diff --git a/talos_controller_configuration/config/walk_poses.yaml b/talos_controller_configuration/config/walk_poses.yaml
deleted file mode 100644
index 52efc0cc91be47c1fb84e85a6e3de7627492470f..0000000000000000000000000000000000000000
--- a/talos_controller_configuration/config/walk_poses.yaml
+++ /dev/null
@@ -1,41 +0,0 @@
-# Controller to use to move arms while walking. They must expose a FollowJointTrajectory action interface
-walk_pose:
- controllers:
- - right_arm_controller
- - left_arm_controller
- - head_controller
- - torso_controller
-
- joints_rest_pos:
- - arm_left_1_joint : 0.34
- - arm_left_2_joint : 0.15
- - arm_left_3_joint : -0.34
- - arm_left_4_joint : -1.0
- - arm_left_5_joint : 0.0
- - arm_left_6_joint : 0.0
- - arm_left_7_joint : 0.0
-
- - arm_right_1_joint: -0.34
- - arm_right_2_joint: -0.15
- - arm_right_3_joint: 0.34
- - arm_right_4_joint: -1.0
- - arm_right_5_joint: 0.0
- - arm_right_6_joint: 0.0
- - arm_right_7_joint: 0.0
-
- - torso_1_joint: 0.0
- - torso_2_joint: 0.0
-
- - head_1_joint: 0.0
- - head_2_joint: 0.0
-
- joints_to_move:
- - arm_left_1_joint: -1.0
- - arm_left_3_joint: 1.0
- - arm_left_4_joint: 1.0
- - arm_right_1_joint: -1.0
- - arm_right_3_joint: 1.0
- - arm_right_4_joint: 1.0
- - torso_1_joint: 0.5
- - head_2_joint: 0.5
-
diff --git a/talos_description/config/joint_limits.yaml b/talos_description/config/joint_limits.yaml
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0c73ba38cb316861611d393036c595ba297b006f 100644
--- a/talos_description/config/joint_limits.yaml
+++ b/talos_description/config/joint_limits.yaml
@@ -0,0 +1,61 @@
+joint_limits:
+ torso_1_joint:
+ has_velocity_limits: true
+ max_velocity: &max_torso_vel 1.0
+ torso_2_joint:
+ has_velocity_limits: true
+ max_velocity: *max_torso_vel
+
+ head_1_joint:
+ has_velocity_limits: true
+ max_velocity: &max_head_vel 3.0
+ head_2_joint:
+ has_velocity_limits: true
+ max_velocity: *max_head_vel
+
+ arm_right_1_joint:
+ has_velocity_limits: true
+ max_velocity: &max_arm_vel 1.5
+ arm_right_2_joint:
+ has_velocity_limits: true
+ max_velocity: *max_arm_vel
+ arm_right_3_joint:
+ has_velocity_limits: true
+ max_velocity: *max_arm_vel
+ arm_right_4_joint:
+ has_velocity_limits: true
+ max_velocity: *max_arm_vel
+ arm_right_5_joint:
+ has_velocity_limits: true
+ max_velocity: *max_arm_vel
+ arm_right_6_joint:
+ has_velocity_limits: true
+ max_velocity: *max_arm_vel
+ arm_right_7_joint:
+ has_velocity_limits: true
+ max_velocity: *max_arm_vel
+
+ arm_left_1_joint:
+ has_velocity_limits: true
+ max_velocity: *max_arm_vel
+ arm_left_2_joint:
+ has_velocity_limits: true
+ max_velocity: *max_arm_vel
+ arm_left_3_joint:
+ has_velocity_limits: true
+ max_velocity: *max_arm_vel
+ arm_left_4_joint:
+ has_velocity_limits: true
+ max_velocity: *max_arm_vel
+ arm_left_5_joint:
+ has_velocity_limits: true
+ max_velocity: *max_arm_vel
+ arm_left_6_joint:
+ has_velocity_limits: true
+ max_velocity: *max_arm_vel
+ arm_left_7_joint:
+ has_velocity_limits: true
+ max_velocity: *max_arm_vel
+
+ # Hands and legs keep the default values from URDF
+
diff --git a/talos_description/robots/talos_arm.urdf.xacro b/talos_description/robots/talos_arm.urdf.xacro
index dcf152cab4c2e57565d668442b7c65ac1a9cc780..8009a758e9ba5955d1b43768fd8e55118c60a0da 100644
--- a/talos_description/robots/talos_arm.urdf.xacro
+++ b/talos_description/robots/talos_arm.urdf.xacro
@@ -14,7 +14,7 @@
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
<xacro:include filename="$(find talos_description)/urdf/arm/arm.urdf.xacro" />
- <xacro:include filename="$(find talos_description)/urdf/gripper/gripper_v2.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/gripper/gripper.urdf.xacro" />
<link name="talos_2_link">
<inertial>
diff --git a/talos_description/robots/talos_full.urdf.xacro b/talos_description/robots/talos_full.urdf.xacro
index 1256b2c5f230525b28ecf5f3f72e0d083132313f..c2a3d80b6f050bcad740f7163bf7bd28eebeb8a0 100644
--- a/talos_description/robots/talos_full.urdf.xacro
+++ b/talos_description/robots/talos_full.urdf.xacro
@@ -17,8 +17,8 @@
<xacro:include filename="$(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="$(find talos_description)/urdf/gripper/gripper.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/leg/leg.urdf.xacro" />
<xacro:talos_torso name="torso" />
diff --git a/talos_description/robots/talos_full_no_grippers.urdf.xacro b/talos_description/robots/talos_full_no_grippers.urdf.xacro
index 9cfdb294df0354e3022c125a744be76fc04013ff..34000bdfd4af46206b31b08809280f91143ffa93 100644
--- a/talos_description/robots/talos_full_no_grippers.urdf.xacro
+++ b/talos_description/robots/talos_full_no_grippers.urdf.xacro
@@ -17,8 +17,7 @@
<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" />
<xacro:talos_torso name="torso" />
diff --git a/talos_description/robots/talos_full_no_lower_arm.urdf.xacro b/talos_description/robots/talos_full_no_lower_arm.urdf.xacro
index 5002543e444d00f178c22d44b40be2754236d2ba..d1b8836bb8a0986902ac09096bb5c2d53fc53241 100644
--- a/talos_description/robots/talos_full_no_lower_arm.urdf.xacro
+++ b/talos_description/robots/talos_full_no_lower_arm.urdf.xacro
@@ -17,8 +17,8 @@
<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/gripper/gripper.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/leg/leg.urdf.xacro" />
<xacro:talos_torso name="torso" />
diff --git a/talos_description/robots/talos_gripper.urdf.xacro b/talos_description/robots/talos_gripper.urdf.xacro
index 897316815a9a8054983b4aea352146b03756c00a..7f48aa9c4484182cbade85da9315784a08791ed3 100644
--- a/talos_description/robots/talos_gripper.urdf.xacro
+++ b/talos_description/robots/talos_gripper.urdf.xacro
@@ -13,7 +13,7 @@
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
- <xacro:include filename="$(find talos_description)/urdf/gripper/gripper_v2.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/gripper/gripper.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/torso/torso.urdf.xacro" />
diff --git a/talos_description/robots/talos_lower_body.urdf.xacro b/talos_description/robots/talos_lower_body.urdf.xacro
index c4792a9a6047e5c5ec9adb3a8b127b9c71f132f3..0c7f876c770d8c5c711bfe7dedce618be258e521 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) 2016, PAL Robotics, S.L.
+ Copyright (c) 2014, PAL Robotics, S.L.
All rights reserved.
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
@@ -13,17 +13,7 @@
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
- <xacro:include filename="$(find talos_description)/urdf/torso/torso.urdf.xacro" />
- <xacro:include filename="$(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" />
-
-
- <!--************************-->
- <!-- BASE_LINK -->
- <!--************************-->
+ <xacro:include filename="$(find talos_description)/urdf/leg/leg.urdf.xacro" />
<link name="base_link">
<inertial>
<origin xyz="-0.08222 0.00838 -0.07261" rpy="0.00000 0.00000 0.00000"/>
@@ -34,35 +24,28 @@
</inertial>
<visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
+ <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_description/meshes/torso/base_link.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/talos/base_link.STL" scale="1 1 1"/>
</geometry>
- <material name="LightGrey" />
+ <material name="DarkGrey" />
</visual>
-
+
<collision>
- <origin xyz="0 0 0" rpy="0 0 0" />
+ <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_description/meshes/torso/base_link_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/talos/base_link_collision.STL" scale="1 1 1"/>
</geometry>
- </collision>
+ </collision>
</link>
-
- <xacro:talos_leg prefix="left" reflect="1" />
- <xacro:talos_leg prefix="right" reflect="-1" />
+
+
+ <xacro:talos_leg prefix="left" reflect="1" />
+ <xacro:talos_leg prefix="right" reflect="-1" />
<!-- Generic simulatalos_gazebo plugins -->
<xacro:include filename="$(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 0 0" rpy="0 0 0"/>
- </xacro:talos_imu>
-
</robot>
diff --git a/talos_description/robots/talos_lower_body_v1.urdf.xacro b/talos_description/robots/talos_lower_body_v1.urdf.xacro
deleted file mode 100644
index b9d86aff6d2dcf9493f636683859cbbef957ec01..0000000000000000000000000000000000000000
--- a/talos_description/robots/talos_lower_body_v1.urdf.xacro
+++ /dev/null
@@ -1,59 +0,0 @@
-<?xml version="1.0"?>
-<!--
-
- Copyright (c) 2014, 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="$(find talos_description)/urdf/leg/leg.urdf.xacro" />
-
- <link name="base_link">
- <inertial>
- <origin xyz="0.0 0.0 0.36" rpy="0 0 0"/>
- <mass value="34.0" />
- <inertia ixx="0.529688470" ixy="0.0" ixz="0.0" iyy="0.34860507904" iyz="0.0" izz="0.23865908621" />
- </inertial>
-
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_description/meshes/talos_dummy.stl" scale="1 1 1"/>
- </geometry>
- </visual>
-
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0.05"/>
- <geometry>
- <box size="0.1 0.3 0.1"/>
- </geometry>
- </collision>
-
- </link>
-
-
- <xacro:talos_leg prefix="left" reflect="1" />
- <xacro:talos_leg prefix="right" reflect="-1" />
-
- <!-- Generic simulatalos_gazebo plugins -->
- <xacro:include filename="$(find talos_description)/gazebo/gazebo.urdf.xacro" />
- <!-- Materials for visualization -->
- <xacro:include filename="$(find talos_description)/urdf/materials.urdf.xacro" />
-
-
- <xacro:include filename="$(find talos_description)/urdf/sensors/imu.urdf.xacro" />
-
- <!-- imu -->
- <xacro:talos_imu name="imu" parent="base_link" update_rate="100.0">
- <origin xyz="0 0 0" rpy="0 0 0"/>
- </xacro:talos_imu>
-
-</robot>
diff --git a/talos_description/robots/talos_lower_body_v2.urdf.xacro b/talos_description/robots/talos_lower_body_v2.urdf.xacro
deleted file mode 100644
index 101bed5410e089b35aac1a9fc1d85de1ef93f7e4..0000000000000000000000000000000000000000
--- a/talos_description/robots/talos_lower_body_v2.urdf.xacro
+++ /dev/null
@@ -1,51 +0,0 @@
-<?xml version="1.0"?>
-<!--
-
- Copyright (c) 2014, 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="$(find talos_description)/urdf/leg/leg_v2.urdf.xacro" />
