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SOC 직업 분류 기준
SKILL.md 표시 중
| name | sdf-xacro-model |
| description | 人形机器人 SDF/XACRO 模型开发技能 - 双足机器人模型、全身关节配置、平衡控制、环境交互 |
| argument-hint | 创建人形机器人 OR 双足机器人 OR 人形 OR 仿人机器人 |
| user-invocable | true |
用于创建人形机器人的 SDF 和 XACRO 模型
当需要以下帮助时使用此技能：
人形机器人关键组件:
- 躯干 (Torso)
- 头部 (Head)
- 手臂 x2 (Arm)
- 腿部 x2 (Leg)
- 手部 x2 (Hand)
<?xml version="1.0" ?>
<sdf version="1.11">
<model name="humanoid_robot">
<static>false</static>
<self_collide>false</self_collide>
<allow_auto_self_collision>true</allow_auto_self_collision>
<!-- 骨盆/躯干基座 -->
<link name="pelvis">
<pose>0 0 0.9 0 0 0</pose>
<inertial>
<mass>10.0</mass>
<inertia>
<ixx>0.05</ixx><ixy>0</ixy><ixz>0</ixz>
<iyy>0.08</iyy><iyz>0</iyz>
<izz>0.05</izz>
</inertia>
</inertial>
<collision name="pelvis_collision">
<geometry>
<box>
<size>0.25 0.15 0.1</size>
</box>
</geometry>
</collision>
<visual name="pelvis_visual">
<geometry>
<box>
<size>0.25 0.15 0.1</size>
</box>
</geometry>
<material>
<ambient>0.3 0.3 0.3 1</ambient>
</material>
</visual>
</link>
<!-- 躯干/脊柱 -->
<link name="torso">
<pose>0 0 0.15 0 0 0</pose>
<inertial>
<mass>8.0</mass>
<inertia>
<ixx>0.04</ixx><ixy>0</ixy><ixz>0</ixz>
<iyy>0.06</iyy><iyz>0</iyz>
<izz>0.04</izz>
</inertia>
</inertial>
<collision name="torso_collision">
<geometry>
<box>
<size>0.25 0.2 0.25</size>
</box>
</geometry>
</collision>
<visual name="torso_visual">
<geometry>
<box>
<size>0.25 0.2 0.25</size>
</box>
</geometry>
<material>
<ambient>0.4 0.4 0.4 1</ambient>
</material>
</visual>
</link>
<joint name="torso_joint" type="revolute">
<parent>pelvis</parent>
<child>torso</child>
<axis>
<xyz>1 0 0</xyz>
<limit>
<lower>-0.5</lower>
<upper>0.5</upper>
</limit>
</axis>
</joint>
<!-- 头部 -->
<link name="neck">
<pose>0 0 0.2 0 0 0</pose>
<inertial>
<mass>0.5</mass>
<inertia>
<ixx>0.001</ixx><ixy>0</ixy><ixz>0</ixz>
<iyy>0.001</iyy><iyz>0</iyz>
<izz>0.001</izz>
</inertia>
</inertial>
<visual name="neck_visual">
<geometry>
<cylinder radius="0.03" height="0.05"/>
</geometry>
</visual>
</link>
<joint name="neck_joint" type="revolute">
<parent>torso</parent>
<child>neck</child>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-1.57</lower>
<upper>1.57</upper>
</limit>
</axis>
</joint>
<link name="head">
<pose>0 0.05 0 0 0 0</pose>
<inertial>
<mass>2.0</mass>
<inertia>
<ixx>0.01</ixx><ixy>0</ixy><ixz>0</ixz>
<iyy>0.01</iyy><iyz>0</iyz>
<izz>0.01</izz>
</inertia>
</inertial>
<collision name="head_collision">
<geometry>
<box>
<size>0.15 0.12 0.15</size>
</box>
</geometry>
</collision>
<visual name="head_visual">
<geometry>
<box>
<size>0.15 0.12 0.15</size>
</box>
</geometry>
<material>
<ambient>0.5 0.5 0.5 1</ambient>
</material>
</visual>
<!-- 眼睛/视觉传感器 -->
<visual name="eye_l">
<pose>0.04 0.04 -0.02 0 0.3 0</pose>
<geometry>
<sphere radius="0.015"/>
</geometry>
<material>
<ambient>0.8 0.8 0 1</ambient>
</material>
</visual>
<visual name="eye_r">
<pose>0.04 -0.04 -0.02 0 -0.3 0</pose>
<geometry>
<sphere radius="0.015"/>
</geometry>
<material>
<ambient>0.8 0.8 0 1</ambient>
