diff --git a/robots/talos_small.urdf b/robots/talos_reduced.urdf
similarity index 72%
rename from robots/talos_small.urdf
rename to robots/talos_reduced.urdf
index e1e52213822070781ce82bae9d6688030131c922..9ff31a7b6be2639467c5e1f0197ce35b6b4efbce 100644
--- a/robots/talos_small.urdf
+++ b/robots/talos_reduced.urdf
@@ -1,6 +1,6 @@
<?xml version="1.0" ?>
<!-- =================================================================================== -->
-<!-- | This document was autogenerated by xacro from talos_small.urdf.xacro | -->
+<!-- | This document was autogenerated by xacro from talos_full.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<!--
@@ -13,10 +13,6 @@
Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
-->
<robot name="talos" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:xacro="http://ros.org/wiki/xacro">
- <!--
- Talos configuration without the grippers
-
- -->
<!--File includes-->
<!--Constant parameters-->
<!--File includes-->
@@ -32,7 +28,8 @@
<!--File includes-->
<!--Constant parameters-->
<!--Constant parameters-->
- <!-- <xacro:include filename="$(find talos_description)/urdf/gripper/gripper.urdf.xacro" /> -->
+ <!--File includes-->
+ <!-- VIRTUAL (mimic) JOINTS -->
<!-- 0.45deg -->
<!--************************-->
<!-- TORSO_2 (TILT) -->
@@ -292,8 +289,8 @@
<!--
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_description/meshes/sensors/orbbec/orbbec.STL"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/sensors/orbbec/orbbec.STL"/>
</geometry>
<material name="DarkGrey">
<color rgba="0.5 0.5 0.5 1"/>
@@ -1318,10 +1315,716 @@
<child link="wrist_left_ft_tool_link"/>
<origin rpy="0 0 4.71238898038" xyz="0 0 -0.012725"/>
</joint>
- <!--
- <xacro:talos_gripper name="gripper_left" parent="wrist_left_ft_tool_link" reflect="1" />
- <xacro:talos_gripper name="gripper_right" parent="wrist_right_ft_tool_link" reflect="-1" />
- -->
+ <link name="gripper_left_base_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00534 0.00362 -0.02357"/>
+ <mass value="0.61585"/>
+ <inertia ixx="0.00047200000" ixy="-0.00000800000" ixz="0.00003500000" iyy="0.00052100000" iyz="0.00000000000" izz="0.00069000000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/gripper/base_link.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="gripper_left_base_link_joint" type="fixed">
+ <parent link="wrist_left_ft_tool_link"/>
+ <child link="gripper_left_base_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.02875"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="gripper_left_motor_double_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.02270 0.01781 -0.00977"/>
+ <mass value="0.16889"/>
+ <!-- In order for Gazebo not to explode we needed to add these 0.001 values to the diagonal,
+ also the tool pal_dynamics InertiaMassVisualization gave NaN on the computation of the inertia box -->
+ <inertia ixx="0.001159" ixy="-0.00007000000" ixz="0.00003800000" iyy="0.001221" iyz="-0.00005300000" izz="0.001268"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="Orange"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="gripper_left_joint" type="revolute">
+ <parent link="gripper_left_base_link"/>
+ <child link="gripper_left_motor_double_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.0 0.02025 -0.03"/>
+ <axis xyz="1 0 0"/>
+ <limit effort="1.0" lower="-1.0471975512" upper="0.0" velocity="1.0"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ </joint>
+ <link name="gripper_left_inner_double_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00056 0.03358 -0.01741"/>
+ <mass value="0.11922"/>
+ <inertia ixx="0.00009100000" ixy="0.00000100000" ixz="-0.00000100000" iyy="0.00015600000" iyz="-0.00003200000" izz="0.00012600000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/gripper/inner_double.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="Orange"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="gripper_left_inner_double_joint" type="fixed">
+ <parent link="gripper_left_base_link"/>
+ <child link="gripper_left_inner_double_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00525 -0.05598"/>
+ <axis xyz="1 0 0"/>
+ <limit effort="100.0" lower="-1.0471975512" upper="0.0" velocity="1.0"/>
+ <mimic joint="gripper_left_joint" multiplier="1.0" offset="0.0"/>
+ </joint>
+ <link name="gripper_left_fingertip_1_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
+ <mass value="0.02630"/>
+ <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="gripper_left_fingertip_1_joint" type="fixed">
+ <parent link="gripper_left_inner_double_link"/>
