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minitaur_gazebo.urdf.xacro
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<?xml version="1.0" ?>
<!-- ======================================================================= -->
<!--LICENSE: -->
<!--Copyright (c) 2017, Erwin Coumans -->
<!--Google Inc. -->
<!--All rights reserved. -->
<!-- -->
<!--Redistribution and use in source and binary forms, with or without -->
<!--modification, are permitted provided that the following conditions are -->
<!--met: -->
<!-- -->
<!--1. Redistributions or derived work must retain this copyright notice, -->
<!-- this list of conditions and the following disclaimer. -->
<!-- -->
<!--2. Redistributions in binary form must reproduce the above copyright -->
<!-- notice, this list of conditions and the following disclaimer in the -->
<!-- documentation and/or other materials provided with the distribution. -->
<!-- -->
<!--THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS -->
<!--IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,-->
<!--THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -->
<!--PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR -->
<!--CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, -->
<!--EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, -->
<!--PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR -->
<!--PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF -->
<!--LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING -->
<!--NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -->
<!--SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -->
<!-- -->
<!-- Converted to xacro by Tom Jacobs and Vasileios Vasilopoulos -->
<!-- <[email protected]>, <[email protected]> -->
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="minitaur">
<!-- Define parameters -->
<xacro:property name="bodyLength" value="0.33"/>
<xacro:property name="bodyWidth" value="0.1855"/>
<xacro:property name="bodyHeight" value="0.08"/>
<xacro:property name="bodySideLength" value="0.17"/>
<xacro:property name="bodySideWidth" value="0.10"/>
<xacro:property name="bodySideHeight" value="0.05"/>
<xacro:property name="bodyMass" value="3.516"/> <!-- 7.18kg minitaur total weight - 0.016*4 - 0.10*8 - 0.25*8 - 0.05*8 - 0.05*8 = 3.516 -->
<xacro:property name="frameMass" value="0.16"/> <!-- * 4 frames -->
<xacro:property name="motorModuleMass" value="0.10"/> <!-- * 8 motor modules -->
<xacro:property name="motorMass" value="0.25"/> <!-- * 8 motors -->
<xacro:property name="upperLegMass" value="0.05"/> <!-- * 8 upper legs -->
<xacro:property name="lowerLegMass" value="0.05"/> <!-- * 8 lower legs -->
<xacro:property name="toeMass" value="0.01"/>
<xacro:property name="chassisLength" value="0.34"/>
<xacro:property name="chassisWidth" value="0.01"/>
<xacro:property name="chassisHeight" value="0.04"/>
<xacro:property name="motorLength" value="0.021"/>
<xacro:property name="motorRadius" value="0.0425"/>
<xacro:property name="upperLegWidth" value="0.039"/>
<xacro:property name="upperLegHeight" value="0.008"/>
<xacro:property name="upperLegLength" value="0.1"/>
<xacro:property name="lowerLegWidth" value="0.017"/>
<xacro:property name="lowerLegHeight" value="0.009"/>
<xacro:property name="lowerLegLength" value="0.2"/>
<xacro:property name="lowerLegLengthToe" value="0.22"/>
<xacro:property name="toeRadius" value="0.015"/>
<xacro:property name="toeStiffness" value="300000.0"/>
<xacro:property name="toeDamping" value="1000.0"/>
<xacro:property name="toeSpinningFriction" value="1.0"/>
<xacro:property name="toeLateralFriction" value="1.0"/>
<!-- LINK: Body dummy -->
<link name="base_chassis_link_dummy">
<visual>
<geometry>
<box size="${bodyLength} ${bodyWidth} ${bodyHeight}"/>