</material>
</visual>
</link>
<joint name="head_joint" type="fixed">
<parent>neck</parent>
<child>head</child>
</joint>
<!-- 左臂 (定义右侧类似) -->
<!-- 左肩 -->
<link name="shoulder_l">
<pose>0.15 0 0.15 0 0 0</pose>
<inertial>
<mass>0.3</mass>
<inertia>
<ixx>0.0005</ixx><ixy>0</ixy><ixz>0</ixz>
<iyy>0.0005</iyy><iyz>0</iyz>
<izz>0.0005</izz>
</inertia>
</inertial>
<visual name="shoulder_l_visual">
<geometry>
<sphere radius="0.03"/>
</geometry>
<material>
<ambient>0.3 0.3 0.3 1</ambient>
</material>
</visual>
</link>
<joint name="shoulder_l_joint" type="revolute">
<parent>torso</parent>
<child>shoulder_l</child>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-3.14</lower>
<upper>3.14</upper>
</limit>
</axis>
</joint>
<!-- 左大臂 -->
<link name="upper_arm_l">
<pose>0.1 0 0 0 1.57 0</pose>
<inertial>
<mass>1.0</mass>
<inertia>
<ixx>0.002</ixx><ixy>0</ixy><ixz>0</ixz>
<iyy>0.002</iyy><iyz>0</iyz>
<izz>0.001</izz>
</inertia>
</inertial>
<collision name="upper_arm_l_collision">
<geometry>
<cylinder radius="0.03" height="0.2"/>
</geometry>
</collision>
<visual name="upper_arm_l_visual">
<geometry>
<cylinder radius="0.03" height="0.2"/>
</geometry>
<material>
<ambient>0.4 0.4 0.4 1</ambient>
</material>
</visual>
</link>
<joint name="upper_arm_l_joint" type="revolute">
<parent>shoulder_l</parent>
<child>upper_arm_l</child>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-2.09</lower>
<upper>2.09</upper>
</limit>
</axis>
</joint>
<!-- 左前臂 -->
<link name="forearm_l">
<pose>0.2 0 0 0 0 0</pose>
<inertial>
<mass>0.5</mass>
<inertia>
<ixx>0.001</ixx><ixy>0</ixy><ixz>0</ixz>
<iyy>0.001</iyy><iyz>0</iyz>
<izz>0.0005</izz>
</inertia>
</inertial>
<collision name="forearm_l_collision">
<geometry>
<cylinder radius="0.025" height="0.2"/>
</geometry>
</collision>
<visual name="forearm_l_visual">
<geometry>
<cylinder radius="0.025" height="0.2"/>
</geometry>
<material>
<ambient>0.35 0.35 0.35 1</ambient>
</material>
</visual>
</link>
<joint name="forearm_l_joint" type="revolute">
<parent>upper_arm_l</parent>
<child>forearm_l</child>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-2.35</lower>
<upper>0</upper>
</limit>
</axis>
</joint>
<!-- 左手 -->
<link name="hand_l">
<pose>0.2 0 0 0 0 0</pose>
<inertial>
<mass>0.2</mass>
</inertial>
<collision name="hand_l_collision">
<geometry>
<box size="0.04 0.08 0.02"/>
</geometry>
</collision>
<visual name="hand_l_visual">
<geometry>
<box size="0.04 0.08 0.02"/>
</geometry>
<material>
<ambient>0.3 0.3 0.3 1</ambient>
</material>
</visual>
</link>
<joint name="hand_l_joint" type="revolute">
<parent>forearm_l</parent>
<child>hand_l</child>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-1.57</lower>
<upper>0</upper>
</limit>
</axis>
</joint>
<!-- 右臂 (镜像左侧) -->
<link name="shoulder_r">
<pose>-0.15 0 0.15 0 0 0</pose>
<inertial>
<mass>0.3</mass>
</inertial>
<visual name="shoulder_r_visual">
<geometry>
<sphere radius="0.03"/>
</geometry>
<material>
<ambient>0.3 0.3 0.3 1</ambient>
</material>
</visual>
</link>
<joint name="shoulder_r_joint" type="revolute">
