diff --git a/talos_bringup/config/tor_hardware.yaml b/talos_bringup/config/talos_hardware.yaml
similarity index 100%
rename from talos_bringup/config/tor_hardware.yaml
rename to talos_bringup/config/talos_hardware.yaml
diff --git a/talos_bringup/launch/tor_bringup.launch b/talos_bringup/launch/talos_bringup.launch
similarity index 100%
rename from talos_bringup/launch/tor_bringup.launch
rename to talos_bringup/launch/talos_bringup.launch
diff --git a/talos_controller_configuration/config/joint_trajectory_controllers.yaml b/talos_controller_configuration/config/joint_trajectalosy_controllers.yaml
similarity index 100%
rename from talos_controller_configuration/config/joint_trajectory_controllers.yaml
rename to talos_controller_configuration/config/joint_trajectalosy_controllers.yaml
diff --git a/talos_controller_configuration/launch/tor_default_controllers.launch b/talos_controller_configuration/launch/talos_default_controllers.launch
similarity index 100%
rename from talos_controller_configuration/launch/tor_default_controllers.launch
rename to talos_controller_configuration/launch/talos_default_controllers.launch
diff --git a/talos_controller_configuration/launch/tor_homing_controller.launch b/talos_controller_configuration/launch/talos_homing_controller.launch
similarity index 100%
rename from talos_controller_configuration/launch/tor_homing_controller.launch
rename to talos_controller_configuration/launch/talos_homing_controller.launch
diff --git a/talos_description/launch/tor_joint_command_rviz.launch b/talos_description/launch/talos_joint_command_rviz.launch
similarity index 100%
rename from talos_description/launch/tor_joint_command_rviz.launch
rename to talos_description/launch/talos_joint_command_rviz.launch
diff --git a/talos_description/meshes/foot.STL b/talos_description/meshes/bart.STL
similarity index 100%
rename from talos_description/meshes/foot.STL
rename to talos_description/meshes/bart.STL
diff --git a/talos_description/meshes/foot_light.STL b/talos_description/meshes/bart_light.STL
similarity index 100%
rename from talos_description/meshes/foot_light.STL
rename to talos_description/meshes/bart_light.STL
diff --git a/talos_description/meshes/gripper/gripper_motor_double.STL b/talos_description/meshes/gripper/gripper_motalos_double.STL
similarity index 100%
rename from talos_description/meshes/gripper/gripper_motor_double.STL
rename to talos_description/meshes/gripper/gripper_motalos_double.STL
diff --git a/talos_description/meshes/gripper/gripper_motor_double_collision.STL b/talos_description/meshes/gripper/gripper_motalos_double_collision.STL
similarity index 100%
rename from talos_description/meshes/gripper/gripper_motor_double_collision.STL
rename to talos_description/meshes/gripper/gripper_motalos_double_collision.STL
diff --git a/talos_description/meshes/super-simple-foot.STL b/talos_description/meshes/super-simple-bart.STL
similarity index 100%
rename from talos_description/meshes/super-simple-foot.STL
rename to talos_description/meshes/super-simple-bart.STL
diff --git a/talos_description/meshes/torso/base_link.STL b/talos_description/meshes/talos/base_link.STL
similarity index 100%
rename from talos_description/meshes/torso/base_link.STL
rename to talos_description/meshes/talos/base_link.STL
diff --git a/talos_description/meshes/torso/base_link_collision.STL b/talos_description/meshes/talos/base_link_collision.STL
similarity index 100%
rename from talos_description/meshes/torso/base_link_collision.STL
rename to talos_description/meshes/talos/base_link_collision.STL
diff --git a/talos_description/meshes/torso/torso_1.STL b/talos_description/meshes/talos/talos_1.STL
similarity index 100%
rename from talos_description/meshes/torso/torso_1.STL
rename to talos_description/meshes/talos/talos_1.STL
diff --git a/talos_description/meshes/torso/torso_2.STL b/talos_description/meshes/talos/talos_2.STL