+ <child link="gripper_left_fingertip_1_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.03200 0.04589 -0.06553"/>
+ <axis xyz="1 0 0"/>
+ <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
+ <mimic joint="gripper_left_joint" multiplier="-1.0" offset="0.0"/>
+ </joint>
+ <link name="gripper_left_fingertip_2_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
+ <mass value="0.02630"/>
+ <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="gripper_left_fingertip_2_joint" type="fixed">
+ <parent link="gripper_left_inner_double_link"/>
+ <child link="gripper_left_fingertip_2_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="-0.03200 0.04589 -0.06553"/>
+ <axis xyz="1 0 0"/>
+ <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
+ <mimic joint="gripper_left_joint" multiplier="-1.0" offset="0.0"/>
+ </joint>
+ <link name="gripper_left_motor_single_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.02589 -0.01284 -0.00640"/>
+ <mass value="0.14765"/>
+ <inertia ixx="0.00011500000" ixy="0.00005200000" ixz="0.00002500000" iyy="0.00015300000" iyz="0.00003400000" izz="0.00019000000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="Orange"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="gripper_left_motor_single_joint" type="fixed">
+ <parent link="gripper_left_base_link"/>
+ <child link="gripper_left_motor_single_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 -0.02025 -0.03000"/>
+ <axis xyz="1 0 0"/>
+ <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
+ <mimic joint="gripper_left_joint" multiplier="-1.0" offset="0.0"/>
+ </joint>
+ <link name="gripper_left_inner_single_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 -0.03253 -0.01883"/>
+ <mass value="0.05356"/>
+ <inertia ixx="0.00004700000" ixy="-0.00000000000" ixz="-0.00000000000" iyy="0.00003500000" iyz="0.00001700000" izz="0.00002400000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/gripper/inner_single.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="Orange"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="gripper_left_inner_single_joint" type="fixed">
+ <parent link="gripper_left_base_link"/>
+ <child link="gripper_left_inner_single_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 -0.00525 -0.05598"/>
+ <axis xyz="1 0 0"/>
+ <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
+ <mimic joint="gripper_left_joint" multiplier="-1.0" offset="0.0"/>
+ </joint>
+ <link name="gripper_left_fingertip_3_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
+ <mass value="0.02630"/>
+ <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="gripper_left_fingertip_3_joint" type="fixed">
+ <parent link="gripper_left_inner_single_link"/>
+ <child link="gripper_left_fingertip_3_link"/>
+ <origin rpy="0.0 0.0 3.14159265359" xyz="0.00000 -0.04589 -0.06553"/>
+ <axis xyz="1 0 0"/>
+ <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
+ <mimic joint="gripper_left_joint" multiplier="-1.0" offset="0.0"/>
+ </joint>
+ <gazebo>
+ <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_inner_double_joint">
+ <joint>gripper_left_joint</joint>
+ <mimicJoint>gripper_left_inner_double_joint</mimicJoint>
+ <multiplier>1.0</multiplier>
+ <offset>0.0</offset>
+ <!-- <hasPID/> -->
+ </plugin>
+ <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_fingertip_1_joint">
+ <joint>gripper_left_joint</joint>
+ <mimicJoint>gripper_left_fingertip_1_joint</mimicJoint>
+ <multiplier>-1.0</multiplier>
+ <offset>0.0</offset>
+ <!-- <hasPID/> -->
+ </plugin>
+ <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_fingertip_2_joint">
+ <joint>gripper_left_joint</joint>
+ <mimicJoint>gripper_left_fingertip_2_joint</mimicJoint>
+ <multiplier>-1.0</multiplier>
+ <offset>0.0</offset>
+ <!-- <hasPID/> -->
+ </plugin>
+ <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_inner_single_joint">
+ <joint>gripper_left_joint</joint>
+ <mimicJoint>gripper_left_inner_single_joint</mimicJoint>
+ <multiplier>-1.0</multiplier>
+ <offset>0.0</offset>
+ <!-- <hasPID/> -->
+ </plugin>
+ <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_motor_single_joint">
+ <joint>gripper_left_joint</joint>
+ <mimicJoint>gripper_left_motor_single_joint</mimicJoint>
+ <multiplier>-1.0</multiplier>
+ <offset>0.0</offset>
+ <!-- <hasPID/> -->
+ </plugin>
+ <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_fingertip_3_joint">
+ <joint>gripper_left_joint</joint>
+ <mimicJoint>gripper_left_fingertip_3_joint</mimicJoint>
+ <multiplier>-1.0</multiplier>
+ <offset>0.0</offset>
+ <!-- <hasPID/> -->
+ </plugin>
+ </gazebo>