<parent>torso</parent>
<child>shoulder_r</child>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-3.14</lower>
<upper>3.14</upper>
</limit>
</axis>
</joint>
<link name="upper_arm_r">
<pose>-0.1 0 0 0 1.57 0</pose>
<inertial>
<mass>1.0</mass>
</inertial>
<collision name="upper_arm_r_collision">
<geometry>
<cylinder radius="0.03" height="0.2"/>
</geometry>
</collision>
<visual name="upper_arm_r_visual">
<geometry>
<cylinder radius="0.03" height="0.2"/>
</geometry>
<material>
<ambient>0.4 0.4 0.4 1</ambient>
</material>
</visual>
</link>
<joint name="upper_arm_r_joint" type="revolute">
<parent>shoulder_r</parent>
<child>upper_arm_r</child>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-2.09</lower>
<upper>2.09</upper>
</limit>
</axis>
</joint>
<link name="forearm_r">
<pose>-0.2 0 0 0 0 0</pose>
<inertial>
<mass>0.5</mass>
</inertial>
<collision name="forearm_r_collision">
<geometry>
<cylinder radius="0.025" height="0.2"/>
</geometry>
</collision>
<visual name="forearm_r_visual">
<geometry>
<cylinder radius="0.025" height="0.2"/>
</geometry>
<material>
<ambient>0.35 0.35 0.35 1</ambient>
</material>
</visual>
</link>
<joint name="forearm_r_joint" type="revolute">
<parent>upper_arm_r</parent>
<child>forearm_r</child>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-2.35</lower>
<upper>0</upper>
</limit>
</axis>
</joint>
<link name="hand_r">
<pose>-0.2 0 0 0 0 0</pose>
<inertial>
<mass>0.2</mass>
</inertial>
<collision name="hand_r_collision">
<geometry>
<box size="0.04 0.08 0.02"/>
</geometry>
</collision>
<visual name="hand_r_visual">
<geometry>
<box size="0.04 0.08 0.02"/>
</geometry>
<material>
<ambient>0.3 0.3 0.3 1</ambient>
</material>
</visual>
</link>
<joint name="hand_r_joint" type="revolute">
<parent>forearm_r</parent>
<child>hand_r</child>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-1.57</lower>
<upper>0</upper>
</limit>
</axis>
</joint>
<!-- 左腿 -->
<!-- 左髋 -->
<link name="hip_l">
<pose>0 0.1 -0.1 0 0 0</pose>
<inertial>
<mass>0.5</mass>
</inertial>
<visual name="hip_l_visual">
<geometry>
<sphere radius="0.04"/>
</geometry>
<material>
<ambient>0.3 0.3 0.3 1</ambient>
</material>
</visual>
</link>
<joint name="hip_l_joint" type="revolute">
<parent>pelvis</parent>
<child>hip_l</child>
<axis>
<xyz>1 0 0</xyz>
<limit>
<lower>-1.57</lower>
<upper>1.57</upper>
</limit>
</axis>
</joint>
<!-- 左大腿 -->
<link name="thigh_l">
<pose>0 0 -0.25 0 0 0</pose>
<inertial>
<mass>2.0</mass>
<inertia>
<ixx>0.01</ixx><ixy>0</ixy><ixz>0</ixz>
<iyy>0.01</iyy><iyz>0</iyz>
<izz>0.005</izz>
</inertia>
</inertial>
<collision name="thigh_l_collision">
<geometry>
<cylinder radius="0.05" height="0.25"/>
</geometry>
</collision>
<visual name="thigh_l_visual">
<geometry>
<cylinder radius="0.05" height="0.25"/>
</geometry>
<material>
<ambient>0.4 0.4 0.4 1</ambient>
</material>
</visual>
</link>
<joint name="thigh_l_joint" type="revolute">
<parent>hip_l</parent>
<child>thigh_l</child>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-1.57</lower>
<upper>1.57</upper>
