GuideRobotDog v21.03.11

Angledsugar · Mar 11, 2021 · c43bf27 · c43bf27
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diff --git a/GRD_URDF/CMakeLists.txt → GRD_URDF_v1/CMakeLists.txt b/GRD_URDF/CMakeLists.txt → GRD_URDF_v1/CMakeLists.txt
diff --git a/...fig/joint_names_GRD_v8_simple.SLDASM.yaml → ...fig/joint_names_GRD_v8_simple.SLDASM.yaml b/...fig/joint_names_GRD_v8_simple.SLDASM.yaml → ...fig/joint_names_GRD_v8_simple.SLDASM.yaml
diff --git a/GRD_URDF/export.log → GRD_URDF_v1/export.log b/GRD_URDF/export.log → GRD_URDF_v1/export.log
diff --git a/GRD_URDF/launch/display.launch → GRD_URDF_v1/launch/display.launch b/GRD_URDF/launch/display.launch → GRD_URDF_v1/launch/display.launch
diff --git a/GRD_URDF/launch/gazebo.launch → GRD_URDF_v1/launch/gazebo.launch b/GRD_URDF/launch/gazebo.launch → GRD_URDF_v1/launch/gazebo.launch
diff --git a/GRD_URDF/meshes/FL4_link.STL → GRD_URDF_v1/meshes/FL4_link.STL b/GRD_URDF/meshes/FL4_link.STL → GRD_URDF_v1/meshes/FL4_link.STL
diff --git a/GRD_URDF/meshes/FL5_link.STL → GRD_URDF_v1/meshes/FL5_link.STL b/GRD_URDF/meshes/FL5_link.STL → GRD_URDF_v1/meshes/FL5_link.STL
diff --git a/GRD_URDF/meshes/FL6_link.STL → GRD_URDF_v1/meshes/FL6_link.STL b/GRD_URDF/meshes/FL6_link.STL → GRD_URDF_v1/meshes/FL6_link.STL
diff --git a/GRD_URDF/meshes/FR1_link.STL → GRD_URDF_v1/meshes/FR1_link.STL b/GRD_URDF/meshes/FR1_link.STL → GRD_URDF_v1/meshes/FR1_link.STL
diff --git a/GRD_URDF/meshes/FR2_link.STL → GRD_URDF_v1/meshes/FR2_link.STL b/GRD_URDF/meshes/FR2_link.STL → GRD_URDF_v1/meshes/FR2_link.STL
diff --git a/GRD_URDF/meshes/FR3_link.STL → GRD_URDF_v1/meshes/FR3_link.STL b/GRD_URDF/meshes/FR3_link.STL → GRD_URDF_v1/meshes/FR3_link.STL
diff --git a/GRD_URDF/meshes/RL10_link.STL → GRD_URDF_v1/meshes/RL10_link.STL b/GRD_URDF/meshes/RL10_link.STL → GRD_URDF_v1/meshes/RL10_link.STL
diff --git a/GRD_URDF/meshes/RL11_link.STL → GRD_URDF_v1/meshes/RL11_link.STL b/GRD_URDF/meshes/RL11_link.STL → GRD_URDF_v1/meshes/RL11_link.STL
diff --git a/GRD_URDF/meshes/RL12_link.STL → GRD_URDF_v1/meshes/RL12_link.STL b/GRD_URDF/meshes/RL12_link.STL → GRD_URDF_v1/meshes/RL12_link.STL
diff --git a/GRD_URDF/meshes/RR7_link.STL → GRD_URDF_v1/meshes/RR7_link.STL b/GRD_URDF/meshes/RR7_link.STL → GRD_URDF_v1/meshes/RR7_link.STL
diff --git a/GRD_URDF/meshes/RR8_link.STL → GRD_URDF_v1/meshes/RR8_link.STL b/GRD_URDF/meshes/RR8_link.STL → GRD_URDF_v1/meshes/RR8_link.STL
diff --git a/GRD_URDF/meshes/RR9_link.STL → GRD_URDF_v1/meshes/RR9_link.STL b/GRD_URDF/meshes/RR9_link.STL → GRD_URDF_v1/meshes/RR9_link.STL
diff --git a/GRD_URDF/meshes/base_footprint_link.STL → GRD_URDF_v1/meshes/base_footprint_link.STL b/GRD_URDF/meshes/base_footprint_link.STL → GRD_URDF_v1/meshes/base_footprint_link.STL