similarity index 100%
rename from talos_description/meshes/torso/torso_2.STL
rename to talos_description/meshes/talos/talos_2.STL
diff --git a/talos_description/meshes/torso/torso_2_collision.STL b/talos_description/meshes/talos/talos_2_collision.STL
similarity index 100%
rename from talos_description/meshes/torso/torso_2_collision.STL
rename to talos_description/meshes/talos/talos_2_collision.STL
diff --git a/talos_description/meshes/torso_dummy.stl b/talos_description/meshes/talos_dummy.stl
similarity index 100%
rename from talos_description/meshes/torso_dummy.stl
rename to talos_description/meshes/talos_dummy.stl
diff --git a/talos_description/robots/tor_arm.urdf.xacro b/talos_description/robots/talos_arm.urdf.xacro
similarity index 100%
rename from talos_description/robots/tor_arm.urdf.xacro
rename to talos_description/robots/talos_arm.urdf.xacro
diff --git a/talos_description/robots/tor_full.urdf.xacro b/talos_description/robots/talos_full.urdf.xacro
similarity index 87%
rename from talos_description/robots/tor_full.urdf.xacro
rename to talos_description/robots/talos_full.urdf.xacro
index 4dbba25b683501a38e8874658beeff83ae637796..c85595c8fe8466d5fb998b40119ddd9e8663f245 100644
--- a/talos_description/robots/tor_full.urdf.xacro
+++ b/talos_description/robots/talos_full.urdf.xacro
@@ -13,7 +13,7 @@
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
- <xacro:include filename="$(find talos_description)/urdf/talos/talos.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/torso/torso.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/head/head.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/arm/arm.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/sensors/ftsensor.urdf.xacro" />
@@ -22,10 +22,10 @@
<xacro:talos_talos name="talos" />
- <xacro:talos_head name="head" parent="talos_2_link"/>
+ <xacro:talos_head name="head" parent="torso_2_link"/>
- <xacro:talos_arm name="arm" parent="talos_2_link" side="left" reflect="1"/>
- <xacro:talos_arm name="arm" parent="talos_2_link" side="right" reflect="-1"/>
+ <xacro:talos_arm name="arm" parent="torso_2_link" side="left" reflect="1"/>
+ <xacro:talos_arm name="arm" parent="torso_2_link" side="right" reflect="-1"/>
<xacro:ft_sensor name="wrist" parent="arm_right_7_link" side="right" reflect="1" />
<xacro:ft_sensor name="wrist" parent="arm_left_7_link" side="left" reflect="-1" />
diff --git a/talos_description/robots/tor_head.urdf.xacro b/talos_description/robots/talos_head.urdf.xacro
similarity index 100%
rename from talos_description/robots/tor_head.urdf.xacro
rename to talos_description/robots/talos_head.urdf.xacro
diff --git a/talos_description/robots/tor_lower_body.urdf.xacro b/talos_description/robots/talos_lower_body.urdf.xacro
similarity index 100%
rename from talos_description/robots/tor_lower_body.urdf.xacro
rename to talos_description/robots/talos_lower_body.urdf.xacro
diff --git a/talos_description/robots/tor_lower_body_v1.urdf.xacro b/talos_description/robots/talos_lower_body_v1.urdf.xacro
similarity index 100%
rename from talos_description/robots/tor_lower_body_v1.urdf.xacro
rename to talos_description/robots/talos_lower_body_v1.urdf.xacro
diff --git a/talos_description/robots/tor_lower_body_v2.urdf.xacro b/talos_description/robots/talos_lower_body_v2.urdf.xacro
similarity index 100%
rename from talos_description/robots/tor_lower_body_v2.urdf.xacro
rename to talos_description/robots/talos_lower_body_v2.urdf.xacro
diff --git a/talos_description/robots/tor_torso.urdf.xacro b/talos_description/robots/talos_torso.urdf.xacro
similarity index 100%
rename from talos_description/robots/tor_torso.urdf.xacro
rename to talos_description/robots/talos_torso.urdf.xacro
diff --git a/talos_description/robots/upload_torso.launch b/talos_description/robots/upload_talos.launch