- <link name="base_link">
- <inertial>
- <origin xyz="-0.08222 0.00838 -0.07261" rpy="0.00000 0.00000 0.00000"/>
- <mass value="13.53810"/>
- <inertia ixx="0.06989000000" ixy="-0.00011700000" ixz="0.00023000000"
- iyy="0.03998200000" iyz="-0.00132500000"
- izz="0.08234500000"/>
- </inertial>
-
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_description/meshes/talos/base_link.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey" />
- </visual>
-
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_description/meshes/talos/base_link_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
-
-
- <xacro:talos_leg prefix="left" reflect="1" />
- <xacro:talos_leg prefix="right" reflect="-1" />
-
- <!-- Generic simulatalos_gazebo plugins -->
- <xacro:include filename="$(find talos_description)/gazebo/gazebo.urdf.xacro" />
- <!-- Materials for visualization -->
- <xacro:include filename="$(find talos_description)/urdf/materials.urdf.xacro" />
-
-</robot>
diff --git a/talos_description/robots/talos_lower_body_with_torso.urdf.xacro b/talos_description/robots/talos_lower_body_with_torso.urdf.xacro
index 423e0e27c4c102da84b03f8e2838bea95996462d..4226ffb1493bcaf86a66a1df7f5cde98af422096 100644
--- a/talos_description/robots/talos_lower_body_with_torso.urdf.xacro
+++ b/talos_description/robots/talos_lower_body_with_torso.urdf.xacro
@@ -17,8 +17,8 @@
<xacro:include filename="$(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="$(find talos_description)/urdf/gripper/gripper.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/leg/leg.urdf.xacro" />
<xacro:talos_torso name="torso" />
diff --git a/talos_description/robots/upload_legs.launch b/talos_description/robots/upload_legs.launch
index ef7fcf79cd706f65c142d9a0dad26293c36378dd..d05d5afbbab1901fce267df021bbdeaf7780f071 100644
--- a/talos_description/robots/upload_legs.launch
+++ b/talos_description/robots/upload_legs.launch
@@ -1,7 +1,5 @@
<launch>
- <arg name="robot" default="titanium"/>
-
<!-- Robot description -->
<param name="robot_description" command="$(find xacro)/xacro.py '$(find talos_description)/robots/talos_lower_body.urdf.xacro'" />
diff --git a/talos_description/robots/upload_legs_v2.launch b/talos_description/robots/upload_legs_v2.launch
deleted file mode 100644
index b554fd58360bc283bb6aeffffc9a5aa393523226..0000000000000000000000000000000000000000
--- a/talos_description/robots/upload_legs_v2.launch
+++ /dev/null
@@ -1,8 +0,0 @@
-<launch>
-
- <arg name="robot" default="titanium"/>
-
- <!-- Robot description -->
- <param name="robot_description" command="$(find xacro)/xacro.py '$(find talos_description)/robots/talos_lower_body_v2.urdf.xacro'" />
-
-</launch>
diff --git a/talos_description/urdf/gripper/gripper.urdf.xacro b/talos_description/urdf/gripper/gripper.urdf.xacro
index 30999e2fb5d063340e85463f33d0a48be9501022..c1cd6c0ff2f96a1397cdfcee439c152791087bcb 100644
--- a/talos_description/urdf/gripper/gripper.urdf.xacro
+++ b/talos_description/urdf/gripper/gripper.urdf.xacro
@@ -3,74 +3,318 @@
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<!--File includes-->
- <!-- <xacro:include filename="$(find talos_description)/urdf/deg_to_rad.urdf.xacro" />
- <xacro:include filename="$(find talos_description)/urdf/gripper.transmission.xacro" />
- <xacro:include filename="$(find talos_description)/urdf/gripper.gazebo.xacro" /> -->
-
-
- <xacro:macro name="talos_gripper" params="name parent">
-
- <link name="${name}_base_link">
- <inertial>
- <origin xyz="0.01507 -0.01177 -0.02788" rpy="0.00000 0.00000 0.00000"/>
- <mass value="0.66262"/>
- <inertia ixx="0.00195600000" ixy="-0.00007300000" ixz="0.00026500000"
- iyy="0.00139500000" iyz="-0.00015700000"
- izz="0.00170400000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0" />
- <geometry>
- <mesh filename="package://talos_description/meshes/gripper/base_link.STL"/>
- </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"/>
- </geometry>
- </collision>
- </link>
-
- <joint name="${name}_base_joint" type="fixed">
- <parent link="${parent}" />
- <child link="${name}_base_link" />
- <axis xyz="0 0 0" />
- <origin xyz="0 0 0" rpy="0 0 0" />
- </joint>
-
- <link name="${name}_link">
- <inertial>
- <origin xyz="0.01507 -0.01177 -0.02788" rpy="0.00000 0.00000 0.00000"/>
- <mass value="0.3"/>
- <inertia ixx="0.00195600000" ixy="-0.00007300000" ixz="0.00026500000"
- iyy="0.00139500000" iyz="-0.00015700000"
- izz="0.00170400000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0" />
- <geometry>
- <mesh filename="package://talos_description/meshes/gripper/gripper_simple.STL"/>
- </geometry>
- <material name="Orange"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0" />
- <geometry>
- <mesh filename="package://talos_description/meshes/gripper/gripper_simple_collision.STL"/>
- </geometry>
- </collision>
- </link>
-
- <joint name="${name}_joint" type="fixed">
- <parent link="${name}_base_link" />
- <child link="${name}_link" />
- <axis xyz="0 0 0" />
- <origin xyz="0 0.02025 -0.02875" rpy="0 0 0" />
- </joint>
+ <xacro:include filename="$(find talos_description)/urdf/deg_to_rad.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/gripper/gripper.transmission.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/gripper/gripper.gazebo.xacro" />
+ <xacro:macro name="talos_gripper" params="name parent reflect">
+
+ <link name="${name}_base_link">
+ <inertial>
+ <origin xyz="-0.00534 0.00362 -0.02357" rpy="0.00000 0.00000 0.00000"/>
+ <mass value="0.61585"/>
+ <inertia ixx="0.00047200000" ixy="-0.00000800000" ixz="0.00003500000"
+ iyy="0.00052100000" iyz="0.00000000000"
+ izz="0.00069000000"/>
+ </inertial>
+
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://talos_description/meshes/gripper/base_link.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://talos_description/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+
+ <joint name="${name}_base_link_joint" type="fixed">
+ <parent link="${parent}"/>
+ <child link="${name}_base_link"/>
+ <origin xyz="0.00000 0.00000 -0.02875"
+ rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
+ <axis xyz="0 0 0" />
+ </joint>
+
+
+ <link name="${name}_motor_double_link">
+ <inertial>
+ <origin xyz="0.02270 0.01781 -0.00977" rpy="0.00000 0.00000 0.00000"/>
+ <mass value="0.16889"/>
+ <!-- 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="${0.00015900000 + 0.001}" ixy="-0.00007000000" ixz="0.00003800000"
+ iyy="${0.00022100000 + 0.001}" iyz="-0.00005300000"
+ izz="${0.00026800000 + 0.001}"/>
+ </inertial>
+
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://talos_description/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="Orange"/>
+ </visual>
+
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://talos_description/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+
+ <joint name="${name}_joint" type="revolute">
+ <parent link="${name}_base_link"/>
+ <child link="${name}_motor_double_link"/>
+ <origin xyz="0.0 0.02025 -0.03"
+ rpy="${0.0 * deg_to_rad} ${0.0 * deg_to_rad} ${0.0 * deg_to_rad}"/>
+ <axis xyz="1 0 0" />
+ <limit lower="${-60.0 * deg_to_rad}" upper="${0.0 * deg_to_rad}" effort="1.0" velocity="1.0" />
+ <dynamics friction="1.0" damping="1.0"/>
+ </joint>
+
+
+ <link name="${name}_inner_double_link">
+ <inertial>
+ <origin xyz="-0.00056 0.03358 -0.01741" rpy="0.00000 0.00000 0.00000"/>
+ <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 xyz="0 0 0" rpy="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 xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://talos_description/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+
+ <joint name="${name}_inner_double_joint" type="revolute">
+ <parent link="${name}_base_link"/>
+ <child link="${name}_inner_double_link"/>
+ <origin xyz="0.00000 0.00525 -0.05598"
+ rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
+ <axis xyz="1 0 0" />
+ <limit lower="${-60.0 * deg_to_rad}" upper="${0.0 * deg_to_rad}" effort="100.0" velocity="1.0" />
+ <mimic joint="${name}_joint" multiplier="${1.0}" offset="0.0" />
+
+ </joint>
+
+
+
+ <link name="${name}_fingertip_1_link">
+ <inertial>
+ <origin xyz="0.00000 0.00460 -0.00254" rpy="0.00000 0.00000 0.00000"/>
+ <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 xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://talos_description/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://talos_description/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+
+
+ <joint name="${name}_fingertip_1_joint" type="revolute">
+ <parent link="${name}_inner_double_link"/>
+ <child link="${name}_fingertip_1_link"/>
+ <origin xyz="0.03200 0.04589 -0.06553"
+ rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
+ <axis xyz="1 0 0" />
+ <limit lower="${0.0 * deg_to_rad}" upper="${60.0 * deg_to_rad}" effort="100.0" velocity="1.0" />
+ <mimic joint="${name}_joint" multiplier="${-1.0}" offset="0.0" />
+ </joint>
+
+
+ <link name="${name}_fingertip_2_link">
+ <inertial>
+ <origin xyz="0.00000 0.00460 -0.00254" rpy="0.00000 0.00000 0.00000"/>
+ <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 xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://talos_description/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://talos_description/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+
+ <joint name="${name}_fingertip_2_joint" type="revolute">
+ <parent link="${name}_inner_double_link"/>
+ <child link="${name}_fingertip_2_link"/>
+ <origin xyz="-0.03200 0.04589 -0.06553"
+ rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
+ <axis xyz="1 0 0" />
+ <limit lower="${0.0 * deg_to_rad}" upper="${60.0 * deg_to_rad}" effort="100.0" velocity="1.0" />
+ <mimic joint="${name}_joint" multiplier="${-1.0}" offset="0.0" />
+ </joint>
+
+
+ <link name="${name}_motor_single_link">
+ <inertial>
+ <origin xyz="0.02589 -0.01284 -0.00640" rpy="0.00000 0.00000 0.00000"/>
