diff --git a/launch/talos_joint_command_rviz.launch b/launch/talos_joint_command_rviz.launch
deleted file mode 100644
index 7d93e0f6fff4432fa78fd7688f5caaf1926ea300..0000000000000000000000000000000000000000
--- a/launch/talos_joint_command_rviz.launch
+++ /dev/null
@@ -1,9 +0,0 @@
-
-roslaunch talos_data upload_legs.launch
-
-rosrun joint_state_publisher joint_state_publisher _use_gui:=True
-
-rosrun robot_state_publisher robot_state_publisher
-
-rosrun rviz rviz
-
diff --git a/robots/talos_arm.urdf.xacro b/robots/talos_arm.urdf.xacro
deleted file mode 100644
index 07f5a12aa34b4bfc4eded690ae8e5f52be917adb..0000000000000000000000000000000000000000
--- a/robots/talos_arm.urdf.xacro
+++ /dev/null
@@ -1,55 +0,0 @@
-<?xml version="1.0"?>
-<!--
-
- Copyright (c) 2016, PAL Robotics, S.L.
- All rights reserved.
-
- This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
- To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
- Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
--->
-<robot name="talos" xmlns:xacro="http://ros.org/wiki/xacro"
- xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
- xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
- xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
-
- <xacro:include filename="$(find talos_data)/urdf/arm/arm.urdf.xacro" />
- <xacro:include filename="$(find talos_data)/urdf/gripper/gripper.urdf.xacro" />
-
- <link name="talos_2_link">
- <inertial>
- <origin xyz="-0.04551 -0.00053 0.16386" rpy="0.00000 0.00000 0.00000"/>
- <mass value="17.55011"/>
- <inertia ixx="0.37376900000" ixy="0.00063900000" ixz="0.01219600000"
- iyy="0.24790200000" iyz="0.00000700000"
- izz="0.28140400000"/>
- </inertial>
-
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://talos_data/meshes/talos/talos_2.STL" scale="1 1 1"/>
- </geometry>
- <material name="LightGrey" />
- </visual>
-
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://talos_data/meshes/talos/talos_2_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
-
- <xacro:talos_arm name="arm" parent="talos_2_link" side="left" reflect="1"/>
- <xacro:talos_arm name="arm" parent="talos_2_link" side="right" reflect="-1"/>
-
- <xacro:talos_gripper name="left_gripper" parent="arm_left_7_link"/>
- <xacro:talos_gripper name="right_gripper" parent="arm_right_7_link"/>
-
- <!-- Generic simulatalos_gazebo plugins -->
- <xacro:include filename="$(find talos_data)/gazebo/gazebo.urdf.xacro" />
- <!-- Materials for visualization -->
- <xacro:include filename="$(find talos_data)/urdf/materials.urdf.xacro" />
-
-</robot>
diff --git a/robots/talos_full_collision.urdf b/robots/talos_full_collision.urdf
deleted file mode 100644
index 100c7a1280093b2d63e98c4575ec56d69cfa1956..0000000000000000000000000000000000000000
--- a/robots/talos_full_collision.urdf
+++ /dev/null
@@ -1,2786 +0,0 @@
-<?xml version="1.0" ?>
-<!-- =================================================================================== -->
-<!-- | This document was autogenerated by xacro from talos_full.urdf.xacro | -->
-<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
-<!-- =================================================================================== -->
-<!--
-
- Copyright (c) 2016, PAL Robotics, S.L.
- All rights reserved.
-
- This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
- To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
- Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
--->
-<robot name="talos" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:xacro="http://ros.org/wiki/xacro">
- <!--File includes-->
- <!--Constant parameters-->
- <!--File includes-->
- <!-- Macro -->
- <!--Constant parameters-->
- <!--************************-->
- <!-- HEAD_1 (TILT) -->
- <!--************************-->
- <!--************************-->
- <!-- HEAD_2 (PAN) -->
- <!--************************-->
- <!--File includes-->
- <!--File includes-->
- <!--Constant parameters-->
- <!--Constant parameters-->
- <!--File includes-->
- <!-- VIRTUAL (mimic) JOINTS -->
- <!-- 0.45deg -->
- <!--************************-->
- <!-- TORSO_2 (TILT) -->
- <!--************************-->
- <link name="torso_2_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.04551 -0.00053 0.16386"/>
- <mass value="17.55011"/>
- <inertia ixx="0.37376900000" ixy="0.00063900000" ixz="0.01219600000" iyy="0.24790200000" iyz="0.00000700000" izz="0.28140400000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/torso/torso_2.STL" scale="1 1 1"/>
- </geometry>
- <material name="LightGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/torso/torso_2_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <!--************************-->
- <!-- TORSO_1 (PAN) -->
- <!--************************-->
- <link name="torso_1_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00013 -0.00001 -0.01306"/>
- <mass value="3.02433"/>
- <inertia ixx="0.00759400000" ixy="0.00000100000" ixz="-0.00004800000" iyy="0.00429200000" iyz="-0.00000100000" izz="0.00749700000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/torso/torso_1.STL" scale="1 1 1"/>
- </geometry>
- <material name="LightGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/torso/torso_1.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="torso_1_joint" type="revolute">
- <parent link="base_link"/>
- <child link="torso_1_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0722"/>
- <axis xyz="0 0 1"/>
- <limit effort="78.0" lower="-1.308996939" upper="1.308996939" velocity="5.4"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-15.0 * deg_to_rad + torso_eps}"
- soft_upper_limit="${ 45.0 * deg_to_rad - torso_eps}" /> -->
- </joint>
- <!--************************-->
- <!-- BASE_LINK -->
- <!--************************-->
- <link name="base_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.08222 0.00838 -0.07261"/>
- <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_data/meshes/torso/base_link.STL" scale="1 1 1"/>
- </geometry>
- <material name="LightGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/torso/base_link_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="torso_2_joint" type="revolute">
- <parent link="torso_1_link"/>
- <child link="torso_2_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
- <axis xyz="0 1 0"/>
- <limit effort="78.0" lower="-0.261799387799" upper="0.785398163397" velocity="5.4"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-75.00000 * deg_to_rad + eps_radians}"
- soft_upper_limit="${75.00000 * deg_to_rad - eps_radians}" /> -->
- </joint>
- <link name="imu_link">
- <inertial>
- <mass value="0.01"/>
- <origin xyz="0 0 0"/>
- <inertia ixx="0.000001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.000001"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <box size="0.01 0.01 0.01"/>
- </geometry>
- </visual>
- </link>
- <joint name="imu_joint" type="fixed">
- <origin rpy="3.14159265359 0 1.57079632679" xyz="0.04925 0 0.078"/>
- <parent link="torso_2_link"/>
- <child link="imu_link"/>
- </joint>
- <gazebo reference="torso_1_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="torso_2_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="base_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="torso_1_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="torso_2_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <!-- extensions -->
- <transmission name="talos_torso_trans">
- <type>transmission_interface/DifferentialTransmission</type>
- <actuator name="torso_1_motor">
- <role>actuator1</role>
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <actuator name="torso_2_motor">
- <role>actuator2</role>
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="torso_1_joint">
- <role>joint1</role>
- <offset>0.0</offset>
- <mechanicalReduction>1.0</mechanicalReduction>
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- <joint name="torso_2_joint">
- <role>joint2</role>
- <offset>0.0</offset>
- <mechanicalReduction>1.0</mechanicalReduction>
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <link name="head_1_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00120 0.00145 0.02165"/>
- <mass value="0.65988"/>
- <inertia ixx="0.00122100000" ixy="-0.00000400000" ixz="0.00007000000" iyy="0.00092400000" iyz="-0.00004100000" izz="0.00103300000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/head/head_1.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_data/meshes/head/head_1_collision.stl" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="head_1_joint" type="revolute">
- <parent link="torso_2_link"/>
- <child link="head_1_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.31600"/>
- <axis xyz="0 1 0"/>
- <limit effort="8.0" lower="-0.261799387799" upper="0.785398163397" velocity="1.0"/>
