├── .gitignore
├── description
    ├── rhea.blend
    ├── rhea.urdf.xacro
    ├── urdf
    │   └── rhea.urdf
    └── rhea.ros2_control.xacro
├── images
    └── rhea_render.jpg
├── README.md
├── package.xml
├── CMakeLists.txt
├── LICENSE
└── launch
    └── view_robot.launch.py


/.gitignore:
--------------------------------------------------------------------------------
1 | **/.DS_Store
2 | build
3 | description/rhea.blend1
4 | 


--------------------------------------------------------------------------------
/description/rhea.blend:
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https://raw.githubusercontent.com/G-Levine/rhea_description/HEAD/description/rhea.blend


--------------------------------------------------------------------------------
/images/rhea_render.jpg:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/G-Levine/rhea_description/HEAD/images/rhea_render.jpg


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/description/rhea.urdf.xacro:
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 1 | <?xml version="1.0"?>
 2 | <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="rhea">
 3 | 
 4 |   <xacro:include filename="$(find rhea_description)/description/urdf/rhea.urdf" />
 5 | 
 6 |   <xacro:include filename="$(find rhea_description)/description/rhea.ros2_control.xacro" />
 7 | 
 8 |   <rhea/>
 9 | 
10 |   <xacro:rhea_system/>
11 | 
12 | </robot>


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/README.md:
--------------------------------------------------------------------------------
1 | # Rhea wheeled biped robot
2 | 
3 | <img src="images/rhea_render.jpg" align="right" width="300">
4 | 
5 | URDF model for the Rhea wheeled biped. 
6 | 
7 | If this is used with ROS2 Control on the physical robot, [pi3hat_hardware_interface](https://github.com/G-Levine/pi3hat_hardware_interface) is required.
8 | 
9 | The source for the meshes/URDF is contained in `urdf/rhea.blend`. This can be edited and re-exported using the [Phobos Blender plugin](https://github.com/dfki-ric/phobos).


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/package.xml:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 3 | <package format="3">
 4 |   <name>rhea_description</name>
 5 |   <version>0.0.0</version>
 6 |   <description>Description package for the Rhea wheeled biped robot</description>
 7 |   <maintainer email="gabrael@cs.stanford.edu">Gabrael Levine</maintainer>
 8 |   <license>TODO: License declaration</license>
 9 | 
10 |   <buildtool_depend>ament_cmake</buildtool_depend>
11 | 
12 |   <test_depend>ament_lint_auto</test_depend>
13 |   <test_depend>ament_lint_common</test_depend>
14 | 
15 |   <export>
16 |     <build_type>ament_cmake</build_type>
17 |   </export>
18 | </package>
19 | 


--------------------------------------------------------------------------------
/CMakeLists.txt:
--------------------------------------------------------------------------------
 1 | cmake_minimum_required(VERSION 3.8)
 2 | project(rhea_description)
 3 | 
 4 | if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 5 |   add_compile_options(-Wall -Wextra -Wpedantic)
 6 | endif()
 7 | 
 8 | # find dependencies
 9 | find_package(ament_cmake REQUIRED)
10 | # uncomment the following section in order to fill in
11 | # further dependencies manually.
12 | # find_package(<dependency> REQUIRED)
13 | 
14 | install(
15 |   DIRECTORY description launch
16 |   DESTINATION share/${PROJECT_NAME}
17 | )
18 | 
19 | if(BUILD_TESTING)
20 |   find_package(ament_lint_auto REQUIRED)
21 |   # the following line skips the linter which checks for copyrights
22 |   # comment the line when a copyright and license is added to all source files
23 |   set(ament_cmake_copyright_FOUND TRUE)
24 |   # the following line skips cpplint (only works in a git repo)
25 |   # comment the line when this package is in a git repo and when
26 |   # a copyright and license is added to all source files
27 |   set(ament_cmake_cpplint_FOUND TRUE)
28 |   ament_lint_auto_find_test_dependencies()
29 | endif()
30 | 
31 | ament_package()
32 | 


--------------------------------------------------------------------------------
/LICENSE:
--------------------------------------------------------------------------------
 1 | MIT License
 2 | 
 3 | Copyright (c) 2024 Gabrael Levine
 4 | 
 5 | Permission is hereby granted, free of charge, to any person obtaining a copy
 6 | of this software and associated documentation files (the "Software"), to deal
 7 | in the Software without restriction, including without limitation the rights
 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 9 | copies of the Software, and to permit persons to whom the Software is
10 | furnished to do so, subject to the following conditions:
11 | 
12 | The above copyright notice and this permission notice shall be included in all
13 | copies or substantial portions of the Software.
