From 7dc1e380d69c5137b4b78268872360304b487bd3 Mon Sep 17 00:00:00 2001
From: Luca <luca.marchionni@pal-robotics.com>
Date: Wed, 9 Nov 2016 18:14:07 +0100
Subject: [PATCH] motions for talos, tested on robot
---
talos_bringup/config/talos_motions.yaml | 83 ++++++++++++++++---
.../full_body_position_controllers.launch | 2 +-
2 files changed, 72 insertions(+), 13 deletions(-)
diff --git a/talos_bringup/config/talos_motions.yaml b/talos_bringup/config/talos_motions.yaml
index 12f2de6..44b5ab7 100644
--- a/talos_bringup/config/talos_motions.yaml
+++ b/talos_bringup/config/talos_motions.yaml
@@ -24,8 +24,8 @@ play_motion:
arm_right_4_joint, arm_right_5_joint, arm_right_6_joint, arm_right_7_joint,
gripper_left_joint, gripper_right_joint]
points:
- - positions: [0.0, 0.0, 0.0, 0.0, 0.0, 0.15, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.15,
- 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+ - positions: [0.0, 0.0, 0.0, 0.0, 0.0, 0.15, 0.0, 0.0, 0.0, 0.0, 0.0,
+ 0.0, -0.15, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
time_from_start: 0.0
meta:
name: Home
@@ -161,17 +161,17 @@ play_motion:
- positions: [-0.0, 0.001, 1.508, -0.343, 2.238, -0.002, 0.0, -0.001, -0.001, -0.0, 0.148, 0.0, -0.001, 0.0, -0.001, 0.0, -0.0, -0.0]
time_from_start: 10.0
- positions: [-0.0, 0.001, 1.508, -0.343, -2.339, 0.0, 0.0, -0.001, 0.001, -0.0, 0.148, 0.0, -0.001, 0.0, -0.001, -0.0, -0.001, -0.0]
- time_from_start: 13.0
+ time_from_start: 14.0
- positions: [-0.0, 0.001, 1.508, -0.343, -2.347, -2.305, -0.0, -0.001, 0.002, -0.0, 0.148, 0.0, -0.001, 0.0, -0.001, -0.0, -0.0, -0.0]
- time_from_start: 16.0
+ time_from_start: 17.0
- positions: [-0.0, -0.001, 0.482, -2.728, 1.247, -1.842, 0.0, -0.001, -0.003, 0.0, 0.148, 0.0, -0.0, 0.0, -0.001, 0.0, -0.0, -0.0]
- time_from_start: 19.0
+ time_from_start: 21.0
- positions: [-0.0, 0.001, 0.482, -0.286, -0.437, -1.835, -0.0, 0.001, 0.003, -0.0, 0.148, 0.0, -0.001, 0.0, -0.001, 0.0, -0.0, -0.0]
- time_from_start: 22.0
+ time_from_start: 23.0
- positions: [-0.0, 0.001, 0.482, -0.285, -0.439, -1.835, -2.382, 1.313, -0.653, -0.0, 0.148, 0.0, -0.001, 0.0, -0.001, 0.0, 0.0, 0.0]
time_from_start: 26.0
- positions: [-0.0, 0.001, 0.482, -0.286, -0.439, -1.836, 2.422, -1.303, 0.646, -0.0, 0.148, 0.0, -0.001, 0.0, -0.001, 0.0, 0.0, -0.0]
- time_from_start: 30.0
+ time_from_start: 29.0
- positions: [0.0, 0.0, 0.0, -0.15, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.15, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
time_from_start: 33.0
test_arm_left:
@@ -186,17 +186,17 @@ play_motion:
- positions: [-0.0, 0.001, 0.0, -0.15, 0.0, 0.0, 0.0, 0.0, 0.0, -1.508, 0.343, -2.238, -0.002, 0.0, -0.001, -0.001, -0.0, -0.0]
time_from_start: 10.0
- positions: [-0.0, 0.001, 0.0, -0.15, 0.0, 0.0, 0.0, 0.0, 0.0, -1.508, 0.343, 2.339, 0.0, 0.0, -0.001, 0.001, -0.001, -0.0]
- time_from_start: 13.0
+ time_from_start: 14.0
- positions: [-0.0, 0.001, 0.0, -0.15, 0.0, 0.0, 0.0, 0.0, 0.0, -1.508, 0.343, 2.347, -2.305, -0.0, -0.001, 0.002, -0.0, -0.0]
- time_from_start: 16.0
+ time_from_start: 17.0
- positions: [-0.0, -0.001, 0.0, -0.15, 0.0, 0.0, 0.0, 0.0, 0.0, -0.482, 2.728, -1.247, -1.842, 0.0, -0.001, -0.003, -0.0, -0.0]
- time_from_start: 19.0
+ time_from_start: 21.0
- positions: [-0.0, 0.001, 0.0, -0.15, 0.0, 0.0, 0.0, 0.0, 0.0, -0.482, 0.286, 0.437, -1.835, -0.0, 0.001, 0.003, -0.0, -0.0]
- time_from_start: 22.0
+ time_from_start: 23.0
- positions: [-0.0, 0.001, 0.0, -0.15, 0.0, 0.0, 0.0, 0.0, 0.0, -0.482, 0.285, 0.439, -1.835, 2.382, -1.313, -0.653, 0.0, 0.0]
time_from_start: 26.0