+ <!-- <plugin filename="libgazebo_underactuated_finger.so" name="gazebo_${name}_underactuated">
+ <actuatedJoint>${name}_joint</actuatedJoint>
+ <virtualJoint>
+ <name>${name}_inner_double_joint</name>
+ <scale_factor>1.0</scale_factor>
+ </virtualJoint> -->
+ <!-- <virtualJoint>
+ <name>${name}_fingertip_1_joint</name>
+ <scale_factor>-1.0</scale_factor>
+ </virtualJoint>
+ <virtualJoint>
+ <name>${name}_fingertip_2_joint</name>
+ <scale_factor>-1.0</scale_factor>
+ </virtualJoint>
+ <virtualJoint>
+ <name>${name}_motor_single_joint</name>
+ <scale_factor>1.0</scale_factor>
+ </virtualJoint>
+ <virtualJoint>
+ <name>${name}_fingertip_3_joint</name>
+ <scale_factor>-1.0</scale_factor>
+ </virtualJoint> -->
+ <!-- </plugin> -->
+ <gazebo reference="gripper_left_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+ <gazebo reference="gripper_left_inner_double_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+ <gazebo reference="gripper_left_fingertip_1_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+ <gazebo reference="gripper_left_fingertip_2_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+ <gazebo reference="gripper_left_motor_single_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+ <gazebo reference="gripper_left_fingertip_3_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+ <gazebo reference="gripper_left_base_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="gripper_left_motor_double_link">
+ <material>Gazebo/Orange</material>
+ </gazebo>
+ <gazebo reference="gripper_left_inner_double_link">
+ <material>Gazebo/Orange</material>
+ </gazebo>
+ <gazebo reference="gripper_left_fingertip_1_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="gripper_left_motor_single_link">
+ <material>Gazebo/Orange</material>
+ </gazebo>
+ <gazebo reference="gripper_left_inner_single_link">
+ <material>Gazebo/Orange</material>
+ </gazebo>
+ <gazebo reference="gripper_left_fingertip_2_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="gripper_left_fingertip_3_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <transmission name="gripper_left_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="gripper_left_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="gripper_left_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <!-- virtual mimic joints -->
+ <!-- <xacro:gripper_virtual_transmission name="${name}_inner_double" reduction="1.0"/>
+ <xacro:gripper_virtual_transmission name="${name}_fingertip_1" reduction="1.0"/>
+ <xacro:gripper_virtual_transmission name="${name}_fingertip_2" reduction="1.0"/>
+ <xacro:gripper_virtual_transmission name="${name}_inner_single" reduction="1.0"/>
+ <xacro:gripper_virtual_transmission name="${name}_motor_single" reduction="1.0"/>
+ <xacro:gripper_virtual_transmission name="${name}_fingertip_3" reduction="1.0"/> -->
+ <link name="gripper_right_base_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00534 0.00362 -0.02357"/>
+ <mass value="0.61585"/>
+ <inertia ixx="0.00047200000" ixy="-0.00000800000" ixz="0.00003500000" iyy="0.00052100000" iyz="0.00000000000" izz="0.00069000000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/gripper/base_link.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="gripper_right_base_link_joint" type="fixed">
+ <parent link="wrist_right_ft_tool_link"/>
+ <child link="gripper_right_base_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.02875"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="gripper_right_motor_double_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.02270 0.01781 -0.00977"/>
+ <mass value="0.16889"/>
+ <!-- In order for Gazebo not to explode we needed to add these 0.001 values to the diagonal,
+ also the tool pal_dynamics InertiaMassVisualization gave NaN on the computation of the inertia box -->
+ <inertia ixx="0.001159" ixy="-0.00007000000" ixz="0.00003800000" iyy="0.001221" iyz="-0.00005300000" izz="0.001268"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="Orange"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="gripper_right_joint" type="revolute">
+ <parent link="gripper_right_base_link"/>
+ <child link="gripper_right_motor_double_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.0 0.02025 -0.03"/>
+ <axis xyz="1 0 0"/>
+ <limit effort="1.0" lower="-1.0471975512" upper="0.0" velocity="1.0"/>
+ <dynamics damping="1.0" friction="1.0"/>
+ </joint>
+ <link name="gripper_right_inner_double_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00056 0.03358 -0.01741"/>
+ <mass value="0.11922"/>