14 | 
15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
21 | SOFTWARE.
22 | 


--------------------------------------------------------------------------------
/launch/view_robot.launch.py:
--------------------------------------------------------------------------------
  1 | import os
  2 | from launch import LaunchDescription
  3 | from launch.actions import DeclareLaunchArgument
  4 | from launch.conditions import IfCondition, UnlessCondition
  5 | from launch.substitutions import Command, LaunchConfiguration
  6 | from launch_ros.actions import Node
  7 | from launch_ros.substitutions import FindPackageShare
  8 |  
  9 | def generate_launch_description():
 10 |  
 11 |   # Set the path to this package.
 12 |   pkg_share = FindPackageShare(package='rhea_description').find('rhea_description')
 13 |  
 14 |   # Set the path to the RViz configuration settings
 15 |   default_rviz_config_path = os.path.join(pkg_share, 'rviz/rviz_basic_settings.rviz')
 16 |  
 17 |   # Set the path to the URDF file
 18 |   default_urdf_model_path = os.path.join(pkg_share, 'description/rhea.urdf.xacro')
 19 |  
 20 |   ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ##############  
 21 |   # Launch configuration variables specific to simulation
 22 |   gui = LaunchConfiguration('gui')
 23 |   urdf_model = LaunchConfiguration('urdf_model')
 24 |   rviz_config_file = LaunchConfiguration('rviz_config_file')
 25 |   use_robot_state_pub = LaunchConfiguration('use_robot_state_pub')
 26 |   use_rviz = LaunchConfiguration('use_rviz')
 27 |   use_sim_time = LaunchConfiguration('use_sim_time')
 28 |  
 29 |   # Declare the launch arguments  
 30 |   declare_urdf_model_path_cmd = DeclareLaunchArgument(
 31 |     name='urdf_model', 
 32 |     default_value=default_urdf_model_path, 
 33 |     description='Absolute path to robot urdf file')
 34 |      
 35 |   declare_rviz_config_file_cmd = DeclareLaunchArgument(
 36 |     name='rviz_config_file',
 37 |     default_value=default_rviz_config_path,
 38 |     description='Full path to the RVIZ config file to use')
 39 |      
 40 |   declare_use_joint_state_publisher_cmd = DeclareLaunchArgument(
 41 |     name='gui',
 42 |     default_value='True',
 43 |     description='Flag to enable joint_state_publisher_gui')
 44 |    
 45 |   declare_use_robot_state_pub_cmd = DeclareLaunchArgument(
 46 |     name='use_robot_state_pub',
 47 |     default_value='True',
 48 |     description='Whether to start the robot state publisher')
 49 |  
 50 |   declare_use_rviz_cmd = DeclareLaunchArgument(
 51 |     name='use_rviz',
 52 |     default_value='True',
 53 |     description='Whether to start RVIZ')
 54 |      
 55 |   declare_use_sim_time_cmd = DeclareLaunchArgument(
 56 |     name='use_sim_time',
 57 |     default_value='True',
 58 |     description='Use simulation (Gazebo) clock if true')
 59 |     
 60 |   # Specify the actions
 61 |  
 62 |   # # Publish the joint state values for the non-fixed joints in the URDF file.
 63 |   start_joint_state_publisher_cmd = Node(
 64 |     condition=UnlessCondition(gui),
 65 |     package='joint_state_publisher',
 66 |     executable='joint_state_publisher',
 67 |     name='joint_state_publisher')
 68 |  
 69 |   # # A GUI to manipulate the joint state values
 70 |   start_joint_state_publisher_gui_node = Node(
 71 |     condition=IfCondition(gui),
 72 |     package='joint_state_publisher_gui',
 73 |     executable='joint_state_publisher_gui',
 74 |     name='joint_state_publisher_gui')
 75 |  
 76 |   # Subscribe to the joint states of the robot, and publish the 3D pose of each link.
