diff --git a/robots/talos_data/urdf/talos_reduced.urdf b/robots/talos_data/urdf/talos_reduced.urdf
deleted file mode 100644
index 56bbdfe1b0d9ac9d7a9568b7e67925acd345918e..0000000000000000000000000000000000000000
--- a/robots/talos_data/urdf/talos_reduced.urdf
+++ /dev/null
@@ -1,2786 +0,0 @@
-<?xml version="1.0" ?>
-<!-- =================================================================================== -->
-<!-- | This document was autogenerated by xacro from talos_full.urdf.xacro | -->
-<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
-<!-- =================================================================================== -->
-<!--
-
- Copyright (c) 2016, PAL Robotics, S.L.
- All rights reserved.
-
- This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
- To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
- Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
--->
-<robot name="talos" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:xacro="http://ros.org/wiki/xacro">
- <!--File includes-->
- <!--Constant parameters-->
- <!--File includes-->
- <!-- Macro -->
- <!--Constant parameters-->
- <!--************************-->
- <!-- HEAD_1 (TILT) -->
- <!--************************-->
- <!--************************-->
- <!-- HEAD_2 (PAN) -->
- <!--************************-->
- <!--File includes-->
- <!--File includes-->
- <!--Constant parameters-->
- <!--Constant parameters-->
- <!--File includes-->
- <!-- VIRTUAL (mimic) JOINTS -->
- <!-- 0.45deg -->
- <!--************************-->
- <!-- TORSO_2 (TILT) -->
- <!--************************-->
- <link name="torso_2_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.04551 -0.00053 0.16386"/>
- <mass value="17.55011"/>
- <inertia ixx="0.37376900000" ixy="0.00063900000" ixz="0.01219600000" iyy="0.24790200000" iyz="0.00000700000" izz="0.28140400000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/torso/torso_2.STL" scale="1 1 1"/>
- </geometry>
- <material name="LightGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/torso/torso_2_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <!--************************-->
- <!-- TORSO_1 (PAN) -->
- <!--************************-->
- <link name="torso_1_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00013 -0.00001 -0.01306"/>
- <mass value="3.02433"/>
- <inertia ixx="0.00759400000" ixy="0.00000100000" ixz="-0.00004800000" iyy="0.00429200000" iyz="-0.00000100000" izz="0.00749700000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/torso/torso_1.STL" scale="1 1 1"/>
- </geometry>
- <material name="LightGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/torso/torso_1.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="torso_1_joint" type="revolute">
- <parent link="base_link"/>
- <child link="torso_1_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0722"/>
- <axis xyz="0 0 1"/>
- <limit effort="78.0" lower="-1.308996939" upper="1.308996939" velocity="5.4"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-15.0 * deg_to_rad + torso_eps}"
- soft_upper_limit="${ 45.0 * deg_to_rad - torso_eps}" /> -->
- </joint>
- <!--************************-->
- <!-- BASE_LINK -->
- <!--************************-->
- <link name="base_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.08222 0.00838 -0.07261"/>
- <mass value="13.53810"/>
- <inertia ixx="0.06989000000" ixy="-0.00011700000" ixz="0.00023000000" iyy="0.03998200000" iyz="-0.00132500000" izz="0.08234500000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/torso/base_link.STL" scale="1 1 1"/>
- </geometry>
- <material name="LightGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/torso/base_link_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="torso_2_joint" type="revolute">
- <parent link="torso_1_link"/>
- <child link="torso_2_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
- <axis xyz="0 1 0"/>
- <limit effort="78.0" lower="-0.261799387799" upper="0.785398163397" velocity="5.4"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-75.00000 * deg_to_rad + eps_radians}"
- soft_upper_limit="${75.00000 * deg_to_rad - eps_radians}" /> -->
- </joint>
- <link name="imu_link">
- <inertial>
- <mass value="0.01"/>
- <origin xyz="0 0 0"/>
- <inertia ixx="0.000001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.000001"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <box size="0.01 0.01 0.01"/>
- </geometry>
- </visual>
- </link>
- <joint name="imu_joint" type="fixed">
- <origin rpy="3.14159265359 0 1.57079632679" xyz="0.04925 0 0.078"/>
- <parent link="torso_2_link"/>
- <child link="imu_link"/>
- </joint>
- <gazebo reference="torso_1_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="torso_2_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="base_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="torso_1_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="torso_2_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <!-- extensions -->
- <transmission name="talos_torso_trans">
- <type>transmission_interface/DifferentialTransmission</type>
- <actuator name="torso_1_motor">
- <role>actuator1</role>
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <actuator name="torso_2_motor">
- <role>actuator2</role>
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="torso_1_joint">
- <role>joint1</role>
- <offset>0.0</offset>
- <mechanicalReduction>1.0</mechanicalReduction>
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- <joint name="torso_2_joint">
- <role>joint2</role>
- <offset>0.0</offset>
- <mechanicalReduction>1.0</mechanicalReduction>
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <link name="head_1_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00120 0.00145 0.02165"/>
- <mass value="0.65988"/>
- <inertia ixx="0.00122100000" ixy="-0.00000400000" ixz="0.00007000000" iyy="0.00092400000" iyz="-0.00004100000" izz="0.00103300000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/head/head_1.stl" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/head/head_1_collision.stl" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="head_1_joint" type="revolute">
- <parent link="torso_2_link"/>
- <child link="head_1_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.31600"/>
- <axis xyz="0 1 0"/>
- <limit effort="8.0" lower="-0.261799387799" upper="0.785398163397" velocity="1.0"/>
- <dynamics damping="0.5" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-15.00000 * deg_to_rad + eps_radians}"
- soft_upper_limit="${45.00000 * deg_to_rad - eps_radians}" /> -->
- </joint>
- <gazebo reference="head_1_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="head_1_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="head_1_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <link name="head_2_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.01036 -0.00037 0.13778"/>
- <mass value="1.40353"/>
- <inertia ixx="0.00722500000" ixy="-0.00002500000" ixz="0.00032900000" iyy="0.00687300000" iyz="0.00004400000" izz="0.00437300000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/head/head_2.stl" scale="1 1 1"/>
- </geometry>
- <material name="LightGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/head/head_2_collision.stl" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="head_2_joint" type="revolute">
- <parent link="head_1_link"/>
- <child link="head_2_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
- <axis xyz="0 0 1"/>
- <limit effort="4.0" lower="-1.308996939" upper="1.308996939" velocity="1.0"/>
- <dynamics damping="0.5" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-75.00000 * deg_to_rad + eps_radians}"
- soft_upper_limit="${75.00000 * deg_to_rad - eps_radians}" /> -->
- </joint>
- <gazebo reference="head_2_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="head_2_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="head_2_link">
- <material>Gazebo/White</material>
- </gazebo>
- <!-- frames in the center of the camera -->
- <joint name="rgbd_joint" type="fixed">
- <origin rpy="0 0 0" xyz="0.066 0.0 0.1982"/>
- <axis xyz="0 0 1"/>
- <!-- <limit lower="0" upper="0.001" effort="100" velocity="0.01"/> -->
- <parent link="head_2_link"/>
- <child link="rgbd_link"/>
- </joint>
- <link name="rgbd_link">
- <inertial>
- <mass value="0.01"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <!-- inertia tensor computed analytically for a solid cuboid -->
- <inertia ixx="0.000030" ixy="0.0" ixz="0.0" iyy="0.000030" iyz="0.0" izz="0.000002"/>
- </inertial>
- <!--
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/sensors/orbbec/orbbec.STL"/>
- </geometry>
- <material name="DarkGrey">
- <color rgba="0.5 0.5 0.5 1"/>
- </material>
- </visual>
- -->
- <collision>
- <origin rpy="0 0 0" xyz="-0.01 0.0025 0"/>
- <geometry>
- <box size="0.04 0.185 0.03"/>
- </geometry>
- </collision>
- </link>
- <joint name="rgbd_optical_joint" type="fixed">
- <origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
- <parent link="rgbd_link"/>
- <child link="rgbd_optical_frame"/>
- </joint>
- <link name="rgbd_optical_frame">
- <inertial>
- <mass value="0.01"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
- </link>
- <!-- frames of the depth sensor -->
- <joint name="rgbd_depth_joint" type="fixed">
- <origin rpy="0 0 0" xyz="0.0 0.03751 0.0"/>