diff --git a/GRD_URDF/meshes/base_link.STL → GRD_URDF_v1/meshes/base_link.STL b/GRD_URDF/meshes/base_link.STL → GRD_URDF_v1/meshes/base_link.STL
diff --git a/GRD_URDF/package.xml → GRD_URDF_v1/package.xml b/GRD_URDF/package.xml → GRD_URDF_v1/package.xml
diff --git a/GRD_URDF/urdf/GRD_v8_simple.SLDASM.csv → GRD_URDF_v1/urdf/GRD_v8_simple.SLDASM.csv b/GRD_URDF/urdf/GRD_v8_simple.SLDASM.csv → GRD_URDF_v1/urdf/GRD_v8_simple.SLDASM.csv
diff --git a/GRD_URDF/urdf/GRD_v8_simple.SLDASM.urdf → GRD_URDF_v1/urdf/GRD_v8_simple.SLDASM.urdf b/GRD_URDF/urdf/GRD_v8_simple.SLDASM.urdf → GRD_URDF_v1/urdf/GRD_v8_simple.SLDASM.urdf
diff --git a/GRD_URDF_v2/CMakeLists.txt b/GRD_URDF_v2/CMakeLists.txt
@@ -0,0 +1,14 @@
+cmake_minimum_required(VERSION 2.8.3)
+
+project(GRD_v8_simple_0311v2)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+find_package(roslaunch)
+
+foreach(dir config launch meshes urdf)
+	install(DIRECTORY ${dir}/
+		DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
+endforeach(dir)
diff --git a/GRD_URDF_v2/config/joint_names_GRD_v8_simple_0311v2.yaml b/GRD_URDF_v2/config/joint_names_GRD_v8_simple_0311v2.yaml
@@ -0,0 +1 @@
+controller_joint_names: ['', 'FR1_joint', 'FR2_joint', 'FR3_joint', 'FL4_joint', 'FL5_joint', 'FL6_joint', 'RR7_joint', 'RR8_joint', 'RR9_joint', 'RL10_joint', 'RL11_joint', 'RL12_joint', ]
diff --git a/GRD_URDF_v2/export.log b/GRD_URDF_v2/export.log
diff --git a/GRD_URDF_v2/launch/display.launch b/GRD_URDF_v2/launch/display.launch
@@ -0,0 +1,20 @@
+<launch>
+  <arg
+    name="model" />
+  <param
+    name="robot_description"
+    textfile="$(find GRD_v8_simple_0311v2)/urdf/GRD_v8_simple_0311v2.urdf" />
+  <node
+    name="joint_state_publisher_gui"
+    pkg="joint_state_publisher_gui"
+    type="joint_state_publisher_gui" />
+  <node
+    name="robot_state_publisher"
+    pkg="robot_state_publisher"
+    type="robot_state_publisher" />
+  <node
+    name="rviz"
+    pkg="rviz"
+    type="rviz"
+    args="-d $(find GRD_v8_simple_0311v2)/urdf.rviz" />
+</launch>
diff --git a/GRD_URDF_v2/launch/gazebo.launch b/GRD_URDF_v2/launch/gazebo.launch
@@ -0,0 +1,20 @@
+<launch>
+  <include
+    file="$(find gazebo_ros)/launch/empty_world.launch" />
+  <node
+    name="tf_footprint_base"
+    pkg="tf"
+    type="static_transform_publisher"
+    args="0 0 0 0 0 0 base_link base_footprint 40" />
+  <node
+    name="spawn_model"
+    pkg="gazebo_ros"
+    type="spawn_model"
+    args="-file $(find GRD_v8_simple_0311v2)/urdf/GRD_v8_simple_0311v2.urdf -urdf -model GRD_v8_simple_0311v2"
+    output="screen" />
+  <node
+    name="fake_joint_calibration"
