From 153a2b038ceb0fb32aae267630878407c64bb9a0 Mon Sep 17 00:00:00 2001
From: Hilario Tome <hilario.tome@pal-robotics.com>
Date: Thu, 13 Oct 2016 16:27:43 +0200
Subject: [PATCH] Added sub models to debug gazebo and added implicit tag
simulation to 1.0
---
.../robots/talos_full_no_lower_arm.urdf.xacro | 39 ++++++++++
.../robots/talos_lower_body.urdf.xacro | 74 +++++++------------
.../talos_lower_body_with_torso.urdf.xacro | 35 +++++++++
talos_description/urdf/arm/arm.urdf.xacro | 2 +-
talos_description/urdf/leg/leg_v2.urdf.xacro | 17 +++--
5 files changed, 112 insertions(+), 55 deletions(-)
create mode 100644 talos_description/robots/talos_full_no_lower_arm.urdf.xacro
create mode 100644 talos_description/robots/talos_lower_body_with_torso.urdf.xacro
diff --git a/talos_description/robots/talos_full_no_lower_arm.urdf.xacro b/talos_description/robots/talos_full_no_lower_arm.urdf.xacro
new file mode 100644
index 0000000..5002543
--- /dev/null
+++ b/talos_description/robots/talos_full_no_lower_arm.urdf.xacro
@@ -0,0 +1,39 @@
+<?xml version="1.0"?>
+<!--
+
+ 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:xacro="http://ros.org/wiki/xacro"
+ xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+ xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+ xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
+
+ <xacro:include filename="$(find talos_description)/urdf/torso/torso.urdf.xacro" />
+ <xacro:include filename="$(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" />
+ <xacro:include filename="$(find talos_description)/urdf/gripper/gripper_v2.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/leg/leg_v2.urdf.xacro" />
+
+ <xacro:talos_torso name="torso" />
+
+ <xacro:talos_head name="head" parent="torso_2_link"/>
+
+ <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:talos_leg prefix="left" reflect="1" />
+ <xacro:talos_leg prefix="right" reflect="-1" />
+
+ <!-- Generic simulatalos_gazebo plugins -->
+ <xacro:include filename="$(find talos_description)/gazebo/gazebo.urdf.xacro" />
+ <!-- Materials for visualization -->
+ <xacro:include filename="$(find talos_description)/urdf/materials.urdf.xacro" />
+
+</robot>
diff --git a/talos_description/robots/talos_lower_body.urdf.xacro b/talos_description/robots/talos_lower_body.urdf.xacro
index 886b2ec..c4792a9 100644
--- a/talos_description/robots/talos_lower_body.urdf.xacro
+++ b/talos_description/robots/talos_lower_body.urdf.xacro
@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<!--
- Copyright (c) 2014, PAL Robotics, S.L.
+ 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.
@@ -13,74 +13,56 @@
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
+ <xacro:include filename="$(find talos_description)/urdf/torso/torso.urdf.xacro" />
+ <xacro:include filename="$(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" />
+ <xacro:include filename="$(find talos_description)/urdf/gripper/gripper_v2.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/leg/leg_v2.urdf.xacro" />
- <xacro:include filename="$(find talos_description)/urdf/leg/leg.urdf.xacro" />
-
+ <!--************************-->
+ <!-- BASE_LINK -->
+ <!--************************-->
<link name="base_link">
<inertial>
- <origin xyz="0.0 0.0 0.36" rpy="0 0 0"/>
- <mass value="34.0" />
- <inertia ixx="0.529688470" ixy="0.0" ixz="0.0" iyy="0.34860507904" iyz="0.0" izz="0.23865908621" />
+ <origin xyz="-0.08222 0.00838 -0.07261" rpy="0.00000 0.00000 0.00000"/>
+ <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"/>
+ <origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_description/meshes/talos_dummy.stl" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/torso/base_link.STL" scale="1 1 1"/>
</geometry>
+ <material name="LightGrey" />
</visual>
-
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0.05"/>
- <geometry>
- <box size="0.1 0.3 0.1"/>
- </geometry>
- </collision>
- </link>
-
-
-
- <!--
-
- <link name="base_link">
- <inertial>
- <origin xyz="0.0 0.0 0.05" rpy="0 0 0"/>
- <mass value="5.0" />
- <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
- </inertial>
-
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_description/meshes/talos_dummy.stl" scale="1 1 1"/>
- </geometry>
- </visual>
-
<collision>
- <origin rpy="0 0 0" xyz="0 0 0.05"/>
- <geometry>