- <parent link="rgbd_link"/>
- <child link="rgbd_depth_frame"/>
- </joint>
- <link name="rgbd_depth_frame"/>
- <joint name="rgbd_depth_optical_joint" type="fixed">
- <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
- <parent link="rgbd_depth_frame"/>
- <child link="rgbd_depth_optical_frame"/>
- </joint>
- <link name="rgbd_depth_optical_frame"/>
- <!-- frames of the rgb sensor -->
- <joint name="rgbd_rgb_joint" type="fixed">
- <origin rpy="0 0 0" xyz="0.0 0.01251 0.0"/>
- <parent link="rgbd_link"/>
- <child link="rgbd_rgb_frame"/>
- </joint>
- <link name="rgbd_rgb_frame"/>
- <joint name="rgbd_rgb_optical_joint" type="fixed">
- <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
- <parent link="rgbd_rgb_frame"/>
- <child link="rgbd_rgb_optical_frame"/>
- </joint>
- <link name="rgbd_rgb_optical_frame"/>
- <!-- extensions -->
- <gazebo reference="rgbd_link">
- <!-- IR + depth -->
- <sensor name="rgbd_frame_sensor" type="depth">
- <always_on>true</always_on>
- <update_rate>6.0</update_rate>
- <camera>
- <horizontal_fov>1.01229096616</horizontal_fov>
- <image>
- <format>R8G8B8</format>
- <width>320</width>
- <height>240</height>
- </image>
- <clip>
- <near>0.45</near>
- <far>10.0</far>
- </clip>
- </camera>
- <plugin filename="libgazebo_ros_openni_kinect.so" name="rgbd_frame_controller">
- <alwaysOn>true</alwaysOn>
- <updateRate>6.0</updateRate>
- <cameraName>rgbd</cameraName>
- <imageTopicName>ir/image_raw</imageTopicName>
- <cameraInfoTopicName>ir/camera_info</cameraInfoTopicName>
- <depthImageTopicName>depth/image_raw</depthImageTopicName>
- <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
- <pointCloudTopicName>depth/points</pointCloudTopicName>
- <frameName>rgbd_optical_frame</frameName>
- <pointCloudCutoff>0.45</pointCloudCutoff>
- <rangeMax>10.0</rangeMax>
- <distalostionK1>0.00000001</distalostionK1>
- <distalostionK2>0.00000001</distalostionK2>
- <distalostionK3>0.00000001</distalostionK3>
- <distalostionT1>0.00000001</distalostionT1>
- <distalostionT2>0.00000001</distalostionT2>
- </plugin>
- </sensor>
- <!-- RGB -->
- <sensor name="rgbd_frame_sensor" type="depth">
- <always_on>true</always_on>
- <update_rate>6.0</update_rate>
- <camera>
- <horizontal_fov>1.01229096616</horizontal_fov>
- <image>
- <format>R8G8B8</format>
- <width>320</width>
- <height>240</height>
- </image>
- <clip>
- <near>0.45</near>
- <far>10.0</far>
- </clip>
- </camera>
- <plugin filename="libgazebo_ros_openni_kinect.so" name="rgbd_frame_controller">
- <alwaysOn>true</alwaysOn>
- <updateRate>6.0</updateRate>
- <cameraName>rgbd</cameraName>
- <imageTopicName>rgb/image_raw</imageTopicName>
- <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
- <pointCloudTopicName>rgb/points</pointCloudTopicName>
- <frameName>rgbd_optical_frame</frameName>
- <pointCloudCutoff>0.45</pointCloudCutoff>
- <rangeMax>10.0</rangeMax>
- <distalostionK1>0.00000001</distalostionK1>
- <distalostionK2>0.00000001</distalostionK2>
- <distalostionK3>0.00000001</distalostionK3>
- <distalostionT1>0.00000001</distalostionT1>
- <distalostionT2>0.00000001</distalostionT2>
- </plugin>
- </sensor>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <transmission name="talos_trans">
- <type>transmission_interface/HalfDifferentialTransmission</type>
- <actuator name="head_1_motor">
- <role>actuator1</role>
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <actuator name="head_2_motor">
- <role>actuator2</role>
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="head_1_joint">
- <role>joint1</role>
- <offset>0.0</offset>
- <mechanicalReduction>1.0</mechanicalReduction>
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- <joint name="head_2_joint">
- <role>joint2</role>
- <offset>0.0</offset>
- <mechanicalReduction>2.0</mechanicalReduction>
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <!--************************-->
- <!-- SHOULDER -->
- <!--************************-->
- <link name="arm_left_1_link">
- <!-- TODO: Missing reflects of inertias -->
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.01346 0.0913 0.04812"/>
- <!-- <mass value="1.52896"/> -->
- <mass value="1.42896"/>
- <inertia ixx="0.00555100000" ixy="-0.00073100000" ixz="0.00000800000" iyy="0.00167300000" iyz="-0.00006000000" izz="0.00582200000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_1_collision.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_1_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_left_1_joint" type="revolute">
- <parent link="torso_2_link"/>
- <child link="arm_left_1_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.1575 0.23200"/>
- <axis xyz="0 0 1"/>
- <limit effort="44.64" lower="-1.57079632679" upper="0.523598775598" velocity="2.7"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-90.00000 * deg_to_rad + arm_eps}"
- soft_upper_limit="${30.00000 * deg_to_rad - arm_eps}" /> -->
- </joint>
- <link name="arm_left_2_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.02607 0.00049 -0.05209"/>
- <!-- <mass value="1.77729"/> -->
- <mass value="1.67729"/>
- <inertia ixx="0.00708700000" ixy="-0.00001400000" ixz="0.00214200000" iyy="0.00793600000" iyz="0.00003000000" izz="0.00378800000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_2_collision.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_2_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_left_2_joint" type="revolute">
- <parent link="arm_left_1_link"/>
- <child link="arm_left_2_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00493 0.1365 0.04673"/>
- <axis xyz="1 0 0"/>
- <limit effort="22.32" lower="0.0" upper="2.87979326579" velocity="3.66"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${0.00000 * deg_to_rad + arm_eps}"
- soft_upper_limit="${165.00000 * deg_to_rad - arm_eps}" /> -->
- </joint>
- <link name="arm_left_3_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00841 0.01428 -0.22291"/>
- <!-- <mass value="1.57029"/> -->
- <mass value="1.47029"/>
- <inertia ixx="0.00433200000" ixy="0.00015300000" ixz="-0.00049600000" iyy="0.00434000000" iyz="-0.00060900000" izz="0.00254300000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_3_collision.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_3_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_left_3_joint" type="revolute">
- <parent link="arm_left_2_link"/>
- <child link="arm_left_3_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
- <axis xyz="0 0 1"/>
- <limit effort="17.86" lower="-2.44346095279" upper="2.44346095279" velocity="4.58"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-140.0 * deg_to_rad + arm_eps}"
- soft_upper_limit="${140.0 * deg_to_rad - arm_eps}" /> -->
- </joint>
- <!--************************-->
- <!-- ELBOW -->
- <!--************************-->
- <link name="arm_left_4_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00655 -0.02107 -0.02612"/>
- <!-- <mass value="1.20216"/> -->
- <mass value="1.10216"/>
- <inertia ixx="0.00221700000" ixy="-0.00010100000" ixz="0.00028800000" iyy="0.00241800000" iyz="-0.00039300000" izz="0.00111500000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_4_collision.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_4_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_left_4_joint" type="revolute">
- <parent link="arm_left_3_link"/>
- <child link="arm_left_4_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.02000 0.00000 -0.27300"/>
- <axis xyz="0 1 0"/>
- <limit effort="17.86" lower="-2.35619449019" upper="0.0" velocity="4.58"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-135.0 * deg_to_rad + arm_eps}"
- soft_upper_limit="${0.0 * deg_to_rad - arm_eps}" /> -->
- </joint>
- <gazebo reference="arm_left_1_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="arm_left_2_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="arm_left_3_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="arm_left_4_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="arm_left_1_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="arm_left_2_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="arm_left_3_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="arm_left_4_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <!--************************-->
- <!-- WRIST -->
- <!--************************-->
- <!--************************-->
- <!-- WRIST -->
- <!--************************-->
- <link name="arm_left_5_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00006 0.00326 0.07963"/>
- <!-- <mass value="1.87792"/> -->
- <mass value="1.77792"/>
- <inertia ixx="0.00349500000" ixy="-0.00001300000" ixz="-0.00001000000" iyy="0.00436800000" iyz="0.00009700000" izz="0.00228300000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_5_collision.STL" scale="1 1 1"/>
- </geometry>
- <material name="LightGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_5_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_left_5_joint" type="revolute">
- <parent link="arm_left_4_link"/>
- <child link="arm_left_5_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="-0.02000 0.00000 -0.26430"/>
- <axis xyz="0 0 1"/>
- <limit effort="3" lower="-2.53072741539" upper="2.53072741539" velocity="1.95"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-145.00000 * deg_to_rad + wrist_eps}"
- soft_upper_limit="${145.00000 * deg_to_rad - wrist_eps}" /> -->
