="3.2 1.6 0.05" type="box" size="0.15 0.15 0.05" />
|
||||
<geom pos="3.5 1.6 0.06" type="box" size="0.15 0.15 0.06" />
|
||||
<geom pos="3.8 1.6 0.07" type="box" size="0.15 0.15 0.07" />
|
||||
<geom pos="4.1 1.6 0.06" type="box" size="0.15 0.15 0.06" />
|
||||
<geom pos="4.4 1.6 0.03" type="box" size="0.15 0.15 0.03" />
|
||||
<geom pos="4.7 1.6 0.09" type="box" size="0.15 0.15 0.09" />
|
||||
<geom pos="5.0 1.6 0.04" type="box" size="0.15 0.15 0.04" />
|
||||
<geom pos="5.3 1.6 0.04" type="box" size="0.15 0.15 0.04" />
|
||||
<geom pos="5.6 1.6 0.09" type="box" size="0.15 0.15 0.09" />
|
||||
<geom pos="5.9 1.6 0.05" type="box" size="0.15 0.15 0.05" />
|
||||
<geom pos="6.2 1.6 0.09" type="box" size="0.15 0.15 0.09" />
|
||||
<geom pos="6.5 1.6 0.08" type="box" size="0.15 0.15 0.08" />
|
||||
<geom pos="6.8 1.6 0.05" type="box" size="0.15 0.15 0.05" />
|
||||
<geom pos="7.1 1.6 0.03" type="box" size="0.15 0.15 0.03" />
|
||||
<geom pos="7.4 1.6 0.1" type="box" size="0.15 0.15 0.1" />
|
||||
<geom pos="7.7 1.6 0.04" type="box" size="0.15 0.15 0.04" />
|
||||
<geom pos="8.0 1.6 0.08" type="box" size="0.15 0.15 0.08" />
|
||||
<geom pos="8.3 1.6 0.06" type="box" size="0.15 0.15 0.06" />
|
||||
<geom pos="8.6 1.6 0.08" type="box" size="0.15 0.15 0.08" />
|
||||
<geom pos="8.9 1.6 0.08" type="box" size="0.15 0.15 0.08" />
|
||||
<geom pos="9.2 1.6 0.08" type="box" size="0.15 0.15 0.08" />
|
||||
<geom pos="9.5 1.6 0.06" type="box" size="0.15 0.15 0.06" />
|
||||
<geom pos="9.8 1.6 0.09" type="box" size="0.15 0.15 0.09" />
|
||||
<geom pos="10.1 1.6 0.04" type="box" size="0.15 0.15 0.04" />
|
||||
<geom pos="10.4 1.6 0.05" type="box" size="0.15 0.15 0.05" />
|
||||
<geom pos="10.7 1.6 0.08" type="box" size="0.15 0.15 0.08" />
|
||||
<geom pos="11.0 1.6 0.05" type="box" size="0.15 0.15 0.05" />
|
||||
<geom pos="11.3 1.6 0.07" type="box" size="0.15 0.15 0.07" />
|
||||
<geom pos="11.6 1.6 0.06" type="box" size="0.15 0.15 0.06" />
|
||||
<geom pos="11.9 1.6 0.07" type="box" size="0.15 0.15 0.07" />
|
||||
<geom pos="12.2 1.6 0.06" type="box" size="0.15 0.15 0.06" />
|
||||
<geom pos="12.5 1.6 0.08" type="box" size="0.15 0.15 0.08" />
|
||||
<geom pos="12.8 1.6 0.05" type="box" size="0.15 0.15 0.05" />
|
||||
<geom pos="13.1 1.6 0.08" type="box" size="0.15 0.15 0.08" />
|
||||
<geom pos="13.4 1.6 0.05" type="box" size="0.15 0.15 0.05" />
|
||||
<geom pos="13.7 1.6 0.05" type="box" size="0.15 0.15 0.05" />
|
||||
<geom pos="14.0 1.6 0.04" type="box" size="0.15 0.15 0.04" />
|
||||
<geom pos="14.3 1.6 0.04" type="box" size="0.15 0.15 0.04" />
|
||||
<geom pos="14.6 1.6 0.04" type="box" size="0.15 0.15 0.04" />
|
||||
<geom pos="0.5 1.9 0.07" type="box" size="0.15 0.15 0.07" />
|
||||
<geom pos="0.8 1.9 0.08" type="box" size="0.15 0.15 0.08" />
|
||||
<geom pos="1.1 1.9 0.04" type="box" size="0.15 0.15 0.04" />
|
||||
<geom pos="1.4 1.9 0.05" type="box" size="0.15 0.15 0.05" />
|
||||
<geom pos="1.7 1.9 0.06" type="box" size="0.15 0.15 0.06" />
|
||||
<geom pos="2.0 1.9 0.08" type="box" size="0.15 0.15 0.08" />
|
||||
<geom pos="2.3 1.9 0.1" type="box" size="0.15 0.15 0.1" />
|
||||
<geom pos="2.6 1.9 0.07" type="box" size="0.15 0.15 0.07" />
|
||||
<geom pos="2.9 1.9 0.05" type="box" size="0.15 0.15 0.05" />
|
||||
<geom pos="3.2 1.9 0.04" type="box" size="0.15 0.15 0.04" />
|
||||
<geom pos="3.5 1.9 0.04" type="box" size="0.15 0.15 0.04" />
|
||||
<geom pos="3.8 1.9 0.05" type="box" size="0.15 0.15 0.05" />
|
||||
<geom pos="4.1 1.9 0.04" type="box" size="0.15 0.15 0.04" />
|
||||
<geom pos="4.4 1.9 0.03" type="box" size="0.15 0.15 0.03" />
|
||||
<geom pos="4.7 1.9 0.07" type="box" size="0.15 0.15 0.07" />
|
||||
<geom pos="5.0 1.9 0.05" type="box" size="0.15 0.15 0.05" />
|
||||
<geom pos="5.3 1.9 0.1" type="box" size="0.15 0.15 0.1" />
|
||||
<geom pos="5.6 1.9 0.07" type="box" size="0.15 0.15 0.07" />
|
||||
<geom pos="5.9 1.9 0.08" type="box" size="0.15 0.15 0.08" />
|
||||
<geom pos="6.2 1.9 0.04" type="box" size="0.15 0.15 0.04" />
|
||||
<geom pos="6.5 1.9 0.09" type="box" size="0.15 0.15 0.09" />
|
||||
<geom pos="6.8 1.9 0.06" type="box" size="0.15 0.15 0.06" />
|
||||
<geom pos="7.1 1.9 0.09" type="box" size="0.15 0.15 0.09" />
|
||||
<geom pos="7.4 1.9 0.07" type="box" size="0.15 0.15 0.07" />
|
||||
<geom pos="7.7 1.9 0.06" type="box" size="0.15 0.15 0.06" />
|
||||
<geom pos="8.0 1.9 0.06" type="box" size="0.15 0.15 0.06" />
|
||||
<geom pos="8.3 1.9 0.04" type="box" size="0.15 0.15 0.04" />
|
||||
<geom pos="8.6 1.9 0.03" type="box" size="0.15 0.15 0.03" />
|
||||
<geom pos="8.9 1.9 0.1" type="box" size="0.15 0.15 0.1" />
|
||||
<geom pos="9.2 1.9 0.06" type="box" size="0.15 0.15 0.06" />
|
||||
<geom pos="9.5 1.9 0.09" type="box" size="0.15 0.15 0.09" />
|
||||
<geom pos="9.8 1.9 0.06" type="box" size="0.15 0.15 0.06" />
|
||||
<geom pos="10.1 1.9 0.04" type="box" size="0.15 0.15 0.04" />
|
||||
<geom pos="10.4 1.9 0.07" type="box" size="0.15 0.15 0.07" />
|
||||
<geom pos="10.7 1.9 0.03" type="box" size="0.15 0.15 0.03" />
|
||||
<geom pos="11.0 1.9 0.04" type="box" size="0.15 0.15 0.04" />
|
||||
<geom pos="11.3 1.9 0.07" type="box" size="0.15 0.15 0.07" />
|
||||
<geom pos="11.6 1.9 0.05" type="box" size="0.15 0.15 0.05" />
|
||||
<geom pos="11.9 1.9 0.1" type="box" size="0.15 0.15 0.1" />
|
||||
<geom pos="12.2 1.9 0.04" type="box" size="0.15 0.15 0.04" />
|
||||
<geom pos="12.5 1.9 0.08" type="box" size="0.15 0.15 0.08" />
|
||||
<geom pos="12.8 1.9 0.07" type="box" size="0.15 0.15 0.07" />
|
||||
<geom pos="13.1 1.9 0.09" type="box" size="0.15 0.15 0.09" />
|
||||
<geom pos="13.4 1.9 0.05" type="box" size="0.15 0.15 0.05" />
|
||||
<geom pos="13.7 1.9 0.07" type="box" size="0.15 0.15 0.07" />
|
||||
<geom pos="14.0 1.9 0.06" type="box" size="0.15 0.15 0.06" />
|
||||
<geom pos="14.3 1.9 0.06" type="box" size="0.15 0.15 0.06" />