- <box size="0.1 0.3 0.1"/>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://talos_description/meshes/torso/base_link_collision.STL" scale="1 1 1"/>
</geometry>
- </collision>
+ </collision>
+ </link>
- </link>
- -->
- <xacro:talos_leg prefix="left" reflect="1" />
- <xacro:talos_leg prefix="right" reflect="-1" />
+ <xacro:talos_leg prefix="left" reflect="1" />
+ <xacro:talos_leg prefix="right" reflect="-1" />
<!-- Generic simulatalos_gazebo plugins -->
<xacro:include filename="$(find talos_description)/gazebo/gazebo.urdf.xacro" />
<!-- Materials for visualization -->
<xacro:include filename="$(find talos_description)/urdf/materials.urdf.xacro" />
-
+
<xacro:include filename="$(find talos_description)/urdf/sensors/imu.urdf.xacro" />
<!-- imu -->
<xacro:talos_imu name="imu" parent="base_link" update_rate="100.0">
- <origin xyz="0.069 0 0.14647" rpy="3.14 0.0 1.57"/>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
</xacro:talos_imu>
-
+
</robot>
diff --git a/talos_description/robots/talos_lower_body_with_torso.urdf.xacro b/talos_description/robots/talos_lower_body_with_torso.urdf.xacro
new file mode 100644
index 0000000..423e0e2
--- /dev/null
+++ b/talos_description/robots/talos_lower_body_with_torso.urdf.xacro
@@ -0,0 +1,35 @@
+<?xml version="1.0"?>
+<!--
+
+ 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:xacro="http://ros.org/wiki/xacro"
+ xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+ xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+ xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
+
+ <xacro:include filename="$(find talos_description)/urdf/torso/torso.urdf.xacro" />
+ <xacro:include filename="$(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" />
+ <xacro:include filename="$(find talos_description)/urdf/gripper/gripper_v2.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/leg/leg_v2.urdf.xacro" />
+
+ <xacro:talos_torso name="torso" />
+
+ <xacro:talos_head name="head" parent="torso_2_link"/>
+
+ <xacro:talos_leg prefix="left" reflect="1" />
+ <xacro:talos_leg prefix="right" reflect="-1" />
+
+ <!-- Generic simulatalos_gazebo plugins -->
+ <xacro:include filename="$(find talos_description)/gazebo/gazebo.urdf.xacro" />
+ <!-- Materials for visualization -->
+ <xacro:include filename="$(find talos_description)/urdf/materials.urdf.xacro" />
+
+</robot>
diff --git a/talos_description/urdf/arm/arm.urdf.xacro b/talos_description/urdf/arm/arm.urdf.xacro
index f020b56..6ef2b85 100644
--- a/talos_description/urdf/arm/arm.urdf.xacro
+++ b/talos_description/urdf/arm/arm.urdf.xacro
@@ -240,7 +240,7 @@
<!--************************-->
<!-- WRIST -->
<!--************************-->
- <xacro:talos_wrist name="arm" parent="${name}_${side}_4_link" side="${side}" reflect="${reflect}" />
+ <xacro:talos_wrist name="arm" parent="${name}_${side}_4_link" side="${side}" reflect="${reflect}" />
<!--***********************-->
<!-- TOOL -->
diff --git a/talos_description/urdf/leg/leg_v2.urdf.xacro b/talos_description/urdf/leg/leg_v2.urdf.xacro
index 5f5a4e9..a0ef763 100644
--- a/talos_description/urdf/leg/leg_v2.urdf.xacro
+++ b/talos_description/urdf/leg/leg_v2.urdf.xacro
@@ -303,30 +303,31 @@
<gazebo reference="leg_${prefix}_6_link">
<kp>1000000.0</kp>
<kd>100.0</kd>
- <mu1>1.5</mu1>
- <mu2>1.5</mu2>
+ <mu1>1.0</mu1>
+ <mu2>1.0</mu2>
<fdir1>1 0 0</fdir1>
<maxVel>1.0</maxVel>
<minDepth>0.00</minDepth>
+ <implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo reference="leg_${prefix}_1_joint">
- <implicitSpringDamper>0.1</implicitSpringDamper>
+ <implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo reference="leg_${prefix}_2_joint">
- <implicitSpringDamper>0.1</implicitSpringDamper>
+ <implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo reference="leg_${prefix}_3_joint">
- <implicitSpringDamper>0.1</implicitSpringDamper>
+ <implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo reference="leg_${prefix}_4_joint">
- <implicitSpringDamper>0.1</implicitSpringDamper>
+ <implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo reference="leg_${prefix}_5_joint">
- <implicitSpringDamper>0.1</implicitSpringDamper>
+ <implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo reference="leg_${prefix}_6_joint">
- <implicitSpringDamper>0.1</implicitSpringDamper>
+ <implicitSpringDamper>1</implicitSpringDamper>
<provideFeedback>1</provideFeedback>
</gazebo>
--
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