- </joint>
- <link name="arm_left_6_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00002 -0.00197 -0.00059"/>
- <!-- <mass value="0.40931"/> -->
- <mass value="0.30931"/>
- <inertia ixx="0.00010700000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00014100000" iyz="-0.00000000000" izz="0.00015400000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_6_collision.STL" scale="1 1 1"/>
- </geometry>
- <material name="LightGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_6_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_left_6_joint" type="revolute">
- <parent link="arm_left_5_link"/>
- <child link="arm_left_6_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
- <axis xyz="1 0 0"/>
- <limit effort="6.6" lower="-1.3962634016" upper="1.3962634016" velocity="1.76"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-80.00000 * deg_to_rad + eps_radians}"
- soft_upper_limit="${80.00000 * deg_to_rad - eps_radians}" /> -->
- </joint>
- <link name="arm_left_7_link">
- <!-- WRONG VALUES
- <inertial>
- <origin xyz="-0.00089 0.00365 -0.07824" rpy="0.00000 0.00000 0.00000"/>
- <mass value="1.02604"/>
- <inertia ixx="0.00151400000" ixy="0.00000600000" ixz="0.00006600000"
- iyy="0.00146400000" iyz="0.00001200000"
- izz="0.00090300000"/>
- </inertial>
- -->
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.007525 0.001378 -0.024630"/>
- <mass value="0.308441"/>
- <inertia ixx="0.000309" ixy="0.000002" ixz="-0.000002" iyy="0.000219" iyz="0.000012" izz="0.000176"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_7.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_7_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_left_7_joint" type="revolute">
- <parent link="arm_left_6_link"/>
- <child link="arm_left_7_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
- <axis xyz="0 1 0"/>
- <limit effort="6.6" lower="-0.698131700798" upper="0.698131700798" velocity="1.76"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-40.00000 * deg_to_rad + eps_radians}"
- soft_upper_limit="${40.00000 * deg_to_rad - eps_radians}" /> -->
- </joint>
- <gazebo reference="arm_left_5_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="arm_left_6_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="arm_left_7_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="arm_left_5_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="arm_left_6_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="arm_left_7_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <!-- extensions -->
- <transmission name="arm_left_5_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="arm_left_5_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_left_5_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="wrist_left_trans">
- <type>transmission_interface/DifferentialTransmission</type>
- <actuator name="arm_left_6_motor">
- <role>actuator1</role>
- <mechanicalReduction>-1.0</mechanicalReduction>
- </actuator>
- <actuator name="arm_left_7_motor">
- <role>actuator2</role>
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_left_6_joint">
- <role>joint1</role>
- <offset>0.0</offset>
- <mechanicalReduction>-1.0</mechanicalReduction>
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- <joint name="arm_left_7_joint">
- <role>joint2</role>
- <offset>0.0</offset>
- <mechanicalReduction>-1.0</mechanicalReduction>
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <!-- extensions -->
- <transmission name="arm_left_1_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="arm_left_1_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_left_1_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="arm_left_2_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="arm_left_2_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_left_2_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="arm_left_3_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="arm_left_3_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_left_3_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="arm_left_4_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="arm_left_4_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_left_4_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <!--************************-->
- <!-- SHOULDER -->
- <!--************************-->
- <link name="arm_right_1_link">
- <!-- TODO: Missing reflects of inertias -->
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.01346 -0.0913 0.04812"/>
- <!-- <mass value="1.52896"/> -->
- <mass value="1.42896"/>
- <inertia ixx="0.00555100000" ixy="-0.00073100000" ixz="0.00000800000" iyy="0.00167300000" iyz="-0.00006000000" izz="0.00582200000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_1_collision.STL" scale="1 -1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_1_collision.STL" scale="1 -1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_right_1_joint" type="revolute">
- <parent link="torso_2_link"/>
- <child link="arm_right_1_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 -0.1575 0.23200"/>
- <axis xyz="0 0 1"/>
- <limit effort="44.64" lower="-0.523598775598" upper="1.57079632679" velocity="2.7"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-90.00000 * deg_to_rad + arm_eps}"
- soft_upper_limit="${30.00000 * deg_to_rad - arm_eps}" /> -->
- </joint>
- <link name="arm_right_2_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.02607 0.00049 -0.05209"/>
- <!-- <mass value="1.77729"/> -->
- <mass value="1.67729"/>
- <inertia ixx="0.00708700000" ixy="-0.00001400000" ixz="0.00214200000" iyy="0.00793600000" iyz="0.00003000000" izz="0.00378800000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_2_collision.STL" scale="1 -1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_2_collision.STL" scale="1 -1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_right_2_joint" type="revolute">
- <parent link="arm_right_1_link"/>
- <child link="arm_right_2_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00493 -0.1365 0.04673"/>
- <axis xyz="1 0 0"/>
- <limit effort="22.32" lower="-2.87979326579" upper="0.0" velocity="3.66"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${0.00000 * deg_to_rad + arm_eps}"
- soft_upper_limit="${165.00000 * deg_to_rad - arm_eps}" /> -->
- </joint>
- <link name="arm_right_3_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00841 0.01428 -0.22291"/>
- <!-- <mass value="1.57029"/> -->
- <mass value="1.47029"/>
- <inertia ixx="0.00433200000" ixy="0.00015300000" ixz="-0.00049600000" iyy="0.00434000000" iyz="-0.00060900000" izz="0.00254300000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_3_collision.STL" scale="1 -1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_3_collision.STL" scale="1 -1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_right_3_joint" type="revolute">
- <parent link="arm_right_2_link"/>
- <child link="arm_right_3_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
- <axis xyz="0 0 1"/>
- <limit effort="17.86" lower="-2.44346095279" upper="2.44346095279" velocity="4.58"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-140.0 * deg_to_rad + arm_eps}"
- soft_upper_limit="${140.0 * deg_to_rad - arm_eps}" /> -->
- </joint>
- <!--************************-->
- <!-- ELBOW -->
- <!--************************-->
- <link name="arm_right_4_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00655 -0.02107 -0.02612"/>
- <!-- <mass value="1.20216"/> -->
- <mass value="1.10216"/>
- <inertia ixx="0.00221700000" ixy="-0.00010100000" ixz="0.00028800000" iyy="0.00241800000" iyz="-0.00039300000" izz="0.00111500000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_4_collision.STL" scale="1 -1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_4_collision.STL" scale="1 -1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_right_4_joint" type="revolute">
- <parent link="arm_right_3_link"/>
- <child link="arm_right_4_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.02000 0.00000 -0.27300"/>
- <axis xyz="0 1 0"/>
- <limit effort="17.86" lower="-2.35619449019" upper="0.0" velocity="4.58"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-135.0 * deg_to_rad + arm_eps}"
- soft_upper_limit="${0.0 * deg_to_rad - arm_eps}" /> -->
- </joint>
- <gazebo reference="arm_right_1_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="arm_right_2_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="arm_right_3_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="arm_right_4_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="arm_right_1_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="arm_right_2_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="arm_right_3_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="arm_right_4_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <!--************************-->
- <!-- WRIST -->
- <!--************************-->
- <!--************************-->
- <!-- WRIST -->
- <!--************************-->
- <link name="arm_right_5_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00006 0.00326 0.07963"/>
- <!-- <mass value="1.87792"/> -->
- <mass value="1.77792"/>
- <inertia ixx="0.00349500000" ixy="-0.00001300000" ixz="-0.00001000000" iyy="0.00436800000" iyz="0.00009700000" izz="0.00228300000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_5_collision.STL" scale="1 -1 1"/>