+ <inertia ixx="0.00009100000" ixy="0.00000100000" ixz="-0.00000100000" iyy="0.00015600000" iyz="-0.00003200000" izz="0.00012600000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/gripper/inner_double.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="Orange"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="gripper_right_inner_double_joint" type="fixed">
+ <parent link="gripper_right_base_link"/>
+ <child link="gripper_right_inner_double_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00525 -0.05598"/>
+ <axis xyz="1 0 0"/>
+ <limit effort="100.0" lower="-1.0471975512" upper="0.0" velocity="1.0"/>
+ <mimic joint="gripper_right_joint" multiplier="1.0" offset="0.0"/>
+ </joint>
+ <link name="gripper_right_fingertip_1_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
+ <mass value="0.02630"/>
+ <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="gripper_right_fingertip_1_joint" type="fixed">
+ <parent link="gripper_right_inner_double_link"/>
+ <child link="gripper_right_fingertip_1_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.03200 0.04589 -0.06553"/>
+ <axis xyz="1 0 0"/>
+ <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
+ <mimic joint="gripper_right_joint" multiplier="-1.0" offset="0.0"/>
+ </joint>
+ <link name="gripper_right_fingertip_2_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
+ <mass value="0.02630"/>
+ <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="gripper_right_fingertip_2_joint" type="fixed">
+ <parent link="gripper_right_inner_double_link"/>
+ <child link="gripper_right_fingertip_2_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="-0.03200 0.04589 -0.06553"/>
+ <axis xyz="1 0 0"/>
+ <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
+ <mimic joint="gripper_right_joint" multiplier="-1.0" offset="0.0"/>
+ </joint>
+ <link name="gripper_right_motor_single_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.02589 -0.01284 -0.00640"/>
+ <mass value="0.14765"/>
+ <inertia ixx="0.00011500000" ixy="0.00005200000" ixz="0.00002500000" iyy="0.00015300000" iyz="0.00003400000" izz="0.00019000000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="Orange"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="gripper_right_motor_single_joint" type="fixed">
+ <parent link="gripper_right_base_link"/>
+ <child link="gripper_right_motor_single_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 -0.02025 -0.03000"/>
+ <axis xyz="1 0 0"/>
+ <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
+ <mimic joint="gripper_right_joint" multiplier="-1.0" offset="0.0"/>
+ </joint>
+ <link name="gripper_right_inner_single_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 -0.03253 -0.01883"/>
+ <mass value="0.05356"/>
+ <inertia ixx="0.00004700000" ixy="-0.00000000000" ixz="-0.00000000000" iyy="0.00003500000" iyz="0.00001700000" izz="0.00002400000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/gripper/inner_single.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="Orange"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="gripper_right_inner_single_joint" type="fixed">
+ <parent link="gripper_right_base_link"/>
+ <child link="gripper_right_inner_single_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00000 -0.00525 -0.05598"/>
+ <axis xyz="1 0 0"/>
+ <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
+ <mimic joint="gripper_right_joint" multiplier="-1.0" offset="0.0"/>
+ </joint>
+ <link name="gripper_right_fingertip_3_link">
+ <inertial>
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
+ <mass value="0.02630"/>
+ <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="gripper_right_fingertip_3_joint" type="fixed">
+ <parent link="gripper_right_inner_single_link"/>
+ <child link="gripper_right_fingertip_3_link"/>
+ <origin rpy="0.0 0.0 3.14159265359" xyz="0.00000 -0.04589 -0.06553"/>
+ <axis xyz="1 0 0"/>
+ <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
+ <mimic joint="gripper_right_joint" multiplier="-1.0" offset="0.0"/>
+ </joint>
+ <gazebo>
+ <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_inner_double_joint">
+ <joint>gripper_right_joint</joint>
+ <mimicJoint>gripper_right_inner_double_joint</mimicJoint>
+ <multiplier>1.0</multiplier>
+ <offset>0.0</offset>
+ <!-- <hasPID/> -->
+ </plugin>
+ <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_fingertip_1_joint">
+ <joint>gripper_right_joint</joint>
+ <mimicJoint>gripper_right_fingertip_1_joint</mimicJoint>
+ <multiplier>-1.0</multiplier>
+ <offset>0.0</offset>
+ <!-- <hasPID/> -->
+ </plugin>
+ <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_fingertip_2_joint">
+ <joint>gripper_right_joint</joint>