+    pkg="rostopic"
+    type="rostopic"
+    args="pub /calibrated std_msgs/Bool true" />
+</launch>
diff --git a/GRD_URDF_v2/meshes/FL4_link.STL b/GRD_URDF_v2/meshes/FL4_link.STL
diff --git a/GRD_URDF_v2/meshes/FL5_link.STL b/GRD_URDF_v2/meshes/FL5_link.STL
diff --git a/GRD_URDF_v2/meshes/FL6_link.STL b/GRD_URDF_v2/meshes/FL6_link.STL
diff --git a/GRD_URDF_v2/meshes/FLC.STL b/GRD_URDF_v2/meshes/FLC.STL
diff --git a/GRD_URDF_v2/meshes/FR1_link.STL b/GRD_URDF_v2/meshes/FR1_link.STL
diff --git a/GRD_URDF_v2/meshes/FR2_link.STL b/GRD_URDF_v2/meshes/FR2_link.STL
diff --git a/GRD_URDF_v2/meshes/FR3_link.STL b/GRD_URDF_v2/meshes/FR3_link.STL
diff --git a/GRD_URDF_v2/meshes/FRC.STL b/GRD_URDF_v2/meshes/FRC.STL
diff --git a/GRD_URDF_v2/meshes/RL10_link.STL b/GRD_URDF_v2/meshes/RL10_link.STL
diff --git a/GRD_URDF_v2/meshes/RL11_link.STL b/GRD_URDF_v2/meshes/RL11_link.STL
diff --git a/GRD_URDF_v2/meshes/RL12_link.STL b/GRD_URDF_v2/meshes/RL12_link.STL
diff --git a/GRD_URDF_v2/meshes/RLC.STL b/GRD_URDF_v2/meshes/RLC.STL
diff --git a/GRD_URDF_v2/meshes/RR7_link.STL b/GRD_URDF_v2/meshes/RR7_link.STL
diff --git a/GRD_URDF_v2/meshes/RR8_link.STL b/GRD_URDF_v2/meshes/RR8_link.STL
diff --git a/GRD_URDF_v2/meshes/RR9_link.STL b/GRD_URDF_v2/meshes/RR9_link.STL
diff --git a/GRD_URDF_v2/meshes/RRC.STL b/GRD_URDF_v2/meshes/RRC.STL
diff --git a/GRD_URDF_v2/meshes/base_footprint_link.STL b/GRD_URDF_v2/meshes/base_footprint_link.STL
diff --git a/GRD_URDF_v2/meshes/base_link.STL b/GRD_URDF_v2/meshes/base_link.STL
diff --git a/GRD_URDF_v2/package.xml b/GRD_URDF_v2/package.xml
@@ -0,0 +1,21 @@
+<package format="2">
+  <name>GRD_v8_simple_0311v2</name>
+  <version>1.0.0</version>
+  <description>
+    <p>URDF Description package for GRD_v8_simple_0311v2</p>
+    <p>This package contains configuration data, 3D models and launch files
+for GRD_v8_simple_0311v2 robot</p>
+  </description>
+  <author>TODO</author>
+  <maintainer email="TODO@email.com" />
+  <license>BSD</license>
+  <buildtool_depend>catkin</buildtool_depend>
+  <depend>roslaunch</depend>
+  <depend>robot_state_publisher</depend>
+  <depend>rviz</depend>
+  <depend>joint_state_publisher_gui</depend>
+  <depend>gazebo</depend>
+  <export>
+    <architecture_independent />
+  </export>
+</package>
diff --git a/GRD_URDF_v2/urdf/GRD_v8_simple_0311v2.csv b/GRD_URDF_v2/urdf/GRD_v8_simple_0311v2.csv
@@ -0,0 +1,19 @@
+Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity
+base_footprint_link,-6.56845352564806E-07,-5.67322442228012E-16,0.331904075260688,0,0,0,0.789290645343358,0.00130670897233411,-3.37481664092773E-18,-8.929681712688E-10,0.00389981821392557,8.82029181338017E-19,0.00386978211033499,0,0,0,0,0,0,package://GRD_v8_simple_0311v2/meshes/base_footprint_link.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://GRD_v8_simple_0311v2/meshes/base_footprint_link.STL,,GRD_Base_v8-1;GRD_side_v8_opencr-1;GRD_side_v8_opencr-2;GRD_front_face_v8-1;GRD_frontcenterconnect-1;GRD_Front_v8-1;GRD_Front_v8-2;GRD_frontcenterconnect-2;GRD_front_face_v8-2,base_footprint_link_,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
+base_link,-5.37004284543315E-07,-8.88159587479759E-16,0.0331211817986434,0,0,0,0.965433444631341,0.00134888440724559,-3.37169703179605E-18,-8.92968171269934E-10,0.00392787450302288,8.85713255992045E-19,0.00391770229232179,0,0,0,0,0,0,package://GRD_v8_simple_0311v2/meshes/base_link.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://GRD_v8_simple_0311v2/meshes/base_link.STL,,"GRD_Base_v8-1;GRD_side_v8_opencr-1;GRD_side_v8_opencr-2;GRD_Front_v8-2;GRD_frontcenterconnect-2;GRD_front_face_v8-2;GRD_frontcenterconnect-1;GRD_Front_v8-1;GRD_front_face_v8-1;XM,H-430_idler-5;XM,H-430_idler-2;XM,H-430_idler-3;XM,H-430_idler-4",base_link_,Axis_base_link_joint,base_link_joint,fixed,0,0,0.3,0,0,0,base_footprint_link,0,0,0,,,,,,,,,,,,
+FR1_link,0.02647188689816,4.80020392801678E-05,-2.67494578370248E-05,0,0,0,0.0550356079426499,1.02205475705113E-05,9.23685580005685E-08,-1.59953309685424E-08,1.27188803100972E-05,-3.99597507377748E-09,1.39400277304636E-05,0,0,0,0,0,0,package://GRD_v8_simple_0311v2/meshes/FR1_link.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://GRD_v8_simple_0311v2/meshes/FR1_link.STL,,"GRD_motor2_fr-1/fr12_s102-1;GRD_motor2_fr-1/XM,H-430_idler-1;GRD_motor2_fr-1/GRD_motor_connection_v7_4-1",FR1_,FR1__,FR1_joint,revolute,0.157899999999996,-0.0491000000000025,0.0384999999999952,0,0,0,base_link,1,0,0,0,0,0,0,,,,,,,,
+FR2_link,-0.0441265540366563,-0.0425793657426173,-0.0441355467320717,0,0,0,0.265486137806875,0.000570146540564845,-1.5200271615186E-05,-0.00045336130477458,0.00110661889613504,-1.5180057921017E-05,0.000570023268153554,0,0,0,0,0,0,package://GRD_v8_simple_0311v2/meshes/FR2_link.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://GRD_v8_simple_0311v2/meshes/FR2_link.STL,,"GRD_motor3_fr-1/GRD_motor_motor_connection_v7-1;GRD_motor3_fr-1/XM,H-430_idler_2019-1;GRD_motor3_fr-1/grd_leg_26_v8-1-1;GRD_motor3_fr-1/grd_leg_26_v8-2-2",FR2_,FR2__,FR2_joint,revolute,0.0361,-0.023399999999997,0,0,0,0,FR1_link,0,1,0,0,0,0,0,,,,,,,,