- </geometry>
- <material name="LightGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_5_collision.STL" scale="1 -1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_right_5_joint" type="revolute">
- <parent link="arm_right_4_link"/>
- <child link="arm_right_5_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="-0.02000 0.00000 -0.26430"/>
- <axis xyz="0 0 1"/>
- <limit effort="3" lower="-2.53072741539" upper="2.53072741539" velocity="1.95"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-145.00000 * deg_to_rad + wrist_eps}"
- soft_upper_limit="${145.00000 * deg_to_rad - wrist_eps}" /> -->
- </joint>
- <link name="arm_right_6_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00002 -0.00197 -0.00059"/>
- <!-- <mass value="0.40931"/> -->
- <mass value="0.30931"/>
- <inertia ixx="0.00010700000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00014100000" iyz="-0.00000000000" izz="0.00015400000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_6_collision.STL" scale="1 -1 1"/>
- </geometry>
- <material name="LightGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_6_collision.STL" scale="1 -1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_right_6_joint" type="revolute">
- <parent link="arm_right_5_link"/>
- <child link="arm_right_6_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
- <axis xyz="1 0 0"/>
- <limit effort="6.6" lower="-1.3962634016" upper="1.3962634016" velocity="1.76"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-80.00000 * deg_to_rad + eps_radians}"
- soft_upper_limit="${80.00000 * deg_to_rad - eps_radians}" /> -->
- </joint>
- <link name="arm_right_7_link">
- <!-- WRONG VALUES
- <inertial>
- <origin xyz="-0.00089 0.00365 -0.07824" rpy="0.00000 0.00000 0.00000"/>
- <mass value="1.02604"/>
- <inertia ixx="0.00151400000" ixy="0.00000600000" ixz="0.00006600000"
- iyy="0.00146400000" iyz="0.00001200000"
- izz="0.00090300000"/>
- </inertial>
- -->
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.007525 0.001378 -0.024630"/>
- <mass value="0.308441"/>
- <inertia ixx="0.000309" ixy="0.000002" ixz="-0.000002" iyy="0.000219" iyz="0.000012" izz="0.000176"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_7_collision.STL" scale="1 -1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_7_collision.STL" scale="1 -1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_right_7_joint" type="revolute">
- <parent link="arm_right_6_link"/>
- <child link="arm_right_7_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
- <axis xyz="0 1 0"/>
- <limit effort="6.6" lower="-0.698131700798" upper="0.698131700798" velocity="1.76"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-40.00000 * deg_to_rad + eps_radians}"
- soft_upper_limit="${40.00000 * deg_to_rad - eps_radians}" /> -->
- </joint>
- <gazebo reference="arm_right_5_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="arm_right_6_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="arm_right_7_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="arm_right_5_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="arm_right_6_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="arm_right_7_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <!-- extensions -->
- <transmission name="arm_right_5_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="arm_right_5_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_right_5_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="wrist_right_trans">
- <type>transmission_interface/DifferentialTransmission</type>
- <actuator name="arm_right_6_motor">
- <role>actuator1</role>
- <mechanicalReduction>-1.0</mechanicalReduction>
- </actuator>
- <actuator name="arm_right_7_motor">
- <role>actuator2</role>
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_right_6_joint">
- <role>joint1</role>
- <offset>0.0</offset>
- <mechanicalReduction>-1.0</mechanicalReduction>
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- <joint name="arm_right_7_joint">
- <role>joint2</role>
- <offset>0.0</offset>
- <mechanicalReduction>1.0</mechanicalReduction>
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <!-- extensions -->
- <transmission name="arm_right_1_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="arm_right_1_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_right_1_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="arm_right_2_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="arm_right_2_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_right_2_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="arm_right_3_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="arm_right_3_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_right_3_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="arm_right_4_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="arm_right_4_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_right_4_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <!--************************-->
- <!-- ft sensor -->
- <!--************************-->
- <link name="wrist_right_ft_link">
- <inertial>
- <mass value="0.1"/>
- <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <cylinder length="0.0157" radius="0.0225"/>
- </geometry>
- <material name="LightGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <cylinder length="0.0157" radius="0.0225"/>
- </geometry>
- </collision>
- </link>
- <joint name="wrist_right_ft_joint" type="fixed">
- <parent link="arm_right_7_link"/>
- <child link="wrist_right_ft_link"/>
- <origin rpy="0.0 0 -1.57079632679" xyz="0 0 -0.051"/>
- </joint>
- <!--***********************-->
- <!-- FT TOOL -->
- <!--***********************-->
- <link name="wrist_right_ft_tool_link">
- <inertial>
- <mass value="0.1"/>
- <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
- <visual>
- <origin rpy="0 0.0 0" xyz="0.0 0 0"/>
- <geometry>
- <cylinder length="0.00975" radius="0.025"/>
- </geometry>
- <material name="FlatBlack"/>
- </visual>
- <collision>
- <origin rpy="0 0.0 0" xyz="0.0 0 0"/>
- <geometry>
- <cylinder length="0.00975" radius="0.025"/>
- </geometry>
- </collision>
- </link>
- <joint name="wrist_right_tool_joint" type="fixed">
- <parent link="wrist_right_ft_link"/>
- <child link="wrist_right_ft_tool_link"/>
- <origin rpy="0 0 -1.57079632679" xyz="0 0 -0.012725"/>
- </joint>
- <!--************************-->
- <!-- ft sensor -->
- <!--************************-->
- <link name="wrist_left_ft_link">
- <inertial>
- <mass value="0.1"/>
- <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <cylinder length="0.0157" radius="0.0225"/>
- </geometry>
- <material name="LightGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <cylinder length="0.0157" radius="0.0225"/>
- </geometry>
- </collision>
- </link>
- <joint name="wrist_left_ft_joint" type="fixed">
- <parent link="arm_left_7_link"/>
- <child link="wrist_left_ft_link"/>
- <origin rpy="0.0 0 -4.71238898038" xyz="0 0 -0.051"/>
- </joint>
- <!--***********************-->
- <!-- FT TOOL -->
- <!--***********************-->
- <link name="wrist_left_ft_tool_link">
- <inertial>
- <mass value="0.1"/>
- <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
- <visual>
- <origin rpy="0 0.0 0" xyz="0.0 0 0"/>
- <geometry>
- <cylinder length="0.00975" radius="0.025"/>
- </geometry>
- <material name="FlatBlack"/>
- </visual>
- <collision>
- <origin rpy="0 0.0 0" xyz="0.0 0 0"/>
- <geometry>
- <cylinder length="0.00975" radius="0.025"/>
- </geometry>
- </collision>
- </link>
- <joint name="wrist_left_tool_joint" type="fixed">
- <parent link="wrist_left_ft_link"/>
- <child link="wrist_left_ft_tool_link"/>
- <origin rpy="0 0 4.71238898038" xyz="0 0 -0.012725"/>
- </joint>
- <link name="gripper_left_base_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00534 0.00362 -0.02357"/>
- <mass value="0.61585"/>
- <inertia ixx="0.00047200000" ixy="-0.00000800000" ixz="0.00003500000" iyy="0.00052100000" iyz="0.00000000000" izz="0.00069000000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/base_link.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_left_base_link_joint" type="fixed">
- <parent link="wrist_left_ft_tool_link"/>
- <child link="gripper_left_base_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.02875"/>
- <axis xyz="0 0 0"/>
- </joint>
- <link name="gripper_left_motor_double_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.02270 0.01781 -0.00977"/>
- <mass value="0.16889"/>
- <!-- In order for Gazebo not to explode we needed to add these 0.001 values to the diagonal,
- also the tool pal_dynamics InertiaMassVisualization gave NaN on the computation of the inertia box -->
- <inertia ixx="0.001159" ixy="-0.00007000000" ixz="0.00003800000" iyy="0.001221" iyz="-0.00005300000" izz="0.001268"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
- </geometry>
- <material name="Orange"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_left_joint" type="revolute">
- <parent link="gripper_left_base_link"/>
- <child link="gripper_left_motor_double_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.02025 -0.03"/>
- <axis xyz="1 0 0"/>
- <limit effort="1.0" lower="-1.0471975512" upper="0.0" velocity="1.0"/>
- <dynamics damping="1.0" friction="1.0"/>