+ <mimicJoint>gripper_right_fingertip_2_joint</mimicJoint>
+ <multiplier>-1.0</multiplier>
+ <offset>0.0</offset>
+ <!-- <hasPID/> -->
+ </plugin>
+ <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_inner_single_joint">
+ <joint>gripper_right_joint</joint>
+ <mimicJoint>gripper_right_inner_single_joint</mimicJoint>
+ <multiplier>-1.0</multiplier>
+ <offset>0.0</offset>
+ <!-- <hasPID/> -->
+ </plugin>
+ <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_motor_single_joint">
+ <joint>gripper_right_joint</joint>
+ <mimicJoint>gripper_right_motor_single_joint</mimicJoint>
+ <multiplier>-1.0</multiplier>
+ <offset>0.0</offset>
+ <!-- <hasPID/> -->
+ </plugin>
+ <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_fingertip_3_joint">
+ <joint>gripper_right_joint</joint>
+ <mimicJoint>gripper_right_fingertip_3_joint</mimicJoint>
+ <multiplier>-1.0</multiplier>
+ <offset>0.0</offset>
+ <!-- <hasPID/> -->
+ </plugin>
+ </gazebo>
+ <!-- <plugin filename="libgazebo_underactuated_finger.so" name="gazebo_${name}_underactuated">
+ <actuatedJoint>${name}_joint</actuatedJoint>
+ <virtualJoint>
+ <name>${name}_inner_double_joint</name>
+ <scale_factor>1.0</scale_factor>
+ </virtualJoint> -->
+ <!-- <virtualJoint>
+ <name>${name}_fingertip_1_joint</name>
+ <scale_factor>-1.0</scale_factor>
+ </virtualJoint>
+ <virtualJoint>
+ <name>${name}_fingertip_2_joint</name>
+ <scale_factor>-1.0</scale_factor>
+ </virtualJoint>
+ <virtualJoint>
+ <name>${name}_motor_single_joint</name>
+ <scale_factor>1.0</scale_factor>
+ </virtualJoint>
+ <virtualJoint>
+ <name>${name}_fingertip_3_joint</name>
+ <scale_factor>-1.0</scale_factor>
+ </virtualJoint> -->
+ <!-- </plugin> -->
+ <gazebo reference="gripper_right_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+ <gazebo reference="gripper_right_inner_double_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+ <gazebo reference="gripper_right_fingertip_1_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+ <gazebo reference="gripper_right_fingertip_2_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+ <gazebo reference="gripper_right_motor_single_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+ <gazebo reference="gripper_right_fingertip_3_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+ <gazebo reference="gripper_right_base_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="gripper_right_motor_double_link">
+ <material>Gazebo/Orange</material>
+ </gazebo>
+ <gazebo reference="gripper_right_inner_double_link">
+ <material>Gazebo/Orange</material>
+ </gazebo>
+ <gazebo reference="gripper_right_fingertip_1_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="gripper_right_motor_single_link">
+ <material>Gazebo/Orange</material>
+ </gazebo>
+ <gazebo reference="gripper_right_inner_single_link">
+ <material>Gazebo/Orange</material>
+ </gazebo>
+ <gazebo reference="gripper_right_fingertip_2_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="gripper_right_fingertip_3_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <transmission name="gripper_right_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="gripper_right_motor">
+ <mechanicalReduction>1.0</mechanicalReduction>
+ </actuator>
+ <joint name="gripper_right_joint">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ <!-- virtual mimic joints -->
+ <!-- <xacro:gripper_virtual_transmission name="${name}_inner_double" reduction="1.0"/>
+ <xacro:gripper_virtual_transmission name="${name}_fingertip_1" reduction="1.0"/>
+ <xacro:gripper_virtual_transmission name="${name}_fingertip_2" reduction="1.0"/>
+ <xacro:gripper_virtual_transmission name="${name}_inner_single" reduction="1.0"/>
+ <xacro:gripper_virtual_transmission name="${name}_motor_single" reduction="1.0"/>
+ <xacro:gripper_virtual_transmission name="${name}_fingertip_3" reduction="1.0"/> -->
<!-- Joint hip_z (mesh link) : child link hip_x -> parent link base_link -->
<link name="leg_left_1_link">
<inertial>
@@ -2080,3 +2783,4 @@
<color rgba="1.0 0.5 0.0 1.0"/>
</material>
</robot>
+
diff --git a/urdf/talos_reduced.urdf b/urdf/talos_reduced.urdf
new file mode 120000
index 0000000000000000000000000000000000000000..ad552ccb66caf4efe8d62b09fffa1d47aa3165d9
--- /dev/null
+++ b/urdf/talos_reduced.urdf
@@ -0,0 +1 @@
+../robots/talos_reduced.urdf
\ No newline at end of file
diff --git a/urdf/talos_small.urdf b/urdf/talos_small.urdf
deleted file mode 120000
index 2f83698bac463a1adc0e40e5d1cbafd6f6aff3cf..0000000000000000000000000000000000000000
--- a/urdf/talos_small.urdf
+++ /dev/null
@@ -1 +0,0 @@
-../robots/talos_small.urdf
\ No newline at end of file