+ <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 xyz="0 0 0" rpy="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 xyz="0 0 0" rpy="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="${name}_motor_single_joint" type="revolute">
+ <parent link="${name}_base_link"/>
+ <child link="${name}_motor_single_link"/>
+ <origin xyz="0.00000 -0.02025 -0.03000"
+ rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
+ <axis xyz="1 0 0" />
+ <limit lower="${0.0 * deg_to_rad}" upper="${60.0 * deg_to_rad}" effort="100.0" velocity="1.0" />
+ <mimic joint="${name}_joint" multiplier="${-1.0}" offset="0.0" />
+ </joint>
+
+
+
+ <link name="${name}_inner_single_link">
+ <inertial>
+ <origin xyz="0.00000 -0.03253 -0.01883" rpy="0.00000 0.00000 0.00000"/>
+ <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 xyz="0 0 0" rpy="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 xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://talos_description/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+
+ <joint name="${name}_inner_single_joint" type="revolute">
+ <parent link="${name}_base_link"/>
+ <child link="${name}_inner_single_link"/>
+ <origin xyz="0.00000 -0.00525 -0.05598"
+ rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
+ <axis xyz="1 0 0" />
+ <limit lower="${0.0 * deg_to_rad}" upper="${60.0 * deg_to_rad}" effort="100.0" velocity="1.0" />
+ <mimic joint="${name}_joint" multiplier="${-1.0}" offset="0.0" />
+
+ </joint>
+
+
+ <link name="${name}_fingertip_3_link">
+ <inertial>
+ <origin xyz="0.00000 0.00460 -0.00254" rpy="0.00000 0.00000 0.00000"/>
+ <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 xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://talos_description/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://talos_description/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+
+ <joint name="${name}_fingertip_3_joint" type="revolute">
+ <parent link="${name}_inner_single_link"/>
+ <child link="${name}_fingertip_3_link"/>
+ <origin xyz="0.00000 -0.04589 -0.06553"
+ rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${180.00000 * deg_to_rad}"/>
+ <axis xyz="1 0 0" />
+ <limit lower="${0.0 * deg_to_rad}" upper="${60.0 * deg_to_rad}" effort="100.0" velocity="1.0" />
+ <mimic joint="${name}_joint" multiplier="${-1.0}" offset="0.0" />
+ </joint>
+
+
+
+ <xacro:virtual_joints name="${name}" />
+ <xacro:gripper_transmission name="${name}" reduction="1.0" />
+
+ <!-- virtual mimic joints -->
+<!-- <xacro:gripper_virtual_transmission name="${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="${name}_fingertip_3" reduction="1.0"/> -->
+
</xacro:macro>
</robot>
diff --git a/talos_description/urdf/gripper/gripper_v2.urdf.xacro b/talos_description/urdf/gripper/gripper_v2.urdf.xacro
deleted file mode 100644
index c1cd6c0ff2f96a1397cdfcee439c152791087bcb..0000000000000000000000000000000000000000
--- a/talos_description/urdf/gripper/gripper_v2.urdf.xacro
+++ /dev/null
@@ -1,320 +0,0 @@
-<?xml version="1.0"?>
-
-<robot xmlns:xacro="http://ros.org/wiki/xacro">
-
- <!--File includes-->
- <xacro:include filename="$(find talos_description)/urdf/deg_to_rad.xacro" />
- <xacro:include filename="$(find talos_description)/urdf/gripper/gripper.transmission.xacro" />
- <xacro:include filename="$(find talos_description)/urdf/gripper/gripper.gazebo.xacro" />
-
-
- <xacro:macro name="talos_gripper" params="name parent reflect">
-
- <link name="${name}_base_link">
- <inertial>
- <origin xyz="-0.00534 0.00362 -0.02357" rpy="0.00000 0.00000 0.00000"/>
- <mass value="0.61585"/>
- <inertia ixx="0.00047200000" ixy="-0.00000800000" ixz="0.00003500000"
- iyy="0.00052100000" iyz="0.00000000000"
- izz="0.00069000000"/>
- </inertial>
-
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://talos_description/meshes/gripper/base_link.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
-
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://talos_description/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
-
- <joint name="${name}_base_link_joint" type="fixed">
- <parent link="${parent}"/>
- <child link="${name}_base_link"/>
- <origin xyz="0.00000 0.00000 -0.02875"
- rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
- <axis xyz="0 0 0" />
- </joint>
-
-
- <link name="${name}_motor_double_link">
- <inertial>
- <origin xyz="0.02270 0.01781 -0.00977" rpy="0.00000 0.00000 0.00000"/>
- <mass value="0.16889"/>
- <!-- 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="${0.00015900000 + 0.001}" ixy="-0.00007000000" ixz="0.00003800000"
- iyy="${0.00022100000 + 0.001}" iyz="-0.00005300000"
- izz="${0.00026800000 + 0.001}"/>
- </inertial>
-
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://talos_description/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
- </geometry>
- <material name="Orange"/>
- </visual>
-
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://talos_description/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
-
- <joint name="${name}_joint" type="revolute">
- <parent link="${name}_base_link"/>
- <child link="${name}_motor_double_link"/>
- <origin xyz="0.0 0.02025 -0.03"
- rpy="${0.0 * deg_to_rad} ${0.0 * deg_to_rad} ${0.0 * deg_to_rad}"/>
- <axis xyz="1 0 0" />
- <limit lower="${-60.0 * deg_to_rad}" upper="${0.0 * deg_to_rad}" effort="1.0" velocity="1.0" />
- <dynamics friction="1.0" damping="1.0"/>
- </joint>
-
-
- <link name="${name}_inner_double_link">
- <inertial>
- <origin xyz="-0.00056 0.03358 -0.01741" rpy="0.00000 0.00000 0.00000"/>
- <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 xyz="0 0 0" rpy="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 xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://talos_description/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
-
- <joint name="${name}_inner_double_joint" type="revolute">
- <parent link="${name}_base_link"/>
- <child link="${name}_inner_double_link"/>
- <origin xyz="0.00000 0.00525 -0.05598"
- rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
- <axis xyz="1 0 0" />
- <limit lower="${-60.0 * deg_to_rad}" upper="${0.0 * deg_to_rad}" effort="100.0" velocity="1.0" />
- <mimic joint="${name}_joint" multiplier="${1.0}" offset="0.0" />
-
- </joint>
-
-
-
- <link name="${name}_fingertip_1_link">
- <inertial>
- <origin xyz="0.00000 0.00460 -0.00254" rpy="0.00000 0.00000 0.00000"/>
- <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 xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://talos_description/meshes/gripper/fingertip.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
-
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://talos_description/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
-
-
- <joint name="${name}_fingertip_1_joint" type="revolute">
- <parent link="${name}_inner_double_link"/>
- <child link="${name}_fingertip_1_link"/>
- <origin xyz="0.03200 0.04589 -0.06553"
- rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
- <axis xyz="1 0 0" />
- <limit lower="${0.0 * deg_to_rad}" upper="${60.0 * deg_to_rad}" effort="100.0" velocity="1.0" />
- <mimic joint="${name}_joint" multiplier="${-1.0}" offset="0.0" />
- </joint>
-
-
- <link name="${name}_fingertip_2_link">
- <inertial>
- <origin xyz="0.00000 0.00460 -0.00254" rpy="0.00000 0.00000 0.00000"/>
- <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 xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://talos_description/meshes/gripper/fingertip.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
-
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://talos_description/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
-
- <joint name="${name}_fingertip_2_joint" type="revolute">
- <parent link="${name}_inner_double_link"/>
- <child link="${name}_fingertip_2_link"/>
- <origin xyz="-0.03200 0.04589 -0.06553"
- rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
- <axis xyz="1 0 0" />
- <limit lower="${0.0 * deg_to_rad}" upper="${60.0 * deg_to_rad}" effort="100.0" velocity="1.0" />
- <mimic joint="${name}_joint" multiplier="${-1.0}" offset="0.0" />
- </joint>
-
-
- <link name="${name}_motor_single_link">
- <inertial>
- <origin xyz="0.02589 -0.01284 -0.00640" rpy="0.00000 0.00000 0.00000"/>
- <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 xyz="0 0 0" rpy="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 xyz="0 0 0" rpy="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="${name}_motor_single_joint" type="revolute">
- <parent link="${name}_base_link"/>
- <child link="${name}_motor_single_link"/>
- <origin xyz="0.00000 -0.02025 -0.03000"
- rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
- <axis xyz="1 0 0" />
- <limit lower="${0.0 * deg_to_rad}" upper="${60.0 * deg_to_rad}" effort="100.0" velocity="1.0" />
- <mimic joint="${name}_joint" multiplier="${-1.0}" offset="0.0" />
- </joint>
-
-
-
- <link name="${name}_inner_single_link">
- <inertial>
- <origin xyz="0.00000 -0.03253 -0.01883" rpy="0.00000 0.00000 0.00000"/>
- <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 xyz="0 0 0" rpy="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 xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://talos_description/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
-
- <joint name="${name}_inner_single_joint" type="revolute">
- <parent link="${name}_base_link"/>
- <child link="${name}_inner_single_link"/>
- <origin xyz="0.00000 -0.00525 -0.05598"
- rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
- <axis xyz="1 0 0" />
- <limit lower="${0.0 * deg_to_rad}" upper="${60.0 * deg_to_rad}" effort="100.0" velocity="1.0" />
- <mimic joint="${name}_joint" multiplier="${-1.0}" offset="0.0" />
-
- </joint>
-
-
- <link name="${name}_fingertip_3_link">
- <inertial>
- <origin xyz="0.00000 0.00460 -0.00254" rpy="0.00000 0.00000 0.00000"/>
- <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 xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://talos_description/meshes/gripper/fingertip.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
-
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://talos_description/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