- <dynamics damping="0.5" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-15.00000 * deg_to_rad + eps_radians}"
- soft_upper_limit="${45.00000 * deg_to_rad - eps_radians}" /> -->
- </joint>
- <gazebo reference="head_1_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="head_1_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="head_1_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <link name="head_2_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.01036 -0.00037 0.13778"/>
- <mass value="1.40353"/>
- <inertia ixx="0.00722500000" ixy="-0.00002500000" ixz="0.00032900000" iyy="0.00687300000" iyz="0.00004400000" izz="0.00437300000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/head/head_2.stl" scale="1 1 1"/>
- </geometry>
- <material name="LightGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/head/head_2_collision.stl" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="head_2_joint" type="revolute">
- <parent link="head_1_link"/>
- <child link="head_2_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
- <axis xyz="0 0 1"/>
- <limit effort="4.0" lower="-1.308996939" upper="1.308996939" velocity="1.0"/>
- <dynamics damping="0.5" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-75.00000 * deg_to_rad + eps_radians}"
- soft_upper_limit="${75.00000 * deg_to_rad - eps_radians}" /> -->
- </joint>
- <gazebo reference="head_2_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="head_2_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="head_2_link">
- <material>Gazebo/White</material>
- </gazebo>
- <!-- frames in the center of the camera -->
- <joint name="rgbd_joint" type="fixed">
- <origin rpy="0 0 0" xyz="0.066 0.0 0.1982"/>
- <axis xyz="0 0 1"/>
- <!-- <limit lower="0" upper="0.001" effort="100" velocity="0.01"/> -->
- <parent link="head_2_link"/>
- <child link="rgbd_link"/>
- </joint>
- <link name="rgbd_link">
- <inertial>
- <mass value="0.01"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <!-- inertia tensor computed analytically for a solid cuboid -->
- <inertia ixx="0.000030" ixy="0.0" ixz="0.0" iyy="0.000030" iyz="0.0" izz="0.000002"/>
- </inertial>
- <!--
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/sensors/orbbec/orbbec.STL"/>
- </geometry>
- <material name="DarkGrey">
- <color rgba="0.5 0.5 0.5 1"/>
- </material>
- </visual>
- -->
- <collision>
- <origin rpy="0 0 0" xyz="-0.01 0.0025 0"/>
- <geometry>
- <box size="0.04 0.185 0.03"/>
- </geometry>
- </collision>
- </link>
- <joint name="rgbd_optical_joint" type="fixed">
- <origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
- <parent link="rgbd_link"/>
- <child link="rgbd_optical_frame"/>
- </joint>
- <link name="rgbd_optical_frame">
- <inertial>
- <mass value="0.01"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
- </link>
- <!-- frames of the depth sensor -->
- <joint name="rgbd_depth_joint" type="fixed">
- <origin rpy="0 0 0" xyz="0.0 0.03751 0.0"/>
- <parent link="rgbd_link"/>
- <child link="rgbd_depth_frame"/>
- </joint>
- <link name="rgbd_depth_frame"/>
- <joint name="rgbd_depth_optical_joint" type="fixed">
- <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
- <parent link="rgbd_depth_frame"/>
- <child link="rgbd_depth_optical_frame"/>
- </joint>
- <link name="rgbd_depth_optical_frame"/>
- <!-- frames of the rgb sensor -->
- <joint name="rgbd_rgb_joint" type="fixed">
- <origin rpy="0 0 0" xyz="0.0 0.01251 0.0"/>
- <parent link="rgbd_link"/>
- <child link="rgbd_rgb_frame"/>
- </joint>
- <link name="rgbd_rgb_frame"/>
- <joint name="rgbd_rgb_optical_joint" type="fixed">
- <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
- <parent link="rgbd_rgb_frame"/>
- <child link="rgbd_rgb_optical_frame"/>
- </joint>
- <link name="rgbd_rgb_optical_frame"/>
- <!-- extensions -->
- <gazebo reference="rgbd_link">
- <!-- IR + depth -->
- <sensor name="rgbd_frame_sensor" type="depth">
- <always_on>true</always_on>
- <update_rate>6.0</update_rate>
- <camera>
- <horizontal_fov>1.01229096616</horizontal_fov>
- <image>
- <format>R8G8B8</format>
- <width>320</width>
- <height>240</height>
- </image>
- <clip>
- <near>0.45</near>
- <far>10.0</far>
- </clip>
- </camera>
- <plugin filename="libgazebo_ros_openni_kinect.so" name="rgbd_frame_controller">
- <alwaysOn>true</alwaysOn>
- <updateRate>6.0</updateRate>
- <cameraName>rgbd</cameraName>
- <imageTopicName>ir/image_raw</imageTopicName>
- <cameraInfoTopicName>ir/camera_info</cameraInfoTopicName>
- <depthImageTopicName>depth/image_raw</depthImageTopicName>
- <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
- <pointCloudTopicName>depth/points</pointCloudTopicName>
- <frameName>rgbd_optical_frame</frameName>
- <pointCloudCutoff>0.45</pointCloudCutoff>
- <rangeMax>10.0</rangeMax>
- <distalostionK1>0.00000001</distalostionK1>
- <distalostionK2>0.00000001</distalostionK2>
- <distalostionK3>0.00000001</distalostionK3>
- <distalostionT1>0.00000001</distalostionT1>
- <distalostionT2>0.00000001</distalostionT2>
- </plugin>
- </sensor>
- <!-- RGB -->
- <sensor name="rgbd_frame_sensor" type="depth">
- <always_on>true</always_on>
- <update_rate>6.0</update_rate>
- <camera>
- <horizontal_fov>1.01229096616</horizontal_fov>
- <image>
- <format>R8G8B8</format>
- <width>320</width>
- <height>240</height>
- </image>
- <clip>
- <near>0.45</near>
- <far>10.0</far>
- </clip>
- </camera>
- <plugin filename="libgazebo_ros_openni_kinect.so" name="rgbd_frame_controller">
- <alwaysOn>true</alwaysOn>
- <updateRate>6.0</updateRate>
- <cameraName>rgbd</cameraName>
- <imageTopicName>rgb/image_raw</imageTopicName>
- <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
- <pointCloudTopicName>rgb/points</pointCloudTopicName>
- <frameName>rgbd_optical_frame</frameName>
- <pointCloudCutoff>0.45</pointCloudCutoff>
- <rangeMax>10.0</rangeMax>
- <distalostionK1>0.00000001</distalostionK1>
- <distalostionK2>0.00000001</distalostionK2>
- <distalostionK3>0.00000001</distalostionK3>
- <distalostionT1>0.00000001</distalostionT1>
- <distalostionT2>0.00000001</distalostionT2>
- </plugin>
- </sensor>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <transmission name="talos_trans">
- <type>transmission_interface/HalfDifferentialTransmission</type>
- <actuator name="head_1_motor">
- <role>actuator1</role>
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <actuator name="head_2_motor">
- <role>actuator2</role>
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="head_1_joint">
- <role>joint1</role>
- <offset>0.0</offset>
- <mechanicalReduction>1.0</mechanicalReduction>
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- <joint name="head_2_joint">
- <role>joint2</role>
- <offset>0.0</offset>
- <mechanicalReduction>2.0</mechanicalReduction>
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <!--************************-->
- <!-- SHOULDER -->
- <!--************************-->
- <link name="arm_left_1_link">
- <!-- TODO: Missing reflects of inertias -->
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.01346 0.0913 0.04812"/>
- <!-- <mass value="1.52896"/> -->
- <mass value="1.42896"/>
- <inertia ixx="0.00555100000" ixy="-0.00073100000" ixz="0.00000800000" iyy="0.00167300000" iyz="-0.00006000000" izz="0.00582200000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_1_collision.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_data/meshes/arm/arm_1_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_left_1_joint" type="revolute">
- <parent link="torso_2_link"/>
- <child link="arm_left_1_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.1575 0.23200"/>
- <axis xyz="0 0 1"/>
- <limit effort="44.64" lower="-1.57079632679" upper="0.523598775598" velocity="2.7"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-90.00000 * deg_to_rad + arm_eps}"
- soft_upper_limit="${30.00000 * deg_to_rad - arm_eps}" /> -->
- </joint>
- <link name="arm_left_2_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.02607 0.00049 -0.05209"/>
- <!-- <mass value="1.77729"/> -->
- <mass value="1.67729"/>
- <inertia ixx="0.00708700000" ixy="-0.00001400000" ixz="0.00214200000" iyy="0.00793600000" iyz="0.00003000000" izz="0.00378800000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_2_collision.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_data/meshes/arm/arm_2_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_left_2_joint" type="revolute">
- <parent link="arm_left_1_link"/>
- <child link="arm_left_2_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00493 0.1365 0.04673"/>
- <axis xyz="1 0 0"/>
- <limit effort="22.32" lower="0.0" upper="2.87979326579" velocity="3.66"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${0.00000 * deg_to_rad + arm_eps}"
- soft_upper_limit="${165.00000 * deg_to_rad - arm_eps}" /> -->
- </joint>