similarity index 100%
rename from talos_description/robots/upload_torso.launch
rename to talos_description/robots/upload_talos.launch
diff --git a/talos_description/urdf/arm/arm.transmission.xacro b/talos_description/urdf/arm/arm.transmission.xacro
index 3b621fc91d611940c3090452378d8508fe7b00e0..494281c1de288134ea6df3e926249cea1ad01d90 100644
--- a/talos_description/urdf/arm/arm.transmission.xacro
+++ b/talos_description/urdf/arm/arm.transmission.xacro
@@ -13,9 +13,9 @@
<xacro:macro name="talos_arm_simple_transmission" params="name side number reduction" >
<transmission name="${name}_${side}_${number}_trans">
<type>transmission_interface/SimpleTransmission</type>
- <actuatalos name="${name}_${side}_${number}_motalos" >
+ <actuator name="${name}_${side}_${number}_motor" >
<mechanicalReduction>${reduction}</mechanicalReduction>
- </actuatalos>
+ </actuator>
<joint name="${name}_${side}_${number}_joint">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
diff --git a/talos_description/urdf/arm/wrist.transmission.xacro b/talos_description/urdf/arm/wrist.transmission.xacro
index 611f165279394f4c36320a5128878e3fb9b62feb..2c84cf9a5ba4769beebca6df9084bcdb9409efd0 100644
--- a/talos_description/urdf/arm/wrist.transmission.xacro
+++ b/talos_description/urdf/arm/wrist.transmission.xacro
@@ -13,9 +13,9 @@
<xacro:macro name="talos_wrist_simple_transmission" params="name side number reduction" >
<transmission name="${name}_${side}_${number}_trans">
<type>transmission_interface/SimpleTransmission</type>
- <actuatalos name="${name}_${side}_${number}_motalos" >
+ <actuator name="${name}_${side}_${number}_motor" >
<mechanicalReduction>${reduction}</mechanicalReduction>
- </actuatalos>
+ </actuator>
<joint name="${name}_${side}_${number}_joint">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
@@ -27,14 +27,14 @@
params="name side number_1 number_2 act_reduction_1 act_reduction_2 jnt_reduction_1 jnt_reduction_2" >
<transmission name="wrist_${side}_trans">
<type>transmission_interface/DifferentialTransmission</type>
- <actuatalos name="${name}_${side}_${number_1}_motalos">
- <role>actuatalos1</role>
+ <actuator name="${name}_${side}_${number_1}_motor">
+ <role>actuator1</role>
<mechanicalReduction>${act_reduction_1}</mechanicalReduction>
- </actuatalos>
- <actuatalos name="${name}_${side}_${number_2}_motalos">
- <role>actuatalos2</role>
+ </actuator>
+ <actuator name="${name}_${side}_${number_2}_motor">
+ <role>actuator2</role>
<mechanicalReduction>${act_reduction_2}</mechanicalReduction>
- </actuatalos>
+ </actuator>
<joint name="${name}_${side}_${number_1}_joint">
<role>joint1</role>
<offset>0.0</offset>
diff --git a/talos_description/urdf/gripper/gripper_v2.urdf.xacro b/talos_description/urdf/gripper/gripper_v2.urdf.xacro
index d88f434d6478bb49a08e797f1a755b88ab41d8b0..5fc0e7c20bfc688a1663506a8192f32ef020450e 100644
--- a/talos_description/urdf/gripper/gripper_v2.urdf.xacro
+++ b/talos_description/urdf/gripper/gripper_v2.urdf.xacro
@@ -42,10 +42,10 @@
<axis xyz="0 0 0" />
</joint>
- <!-- Joint gripper_motalos_double (None) : child link -- -> parent link gripper_base_link -->
+ <!-- Joint gripper_motor_double (None) : child link -- -> parent link gripper_base_link -->
- <link name="${name}_motalos_double_link">
+ <link name="${name}_motor_double_link">
<inertial>
<origin xyz="0.02270 0.01781 -0.00977" rpy="0.00000 0.00000 0.00000"/>
<mass value="0.16889"/>
@@ -57,21 +57,21 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_description/meshes/gripper/gripper_motalos_double.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_description/meshes/gripper/gripper_motalos_double_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
- <joint name="${name}_motalos_double_joint" type="revolute">
+ <joint name="${name}_motor_double_joint" type="revolute">
<parent link="${name}_base_link"/>
