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fix typo #68

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dda2235
fix typo
siilats Apr 24, 2023
e89261e
fix typo
siilats Apr 24, 2023
e336963
missing deps
siilats Apr 24, 2023
6c30c2b
feat: splitted z1 world and spawn
dmi3coder May 7, 2023
003e124
feat: working splitted z1 world
dmi3coder May 7, 2023
cd4d73f
Update CMakeLists.txt
siilats May 30, 2023
88a3b7c
Update CMakeLists.txt
siilats May 30, 2023
ed23ad1
Update CMakeLists.txt
siilats May 30, 2023
aaeefc1
Update CMakeLists.txt
siilats May 30, 2023
b8deeee
Update CMakeLists.txt
siilats May 30, 2023
8a19388
Update CMakeLists.txt
siilats May 30, 2023
ed7c8ba
Update CMakeLists.txt
siilats May 30, 2023
2b2a8b4
Update CMakeLists.txt
siilats May 31, 2023
8e34435
Add files via upload
siilats May 31, 2023
4d3dcd2
Add files via upload
siilats May 31, 2023
4e55d68
Merge branch 'unitreerobotics:master' into master
siilats Jun 26, 2023
4b100ef
Add files via upload
siilats Jun 26, 2023
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346 changes: 346 additions & 0 deletions robots/z1_description/xacro/z1_v2.urdf
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Original file line number Diff line number Diff line change
@@ -0,0 +1,346 @@
<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from src/unitree_ros/robots/z1_description/xacro/robot.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="z1_description">
<!-- ros_control plugin -->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<robotNamespace>/z1_gazebo</robotNamespace>
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
</plugin>
</gazebo>
<gazebo reference="link04">
<self_collide>true</self_collide>
</gazebo>
<gazebo reference="link05">
<self_collide>true</self_collide>
</gazebo>
<gazebo reference="link06">
<self_collide>true</self_collide>
</gazebo>
<link name="world"/>
<joint name="base_static_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="world"/>
<child link="link00"/>
</joint>
<link name="link00">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://z1_description/meshes/visual/z1_Link00.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<geometry>
<cylinder length="0.051" radius="0.0325"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.0255"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.00334984 -0.00013615 0.02495843"/>
<mass value="0.47247481"/>
<inertia ixx="0.00037937" ixy="3.5e-07" ixz="1.037e-05" iyy="0.00041521" iyz="9.9e-07" izz="0.00053066"/>
</inertial>
</link>
<joint name="joint1" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0.0585"/>
<parent link="link00"/>
<child link="link01"/>
<axis xyz="0 0 1"/>
<dynamics damping="1.0" friction="1.0"/>
<limit effort="30.0" lower="-2.6179938779914944" upper="2.6179938779914944" velocity="10"/>
</joint>
<link name="link01">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://z1_description/meshes/visual/z1_Link01.dae" scale="1 1 1"/>
</geometry>
</visual>
<!-- <collision>
<geometry>
<cylinder length="${2*motor_height}" radius="${motor_diameter}"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision> -->
<inertial>
<origin rpy="0 0 0" xyz="2.47e-06 -0.00025198 0.02317169"/>
<mass value="0.67332551"/>
<inertia ixx="0.00128328" ixy="6e-08" ixz="4e-07" iyy="0.00071931" iyz="-5e-07" izz="0.00083936"/>
</inertial>
</link>
<joint name="joint2" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0.045"/>
<parent link="link01"/>
<child link="link02"/>
<axis xyz="0 1 0"/>
<dynamics damping="2.0" friction="2.0"/>
<limit effort="60.0" lower="0.0" upper="3.141592653589793" velocity="10"/>
</joint>
<link name="link02">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://z1_description/meshes/visual/z1_Link02.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<geometry>
<cylinder length="0.102" radius="0.0325"/>
</geometry>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
</collision>
<collision>
<geometry>
<cylinder length="0.235" radius="0.0225"/>
</geometry>
<origin rpy="0 1.5707963267948966 0" xyz="-0.16249999999999998 0 0"/>
</collision>
<collision>
<geometry>
<cylinder length="0.051" radius="0.0325"/>
</geometry>
<origin rpy="1.5707963267948966 0 0" xyz="-0.35 0 0"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.11012601 0.00240029 0.00158266"/>
<mass value="1.19132258"/>
<inertia ixx="0.00102138" ixy="-0.00062358" ixz="-5.13e-06" iyy="0.02429457" iyz="2.1e-06" izz="0.02466114"/>
</inertial>
</link>
<joint name="joint3" type="revolute">
<origin rpy="0 0 0" xyz="-0.35 0 0"/>
<parent link="link02"/>
<child link="link03"/>
<axis xyz="0 1 0"/>
<dynamics damping="1.0" friction="1.0"/>
<limit effort="30.0" lower="-4.782202150464463" upper="0.0" velocity="10"/>
</joint>
<link name="link03">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://z1_description/meshes/visual/z1_Link03.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<geometry>
<cylinder length="0.116" radius="0.02"/>
</geometry>
<origin rpy="0 1.5707963267948966 0" xyz="0.128 0 0.055"/>
</collision>
<collision>
<geometry>
<cylinder length="0.059" radius="0.0325"/>
</geometry>
<origin rpy="0 1.5707963267948966 0" xyz="0.2205 0 0.055"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.10609208 -0.00541815 0.03476383"/>
<mass value="0.83940874"/>
<inertia ixx="0.00108061" ixy="8.669e-05" ixz="0.00208102" iyy="0.00954238" iyz="1.332e-05" izz="0.00886621"/>
</inertial>
</link>
<joint name="joint4" type="revolute">
<origin rpy="0 0 0" xyz="0.218 0 0.057"/>
<parent link="link03"/>
<child link="link04"/>
<axis xyz="0 1 0"/>
<dynamics damping="1.0" friction="1.0"/>
<limit effort="30.0" lower="-1.7453292519943295" upper="1.5707963267948966" velocity="10"/>
</joint>
<link name="link04">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://z1_description/meshes/visual/z1_Link04.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<geometry>