- <link name="arm_left_3_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00841 0.01428 -0.22291"/>
- <!-- <mass value="1.57029"/> -->
- <mass value="1.47029"/>
- <inertia ixx="0.00433200000" ixy="0.00015300000" ixz="-0.00049600000" iyy="0.00434000000" iyz="-0.00060900000" izz="0.00254300000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_3_collision.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_data/meshes/arm/arm_3_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_left_3_joint" type="revolute">
- <parent link="arm_left_2_link"/>
- <child link="arm_left_3_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
- <axis xyz="0 0 1"/>
- <limit effort="17.86" lower="-2.44346095279" upper="2.44346095279" velocity="4.58"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-140.0 * deg_to_rad + arm_eps}"
- soft_upper_limit="${140.0 * deg_to_rad - arm_eps}" /> -->
- </joint>
- <!--************************-->
- <!-- ELBOW -->
- <!--************************-->
- <link name="arm_left_4_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00655 -0.02107 -0.02612"/>
- <!-- <mass value="1.20216"/> -->
- <mass value="1.10216"/>
- <inertia ixx="0.00221700000" ixy="-0.00010100000" ixz="0.00028800000" iyy="0.00241800000" iyz="-0.00039300000" izz="0.00111500000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_4_collision.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_data/meshes/arm/arm_4_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_left_4_joint" type="revolute">
- <parent link="arm_left_3_link"/>
- <child link="arm_left_4_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.02000 0.00000 -0.27300"/>
- <axis xyz="0 1 0"/>
- <limit effort="17.86" lower="-2.35619449019" upper="0.0" velocity="4.58"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-135.0 * deg_to_rad + arm_eps}"
- soft_upper_limit="${0.0 * deg_to_rad - arm_eps}" /> -->
- </joint>
- <gazebo reference="arm_left_1_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="arm_left_2_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="arm_left_3_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="arm_left_4_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="arm_left_1_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="arm_left_2_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="arm_left_3_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="arm_left_4_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <!--************************-->
- <!-- WRIST -->
- <!--************************-->
- <!--************************-->
- <!-- WRIST -->
- <!--************************-->
- <link name="arm_left_5_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00006 0.00326 0.07963"/>
- <!-- <mass value="1.87792"/> -->
- <mass value="1.77792"/>
- <inertia ixx="0.00349500000" ixy="-0.00001300000" ixz="-0.00001000000" iyy="0.00436800000" iyz="0.00009700000" izz="0.00228300000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_5_collision.STL" scale="1 1 1"/>
- </geometry>
- <material name="LightGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_5_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_left_5_joint" type="revolute">
- <parent link="arm_left_4_link"/>
- <child link="arm_left_5_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="-0.02000 0.00000 -0.26430"/>
- <axis xyz="0 0 1"/>
- <limit effort="3" lower="-2.53072741539" upper="2.53072741539" velocity="1.95"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-145.00000 * deg_to_rad + wrist_eps}"
- soft_upper_limit="${145.00000 * deg_to_rad - wrist_eps}" /> -->
- </joint>
- <link name="arm_left_6_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00002 -0.00197 -0.00059"/>
- <!-- <mass value="0.40931"/> -->
- <mass value="0.30931"/>
- <inertia ixx="0.00010700000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00014100000" iyz="-0.00000000000" izz="0.00015400000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_6_collision.STL" scale="1 1 1"/>
- </geometry>
- <material name="LightGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_6_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_left_6_joint" type="revolute">
- <parent link="arm_left_5_link"/>
- <child link="arm_left_6_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
- <axis xyz="1 0 0"/>
- <limit effort="6.6" lower="-1.3962634016" upper="1.3962634016" velocity="1.76"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-80.00000 * deg_to_rad + eps_radians}"
- soft_upper_limit="${80.00000 * deg_to_rad - eps_radians}" /> -->
- </joint>
- <link name="arm_left_7_link">
- <!-- WRONG VALUES
- <inertial>
- <origin xyz="-0.00089 0.00365 -0.07824" rpy="0.00000 0.00000 0.00000"/>
- <mass value="1.02604"/>
- <inertia ixx="0.00151400000" ixy="0.00000600000" ixz="0.00006600000"
- iyy="0.00146400000" iyz="0.00001200000"
- izz="0.00090300000"/>
- </inertial>
- -->
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.007525 0.001378 -0.024630"/>
- <mass value="0.308441"/>
- <inertia ixx="0.000309" ixy="0.000002" ixz="-0.000002" iyy="0.000219" iyz="0.000012" izz="0.000176"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_7.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_data/meshes/arm/arm_7_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_left_7_joint" type="revolute">
- <parent link="arm_left_6_link"/>
- <child link="arm_left_7_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
- <axis xyz="0 1 0"/>
- <limit effort="6.6" lower="-0.698131700798" upper="0.698131700798" velocity="1.76"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-40.00000 * deg_to_rad + eps_radians}"
- soft_upper_limit="${40.00000 * deg_to_rad - eps_radians}" /> -->
- </joint>
- <gazebo reference="arm_left_5_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="arm_left_6_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="arm_left_7_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="arm_left_5_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="arm_left_6_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="arm_left_7_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <!-- extensions -->
- <transmission name="arm_left_5_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="arm_left_5_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_left_5_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="wrist_left_trans">
- <type>transmission_interface/DifferentialTransmission</type>
- <actuator name="arm_left_6_motor">
- <role>actuator1</role>
- <mechanicalReduction>-1.0</mechanicalReduction>
- </actuator>
- <actuator name="arm_left_7_motor">
- <role>actuator2</role>
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_left_6_joint">
- <role>joint1</role>
- <offset>0.0</offset>
- <mechanicalReduction>-1.0</mechanicalReduction>
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- <joint name="arm_left_7_joint">
- <role>joint2</role>
- <offset>0.0</offset>
- <mechanicalReduction>-1.0</mechanicalReduction>
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <!-- extensions -->
- <transmission name="arm_left_1_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="arm_left_1_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_left_1_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="arm_left_2_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="arm_left_2_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_left_2_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="arm_left_3_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="arm_left_3_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_left_3_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="arm_left_4_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="arm_left_4_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_left_4_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <!--************************-->
- <!-- SHOULDER -->
- <!--************************-->
- <link name="arm_right_1_link">
- <!-- TODO: Missing reflects of inertias -->
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.01346 -0.0913 0.04812"/>
- <!-- <mass value="1.52896"/> -->
- <mass value="1.42896"/>
- <inertia ixx="0.00555100000" ixy="-0.00073100000" ixz="0.00000800000" iyy="0.00167300000" iyz="-0.00006000000" izz="0.00582200000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_1_collision.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_data/meshes/arm/arm_1_collision.STL" scale="1 -1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_right_1_joint" type="revolute">
- <parent link="torso_2_link"/>
- <child link="arm_right_1_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 -0.1575 0.23200"/>
- <axis xyz="0 0 1"/>
- <limit effort="44.64" lower="-0.523598775598" upper="1.57079632679" velocity="2.7"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-90.00000 * deg_to_rad + arm_eps}"