</limit>
</axis>
</joint>
<!-- 左小腿 -->
<link name="shin_l">
<pose>0 0 -0.25 0 0 0</pose>
<inertial>
<mass>1.5</mass>
<inertia>
<ixx>0.005</ixx><ixy>0</ixy><ixz>0</ixz>
<iyy>0.005</iyy><iyz>0</iyz>
<izz>0.002</izz>
</inertia>
</inertial>
<collision name="shin_l_collision">
<geometry>
<cylinder radius="0.04" height="0.25"/>
</geometry>
</collision>
<visual name="shin_l_visual">
<geometry>
<cylinder radius="0.04" height="0.25"/>
</geometry>
<material>
<ambient>0.35 0.35 0.35 1</ambient>
</material>
</visual>
<!-- 足尖接触传感器 -->
<sensor name="foot_contact_l" type="contact">
<update_rate>100</update_rate>
<contact>
<collision>shin_l_collision</collision>
</contact>
</sensor>
</link>
<joint name="shin_l_joint" type="revolute">
<parent>thigh_l</parent>
<child>shin_l</child>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-0.2</lower>
<upper>2.6</upper>
</limit>
</axis>
</joint>
<!-- 左脚 -->
<link name="foot_l">
<pose>0 0 -0.15 0 0 0</pose>
<inertial>
<mass>0.5</mass>
<inertia>
<ixx>0.001</ixx><ixy>0</ixy><ixz>0</ixz>
<iyy>0.002</iyy><iyz>0</iyz>
<izz>0.001</izz>
</inertia>
</inertial>
<collision name="foot_l_collision">
<geometry>
<box size="0.1 0.06 0.03"/>
</geometry>
<surface>
<friction>
<ode>
<mu>1.0</mu>
<mu2>1.0</mu2>
</ode>
</friction>
</surface>
</collision>
<visual name="foot_l_visual">
<geometry>
<box size="0.1 0.06 0.03"/>
</geometry>
<material>
<ambient>0.3 0.3 0.3 1</ambient>
</material>
</visual>
</link>
<joint name="foot_l_joint" type="revolute">
<parent>shin_l</parent>
<child>foot_l</child>
<axis>
<xyz>1 0 0</xyz>
<limit>
<lower>-0.5</lower>
<upper>0.5</upper>
</limit>
</axis>
</joint>
<!-- 右腿 (镜像左腿) -->
<link name="hip_r">
<pose>0 -0.1 -0.1 0 0 0</pose>
<inertial>
<mass>0.5</mass>
</inertial>
<visual name="hip_r_visual">
<geometry>
<sphere radius="0.04"/>
</geometry>
<material>
<ambient>0.3 0.3 0.3 1</ambient>
</material>
</visual>
</link>
<joint name="hip_r_joint" type="revolute">
<parent>pelvis</parent>
<child>hip_r</child>
<axis>
<xyz>1 0 0</xyz>
<limit>
<lower>-1.57</lower>
<upper>1.57</upper>
</limit>
</axis>
</joint>
<link name="thigh_r">
<pose>0 0 -0.25 0 0 0</pose>
<inertial>
<mass>2.0</mass>
</inertial>
<collision name="thigh_r_collision">
<geometry>
<cylinder radius="0.05" height="0.25"/>
</geometry>
</collision>
<visual name="thigh_r_visual">
<geometry>
<cylinder radius="0.05" height="0.25"/>
</geometry>
<material>
<ambient>0.4 0.4 0.4 1</ambient>
</material>
</visual>
</link>
<joint name="thigh_r_joint" type="revolute">
<parent>hip_r</parent>
<child>thigh_r</child>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-1.57</lower>
<upper>1.57</upper>
</limit>
</axis>
</joint>
<link name="shin_r">
<pose>0 0 -0.25 0 0 0</pose>
<inertial>
<mass>1.5</mass>
</inertial>
<collision name="shin_r_collision">
<geometry>
<cylinder radius="0.04" height="0.25"/>
</geometry>
</collision>
<visual name="shin_r_visual">
<geometry>
<cylinder radius="0.04" height="0.25"/>
</geometry>
<material>
<ambient>0.35 0.35 0.35 1</ambient>
</material>
</visual>