+FR3_link,0.07238067265259,-0.00740173077975712,-0.0723806191966414,0,0,0,0.0885804690039686,0.000114603910011105,-1.15998021987912E-08,0.00010330744347196,0.000219372107259892,1.16141800672016E-08,0.000114604460604962,0,0,0,0,0,0,package://GRD_v8_simple_0311v2/meshes/FR3_link.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://GRD_v8_simple_0311v2/meshes/FR3_link.STL,,GRD_motor4_fr-1/GRD_Leg2_v8-2-1,FR3_,FR3__,FR3_joint,revolute,-0.1484924240492,-0.0414000000000078,-0.148492424049142,0,0,0,FR2_link,0,-1,0,0,0,0,0,,,,,,,,
+FRC,0.278954309743711,-1.19210197269126E-14,-0.295924043118938,0,0,0,0.0325711990268232,5.1813409379358E-06,-7.30141771257225E-21,-1.34387187064484E-07,5.04672217647714E-06,7.94370495754693E-21,5.18134093793581E-06,0,0,0,0,0,0,package://GRD_v8_simple_0311v2/meshes/FRC.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://GRD_v8_simple_0311v2/meshes/FRC.STL,,GRD_motor4_fr-1/foot-2,FRC_,Axis_FRC_joint,FRC_joint,fixed,-0.140007557361526,-0.00739999999999298,0.15697729073676,0,0,0,FR3_link,0,0,0,,,,,,,,,,,,
+FL4_link,0.0264718868981555,-4.80020392728472E-05,2.67494578488972E-05,0,0,0,0.0550356079426499,1.02205475705113E-05,-9.23685580005692E-08,1.59953309685413E-08,1.27188803100972E-05,-3.99597507376527E-09,1.39400277304636E-05,0,0,0,0,0,0,package://GRD_v8_simple_0311v2/meshes/FL4_link.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://GRD_v8_simple_0311v2/meshes/FL4_link.STL,,"GRD_motor2_fl-1/fr12_s102-1;GRD_motor2_fl-1/XM,H-430_idler-1;GRD_motor2_fl-1/GRD_motor_connection_v7_4-1",FL4_,FL4__,FL4_joint,revolute,0.1579,0.0490999999999959,0.0387999999999899,0,0,0,base_link,1,0,0,0,0,0,0,,,,,,,,
+FL5_link,-0.0441355467320783,0.0428541477244782,-0.0477020668129667,0,0,0,0.265486137806875,0.000570023268153554,1.51800579209823E-05,-0.000453361304774579,0.00110661889613504,1.52002716151562E-05,0.00057014654056484,0,0,0,0,0,0,package://GRD_v8_simple_0311v2/meshes/FL5_link.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://GRD_v8_simple_0311v2/meshes/FL5_link.STL,,"GRD_motor3_fl-1/GRD_motor_motor_connection_v7-1;GRD_motor3_fl-1/XM,H-430_idler_2019-1;GRD_motor3_fl-1/grd_leg_26_v8-2-2;GRD_motor3_fl-1/grd_leg_26_v8-1-1",FL5_,FL5__,FL5_joint,revolute,0.0360999999999953,0.0231252180181439,0.00357551277631834,0,0,0,FL4_link,0,-1,0,0,0,0,0,,,,,,,,
+FL6_link,0.0723806726525865,0.00739826922024496,-0.0723806191966477,0,0,0,0.0885804690039685,0.000114603910011105,-1.15998022050927E-08,0.00010330744347196,0.000219372107259892,1.16141800735804E-08,0.000114604460604962,0,0,0,0,0,0,package://GRD_v8_simple_0311v2/meshes/FL6_link.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://GRD_v8_simple_0311v2/meshes/FL6_link.STL,,GRD_motor4_fl-1/GRD_Leg2_v8-2-1,FL6_,FL6__,FL6_joint,revolute,-0.148492424049141,0.0416747819818597,-0.152067936825508,0,0,0,FL5_link,0,1,0,0,0,0,0,,,,,,,,