- </joint>
- <link name="gripper_left_inner_double_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00056 0.03358 -0.01741"/>
- <mass value="0.11922"/>
- <inertia ixx="0.00009100000" ixy="0.00000100000" ixz="-0.00000100000" iyy="0.00015600000" iyz="-0.00003200000" izz="0.00012600000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
- </geometry>
- <material name="Orange"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_left_inner_double_joint" type="fixed">
- <parent link="gripper_left_base_link"/>
- <child link="gripper_left_inner_double_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00525 -0.05598"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="-1.0471975512" upper="0.0" velocity="1.0"/>
- <mimic joint="gripper_left_joint" multiplier="1.0" offset="0.0"/>
- </joint>
- <link name="gripper_left_fingertip_1_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
- <mass value="0.02630"/>
- <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_left_fingertip_1_joint" type="fixed">
- <parent link="gripper_left_inner_double_link"/>
- <child link="gripper_left_fingertip_1_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.03200 0.04589 -0.06553"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
- <mimic joint="gripper_left_joint" multiplier="-1.0" offset="0.0"/>
- </joint>
- <link name="gripper_left_fingertip_2_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
- <mass value="0.02630"/>
- <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_left_fingertip_2_joint" type="fixed">
- <parent link="gripper_left_inner_double_link"/>
- <child link="gripper_left_fingertip_2_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="-0.03200 0.04589 -0.06553"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
- <mimic joint="gripper_left_joint" multiplier="-1.0" offset="0.0"/>
- </joint>
- <link name="gripper_left_motor_single_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.02589 -0.01284 -0.00640"/>
- <mass value="0.14765"/>
- <inertia ixx="0.00011500000" ixy="0.00005200000" ixz="0.00002500000" iyy="0.00015300000" iyz="0.00003400000" izz="0.00019000000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
- </geometry>
- <material name="Orange"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_left_motor_single_joint" type="fixed">
- <parent link="gripper_left_base_link"/>
- <child link="gripper_left_motor_single_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 -0.02025 -0.03000"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
- <mimic joint="gripper_left_joint" multiplier="-1.0" offset="0.0"/>
- </joint>
- <link name="gripper_left_inner_single_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 -0.03253 -0.01883"/>
- <mass value="0.05356"/>
- <inertia ixx="0.00004700000" ixy="-0.00000000000" ixz="-0.00000000000" iyy="0.00003500000" iyz="0.00001700000" izz="0.00002400000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
- </geometry>
- <material name="Orange"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_left_inner_single_joint" type="fixed">
- <parent link="gripper_left_base_link"/>
- <child link="gripper_left_inner_single_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 -0.00525 -0.05598"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
- <mimic joint="gripper_left_joint" multiplier="-1.0" offset="0.0"/>
- </joint>
- <link name="gripper_left_fingertip_3_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
- <mass value="0.02630"/>
- <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_left_fingertip_3_joint" type="fixed">
- <parent link="gripper_left_inner_single_link"/>
- <child link="gripper_left_fingertip_3_link"/>
- <origin rpy="0.0 0.0 3.14159265359" xyz="0.00000 -0.04589 -0.06553"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
- <mimic joint="gripper_left_joint" multiplier="-1.0" offset="0.0"/>
- </joint>
- <gazebo>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_inner_double_joint">
- <joint>gripper_left_joint</joint>
- <mimicJoint>gripper_left_inner_double_joint</mimicJoint>
- <multiplier>1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_fingertip_1_joint">
- <joint>gripper_left_joint</joint>
- <mimicJoint>gripper_left_fingertip_1_joint</mimicJoint>
- <multiplier>-1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_fingertip_2_joint">
- <joint>gripper_left_joint</joint>
- <mimicJoint>gripper_left_fingertip_2_joint</mimicJoint>
- <multiplier>-1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_inner_single_joint">
- <joint>gripper_left_joint</joint>
- <mimicJoint>gripper_left_inner_single_joint</mimicJoint>
- <multiplier>-1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_motor_single_joint">
- <joint>gripper_left_joint</joint>
- <mimicJoint>gripper_left_motor_single_joint</mimicJoint>
- <multiplier>-1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_fingertip_3_joint">
- <joint>gripper_left_joint</joint>
- <mimicJoint>gripper_left_fingertip_3_joint</mimicJoint>
- <multiplier>-1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- </gazebo>
- <!-- <plugin filename="libgazebo_underactuated_finger.so" name="gazebo_${name}_underactuated">
- <actuatedJoint>${name}_joint</actuatedJoint>
- <virtualJoint>
- <name>${name}_inner_double_joint</name>
- <scale_factor>1.0</scale_factor>
- </virtualJoint> -->
- <!-- <virtualJoint>
- <name>${name}_fingertip_1_joint</name>
- <scale_factor>-1.0</scale_factor>
- </virtualJoint>
- <virtualJoint>
- <name>${name}_fingertip_2_joint</name>
- <scale_factor>-1.0</scale_factor>
- </virtualJoint>
- <virtualJoint>
- <name>${name}_motor_single_joint</name>
- <scale_factor>1.0</scale_factor>
- </virtualJoint>
- <virtualJoint>
- <name>${name}_fingertip_3_joint</name>
- <scale_factor>-1.0</scale_factor>
- </virtualJoint> -->
- <!-- </plugin> -->
- <gazebo reference="gripper_left_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_left_inner_double_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_left_fingertip_1_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_left_fingertip_2_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_left_motor_single_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_left_fingertip_3_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_left_base_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="gripper_left_motor_double_link">
- <material>Gazebo/Orange</material>
- </gazebo>
- <gazebo reference="gripper_left_inner_double_link">
- <material>Gazebo/Orange</material>
- </gazebo>
- <gazebo reference="gripper_left_fingertip_1_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="gripper_left_motor_single_link">
- <material>Gazebo/Orange</material>
- </gazebo>
- <gazebo reference="gripper_left_inner_single_link">
- <material>Gazebo/Orange</material>
- </gazebo>
- <gazebo reference="gripper_left_fingertip_2_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="gripper_left_fingertip_3_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <transmission name="gripper_left_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="gripper_left_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="gripper_left_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <!-- virtual mimic joints -->
- <!-- <xacro:gripper_virtual_transmission name="${name}_inner_double" reduction="1.0"/>
- <xacro:gripper_virtual_transmission name="${name}_fingertip_1" reduction="1.0"/>
- <xacro:gripper_virtual_transmission name="${name}_fingertip_2" reduction="1.0"/>
- <xacro:gripper_virtual_transmission name="${name}_inner_single" reduction="1.0"/>
- <xacro:gripper_virtual_transmission name="${name}_motor_single" reduction="1.0"/>
- <xacro:gripper_virtual_transmission name="${name}_fingertip_3" reduction="1.0"/> -->
- <link name="gripper_right_base_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00534 0.00362 -0.02357"/>
- <mass value="0.61585"/>
- <inertia ixx="0.00047200000" ixy="-0.00000800000" ixz="0.00003500000" iyy="0.00052100000" iyz="0.00000000000" izz="0.00069000000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/base_link.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_right_base_link_joint" type="fixed">
- <parent link="wrist_right_ft_tool_link"/>
- <child link="gripper_right_base_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.02875"/>
- <axis xyz="0 0 0"/>
- </joint>
- <link name="gripper_right_motor_double_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.02270 0.01781 -0.00977"/>
- <mass value="0.16889"/>
- <!-- In order for Gazebo not to explode we needed to add these 0.001 values to the diagonal,
- also the tool pal_dynamics InertiaMassVisualization gave NaN on the computation of the inertia box -->
- <inertia ixx="0.001159" ixy="-0.00007000000" ixz="0.00003800000" iyy="0.001221" iyz="-0.00005300000" izz="0.001268"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
- </geometry>
- <material name="Orange"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_right_joint" type="revolute">
- <parent link="gripper_right_base_link"/>
- <child link="gripper_right_motor_double_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.02025 -0.03"/>
- <axis xyz="1 0 0"/>
- <limit effort="1.0" lower="-1.0471975512" upper="0.0" velocity="1.0"/>
- <dynamics damping="1.0" friction="1.0"/>
- </joint>