- soft_upper_limit="${30.00000 * deg_to_rad - arm_eps}" /> -->
- </joint>
- <link name="arm_right_2_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.02607 0.00049 -0.05209"/>
- <!-- <mass value="1.77729"/> -->
- <mass value="1.67729"/>
- <inertia ixx="0.00708700000" ixy="-0.00001400000" ixz="0.00214200000" iyy="0.00793600000" iyz="0.00003000000" izz="0.00378800000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_2_collision.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_data/meshes/arm/arm_2_collision.STL" scale="1 -1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_right_2_joint" type="revolute">
- <parent link="arm_right_1_link"/>
- <child link="arm_right_2_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00493 -0.1365 0.04673"/>
- <axis xyz="1 0 0"/>
- <limit effort="22.32" lower="-2.87979326579" upper="0.0" velocity="3.66"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${0.00000 * deg_to_rad + arm_eps}"
- soft_upper_limit="${165.00000 * deg_to_rad - arm_eps}" /> -->
- </joint>
- <link name="arm_right_3_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00841 0.01428 -0.22291"/>
- <!-- <mass value="1.57029"/> -->
- <mass value="1.47029"/>
- <inertia ixx="0.00433200000" ixy="0.00015300000" ixz="-0.00049600000" iyy="0.00434000000" iyz="-0.00060900000" izz="0.00254300000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_3_collision.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_data/meshes/arm/arm_3_collision.STL" scale="1 -1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_right_3_joint" type="revolute">
- <parent link="arm_right_2_link"/>
- <child link="arm_right_3_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
- <axis xyz="0 0 1"/>
- <limit effort="17.86" lower="-2.44346095279" upper="2.44346095279" velocity="4.58"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-140.0 * deg_to_rad + arm_eps}"
- soft_upper_limit="${140.0 * deg_to_rad - arm_eps}" /> -->
- </joint>
- <!--************************-->
- <!-- ELBOW -->
- <!--************************-->
- <link name="arm_right_4_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00655 -0.02107 -0.02612"/>
- <!-- <mass value="1.20216"/> -->
- <mass value="1.10216"/>
- <inertia ixx="0.00221700000" ixy="-0.00010100000" ixz="0.00028800000" iyy="0.00241800000" iyz="-0.00039300000" izz="0.00111500000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_4_collision.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_data/meshes/arm/arm_4_collision.STL" scale="1 -1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_right_4_joint" type="revolute">
- <parent link="arm_right_3_link"/>
- <child link="arm_right_4_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.02000 0.00000 -0.27300"/>
- <axis xyz="0 1 0"/>
- <limit effort="17.86" lower="-2.35619449019" upper="0.0" velocity="4.58"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-135.0 * deg_to_rad + arm_eps}"
- soft_upper_limit="${0.0 * deg_to_rad - arm_eps}" /> -->
- </joint>
- <gazebo reference="arm_right_1_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="arm_right_2_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="arm_right_3_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="arm_right_4_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="arm_right_1_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="arm_right_2_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="arm_right_3_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="arm_right_4_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <!--************************-->
- <!-- WRIST -->
- <!--************************-->
- <!--************************-->
- <!-- WRIST -->
- <!--************************-->
- <link name="arm_right_5_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00006 0.00326 0.07963"/>
- <!-- <mass value="1.87792"/> -->
- <mass value="1.77792"/>
- <inertia ixx="0.00349500000" ixy="-0.00001300000" ixz="-0.00001000000" iyy="0.00436800000" iyz="0.00009700000" izz="0.00228300000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_5_collision.STL" scale="1 -1 1"/>
- </geometry>
- <material name="LightGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_5_collision.STL" scale="1 -1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_right_5_joint" type="revolute">
- <parent link="arm_right_4_link"/>
- <child link="arm_right_5_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="-0.02000 0.00000 -0.26430"/>
- <axis xyz="0 0 1"/>
- <limit effort="3" lower="-2.53072741539" upper="2.53072741539" velocity="1.95"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-145.00000 * deg_to_rad + wrist_eps}"
- soft_upper_limit="${145.00000 * deg_to_rad - wrist_eps}" /> -->
- </joint>
- <link name="arm_right_6_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00002 -0.00197 -0.00059"/>
- <!-- <mass value="0.40931"/> -->
- <mass value="0.30931"/>
- <inertia ixx="0.00010700000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00014100000" iyz="-0.00000000000" izz="0.00015400000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_6_collision.STL" scale="1 -1 1"/>
- </geometry>
- <material name="LightGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_6_collision.STL" scale="1 -1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_right_6_joint" type="revolute">
- <parent link="arm_right_5_link"/>
- <child link="arm_right_6_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
- <axis xyz="1 0 0"/>
- <limit effort="6.6" lower="-1.3962634016" upper="1.3962634016" velocity="1.76"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-80.00000 * deg_to_rad + eps_radians}"
- soft_upper_limit="${80.00000 * deg_to_rad - eps_radians}" /> -->
- </joint>
- <link name="arm_right_7_link">
- <!-- WRONG VALUES
- <inertial>
- <origin xyz="-0.00089 0.00365 -0.07824" rpy="0.00000 0.00000 0.00000"/>
- <mass value="1.02604"/>
- <inertia ixx="0.00151400000" ixy="0.00000600000" ixz="0.00006600000"
- iyy="0.00146400000" iyz="0.00001200000"
- izz="0.00090300000"/>
- </inertial>
- -->
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.007525 0.001378 -0.024630"/>
- <mass value="0.308441"/>
- <inertia ixx="0.000309" ixy="0.000002" ixz="-0.000002" iyy="0.000219" iyz="0.000012" izz="0.000176"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_7_collision.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_data/meshes/arm/arm_7_collision.STL" scale="1 -1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_right_7_joint" type="revolute">
- <parent link="arm_right_6_link"/>
- <child link="arm_right_7_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
- <axis xyz="0 1 0"/>
- <limit effort="6.6" lower="-0.698131700798" upper="0.698131700798" velocity="1.76"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-40.00000 * deg_to_rad + eps_radians}"
- soft_upper_limit="${40.00000 * deg_to_rad - eps_radians}" /> -->
- </joint>
- <gazebo reference="arm_right_5_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="arm_right_6_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="arm_right_7_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="arm_right_5_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="arm_right_6_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="arm_right_7_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <!-- extensions -->
- <transmission name="arm_right_5_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="arm_right_5_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_right_5_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="wrist_right_trans">
- <type>transmission_interface/DifferentialTransmission</type>
- <actuator name="arm_right_6_motor">
- <role>actuator1</role>
- <mechanicalReduction>-1.0</mechanicalReduction>
- </actuator>
- <actuator name="arm_right_7_motor">
- <role>actuator2</role>
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_right_6_joint">
- <role>joint1</role>
- <offset>0.0</offset>
- <mechanicalReduction>-1.0</mechanicalReduction>
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- <joint name="arm_right_7_joint">
- <role>joint2</role>
- <offset>0.0</offset>
- <mechanicalReduction>1.0</mechanicalReduction>
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <!-- extensions -->
- <transmission name="arm_right_1_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="arm_right_1_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_right_1_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="arm_right_2_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="arm_right_2_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_right_2_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="arm_right_3_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="arm_right_3_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_right_3_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="arm_right_4_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="arm_right_4_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_right_4_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <!--************************-->