<sensor name="foot_contact_r" type="contact">
<update_rate>100</update_rate>
<contact>
<collision>shin_r_collision</collision>
</contact>
</sensor>
</link>
<joint name="shin_r_joint" type="revolute">
<parent>thigh_r</parent>
<child>shin_r</child>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-0.2</lower>
<upper>2.6</upper>
</limit>
</axis>
</joint>
<link name="foot_r">
<pose>0 0 -0.15 0 0 0</pose>
<inertial>
<mass>0.5</mass>
</inertial>
<collision name="foot_r_collision">
<geometry>
<box size="0.1 0.06 0.03"/>
</geometry>
<surface>
<friction>
<ode>
<mu>1.0</mu>
<mu2>1.0</mu2>
</ode>
</friction>
</surface>
</collision>
<visual name="foot_r_visual">
<geometry>
<box size="0.1 0.06 0.03"/>
</geometry>
<material>
<ambient>0.3 0.3 0.3 1</ambient>
</material>
</visual>
</link>
<joint name="foot_r_joint" type="revolute">
<parent>shin_r</parent>
<child>foot_r</child>
<axis>
<xyz>1 0 0</xyz>
<limit>
<lower>-0.5</lower>
<upper>0.5</upper>
</limit>
</axis>
</joint>
<!-- IMU 传感器 -->
<link name="imu_link">
<pose>0 0 0.05 0 0 0</pose>
<sensor name="imu" type="imu">
<update_rate>200</update_rate>
<plugin filename="gz-sim-sensors-imu-system" name="gz::sim::systems::Imu">
<ros>
<namespace>/humanoid</namespace>
</ros>
</plugin>
</sensor>
</link>
<joint name="imu_joint" type="fixed">
<parent>pelvis</parent>
<child>imu_link</child>
</joint>
<!-- 关节状态发布 -->
<plugin filename="gz-sim-joint-state-publisher-system" name="gz::sim::systems::JointStatePublisher">
<update_period>0.01</update_period>
</plugin>
</model>
</sdf>
<!-- ZMP 控制插件 -->
<gazebo>
<plugin filename="humanoid_balance_controller" name="humanoid::BalanceController">
<robotNamespace>humanoid</robotNamespace>
<!-- ZMP 参数 -->
<zmp>
<target_zmp_x>0</target_zmp_x>
<target_zmp_y>0</target_zmp_y>
<zmp_margin>0.03</zmp_margin>
</zmp>
<!-- 平衡参数 -->
<balance>
<kp>10.0</kp>
<kd>5.0</kd>
<ki>0.1</ki>
</balance>
</plugin>
</gazebo>
<!-- 步行参数 -->
<gazebo>
<plugin filename="humanoid_gait_controller" name="humanoid::GaitController">
<gait>
<step_height>0.05</step_height>
<step_length>0.3</step_length>
<step_period>0.6</step_period>
<double_support_ratio>0.2</double_support_ratio>
</gait>
<!-- 足部轨迹 -->
<foot_trajectory>
<type>bezier</type>
<swing_height>0.05</swing_height>
</foot_trajectory>
</plugin>
</gazebo>
<!-- 足部六维力传感器 -->
<gazebo reference="foot_l">
<sensor type="force_torque">
<force>
<noise type="gaussian">
<mean>0</mean>
<stddev>0.5</stddev>
</noise>
</force>
<torque>
<noise type="gaussian">
<mean>0</mean>
<stddev>0.1</stddev>
</torque>
</torque>
</sensor>
</gazebo>
<!-- 接触传感器阵列 -->
<gazebo reference="hand_l">
<sensor type="contact">
<contact>
<collision>hand_l_collision</collision>
</contact>
</sensor>
</gazebo>
<!-- 脚部摩擦调整 -->
<gazebo reference="foot_l">
<surface>
<friction>
<ode>
<mu>1.2</mu>
<mu2>1.0</mu2>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
</friction>
</surface>
</gazebo>
<!-- 斜坡行走 -->
<gazebo reference="foot_r">
<surface>
<friction>
<ode>
<mu>1.5</mu>
<mu2>1.2</mu2>
</ode>
</friction>
</surface>
</gazebo>
解决方案：
解决方案：
解决方案：