|
||||
<geom pos="14.6 1.9 0.09" type="box" size="0.15 0.15 0.09" />
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
22
resources/go2/flat.xml
Normal file
22
resources/go2/flat.xml
Normal file
@@ -0,0 +1,22 @@
|
||||
<mujoco model="flat">
|
||||
<include file="go2.xml"/>
|
||||
|
||||
<statistic center="1.0 0.7 1.0" extent="0.8"/>
|
||||
|
||||
<visual>
|
||||
<headlight diffuse="0.6 0.6 0.6" ambient="0.1 0.1 0.1" specular="0.9 0.9 0.9"/>
|
||||
<rgba haze="0.15 0.25 0.35 1"/>
|
||||
<global azimuth="-140" elevation="-20"/>
|
||||
</visual>
|
||||
|
||||
<asset>
|
||||
<texture type="skybox" builtin="flat" rgb1="0 0 0" rgb2="0 0 0" width="512" height="3072"/>
|
||||
<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
|
||||
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
|
||||
</asset>
|
||||
|
||||
<worldbody>
|
||||
<light pos="1 0 3.5" dir="0 0 -1" directional="true"/>
|
||||
<geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
183
resources/go2/go2.xml
Normal file
183
resources/go2/go2.xml
Normal file
@@ -0,0 +1,183 @@
|
||||
<mujoco model="go2_description">
|
||||
|
||||
<compiler angle="radian" meshdir="assets"/>
|
||||
|
||||
<statistic meansize="0.144785" extent="1.23314" center="0.025392 2.0634e-05 -0.245975"/>
|
||||
<default>
|
||||
<joint damping="0.001" armature="0.01" frictionloss="0.1"/>
|
||||
<default class="visual">
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="2"/>
|
||||
</default>
|
||||
</default>
|
||||
|
||||
<asset>
|
||||
<material name="metal" rgba=".9 .95 .95 1" />
|
||||
<material name="black" rgba="0 0 0 1" />
|
||||
<material name="white" rgba="1 1 1 1" />
|
||||
<material name="gray" rgba="0.671705 0.692426 0.774270 1" />
|
||||
|
||||
<mesh file="base_0.obj" />
|
||||
<mesh file="base_1.obj" />
|
||||
<mesh file="base_2.obj" />
|
||||
<mesh file="base_3.obj" />
|
||||
<mesh file="base_4.obj" />
|
||||
<mesh file="hip_0.obj" />
|
||||
<mesh file="hip_1.obj" />
|
||||
<mesh file="thigh_0.obj" />
|
||||
<mesh file="thigh_1.obj" />
|
||||
<mesh file="thigh_mirror_0.obj" />
|
||||
<mesh file="thigh_mirror_1.obj" />
|
||||
<mesh file="calf_0.obj" />
|
||||
<mesh file="calf_1.obj" />
|
||||
<mesh file="calf_mirror_0.obj" />
|
||||
<mesh file="calf_mirror_1.obj" />
|
||||
<mesh file="foot.obj" />
|
||||
</asset>
|
||||
|
||||
|
||||
<worldbody>
|
||||
|
||||
<body name="base" pos="0 0 0.445">
|
||||
<!-- <body name="base" pos="-5 2 0.445"> -->
|
||||
<!-- <body name="base" pos="-5 2 0.30" quat="0 0 0.706 0.706"> -->
|
||||
<!-- <body name="base" pos="-5 2 0.445" quat="0 0 1 0"> -->
|
||||
<!-- <body name="base" pos="0 0 0.16" quat="0 0 0.706 0.706"> -->
|
||||
<!-- <body name="base" pos="0 0 0.1" quat="0 0 1 0"> -->
|
||||
<inertial pos="0.021112 0 -0.005366"
|
||||
mass="6.921"
|
||||
diaginertia="0.02448 0.098077 0.107" />
|
||||
<freejoint name="root"/>
|
||||
<geom mesh="base_0" material="black" class="visual" />
|
||||
<geom mesh="base_1" material="black" class="visual" />
|
||||
<geom mesh="base_2" material="black" class="visual" />
|
||||
<geom mesh="base_3" material="white" class="visual" />
|
||||
<geom mesh="base_4" material="gray" class="visual" />
|
||||
|
||||
<geom name="base_box" type="box" size="0.1881 0.04675 0.057"/>
|
||||
<geom name="base_cyl1" type="cylinder" size="0.05 0.045" pos="0.285 0 0.01"/>
|
||||
<geom name="base_sphere1" type="sphere" size="0.047" pos="0.293 0 -0.06"/>
|
||||
|
||||
<body name="FL_hip" pos="0.1934 0.0465 0">
|
||||
<inertial pos="-0.0054 0.00194 -0.000105" quat="0.497014 0.499245 0.505462 0.498237" mass="0.678" diaginertia="0.00088403 0.000596003 0.000479967"/>
|
||||
<joint name="FL_hip_joint" pos="0 0 0" axis="1 0 0" range="-1.0472 1.0472" actuatorfrcrange="-23.7 23.7"/>
|
||||
<geom mesh="hip_0" material="metal" class="visual" />
|
||||
<geom mesh="hip_1" material="gray" class="visual" />
|
||||
<geom size="0.046 0.02" pos="0 0.08 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="1 1 1 1"/>
|
||||
|
||||
<body name="FL_thigh" pos="0 0.0955 0">
|
||||
<inertial pos="-0.00374 -0.0223 -0.0327" quat="0.829533 0.0847635 -0.0200632 0.551623" mass="1.152" diaginertia="0.00594973 0.00584149 0.000878787"/>
|
||||
<joint name="FL_thigh_joint" pos="0 0 0" axis="0 1 0" range="-1.5708 3.4907" actuatorfrcrange="-23.7 23.7"/>
|
||||
<geom mesh="thigh_0" material="metal" class="visual" />
|
||||
<geom mesh="thigh_1" material="gray" class="visual" />
|
||||
<geom size="0.055 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" rgba="1 1 1 1"/>
|
||||
<body name="FL_calf" pos="0 0 -0.213">
|
||||
<inertial pos="0.00629595 -0.000622121 -0.141417" quat="0.710672 0.00154099 -0.00450087 0.703508" mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05"/>
|
||||
<joint name="FL_calf_joint" pos="0 0 0" axis="0 1 0" range="-2.7227 -0.83776" actuatorfrcrange="-35.55 35.55"/>
|
||||
<geom mesh="calf_0" material="gray" class="visual" />
|
||||
<geom mesh="calf_1" material="black" class="visual" />
|
||||
<geom size="0.012 0.06" pos="0.008 0 -0.06" quat="0.994493 0 -0.104807 0" type="cylinder" rgba="1 1 1 1"/>
|
||||
<geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder"/>
|
||||
<geom size="0.0155 0.015" pos="0.00801333 0 -0.18745" quat="0.965093 0 0.261909 0" type="cylinder"/>
|
||||
<geom pos="0 0 -0.213" mesh="foot" class="visual" material="black" />
|
||||
<geom size="0.022" pos="-0.002 0 -0.213" rgba="1 1 1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="FR_hip" pos="0.1934 -0.0465 0">
|
||||
<inertial pos="-0.0054 -0.00194 -0.000105" quat="0.498237 0.505462 0.499245 0.497014" mass="0.678" diaginertia="0.00088403 0.000596003 0.000479967"/>
|
||||
<joint name="FR_hip_joint" pos="0 0 0" axis="1 0 0" range="-1.0472 1.0472" actuatorfrcrange="-23.7 23.7"/>
|
||||