<cylinder length="0.073" radius="0.0325"/>
</geometry>
<origin rpy="1.5707963267948966 0 0" xyz="0.0472 0 0"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.04366681 0.00364738 -0.00170192"/>
<mass value="0.56404563"/>
<inertia ixx="0.00031576" ixy="-8.13e-05" ixz="-4.091e-05" iyy="0.00092996" iyz="5.96e-06" izz="0.00097912"/>
</inertial>
</link>
<joint name="joint5" type="revolute">
<origin rpy="0 0 0" xyz="0.07 0.0 0.0"/>
<parent link="link04"/>
<child link="link05"/>
<axis xyz="0 0 1"/>
<dynamics damping="1.0" friction="1.0"/>
<limit effort="30.0" lower="-1.7278759594743864" upper="1.7278759594743864" velocity="10"/>
</joint>
<link name="link05">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://z1_description/meshes/visual/z1_Link05.dae" scale="1 1 1"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0.03121533 0.0 0.00646316"/>
<mass value="0.38938492"/>
<inertia ixx="0.00017605" ixy="-4e-07" ixz="-5.689e-05" iyy="0.00055896" iyz="1.3e-07" izz="0.0005386"/>
</inertial>
</link>
<joint name="joint6" type="revolute">
<origin rpy="0 0 0" xyz="0.0492 0.0 0.0"/>
<parent link="link05"/>
<child link="link06"/>
<axis xyz="1 0 0"/>
<dynamics damping="1.0" friction="1.0"/>
<limit effort="30.0" lower="-2.792526803190927" upper="2.792526803190927" velocity="10"/>
</joint>
<link name="link06">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://z1_description/meshes/visual/z1_Link06.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<geometry>
<cylinder length="0.051" radius="0.0325"/>
</geometry>
<origin rpy="0 1.5707963267948966 0" xyz="0.0255 0 0"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0241569 -0.00017355 -0.00143876"/>
<mass value="0.28875807"/>
<inertia ixx="0.00018328" ixy="-1.22e-06" ixz="-5.4e-07" iyy="0.0001475" iyz="-8e-08" izz="0.0001468"/>
</inertial>
</link>
<joint name="gripperStator" type="fixed">
<origin rpy="0 0 0" xyz="0.051 0.0 0.0"/>
<parent link="link06"/>
<child link="gripperStator"/>
</joint>
<link name="gripperStator">
<visual>
<geometry>
<mesh filename="package://z1_description/meshes/visual/z1_GripperStator.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://z1_description/meshes/collision/z1_GripperStator.STL" scale="1 1 1"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.04764427 -0.00035819 -0.00249162"/>
<mass value="0.52603655"/>
<inertia ixx="0.00038683" ixy="3.59e-06" ixz="-7.662e-05" iyy="0.00068614" iyz="-2.09e-06" izz="0.00066293"/>
</inertial>
</link>
<joint name="jointGripper" type="revolute">
<origin rpy="0 0 0" xyz="0.049 0.0 0"/>
<parent link="gripperStator"/>
<child link="gripperMover"/>
<axis xyz="0 1 0"/>
<dynamics damping="1.0" friction="1.0"/>
<limit effort="30.0" lower="-1.5707963267948966" upper="0.0" velocity="10"/>
</joint>
<link name="gripperMover">
<visual>
<geometry>
<mesh filename="package://z1_description/meshes/visual/z1_GripperMover.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://z1_description/meshes/collision/z1_GripperMover.STL" scale="1 1 1"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.01320633 0.00476708 0.00380534"/>
<mass value="0.27621302"/>
<inertia ixx="0.00017716" ixy="-1.683e-05" ixz="1.786e-05" iyy="0.00026787" iyz="-2.62e-06" izz="0.00035728"/>
</inertial>
</link>
<transmission name="JointTransGripper">
<type>transmission_interface/SimpleTransmission</type>
<joint name="jointGripper">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="ActuatorGripper">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<gazebo reference="gripperStator">
<self_collide>true</self_collide>
</gazebo>
<gazebo reference="gripperMover">
<self_collide>true</self_collide>
</gazebo>
<transmission name="JointTrans1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint1">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="Actuator1">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="JointTrans2">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint2">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="Actuator2">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="JointTrans3">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint3">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="Actuator3">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="JointTrans4">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint4">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="Actuator4">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="JointTrans5">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint5">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="Actuator5">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="JointTrans6">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint6">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="Actuator6">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</robot>

6 changes: 4 additions & 2 deletions unitree_controller/CMakeLists.txt
View file
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
cmake_minimum_required(VERSION 2.8.3)
cmake_minimum_required(VERSION 3.0)
project(unitree_controller)

find_package(catkin REQUIRED COMPONENTS
Expand Down Expand Up @@ -29,6 +29,8 @@ include_directories(
)

link_directories(${GAZEBO_LIBRARY_DIRS})
set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}")

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}")

# Declare a C++ library
Expand All @@ -55,4 +57,4 @@ add_executable(unitree_servo src/servo.cpp)
target_link_libraries(unitree_servo ${PROJECT_NAME} ${catkin_LIBRARIES})

add_executable(unitree_move_kinetic src/move_publisher.cpp)
target_link_libraries(unitree_move_kinetic ${catkin_LIBRARIES})
target_link_libraries(unitree_move_kinetic ${catkin_LIBRARIES})
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