- <!-- ft sensor -->
- <!--************************-->
- <link name="wrist_right_ft_link">
- <inertial>
- <mass value="0.1"/>
- <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <cylinder length="0.0157" radius="0.0225"/>
- </geometry>
- <material name="LightGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <cylinder length="0.0157" radius="0.0225"/>
- </geometry>
- </collision>
- </link>
- <joint name="wrist_right_ft_joint" type="fixed">
- <parent link="arm_right_7_link"/>
- <child link="wrist_right_ft_link"/>
- <origin rpy="0.0 0 -1.57079632679" xyz="0 0 -0.051"/>
- </joint>
- <!--***********************-->
- <!-- FT TOOL -->
- <!--***********************-->
- <link name="wrist_right_ft_tool_link">
- <inertial>
- <mass value="0.1"/>
- <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
- <visual>
- <origin rpy="0 0.0 0" xyz="0.0 0 0"/>
- <geometry>
- <cylinder length="0.00975" radius="0.025"/>
- </geometry>
- <material name="FlatBlack"/>
- </visual>
- <collision>
- <origin rpy="0 0.0 0" xyz="0.0 0 0"/>
- <geometry>
- <cylinder length="0.00975" radius="0.025"/>
- </geometry>
- </collision>
- </link>
- <joint name="wrist_right_tool_joint" type="fixed">
- <parent link="wrist_right_ft_link"/>
- <child link="wrist_right_ft_tool_link"/>
- <origin rpy="0 0 -1.57079632679" xyz="0 0 -0.012725"/>
- </joint>
- <!--************************-->
- <!-- ft sensor -->
- <!--************************-->
- <link name="wrist_left_ft_link">
- <inertial>
- <mass value="0.1"/>
- <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <cylinder length="0.0157" radius="0.0225"/>
- </geometry>
- <material name="LightGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <cylinder length="0.0157" radius="0.0225"/>
- </geometry>
- </collision>
- </link>
- <joint name="wrist_left_ft_joint" type="fixed">
- <parent link="arm_left_7_link"/>
- <child link="wrist_left_ft_link"/>
- <origin rpy="0.0 0 -4.71238898038" xyz="0 0 -0.051"/>
- </joint>
- <!--***********************-->
- <!-- FT TOOL -->
- <!--***********************-->
- <link name="wrist_left_ft_tool_link">
- <inertial>
- <mass value="0.1"/>
- <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
- <visual>
- <origin rpy="0 0.0 0" xyz="0.0 0 0"/>
- <geometry>
- <cylinder length="0.00975" radius="0.025"/>
- </geometry>
- <material name="FlatBlack"/>
- </visual>
- <collision>
- <origin rpy="0 0.0 0" xyz="0.0 0 0"/>
- <geometry>
- <cylinder length="0.00975" radius="0.025"/>
- </geometry>
- </collision>
- </link>
- <joint name="wrist_left_tool_joint" type="fixed">
- <parent link="wrist_left_ft_link"/>
- <child link="wrist_left_ft_tool_link"/>
- <origin rpy="0 0 4.71238898038" xyz="0 0 -0.012725"/>
- </joint>
- <link name="gripper_left_base_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00534 0.00362 -0.02357"/>
- <mass value="0.61585"/>
- <inertia ixx="0.00047200000" ixy="-0.00000800000" ixz="0.00003500000" iyy="0.00052100000" iyz="0.00000000000" izz="0.00069000000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/base_link.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_left_base_link_joint" type="fixed">
- <parent link="wrist_left_ft_tool_link"/>
- <child link="gripper_left_base_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.02875"/>
- <axis xyz="0 0 0"/>
- </joint>
- <link name="gripper_left_motor_double_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.02270 0.01781 -0.00977"/>
- <mass value="0.16889"/>
- <!-- In order for Gazebo not to explode we needed to add these 0.001 values to the diagonal,
- also the tool pal_dynamics InertiaMassVisualization gave NaN on the computation of the inertia box -->
- <inertia ixx="0.001159" ixy="-0.00007000000" ixz="0.00003800000" iyy="0.001221" iyz="-0.00005300000" izz="0.001268"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
- </geometry>
- <material name="Orange"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_left_joint" type="revolute">
- <parent link="gripper_left_base_link"/>
- <child link="gripper_left_motor_double_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.02025 -0.03"/>
- <axis xyz="1 0 0"/>
- <limit effort="1.0" lower="-1.0471975512" upper="0.0" velocity="1.0"/>
- <dynamics damping="1.0" friction="1.0"/>
- </joint>
- <link name="gripper_left_inner_double_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00056 0.03358 -0.01741"/>
- <mass value="0.11922"/>
- <inertia ixx="0.00009100000" ixy="0.00000100000" ixz="-0.00000100000" iyy="0.00015600000" iyz="-0.00003200000" izz="0.00012600000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
- </geometry>
- <material name="Orange"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_left_inner_double_joint" type="revolute">
- <parent link="gripper_left_base_link"/>
- <child link="gripper_left_inner_double_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00525 -0.05598"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="-1.0471975512" upper="0.0" velocity="1.0"/>
- <mimic joint="gripper_left_joint" multiplier="1.0" offset="0.0"/>
- </joint>
- <link name="gripper_left_fingertip_1_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
- <mass value="0.02630"/>
- <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_left_fingertip_1_joint" type="revolute">
- <parent link="gripper_left_inner_double_link"/>
- <child link="gripper_left_fingertip_1_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.03200 0.04589 -0.06553"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
- <mimic joint="gripper_left_joint" multiplier="-1.0" offset="0.0"/>
- </joint>
- <link name="gripper_left_fingertip_2_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
- <mass value="0.02630"/>
- <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_left_fingertip_2_joint" type="revolute">
- <parent link="gripper_left_inner_double_link"/>
- <child link="gripper_left_fingertip_2_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="-0.03200 0.04589 -0.06553"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
- <mimic joint="gripper_left_joint" multiplier="-1.0" offset="0.0"/>
- </joint>
- <link name="gripper_left_motor_single_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.02589 -0.01284 -0.00640"/>
- <mass value="0.14765"/>
- <inertia ixx="0.00011500000" ixy="0.00005200000" ixz="0.00002500000" iyy="0.00015300000" iyz="0.00003400000" izz="0.00019000000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
- </geometry>
- <material name="Orange"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_left_motor_single_joint" type="revolute">
- <parent link="gripper_left_base_link"/>
- <child link="gripper_left_motor_single_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 -0.02025 -0.03000"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
- <mimic joint="gripper_left_joint" multiplier="-1.0" offset="0.0"/>
- </joint>
- <link name="gripper_left_inner_single_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 -0.03253 -0.01883"/>
- <mass value="0.05356"/>
- <inertia ixx="0.00004700000" ixy="-0.00000000000" ixz="-0.00000000000" iyy="0.00003500000" iyz="0.00001700000" izz="0.00002400000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
- </geometry>
- <material name="Orange"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_left_inner_single_joint" type="revolute">
- <parent link="gripper_left_base_link"/>
- <child link="gripper_left_inner_single_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 -0.00525 -0.05598"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
- <mimic joint="gripper_left_joint" multiplier="-1.0" offset="0.0"/>
- </joint>
- <link name="gripper_left_fingertip_3_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
- <mass value="0.02630"/>
- <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_left_fingertip_3_joint" type="revolute">
- <parent link="gripper_left_inner_single_link"/>
- <child link="gripper_left_fingertip_3_link"/>
- <origin rpy="0.0 0.0 3.14159265359" xyz="0.00000 -0.04589 -0.06553"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
- <mimic joint="gripper_left_joint" multiplier="-1.0" offset="0.0"/>
- </joint>
- <gazebo>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_inner_double_joint">
- <joint>gripper_left_joint</joint>
- <mimicJoint>gripper_left_inner_double_joint</mimicJoint>
- <multiplier>1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_fingertip_1_joint">