- <link name="gripper_right_inner_double_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00056 0.03358 -0.01741"/>
- <mass value="0.11922"/>
- <inertia ixx="0.00009100000" ixy="0.00000100000" ixz="-0.00000100000" iyy="0.00015600000" iyz="-0.00003200000" izz="0.00012600000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
- </geometry>
- <material name="Orange"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_right_inner_double_joint" type="fixed">
- <parent link="gripper_right_base_link"/>
- <child link="gripper_right_inner_double_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00525 -0.05598"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="-1.0471975512" upper="0.0" velocity="1.0"/>
- <mimic joint="gripper_right_joint" multiplier="1.0" offset="0.0"/>
- </joint>
- <link name="gripper_right_fingertip_1_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
- <mass value="0.02630"/>
- <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_right_fingertip_1_joint" type="fixed">
- <parent link="gripper_right_inner_double_link"/>
- <child link="gripper_right_fingertip_1_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.03200 0.04589 -0.06553"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
- <mimic joint="gripper_right_joint" multiplier="-1.0" offset="0.0"/>
- </joint>
- <link name="gripper_right_fingertip_2_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
- <mass value="0.02630"/>
- <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_right_fingertip_2_joint" type="fixed">
- <parent link="gripper_right_inner_double_link"/>
- <child link="gripper_right_fingertip_2_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="-0.03200 0.04589 -0.06553"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
- <mimic joint="gripper_right_joint" multiplier="-1.0" offset="0.0"/>
- </joint>
- <link name="gripper_right_motor_single_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.02589 -0.01284 -0.00640"/>
- <mass value="0.14765"/>
- <inertia ixx="0.00011500000" ixy="0.00005200000" ixz="0.00002500000" iyy="0.00015300000" iyz="0.00003400000" izz="0.00019000000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
- </geometry>
- <material name="Orange"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_right_motor_single_joint" type="fixed">
- <parent link="gripper_right_base_link"/>
- <child link="gripper_right_motor_single_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 -0.02025 -0.03000"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
- <mimic joint="gripper_right_joint" multiplier="-1.0" offset="0.0"/>
- </joint>
- <link name="gripper_right_inner_single_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 -0.03253 -0.01883"/>
- <mass value="0.05356"/>
- <inertia ixx="0.00004700000" ixy="-0.00000000000" ixz="-0.00000000000" iyy="0.00003500000" iyz="0.00001700000" izz="0.00002400000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
- </geometry>
- <material name="Orange"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_right_inner_single_joint" type="fixed">
- <parent link="gripper_right_base_link"/>
- <child link="gripper_right_inner_single_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 -0.00525 -0.05598"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
- <mimic joint="gripper_right_joint" multiplier="-1.0" offset="0.0"/>
- </joint>
- <link name="gripper_right_fingertip_3_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
- <mass value="0.02630"/>
- <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_right_fingertip_3_joint" type="fixed">
- <parent link="gripper_right_inner_single_link"/>
- <child link="gripper_right_fingertip_3_link"/>
- <origin rpy="0.0 0.0 3.14159265359" xyz="0.00000 -0.04589 -0.06553"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
- <mimic joint="gripper_right_joint" multiplier="-1.0" offset="0.0"/>
- </joint>
- <gazebo>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_inner_double_joint">
- <joint>gripper_right_joint</joint>
- <mimicJoint>gripper_right_inner_double_joint</mimicJoint>
- <multiplier>1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_fingertip_1_joint">
- <joint>gripper_right_joint</joint>
- <mimicJoint>gripper_right_fingertip_1_joint</mimicJoint>
- <multiplier>-1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_fingertip_2_joint">
- <joint>gripper_right_joint</joint>
- <mimicJoint>gripper_right_fingertip_2_joint</mimicJoint>
- <multiplier>-1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_inner_single_joint">
- <joint>gripper_right_joint</joint>
- <mimicJoint>gripper_right_inner_single_joint</mimicJoint>
- <multiplier>-1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_motor_single_joint">
- <joint>gripper_right_joint</joint>
- <mimicJoint>gripper_right_motor_single_joint</mimicJoint>
- <multiplier>-1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_fingertip_3_joint">
- <joint>gripper_right_joint</joint>
- <mimicJoint>gripper_right_fingertip_3_joint</mimicJoint>
- <multiplier>-1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- </gazebo>
- <!-- <plugin filename="libgazebo_underactuated_finger.so" name="gazebo_${name}_underactuated">
- <actuatedJoint>${name}_joint</actuatedJoint>
- <virtualJoint>
- <name>${name}_inner_double_joint</name>
- <scale_factor>1.0</scale_factor>
- </virtualJoint> -->
- <!-- <virtualJoint>
- <name>${name}_fingertip_1_joint</name>
- <scale_factor>-1.0</scale_factor>
- </virtualJoint>
- <virtualJoint>
- <name>${name}_fingertip_2_joint</name>
- <scale_factor>-1.0</scale_factor>
- </virtualJoint>
- <virtualJoint>
- <name>${name}_motor_single_joint</name>
- <scale_factor>1.0</scale_factor>
- </virtualJoint>
- <virtualJoint>
- <name>${name}_fingertip_3_joint</name>
- <scale_factor>-1.0</scale_factor>
- </virtualJoint> -->
- <!-- </plugin> -->
- <gazebo reference="gripper_right_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_right_inner_double_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_right_fingertip_1_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_right_fingertip_2_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_right_motor_single_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_right_fingertip_3_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_right_base_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="gripper_right_motor_double_link">
- <material>Gazebo/Orange</material>
- </gazebo>
- <gazebo reference="gripper_right_inner_double_link">
- <material>Gazebo/Orange</material>
- </gazebo>
- <gazebo reference="gripper_right_fingertip_1_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="gripper_right_motor_single_link">
- <material>Gazebo/Orange</material>
- </gazebo>
- <gazebo reference="gripper_right_inner_single_link">
- <material>Gazebo/Orange</material>
- </gazebo>
- <gazebo reference="gripper_right_fingertip_2_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="gripper_right_fingertip_3_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <transmission name="gripper_right_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="gripper_right_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="gripper_right_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <!-- virtual mimic joints -->
- <!-- <xacro:gripper_virtual_transmission name="${name}_inner_double" reduction="1.0"/>
- <xacro:gripper_virtual_transmission name="${name}_fingertip_1" reduction="1.0"/>
- <xacro:gripper_virtual_transmission name="${name}_fingertip_2" reduction="1.0"/>
- <xacro:gripper_virtual_transmission name="${name}_inner_single" reduction="1.0"/>
- <xacro:gripper_virtual_transmission name="${name}_motor_single" reduction="1.0"/>
- <xacro:gripper_virtual_transmission name="${name}_fingertip_3" reduction="1.0"/> -->
- <!-- Joint hip_z (mesh link) : child link hip_x -> parent link base_link -->
- <link name="leg_left_1_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.02320 -0.00009 0.04949"/>
- <mass value="1.88569"/>
- <inertia ixx="0.00384800000" ixy="0.00003200000" ixz="-0.00082600000" iyy="0.00599400000" iyz="0.00007800000" izz="0.00322200000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_z_lo_res.stl" scale="1 1.0 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_z_collision.stl" scale="1 1.0 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_left_1_joint" type="revolute">
- <parent link="base_link"/>
- <child link="leg_left_1_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="-0.02 0.085 -0.27105"/>
- <axis xyz="0 0 1"/>
- <limit effort="100" lower="-0.349065850399" upper="1.57079632679" velocity="3.87"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- Joint hip_x (mesh link) : child link hip_y -> parent link hip_z -->
- <link name="leg_left_2_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.01583 -0.00021 0.00619"/>
- <mass value="2.37607"/>
- <inertia ixx="0.00342100000" ixy="-0.00011300000" ixz="-0.00022500000" iyy="0.00402400000" iyz="-0.00003100000" izz="0.00416400000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0.0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_x_lo_res.stl" scale="1 1.0 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0.0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_x_collision.stl" scale="1 1.0 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_left_2_joint" type="revolute">
