Commit 69924896 authored by Carlos Mastalli's avatar Carlos Mastalli
Browse files

[anymal] Added ANYmal b (this is now open-source and legally possible)

parent 238ddb1a
......@@ -6,7 +6,7 @@ Example robot URDFs
This repository includes a set of robot descriptions that are aimed to be used in benchmarking. These source files do not intend to substitute original their repositories.
**Authors:** [Carlos Mastalli](https://cmastalli.github.io/) <br />
**Authors:** [Carlos Mastalli](https://cmastalli.github.io/), Guilhem Saurel <br />
**With additional support from the Gepetto team at LAAS-CNRS.**
[![pipeline status](https://gepgitlab.laas.fr/gepetto/example-robot-data/badges/master/build.svg)](https://gepgitlab.laas.fr/Gepetto/example-robot-data/commits/master)
......@@ -40,6 +40,6 @@ If you have never added robotpkg as a softwares repository, please follow first
## Show the robot
(you will need pinocchio and its python bindings)
(you will need pinocchio and its Python bindings)
`python -m example_robot_data [hyq,talos,talos_arm,talos_legs,icub,solo,solo12,tiago,tiago_no_hand]`
`python -m example_robot_data [hyq,anymal,talos,talos_arm,talos_legs,icub,solo,solo12,tiago,tiago_no_hand]`
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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from anymal.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<!-- This file contains the description of the ANYmal B robot. -->
<robot name="anymal" xmlns:xacro="http://www.ros.org/wiki/xacro">
<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="light_grey">
<color rgba="0.4 0.4 0.4 1.0"/>
</material>
<material name="orange">
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
</material>
<material name="brown">
<color rgba="0.870588235294 0.811764705882 0.764705882353 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>
<!-- Material for the visual primitives -->
<material name="anymal_material">
<color rgba="0.7 0.7 0.7 1."/>
</material>
<!-- Xacro:Properties -->
<!-- [m] -->
<!-- Base link -->
<link name="base">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/base/anymal_base.dae" scale="1 1 1"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<!-- Main Body -->
<origin rpy="0 0 0" xyz="0 0 0.08"/>
<geometry>
<box size="0.531 0.27 0.24"/>
</geometry>
</collision>
<collision>
<!-- HAA actuators -->
<origin rpy="0 1.57079632679 0" xyz="0.227 0.116 0"/>
<geometry>
<cylinder length="0.1" radius="0.05"/>
</geometry>
</collision>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0.227 -0.116 0"/>
<geometry>
<cylinder length="0.1" radius="0.05"/>
</geometry>
</collision>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.227 0.116 0"/>
<geometry>
<cylinder length="0.1" radius="0.05"/>
</geometry>
</collision>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.227 -0.116 0"/>
<geometry>
<cylinder length="0.1" radius="0.05"/>
</geometry>
</collision>
<collision>
<!-- Belly plate front bump -->
<origin rpy="0 0 0" xyz="0.2155 0.0 -0.09"/>
<geometry>
<box size="0.1 0.1 0.07"/>
</geometry>
</collision>
<collision>
<!-- Belly plate hind bump-->
<origin rpy="0 0 0" xyz="-0.2155 0.0 -0.09"/>
<geometry>
<box size="0.1 0.1 0.07"/>
</geometry>
</collision>
<collision>
<!-- Belly plate middle bump-->
<origin rpy="0 0 0" xyz="0 0 -0.09"/>
<geometry>
<box size="0.531 0.02 0.07"/>
</geometry>
</collision>
</link>
<!-- Fixed joint to add dummy inertia link -->
<joint name="base_to_base_inertia" type="fixed">
<parent link="base"/>
<child link="base_inertia"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<!-- Dummy inertia link, because KDL cannot have inertia on the base link -->
<link name="base_inertia">
<inertial>
<origin rpy="0 0 0" xyz="-0.001960558279 -0.001413217745 0.050207125344"/>
<mass value="16.793507758"/>
<inertia ixx="0.217391101503" ixy="-0.00132873239126" ixz="-0.00228200226173" iyy="0.639432546734" iyz="-0.00138078263145" izz="0.62414077654"/>
</inertial>
</link>
<!-- Xacro:Properties -->
<!-- [kg * m^2] -->
<!-- [A] -->