- <joint>gripper_left_joint</joint>
- <mimicJoint>gripper_left_fingertip_1_joint</mimicJoint>
- <multiplier>-1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_fingertip_2_joint">
- <joint>gripper_left_joint</joint>
- <mimicJoint>gripper_left_fingertip_2_joint</mimicJoint>
- <multiplier>-1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_inner_single_joint">
- <joint>gripper_left_joint</joint>
- <mimicJoint>gripper_left_inner_single_joint</mimicJoint>
- <multiplier>-1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_motor_single_joint">
- <joint>gripper_left_joint</joint>
- <mimicJoint>gripper_left_motor_single_joint</mimicJoint>
- <multiplier>-1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_fingertip_3_joint">
- <joint>gripper_left_joint</joint>
- <mimicJoint>gripper_left_fingertip_3_joint</mimicJoint>
- <multiplier>-1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- </gazebo>
- <!-- <plugin filename="libgazebo_underactuated_finger.so" name="gazebo_${name}_underactuated">
- <actuatedJoint>${name}_joint</actuatedJoint>
- <virtualJoint>
- <name>${name}_inner_double_joint</name>
- <scale_factor>1.0</scale_factor>
- </virtualJoint> -->
- <!-- <virtualJoint>
- <name>${name}_fingertip_1_joint</name>
- <scale_factor>-1.0</scale_factor>
- </virtualJoint>
- <virtualJoint>
- <name>${name}_fingertip_2_joint</name>
- <scale_factor>-1.0</scale_factor>
- </virtualJoint>
- <virtualJoint>
- <name>${name}_motor_single_joint</name>
- <scale_factor>1.0</scale_factor>
- </virtualJoint>
- <virtualJoint>
- <name>${name}_fingertip_3_joint</name>
- <scale_factor>-1.0</scale_factor>
- </virtualJoint> -->
- <!-- </plugin> -->
- <gazebo reference="gripper_left_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_left_inner_double_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_left_fingertip_1_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_left_fingertip_2_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_left_motor_single_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_left_fingertip_3_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_left_base_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="gripper_left_motor_double_link">
- <material>Gazebo/Orange</material>
- </gazebo>
- <gazebo reference="gripper_left_inner_double_link">
- <material>Gazebo/Orange</material>
- </gazebo>
- <gazebo reference="gripper_left_fingertip_1_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="gripper_left_motor_single_link">
- <material>Gazebo/Orange</material>
- </gazebo>
- <gazebo reference="gripper_left_inner_single_link">
- <material>Gazebo/Orange</material>
- </gazebo>
- <gazebo reference="gripper_left_fingertip_2_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="gripper_left_fingertip_3_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <transmission name="gripper_left_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="gripper_left_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="gripper_left_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <!-- virtual mimic joints -->
- <!-- <xacro:gripper_virtual_transmission name="${name}_inner_double" reduction="1.0"/>
- <xacro:gripper_virtual_transmission name="${name}_fingertip_1" reduction="1.0"/>
- <xacro:gripper_virtual_transmission name="${name}_fingertip_2" reduction="1.0"/>
- <xacro:gripper_virtual_transmission name="${name}_inner_single" reduction="1.0"/>
- <xacro:gripper_virtual_transmission name="${name}_motor_single" reduction="1.0"/>
- <xacro:gripper_virtual_transmission name="${name}_fingertip_3" reduction="1.0"/> -->
- <link name="gripper_right_base_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00534 0.00362 -0.02357"/>
- <mass value="0.61585"/>
- <inertia ixx="0.00047200000" ixy="-0.00000800000" ixz="0.00003500000" iyy="0.00052100000" iyz="0.00000000000" izz="0.00069000000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/base_link.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_right_base_link_joint" type="fixed">
- <parent link="wrist_right_ft_tool_link"/>
- <child link="gripper_right_base_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.02875"/>
- <axis xyz="0 0 0"/>
- </joint>
- <link name="gripper_right_motor_double_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.02270 0.01781 -0.00977"/>
- <mass value="0.16889"/>
- <!-- In order for Gazebo not to explode we needed to add these 0.001 values to the diagonal,
- also the tool pal_dynamics InertiaMassVisualization gave NaN on the computation of the inertia box -->
- <inertia ixx="0.001159" ixy="-0.00007000000" ixz="0.00003800000" iyy="0.001221" iyz="-0.00005300000" izz="0.001268"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
- </geometry>
- <material name="Orange"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_right_joint" type="revolute">
- <parent link="gripper_right_base_link"/>
- <child link="gripper_right_motor_double_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.02025 -0.03"/>
- <axis xyz="1 0 0"/>
- <limit effort="1.0" lower="-1.0471975512" upper="0.0" velocity="1.0"/>
- <dynamics damping="1.0" friction="1.0"/>
- </joint>
- <link name="gripper_right_inner_double_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00056 0.03358 -0.01741"/>
- <mass value="0.11922"/>
- <inertia ixx="0.00009100000" ixy="0.00000100000" ixz="-0.00000100000" iyy="0.00015600000" iyz="-0.00003200000" izz="0.00012600000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
- </geometry>
- <material name="Orange"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_right_inner_double_joint" type="revolute">
- <parent link="gripper_right_base_link"/>
- <child link="gripper_right_inner_double_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00525 -0.05598"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="-1.0471975512" upper="0.0" velocity="1.0"/>
- <mimic joint="gripper_right_joint" multiplier="1.0" offset="0.0"/>
- </joint>
- <link name="gripper_right_fingertip_1_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
- <mass value="0.02630"/>
- <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_right_fingertip_1_joint" type="revolute">
- <parent link="gripper_right_inner_double_link"/>
- <child link="gripper_right_fingertip_1_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.03200 0.04589 -0.06553"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
- <mimic joint="gripper_right_joint" multiplier="-1.0" offset="0.0"/>
- </joint>
- <link name="gripper_right_fingertip_2_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
- <mass value="0.02630"/>
- <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_right_fingertip_2_joint" type="revolute">
- <parent link="gripper_right_inner_double_link"/>
- <child link="gripper_right_fingertip_2_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="-0.03200 0.04589 -0.06553"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
- <mimic joint="gripper_right_joint" multiplier="-1.0" offset="0.0"/>
- </joint>
- <link name="gripper_right_motor_single_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.02589 -0.01284 -0.00640"/>
- <mass value="0.14765"/>
- <inertia ixx="0.00011500000" ixy="0.00005200000" ixz="0.00002500000" iyy="0.00015300000" iyz="0.00003400000" izz="0.00019000000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
- </geometry>
- <material name="Orange"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_right_motor_single_joint" type="revolute">
- <parent link="gripper_right_base_link"/>
- <child link="gripper_right_motor_single_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 -0.02025 -0.03000"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
- <mimic joint="gripper_right_joint" multiplier="-1.0" offset="0.0"/>
- </joint>
- <link name="gripper_right_inner_single_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 -0.03253 -0.01883"/>
- <mass value="0.05356"/>
- <inertia ixx="0.00004700000" ixy="-0.00000000000" ixz="-0.00000000000" iyy="0.00003500000" iyz="0.00001700000" izz="0.00002400000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
- </geometry>
- <material name="Orange"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_right_inner_single_joint" type="revolute">
- <parent link="gripper_right_base_link"/>
- <child link="gripper_right_inner_single_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 -0.00525 -0.05598"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
- <mimic joint="gripper_right_joint" multiplier="-1.0" offset="0.0"/>
- </joint>
- <link name="gripper_right_fingertip_3_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
- <mass value="0.02630"/>
- <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_right_fingertip_3_joint" type="revolute">
- <parent link="gripper_right_inner_single_link"/>