-
- <joint name="${name}_fingertip_3_joint" type="revolute">
- <parent link="${name}_inner_single_link"/>
- <child link="${name}_fingertip_3_link"/>
- <origin xyz="0.00000 -0.04589 -0.06553"
- rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${180.00000 * deg_to_rad}"/>
- <axis xyz="1 0 0" />
- <limit lower="${0.0 * deg_to_rad}" upper="${60.0 * deg_to_rad}" effort="100.0" velocity="1.0" />
- <mimic joint="${name}_joint" multiplier="${-1.0}" offset="0.0" />
- </joint>
-
-
-
- <xacro:virtual_joints name="${name}" />
- <xacro:gripper_transmission name="${name}" reduction="1.0" />
-
- <!-- virtual mimic joints -->
-<!-- <xacro:gripper_virtual_transmission name="${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="${name}_fingertip_3" reduction="1.0"/> -->
-
- </xacro:macro>
-
-</robot>
diff --git a/talos_description/urdf/leg/leg.urdf.xacro b/talos_description/urdf/leg/leg.urdf.xacro
index 71ded42aea29d3588582bca4746295b62091e2ff..5bedc07f07e7097d3e808c0710c9e59199712889 100644
--- a/talos_description/urdf/leg/leg.urdf.xacro
+++ b/talos_description/urdf/leg/leg.urdf.xacro
@@ -1,157 +1,255 @@
<?xml version="1.0"?>
-<robot name="talos" xmlns:xacro="http://ros.org/wiki/xacro" >
- <xacro:include filename="$(find talos_description)/urdf/leg/leg.transmission.xacro" />
- <xacro:property name="leg_reduction" value="1.0" />
- <xacro:property name="leg_friction" value="0.0" />
- <xacro:property name="leg_damping" value="0.0" />
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="talos">
+
+ <xacro:include filename="$(find talos_description)/urdf/leg/leg.transmission.xacro" />
+
+ <xacro:property name="deg_to_rad" value="0.01745329251994329577" />
+ <xacro:property name="eps_radians" value="0.008" /> <!-- 0.45deg -->
+ <xacro:property name="eps_meters" value="0.005" />
+ <xacro:property name="leg_reduction" value="1.0" />
+ <xacro:property name="leg_friction" value="0.0" />
+ <xacro:property name="leg_damping" value="0.0" />
+
+
+ <xacro:macro name="talos_leg" params="prefix reflect">
+ <!-- Joint hip_z (mesh link) : child link hip_x -> parent link base_link -->
- <xacro:macro name="talos_leg" params="prefix reflect">
-
<link name="leg_${prefix}_1_link">
<inertial>
- <origin xyz="0.033 0.0 -0.112" rpy="0 0 0"/>
- <mass value="1.3" />
- <inertia ixx="0.003" ixy="0.0" ixz="0.0" iyy="0.004" iyz="0.0" izz="0.002" />
+ <origin xyz="0.02320 -0.00009 0.04949" rpy="0.00000 0.00000 0.00000"/>
+ <mass value="1.88569"/>
+ <inertia ixx="0.00384800000" ixy="0.00003200000" ixz="-0.00082600000"
+ iyy="0.00599400000" iyz="0.00007800000"
+ izz="0.00322200000"/>
</inertial>
-
+
<visual>
- <origin rpy="0 0 3.14" xyz="0 0 0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_description/meshes/hipZ.STL" scale="1 ${reflect*1} 1"/>
+ <mesh filename="package://talos_description/meshes/v2/hip_z_lo_res.stl" scale="1 ${reflect*1} 1"/>
</geometry>
- <!-- <material name="LightGrey" /> -->
+ <material name="DarkGrey" />
</visual>
-
+
<collision>
- <origin rpy="0 0 0" xyz="0 0 -0.02"/>
- <geometry>
- <box size="0.1 0.1 0.1"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://talos_description/meshes/v2/hip_z_collision.stl" scale="1 ${reflect*1} 1"/>
</geometry>
</collision>
-
</link>
+ <joint name="leg_${prefix}_1_joint" type="revolute">
+ <parent link="base_link"/>
+ <child link="leg_${prefix}_1_link"/>
+ <origin xyz="-0.02 ${reflect*0.08500} -0.27105"
+ rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
+ <axis xyz="0 0 1" />
+ <limit lower="${(-55.0 + 35.0*reflect)*deg_to_rad}" upper="${(55.0 + 35.0*reflect)*deg_to_rad}" effort="100" velocity="3.87" />
+ <dynamics friction="${leg_friction}" damping="${leg_damping}"/>
+ </joint>
+
+
+ <!-- Joint hip_x (mesh link) : child link hip_y -> parent link hip_z -->
+
<link name="leg_${prefix}_2_link">
<inertial>
- <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
- <mass value="1.2" />
- <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
+ <origin xyz="0.01583 -0.00021 0.00619" rpy="0.00000 0.00000 0.00000"/>
+ <mass value="2.37607"/>
+ <inertia ixx="0.00342100000" ixy="-0.00011300000" ixz="-0.00022500000"
+ iyy="0.00402400000" iyz="-0.00003100000"
+ izz="0.00416400000"/>
</inertial>
<visual>
- <origin xyz="0 0 0.0" rpy="1.57 0 0" />
+ <origin xyz="0 0 0.0" rpy="0 0 0" />
<geometry>
- <cylinder radius="0.05" length="0.15"/>
+ <mesh filename="package://talos_description/meshes/v2/hip_x_lo_res.stl" scale="1 ${reflect*1} 1"/>
</geometry>
<material name="DarkGrey" />
</visual>
<collision>
- <origin xyz="0 0 0.0" rpy="1.57 0 0" />
+ <origin xyz="0 0 0.0" rpy="0 0 0" />
<geometry>
- <cylinder radius="0.05" length="0.15"/>
+ <mesh filename="package://talos_description/meshes/v2/hip_x_collision.stl" scale="1 ${reflect*1} 1"/>
</geometry>
- </collision>
+ </collision>
+ </link>
+
+ <joint name="leg_${prefix}_2_joint" type="revolute">
+ <parent link="leg_${prefix}_1_link"/>
+ <child link="leg_${prefix}_2_link"/>
+ <origin xyz="0.00000 0.00000 0.00000"
+ rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
+ <axis xyz="1 0 0" />
+ <limit lower="-0.5236" upper="0.5236" effort="160" velocity="5.8" />
+ <dynamics friction="${leg_friction}" damping="${leg_damping}"/>
+ </joint>
+
+ <!-- Joint hip_y (mesh link) : child link knee -> parent link hip_x -->
- </link>
-
<link name="leg_${prefix}_3_link">
+ <inertial>
+ <origin xyz="0.00658 ${reflect*0.06563} -0.17278" rpy="0.00000 0.00000 0.00000"/>
+ <mass value="6.82734"/>
+ <inertia ixx="0.12390600000" ixy="${reflect*-0.00041200000}" ixz="-0.00205900000"
+ iyy="0.10844700000" iyz="${reflect*0.01672500000}"
+ izz="0.02781200000"/>
+ </inertial>
+
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_description/meshes/femur.STL" scale="1 ${reflect*1} 1"/>
+ <mesh filename="package://talos_description/meshes/v2/hip_y_lo_res.stl" scale="1 ${reflect*1} 1"/>
</geometry>
- <!-- <material name="LightGrey" /> -->
+ <material name="DarkGrey" />
</visual>
<collision>
- <origin rpy="0 0 0" xyz="0 0 -0.2"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <box size="0.1 0.15 0.25"/>
+ <mesh filename="package://talos_description/meshes/v2/hip_y_collision.stl" scale="1 ${reflect*1} 1"/>
</geometry>
</collision>
+ </link>
- <inertial>
- <origin xyz="0.005 ${reflect*0.057} -0.195" rpy="0 0 0"/>
- <mass value="6.4" />
- <inertia ixx="0.117" ixy="${reflect*-0.001}" ixz="0.001" iyy="0.106" iyz="${reflect*0.018}" izz="0.021" />
- </inertial>
- </link>
+ <joint name="leg_${prefix}_3_joint" type="revolute">
+ <parent link="leg_${prefix}_2_link"/>
+ <child link="leg_${prefix}_3_link"/>
+ <origin xyz="0.00000 0.00000 0.00000"
+ rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
+ <axis xyz="0 1 0" />
+ <limit lower="-2.095" upper="0.7" effort="160" velocity="5.8" />
+ <dynamics friction="${leg_friction}" damping="${leg_damping}"/>
+ </joint>
+
+ <!-- Joint knee (mesh link) : child link ankle_y -> parent link hip_y -->
<link name="leg_${prefix}_4_link">
-
<inertial>
- <origin xyz="0.008 ${reflect*0.033} -0.139" rpy="0 0 0"/>
- <mass value="3.6" />
- <inertia ixx="0.033" ixy="${reflect*-0.001}" ixz="0.001" iyy="0.028" iyz="0.0" izz="0.011" />
+ <origin xyz="0.01520 ${reflect*0.02331} -0.12063" rpy="0.00000 0.00000 0.00000"/>
+ <mass value="3.63668"/>
+ <inertia ixx="0.03531500000" ixy="${reflect*0.00002900000}" ixz="-0.00016600000"
+ iyy="0.02933600000" iyz="${reflect*-0.00130500000}"
+ izz="0.01174000000"/>
</inertial>
-
- <visual>
+
+ <visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_description/meshes/tibia.STL" scale="1 ${reflect*1} 1"/>
+ <mesh filename="package://talos_description/meshes/v2/knee_lo_res.stl" scale="1 ${reflect*1} 1"/>
</geometry>
- <!-- <material name="LightGrey" /> -->
+ <material name="DarkGrey" />
</visual>
<collision>
- <origin rpy="0 0 0" xyz="0 0 -0.175"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <box size="0.1 0.15 0.3"/>
+ <mesh filename="package://talos_description/meshes/v2/knee_collision.stl" scale="1 ${reflect*1} 1"/>
</geometry>
</collision>
+ </link>
+
+ <joint name="leg_${prefix}_4_joint" type="revolute">
+ <parent link="leg_${prefix}_3_link"/>
+ <child link="leg_${prefix}_4_link"/>
- </link>
+ <origin xyz="0.00000 0.00000 -0.38000"
+ rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
+ <axis xyz="0 1 0" />
+ <limit lower="0" upper="2.618" effort="300" velocity="7" />
+ <dynamics friction="${leg_friction}" damping="${leg_damping}"/>
+ </joint>
+
+ <!-- Joint ankle_y (mesh link) : child link ankle_x -> parent link knee -->
<link name="leg_${prefix}_5_link">
-
<inertial>
- <origin xyz="-0.003 ${reflect*0.007} -0.005" rpy="0 0 0"/>
- <mass value="1.1" />
- <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
+ <origin xyz="-0.01106 ${reflect*0.04708} 0.05271" rpy="0.00000 0.00000 0.00000"/>
+ <mass value="1.24433"/>
+ <inertia ixx="0.01148700000" ixy="${reflect*-0.00068600000}" ixz="-0.00052600000"
+ iyy="0.00952600000" iyz="${reflect*0.00263300000}"
+ izz="0.00390800000"/>
</inertial>
-
+
<visual>
- <origin xyz="0 0 0.0" rpy="1.57 0 0" />
- <geometry>
- <cylinder radius="0.01" length="0.14"/>
+ <origin xyz="0 0 0.0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://talos_description/meshes/v2/ankle_Y_lo_res.stl" scale="1 ${reflect*1} 1"/>
</geometry>
<material name="Grey" />
</visual>
<collision>
- <origin xyz="0 0 0.0" rpy="1.57 0 0" />
- <geometry>
- <cylinder radius="0.01" length="0.14"/>
+ <origin xyz="0 0 0.0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://talos_description/meshes/v2/ankle_Y_collision.stl" scale="1 ${reflect*1} 1"/>
</geometry>
</collision>
-
- </link>
-
- <link name="leg_${prefix}_6_link">
+ </link>
+
+ <joint name="leg_${prefix}_5_joint" type="revolute">
+ <parent link="leg_${prefix}_4_link"/>
+ <child link="leg_${prefix}_5_link"/>
+ <origin xyz="0.00000 0.00000 -0.32500"
+ rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
+ <axis xyz="0 1 0" />
+ <limit lower="-1.309" upper="0.768" effort="160" velocity="5.8" />