<link name="LF_HIP">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/hip/anymal_hip_l.dae" scale="1 1 1"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<!-- Protector -->
<origin rpy="1.57079632679 0 0" xyz="0.0635 -0.009 0.0"/>
<geometry>
<cylinder length="0.1" radius="0.08"/>
</geometry>
</collision>
<collision>
<!-- Heatfins -->
<origin rpy="1.57079632679 0 0" xyz="0.0635 -0.074 0.0"/>
<geometry>
<cylinder length="0.03" radius="0.045"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.064516258147 -0.003787101702 -0.000152184388"/>
<mass value="1.42462064"/>
<inertia ixx="0.00243023349564" ixy="-1.53023971e-05" ixz="-2.1819095354e-05" iyy="0.00230257239103" iyz="2.6473021273e-05" izz="0.0019806759227"/>
</inertial>
</link>
<!-- Hip joint -->
<joint name="LF_HAA" type="revolute">
<parent link="base"/>
<child link="LF_HIP"/>
<origin xyz="0.277 0.116 0.0"/>
<axis xyz="1 0 0"/>
<limit command_effort="40" current="10" effort="80" gear_velocity="10" lower="-9.42" upper="9.42" velocity="15"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Xacro:Properties -->
<!-- [m] -->
<!-- [A] -->
<link name="LF_THIGH">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/thigh/anymal_thigh.dae" scale="1 1 1"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<!-- thigh with heat fins -->
<origin rpy="0.145 0 0" xyz="0 0.035 -0.125"/>
<geometry>
<box size="0.08 0.04 0.25"/>
</geometry>
</collision>
<collision>
<!-- KFE actuator -->
<origin rpy="1.57079632679 0 0" xyz="0.0 0.069 -0.25"/>
<geometry>
<cylinder length="0.12" radius="0.06"/>
</geometry>
</collision>
<collision>
<!-- upper protector -->
<origin rpy="1.71579632679 0 0" xyz="0 -0.005 0"/>
<geometry>
<cylinder length="0.12" radius="0.066"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.003897968082 0.054226618537 -0.214583373795"/>
<mass value="1.634976467"/>
<inertia ixx="0.0120367944369" ixy="6.762065206e-05" ixz="0.000287806340448" iyy="0.0120643637939" iyz="-0.00140610131218" izz="0.00249422574881"/>
</inertial>
</link>
<!-- Thigh joint -->
<joint name="LF_HFE" type="revolute">
<parent link="LF_HIP"/>
<child link="LF_THIGH"/>
<origin xyz="0.0635 0.041 0.0"/>
<axis xyz="0 1 0"/>
<limit command_effort="40" current="10" effort="80" gear_velocity="10" lower="-9.42" upper="9.42" velocity="15.0"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Xacro:Properties -->
<!-- [m] -->
<!-- [A] -->
<link name="LF_SHANK">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/shank/anymal_shank_l.dae" scale="1 1 1"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0.065 -0.015 0.01"/>
<geometry>
<box size="0.08 0.07 0.13"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.030816858139 -0.004617229294 0.000893125713"/>
<mass value="0.207204302"/>
<inertia ixx="0.0002104880248" ixy="-5.6750980345e-05" ixz="1.0127699391e-05" iyy="0.000676270210023" iyz="-8.22869024e-07" izz="0.000545032674924"/>
</inertial>
</link>
<!-- Shank joint -->
<joint name="LF_KFE" type="revolute">
<parent link="LF_THIGH"/>
<child link="LF_SHANK"/>
<origin xyz="0.0 0.109 -0.25"/>
<axis xyz="0 1 0"/>
<limit command_effort="40" current="10" effort="80" gear_velocity="10" lower="-9.42" upper="9.42" velocity="15.0"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Xacro:Properties -->
<!-- [m] -->
<!-- Shank to Adapter joint -->
<joint name="LF_SHANK_TO_ADAPTER" type="fixed">
<parent link="LF_SHANK"/>
<child link="LF_ADAPTER"/>
<origin rpy="0.0 0.0 0.0" xyz="0.1 -0.02 0.0"/>
</joint>
<!-- Adapter link -->
<link name="LF_ADAPTER">
<visual>
<origin rpy="0 0 0" xyz="0 0 0.032"/>
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/foot/anymal_foot.dae" scale="1 1 1"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.160625"/>
<geometry>
<cylinder length="0.32125" radius="0.015"/>
</geometry>
<material name="anymal_material"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-8.66e-10 -1.472e-09 -0.244345749188"/>
<mass value="0.140170767"/>
<inertia ixx="0.00159938741862" ixy="-9.32e-13" ixz="1.039e-11" iyy="0.00159938741932" iyz="1.7563e-11" izz="5.4423177329e-05"/>
</inertial>
</link>
<!-- Adapter to Foot joint -->
<joint name="LF_ADAPTER_TO_FOOT" type="fixed">