<geom mesh="hip_0" material="metal" class="visual" quat="4.63268e-05 1 0 0" />
|
||||
<geom mesh="hip_1" material="gray" class="visual" quat="4.63268e-05 1 0 0" />
|
||||
<geom size="0.046 0.02" pos="0 -0.08 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="1 1 1 1"/>
|
||||
<body name="FR_thigh" pos="0 -0.0955 0">
|
||||
<inertial pos="-0.00374 0.0223 -0.0327" quat="0.551623 -0.0200632 0.0847635 0.829533" mass="1.152" diaginertia="0.00594973 0.00584149 0.000878787"/>
|
||||
<joint name="FR_thigh_joint" pos="0 0 0" axis="0 1 0" range="-1.5708 3.4907" actuatorfrcrange="-23.7 23.7"/>
|
||||
<geom mesh="thigh_mirror_0" material="metal" class="visual" />
|
||||
<geom mesh="thigh_mirror_1" material="gray" class="visual" />
|
||||
<geom size="0.055 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" rgba="1 1 1 1"/>
|
||||
<body name="FR_calf" pos="0 0 -0.213">
|
||||
<inertial pos="0.00629595 0.000622121 -0.141417" quat="0.703508 -0.00450087 0.00154099 0.710672" mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05"/>
|
||||
<joint name="FR_calf_joint" pos="0 0 0" axis="0 1 0" range="-2.7227 -0.83776" actuatorfrcrange="-35.55 35.55"/>
|
||||
<geom mesh="calf_mirror_0" material="gray" class="visual" />
|
||||
<geom mesh="calf_mirror_1" material="black" class="visual" />
|
||||
<geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0" type="cylinder" rgba="1 1 1 1"/>
|
||||
<geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder"/>
|
||||
<geom size="0.0155 0.015" pos="0.00801333 0 -0.18745" quat="0.965093 0 0.261909 0" type="cylinder"/>
|
||||
<geom pos="0 0 -0.213" mesh="foot" class="visual" material="black" />
|
||||
<geom size="0.022" pos="-0.002 0 -0.213" rgba="1 1 1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="RL_hip" pos="-0.1934 0.0465 0">
|
||||
<inertial pos="0.0054 0.00194 -0.000105" quat="0.505462 0.498237 0.497014 0.499245" mass="0.678" diaginertia="0.00088403 0.000596003 0.000479967"/>
|
||||
<joint name="RL_hip_joint" pos="0 0 0" axis="1 0 0" range="-1.0472 1.0472" actuatorfrcrange="-23.7 23.7"/>
|
||||
<geom mesh="hip_0" material="metal" class="visual" quat="4.63268e-05 0 1 0" />
|
||||
<geom mesh="hip_1" material="gray" class="visual" quat="4.63268e-05 0 1 0" />
|
||||
<geom size="0.046 0.02" pos="0 0.08 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="1 1 1 1"/>
|
||||
<body name="RL_thigh" pos="0 0.0955 0">
|
||||
<inertial pos="-0.00374 -0.0223 -0.0327" quat="0.829533 0.0847635 -0.0200632 0.551623" mass="1.152" diaginertia="0.00594973 0.00584149 0.000878787"/>
|
||||
<joint name="RL_thigh_joint" pos="0 0 0" axis="0 1 0" range="-0.5236 4.5379" actuatorfrcrange="-23.7 23.7"/>
|
||||
<geom mesh="thigh_0" material="metal" class="visual" />
|
||||
<geom mesh="thigh_1" material="gray" class="visual" />
|
||||
<geom size="0.055 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" rgba="1 1 1 1"/>
|
||||
<body name="RL_calf" pos="0 0 -0.213">
|
||||
<inertial pos="0.00629595 -0.000622121 -0.141417" quat="0.710672 0.00154099 -0.00450087 0.703508" mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05"/>
|
||||
<joint name="RL_calf_joint" pos="0 0 0" axis="0 1 0" range="-2.7227 -0.83776" actuatorfrcrange="-35.55 35.55"/>
|
||||
<geom mesh="calf_0" material="gray" class="visual" />
|
||||
<geom mesh="calf_1" material="black" class="visual" />
|
||||
<geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0" type="cylinder" rgba="1 1 1 1"/>
|
||||
<geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder"/>
|
||||
<geom size="0.0155 0.015" pos="0.00801333 0 -0.18745" quat="0.965093 0 0.261909 0" type="cylinder"/>
|
||||
<geom pos="0 0 -0.213" mesh="foot" class="visual" material="black" />
|
||||
<geom size="0.022" pos="-0.002 0 -0.213" rgba="1 1 1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
<body name="RR_hip" pos="-0.1934 -0.0465 0">
|
||||
<inertial pos="0.0054 -0.00194 -0.000105" quat="0.499245 0.497014 0.498237 0.505462" mass="0.678" diaginertia="0.00088403 0.000596003 0.000479967"/>
|
||||
<joint name="RR_hip_joint" pos="0 0 0" axis="1 0 0" range="-1.0472 1.0472" actuatorfrcrange="-23.7 23.7"/>
|
||||
<geom mesh="hip_0" material="metal" class="visual"
|
||||
quat="2.14617e-09 4.63268e-05 4.63268e-05 -1" />
|
||||
<geom mesh="hip_1" material="gray" class="visual"
|
||||
quat="2.14617e-09 4.63268e-05 4.63268e-05 -1" />
|
||||
<geom size="0.046 0.02" pos="0 -0.08 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="1 1 1 1"/>
|
||||
<body name="RR_thigh" pos="0 -0.0955 0">
|
||||
<inertial pos="-0.00374 0.0223 -0.0327" quat="0.551623 -0.0200632 0.0847635 0.829533" mass="1.152" diaginertia="0.00594973 0.00584149 0.000878787"/>
|
||||
<joint name="RR_thigh_joint" pos="0 0 0" axis="0 1 0" range="-0.5236 4.5379" actuatorfrcrange="-23.7 23.7"/>
|
||||
<geom mesh="thigh_mirror_0" material="metal" class="visual" />
|
||||
<geom mesh="thigh_mirror_1" material="gray" class="visual" />
|
||||
<geom size="0.055 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" rgba="1 1 1 1"/>
|
||||
<body name="RR_calf" pos="0 0 -0.213">
|
||||
<inertial pos="0.00629595 0.000622121 -0.141417" quat="0.703508 -0.00450087 0.00154099 0.710672" mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05"/>
|
||||
<joint name="RR_calf_joint" pos="0 0 0" axis="0 1 0" range="-2.7227 -0.83776" actuatorfrcrange="-35.55 35.55"/>
|
||||
<geom mesh="calf_mirror_0" material="gray" class="visual" />
|
||||
<geom mesh="calf_mirror_1" material="black" class="visual" />
|
||||
<geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0" type="cylinder" rgba="1 1 1 1"/>
|
||||
<geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder"/>
|
||||
<geom size="0.0155 0.015" pos="0.00801333 0 -0.18745" quat="0.965093 0 0.261909 0" type="cylinder"/>
|
||||
<geom pos="0 0 -0.213" mesh="foot" class="visual" material="black" />
|
||||