+ <dynamics friction="${leg_friction}" damping="${leg_damping}"/>
+ </joint>
+
+ <!-- Joint ankle_x (mesh link) : child link None -> parent link ankle_y -->
+
+ <link name="leg_${prefix}_6_link">
<inertial>
- <origin xyz="-0.008 0.0 -0.097" rpy="0 0 0"/>
- <mass value="0.9" />
- <inertia ixx="0.002" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
+ <origin xyz="-0.02087 -0.00019 -0.06059" rpy="0.00000 0.00000 0.00000"/>
+ <mass value="1.59457"/>
+ <inertia ixx="0.00383800000" ixy="0.00001600000" ixz="-0.00104100000"
+ iyy="0.00657200000" iyz="-0.00001700000"
+ izz="0.00504400000"/>
</inertial>
+
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_description/meshes/foot.STL" scale="1 ${reflect*1} 1"/>
+ <mesh filename="package://talos_description/meshes/v2/ankle_X_lo_res.stl" scale="1 ${reflect*1} 1"/>
</geometry>
- <!-- <material name="LightGrey" /> -->
+ <material name="Grey" />
</visual>
+
+ <!--
<collision>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://talos_description/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
+ </geometry>
+ </collision>
+
+ -->
+
+ <collision>
<origin xyz="0 0 -0.1" rpy="0 0 0" />
<geometry>
<box size="0.21 0.13 0.02"/>
</geometry>
</collision>
+
+ </link>
+
+ <joint name="leg_${prefix}_6_joint" type="revolute">
+ <parent link="leg_${prefix}_5_link"/>
+ <child link="leg_${prefix}_6_link"/>
+ <origin xyz="0.00000 0.00000 0.00000"
+ rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
+ <axis xyz="1 0 0" />
+ <limit lower="-0.5236" upper="0.5236" effort="100" velocity="4.8" />
+ <dynamics friction="${leg_friction}" damping="${leg_damping}"/>
+ </joint>
+
+ <!-- from here is copy paste -->
- </link>
-
-
<link name="${prefix}_sole_link">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
@@ -160,85 +258,6 @@
</inertial>
</link>
- <joint name="leg_${prefix}_1_joint" type="revolute">
- <parent link="base_link" />
- <child link="leg_${prefix}_1_link" />
- <origin xyz="0.0 ${reflect*0.08} 0.0" rpy="0 0 0" />
- <axis xyz="0 0 1" />
- <!-- nominal -->
- <!-- <limit lower="-0.5236" upper="1.571" effort="49" velocity="3.87" /> -->
- <!-- peak -->
- <xacro:if value="${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="${leg_damping}"/>
- </joint>
-
- <joint name="leg_${prefix}_2_joint" type="revolute">
- <parent link="leg_${prefix}_1_link" />
- <child link="leg_${prefix}_2_link" />
- <origin xyz="0.0 0.0 -0.10" rpy="0 0 0" />
- <axis xyz="1 0 0" />
- <!-- nominal -->
- <!-- <limit lower="-0.524" upper="0.5236" effort="90" velocity="5.8" /> -->
- <!--peak -->
- <limit lower="-0.524" upper="0.5236" effort="160" velocity="5.8" />
- <dynamics friction="${leg_friction}" damping="${leg_damping}"/>
- </joint>
-
- <joint name="leg_${prefix}_3_joint" type="revolute">
- <parent link="leg_${prefix}_2_link" />
- <child link="leg_${prefix}_3_link" />
- <origin xyz="0.0 0.0 -0.0" rpy="0 0 0" />
- <axis xyz="0 1 0" />
- <!-- nomial -->
- <!-- <limit lower="-2.095" upper="0.7" effort="90" velocity="5.8" /> -->
- <!-- peak -->
- <limit lower="-2.095" upper="0.7" effort="160" velocity="5.8" />
- <dynamics friction="${leg_friction}" damping="${leg_damping}"/>
- </joint>
-
-
- <joint name="leg_${prefix}_4_joint" type="revolute">
- <parent link="leg_${prefix}_3_link" />
- <child link="leg_${prefix}_4_link" />
- <origin xyz="0.00 -0.0 -0.38" rpy="0 0 0" />
- <axis xyz="0 1 0" />
- <!-- nominal -->
- <!-- <limit lower="0" upper="2.618" effort="145" velocity="7" /> -->
- <!-- peak -->
- <limit lower="0" upper="2.618" effort="300" velocity="7" />
- <dynamics friction="${leg_friction}" damping="${leg_damping}"/>
- </joint>
-
-
- <joint name="leg_${prefix}_5_joint" type="revolute">
- <parent link="leg_${prefix}_4_link" />
- <child link="leg_${prefix}_5_link" />
- <origin xyz="0.00 0.00 -0.32" rpy="0 0 0" />
- <axis xyz="0 1 0" />
- <!-- nominal -->
- <!-- <limit lower="-1.309" upper="0.768" effort="90" velocity="5.8" /> -->
- <!-- peak -->
- <limit lower="-1.309" upper="0.768" effort="160" velocity="5.8" />
- <dynamics friction="${leg_friction}" damping="${leg_damping}"/>
- </joint>
-
- <joint name="leg_${prefix}_6_joint" type="revolute">
- <parent link="leg_${prefix}_5_link" />
- <child link="leg_${prefix}_6_link" />
- <origin xyz="0.00 0.00 -0.0" rpy="0 0 0" />
- <axis xyz="1 0 0" />
- <!-- nominal -->
- <!-- <limit lower="-0.524" upper="0.524" effort="62" velocity="4.8" /> -->
- <!-- peak -->
- <limit lower="-0.524" upper="0.524" effort="100" velocity="4.8" />
- </joint>
-
-
<joint name="leg_${prefix}_sole_fix_joint" type="fixed">
<parent link="leg_${prefix}_6_link" />
<child link="${prefix}_sole_link" />
@@ -275,52 +294,57 @@
<mu2>0.9</mu2>
</gazebo>
- <!--
-
- <gazebo reference="leg_${prefix}_6_link">
- <kp>1000000.0</kp>
- <kd>100.0</kd>
- <mu1>1.0</mu1>
- <mu2>1.0</mu2>
- <fdir1>0 0 1</fdir1>
- <maxVel>1.0</maxVel>
- <minDepth>0.003</minDepth>
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
-
- -->
-
+ <!-- contact model for foot surface -->
<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_${prefix}_6_joint">
- <implicitSpringDamper>0.1</implicitSpringDamper>
+ <implicitSpringDamper>1</implicitSpringDamper>
<provideFeedback>1</provideFeedback>
</gazebo>
-
+
+ <gazebo reference="leg_${prefix}_1_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="leg_${prefix}_2_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="leg_${prefix}_3_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="leg_${prefix}_4_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="leg_${prefix}_5_link">
+ <material>Gazebo/White</material>
+ </gazebo>
+ <gazebo reference="leg_${prefix}_6_link">
+ <material>Gazebo/White</material>
+ </gazebo>
+
</xacro:macro>
-
</robot>
diff --git a/talos_description/urdf/leg/leg_v2.urdf.xacro b/talos_description/urdf/leg/leg_v2.urdf.xacro
deleted file mode 100644
index 5bedc07f07e7097d3e808c0710c9e59199712889..0000000000000000000000000000000000000000
--- a/talos_description/urdf/leg/leg_v2.urdf.xacro
+++ /dev/null
@@ -1,350 +0,0 @@
-<?xml version="1.0"?>
-
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="talos">
-
- <xacro:include filename="$(find talos_description)/urdf/leg/leg.transmission.xacro" />
-
- <xacro:property name="deg_to_rad" value="0.01745329251994329577" />
- <xacro:property name="eps_radians" value="0.008" /> <!-- 0.45deg -->
- <xacro:property name="eps_meters" value="0.005" />
- <xacro:property name="leg_reduction" value="1.0" />
- <xacro:property name="leg_friction" value="0.0" />
- <xacro:property name="leg_damping" value="0.0" />
-
-
- <xacro:macro name="talos_leg" params="prefix reflect">
- <!-- Joint hip_z (mesh link) : child link hip_x -> parent link base_link -->
-
- <link name="leg_${prefix}_1_link">
- <inertial>
- <origin xyz="0.02320 -0.00009 0.04949" rpy="0.00000 0.00000 0.00000"/>
- <mass value="1.88569"/>
- <inertia ixx="0.00384800000" ixy="0.00003200000" ixz="-0.00082600000"
- iyy="0.00599400000" iyz="0.00007800000"
- izz="0.00322200000"/>
- </inertial>
-
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_description/meshes/v2/hip_z_lo_res.stl" scale="1 ${reflect*1} 1"/>
- </geometry>
- <material name="DarkGrey" />
- </visual>
-
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_description/meshes/v2/hip_z_collision.stl" scale="1 ${reflect*1} 1"/>
- </geometry>
- </collision>
- </link>
-
- <joint name="leg_${prefix}_1_joint" type="revolute">
- <parent link="base_link"/>
- <child link="leg_${prefix}_1_link"/>
- <origin xyz="-0.02 ${reflect*0.08500} -0.27105"
- rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
- <axis xyz="0 0 1" />
- <limit lower="${(-55.0 + 35.0*reflect)*deg_to_rad}" upper="${(55.0 + 35.0*reflect)*deg_to_rad}" effort="100" velocity="3.87" />
- <dynamics friction="${leg_friction}" damping="${leg_damping}"/>
- </joint>
-
-
- <!-- Joint hip_x (mesh link) : child link hip_y -> parent link hip_z -->
-
- <link name="leg_${prefix}_2_link">
- <inertial>
- <origin xyz="0.01583 -0.00021 0.00619" rpy="0.00000 0.00000 0.00000"/>
- <mass value="2.37607"/>
- <inertia ixx="0.00342100000" ixy="-0.00011300000" ixz="-0.00022500000"
- iyy="0.00402400000" iyz="-0.00003100000"
- izz="0.00416400000"/>
- </inertial>
-
- <visual>
- <origin xyz="0 0 0.0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://talos_description/meshes/v2/hip_x_lo_res.stl" scale="1 ${reflect*1} 1"/>
- </geometry>
- <material name="DarkGrey" />
- </visual>
-
- <collision>
- <origin xyz="0 0 0.0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://talos_description/meshes/v2/hip_x_collision.stl" scale="1 ${reflect*1} 1"/>
- </geometry>
- </collision>
- </link>
-
- <joint name="leg_${prefix}_2_joint" type="revolute">
- <parent link="leg_${prefix}_1_link"/>
- <child link="leg_${prefix}_2_link"/>
- <origin xyz="0.00000 0.00000 0.00000"
- rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
- <axis xyz="1 0 0" />
- <limit lower="-0.5236" upper="0.5236" effort="160" velocity="5.8" />
- <dynamics friction="${leg_friction}" damping="${leg_damping}"/>
- </joint>
-
- <!-- Joint hip_y (mesh link) : child link knee -> parent link hip_x -->
-
- <link name="leg_${prefix}_3_link">
- <inertial>
- <origin xyz="0.00658 ${reflect*0.06563} -0.17278" rpy="0.00000 0.00000 0.00000"/>
- <mass value="6.82734"/>
- <inertia ixx="0.12390600000" ixy="${reflect*-0.00041200000}" ixz="-0.00205900000"
- iyy="0.10844700000" iyz="${reflect*0.01672500000}"
- izz="0.02781200000"/>
- </inertial>
-
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_description/meshes/v2/hip_y_lo_res.stl" scale="1 ${reflect*1} 1"/>
- </geometry>
- <material name="DarkGrey" />
- </visual>
-
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_description/meshes/v2/hip_y_collision.stl" scale="1 ${reflect*1} 1"/>
- </geometry>
- </collision>
- </link>
-
- <joint name="leg_${prefix}_3_joint" type="revolute">
- <parent link="leg_${prefix}_2_link"/>
- <child link="leg_${prefix}_3_link"/>
- <origin xyz="0.00000 0.00000 0.00000"
- rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