 77 |   start_robot_state_publisher_cmd = Node(
 78 |     condition=IfCondition(use_robot_state_pub),
 79 |     package='robot_state_publisher',
 80 |     executable='robot_state_publisher',
 81 |     parameters=[{'use_sim_time': use_sim_time, 
 82 |     'robot_description': Command(['xacro ', urdf_model])}],
 83 |     arguments=[default_urdf_model_path])
 84 |  
 85 |   # Launch RViz
 86 |   start_rviz_cmd = Node(
 87 |     condition=IfCondition(use_rviz),
 88 |     package='rviz2',
 89 |     executable='rviz2',
 90 |     name='rviz2',
 91 |     output='screen',
 92 |     arguments=['-d', rviz_config_file])
 93 | 
 94 |   
 95 |   # Create the launch description and populate
 96 |   ld = LaunchDescription()
 97 |  
 98 |   # Declare the launch options
 99 |   ld.add_action(declare_urdf_model_path_cmd)
100 |   ld.add_action(declare_rviz_config_file_cmd)
101 |   ld.add_action(declare_use_joint_state_publisher_cmd)
102 |   ld.add_action(declare_use_robot_state_pub_cmd)  
103 |   ld.add_action(declare_use_rviz_cmd) 
104 |   ld.add_action(declare_use_sim_time_cmd)
105 |  
106 |   # Add any actions
107 |   ld.add_action(start_joint_state_publisher_cmd)
108 |   ld.add_action(start_joint_state_publisher_gui_node)
109 |   ld.add_action(start_robot_state_publisher_cmd)
110 |   ld.add_action(start_rviz_cmd)
111 |  
112 |   return ld
113 | 


--------------------------------------------------------------------------------
/description/urdf/rhea.urdf:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0"?>
  2 | <!-- created with Phobos 1.0.1 "Capricious Choutengan" -->
  3 |   <robot name="rhea">
  4 | 
  5 |     <link name="base_link">
  6 |       <inertial>
  7 |         <origin xyz="0 0 0" rpy="0 0 0"/>
  8 |         <mass value="4.0"/>
  9 |         <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
 10 |       </inertial>
 11 |       <visual name="rheav2">
 12 |         <origin xyz="0 0 0" rpy="0 0 0"/>
 13 |         <geometry>
 14 |           <mesh filename="package://rhea_description/meshes/dae/rheav2.dae" scale="1.0 1.0 1.0"/>
 15 |         </geometry>
 16 |         <material name="Rubber_-_Soft.002"/>
 17 |       </visual>
 18 |       <collision name="Cube">
 19 |         <origin xyz="0 0 -0.01575" rpy="0 0 0"/>
 20 |         <geometry>
 21 |           <box size="0.216 0.14 0.231"/>
 22 |         </geometry>
 23 |       </collision>
 24 |     </link>
 25 | 
 26 |     <link name="imu">
 27 |       <inertial>
 28 |         <origin xyz="0 0 0" rpy="0 0 0"/>
 29 |         <mass value="0.001"/>
 30 |         <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
 31 |       </inertial>
 32 |     </link>
 33 | 
 34 |     <link name="left_hip">
 35 |       <inertial>
 36 |         <origin xyz="0 0 0" rpy="0 0 0"/>
 37 |         <mass value="1.0"/>
 38 |         <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
 39 |       </inertial>
 40 |       <visual name="rheav2.006">
 41 |         <origin xyz="0 0 0" rpy="1.5708 0 -1.5708"/>
 42 |         <geometry>
 43 |           <mesh filename="package://rhea_description/meshes/dae/rheav2.006.dae" scale="1.0 1.0 1.0"/>
 44 |         </geometry>
 45 |         <material name="Rubber_-_Soft.002"/>
 46 |       </visual>
 47 |       <collision name="Cube.004">
 48 |         <origin xyz="0.09575 0 0" rpy="1.5708 0 -1.5708"/>
 49 |         <geometry>
 50 |           <box size="0.05693 0.0756 0.30004"/>
 51 |         </geometry>
 52 |       </collision>
 53 |     </link>
 54 | 
 55 |     <link name="left_knee">
 56 |       <inertial>
 57 |         <origin xyz="0 0 0" rpy="0 0 0"/>
 58 |         <mass value="0.5"/>
 59 |         <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
 60 |       </inertial>
 61 |       <visual name="rheav2.004">
 62 |         <origin xyz="0 0 0" rpy="1.5708 0 -1.5708"/>
 63 |         <geometry>
 64 |           <mesh filename="package://rhea_description/meshes/dae/rheav2.004.dae" scale="1.0 1.0 1.0"/>
 65 |         </geometry>
 66 |         <material name="Rubber_-_Soft.002"/>
 67 |       </visual>
 68 |       <collision name="Cube.003">
 69 |         <origin xyz="0.12575 0 0" rpy="1.5708 0 -1.5708"/>