<geom size="0.022" pos="-0.002 0 -0.213" rgba="1 1 1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
</body>
|
||||
</worldbody>
|
||||
|
||||
<actuator>
|
||||
<motor name="FL_hip" joint="FL_hip_joint"/>
|
||||
<motor name="FL_thigh" joint="FL_thigh_joint"/>
|
||||
<motor name="FL_calf" joint="FL_calf_joint"/>
|
||||
<motor name="FR_hip" joint="FR_hip_joint"/>
|
||||
<motor name="FR_thigh" joint="FR_thigh_joint"/>
|
||||
<motor name="FR_calf" joint="FR_calf_joint"/>
|
||||
<motor name="RL_hip" joint="RL_hip_joint"/>
|
||||
<motor name="RL_thigh" joint="RL_thigh_joint"/>
|
||||
<motor name="RL_calf" joint="RL_calf_joint"/>
|
||||
<motor name="RR_hip" joint="RR_hip_joint"/>
|
||||
<motor name="RR_thigh" joint="RR_thigh_joint"/>
|
||||
<motor name="RR_calf" joint="RR_calf_joint"/>
|
||||
</actuator>
|
||||
|
||||
</mujoco>
|
||||
217
resources/go2/meshes/base.dae
Normal file
217
resources/go2/meshes/base.dae
Normal file
File diff suppressed because one or more lines are too long
130
resources/go2/meshes/calf.dae
Normal file
130
resources/go2/meshes/calf.dae
Normal file
File diff suppressed because one or more lines are too long
130
resources/go2/meshes/calf_mirror.dae
Normal file
130
resources/go2/meshes/calf_mirror.dae
Normal file
File diff suppressed because one or more lines are too long
89
resources/go2/meshes/foot.dae
Normal file
89
resources/go2/meshes/foot.dae
Normal file
File diff suppressed because one or more lines are too long
130
resources/go2/meshes/hip.dae
Normal file
130
resources/go2/meshes/hip.dae
Normal file
File diff suppressed because one or more lines are too long
130
resources/go2/meshes/thigh.dae
Normal file
130
resources/go2/meshes/thigh.dae
Normal file
File diff suppressed because one or more lines are too long
130
resources/go2/meshes/thigh_mirror.dae
Normal file
130
resources/go2/meshes/thigh_mirror.dae
Normal file
File diff suppressed because one or more lines are too long
28
resources/go2/stairs.xml
Normal file
28
resources/go2/stairs.xml
Normal file
File diff suppressed because one or more lines are too long
761
resources/go2/urdf/go2.urdf
Normal file
761
resources/go2/urdf/go2.urdf
Normal file
@@ -0,0 +1,761 @@
|
||||
<?xml version='1.0' encoding='utf-8'?>
|
||||
<robot name="go2">
|
||||
<link name="base">
|
||||
<inertial>
|
||||
<origin xyz="0.021112 0 -0.005366" rpy="0 0 0" />
|
||||
<mass value="6.921" />
|
||||
<inertia ixx="0.02448" ixy="0.00012166" ixz="0.0014849" iyy="0.098077" iyz="-3.12E-05" izz="0.107" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://go2/meshes/base.dae" />
|
||||
</geometry>
|
||||
<material name="深色橡胶_001-effect"><color rgba="0.6717055 0.6924257 0.7742702 1" /></material><material name="白色logo_001-effect"><color rgba="1 1 1 1" /></material><material name="黑色贴纸_007-effect"><color rgba="0.009018 0.009018 0.009018 1" /></material><material name="黑色金属_007-effect"><color rgba="0.01341 0.01341 0.01341 1" /></material><material name="黑色塑料_003-effect"><color rgba="0.023455 0.023455 0.023455 1" /></material></visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0" />
|
||||
<geometry>
|
||||
<box size="0.3762 0.0935 0.114" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="Head_upper">
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<mass value="0.001" />
|
||||
<inertia ixx="9.6e-06" ixy="0" ixz="0" iyy="9.6e-06" iyz="0" izz="9.6e-06" />
|
||||
</inertial>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<cylinder radius="0.05" length="0.09" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="Head_upper_joint" type="fixed" dont_collapse="true">
|
||||
<origin xyz="0.285 0 0.01" rpy="0 0 0" />
|
||||
<parent link="base" />
|
||||
<child link="Head_upper" />
|
||||
<axis xyz="0 0 0" />
|
||||
</joint>
|
||||
<link name="Head_lower">
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<mass value="0.001" />
|
||||
<inertia ixx="9.6e-06" ixy="0" ixz="0" iyy="9.6e-06" iyz="0" izz="9.6e-06" />
|
||||
</inertial>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<sphere radius="0.047" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="Head_lower_joint" type="fixed" dont_collapse="true">
|
||||
<origin xyz="0.008 0 -0.07" rpy="0 0 0" />
|
||||
<parent link="Head_upper" />
|
||||
<child link="Head_lower" />
|
||||
<axis xyz="0 0 0" />
|
||||
</joint>
|
||||
<link name="FL_hip">
|
||||
<inertial>
|
||||
<origin xyz="-0.0054 0.00194 -0.000105" rpy="0 0 0" />
|
||||
<mass value="0.678" />
|
||||
<inertia ixx="0.00048" ixy="-3.01E-06" ixz="1.11E-06" iyy="0.000884" iyz="-1.42E-06" izz="0.000596" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://go2/meshes/hip.dae" />
|
||||
</geometry>
|
||||
<material name="深色橡胶_001-effect"><color rgba="0.6717055 0.6924257 0.7742702 1" /></material><material name="Material-effect"><color rgba="0.9 0.95 0.95 1" /></material></visual>
|
||||
<collision>
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0.08 0" />
|
||||
<geometry>
|
||||
<cylinder length="0.04" radius="0.046" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="FL_hip_joint" type="revolute">
|
||||
<origin xyz="0.1934 0.0465 0" rpy="0 0 0" />
|
||||
<parent link="base" />
|
||||
<child link="FL_hip" />
|
||||
<axis xyz="1 0 0" />
|
||||
<limit lower="-1.0472" upper="1.0472" effort="23.7" velocity="30.1" />
|
||||
</joint>
|
||||
<link name="FL_hip_rotor">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0" />
|
||||
<mass value="0.089" />
|
||||
<inertia ixx="0.000111842" ixy="0.0" ixz="0.0" iyy="0.000059647" iyz="0.0" izz="0.000059647" />
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="FL_hip_rotor_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0.11215 0.04675 0" />
|
||||
<parent link="base" />
|
||||
<child link="FL_hip_rotor" />
|
||||
</joint>
|
||||
<link name="FL_thigh">
|
||||
<inertial>
|
||||
<origin xyz="-0.00374 -0.0223 -0.0327" rpy="0 0 0" />