- <axis xyz="0 1 0" />
- <limit lower="-2.095" upper="0.7" effort="160" velocity="5.8" />
- <dynamics friction="${leg_friction}" damping="${leg_damping}"/>
- </joint>
-
- <!-- Joint knee (mesh link) : child link ankle_y -> parent link hip_y -->
-
- <link name="leg_${prefix}_4_link">
- <inertial>
- <origin xyz="0.01520 ${reflect*0.02331} -0.12063" rpy="0.00000 0.00000 0.00000"/>
- <mass value="3.63668"/>
- <inertia ixx="0.03531500000" ixy="${reflect*0.00002900000}" ixz="-0.00016600000"
- iyy="0.02933600000" iyz="${reflect*-0.00130500000}"
- izz="0.01174000000"/>
- </inertial>
-
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_description/meshes/v2/knee_lo_res.stl" scale="1 ${reflect*1} 1"/>
- </geometry>
- <material name="DarkGrey" />
- </visual>
-
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_description/meshes/v2/knee_collision.stl" scale="1 ${reflect*1} 1"/>
- </geometry>
- </collision>
- </link>
-
- <joint name="leg_${prefix}_4_joint" type="revolute">
- <parent link="leg_${prefix}_3_link"/>
- <child link="leg_${prefix}_4_link"/>
-
- <origin xyz="0.00000 0.00000 -0.38000"
- rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
- <axis xyz="0 1 0" />
- <limit lower="0" upper="2.618" effort="300" velocity="7" />
- <dynamics friction="${leg_friction}" damping="${leg_damping}"/>
- </joint>
-
- <!-- Joint ankle_y (mesh link) : child link ankle_x -> parent link knee -->
-
- <link name="leg_${prefix}_5_link">
- <inertial>
- <origin xyz="-0.01106 ${reflect*0.04708} 0.05271" rpy="0.00000 0.00000 0.00000"/>
- <mass value="1.24433"/>
- <inertia ixx="0.01148700000" ixy="${reflect*-0.00068600000}" ixz="-0.00052600000"
- iyy="0.00952600000" iyz="${reflect*0.00263300000}"
- izz="0.00390800000"/>
- </inertial>
-
- <visual>
- <origin xyz="0 0 0.0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://talos_description/meshes/v2/ankle_Y_lo_res.stl" scale="1 ${reflect*1} 1"/>
- </geometry>
- <material name="Grey" />
- </visual>
-
- <collision>
- <origin xyz="0 0 0.0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://talos_description/meshes/v2/ankle_Y_collision.stl" scale="1 ${reflect*1} 1"/>
- </geometry>
- </collision>
- </link>
-
- <joint name="leg_${prefix}_5_joint" type="revolute">
- <parent link="leg_${prefix}_4_link"/>
- <child link="leg_${prefix}_5_link"/>
- <origin xyz="0.00000 0.00000 -0.32500"
- rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
- <axis xyz="0 1 0" />
- <limit lower="-1.309" upper="0.768" effort="160" velocity="5.8" />
- <dynamics friction="${leg_friction}" damping="${leg_damping}"/>
- </joint>
-
- <!-- Joint ankle_x (mesh link) : child link None -> parent link ankle_y -->
-
- <link name="leg_${prefix}_6_link">
- <inertial>
- <origin xyz="-0.02087 -0.00019 -0.06059" rpy="0.00000 0.00000 0.00000"/>
- <mass value="1.59457"/>
- <inertia ixx="0.00383800000" ixy="0.00001600000" ixz="-0.00104100000"
- iyy="0.00657200000" iyz="-0.00001700000"
- izz="0.00504400000"/>
- </inertial>
-
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_description/meshes/v2/ankle_X_lo_res.stl" scale="1 ${reflect*1} 1"/>
- </geometry>
- <material name="Grey" />
- </visual>
-
- <!--
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://talos_description/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
- </geometry>
- </collision>
-
- -->
-
- <collision>
- <origin xyz="0 0 -0.1" rpy="0 0 0" />
- <geometry>
- <box size="0.21 0.13 0.02"/>
- </geometry>
- </collision>
-
- </link>
-
- <joint name="leg_${prefix}_6_joint" type="revolute">
- <parent link="leg_${prefix}_5_link"/>
- <child link="leg_${prefix}_6_link"/>
- <origin xyz="0.00000 0.00000 0.00000"
- rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
- <axis xyz="1 0 0" />
- <limit lower="-0.5236" upper="0.5236" effort="100" velocity="4.8" />
- <dynamics friction="${leg_friction}" damping="${leg_damping}"/>
- </joint>
-
- <!-- from here is copy paste -->
-
- <link name="${prefix}_sole_link">
- <inertial>
- <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
- <mass value="0.01" />
- <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
- </inertial>
- </link>
-
- <joint name="leg_${prefix}_sole_fix_joint" type="fixed">
- <parent link="leg_${prefix}_6_link" />
- <child link="${prefix}_sole_link" />
- <origin xyz="0.00 0.00 -0.107" rpy="0 0 0" />
- <axis xyz="1 0 0" />
- <dynamics friction="${leg_friction}" damping="${leg_damping}"/>
- </joint>
-
- <xacro:talos_leg_simple_transmission side="${prefix}" number="1" reduction="${leg_reduction}" />
- <xacro:talos_leg_simple_transmission side="${prefix}" number="2" reduction="${leg_reduction}" />
- <xacro:talos_leg_simple_transmission side="${prefix}" number="3" reduction="${leg_reduction}" />
- <xacro:talos_leg_simple_transmission side="${prefix}" number="4" reduction="${leg_reduction}" />
- <xacro:talos_leg_simple_transmission side="${prefix}" number="5" reduction="${leg_reduction}" />
- <xacro:talos_leg_simple_transmission side="${prefix}" number="6" reduction="${leg_reduction}" />
-
- <gazebo reference="leg_${prefix}_1_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="leg_${prefix}_2_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="leg_${prefix}_3_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="leg_${prefix}_4_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="leg_${prefix}_5_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
-
- <!-- contact model for foot surface -->
- <gazebo reference="leg_${prefix}_6_link">
- <kp>1000000.0</kp>
- <kd>100.0</kd>
- <mu1>1.0</mu1>
- <mu2>1.0</mu2>
- <fdir1>1 0 0</fdir1>
- <maxVel>1.0</maxVel>
- <minDepth>0.00</minDepth>
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
-
- <gazebo reference="leg_${prefix}_1_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_${prefix}_2_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_${prefix}_3_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_${prefix}_4_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_${prefix}_5_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_${prefix}_6_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
-
- <gazebo reference="leg_${prefix}_1_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="leg_${prefix}_2_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="leg_${prefix}_3_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="leg_${prefix}_4_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="leg_${prefix}_5_link">
- <material>Gazebo/White</material>
- </gazebo>
- <gazebo reference="leg_${prefix}_6_link">
- <material>Gazebo/White</material>
- </gazebo>
-
- </xacro:macro>
-
-</robot>
diff --git a/talos_description/urdf/sensors/back_camera.urdf.xacro b/talos_description/urdf/sensors/back_camera.urdf.xacro
deleted file mode 100644
index c540ca4fa1a4dade36d07d63ceccb285850f725e..0000000000000000000000000000000000000000
--- a/talos_description/urdf/sensors/back_camera.urdf.xacro
+++ /dev/null
@@ -1,76 +0,0 @@
-<?xml version="1.0"?>
-<!--
-
- Copyright (c) 2013, PAL Robotics, S.L.
- All rights reserved.
-
- This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
- To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
- Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
--->
-<robot xmlns:xacro="http://ros.org/wiki/xacro">
-
- <!-- back camera macro uses stingrayf033c_camera macros -->
- <xacro:include filename="$(find reemc_description)/urdf/sensors/mvbluefox_back_camera.gazebo.xacro" />
- <xacro:include filename="$(find reemc_description)/urdf/sensors/mvbluefox_camera.urdf.xacro" />
-
- <!-- this macro is used for creating wide and narrow double back camera links -->
- <xacro:macro name="reemc_back_camera" params="name parent focal_length hfov image_format image_width image_height *origin">
-
- <joint name="${name}_frame_joint" type="fixed">
- <xacro:insert_block name="origin" />
- <parent link="${parent}"/>
- <child link="${name}_link"/>
- </joint>
- <!-- camera link is at center of the optical frame, but in x-forward, z-upwards and y-leftwards notation (required by gazebo to simulate a camera) -->
- <link name="${name}_link">
- <inertial>
- <mass value="0.05" />
- <origin xyz="0 0 0" rpy="0 0 0" />
- <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01" /> <!-- this inertia is made up for now. -->
- </inertial>
-
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <box size="0.001 0.001 0.001" />
- </geometry>
-
- </visual>
-
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <box size="0.001 0.001 0.001" />
- </geometry>
- </collision>
-
- </link>
-
- <!-- attach optical frame to the camera link -->
- <joint name="${name}_optical_frame_joint" type="fixed">
- <origin xyz="0 0 0" rpy="${-M_PI/2} 0.0 ${-M_PI/2}" /> <!-- rotate frame from x-forward to z-forward camera coords -->
- <parent link="${name}_link"/>
- <child link="${name}_optical_frame"/>
- </joint>
- <!-- optical frame for the back camera, with z-forward notation, this is the frame back camera images users should refer to -->
- <link name="${name}_optical_frame" type="camera">
- <inertial>
- <mass value="0.05" />
- <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
- </inertial>
- </link>
-
- <!-- back camera -->
- <xacro:mvbluefox_camera name="${name}_gazebo_back_camera" parent="${name}_link">
- <origin xyz="0 0 0" rpy="0.0 0.0 0.0" />
- </xacro:mvbluefox_camera>
-
- <!-- Back camera Gazebo simulation -->
- <xacro:mvbluefox_back_camera_gazebo name="${name}" image_format="${image_format}"
- hfov="${hfov}" focal_length="${focal_length}"
- frame_id="${name}_optical_frame"
- image_width="${image_width}" image_height="${image_height}"/>
-
- </xacro:macro>
-</robot>
diff --git a/talos_description/urdf/sensors/laser.gazebo.xacro b/talos_description/urdf/sensors/laser.gazebo.xacro
deleted file mode 100644
index 7e06f1e22bc60723086381ee057e87bc7cc6dd6e..0000000000000000000000000000000000000000
--- a/talos_description/urdf/sensors/laser.gazebo.xacro
+++ /dev/null
@@ -1,50 +0,0 @@
-<?xml version="1.0"?>
-<!--
-
- Copyright (c) 2011, PAL Robotics, S.L.