- <parent link="leg_left_1_link"/>
- <child link="leg_left_2_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
- <axis xyz="1 0 0"/>
- <limit effort="160" lower="-0.5236" upper="0.5236" velocity="5.8"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- Joint hip_y (mesh link) : child link knee -> parent link hip_x -->
- <link name="leg_left_3_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00658 0.06563 -0.17278"/>
- <mass value="6.82734"/>
- <inertia ixx="0.12390600000" ixy="-0.000412" ixz="-0.00205900000" iyy="0.10844700000" iyz="0.016725" izz="0.02781200000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_y_lo_res.stl" scale="1 1.0 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_y_collision.stl" scale="1 1.0 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_left_3_joint" type="revolute">
- <parent link="leg_left_2_link"/>
- <child link="leg_left_3_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
- <axis xyz="0 1 0"/>
- <limit effort="160" lower="-2.095" upper="0.7" velocity="5.8"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- Joint knee (mesh link) : child link ankle_y -> parent link hip_y -->
- <link name="leg_left_4_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.01520 0.02331 -0.12063"/>
- <mass value="3.63668"/>
- <inertia ixx="0.03531500000" ixy="2.9e-05" ixz="-0.00016600000" iyy="0.02933600000" iyz="-0.001305" izz="0.01174000000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/knee_lo_res.stl" scale="1 1.0 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/knee_collision.stl" scale="1 1.0 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_left_4_joint" type="revolute">
- <parent link="leg_left_3_link"/>
- <child link="leg_left_4_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.38000"/>
- <axis xyz="0 1 0"/>
- <limit effort="300" lower="0" upper="2.618" velocity="7"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- Joint ankle_y (mesh link) : child link ankle_x -> parent link knee -->
- <link name="leg_left_5_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.01106 0.04708 0.05271"/>
- <mass value="1.24433"/>
- <inertia ixx="0.01148700000" ixy="-0.000686" ixz="-0.00052600000" iyy="0.00952600000" iyz="0.002633" izz="0.00390800000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0.0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/ankle_Y_lo_res.stl" scale="1 1.0 1"/>
- </geometry>
- <material name="Grey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0.0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/ankle_Y_collision.stl" scale="1 1.0 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_left_5_joint" type="revolute">
- <parent link="leg_left_4_link"/>
- <child link="leg_left_5_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.32500"/>
- <axis xyz="0 1 0"/>
- <limit effort="160" lower="-1.309" upper="0.768" velocity="5.8"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- Joint ankle_x (mesh link) : child link None -> parent link ankle_y -->
- <link name="leg_left_6_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.02087 -0.00019 -0.06059"/>
- <mass value="1.59457"/>
- <inertia ixx="0.00383800000" ixy="0.00001600000" ixz="-0.00104100000" iyy="0.00657200000" iyz="-0.00001700000" izz="0.00504400000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/ankle_X_lo_res.stl" scale="1 1.0 1"/>
- </geometry>
- <material name="Grey"/>
- </visual>
- <!--
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
- </geometry>
- </collision>
-
- -->
- <collision>
- <origin rpy="0 0 0" xyz="0 0 -0.1"/>
- <geometry>
- <box size="0.21 0.13 0.02"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_left_6_joint" type="revolute">
- <parent link="leg_left_5_link"/>
- <child link="leg_left_6_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
- <axis xyz="1 0 0"/>
- <limit effort="100" lower="-0.5236" upper="0.5236" velocity="4.8"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- from here is copy paste -->
- <link name="left_sole_link">
- <inertial>
- <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
- <mass value="0.01"/>
- <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
- </inertial>
- </link>
- <joint name="leg_left_sole_fix_joint" type="fixed">
- <parent link="leg_left_6_link"/>
- <child link="left_sole_link"/>
- <origin rpy="0 0 0" xyz="0.00 0.00 -0.107"/>
- <axis xyz="1 0 0"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <transmission name="leg_left_1_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_left_1_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_left_1_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="leg_left_2_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_left_2_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_left_2_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="leg_left_3_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_left_3_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_left_3_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="leg_left_4_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_left_4_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_left_4_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="leg_left_5_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_left_5_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_left_5_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="leg_left_6_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_left_6_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_left_6_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <gazebo reference="leg_left_1_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="leg_left_2_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="leg_left_3_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="leg_left_4_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="leg_left_5_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <!-- contact model for foot surface -->
- <gazebo reference="leg_left_6_link">
- <kp>1000000.0</kp>
- <kd>100.0</kd>
- <mu1>1.0</mu1>
- <mu2>1.0</mu2>
- <fdir1>1 0 0</fdir1>
- <maxVel>1.0</maxVel>
- <minDepth>0.00</minDepth>
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_left_1_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_left_2_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_left_3_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_left_4_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_left_5_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_left_6_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="leg_left_1_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="leg_left_2_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="leg_left_3_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="leg_left_4_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="leg_left_5_link">
- <material>Gazebo/White</material>
- </gazebo>
- <gazebo reference="leg_left_6_link">
- <material>Gazebo/White</material>
- </gazebo>
- <!-- Joint hip_z (mesh link) : child link hip_x -> parent link base_link -->
- <link name="leg_right_1_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.02320 -0.00009 0.04949"/>
- <mass value="1.88569"/>
- <inertia ixx="0.00384800000" ixy="0.00003200000" ixz="-0.00082600000" iyy="0.00599400000" iyz="0.00007800000" izz="0.00322200000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_z_lo_res.stl" scale="1 -1.0 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_z_collision.stl" scale="1 -1.0 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_right_1_joint" type="revolute">
- <parent link="base_link"/>
- <child link="leg_right_1_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="-0.02 -0.085 -0.27105"/>
- <axis xyz="0 0 1"/>
- <limit effort="100" lower="-1.57079632679" upper="0.349065850399" velocity="3.87"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- Joint hip_x (mesh link) : child link hip_y -> parent link hip_z -->
- <link name="leg_right_2_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.01583 -0.00021 0.00619"/>
- <mass value="2.37607"/>
- <inertia ixx="0.00342100000" ixy="-0.00011300000" ixz="-0.00022500000" iyy="0.00402400000" iyz="-0.00003100000" izz="0.00416400000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0.0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_x_lo_res.stl" scale="1 -1.0 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0.0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_x_collision.stl" scale="1 -1.0 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_right_2_joint" type="revolute">
- <parent link="leg_right_1_link"/>
- <child link="leg_right_2_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
- <axis xyz="1 0 0"/>
- <limit effort="160" lower="-0.5236" upper="0.5236" velocity="5.8"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- Joint hip_y (mesh link) : child link knee -> parent link hip_x -->
- <link name="leg_right_3_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00658 -0.06563 -0.17278"/>
- <mass value="6.82734"/>
- <inertia ixx="0.12390600000" ixy="0.000412" ixz="-0.00205900000" iyy="0.10844700000" iyz="-0.016725" izz="0.02781200000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_y_lo_res.stl" scale="1 -1.0 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_y_collision.stl" scale="1 -1.0 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_right_3_joint" type="revolute">
