diff --git a/tor_description/robots/tor_lower_body.urdf.xacro b/tor_description/robots/tor_lower_body.urdf.xacro
index 752c08bd418bb1d15bc19b93ed7083adbbd63011..5cc159c94dea7999e9043ba4cd968d291916f522 100644
--- a/tor_description/robots/tor_lower_body.urdf.xacro
+++ b/tor_description/robots/tor_lower_body.urdf.xacro
@@ -13,31 +13,31 @@
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
- <xacro:include filename="$(find tor_description)/urdf/leg/leg_v2.urdf.xacro" />
+
+ <xacro:include filename="$(find tor_description)/urdf/leg/leg.urdf.xacro" />
+
<link name="base_link">
<inertial>
- <origin xyz="-0.06071 0.00861 0.06368" rpy="0.00000 0.00000 0.00000"/>
- <mass value="13.34865"/>
- <inertia ixx="0.06652900000" ixy="-0.00035700000" ixz="0.00027600000"
- iyy="0.03746500000" iyz="-0.00125400000"
- izz="0.07895100000"/>
+ <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" />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tor_description/meshes/v2/base_link_lo_res.stl" scale="1 1 1"/>
+ <mesh filename="package://tor_description/meshes/torso_dummy.stl" scale="1 1 1"/>
</geometry>
- <material name="DarkGrey" />
</visual>
<collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://tor_description/meshes/v2/base_link_collision.stl" scale="1 1 1"/>
+ <origin rpy="0 0 0" xyz="0 0 0.05"/>
+ <geometry>
+ <box size="0.1 0.3 0.1"/>
</geometry>
</collision>
- </link>
+
+ </link>
<xacro:tor_leg prefix="left" reflect="1" />
@@ -47,5 +47,13 @@
<xacro:include filename="$(find tor_description)/gazebo/gazebo.urdf.xacro" />
<!-- Materials for visualization -->
<xacro:include filename="$(find tor_description)/urdf/materials.urdf.xacro" />
+
+
+ <xacro:include filename="$(find tor_description)/urdf/sensors/imu.urdf.xacro" />
+
+ <!-- imu -->
+ <xacro:tor_imu name="imu" parent="base_link" update_rate="100.0">
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ </xacro:tor_imu>
</robot>
diff --git a/tor_description/urdf/leg/leg_v2.urdf.xacro b/tor_description/urdf/leg/leg_v2.urdf.xacro
index a28438fae4b10f704428b94edb96622b7ebc76ed..5038f7f2b0c61cd66f021f1fdb4d074eeb412d18 100644
--- a/tor_description/urdf/leg/leg_v2.urdf.xacro
+++ b/tor_description/urdf/leg/leg_v2.urdf.xacro
@@ -46,10 +46,12 @@
<origin xyz="0.00000 ${reflect*0.08500} -0.14200"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="0 0 1" />
- <!-- trick to use reflect (left=1, right=-1)
- to make ranges -30 to 90 and -90 to 30 respectively
- as (reflect-1.0) will be either 0.0 or -2.0 -->
- <limit lower="${(-30.0 + (reflect-1.0)*30.0) * deg_to_rad}" upper="${(90.0 + (reflect-1.0)*30.0) * deg_to_rad}" effort="160" velocity="5.8"/>
+ <xacro:if value="${reflect == 1}">
+ <limit lower="-0.5236" upper="1.571" effort="100" velocity="3.87" />
+ </xacro:if>
+ <xacro:if value="${reflect == -1}">
+ <limit lower="-1.571" upper="0.5236" effort="100" velocity="3.87" />
+ </xacro:if>
<dynamics friction="${leg_friction}" damping="${leg_damping}"/>
</joint>
@@ -87,7 +89,7 @@
<origin xyz="0.00000 0.00000 0.00000"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="1 0 0" />
- <limit lower="${reflect*-30.00000 * deg_to_rad}" upper="${reflect*30.00000 * deg_to_rad}" effort="160" velocity="5.8"/>
+ <limit lower="-0.524" upper="0.5236" effort="160" velocity="5.8" />
<dynamics friction="${leg_friction}" damping="${leg_damping}"/>
</joint>
@@ -124,7 +126,7 @@
<origin xyz="0.00000 0.00000 0.00000"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="0 1 0" />
- <limit lower="${-120.00000 * deg_to_rad}" upper="${45.00000 * deg_to_rad}" effort="160" velocity="5.8"/>
+ <limit lower="-2.095" upper="0.7" effort="160" velocity="5.8" />
<dynamics friction="${leg_friction}" damping="${leg_damping}"/>
</joint>
@@ -162,7 +164,7 @@
<origin xyz="0.00000 0.00000 -0.38000"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="0 1 0" />
- <limit lower="${0.00000 * deg_to_rad}" upper="${150.00000 * deg_to_rad}" effort="300" velocity="7" />
+ <limit lower="0" upper="2.618" effort="300" velocity="7" />
<dynamics friction="${leg_friction}" damping="${leg_damping}"/>
</joint>
@@ -199,7 +201,7 @@
<origin xyz="0.00000 0.00000 -0.32500"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="0 1 0" />
- <limit lower="${-75.00000 * deg_to_rad}" upper="${45.00000 * deg_to_rad}" effort="160" velocity="5.8"/>
+ <limit lower="-1.309" upper="0.768" effort="160" velocity="5.8" />
<dynamics friction="${leg_friction}" damping="${leg_damping}"/>
</joint>
@@ -236,7 +238,7 @@
<origin xyz="0.00000 0.00000 0.00000"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="1 0 0" />
- <limit lower="${-30.00000 * deg_to_rad}" upper="${30.00000 * deg_to_rad}" effort="100" velocity="4.8"/>
+ <limit lower="-0.524" upper="0.524" effort="100" velocity="4.8" />
<dynamics friction="${leg_friction}" damping="${leg_damping}"/>
</joint>