- All rights reserved.
-
- This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
- To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
- Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
--->
-<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
- xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
- xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
- xmlns:xacro="http://ros.org/wiki/xacro">
-
-<xacro:macro name="reemc_laser_gazebo" params="name ros_topic update_rate min_angle max_angle nrays">
- <gazebo reference="${name}_link">
- <sensor type="ray" name="${name}_sensor">
- <pose>0 0 0 0 0 0</pose>
- <visualize>false</visualize>
- <update_rate>${update_rate}</update_rate>
- <ray>
- <scan>
- <horizontal>
- <samples>${nrays}</samples>
- <resolution>1</resolution>
- <min_angle>${min_angle}</min_angle>
- <max_angle>${max_angle}</max_angle>
- </horizontal>
- </scan>
- <range>
- <min>0.02</min>
- <max>5.6</max>
- <resolution>0.01</resolution>
- </range>
- </ray>
- <plugin filename="libgazebo_ros_laser.so" name="gazebo_ros_laser" >
- <frameName>/${name}_link</frameName>
- <topicName>${ros_topic}</topicName>
- <gaussianNoise>0.03</gaussianNoise>
- <hokuyoMinIntensity>101</hokuyoMinIntensity>
- <updateRate>${update_rate}</updateRate>
- <alwaysOn>true</alwaysOn>
- </plugin>
- </sensor>
- </gazebo>
-</xacro:macro>
-
-
-</robot>
diff --git a/talos_description/urdf/sensors/laser.urdf.xacro b/talos_description/urdf/sensors/laser.urdf.xacro
deleted file mode 100644
index 121e66a8f59c5bd554e6e22aa080b2cd3c6d2515..0000000000000000000000000000000000000000
--- a/talos_description/urdf/sensors/laser.urdf.xacro
+++ /dev/null
@@ -1,47 +0,0 @@
-<?xml version="1.0"?>
-<!--
-
- Copyright (c) 2011, 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 xmlns:xacro="http://ros.org/wiki/xacro">
-
- <xacro:include filename="$(find reemc_description)/urdf/sensors/laser.gazebo.xacro" />
-
- <xacro:macro name="reemc_laser" params="name parent *origin ros_topic update_rate min_angle max_angle nrays">
-
- <link name="${name}_link">
- <inertial>
- <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
- <mass value="0.001" />
- <inertia iyy="4.2412E-05" ixy="4.9927E-08" iyz="-9.8165E-09" ixx="3.7174E-05" ixz="1.1015E-05" izz="4.167E-05" />
- </inertial>
- <!-- <visual>
- <origin xyz="0.0 0 0.05" rpy="0 0 ${90.0*deg_to_rad}" />
- <geometry>
- <mesh filename="package://reemc_description/meshes/sensors/urg-04lx-ug01.stl" scale="0.001 0.001 0.001"/>
- </geometry>
- <material name="DarkGrey" />
- </visual>
- -->
- </link>
-
- <joint name="${name}_joint" type="fixed">
- <axis xyz="0 1 0" />
- <xacro:insert_block name="origin" />
- <parent link="${parent}"/>
- <child link="${name}_link"/>
- <dynamics friction="1.0" damping="1"/>
- <limit lower="0" upper="0" effort="60" velocity="20" />
- </joint>
-
- <!-- gazebo extensions -->
- <xacro:reemc_laser_gazebo name="${name}" ros_topic="${ros_topic}" update_rate="${update_rate}" min_angle="${min_angle}" max_angle="${max_angle}" nrays="${nrays}"/>
-
- </xacro:macro>
-
-</robot>
diff --git a/talos_description/urdf/sensors/mvbluefox_back_camera.gazebo.xacro b/talos_description/urdf/sensors/mvbluefox_back_camera.gazebo.xacro
deleted file mode 100644
index 8765c11b88e5d942378992e67d9112e1507c559c..0000000000000000000000000000000000000000
--- a/talos_description/urdf/sensors/mvbluefox_back_camera.gazebo.xacro
+++ /dev/null
@@ -1,60 +0,0 @@
-<?xml version="1.0"?>
-<!--
-
- Copyright (c) 2013, 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="reemc" 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"
- xmlns:xacro="http://ros.org/wiki/xacro">
-
- <xacro:macro name="mvbluefox_back_camera_gazebo" params="name image_format hfov focal_length frame_id image_width image_height">
-
- <gazebo reference="${name}_link">
-
- <sensor type="camera" name="gazebo_${name}_camera">
- <update_rate>15.0</update_rate>
- <camera>
- <horizontal_fov>${ hfov }</horizontal_fov>
- <image>
- <width>${image_width} </width>
- <height> ${image_height}</height>
- <format>${image_format}</format>
- </image>
- <clip>
- <near>0.01</near>
- <far>100</far>
- </clip>
- </camera>
- <plugin name="monocular_camera_controller" filename="libgazebo_ros_camera.so">
- <alwaysOn>true</alwaysOn>
- <updateRate>15.0</updateRate>
- <cameraName>${name}</cameraName>
- <imageTopicName>image</imageTopicName>
- <cameraInfoTopicName>camera_info</cameraInfoTopicName>
- <frameName>${frame_id}</frameName>
- <hackBaseline>0</hackBaseline>
- <CxPrime>${(image_width+1)/2}</CxPrime>
- <Cx>${(image_width+1)/2}</Cx>
- <Cy>${(image_height+1)/2}</Cy>
- <focalLength>${focal_length}</focalLength> <!-- image_width / (2*tan(hfov_radian /2)) -->
- <distalostionK1>0.0</distalostionK1>
- <distalostionK2>0.0</distalostionK2>
- <distalostionK3>0.0</distalostionK3>
- <distalostionT1>0.0</distalostionT1>
- <distalostionT2>0.0</distalostionT2>
- </plugin>
- </sensor>
-
- </gazebo>
- </xacro:macro>
-
-</robot>
-
-
-
diff --git a/talos_description/urdf/sensors/mvbluefox_camera.urdf.xacro b/talos_description/urdf/sensors/mvbluefox_camera.urdf.xacro
deleted file mode 100644
index d48d3e3e3a79102b369e8938832bb0fe3a2acdb0..0000000000000000000000000000000000000000
--- a/talos_description/urdf/sensors/mvbluefox_camera.urdf.xacro
+++ /dev/null
@@ -1,41 +0,0 @@
-<?xml version="1.0"?>
-<!--
-
- Copyright (c) 2013, 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.
--->
-<!-- XML namespaces -->
-<robot name="reemc" xmlns:xacro="http://ros.org/wiki/xacro">
-
- <xacro:macro name="mvbluefox_camera" params="name parent *origin">
-
- <joint name="${name}_frame_joint" type="fixed">
- <xacro:insert_block name="origin" />
- <parent link="${parent}"/>
- <child link="${name}_link"/>
- </joint>
-
- <link name="${name}_link">
- <inertial>
- <mass value="0.1" />
- <origin xyz="0 0 0" />
- <inertia ixx="0" ixy="0.0" ixz="0.0"
- iyy="0" iyz="0.0"
- izz="0" />
- </inertial>
- <visual>
- <origin xyz="-0.01 0 0" rpy="0 ${deg_to_rad * 90} 0" />
- <geometry>
- <cylinder radius="0.01" length="0.02" />
- </geometry>
- <material name="Blue"/>
- </visual>
- </link>
-
- </xacro:macro>
-
-</robot>
diff --git a/talos_description/urdf/sensors/prosilicaGC655C_camera.urdf.xacro b/talos_description/urdf/sensors/prosilicaGC655C_camera.urdf.xacro
deleted file mode 100644
index 4499bcde87e365c61e8dc50dfdaf5ebe92bb2e09..0000000000000000000000000000000000000000
--- a/talos_description/urdf/sensors/prosilicaGC655C_camera.urdf.xacro
+++ /dev/null
@@ -1,40 +0,0 @@
-<?xml version="1.0"?>
-<!--
-
- Copyright (c) 2013, PAL Robotics, S.L.
- All rights reserved.
-
- This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
- To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
- Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
--->
-<!-- XML namespaces -->
-<robot name="reemc" xmlns:xacro="http://ros.org/wiki/xacro">
- <xacro:macro name="prosilicaGC655C_camera" params="name parent *origin">
-
- <joint name="${name}_frame_joint" type="fixed">
- <xacro:insert_block name="origin" />
- <parent link="${parent}"/>
- <child link="${name}_link"/>
- </joint>
-
- <link name="${name}_link">
- <inertial>
- <mass value="0.1" />
- <origin xyz="0 0 0" />
- <inertia ixx="0" ixy="0.0" ixz="0.0"
- iyy="0" iyz="0.0"
- izz="0" />
- </inertial>
- <visual>
- <origin xyz="-0.01 0 0" rpy="0 ${deg_to_rad * 90} 0" />
- <geometry>
- <cylinder radius="0.01" length="0.018" />
- </geometry>
- <material name="Blue"/>
- </visual>
- </link>
-
- </xacro:macro>
-
-</robot>
diff --git a/talos_description/urdf/sensors/prosilica_stereo_camera.gazebo.xacro b/talos_description/urdf/sensors/prosilica_stereo_camera.gazebo.xacro
deleted file mode 100644
index abfd2748d2dd73c906aca6003225c5fd9bee5ed9..0000000000000000000000000000000000000000
--- a/talos_description/urdf/sensors/prosilica_stereo_camera.gazebo.xacro
+++ /dev/null
@@ -1,67 +0,0 @@
-<?xml version="1.0"?>
-<!--
-
- Copyright (c) 2013, PAL Robotics, S.L.
- All rights reserved.
