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Commit 0acaaacd authored by Hilario Tome's avatar Hilario Tome
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Fixing

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with 49 additions and 49 deletions
talos_description/urdf/arm/arm.transmission.xacro
+ 2
− 2
View file @ 0acaaacd
......@@ -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}_${number}_joint">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
......
talos_description/urdf/arm/wrist.transmission.xacro
+ 8
− 8
View file @ 0acaaacd
......@@ -13,9 +13,9 @@
<xacro:macro name="talos_wrist_simple_transmission" params="name side number reduction" >
<transmission name="${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>
......
talos_description/urdf/gripper/gripper_v2.urdf.xacro
+ 7
− 7
View file @ 0acaaacd
......@@ -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="${1.0}" offset="0.0" />
</joint>
......
talos_description/urdf/head/head.transmission.xacro
+ 6
− 6
View file @ 0acaaacd
......@@ -14,14 +14,14 @@
params="name number1 number2 act_reduction1 act_reduction2 jnt_reduction1 jnt_reduction2" >
<transmission name="talos_trans">
<type>transmission_interface/DifferentialTransmission</type>
<actuatalos name="${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}_${number1}_joint">
<role>joint1</role>
<offset>0.0</offset>
......
talos_description/urdf/leg/leg.transmission.xacro
+ 2
− 2
View file @ 0acaaacd
......@@ -13,9 +13,9 @@
<xacro:macro name="talos_leg_simple_transmission" params="side number reduction" >
<transmission name="leg_${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>
......
talos_description/urdf/torso/torso.transmission.xacro
+ 8
− 8
View file @ 0acaaacd
......@@ -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>
......
talos_description/urdf/torso/torso.urdf.xacro
+ 16
− 16
View file @ 0acaaacd
......@@ -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>
......
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