|
||||
<mass value="1.152" />
|
||||
<inertia ixx="0.00584" ixy="8.72E-05" ixz="-0.000289" iyy="0.0058" iyz="0.000808" izz="0.00103" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://go2/meshes/thigh.dae" />
|
||||
</geometry>
|
||||
<material name="深色橡胶_003-effect"><color rgba="0.6717055 0.6924257 0.7742702 1" /></material><material name="Material_009-effect"><color rgba="0.9 0.95 0.95 1" /></material></visual>
|
||||
<collision>
|
||||
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065" />
|
||||
<geometry>
|
||||
<box size="0.213 0.0245 0.034" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="FL_thigh_joint" type="revolute">
|
||||
<origin xyz="0 0.0955 0" rpy="0 0 0" />
|
||||
<parent link="FL_hip" />
|
||||
<child link="FL_thigh" />
|
||||
<axis xyz="0 1 0" />
|
||||
<limit lower="-1.5708" upper="3.4907" effort="23.7" velocity="30.1" />
|
||||
</joint>
|
||||
<link name="FL_thigh_rotor">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0" />
|
||||
<mass value="0.089" />
|
||||
<inertia ixx="0.000059647" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="0.000059647" />
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="FL_thigh_rotor_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 -0.00015 0" />
|
||||
<parent link="FL_hip" />
|
||||
<child link="FL_thigh_rotor" />
|
||||
</joint>
|
||||
<link name="FL_calf">
|
||||
<inertial>
|
||||
<origin xyz="0.00548 -0.000975 -0.115" rpy="0 0 0" />
|
||||
<mass value="0.154" />
|
||||
<inertia ixx="0.00108" ixy="3.4E-07" ixz="1.72E-05" iyy="0.0011" iyz="8.28E-06" izz="3.29E-05" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://go2/meshes/calf.dae" />
|
||||
</geometry>
|
||||
<material name="黑色足端_005-effect"><color rgba="0 0 0 1" /></material><material name="深色橡胶_005-effect"><color rgba="0.6717055 0.6924257 0.7742702 1" /></material></visual>
|
||||
<collision>
|
||||
<origin rpy="0 -0.21 0" xyz="0.008 0 -0.06" />
|
||||
<geometry>
|
||||
<cylinder length="0.12" radius="0.012" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="FL_calf_joint" type="revolute">
|
||||
<origin xyz="0 0 -0.213" rpy="0 0 0" />
|
||||
<parent link="FL_thigh" />
|
||||
<child link="FL_calf" />
|
||||
<axis xyz="0 1 0" />
|
||||
<limit lower="-2.7227" upper="-0.83776" effort="45.43" velocity="15.70" />
|
||||
</joint>
|
||||
<link name="FL_calflower">
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0" />
|
||||
<geometry>
|
||||
<cylinder length="0.065" radius="0.011" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="FL_calflower_joint" type="fixed">
|
||||
<origin xyz="0.020 0 -0.148" rpy="0 0.05 0" />
|
||||
<parent link="FL_calf" />
|
||||
<child link="FL_calflower" />
|
||||
<axis xyz="0 0 0" />
|
||||
</joint>
|
||||
<link name="FL_calflower1">
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0" />
|
||||
<geometry>
|
||||
<cylinder length="0.03" radius="0.0155" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="FL_calflower1_joint" type="fixed">
|
||||
<origin xyz="-0.01 0 -0.04" rpy="0 0.48 0" />
|
||||
<parent link="FL_calflower" />
|
||||
<child link="FL_calflower1" />
|
||||
<axis xyz="0 0 0" />
|
||||
</joint>
|
||||
<link name="FL_calf_rotor">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0" />
|
||||
<mass value="0.089" />
|
||||
<inertia ixx="0.000059647" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="0.000059647" />
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="FL_calf_rotor_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 -0.03235 0" />
|
||||
<parent link="FL_thigh" />
|
||||
<child link="FL_calf_rotor" />
|
||||
</joint>
|
||||
<link name="FL_foot">
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<mass value="0.04" />
|
||||
<inertia ixx="9.6e-06" ixy="0" ixz="0" iyy="9.6e-06" iyz="0" izz="9.6e-06" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://go2/meshes/foot.dae" />
|
||||
</geometry>
|
||||
<material name="黑色足端_007-effect"><color rgba="0 0 0 1" /></material></visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="-0.002 0 0" />
|
||||
<geometry>
|
||||
<sphere radius="0.022" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="FL_foot_joint" type="fixed" dont_collapse="true">
|
||||
<origin xyz="0 0 -0.213" rpy="0 0 0" />
|
||||
<parent link="FL_calf" />
|
||||
<child link="FL_foot" />
|
||||
<axis xyz="0 0 0" />
|
||||
</joint>
|
||||
<link name="FR_hip">
|
||||
<inertial>
|
||||
<origin xyz="-0.0054 -0.00194 -0.000105" rpy="0 0 0" />
|
||||
<mass value="0.678" />
|
||||
<inertia ixx="0.00048" ixy="3.01E-06" ixz="1.11E-06" iyy="0.000884" iyz="1.42E-06" izz="0.000596" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="3.1415 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://go2/meshes/hip.dae" />
|
||||
</geometry>
|
||||
<material name="深色橡胶_001-effect"><color rgba="0.6717055 0.6924257 0.7742702 1" /></material><material name="Material-effect"><color rgba="0.9 0.95 0.95 1" /></material></visual>
|
||||
<collision>
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 -0.08 0" />
|
||||
<geometry>
|
||||
<cylinder length="0.04" radius="0.046" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="FR_hip_joint" type="revolute">
|
||||
<origin xyz="0.1934 -0.0465 0" rpy="0 0 0" />
|
||||
<parent link="base" />
|
||||
<child link="FR_hip" />
|
||||
<axis xyz="1 0 0" />
|
||||
<limit lower="-1.0472" upper="1.0472" effort="23.7" velocity="30.1" />
|
||||
</joint>
|
||||
<link name="FR_hip_rotor">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0" />
|
||||
<mass value="0.089" />
|
||||
<inertia ixx="0.000111842" ixy="0.0" ixz="0.0" iyy="0.000059647" iyz="0.0" izz="0.000059647" />
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="FR_hip_rotor_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0.11215 -0.04675 0" />
|
||||
<parent link="base" />