- positions: [-0.0, 0.001, 0.0, -0.15, 0.0, 0.0, 0.0, 0.0, 0.0, -0.482, 0.286, 0.439, -1.836, -2.422, 1.303, 0.646, 0.0, -0.0]
- time_from_start: 30.0
+ time_from_start: 29.0
- positions: [0.0, 0.0, 0.0, -0.15, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.15, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
time_from_start: 33.0
test_head:
@@ -214,3 +214,62 @@ play_motion:
time_from_start: 10.0
- positions: [-0.0, 0.0]
time_from_start: 12.0
+ bow:
+ joints: [torso_1_joint, torso_2_joint, head_1_joint, head_2_joint, arm_left_1_joint,
+ arm_left_2_joint, arm_left_3_joint, arm_left_4_joint, arm_left_5_joint, arm_left_6_joint,
+ arm_left_7_joint, arm_right_1_joint, arm_right_2_joint, arm_right_3_joint,
+ arm_right_4_joint, arm_right_5_joint, arm_right_6_joint, arm_right_7_joint]
+ points:
+ - positions: [0.0, 0.0, 0.0, 0.0, 0.1, 0.25, -0.2, -0.6109, 0.0, 0.0, 0.0,
+ -0.1, -0.25, 0.2, -0.6109, 0.0, 0.0, 0.0]
+ time_from_start: 0.0
+ - positions: [0.0, 0.4, 0.3, 0.0, 0.25, 0.15, -0.0, -0.6109, 0.0, 0.0, 0.0,
+ -0.25, -0.15, 0.0, -0.6109, 0.0, 0.0, 0.0]
+ time_from_start: 1.5
+ - positions: [0.0, 0.4, 0.3, 0.0, 0.25, 0.15, -0.0, -0.6109, 0.0, 0.0, 0.0,
+ -0.25, -0.15, 0.0, -0.6109, 0.0, 0.0, 0.0]
+ time_from_start: 2.0
+ - positions: [0.0, 0.0, 0.0, 0.0, 0.1, 0.25, -0.2, -0.6109, 0.0, 0.0, 0.0,
+ -0.1, -0.25, 0.2, -0.6109, 0.0, 0.0, 0.0]
+ time_from_start: 3.25
+ meta:
+ name: Bow
+ usage: greet
+ description: Makes a short reverence with both arms back.
+ center_head:
+ joints: [head_1_joint, head_2_joint]
+ points:
+ - positions: [0.0, 0.0]
+ time_from_start: 0.0
+ meta:
+ name: Center Head
+ usage: posture
+ description: Moves only head to a centered posture.
+ look_around:
+ joints: [torso_1_joint, torso_2_joint, head_1_joint, head_2_joint, arm_left_1_joint,
+ arm_left_2_joint, arm_left_3_joint, arm_left_4_joint, arm_left_5_joint, arm_left_6_joint,
+ arm_left_7_joint, arm_right_1_joint, arm_right_2_joint, arm_right_3_joint,
+ arm_right_4_joint, arm_right_5_joint, arm_right_6_joint, arm_right_7_joint]
+ points:
+ - positions: [0.0, 0.0, 0.0, 0.0, 0.1, 0.35, -0.2, -1.4109, 0.0, 0.0, 0.0,
+ -0.1, -0.35, 0.2, -1.4109, 0.0, 0.0, 0.0]
+ time_from_start: 0.0
+ - positions: [0.0, 0.2, -0.2, 0.0, 0.25, 0.35, -0.0, -1.4109, 0.0, 0.0, 0.0,
+ -0.25, -0.35, 0.0, -1.4109, 0.0, 0.0, 0.0]
+ time_from_start: 1.5
+ - positions: [0.7, 0.2, -0.2, 0.0, 0.15, 0.35, -0.0, -1.2109, 0.0, 0.0, 0.0,
+ -0.35, -0.35, 0.0, -1.6109, 0.0, 0.0, 0.0]
+ time_from_start: 3.5
+ - positions: [0.0, 0.2, 0.2, 0.0, 0.2, 0.35, -0.0, -1.0109, 0.0, 0.0, 0.0,
+ -0.2, -0.35, 0.0, -1.0109, 0.0, 0.0, 0.0]
+ time_from_start: 5.0
+ - positions: [-0.7, 0.2, -0.2, 0.0, 0.35, 0.35, 0.0, -1.6109, 0.0, 0.0, 0.0,
+ -0.15, -0.35, 0.0, -1.2109, 0.0, 0.0, 0.0]
+ time_from_start: 6.5
+ - positions: [0.0, 0.0, 0.0, 0.0, 0.1, 0.25, -0.2, -0.6109, 0.0, 0.0, 0.0,
+ -0.1, -0.25, 0.2, -0.6109, 0.0, 0.0, 0.0]
+ time_from_start: 8.5
+ meta:
+ name: look_around
+ usage: demonstration
+ description: turn torso and head from left to right.
diff --git a/talos_controller_configuration/launch/full_body_position_controllers.launch b/talos_controller_configuration/launch/full_body_position_controllers.launch
index 271b94b..53f34d5 100644
--- a/talos_controller_configuration/launch/full_body_position_controllers.launch
+++ b/talos_controller_configuration/launch/full_body_position_controllers.launch
@@ -12,7 +12,7 @@
left_gripper_controller
right_gripper_controller
left_leg_controller
- right_leg_controller --stopped" />
+ right_leg_controller" />
<!-- Point head action -->
<group ns="head_controller">
--
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