 70 |         <geometry>
 71 |           <box size="0.05693 0.028 0.30004"/>
 72 |         </geometry>
 73 |       </collision>
 74 |     </link>
 75 | 
 76 |     <link name="left_wheel">
 77 |       <inertial>
 78 |         <origin xyz="0 0 0" rpy="0 0 0"/>
 79 |         <mass value="1.0"/>
 80 |         <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
 81 |       </inertial>
 82 |       <visual name="rheav2.005">
 83 |         <origin xyz="0 0 0.0445" rpy="1.5708 0 -1.5708"/>
 84 |         <geometry>
 85 |           <mesh filename="package://rhea_description/meshes/dae/rheav2.005.dae" scale="1.0 1.0 1.0"/>
 86 |         </geometry>
 87 |         <material name="Rubber_-_Soft.002"/>
 88 |       </visual>
 89 |       <collision name="Cylinder.003">
 90 |         <origin xyz="0 0 0.0445" rpy="0 0 -1.0472"/>
 91 |         <geometry>
 92 |           <cylinder radius="0.11" length="0.048"/>
 93 |         </geometry>
 94 |       </collision>
 95 |     </link>
 96 | 
 97 |     <link name="right_hip">
 98 |       <inertial>
 99 |         <origin xyz="0 0 0" rpy="0 0 0"/>
100 |         <mass value="1.0"/>
101 |         <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
102 |       </inertial>
103 |       <visual name="rheav2.003">
104 |         <origin xyz="0 0 0" rpy="-1.5708 0 1.5708"/>
105 |         <geometry>
106 |           <mesh filename="package://rhea_description/meshes/dae/rheav2.003.dae" scale="1.0 1.0 1.0"/>
107 |         </geometry>
108 |         <material name="Rubber_-_Soft.002"/>
109 |       </visual>
110 |       <collision name="Cube.002">
111 |         <origin xyz="0.09575 0 0" rpy="-1.5708 0 1.5708"/>
112 |         <geometry>
113 |           <box size="0.05693 0.0756 0.30004"/>
114 |         </geometry>
115 |       </collision>
116 |     </link>
117 | 
118 |     <link name="right_knee">
119 |       <inertial>
120 |         <origin xyz="0 0 0" rpy="0 0 0"/>
121 |         <mass value="0.5"/>
122 |         <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
123 |       </inertial>
124 |       <visual name="rheav2.001">
125 |         <origin xyz="0 0 0" rpy="-1.5708 0 1.5708"/>
126 |         <geometry>
127 |           <mesh filename="package://rhea_description/meshes/dae/rheav2.001.dae" scale="1.0 1.0 1.0"/>
128 |         </geometry>
129 |         <material name="Rubber_-_Soft.002"/>
130 |       </visual>
131 |       <collision name="Cube.001">
132 |         <origin xyz="0.12575 0 0" rpy="-1.5708 0 1.5708"/>
133 |         <geometry>
134 |           <box size="0.05693 0.028 0.30004"/>
135 |         </geometry>
136 |       </collision>
137 |     </link>
138 | 
139 |     <link name="right_wheel">
140 |       <inertial>
141 |         <origin xyz="0 0 0" rpy="0 0 0"/>
142 |         <mass value="1.0"/>
143 |         <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
144 |       </inertial>
145 |       <visual name="rheav2.002">
146 |         <origin xyz="0 0 0.0445" rpy="-1.5708 0 1.5708"/>
147 |         <geometry>
148 |           <mesh filename="package://rhea_description/meshes/dae/rheav2.002.dae" scale="1.0 1.0 1.0"/>
149 |         </geometry>
150 |         <material name="Rubber_-_Soft.002"/>
151 |       </visual>
152 |       <collision name="Cylinder.001">
153 |         <origin xyz="0 0 0.0445" rpy="0 0 1.0472"/>
154 |         <geometry>
155 |           <cylinder radius="0.11" length="0.048"/>
156 |         </geometry>
157 |       </collision>
158 |     </link>
159 | 
160 |     <joint name="imu" type="fixed">
161 |       <origin xyz="0 0 0" rpy="1.5708 0 -1.5708"/>
162 |       <parent link="base_link"/>
163 |       <child link="imu"/>
164 |     </joint>
165 | 
166 |     <joint name="left_hip" type="revolute">
167 |       <origin xyz="0 0.1255 0" rpy="-1.5708 1.5708 0"/>
168 |       <parent link="base_link"/>
169 |       <child link="left_hip"/>
170 |       <axis xyz="0 0 1.0"/>
171 |       <limit lower="-0.68068" upper="2.46091" effort="35.0" velocity="26.0"/>
172 |     </joint>
173 | 
174 |     <joint name="left_knee" type="revolute">
175 |       <origin xyz="0.25 0 0" rpy="0 0 0"/>
176 |       <parent link="left_hip"/>