- <child link="${name}_motalos_double_link"/>
+ <child link="${name}_motor_double_link"/>
<origin xyz="0.00000 0.02025 -0.03000"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<!-- You may want to change axis -->
@@ -113,7 +113,7 @@
<!-- You may want to change axis -->
<axis xyz="0 0 1" />
<limit lower="${0.00000 * deg_to_rad}" upper="${0.00000 * deg_to_rad}" effort="1.0" velocity="1.0" />
- <mimic joint="${name}_motalos_double_joint" multiplier="${1.0}" offset="0.0" />
+ <mimic joint="${name}_motor_double_joint" multiplier="${1.0}" offset="0.0" />
</joint>
diff --git a/talos_description/urdf/head/head.transmission.xacro b/talos_description/urdf/head/head.transmission.xacro
index a9871cbd4240928cc2ea44b69873ce69dc3bdfea..a3148f574b014b49abfb3383183e8c9d3364d9a2 100644
--- a/talos_description/urdf/head/head.transmission.xacro
+++ b/talos_description/urdf/head/head.transmission.xacro
@@ -14,14 +14,14 @@
params="name number1 number2 act_reduction1 act_reduction2 jnt_reduction1 jnt_reduction2" >
<transmission name="talos_trans">
<type>transmission_interface/DifferentialTransmission</type>
- <actuatalos name="${name}_${number1}_motalos">
- <role>actuatalos1</role>
+ <actuator name="${name}_${number1}_motor">
+ <role>actuator1</role>
<mechanicalReduction>${act_reduction1}</mechanicalReduction>
- </actuatalos>
- <actuatalos name="${name}_${number2}_motalos">
- <role>actuatalos2</role>
+ </actuator>
+ <actuator name="${name}_${number2}_motor">
+ <role>actuator2</role>
<mechanicalReduction>${act_reduction2}</mechanicalReduction>
- </actuatalos>
+ </actuator>
<joint name="${name}_${number1}_joint">
<role>joint1</role>
<offset>0.0</offset>
diff --git a/talos_description/urdf/leg/leg.transmission.xacro b/talos_description/urdf/leg/leg.transmission.xacro
index c2a50e8def8f9f6679755f843ec1eec26318a81e..ec55dcf84cf5cb03aae32e5e3f1cd8aecae84bd6 100644
--- a/talos_description/urdf/leg/leg.transmission.xacro
+++ b/talos_description/urdf/leg/leg.transmission.xacro
@@ -13,9 +13,9 @@
<xacro:macro name="talos_leg_simple_transmission" params="side number reduction" >
<transmission name="leg_${side}_${number}_trans">
<type>transmission_interface/SimpleTransmission</type>
- <actuatalos name="leg_${side}_${number}_motalos" >
+ <actuator name="leg_${side}_${number}_motor" >
<mechanicalReduction>${reduction}</mechanicalReduction>
- </actuatalos>
+ </actuator>
<joint name="leg_${side}_${number}_joint">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
diff --git a/talos_description/urdf/torso/torso.transmission.xacro b/talos_description/urdf/torso/torso.transmission.xacro
index b4eaab257f9391050d784f5c9ff37a92bd62e03b..637dc63fc6a422ea7c8585d4f4f0c8e926679528 100644
--- a/talos_description/urdf/torso/torso.transmission.xacro
+++ b/talos_description/urdf/torso/torso.transmission.xacro
@@ -10,18 +10,18 @@
-->
<robot xmlns:xacro="http://ros.org/wiki/xacro">
- <xacro:macro name="talos_talos_differential_transmission"
+ <xacro:macro name="talos_torso_differential_transmission"
params="name number1 number2 act_reduction1 act_reduction2 jnt_reduction1 jnt_reduction2" >
- <transmission name="talos_trans">
+ <transmission name="talos_torso_trans">
<type>transmission_interface/DifferentialTransmission</type>
- <actuatalos name="${name}_${number1}_motalos">
- <role>actuatalos1</role>
+ <actuator name="${name}_${number1}_motor">
+ <role>actuator1</role>
<mechanicalReduction>${act_reduction1}</mechanicalReduction>
- </actuatalos>
- <actuatalos name="${name}_${number2}_motalos">
- <role>actuatalos2</role>
+ </actuator>
+ <actuator name="${name}_${number2}_motor">
+ <role>actuator2</role>
<mechanicalReduction>${act_reduction2}</mechanicalReduction>
- </actuatalos>
+ </actuator>
<joint name="${name}_${number1}_joint">
<role>joint1</role>
<offset>0.0</offset>
diff --git a/talos_description/urdf/torso/torso.urdf.xacro b/talos_description/urdf/torso/torso.urdf.xacro