</geometry>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0 0.10 -0.014"/>
<geometry>
<box size="${bodySideLength} ${bodySideWidth} ${bodySideHeight}"/>
</geometry>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0 -0.10 -0.014"/>
<geometry>
<box size="${bodySideLength} ${bodySideWidth} ${bodySideHeight}"/>
</geometry>
</visual>
<collision>
<geometry>
<box size="${bodyLength} ${bodyWidth} ${bodyHeight}"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 0.10 -0.014"/>
<geometry>
<box size="${bodySideLength} ${bodySideWidth} ${bodySideHeight}"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 -0.10 -0.014"/>
<geometry>
<box size="${bodySideLength} ${bodySideWidth} ${bodySideHeight}"/>
</geometry>
</collision>
</link>
<gazebo reference="base_chassis_link_dummy">
<material>Gazebo/FlatBlack</material>
</gazebo>
<!-- LINK: Body -->
<link name="base_chassis_link">
<visual>
<geometry>
<box size="${bodyLength} ${bodyWidth} ${bodyHeight}"/>
</geometry>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0 0.10 -0.014"/>
<geometry>
<box size="${bodySideLength} ${bodySideWidth} ${bodySideHeight}"/>
</geometry>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0 -0.10 -0.014"/>
<geometry>
<box size="${bodySideLength} ${bodySideWidth} ${bodySideHeight}"/>
</geometry>
</visual>
<collision>
<geometry>
<box size="${bodyLength} ${bodyWidth} ${bodyHeight}"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 0.10 -0.014"/>
<geometry>
<box size="${bodySideLength} ${bodySideWidth} ${bodySideHeight}"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 -0.10 -0.014"/>
<geometry>
<box size="${bodySideLength} ${bodySideWidth} ${bodySideHeight}"/>
</geometry>
</collision>
<inertial>
<mass value="${bodyMass}"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<!-- https://en.wikipedia.org/wiki/List_of_moments_of_inertia Solid Cuboid -->
<inertia ixx="${bodyMass*(bodyWidth*bodyWidth + bodyHeight*bodyHeight)/12}" ixy="0.0" ixz="0.0"
iyy="${bodyMass*(bodyLength*bodyLength + bodyHeight*bodyHeight)/12}" iyz="0.0"
izz="${bodyMass*(bodyLength*bodyLength + bodyWidth*bodyWidth)/12}"/>
</inertial>
</link>
<gazebo reference="base_chassis_link">
<material>Gazebo/FlatBlack</material>
</gazebo>
<!-- JOINT: body to body dummy -->
<joint name="dummy_joint" type="fixed">
<axis xyz="0 0 1"/>
<parent link="base_chassis_link_dummy"/>
<child link="base_chassis_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<!-- LINK: frame1 -->
<link name="frame1">
<visual>
<origin rpy="0 0 0" xyz="-0.22 0 0"/>
<geometry>
<box size="0.468 .012 .050"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.22 0 0"/>
<geometry>
<box size="0.468 .012 .050"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.03 0"/>
<mass value="${frameMass}"/>
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial>
</link>
<gazebo reference="frame1">
<material>Gazebo/Grey</material>
</gazebo>
<!-- JOINT: frame1 to body -->
<joint name="frame1_joint" type="fixed">
<axis xyz="0 0 1"/>
<parent link="base_chassis_link"/>
<child link="frame1"/>
<origin rpy="0 0 0" xyz=".2375 -0.154 -.0185"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<!-- LINK: frame2 -->
<link name="frame2">
<visual>
<origin rpy="0 0 0" xyz="-0.22 0 0"/>
<geometry>
<box size="0.468 .012 .050"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.22 0 0"/>
<geometry>
<box size="0.468 .012 .050"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0.02 0"/>
<mass value="${frameMass}"/>
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial>
</link>
<gazebo reference="frame2">
<material>Gazebo/Grey</material>
</gazebo>
<!-- JOINT: frame2 to body -->
<joint name="frame2_joint" type="fixed">
<axis xyz="0 0 1"/>
<parent link="base_chassis_link"/>
<child link="frame2"/>