+FLC,-0.00106080497939798,2.63677968348475E-16,0.00106080497939784,0,0,0,0.0325711990268232,5.1813409379358E-06,1.85688711914407E-21,-1.34387187064484E-07,5.04672217647714E-06,-1.32765753404042E-21,5.18134093793581E-06,0,0,0,0,0,0,package://GRD_v8_simple_0311v2/meshes/FLC.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://GRD_v8_simple_0311v2/meshes/FLC.STL,,GRD_motor4_fl-1/foot-2,FLC_,Axis_FCL_joint,FCL_joint,fixed,0.140007557361579,0.00740000000000232,-0.140007557361582,0,0,0,FL6_link,0,0,0,,,,,,,,,,,,
+RR7_link,-0.0234991038936824,0.000723715271802962,6.51904918935742E-12,0,0,0,0.0644047483743213,1.31324768595318E-05,4.20280704942507E-08,-3.5043241099196E-08,1.51194834794009E-05,3.84424368360101E-10,1.56355490955858E-05,0,0,0,0,0,0,package://GRD_v8_simple_0311v2/meshes/RR7_link.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://GRD_v8_simple_0311v2/meshes/RR7_link.STL,,"GRD_motor2_rr-1/GRD_motor_connection_v7_3-1;GRD_motor2_rr-1/XM,H-430_idler-2;GRD_motor2_rr-1/GRD_motor_connection_v7_4-2",RR7_,RR7__,RR7_joint,revolute,-0.157900000000004,-0.0491000000000027,0.0384999999999962,0,0,0,base_link,-1,0,0,0,0,0,0,,,,,,,,
+RR8_link,-0.0441265540366564,-0.0425793657426149,-0.0441355467320783,0,0,0,0.265486137806876,0.000570146540564849,-1.520027161516E-05,-0.000453361304774585,0.00110661889613505,-1.51800579209869E-05,0.000570023268153557,0,0,0,0,0,0,package://GRD_v8_simple_0311v2/meshes/RR8_link.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://GRD_v8_simple_0311v2/meshes/RR8_link.STL,,"GRD_motor3_rr-1/GRD_motor_motor_connection_v7-1;GRD_motor3_rr-1/XM,H-430_idler_2019-1;GRD_motor3_rr-1/grd_leg_26_v8-2-2;GRD_motor3_rr-1/grd_leg_26_v8-1-1",RR8_,RR8__,RR8_joint,revolute,-0.0128499999999997,-0.0231000000000004,0,0,0,0,RR7_link,0,1,0,0,0,0,0,,,,,,,,
+RR9_link,0.0723806726525871,-0.00740173077974589,-0.0723806191966511,0,0,0,0.0885804690039686,0.000114603910011105,-1.15998022043671E-08,0.000103307443471961,0.000219372107259893,1.16141800728648E-08,0.000114604460604962,0,0,0,0,0,0,package://GRD_v8_simple_0311v2/meshes/RR9_link.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://GRD_v8_simple_0311v2/meshes/RR9_link.STL,,GRD_motor4_rr-1/GRD_Leg2_v8-2-1,RR9_,RR9__,RR9_joint,revolute,-0.148492424049197,-0.0414000000000061,-0.148492424049139,0,0,0,RR8_link,0,-1,0,0,0,0,0,,,,,,,,
+RRC,-0.00106080497939751,1.42941214420489E-15,0.00106080497940167,0,0,0,0.0325711990268232,5.1813409379358E-06,-1.50096558500611E-21,-1.34387187064484E-07,5.04672217647714E-06,1.10559404285242E-21,5.18134093793581E-06,0,0,0,0,0,0,package://GRD_v8_simple_0311v2/meshes/RRC.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://GRD_v8_simple_0311v2/meshes/RRC.STL,,GRD_motor4_rr-1/foot-2,RRC_,Axis_RRC_joint,RRC_joint,fixed,0.140007557361579,-0.0073999999999915,-0.140007557361589,0,0,0,RR9_link,0,0,0,,,,,,,,,,,,