index 25b9f5e0b259aeeda3a75ddccb145010d0211429..3fd7239920322206e6285854b72364aea046fce1 100644
--- a/talos_description/urdf/torso/torso.urdf.xacro
+++ b/talos_description/urdf/torso/torso.urdf.xacro
@@ -12,15 +12,15 @@
<!--File includes-->
<xacro:include filename="$(find talos_description)/urdf/deg_to_rad.xacro" />
- <xacro:include filename="$(find talos_description)/urdf/talos/talos.transmission.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/torso/torso.transmission.xacro" />
<xacro:include filename="$(find talos_description)/urdf/sensors/imu.urdf.xacro" />
<!--Constant parameters-->
- <xacro:property name="talos_max_vel" value="5.4" />
- <xacro:property name="talos_max_effort" value="78.0" />
- <xacro:property name="talos_eps" value="0.02" />
+ <xacro:property name="torso_max_vel" value="5.4" />
+ <xacro:property name="torso_max_effort" value="78.0" />
+ <xacro:property name="torso_eps" value="0.02" />
- <xacro:macro name="talos_talos" params="name">
+ <xacro:macro name="talos_torso" params="name">
<!--************************-->
<!-- TORSO_2 (TILT) -->
<!--************************-->
@@ -36,7 +36,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_description/meshes/talos/talos_2.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/torso/torso_2.STL" scale="1 1 1"/>
</geometry>
<material name="LightGrey" />
</visual>
@@ -44,7 +44,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_description/meshes/talos/talos_2_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/torso/torso_2_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -64,14 +64,14 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_description/meshes/talos/talos_1.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/torso/torso_1.STL" scale="1 1 1"/>
</geometry>
<material name="LightGrey" />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_description/meshes/talos/talos_1.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/torso/torso_1.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -83,13 +83,13 @@
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="0 1 0" />
<limit lower="${-45.0 * deg_to_rad}" upper="${15.0 * deg_to_rad}"
- effort="${talos_max_effort}" velocity="${talos_max_vel}"/>
+ effort="${torso_max_effort}" velocity="${torso_max_vel}"/>
<dynamics damping="1.0" friction="1.0"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
- soft_lower_limit="${-15.0 * deg_to_rad + talos_eps}"
- soft_upper_limit="${ 45.0 * deg_to_rad - talos_eps}" /> -->
+ soft_lower_limit="${-15.0 * deg_to_rad + torso_eps}"
+ soft_upper_limit="${ 45.0 * deg_to_rad - torso_eps}" /> -->
</joint>
<!--************************-->
@@ -107,7 +107,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_description/meshes/talos/base_link.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/torso/base_link.STL" scale="1 1 1"/>
</geometry>
<material name="LightGrey" />
</visual>
@@ -115,7 +115,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_description/meshes/talos/base_link_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/torso/base_link_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -127,7 +127,7 @@
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="0 0 1" />
<limit lower="${-75.00000 * deg_to_rad}" upper="${75.00000 * deg_to_rad}"
- effort="${talos_max_effort}" velocity="${talos_max_vel}" />
+ effort="${talos_max_effort}" velocity="${torso_max_vel}" />
<dynamics friction="1.0" damping="1.0"/>
<!-- <safety_controller k_position="20"
@@ -165,7 +165,7 @@
<!-- extensions -->
- <xacro:talos_talos_differential_transmission name="${name}" number1="1" number2="2"
+ <xacro:talos_torso_differential_transmission name="${name}" number1="1" number2="2"
act_reduction1="1.0" act_reduction2="1.0"
jnt_reduction1="1.0" jnt_reduction2="1.0" />
</xacro:macro>