<origin rpy="0 0 0" xyz=".2375 0.154 -.0185"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<!-- LINK: frame3 -->
<link name="frame3">
<visual>
<origin rpy="0 0 0" xyz="0.22 0.055 0"/>
<geometry>
<box size="0.468 .012 .050"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.22 0.055 0"/>
<geometry>
<box size="0.468 .012 .050"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.03 0"/>
<mass value="${frameMass}"/>
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial>
</link>
<gazebo reference="frame3">
<material>Gazebo/Grey</material>
</gazebo>
<!-- JOINT: frame3 to body -->
<joint name="frame3_joint" type="fixed">
<axis xyz="0 0 1"/>
<parent link="base_chassis_link"/>
<child link="frame3"/>
<origin rpy="0 0 0" xyz="-.2375 -0.154 -.0185"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<!-- LINK: frame4 -->
<link name="frame4">
<visual>
<origin rpy="0 0 0" xyz="0.22 -0.055 0"/>
<geometry>
<box size="0.468 .012 .050"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.22 -0.055 0"/>
<geometry>
<box size="0.468 .012 .050"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0.02 0"/>
<mass value="${frameMass}"/>
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial>
</link>
<gazebo reference="frame4">
<material>Gazebo/Grey</material>
</gazebo>
<!-- JOINT: frame4 to body -->
<joint name="frame4" type="fixed">
<axis xyz="0 0 1"/>
<parent link="base_chassis_link"/>
<child link="frame4"/>
<origin rpy="0 0 0" xyz="-.2375 0.154 -.0185"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<!-- Inside motor module boxes -->
<!-- LINK: chassis_right -->
<link name="chassis_right">
<visual>
<origin rpy="0 0 0" xyz=".2375 .049 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
</visual>
<visual>
<origin rpy="0 0 0" xyz="-.2375 .049 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz=".2375 .049 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="-.2375 .049 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
</collision>
<inertial>
<mass value="${motorModuleMass*2}"/>
<inertia ixx=".004147" ixy=".0" ixz=".0" iyy=".040913" iyz=".0" izz=".041840"/>
</inertial>
</link>
<gazebo reference="chassis_right">
<material>Gazebo/Black</material>
</gazebo>
<!-- JOINT: chassis_right_center to body -->
<joint name="chassis_right_center" type="fixed">
<axis xyz="0 0 1"/>
<parent link="base_chassis_link"/>
<child link="chassis_right"/>
<origin rpy="0 0 0" xyz="0 -.1265 -.0185"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<!-- LINK: chassis_left -->
<link name="chassis_left">
<visual>
<origin rpy="0 0 0" xyz=".2375 -.049 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
</visual>
<visual>
<origin rpy="0 0 0" xyz="-.2375 -.049 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz=".2375 -.049 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="-.2375 -.049 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
</collision>
<inertial>
<mass value="${motorModuleMass*2}"/>
<inertia ixx=".004147" ixy=".0" ixz=".0" iyy=".040913" iyz=".0" izz=".041840"/>
</inertial>
</link>
<gazebo reference="chassis_left">
<material>Gazebo/Black</material>
</gazebo>
<!-- JOINT: chassis_left_center to body -->
<joint name="chassis_left_center" type="fixed">
<axis xyz="0 0 1"/>
<parent link="base_chassis_link"/>
<child link="chassis_left"/>
<origin rpy="0 0 0" xyz="0 .1265 -.0185"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<!-- Outside motor module boxes -->
<!-- LINK: motor_front_rightR_bracket_link -->
<link name="motor_front_rightR_bracket_link">
<visual>
<origin rpy="0 0 0" xyz="0 -0.02 0"/>
<geometry>
<box size="0.068 .032 .050"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 -0.02 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.03 0"/>
<mass value="${motorModuleMass}"/>