- <parent link="leg_right_2_link"/>
- <child link="leg_right_3_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
- <axis xyz="0 1 0"/>
- <limit effort="160" lower="-2.095" upper="0.7" velocity="5.8"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- Joint knee (mesh link) : child link ankle_y -> parent link hip_y -->
- <link name="leg_right_4_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.01520 -0.02331 -0.12063"/>
- <mass value="3.63668"/>
- <inertia ixx="0.03531500000" ixy="-2.9e-05" ixz="-0.00016600000" iyy="0.02933600000" iyz="0.001305" izz="0.01174000000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/knee_lo_res.stl" scale="1 -1.0 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/knee_collision.stl" scale="1 -1.0 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_right_4_joint" type="revolute">
- <parent link="leg_right_3_link"/>
- <child link="leg_right_4_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.38000"/>
- <axis xyz="0 1 0"/>
- <limit effort="300" lower="0" upper="2.618" velocity="7"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- Joint ankle_y (mesh link) : child link ankle_x -> parent link knee -->
- <link name="leg_right_5_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.01106 -0.04708 0.05271"/>
- <mass value="1.24433"/>
- <inertia ixx="0.01148700000" ixy="0.000686" ixz="-0.00052600000" iyy="0.00952600000" iyz="-0.002633" izz="0.00390800000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0.0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/ankle_Y_lo_res.stl" scale="1 -1.0 1"/>
- </geometry>
- <material name="Grey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0.0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/ankle_Y_collision.stl" scale="1 -1.0 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_right_5_joint" type="revolute">
- <parent link="leg_right_4_link"/>
- <child link="leg_right_5_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.32500"/>
- <axis xyz="0 1 0"/>
- <limit effort="160" lower="-1.309" upper="0.768" velocity="5.8"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- Joint ankle_x (mesh link) : child link None -> parent link ankle_y -->
- <link name="leg_right_6_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.02087 -0.00019 -0.06059"/>
- <mass value="1.59457"/>
- <inertia ixx="0.00383800000" ixy="0.00001600000" ixz="-0.00104100000" iyy="0.00657200000" iyz="-0.00001700000" izz="0.00504400000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/ankle_X_lo_res.stl" scale="1 -1.0 1"/>
- </geometry>
- <material name="Grey"/>
- </visual>
- <!--
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
- </geometry>
- </collision>
-
- -->
- <collision>
- <origin rpy="0 0 0" xyz="0 0 -0.1"/>
- <geometry>
- <box size="0.21 0.13 0.02"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_right_6_joint" type="revolute">
- <parent link="leg_right_5_link"/>
- <child link="leg_right_6_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
- <axis xyz="1 0 0"/>
- <limit effort="100" lower="-0.5236" upper="0.5236" velocity="4.8"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- from here is copy paste -->
- <link name="right_sole_link">
- <inertial>
- <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
- <mass value="0.01"/>
- <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
- </inertial>
- </link>
- <joint name="leg_right_sole_fix_joint" type="fixed">
- <parent link="leg_right_6_link"/>
- <child link="right_sole_link"/>
- <origin rpy="0 0 0" xyz="0.00 0.00 -0.107"/>
- <axis xyz="1 0 0"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <transmission name="leg_right_1_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_right_1_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_right_1_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="leg_right_2_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_right_2_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_right_2_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="leg_right_3_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_right_3_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_right_3_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="leg_right_4_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_right_4_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_right_4_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="leg_right_5_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_right_5_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_right_5_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="leg_right_6_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_right_6_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_right_6_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <gazebo reference="leg_right_1_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="leg_right_2_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="leg_right_3_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="leg_right_4_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="leg_right_5_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <!-- contact model for foot surface -->
- <gazebo reference="leg_right_6_link">
- <kp>1000000.0</kp>
- <kd>100.0</kd>
- <mu1>1.0</mu1>
- <mu2>1.0</mu2>
- <fdir1>1 0 0</fdir1>
- <maxVel>1.0</maxVel>
- <minDepth>0.00</minDepth>
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_right_1_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_right_2_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_right_3_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_right_4_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_right_5_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_right_6_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="leg_right_1_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="leg_right_2_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="leg_right_3_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="leg_right_4_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="leg_right_5_link">
- <material>Gazebo/White</material>
- </gazebo>
- <gazebo reference="leg_right_6_link">
- <material>Gazebo/White</material>
- </gazebo>
- <!-- Generic simulatalos_gazebo plugins -->
- <gazebo>
- <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
- <ns/>
- <robotSimType>pal_hardware_gazebo/PalHardwareGazebo</robotSimType>
- <robotNamespace/>
- <controlPeriod>0.001</controlPeriod>
- </plugin>
- </gazebo>
- <gazebo>
- <plugin filename="libgazebo_world_odometry.so" name="gazebo_ros_odometry">
- <frameName>base_link</frameName>
- <topicName>floating_base_pose_simulated</topicName>
- </plugin>
- </gazebo>
- <gazebo>
- <plugin filename="libgazebo_ros_force.so" name="gazebo_ros_force">
- <bodyName>base_link</bodyName>
- <topicName>wrench</topicName>
- </plugin>
- </gazebo>
- <gazebo reference="imu_link">
- <!-- this is expected to be reparented to pelvis with appropriate offset
- when imu_link is reduced by fixed joint reduction -->
- <!-- todo: this is working with gazebo 1.4, need to write a unit test -->
- <sensor name="imu_sensor" type="imu">
- <always_on>1</always_on>
- <update_rate>1000.0</update_rate>
- <imu>
- <noise>
- <type>gaussian</type>
- <!-- Noise parameters from Boston Dynamics
- (http://gazebosim.org/wiki/Sensor_noise):
- rates (rad/s): mean=0, stddev=2e-4
- accels (m/s/s): mean=0, stddev=1.7e-2
- rate bias (rad/s): 5e-6 - 1e-5
- accel bias (m/s/s): 1e-1
- Experimentally, simulation provide rates with noise of
- about 1e-3 rad/s and accels with noise of about 1e-1 m/s/s.
- So we don't expect to see the noise unless number of inner iterations
- are increased.
-
- We will add bias. In this model, bias is sampled once for rates
- and once for accels at startup; the sign (negative or positive)
- of each bias is then switched with equal probability. Thereafter,
- the biases are fixed additive offsets. We choose
- bias means and stddevs to produce biases close to the provided
- data. -->
- <!--
- <rate>
- <mean>0.0</mean>
- <stddev>2e-4</stddev>
- <bias_mean>0.0000075</bias_mean>
- <bias_stddev>0.0000008</bias_stddev>
- </rate>
- <accel>
- <mean>0.0</mean>
- <stddev>1.7e-2</stddev>
- <bias_mean>0.1</bias_mean>
- <bias_stddev>0.001</bias_stddev>
- </accel>
- -->
- <rate>
- <mean>0.0</mean>
- <stddev>0.0</stddev>
- <bias_mean>0.000000</bias_mean>
- <bias_stddev>0.0000008</bias_stddev>
- </rate>
- <accel>
- <mean>0.0</mean>
- <stddev>0.0</stddev>
- <bias_mean>0.0</bias_mean>
- <bias_stddev>0.000</bias_stddev>
- </accel>
- </noise>
- </imu>
- </sensor>
- </gazebo>
- <!-- define global properties -->
- <!-- <xacro:property name="M_PI" value="3.1415926535897931" /> -->
- <!-- Materials for visualization -->
- <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="0.7 0.7 0.7 1.0"/>
- </material>
- <material name="LightGrey">
- <color rgba="0.9 0.9 0.9 1.0"/>
- </material>
- <material name="DarkGrey">
- <color rgba="0.2 0.2 0.2 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 name="Orange">
- <color rgba="1.0 0.5 0.0 1.0"/>
- </material>
-</robot>
-