<parent link="LF_ADAPTER"/>
<child link="LF_FOOT"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.32125"/>
</joint>
<!-- Foot link -->
<link name="LF_FOOT">
<collision>
<origin xyz="0 0 0.02325"/>
<geometry>
<sphere radius="0.031"/>
</geometry>
</collision>
</link>
<!-- Gazebo customization -->
<gazebo reference="LF_FOOT">
<kp>1000000.0</kp>
<kd>100.0</kd>
<mu1>0.8</mu1>
<mu2>0.8</mu2>
</gazebo>
<!-- Xacro:Properties -->
<!-- [kg * m^2] -->
<!-- [A] -->
<link name="RF_HIP">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/hip/anymal_hip_r.dae" scale="1 1 1"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<!-- Protector -->
<origin rpy="1.57079632679 0 0" xyz="0.0635 0.009 0.0"/>
<geometry>
<cylinder length="0.1" radius="0.08"/>
</geometry>
</collision>
<collision>
<!-- Heatfins -->
<origin rpy="1.57079632679 0 0" xyz="0.0635 0.074 0.0"/>
<geometry>
<cylinder length="0.03" radius="0.045"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.064516258147 0.003787101702 -0.000152184388"/>
<mass value="1.42462064"/>
<inertia ixx="0.00243023349564" ixy="1.53023971e-05" ixz="-2.1819095354e-05" iyy="0.00230257239103" iyz="-2.6473021273e-05" izz="0.0019806759227"/>
</inertial>
</link>
<!-- Hip joint -->
<joint name="RF_HAA" type="revolute">
<parent link="base"/>
<child link="RF_HIP"/>
<origin xyz="0.277 -0.116 0.0"/>
<axis xyz="1 0 0"/>
<limit command_effort="40" current="10" effort="80" gear_velocity="10" lower="-9.42" upper="9.42" velocity="15"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Xacro:Properties -->
<!-- [m] -->
<!-- [A] -->
<link name="RF_THIGH">
<visual>
<origin rpy="3.1416 3.1416 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/thigh/anymal_thigh.dae" scale="1 1 1"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<!-- thigh with heat fins -->
<origin rpy="-0.145 0 0" xyz="0 -0.035 -0.125"/>
<geometry>
<box size="0.08 0.04 0.25"/>
</geometry>
</collision>
<collision>
<!-- KFE actuator -->
<origin rpy="1.57079632679 0 0" xyz="0.0 -0.069 -0.25"/>
<geometry>
<cylinder length="0.12" radius="0.06"/>
</geometry>
</collision>
<collision>
<!-- upper protector -->
<origin rpy="-1.71579632679 0 0" xyz="0 0.005 0"/>
<geometry>
<cylinder length="0.12" radius="0.066"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.003897968082 -0.054226618537 -0.214583373795"/>
<mass value="1.634976467"/>
<inertia ixx="0.0120367944369" ixy="-6.762065206e-05" ixz="0.000287806340448" iyy="0.0120643637939" iyz="0.00140610131218" izz="0.00249422574881"/>
</inertial>
</link>
<!-- Thigh joint -->
<joint name="RF_HFE" type="revolute">
<parent link="RF_HIP"/>
<child link="RF_THIGH"/>
<origin xyz="0.0635 -0.041 0.0"/>
<axis xyz="0 1 0"/>
<limit command_effort="40" current="10" effort="80" gear_velocity="10" lower="-9.42" upper="9.42" velocity="15.0"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Xacro:Properties -->
<!-- [m] -->
<!-- [A] -->
<link name="RF_SHANK">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/shank/anymal_shank_r.dae" scale="1 1 1"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0.065 0.015 0.01"/>
<geometry>
<box size="0.08 0.07 0.13"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.030816858139 0.004617229294 0.000893125713"/>
<mass value="0.207204302"/>
<inertia ixx="0.0002104880248" ixy="5.6750980345e-05" ixz="1.0127699391e-05" iyy="0.000676270210023" iyz="8.22869024e-07" izz="0.000545032674924"/>
</inertial>
</link>
<!-- Shank joint -->
<joint name="RF_KFE" type="revolute">
<parent link="RF_THIGH"/>
<child link="RF_SHANK"/>
<origin xyz="0.0 -0.109 -0.25"/>
<axis xyz="0 1 0"/>
<limit command_effort="40" current="10" effort="80" gear_velocity="10" lower="-9.42" upper="9.42" velocity="15.0"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Xacro:Properties -->
<!-- [m] -->
<!-- Shank to Adapter joint -->
<joint name="RF_SHANK_TO_ADAPTER" type="fixed">
<parent link="RF_SHANK"/>
<child link="RF_ADAPTER"/>
<origin rpy="-0.0 0.0 -0.0" xyz="0.1 0.02 0.0"/>
</joint>
<!-- Adapter link -->
<link name="RF_ADAPTER">
<visual>
<origin rpy="0 0 0" xyz="0 0 0.032"/>