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial>
</link>
<gazebo reference="motor_front_rightR_bracket_link">
<material>Gazebo/Black</material>
</gazebo>
<!-- JOINT: motor_front_rightR_bracket_link to body -->
<joint name="motor_front_rightR_bracket_joint" type="fixed">
<axis xyz="0 0 1"/>
<parent link="base_chassis_link"/>
<child link="motor_front_rightR_bracket_link"/>
<origin rpy="0 0 0" xyz=".2375 -0.154 -.0185"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<!-- LINK: motor_front_leftL_bracket_link -->
<link name="motor_front_leftL_bracket_link">
<visual>
<origin rpy="0 0 0" xyz="0 0.02 0"/>
<geometry>
<box size="0.068 .032 .050"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0.02 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0.02 0"/>
<mass value="${motorModuleMass}"/>
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial>
</link>
<gazebo reference="motor_front_leftL_bracket_link">
<material>Gazebo/Black</material>
</gazebo>
<!-- JOINT: motor_front_leftL_bracket_joint to body -->
<joint name="motor_front_leftL_bracket_joint" type="fixed">
<axis xyz="0 0 1"/>
<parent link="base_chassis_link"/>
<child link="motor_front_leftL_bracket_link"/>
<origin rpy="0 0 0" xyz=".2375 0.154 -.0185"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<!-- LINK: motor_back_rightR_bracket_link -->
<link name="motor_back_rightR_bracket_link">
<visual>
<origin rpy="0 0 0" xyz="0 -0.02 0"/>
<geometry>
<box size="0.068 .032 .050"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 -0.02 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.03 0"/>
<mass value="${motorModuleMass}"/>
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial>
</link>
<gazebo reference="motor_back_rightR_bracket_link">
<material>Gazebo/Black</material>
</gazebo>
<!-- JOINT: motor_back_rightR_bracket_joint to body -->
<joint name="motor_back_rightR_bracket_joint" type="fixed">
<axis xyz="0 0 1"/>
<parent link="base_chassis_link"/>
<child link="motor_back_rightR_bracket_link"/>
<origin rpy="0 0 0" xyz="-.2375 -0.154 -.0185"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<!-- LINK: motor_back_leftL_bracket_link -->
<link name="motor_back_leftL_bracket_link">
<visual>
<origin rpy="0 0 0" xyz="0 0.02 0"/>
<geometry>
<box size="0.068 .032 .050"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0.02 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0.02 0"/>
<mass value="${motorModuleMass}"/>
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial>
</link>
<gazebo reference="motor_back_leftL_bracket_link">
<material>Gazebo/Black</material>
</gazebo>
<!-- JOINT: motor_back_leftL_bracket_joint to body -->
<joint name="motor_back_leftL_bracket_joint" type="fixed">
<axis xyz="0 0 1"/>
<parent link="base_chassis_link"/>
<child link="motor_back_leftL_bracket_link"/>
<origin rpy="0 0 0" xyz="-.2375 0.154 -.0185"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<!-- Define our motor macro -->
<xacro:macro name="motor" params="jointNumber location side LR originRPY originXYZ chassis axis">
<!-- LINK: motor_${location}_${side}${LR}_link -->
<link name="motor_${location}_${side}${LR}_link">
<visual>
<geometry>
<mesh filename="model://minitaur_constrained/../../meshes/tmotor3.dae" scale="100 100 100"/>
</geometry>
</visual>
<collision>
<geometry>
<cylinder length="${motorLength}" radius="${motorRadius}"/>
</geometry>
</collision>
<inertial>
<mass value="${motorMass}"/>
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial>
</link>
<!-- JOINT: motor_${location}_${side}${LR}_link to ${chassis} -->
<joint name="${jointNumber}" type="continuous">
<axis xyz="${axis}"/>
<parent link="${chassis}"/>
<child link="motor_${location}_${side}${LR}_link"/>