|
||||
<child link="FR_hip_rotor" />
|
||||
</joint>
|
||||
<link name="FR_thigh">
|
||||
<inertial>
|
||||
<origin xyz="-0.00374 0.0223 -0.0327" rpy="0 0 0" />
|
||||
<mass value="1.152" />
|
||||
<inertia ixx="0.00584" ixy="-8.72E-05" ixz="-0.000289" iyy="0.0058" iyz="-0.000808" izz="0.00103" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://go2/meshes/thigh_mirror.dae" />
|
||||
</geometry>
|
||||
<material name="深色橡胶_012-effect"><color rgba="0.6717055 0.6924257 0.7742702 1" /></material><material name="Material_011-effect"><color rgba="0.9 0.95 0.95 1" /></material></visual>
|
||||
<collision>
|
||||
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065" />
|
||||
<geometry>
|
||||
<box size="0.213 0.0245 0.034" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="FR_thigh_joint" type="revolute">
|
||||
<origin xyz="0 -0.0955 0" rpy="0 0 0" />
|
||||
<parent link="FR_hip" />
|
||||
<child link="FR_thigh" />
|
||||
<axis xyz="0 1 0" />
|
||||
<limit lower="-1.5708" upper="3.4907" effort="23.7" velocity="30.1" />
|
||||
</joint>
|
||||
<link name="FR_thigh_rotor">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0" />
|
||||
<mass value="0.089" />
|
||||
<inertia ixx="0.000059647" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="0.000059647" />
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="FR_thigh_rotor_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0.00015 0" />
|
||||
<parent link="FR_hip" />
|
||||
<child link="FR_thigh_rotor" />
|
||||
</joint>
|
||||
<link name="FR_calf">
|
||||
<inertial>
|
||||
<origin xyz="0.00548 0.000975 -0.115" rpy="0 0 0" />
|
||||
<mass value="0.154" />
|
||||
<inertia ixx="0.00108" ixy="-3.4E-07" ixz="1.72E-05" iyy="0.0011" iyz="-8.28E-06" izz="3.29E-05" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://go2/meshes/calf_mirror.dae" />
|
||||
</geometry>
|
||||
<material name="黑色足端_006-effect"><color rgba="0 0 0 1" /></material><material name="深色橡胶_007-effect"><color rgba="0.6717055 0.6924257 0.7742702 1" /></material></visual>
|
||||
<collision>
|
||||
<origin rpy="0 -0.2 0" xyz="0.01 0 -0.06" />
|
||||
<geometry>
|
||||
<cylinder length="0.12" radius="0.013" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="FR_calf_joint" type="revolute">
|
||||
<origin xyz="0 0 -0.213" rpy="0 0 0" />
|
||||
<parent link="FR_thigh" />
|
||||
<child link="FR_calf" />
|
||||
<axis xyz="0 1 0" />
|
||||
<limit lower="-2.7227" upper="-0.83776" effort="45.43" velocity="15.70" />
|
||||
</joint>
|
||||
<link name="FR_calflower">
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0" />
|
||||
<geometry>
|
||||
<cylinder length="0.065" radius="0.011" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="FR_calflower_joint" type="fixed">
|
||||
<origin xyz="0.020 0 -0.148" rpy="0 0.05 0" />
|
||||
<parent link="FR_calf" />
|
||||
<child link="FR_calflower" />
|
||||
<axis xyz="0 0 0" />
|
||||
</joint>
|
||||
<link name="FR_calflower1">
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0" />
|
||||
<geometry>
|
||||
<cylinder length="0.03" radius="0.0155" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="FR_calflower1_joint" type="fixed">
|
||||
<origin xyz="-0.01 0 -0.04" rpy="0 0.48 0" />
|
||||
<parent link="FR_calflower" />
|
||||
<child link="FR_calflower1" />
|
||||
<axis xyz="0 0 0" />
|
||||
</joint>
|
||||
<link name="FR_calf_rotor">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0" />
|
||||
<mass value="0.089" />
|
||||
<inertia ixx="0.000059647" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="0.000059647" />
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="FR_calf_rotor_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0.03235 0" />
|
||||
<parent link="FR_thigh" />
|
||||
<child link="FR_calf_rotor" />
|
||||
</joint>
|
||||
<link name="FR_foot">
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<mass value="0.04" />
|
||||
<inertia ixx="9.6e-06" ixy="0" ixz="0" iyy="9.6e-06" iyz="0" izz="9.6e-06" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://go2/meshes/foot.dae" />
|
||||
</geometry>
|
||||
<material name="黑色足端_007-effect"><color rgba="0 0 0 1" /></material></visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="-0.002 0 0" />
|
||||
<geometry>
|
||||
<sphere radius="0.022" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="FR_foot_joint" type="fixed" dont_collapse="true">
|
||||
<origin xyz="0 0 -0.213" rpy="0 0 0" />
|
||||
<parent link="FR_calf" />
|
||||
<child link="FR_foot" />
|
||||
<axis xyz="0 0 0" />
|
||||
</joint>
|
||||
<link name="RL_hip">
|
||||
<inertial>
|
||||
<origin xyz="0.0054 0.00194 -0.000105" rpy="0 0 0" />
|
||||
<mass value="0.678" />
|
||||
<inertia ixx="0.00048" ixy="3.01E-06" ixz="-1.11E-06" iyy="0.000884" iyz="-1.42E-06" izz="0.000596" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 3.1415 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://go2/meshes/hip.dae" />
|
||||
</geometry>
|
||||
<material name="深色橡胶_001-effect"><color rgba="0.6717055 0.6924257 0.7742702 1" /></material><material name="Material-effect"><color rgba="0.9 0.95 0.95 1" /></material></visual>
|
||||
<collision>
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0.08 0" />
|
||||
<geometry>
|
||||
<cylinder length="0.04" radius="0.046" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="RL_hip_joint" type="revolute">
|
||||
<origin xyz="-0.1934 0.0465 0" rpy="0 0 0" />
|
||||
<parent link="base" />
|
||||
<child link="RL_hip" />
|
||||
<axis xyz="1 0 0" />
|
||||
<limit lower="-1.0472" upper="1.0472" effort="23.7" velocity="30.1" />
|
||||
</joint>
|
||||
<link name="RL_hip_rotor">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0" />
|
||||
<mass value="0.089" />
|
||||
<inertia ixx="0.000111842" ixy="0.0" ixz="0.0" iyy="0.000059647" iyz="0.0" izz="0.000059647" />