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/foot/anymal_foot.dae" scale="1 1 1"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.160625"/>
<geometry>
<cylinder length="0.32125" radius="0.015"/>
</geometry>
<material name="anymal_material"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-8.66e-10 -1.472e-09 -0.244345749188"/>
<mass value="0.140170767"/>
<inertia ixx="0.00159938741862" ixy="-9.32e-13" ixz="1.039e-11" iyy="0.00159938741932" iyz="1.7563e-11" izz="5.4423177329e-05"/>
</inertial>
</link>
<!-- Adapter to Foot joint -->
<joint name="RF_ADAPTER_TO_FOOT" type="fixed">
<parent link="RF_ADAPTER"/>
<child link="RF_FOOT"/>
<origin rpy="-0.0 0.0 -0.0" xyz="0.0 -0.0 -0.32125"/>
</joint>
<!-- Foot link -->
<link name="RF_FOOT">
<collision>
<origin xyz="0 0 0.02325"/>
<geometry>
<sphere radius="0.031"/>
</geometry>
</collision>
</link>
<!-- Gazebo customization -->
<gazebo reference="RF_FOOT">
<kp>1000000.0</kp>
<kd>100.0</kd>
<mu1>0.8</mu1>
<mu2>0.8</mu2>
</gazebo>
<!-- Xacro:Properties -->
<!-- [kg * m^2] -->
<!-- [A] -->
<link name="LH_HIP">
<visual>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/hip/anymal_hip_r.dae" scale="1 1 1"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<!-- Protector -->
<origin rpy="-1.57079632679 0 0" xyz="-0.0635 -0.009 0.0"/>
<geometry>
<cylinder length="0.1" radius="0.08"/>
</geometry>
</collision>
<collision>
<!-- Heatfins -->
<origin rpy="-1.57079632679 0 0" xyz="-0.0635 -0.074 0.0"/>
<geometry>
<cylinder length="0.03" radius="0.045"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.064516258147 -0.003787101702 -0.000152184388"/>
<mass value="1.42462064"/>
<inertia ixx="0.00243023349564" ixy="1.53023971e-05" ixz="2.1819095354e-05" iyy="0.00230257239103" iyz="2.6473021273e-05" izz="0.0019806759227"/>
</inertial>
</link>
<!-- Hip joint -->
<joint name="LH_HAA" type="revolute">
<parent link="base"/>
<child link="LH_HIP"/>
<origin xyz="-0.277 0.116 0.0"/>
<axis xyz="1 0 0"/>
<limit command_effort="40" current="10" effort="80" gear_velocity="10" lower="-9.42" upper="9.42" velocity="15"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Xacro:Properties -->
<!-- [m] -->
<!-- [A] -->
<link name="LH_THIGH">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/thigh/anymal_thigh.dae" scale="1 1 1"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<!-- thigh with heat fins -->
<origin rpy="0.145 0 0" xyz="0 0.035 -0.125"/>
<geometry>
<box size="0.08 0.04 0.25"/>
</geometry>
</collision>
<collision>
<!-- KFE actuator -->
<origin rpy="1.57079632679 0 0" xyz="0.0 0.069 -0.25"/>
<geometry>
<cylinder length="0.12" radius="0.06"/>
</geometry>
</collision>
<collision>
<!-- upper protector -->
<origin rpy="1.71579632679 0 0" xyz="0 -0.005 0"/>
<geometry>
<cylinder length="0.12" radius="0.066"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.003897968082 0.054226618537 -0.214583373795"/>
<mass value="1.634976467"/>
<inertia ixx="0.0120367944369" ixy="-6.762065206e-05" ixz="-0.000287806340448" iyy="0.0120643637939" iyz="-0.00140610131218" izz="0.00249422574881"/>
</inertial>
</link>
<!-- Thigh joint -->
<joint name="LH_HFE" type="revolute">
<parent link="LH_HIP"/>
<child link="LH_THIGH"/>
<origin xyz="-0.0635 0.041 0.0"/>
<axis xyz="0 1 0"/>
<limit command_effort="40" current="10" effort="80" gear_velocity="10" lower="-9.42" upper="9.42" velocity="15.0"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Xacro:Properties -->
<!-- [m] -->
<!-- [A] -->
<link name="LH_SHANK">
<visual>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_b_simple_description/meshes/shank/anymal_shank_r.dae" scale="1 1 1"/>
</geometry>
<material name="anymal_material"/>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.065 -0.015 0.01"/>
<geometry>
<box size="0.08 0.07 0.13"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.030816858139 -0.004617229294 0.000893125713"/>
<mass value="0.207204302"/>
<inertia ixx="0.0002104880248" ixy="5.6750980345e-05" ixz="-1.0127699391e-05" iyy="0.000676270210023" iyz="-8.22869024e-07" izz="0.000545032674924"/>