<origin rpy="${originRPY}" xyz="${originXYZ}"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<!-- Transmission elements required for Gazebo -->
<transmission name="transmission_${jointNumber}">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${jointNumber}">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor_${jointNumber}">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</xacro:macro>
<!-- Motors -->
<xacro:motor jointNumber="5" location="front" side="right" LR="R" originRPY="1.57075 -1.57075 0" originXYZ="0 0 0" chassis="motor_front_rightR_bracket_link" axis="0 0 1"/>
<xacro:motor jointNumber="4" location="front" side="right" LR="L" originRPY="1.57075 1.57075 0" originXYZ=".2375 .0275 0" chassis="chassis_right" axis="0 0 -1"/>
<xacro:motor jointNumber="0" location="front" side="left" LR="L" originRPY="1.57075 -1.57075 0" originXYZ="0 0 0" chassis="motor_front_leftL_bracket_link" axis="0 0 -1"/>
<xacro:motor jointNumber="1" location="front" side="left" LR="R" originRPY="1.57075 1.57075 0" originXYZ=".2375 -.0275 0" chassis="chassis_left" axis="0 0 1"/>
<xacro:motor jointNumber="7" location="back" side="right" LR="R" originRPY="1.57075 -1.57075 0" originXYZ="0 0 0" chassis="motor_back_rightR_bracket_link" axis="0 0 1"/>
<xacro:motor jointNumber="6" location="back" side="right" LR="L" originRPY="1.57075 1.57075 0" originXYZ="-.2375 .0275 0" chassis="chassis_right" axis="0 0 -1"/>
<xacro:motor jointNumber="2" location="back" side="left" LR="L" originRPY="1.57075 -1.57075 0" originXYZ="0 0 0" chassis="motor_back_leftL_bracket_link" axis="0 0 -1"/>
<xacro:motor jointNumber="3" location="back" side="left" LR="R" originRPY="1.57075 1.57075 0" originXYZ="-.2375 -.0275 0" chassis="chassis_left" axis="0 0 1"/>
<!-- Define our upper leg macro -->
<xacro:macro name="upperLeg" params="location hip xyz">
<!-- LINK: upper_leg_${location}_link -->
<link name="upper_leg_${location}_link">
<visual>
<geometry>
<box size="${upperLegWidth} ${upperLegHeight} ${upperLegLength}"/>
</geometry>
</visual>
<collision>
<geometry>
<box size="${upperLegWidth} ${upperLegHeight} ${upperLegLength}"/>
</geometry>
</collision>
<inertial>
<mass value="${upperLegMass}"/>
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
</inertial>
</link>
<gazebo reference="upper_leg_${location}_link">
<material>Gazebo/Grey</material>
</gazebo>
<!-- JOINT: ${hip}_${location}_link to motor_${location}_link -->
<joint name="${hip}_${location}_link" type="fixed">
<axis xyz="0 0 1"/>
<parent link="motor_${location}_link"/>
<child link="upper_leg_${location}_link"/>
<origin rpy="-1.57075 0 0" xyz="${xyz}"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
</xacro:macro>
<!-- Define our lower leg macro -->
<xacro:macro name="lowerLeg" params="jointNumber location lowerLegLengthIn toeSuffix toe flipped left">
<!-- LINK: lower_leg_${location}_link -->
<link name="lower_leg_${location}_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 ${0.5*lowerLegLengthIn}"/>
<geometry>
<box size="${lowerLegWidth} ${lowerLegHeight} ${lowerLegLengthIn}"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 ${0.5*lowerLegLengthIn}"/>
<geometry>
<box size="${lowerLegWidth} ${lowerLegHeight} ${lowerLegLengthIn}"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 ${0.5*lowerLegLengthIn}"/>
<mass value="${lowerLegMass}"/>
<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
</inertial>
</link>
<gazebo reference="lower_leg_${location}_link">
<material>Gazebo/Grey</material>
<collision>
<surface>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<friction>
<torsional>
<coefficient>0.05</coefficient>
</torsional>
<bullet>
<rolling_friction>0.05</rolling_friction>
</bullet>
</friction>
<contact>
<ode>
<kp>3000.0</kp>
<kd>100.0</kd>
</ode>
<bullet>
<kp>3000.0</kp>
