From 7d53ba03cc355381d124f21b6c6864e98a079e3c Mon Sep 17 00:00:00 2001
From: Luca <luca.marchionni@pal-robotics.com>
Date: Mon, 7 Nov 2016 13:04:54 +0100
Subject: [PATCH] Modify motions for Talos
---
talos_bringup/config/talos_motions.yaml | 22 ++++++++++------------
1 file changed, 10 insertions(+), 12 deletions(-)
diff --git a/talos_bringup/config/talos_motions.yaml b/talos_bringup/config/talos_motions.yaml
index b55677e..c929acf 100644
--- a/talos_bringup/config/talos_motions.yaml
+++ b/talos_bringup/config/talos_motions.yaml
@@ -1,12 +1,12 @@
play_motion:
controllers: [right_arm_controller, left_arm_controller, left_leg_controller, right_leg_controller,
- head_controller, torso_controller]
+ head_controller, torso_controller, gripper_left_controller, gripper_right_controller]
motions:
hands_front:
- joints: [arm_right_3_joint, arm_right_4_joint, arm_right_1_joint, arm_left_4_joint,
- arm_left_1_joint, arm_left_2_joint, arm_right_2_joint, arm_left_3_joint]
+ joints: [arm_right_1_joint, arm_right_2_joint, arm_right_3_joint, arm_right_4_joint, arm_right_5_joint, arm_right_6_joint, arm_right_7_joint,
+ arm_left_1_joint, arm_left_2_joint, arm_left_3_joint, arm_left_4_joint, arm_left_5_joint, arm_left_6_joint, arm_left_7_joint]
points:
- - positions: [-1.0, 1.65, 1.2, 1.65, 1.2, 0.3, 0.3, -1.0]
+ - positions: [0.0, -0.252, 0.285, -1.591, 0.0, 0.0, 0.0, 0.0, 0.252, -0.285, -1.591, 0.0, 0.0, 0.0]
time_from_start: 0.0
hands_up:
joints: [torso_2_joint, arm_right_6_joint, arm_right_5_joint, arm_left_5_joint,
@@ -22,11 +22,10 @@ play_motion:
arm_left_2_joint, arm_left_3_joint, arm_left_4_joint, arm_left_5_joint, arm_left_6_joint,
arm_left_7_joint, arm_right_1_joint, arm_right_2_joint, arm_right_3_joint,
arm_right_4_joint, arm_right_5_joint, arm_right_6_joint, arm_right_7_joint,
- hand_left_thumb_joint, hand_left_index_joint, hand_left_middle_joint, hand_right_thumb_joint,
- hand_right_index_joint, hand_right_middle_joint]
+ gripper_left_joint, gripper_right_joint]
points:
- - positions: [0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1,
- 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+ - positions: [0.0, 0.0, 0.0, 0.0, 0.0, 0.15, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.15,
+ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
time_from_start: 0.0
meta:
name: Home
@@ -45,11 +44,10 @@ play_motion:
arm_left_2_joint, arm_left_3_joint, arm_left_4_joint, arm_left_5_joint, arm_left_6_joint,
arm_left_7_joint, arm_right_1_joint, arm_right_2_joint, arm_right_3_joint,
arm_right_4_joint, arm_right_5_joint, arm_right_6_joint, arm_right_7_joint,
- hand_left_thumb_joint, hand_left_index_joint, hand_left_middle_joint, hand_right_thumb_joint,
- hand_right_index_joint, hand_right_middle_joint]
+ gripper_left_joint, gripper_right_joint]
points:
- - positions: [0.0, 0.0, 0.0, 0.0, -0.4, 0.25, -0.1, 0.6109, 0.0, 0.0, 0.0, -0.4,
- 0.25, -0.1, 0.6109, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+ - positions: [0.0, 0.0, 0.0, 0.0, -0.2, 0.25, -0.1, -0.6109, 0.0, 0.0, 0.0, 0.2,
+ -0.25, 0.1, -0.6109, 0.0, 0.0, 0.0, 0.0, 0.0]
time_from_start: 0.0
meta:
name: Interact
--
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