177 |       <child link="left_knee"/>
178 |       <axis xyz="0 0 1.0"/>
179 |       <limit lower="-2.75762" upper="-0.66323" effort="35.0" velocity="26.0"/>
180 |     </joint>
181 | 
182 |     <joint name="left_wheel" type="continuous">
183 |       <origin xyz="0.25 0 0" rpy="0 0 0"/>
184 |       <parent link="left_knee"/>
185 |       <child link="left_wheel"/>
186 |       <axis xyz="0 0 1.0"/>
187 |       <limit effort="2.0" velocity="250.0"/>
188 |     </joint>
189 | 
190 |     <joint name="right_hip" type="revolute">
191 |       <origin xyz="0 -0.1255 0" rpy="1.5708 1.5708 0"/>
192 |       <parent link="base_link"/>
193 |       <child link="right_hip"/>
194 |       <axis xyz="0 0 1.0"/>
195 |       <limit lower="-2.46091" upper="0.68068" effort="35.0" velocity="26.0"/>
196 |     </joint>
197 | 
198 |     <joint name="right_knee" type="revolute">
199 |       <origin xyz="0.25 0 0" rpy="0 0 0"/>
200 |       <parent link="right_hip"/>
201 |       <child link="right_knee"/>
202 |       <axis xyz="0 0 1.0"/>
203 |       <limit lower="0.66323" upper="2.75762" effort="35.0" velocity="26.0"/>
204 |     </joint>
205 | 
206 |     <joint name="right_wheel" type="continuous">
207 |       <origin xyz="0.25 0 0" rpy="0 0 0"/>
208 |       <parent link="right_knee"/>
209 |       <child link="right_wheel"/>
210 |       <axis xyz="0 0 1.0"/>
211 |       <limit effort="2.0" velocity="250.0"/>
212 |     </joint>
213 | 
214 |     <material name="Rubber_-_Soft.002">
215 |       <color rgba="0.15294 0.15294 0.15294 1.0"/>
216 |     </material>
217 | 
218 |   </robot>
219 | 


--------------------------------------------------------------------------------
/description/rhea.ros2_control.xacro:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0"?>
  2 | <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
  3 | 
  4 |     <xacro:macro name="rhea_system">
  5 |         <ros2_control name="pi3hat_hardware_interface" type="system">
  6 |             <hardware>
  7 |                 <plugin>pi3hat_hardware_interface/Pi3HatHardwareInterface</plugin>
  8 |                 <param name="imu_mounting_deg.yaw">-90.0</param>
  9 |                 <param name="imu_mounting_deg.pitch">0.0</param>
 10 |                 <param name="imu_mounting_deg.roll">90.0</param>
 11 |             </hardware>
 12 | 
 13 |             <joint name="right_hip">
 14 |                 <param name="can_channel">3</param>
 15 |                 <param name="can_id">1</param>
 16 |                 <param name="can_protocol">cheetah</param>
 17 | 
 18 |                 <param name="position_scale">95.5</param>
 19 |                 <param name="velocity_scale">30.0</param>
 20 |                 <param name="effort_scale">18.0</param>
 21 |                 <param name="kp_scale">500.0</param>
 22 |                 <param name="kd_scale">5.0</param>
 23 |                 <param name="axis_direction">-1</param>
 24 |                 <param name="position_offset">-2.46091</param>
 25 | 
 26 |                 <param name="position_min">-2.46091</param>
 27 |                 <param name="position_max">0.68068</param>
 28 |                 <param name="velocity_max">10.0</param>
 29 |                 <param name="effort_max">10.0</param>
 30 |                 <param name="kp_max">100.0</param>
 31 |                 <param name="kd_max">10.0</param>
 32 | 
 33 |                 <command_interface name="position"/>
 34 |                 <command_interface name="velocity"/>
 35 |                 <command_interface name="effort"/>
 36 |                 <command_interface name="kp"/>
 37 |                 <command_interface name="kd"/>
 38 | 
 39 |                 <state_interface name="position"/>
 40 |                 <state_interface name="velocity"/>
 41 |                 <state_interface name="effort"/>
 42 |             </joint>
 43 | 
 44 |             <joint name="right_knee">
 45 |                 <param name="can_channel">1</param>
 46 |                 <param name="can_id">2</param>
 47 |                 <param name="can_protocol">cheetah</param>
 48 | 
 49 |                 <param name="position_scale">95.5</param>