<kd>100.0</kd>
</bullet>
</contact>
</surface>
</collision>
</gazebo>
<!-- JOINT: lower_leg_${location}_link to upper_leg_${location}_link -->
<joint name="${jointNumber}" type="continuous">
<axis xyz="0 ${flipped} 0"/>
<parent link="upper_leg_${location}_link"/>
<child link="lower_leg_${location}_link"/>
<xacro:if value="${left}">
<origin rpy="0 ${-4.189*flipped} 0" xyz="0 ${0.0085 * flipped} ${0.5*upperLegLength}"/>
</xacro:if>
<xacro:unless value="${left}">
<origin rpy="0 ${4.189*flipped} 0" xyz="0 ${0.0085 * flipped} ${0.5*upperLegLength}"/>
</xacro:unless>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<xacro:if value="${toe}">
<!-- Toe -->
<!-- LINK: toe${toeSuffix} -->
<link name="toe${toeSuffix}">
<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="${toeMass}"/>
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025" />
</inertial>
</link>
<gazebo reference="toe${toeSuffix}">
<material>Gazebo/Black</material>
<collision>
<surface>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<friction>
<torsional>
<coefficient>${toeSpinningFriction}</coefficient>
</torsional>
<ode>
<mu>${toeLateralFriction}</mu>
<mu2>${toeLateralFriction}</mu2>
</ode>
<bullet>
<rolling_friction>${toeSpinningFriction}</rolling_friction>
<friction2>${toeLateralFriction}</friction2>
</bullet>
</friction>
<contact>
<ode>
<kp>${toeStiffness}</kp>
<kd>${toeDamping}</kd>
</ode>
<bullet>
<kp>${toeStiffness}</kp>
<kd>${toeDamping}</kd>
</bullet>
</contact>
</surface>
</collision>
</gazebo>
<!-- JOINT: toe${toeSuffix} to lower_leg_${location}_link -->
<joint name="toe${toeSuffix}" type="fixed">
<parent link="lower_leg_${location}_link"/>
<child link="toe${toeSuffix}"/>
<origin xyz="0 0 ${lowerLegLengthIn}"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
</xacro:if>
</xacro:macro>
<!-- Legs -->
<xacro:upperLeg location="front_rightR" hip="hip" xyz="0 .045 -.0145"/>
<xacro:upperLeg location="front_rightL" hip="motor" xyz="0 .045 .0145"/>
<xacro:upperLeg location="front_leftR" hip="hip" xyz="0 .045 -.0145"/>
<xacro:upperLeg location="front_leftL" hip="motor" xyz="0 .045 .0145"/>
<xacro:upperLeg location="back_rightR" hip="hip" xyz="0 .045 -.0145"/>
<xacro:upperLeg location="back_rightL" hip="motor" xyz="0 .045 .0145"/>
<xacro:upperLeg location="back_leftR" hip="hip" xyz="0 .045 -.0145"/>
<xacro:upperLeg location="back_leftL" hip="motor" xyz="0 .045 .0145"/>
<!-- Lower legs and flexy knee joints -->
<xacro:lowerLeg jointNumber="8" toeSuffix="0" toe="true" lowerLegLengthIn="${lowerLegLengthToe}" location="front_leftL" flipped="-1" left="true"/>
<xacro:lowerLeg jointNumber="9" toeSuffix="1" toe="false" lowerLegLengthIn="${lowerLegLength}" location="front_leftR" flipped="1" left="true"/>
<xacro:lowerLeg jointNumber="10" toeSuffix="2" toe="true" lowerLegLengthIn="${lowerLegLengthToe}" location="back_leftL" flipped="-1" left="true"/>
<xacro:lowerLeg jointNumber="11" toeSuffix="3" toe="false" lowerLegLengthIn="${lowerLegLength}" location="back_leftR" flipped="1" left="true"/>
<xacro:lowerLeg jointNumber="12" toeSuffix="4" toe="false" lowerLegLengthIn="${lowerLegLength}" location="front_rightL" flipped="-1" left="false"/>
<xacro:lowerLeg jointNumber="13" toeSuffix="5" toe="true" lowerLegLengthIn="${lowerLegLengthToe}" location="front_rightR" flipped="1" left="false"/>
<xacro:lowerLeg jointNumber="14" toeSuffix="6" toe="false" lowerLegLengthIn="${lowerLegLength}" location="back_rightL" flipped="-1" left="false"/>
<xacro:lowerLeg jointNumber="15" toeSuffix="7" toe="true" lowerLegLengthIn="${lowerLegLengthToe}" location="back_rightR" flipped="1" left="false"/>
<!-- Add ros_control plugin -->
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/minitaur</robotNamespace>
</plugin>
</gazebo>
</robot>