- <child link="gripper_right_fingertip_3_link"/>
- <origin rpy="0.0 0.0 3.14159265359" xyz="0.00000 -0.04589 -0.06553"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
- <mimic joint="gripper_right_joint" multiplier="-1.0" offset="0.0"/>
- </joint>
- <gazebo>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_inner_double_joint">
- <joint>gripper_right_joint</joint>
- <mimicJoint>gripper_right_inner_double_joint</mimicJoint>
- <multiplier>1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_fingertip_1_joint">
- <joint>gripper_right_joint</joint>
- <mimicJoint>gripper_right_fingertip_1_joint</mimicJoint>
- <multiplier>-1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_fingertip_2_joint">
- <joint>gripper_right_joint</joint>
- <mimicJoint>gripper_right_fingertip_2_joint</mimicJoint>
- <multiplier>-1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_inner_single_joint">
- <joint>gripper_right_joint</joint>
- <mimicJoint>gripper_right_inner_single_joint</mimicJoint>
- <multiplier>-1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_motor_single_joint">
- <joint>gripper_right_joint</joint>
- <mimicJoint>gripper_right_motor_single_joint</mimicJoint>
- <multiplier>-1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_fingertip_3_joint">
- <joint>gripper_right_joint</joint>
- <mimicJoint>gripper_right_fingertip_3_joint</mimicJoint>
- <multiplier>-1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- </gazebo>
- <!-- <plugin filename="libgazebo_underactuated_finger.so" name="gazebo_${name}_underactuated">
- <actuatedJoint>${name}_joint</actuatedJoint>
- <virtualJoint>
- <name>${name}_inner_double_joint</name>
- <scale_factor>1.0</scale_factor>
- </virtualJoint> -->
- <!-- <virtualJoint>
- <name>${name}_fingertip_1_joint</name>
- <scale_factor>-1.0</scale_factor>
- </virtualJoint>
- <virtualJoint>
- <name>${name}_fingertip_2_joint</name>
- <scale_factor>-1.0</scale_factor>
- </virtualJoint>
- <virtualJoint>
- <name>${name}_motor_single_joint</name>
- <scale_factor>1.0</scale_factor>
- </virtualJoint>
- <virtualJoint>
- <name>${name}_fingertip_3_joint</name>
- <scale_factor>-1.0</scale_factor>
- </virtualJoint> -->
- <!-- </plugin> -->
- <gazebo reference="gripper_right_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_right_inner_double_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_right_fingertip_1_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_right_fingertip_2_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_right_motor_single_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_right_fingertip_3_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_right_base_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="gripper_right_motor_double_link">
- <material>Gazebo/Orange</material>
- </gazebo>
- <gazebo reference="gripper_right_inner_double_link">
- <material>Gazebo/Orange</material>
- </gazebo>
- <gazebo reference="gripper_right_fingertip_1_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="gripper_right_motor_single_link">
- <material>Gazebo/Orange</material>
- </gazebo>
- <gazebo reference="gripper_right_inner_single_link">
- <material>Gazebo/Orange</material>
- </gazebo>
- <gazebo reference="gripper_right_fingertip_2_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="gripper_right_fingertip_3_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <transmission name="gripper_right_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="gripper_right_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="gripper_right_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <!-- virtual mimic joints -->
- <!-- <xacro:gripper_virtual_transmission name="${name}_inner_double" reduction="1.0"/>
- <xacro:gripper_virtual_transmission name="${name}_fingertip_1" reduction="1.0"/>
- <xacro:gripper_virtual_transmission name="${name}_fingertip_2" reduction="1.0"/>
- <xacro:gripper_virtual_transmission name="${name}_inner_single" reduction="1.0"/>
- <xacro:gripper_virtual_transmission name="${name}_motor_single" reduction="1.0"/>
- <xacro:gripper_virtual_transmission name="${name}_fingertip_3" reduction="1.0"/> -->
- <!-- Joint hip_z (mesh link) : child link hip_x -> parent link base_link -->
- <link name="leg_left_1_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.02320 -0.00009 0.04949"/>
- <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_data/meshes/v2/hip_z_lo_res.stl" scale="1 1.0 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_z_collision.stl" scale="1 1.0 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_left_1_joint" type="revolute">
- <parent link="base_link"/>
- <child link="leg_left_1_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="-0.02 0.085 -0.27105"/>
- <axis xyz="0 0 1"/>
- <limit effort="100" lower="-0.349065850399" upper="1.57079632679" velocity="3.87"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- Joint hip_x (mesh link) : child link hip_y -> parent link hip_z -->
- <link name="leg_left_2_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.01583 -0.00021 0.00619"/>
- <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 rpy="0 0 0" xyz="0 0 0.0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_x_lo_res.stl" scale="1 1.0 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0.0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_x_collision.stl" scale="1 1.0 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_left_2_joint" type="revolute">
- <parent link="leg_left_1_link"/>
- <child link="leg_left_2_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
- <axis xyz="1 0 0"/>
- <limit effort="160" lower="-0.5236" upper="0.5236" velocity="5.8"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- Joint hip_y (mesh link) : child link knee -> parent link hip_x -->
- <link name="leg_left_3_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00658 0.06563 -0.17278"/>
- <mass value="6.82734"/>
- <inertia ixx="0.12390600000" ixy="-0.000412" ixz="-0.00205900000" iyy="0.10844700000" iyz="0.016725" izz="0.02781200000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_y_lo_res.stl" scale="1 1.0 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_y_collision.stl" scale="1 1.0 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_left_3_joint" type="revolute">
- <parent link="leg_left_2_link"/>
- <child link="leg_left_3_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
- <axis xyz="0 1 0"/>
- <limit effort="160" lower="-2.095" upper="0.7" velocity="5.8"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- Joint knee (mesh link) : child link ankle_y -> parent link hip_y -->
- <link name="leg_left_4_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.01520 0.02331 -0.12063"/>
- <mass value="3.63668"/>
- <inertia ixx="0.03531500000" ixy="2.9e-05" ixz="-0.00016600000" iyy="0.02933600000" iyz="-0.001305" izz="0.01174000000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/knee_lo_res.stl" scale="1 1.0 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/knee_collision.stl" scale="1 1.0 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_left_4_joint" type="revolute">
- <parent link="leg_left_3_link"/>
- <child link="leg_left_4_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.38000"/>
- <axis xyz="0 1 0"/>
- <limit effort="300" lower="0" upper="2.618" velocity="7"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- Joint ankle_y (mesh link) : child link ankle_x -> parent link knee -->
- <link name="leg_left_5_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.01106 0.04708 0.05271"/>
- <mass value="1.24433"/>
- <inertia ixx="0.01148700000" ixy="-0.000686" ixz="-0.00052600000" iyy="0.00952600000" iyz="0.002633" izz="0.00390800000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0.0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/ankle_Y_lo_res.stl" scale="1 1.0 1"/>
- </geometry>
- <material name="Grey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0.0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/ankle_Y_collision.stl" scale="1 1.0 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_left_5_joint" type="revolute">
- <parent link="leg_left_4_link"/>
- <child link="leg_left_5_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.32500"/>
- <axis xyz="0 1 0"/>
- <limit effort="160" lower="-1.309" upper="0.768" velocity="5.8"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- Joint ankle_x (mesh link) : child link None -> parent link ankle_y -->
- <link name="leg_left_6_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.02087 -0.00019 -0.06059"/>
- <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_data/meshes/v2/ankle_X_lo_res.stl" scale="1 1.0 1"/>
- </geometry>
- <material name="Grey"/>
- </visual>
- <!--