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="RL_hip_rotor_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="-0.11215 0.04675 0" />
|
||||
<parent link="base" />
|
||||
<child link="RL_hip_rotor" />
|
||||
</joint>
|
||||
<link name="RL_thigh">
|
||||
<inertial>
|
||||
<origin xyz="-0.00374 -0.0223 -0.0327" rpy="0 0 0" />
|
||||
<mass value="1.152" />
|
||||
<inertia ixx="0.00584" ixy="8.72E-05" ixz="-0.000289" iyy="0.0058" iyz="0.000808" izz="0.00103" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://go2/meshes/thigh.dae" />
|
||||
</geometry>
|
||||
<material name="深色橡胶_003-effect"><color rgba="0.6717055 0.6924257 0.7742702 1" /></material><material name="Material_009-effect"><color rgba="0.9 0.95 0.95 1" /></material></visual>
|
||||
<collision>
|
||||
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065" />
|
||||
<geometry>
|
||||
<box size="0.213 0.0245 0.034" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="RL_thigh_joint" type="revolute">
|
||||
<origin xyz="0 0.0955 0" rpy="0 0 0" />
|
||||
<parent link="RL_hip" />
|
||||
<child link="RL_thigh" />
|
||||
<axis xyz="0 1 0" />
|
||||
<limit lower="-0.5236" upper="4.5379" effort="23.7" velocity="30.1" />
|
||||
</joint>
|
||||
<link name="RL_thigh_rotor">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0" />
|
||||
<mass value="0.089" />
|
||||
<inertia ixx="0.000059647" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="0.000059647" />
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="RL_thigh_rotor_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 -0.00015 0" />
|
||||
<parent link="RL_hip" />
|
||||
<child link="RL_thigh_rotor" />
|
||||
</joint>
|
||||
<link name="RL_calf">
|
||||
<inertial>
|
||||
<origin xyz="0.00548 -0.000975 -0.115" rpy="0 0 0" />
|
||||
<mass value="0.154" />
|
||||
<inertia ixx="0.00108" ixy="3.4E-07" ixz="1.72E-05" iyy="0.0011" iyz="8.28E-06" izz="3.29E-05" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://go2/meshes/calf.dae" />
|
||||
</geometry>
|
||||
<material name="黑色足端_005-effect"><color rgba="0 0 0 1" /></material><material name="深色橡胶_005-effect"><color rgba="0.6717055 0.6924257 0.7742702 1" /></material></visual>
|
||||
<collision>
|
||||
<origin rpy="0 -0.2 0" xyz="0.01 0 -0.06" />
|
||||
<geometry>
|
||||
<cylinder length="0.12" radius="0.013" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="RL_calf_joint" type="revolute">
|
||||
<origin xyz="0 0 -0.213" rpy="0 0 0" />
|
||||
<parent link="RL_thigh" />
|
||||
<child link="RL_calf" />
|
||||
<axis xyz="0 1 0" />
|
||||
<limit lower="-2.7227" upper="-0.83776" effort="45.43" velocity="15.70" />
|
||||
</joint>
|
||||
<link name="RL_calflower">
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0" />
|
||||
<geometry>
|
||||
<cylinder length="0.065" radius="0.011" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="RL_calflower_joint" type="fixed">
|
||||
<origin xyz="0.020 0 -0.148" rpy="0 0.05 0" />
|
||||
<parent link="RL_calf" />
|
||||
<child link="RL_calflower" />
|
||||
<axis xyz="0 0 0" />
|
||||
</joint>
|
||||
<link name="RL_calflower1">
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0" />
|
||||
<geometry>
|
||||
<cylinder length="0.03" radius="0.0155" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="RL_calflower1_joint" type="fixed">
|
||||
<origin xyz="-0.01 0 -0.04" rpy="0 0.48 0" />
|
||||
<parent link="RL_calflower" />
|
||||
<child link="RL_calflower1" />
|
||||
<axis xyz="0 0 0" />
|
||||
</joint>
|
||||
<link name="RL_calf_rotor">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0" />
|
||||
<mass value="0.089" />
|
||||
<inertia ixx="0.000059647" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="0.000059647" />
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="RL_calf_rotor_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 -0.03235 0" />
|
||||
<parent link="RL_thigh" />
|
||||
<child link="RL_calf_rotor" />
|
||||
</joint>
|
||||
<link name="RL_foot">
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<mass value="0.04" />
|
||||
<inertia ixx="9.6e-06" ixy="0" ixz="0" iyy="9.6e-06" iyz="0" izz="9.6e-06" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://go2/meshes/foot.dae" />
|
||||
</geometry>
|
||||
<material name="黑色足端_007-effect"><color rgba="0 0 0 1" /></material></visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="-0.002 0 0" />
|
||||
<geometry>
|
||||
<sphere radius="0.022" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="RL_foot_joint" type="fixed" dont_collapse="true">
|
||||
<origin xyz="0 0 -0.213" rpy="0 0 0" />
|
||||
<parent link="RL_calf" />
|
||||
<child link="RL_foot" />
|
||||
<axis xyz="0 0 0" />
|
||||
</joint>
|
||||
<link name="RR_hip">
|
||||
<inertial>
|
||||
<origin xyz="0.0054 -0.00194 -0.000105" rpy="0 0 0" />
|
||||
<mass value="0.678" />
|
||||
<inertia ixx="0.00048" ixy="-3.01E-06" ixz="-1.11E-06" iyy="0.000884" iyz="1.42E-06" izz="0.000596" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="3.1415 3.1415 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://go2/meshes/hip.dae" />
|
||||
</geometry>
|
||||
<material name="深色橡胶_001-effect"><color rgba="0.6717055 0.6924257 0.7742702 1" /></material><material name="Material-effect"><color rgba="0.9 0.95 0.95 1" /></material></visual>
|
||||
<collision>
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 -0.08 0" />
|
||||
<geometry>
|
||||
<cylinder length="0.04" radius="0.046" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="RR_hip_joint" type="revolute">
|
||||
<origin xyz="-0.1934 -0.0465 0" rpy="0 0 0" />
|
||||
<parent link="base" />
|
||||
<child link="RR_hip" />
|
||||
<axis xyz="1 0 0" />
|
||||
<limit lower="-1.0472" upper="1.0472" effort="23.7" velocity="30.1" />
|
||||
</joint>
|
||||
<link name="RR_hip_rotor">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0" />
|
||||