+RL10_link,-0.0234991038936838,-0.000723715271803455,-6.50165338234032E-12,0,0,0,0.0644047483743213,1.31324768595318E-05,-4.20280704942447E-08,3.50432410991946E-08,1.51194834794009E-05,3.84424368364298E-10,1.56355490955858E-05,0,0,0,0,0,0,package://GRD_v8_simple_0311v2/meshes/RL10_link.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://GRD_v8_simple_0311v2/meshes/RL10_link.STL,,"GRD_motor2_rl-1/GRD_motor_connection_v7_3-1;GRD_motor2_rl-1/XM,H-430_idler-1;GRD_motor2_rl-1/GRD_motor_connection_v7_4-2",RL10_,RL10__,RL10_joint,revolute,-0.157900000000008,0.0491000000000026,0.0384999999999878,0,0,0,base_link,-1,0,0,0,0,0,0,,,,,,,,
+RL11_link,-0.0441355467320797,0.0425793657426152,-0.0441265540366539,0,0,0,0.265486137806874,0.00057002326815355,1.51800579209871E-05,-0.000453361304774575,0.00110661889613503,1.52002716151607E-05,0.000570146540564835,0,0,0,0,0,0,package://GRD_v8_simple_0311v2/meshes/RL11_link.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://GRD_v8_simple_0311v2/meshes/RL11_link.STL,,"GRD_motor3_rl-1/XM,H-430_idler_2019-1;GRD_motor3_rl-1/GRD_motor_motor_connection_v7-1;GRD_motor3_rl-1/grd_leg_26_v8-2-2;GRD_motor3_rl-1/grd_leg_26_v8-1-1",RL11_,RL11__,RL11_joint,revolute,-0.0128500000000018,0.0231000000000003,0,0,0,0,RL10_link,0,-1,0,0,0,0,0,,,,,,,,
+RL12_link,0.0723806726525869,0.00739826922024255,-0.0723806191966461,0,0,0,0.0885804690039688,0.000114603910011106,-1.15998022046796E-08,0.000103307443471961,0.000219372107259893,1.16141800731645E-08,0.000114604460604962,0,0,0,0,0,0,package://GRD_v8_simple_0311v2/meshes/RL12_link.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://GRD_v8_simple_0311v2/meshes/RL12_link.STL,,GRD_motor4_rl-1/GRD_Leg2_v8-2-1,RL12_,RL12__,RL12_joint,revolute,-0.148492424049144,0.0413999999999998,-0.148492424049197,0,0,0,RL11_link,0,1,0,0,0,0,0,,,,,,,,
+RLC,-0.00106080497939781,-1.88737914186277E-15,0.00106080497939967,0,0,0,0.0325711990268232,5.1813409379358E-06,2.3955249540361E-21,-1.34387187064484E-07,5.04672217647714E-06,-1.11238608819408E-21,5.18134093793581E-06,0,0,0,0,0,0,package://GRD_v8_simple_0311v2/meshes/RLC.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://GRD_v8_simple_0311v2/meshes/RLC.STL,,GRD_motor4_rl-1/foot-2,RLC_,Axis_RLC_joint,RLC_joint,fixed,0.140007557361579,0.00740000000000041,-0.140007557361583,0,0,0,RL12_link,0,0,0,,,,,,,,,,,,
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1 @@
		controller_joint_names: ['', 'FR1_joint', 'FR2_joint', 'FR3_joint', 'FL4_joint', 'FL5_joint', 'FL6_joint', 'RR7_joint', 'RR8_joint', 'RR9_joint', 'RL10_joint', 'RL11_joint', 'RL12_joint', ]