 50 |                 <param name="velocity_scale">30.0</param>
 51 |                 <param name="effort_scale">18.0</param>
 52 |                 <param name="kp_scale">500.0</param>
 53 |                 <param name="kd_scale">5.0</param>
 54 |                 <param name="axis_direction">-1</param>
 55 |                 <param name="position_offset">2.75762</param>
 56 | 
 57 |                 <param name="position_min">0.66323</param>
 58 |                 <param name="position_max">2.75762</param>
 59 |                 <param name="velocity_max">10.0</param>
 60 |                 <param name="effort_max">10.0</param>
 61 |                 <param name="kp_max">100.0</param>
 62 |                 <param name="kd_max">10.0</param>
 63 | 
 64 |                 <command_interface name="position"/>
 65 |                 <command_interface name="velocity"/>
 66 |                 <command_interface name="effort"/>
 67 |                 <command_interface name="kp"/>
 68 |                 <command_interface name="kd"/>
 69 | 
 70 |                 <state_interface name="position"/>
 71 |                 <state_interface name="velocity"/>
 72 |                 <state_interface name="effort"/>
 73 |             </joint>
 74 | 
 75 |             <joint name="right_wheel">
 76 |                 <param name="can_channel">1</param>
 77 |                 <param name="can_id">3</param>
 78 |                 <param name="can_protocol">cheetah</param>
 79 | 
 80 |                 <param name="position_scale">12.5</param>
 81 |                 <param name="velocity_scale">200.0</param>
 82 |                 <param name="effort_scale">18.0</param>
 83 |                 <param name="kp_scale">500.0</param>
 84 |                 <param name="kd_scale">5.0</param>
 85 |                 <param name="axis_direction">1</param>
 86 |                 <param name="position_offset">0.0</param>
 87 | 
 88 |                 <param name="position_min">-1.0</param>
 89 |                 <param name="position_max">1.0</param>
 90 |                 <param name="velocity_max">30.0</param>
 91 |                 <param name="effort_max">10.0</param>
 92 |                 <param name="kp_max">100.0</param>
 93 |                 <param name="kd_max">2.0</param>
 94 | 
 95 |                 <command_interface name="position"/>
 96 |                 <command_interface name="velocity"/>
 97 |                 <command_interface name="effort"/>
 98 |                 <command_interface name="kp"/>
 99 |                 <command_interface name="kd"/>
100 | 
101 |                 <state_interface name="position"/>
102 |                 <state_interface name="velocity"/>
103 |                 <state_interface name="effort"/>
104 |             </joint>
105 | 
106 |             <joint name="left_hip">
107 |                 <param name="can_channel">3</param>
108 |                 <param name="can_id">4</param>
109 |                 <param name="can_protocol">cheetah</param>
110 | 
111 |                 <param name="position_scale">95.5</param>
112 |                 <param name="velocity_scale">30.0</param>
113 |                 <param name="effort_scale">18.0</param>
114 |                 <param name="kp_scale">500.0</param>
115 |                 <param name="kd_scale">5.0</param>
116 |                 <param name="axis_direction">-1</param>
117 |                 <param name="position_offset">2.46091</param>
118 | 
119 |                 <param name="position_min">-0.68068</param>
120 |                 <param name="position_max">2.46091</param>
121 |                 <param name="velocity_max">10.0</param>
122 |                 <param name="effort_max">10.0</param>
123 |                 <param name="kp_max">100.0</param>
124 |                 <param name="kd_max">10.0</param>
125 | 
126 |                 <command_interface name="position"/>
127 |                 <command_interface name="velocity"/>
128 |                 <command_interface name="effort"/>
129 |                 <command_interface name="kp"/>
130 |                 <command_interface name="kd"/>
131 | 