-
- This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
- To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
- Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
--->
-<robot name="reemc" xmlns:xacro="http://ros.org/wiki/xacro">
-
- <xacro:macro name="prosilica_stereo_camera_gazebo" params="name image_format hfov focal_length frame_id hack_baseline image_width image_height">
- <gazebo reference="${name}_link">
-
- <sensor type="multicamera" name="gazebo_${name}_camera">
- <update_rate>25.0</update_rate>
- <camera name="left">
- <horizontal_fov>${ hfov }</horizontal_fov>
- <image>
- <width>${image_width} </width>
- <height> ${image_height}</height>
- <format>${image_format}</format>
- </image>
- <clip>
- <near>0.01</near>
- <far>100</far>
- </clip>
- </camera>
- <camera name="right">
- <pose>0 -${hack_baseline} 0 0 0 0</pose> <!-- the pose is wrt /stereo_link which is the parent of stereo_optical_frame -->
- <horizontal_fov>${ hfov }</horizontal_fov>
- <image>
- <width>${image_width} </width>
- <height> ${image_height}</height>
- <format>${image_format}</format>
- </image>
- <clip>
- <near>0.01</near>
- <far>100</far>
- </clip>
- </camera>
- <plugin name="stereo_camera_controller" filename="libgazebo_ros_multicamera.so">
- <alwaysOn>true</alwaysOn>
- <updateRate>25.0</updateRate>
- <cameraName>${name}</cameraName>
- <imageTopicName>image</imageTopicName>
- <cameraInfoTopicName>camera_info</cameraInfoTopicName>
- <frameName>${frame_id}</frameName>
- <hackBaseline>${hack_baseline}</hackBaseline>
- <CxPrime>${(image_width+1)/2}</CxPrime>
- <Cx>${(image_width+1)/2}</Cx>
- <Cy>${(image_height+1)/2}</Cy>
- <focalLength>${focal_length}</focalLength> <!-- image_width / (2*tan(hfov_radian /2)) -->
- <distalostionK1>0.0</distalostionK1>
- <distalostionK2>0.0</distalostionK2>
- <distalostionK3>0.0</distalostionK3>
- <distalostionT1>0.0</distalostionT1>
- <distalostionT2>0.0</distalostionT2>
- </plugin>
- </sensor>
- </gazebo>
- </xacro:macro>
-</robot>
-
-
-
diff --git a/talos_description/urdf/sensors/range.gazebo.xacro b/talos_description/urdf/sensors/range.gazebo.xacro
deleted file mode 100644
index 73806ef3968f1caa27ea2275823051418c284061..0000000000000000000000000000000000000000
--- a/talos_description/urdf/sensors/range.gazebo.xacro
+++ /dev/null
@@ -1,56 +0,0 @@
-<?xml version="1.0"?>
-
-<!--
- Copyright (c) 2011, PAL Robotics, S.L.
- All rights reserved.
-
- This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
- To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
- Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
--->
-
-<robot xmlns:xacro="http://ros.org/wiki/xacro">
-
- <xacro:macro name="range_reem_gazebo" params="name ros_topic update_rate maxRange minRange fov radiation" >
- <gazebo reference="${name}_link">
- <sensor type="ray" name="${name}">
- <pose>0 0 0 0 0 0</pose>
- <update_rate>${update_rate}</update_rate>
- <visualize>false</visualize>
- <ray>
- <scan>
- <horizontal>
- <samples>5</samples>
- <resolution>1</resolution>
- <min_angle>-${fov/2}</min_angle>
- <max_angle>${fov/2}</max_angle>
- </horizontal>
- <vertical>
- <samples>5</samples>
- <resolution>1</resolution>
- <min_angle>-${fov/2}</min_angle>
- <max_angle>${fov/2}</max_angle>
- </vertical>
- </scan>
- <range>
- <min>${minRange}</min>
- <max>${maxRange}</max>
- <resolution>0.01</resolution>
- </range>
- </ray>
- <plugin filename="libgazebo_ros_range.so" name="gazebo_ros_range">
- <gaussianNoise>0.005</gaussianNoise>
- <alwaysOn>true</alwaysOn>
- <updateRate>${update_rate}</updateRate>
- <topicName>${ros_topic}</topicName>
- <frameName>${name}_link</frameName>
- <minRange>${minRange}</minRange>
- <maxRange>${maxRange}</maxRange>
- <fov>${fov}</fov>
- <radiation>${radiation}</radiation>
- </plugin>
- </sensor>
- </gazebo>
- </xacro:macro>
-
-</robot>
diff --git a/talos_description/urdf/sensors/range.urdf.xacro b/talos_description/urdf/sensors/range.urdf.xacro
deleted file mode 100644
index 52bdd86165f835de59177f932f45506b37c251e5..0000000000000000000000000000000000000000
--- a/talos_description/urdf/sensors/range.urdf.xacro
+++ /dev/null
@@ -1,36 +0,0 @@
-<?xml version="1.0"?>
-
-<!--
- Copyright (c) 2011, PAL Robotics, S.L.
- All rights reserved.
-
- This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
- To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
- Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
--->
-
-<robot xmlns:xacro="http://ros.org/wiki/xacro">
-
- <xacro:include filename="$(find reemc_description)/urdf/sensors/range.gazebo.xacro" />
-
- <xacro:macro name="range_reem" params="name parent *origin ros_topic update_rate maxRange minRange fov radiation">
-
- <link name="${name}_link">
- <inertial>
- <mass value="0.001" />
- <origin xyz="0 0 0" rpy="0 0 0" />
- <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.0001" />
- </inertial>
- </link>
-
- <joint name="${name}_joint" type="fixed">
- <xacro:insert_block name="origin" />
- <axis xyz="0 0 1"/>
- <parent link="${parent}_link"/>
- <child link="${name}_link"/>
- </joint>
-
- <!-- gazebo extensions -->
- <xacro:range_reem_gazebo name="${name}" ros_topic="${ros_topic}" update_rate="${update_rate}" maxRange="${maxRange}" minRange="${minRange}" fov="${fov}" radiation="${radiation}"/>
- </xacro:macro>
-</robot>
diff --git a/talos_description/urdf/sensors/stereo_camera.gazebo.xacro b/talos_description/urdf/sensors/stereo_camera.gazebo.xacro
deleted file mode 100644
index 8e8b59df5a9d9932cfdf5ee53069ec752d2f4f81..0000000000000000000000000000000000000000
--- a/talos_description/urdf/sensors/stereo_camera.gazebo.xacro
+++ /dev/null
@@ -1,28 +0,0 @@
-<?xml version="1.0"?>
-<!--
-
- Copyright (c) 2011, PAL Robotics, S.L.
- All rights reserved.
-
- This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
- To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
- Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
--->
-<robot name="reemc" xmlns:xacro="http://ros.org/wiki/xacro">
-
- <!-- this macro is used for creating wide and narrow double stereo camera in simulation -->
- <xacro:macro name="stereo_camera_gazebo_v0" params="name focal_length_left hfov_left focal_length_right hfov_right image_width image_height">
-
- <gazebo reference="${name}_link">
- <material value="White"/>
- <gravity value="false"/>
- </gazebo>
-
- <gazebo reference="${name}_optical_frame">
- <material value="White"/>
- <gravity value="false"/>
- </gazebo>
-
- </xacro:macro>
-
-</robot>
diff --git a/talos_description/urdf/sensors/stereo_camera.urdf.xacro b/talos_description/urdf/sensors/stereo_camera.urdf.xacro
deleted file mode 100644
index 9f5f741d757c98fd8e90fbc0475c0968dc1396cb..0000000000000000000000000000000000000000
--- a/talos_description/urdf/sensors/stereo_camera.urdf.xacro
+++ /dev/null
@@ -1,94 +0,0 @@
-<?xml version="1.0"?>
-<!--
-
- Copyright (c) 2014, PAL Robotics, S.L.
- All rights reserved.
-
- This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
- To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
- Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
--->
-<robot name="reemc" xmlns:xacro="http://ros.org/wiki/xacro">
-
- <xacro:include filename="$(find reemc_description)/urdf/sensors/prosilica_stereo_camera.gazebo.xacro" />
- <xacro:include filename="$(find reemc_description)/urdf/sensors/prosilicaGC655C_camera.urdf.xacro" />
-
- <xacro:property name="stereo_dx" value="0.00" />
- <xacro:property name="stereo_dy" value="-0.073" /> <!-- stereo baseline according to base_link which has X pointing forward, Y leftwards and Z upwards (required by Gazebo for a camera sensor) -->
- <xacro:property name="stereo_dz" value="0.00" />
- <xacro:property name="stereo_rx" value="0.00" />
- <xacro:property name="stereo_ry" value="0.00" />
- <xacro:property name="stereo_rz" value="0.00" />
-
- <!-- this macro is used for creating wide and narrow double stereo camera links -->
- <xacro:macro name="reemc_stereo_camera" params="name parent focal_length hfov image_format image_width image_height *origin">
-
- <joint name="${name}_frame_joint" type="fixed">
- <xacro:insert_block name="origin" />
- <parent link="${parent}"/>
- <child link="${name}_link"/>
- </joint>
- <!-- camera link is at center of the optical frame, but in x-forward, z-upwards and y-leftwards notation (required by gazebo to simulate a camera) -->
- <link name="${name}_link">
- <inertial>
- <mass value="0.01" />
- <origin xyz="0 0 0" rpy="0 0 0" />
- <inertia ixx="0" ixy="0" ixz="0"
- iyy="0" iyz="0"
- izz="0" /> <!-- this inertia is made up for now. -->
- </inertial>
-
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <box size="0.001 0.001 0.001" />
- </geometry>
- <material name="Blue"/>
- </visual>
-
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <box size="0.001 0.001 0.001" />
- </geometry>
- </collision>
-
- </link>
-
- <!-- attach optical frame to the camera link -->
- <joint name="${name}_optical_frame_joint" type="fixed">
- <origin xyz="0 0 0" rpy="${-M_PI/2} 0.0 ${-M_PI/2}" /> <!-- rotate frame from x-forward to z-forward camera coords -->
- <parent link="${name}_link"/>
- <child link="${name}_optical_frame"/>
- </joint>
- <!-- optical frame for the stereo camera, with z-forward notation, this is the frame stereo camera images users should refer to -->
- <link name="${name}_optical_frame" type="camera">
- <inertial>
- <mass value="0.01" />
- <origin xyz="0 0 0" rpy="0 0 0" />
- <inertia ixx="0" ixy="0" ixz="0"
- iyy="0" iyz="0"
- izz="0" /> <!-- this inertia is made up for now. -->
- </inertial>
- </link>
-
- <!-- stereo left camera -->
- <xacro:prosilicaGC655C_camera name="${name}_gazebo_left_camera" parent="${name}_link">
- <origin xyz="0 0 0" rpy="0.0 0.0 0.0" />
- </xacro:prosilicaGC655C_camera>
-
- <!-- stereo right camera -->
- <xacro:prosilicaGC655C_camera name="${name}_gazebo_right_camera" parent="${name}_link">
- <origin xyz="${stereo_dx} ${stereo_dy} ${stereo_dz}" rpy="${stereo_rx} ${stereo_ry} ${stereo_rz}" />
- </xacro:prosilicaGC655C_camera>
-
-
- <!-- Stereo camera Gazebo simulation -->
- <xacro:prosilica_stereo_camera_gazebo name="${name}" image_format="${image_format}"
- hfov="${hfov}" focal_length="${focal_length}"
- frame_id="${name}_optical_frame" hack_baseline="${-stereo_dy}"
- image_width="${image_width}" image_height="${image_height}"/>
-
-
- </xacro:macro>
-</robot>