<mass value="0.089" />
|
||||
<inertia ixx="0.000111842" ixy="0.0" ixz="0.0" iyy="0.000059647" iyz="0.0" izz="0.000059647" />
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="RR_hip_rotor_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="-0.11215 -0.04675 0" />
|
||||
<parent link="base" />
|
||||
<child link="RR_hip_rotor" />
|
||||
</joint>
|
||||
<link name="RR_thigh">
|
||||
<inertial>
|
||||
<origin xyz="-0.00374 0.0223 -0.0327" rpy="0 0 0" />
|
||||
<mass value="1.152" />
|
||||
<inertia ixx="0.00584" ixy="-8.72E-05" ixz="-0.000289" iyy="0.0058" iyz="-0.000808" izz="0.00103" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://go2/meshes/thigh_mirror.dae" />
|
||||
</geometry>
|
||||
<material name="深色橡胶_012-effect"><color rgba="0.6717055 0.6924257 0.7742702 1" /></material><material name="Material_011-effect"><color rgba="0.9 0.95 0.95 1" /></material></visual>
|
||||
<collision>
|
||||
<origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065" />
|
||||
<geometry>
|
||||
<box size="0.213 0.0245 0.034" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="RR_thigh_joint" type="revolute">
|
||||
<origin xyz="0 -0.0955 0" rpy="0 0 0" />
|
||||
<parent link="RR_hip" />
|
||||
<child link="RR_thigh" />
|
||||
<axis xyz="0 1 0" />
|
||||
<limit lower="-0.5236" upper="4.5379" effort="23.7" velocity="30.1" />
|
||||
</joint>
|
||||
<link name="RR_thigh_rotor">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0" />
|
||||
<mass value="0.089" />
|
||||
<inertia ixx="0.000059647" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="0.000059647" />
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="RR_thigh_rotor_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0.00015 0" />
|
||||
<parent link="RR_hip" />
|
||||
<child link="RR_thigh_rotor" />
|
||||
</joint>
|
||||
<link name="RR_calf">
|
||||
<inertial>
|
||||
<origin xyz="0.00548 0.000975 -0.115" rpy="0 0 0" />
|
||||
<mass value="0.154" />
|
||||
<inertia ixx="0.00108" ixy="-3.4E-07" ixz="1.72E-05" iyy="0.0011" iyz="-8.28E-06" izz="3.29E-05" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://go2/meshes/calf_mirror.dae" />
|
||||
</geometry>
|
||||
<material name="黑色足端_006-effect"><color rgba="0 0 0 1" /></material><material name="深色橡胶_007-effect"><color rgba="0.6717055 0.6924257 0.7742702 1" /></material></visual>
|
||||
<collision>
|
||||
<origin rpy="0 -0.2 0" xyz="0.01 0 -0.06" />
|
||||
<geometry>
|
||||
<cylinder length="0.12" radius="0.013" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="RR_calf_joint" type="revolute">
|
||||
<origin xyz="0 0 -0.213" rpy="0 0 0" />
|
||||
<parent link="RR_thigh" />
|
||||
<child link="RR_calf" />
|
||||
<axis xyz="0 1 0" />
|
||||
<limit lower="-2.7227" upper="-0.83776" effort="45.43" velocity="15.70" />
|
||||
</joint>
|
||||
<link name="RR_calflower">
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0" />
|
||||
<geometry>
|
||||
<cylinder length="0.065" radius="0.011" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="RR_calflower_joint" type="fixed">
|
||||
<origin xyz="0.020 0 -0.148" rpy="0 0.05 0" />
|
||||
<parent link="RR_calf" />
|
||||
<child link="RR_calflower" />
|
||||
<axis xyz="0 0 0" />
|
||||
</joint>
|
||||
<link name="RR_calflower1">
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0" />
|
||||
<geometry>
|
||||
<cylinder length="0.03" radius="0.0155" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="RR_calflower1_joint" type="fixed">
|
||||
<origin xyz="-0.01 0 -0.04" rpy="0 0.48 0" />
|
||||
<parent link="RR_calflower" />
|
||||
<child link="RR_calflower1" />
|
||||
<axis xyz="0 0 0" />
|
||||
</joint>
|
||||
<link name="RR_calf_rotor">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0" />
|
||||
<mass value="0.089" />
|
||||
<inertia ixx="0.000059647" ixy="0.0" ixz="0.0" iyy="0.000111842" iyz="0.0" izz="0.000059647" />
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="RR_calf_rotor_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0.03235 0" />
|
||||
<parent link="RR_thigh" />
|
||||
<child link="RR_calf_rotor" />
|
||||
</joint>
|
||||
<link name="RR_foot">
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<mass value="0.04" />
|
||||
<inertia ixx="9.6e-06" ixy="0" ixz="0" iyy="9.6e-06" iyz="0" izz="9.6e-06" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://go2/meshes/foot.dae" />
|
||||
</geometry>
|
||||
<material name="黑色足端_007-effect"><color rgba="0 0 0 1" /></material></visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="-0.002 0 0" />
|
||||
<geometry>
|
||||
<sphere radius="0.022" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="RR_foot_joint" type="fixed" dont_collapse="true">
|
||||
<origin xyz="0 0 -0.213" rpy="0 0 0" />
|
||||
<parent link="RR_calf" />
|
||||
<child link="RR_foot" />
|
||||
<axis xyz="0 0 0" />
|
||||
</joint>
|
||||
<link name="imu">
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<mass value="0" />
|
||||
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="imu_joint" type="fixed">
|
||||
<origin xyz="-0.02557 0 0.04232" rpy="0 0 0" />
|
||||
<parent link="base" />
|
||||
<child link="imu" />
|
||||
<axis xyz="0 0 0" />
|
||||
</joint>
|
||||
<link name="radar">
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<mass value="0" />
|
||||
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="radar_joint" type="fixed">
|
||||
<origin xyz="0.28945 0 -0.046825" rpy="0 2.8782 0" />
|
||||
<parent link="base" />
|
||||
<child link="radar" />
|
||||
<axis xyz="0 0 0" />
|
||||
</joint>
|
||||
<joint name="front_camera_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0.32715 -0.00003 0.04297" />
|
||||
<parent link="base" />
|
||||
<child link="front_camera" />
|
||||
</joint>
|
||||
<link name="front_camera">
|
||||
</link>
|
||||
</robot>
|
||||
Reference in New Issue
Block a user