132 |                 <state_interface name="position"/>
133 |                 <state_interface name="velocity"/>
134 |                 <state_interface name="effort"/>
135 |             </joint>
136 | 
137 |             <joint name="left_knee">
138 |                 <param name="can_channel">2</param>
139 |                 <param name="can_id">5</param>
140 |                 <param name="can_protocol">cheetah</param>
141 | 
142 |                 <param name="position_scale">95.5</param>
143 |                 <param name="velocity_scale">30.0</param>
144 |                 <param name="effort_scale">18.0</param>
145 |                 <param name="kp_scale">500.0</param>
146 |                 <param name="kd_scale">5.0</param>
147 |                 <param name="axis_direction">-1</param>
148 |                 <param name="position_offset">-2.75762</param>
149 | 
150 |                 <param name="position_min">-2.75762</param>
151 |                 <param name="position_max">-0.66323</param>
152 |                 <param name="velocity_max">10.0</param>
153 |                 <param name="effort_max">10.0</param>
154 |                 <param name="kp_max">100.0</param>
155 |                 <param name="kd_max">10.0</param>
156 | 
157 |                 <command_interface name="position"/>
158 |                 <command_interface name="velocity"/>
159 |                 <command_interface name="effort"/>
160 |                 <command_interface name="kp"/>
161 |                 <command_interface name="kd"/>
162 | 
163 |                 <state_interface name="position"/>
164 |                 <state_interface name="velocity"/>
165 |                 <state_interface name="effort"/>
166 |             </joint>
167 | 
168 |             <joint name="left_wheel">
169 |                 <param name="can_channel">2</param>
170 |                 <param name="can_id">6</param>
171 |                 <param name="can_protocol">cheetah</param>
172 | 
173 |                 <param name="position_scale">12.5</param>
174 |                 <param name="velocity_scale">200.0</param>
175 |                 <param name="effort_scale">18.0</param>
176 |                 <param name="kp_scale">500.0</param>
177 |                 <param name="kd_scale">5.0</param>
178 |                 <param name="axis_direction">1</param>
179 |                 <param name="position_offset">0.0</param>
180 | 
181 |                 <param name="position_min">-1.0</param>
182 |                 <param name="position_max">1.0</param>
183 |                 <param name="velocity_max">30.0</param>
184 |                 <param name="effort_max">2.0</param>
185 |                 <param name="kp_max">100.0</param>
186 |                 <param name="kd_max">10.0</param>
187 | 
188 |                 <command_interface name="position"/>
189 |                 <command_interface name="velocity"/>
190 |                 <command_interface name="effort"/>
191 |                 <command_interface name="kp"/>
192 |                 <command_interface name="kd"/>
193 | 
194 |                 <state_interface name="position"/>
195 |                 <state_interface name="velocity"/>
196 |                 <state_interface name="effort"/>
197 |             </joint>
198 | 
199 |             <sensor name="imu_sensor">
200 |                 <state_interface name="orientation.x"/>
201 |                 <state_interface name="orientation.y"/>
202 |                 <state_interface name="orientation.z"/>
203 |                 <state_interface name="orientation.w"/>
204 |                 <state_interface name="angular_velocity.x"/>
205 |                 <state_interface name="angular_velocity.y"/>
206 |                 <state_interface name="angular_velocity.z"/>
207 |                 <state_interface name="linear_acceleration.x"/>
208 |                 <state_interface name="linear_acceleration.y"/>
209 |                 <state_interface name="linear_acceleration.z"/>
210 |             </sensor>
211 |         </ros2_control>
212 |     </xacro:macro>
213 | 
214 | </robot>
215 | 


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