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
- </geometry>
- </collision>
-
- -->
- <collision>
- <origin rpy="0 0 0" xyz="0 0 -0.1"/>
- <geometry>
- <box size="0.21 0.13 0.02"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_left_6_joint" type="revolute">
- <parent link="leg_left_5_link"/>
- <child link="leg_left_6_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
- <axis xyz="1 0 0"/>
- <limit effort="100" lower="-0.5236" upper="0.5236" velocity="4.8"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- from here is copy paste -->
- <link name="left_sole_link">
- <inertial>
- <origin rpy="0 0 0" xyz="0.0 0.0 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_left_sole_fix_joint" type="fixed">
- <parent link="leg_left_6_link"/>
- <child link="left_sole_link"/>
- <origin rpy="0 0 0" xyz="0.00 0.00 -0.107"/>
- <axis xyz="1 0 0"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <transmission name="leg_left_1_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_left_1_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_left_1_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="leg_left_2_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_left_2_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_left_2_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="leg_left_3_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_left_3_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_left_3_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="leg_left_4_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_left_4_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_left_4_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="leg_left_5_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_left_5_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_left_5_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="leg_left_6_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_left_6_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_left_6_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <gazebo reference="leg_left_1_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="leg_left_2_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="leg_left_3_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="leg_left_4_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="leg_left_5_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <!-- contact model for foot surface -->
- <gazebo reference="leg_left_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_left_1_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_left_2_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_left_3_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_left_4_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_left_5_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_left_6_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="leg_left_1_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="leg_left_2_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="leg_left_3_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="leg_left_4_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="leg_left_5_link">
- <material>Gazebo/White</material>
- </gazebo>
- <gazebo reference="leg_left_6_link">
- <material>Gazebo/White</material>
- </gazebo>
- <!-- Joint hip_z (mesh link) : child link hip_x -> parent link base_link -->
- <link name="leg_right_1_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.02320 -0.00009 0.04949"/>
- <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_data/meshes/v2/hip_z_lo_res.stl" scale="1 -1.0 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_z_collision.stl" scale="1 -1.0 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_right_1_joint" type="revolute">
- <parent link="base_link"/>
- <child link="leg_right_1_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="-0.02 -0.085 -0.27105"/>
- <axis xyz="0 0 1"/>
- <limit effort="100" lower="-1.57079632679" upper="0.349065850399" velocity="3.87"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- Joint hip_x (mesh link) : child link hip_y -> parent link hip_z -->
- <link name="leg_right_2_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.01583 -0.00021 0.00619"/>
- <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 rpy="0 0 0" xyz="0 0 0.0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_x_lo_res.stl" scale="1 -1.0 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0.0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_x_collision.stl" scale="1 -1.0 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_right_2_joint" type="revolute">
- <parent link="leg_right_1_link"/>
- <child link="leg_right_2_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
- <axis xyz="1 0 0"/>
- <limit effort="160" lower="-0.5236" upper="0.5236" velocity="5.8"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- Joint hip_y (mesh link) : child link knee -> parent link hip_x -->
- <link name="leg_right_3_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00658 -0.06563 -0.17278"/>
- <mass value="6.82734"/>
- <inertia ixx="0.12390600000" ixy="0.000412" ixz="-0.00205900000" iyy="0.10844700000" iyz="-0.016725" izz="0.02781200000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_y_lo_res.stl" scale="1 -1.0 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_y_collision.stl" scale="1 -1.0 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_right_3_joint" type="revolute">
- <parent link="leg_right_2_link"/>
- <child link="leg_right_3_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
- <axis xyz="0 1 0"/>
- <limit effort="160" lower="-2.095" upper="0.7" velocity="5.8"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- Joint knee (mesh link) : child link ankle_y -> parent link hip_y -->
- <link name="leg_right_4_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.01520 -0.02331 -0.12063"/>
- <mass value="3.63668"/>
- <inertia ixx="0.03531500000" ixy="-2.9e-05" ixz="-0.00016600000" iyy="0.02933600000" iyz="0.001305" izz="0.01174000000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/knee_lo_res.stl" scale="1 -1.0 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/knee_collision.stl" scale="1 -1.0 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_right_4_joint" type="revolute">
- <parent link="leg_right_3_link"/>
- <child link="leg_right_4_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.38000"/>
- <axis xyz="0 1 0"/>
- <limit effort="300" lower="0" upper="2.618" velocity="7"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- Joint ankle_y (mesh link) : child link ankle_x -> parent link knee -->
- <link name="leg_right_5_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.01106 -0.04708 0.05271"/>
- <mass value="1.24433"/>
- <inertia ixx="0.01148700000" ixy="0.000686" ixz="-0.00052600000" iyy="0.00952600000" iyz="-0.002633" izz="0.00390800000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0.0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/ankle_Y_lo_res.stl" scale="1 -1.0 1"/>
- </geometry>
- <material name="Grey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0.0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/ankle_Y_collision.stl" scale="1 -1.0 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_right_5_joint" type="revolute">
- <parent link="leg_right_4_link"/>
- <child link="leg_right_5_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.32500"/>
- <axis xyz="0 1 0"/>
- <limit effort="160" lower="-1.309" upper="0.768" velocity="5.8"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- Joint ankle_x (mesh link) : child link None -> parent link ankle_y -->
- <link name="leg_right_6_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.02087 -0.00019 -0.06059"/>
- <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_data/meshes/v2/ankle_X_lo_res.stl" scale="1 -1.0 1"/>
- </geometry>
- <material name="Grey"/>
- </visual>
- <!--
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
- </geometry>
- </collision>
-
- -->
- <collision>
- <origin rpy="0 0 0" xyz="0 0 -0.1"/>
- <geometry>
- <box size="0.21 0.13 0.02"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_right_6_joint" type="revolute">
- <parent link="leg_right_5_link"/>
- <child link="leg_right_6_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
- <axis xyz="1 0 0"/>
- <limit effort="100" lower="-0.5236" upper="0.5236" velocity="4.8"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- from here is copy paste -->
- <link name="right_sole_link">
- <inertial>
- <origin rpy="0 0 0" xyz="0.0 0.0 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_right_sole_fix_joint" type="fixed">
- <parent link="leg_right_6_link"/>
- <child link="right_sole_link"/>
- <origin rpy="0 0 0" xyz="0.00 0.00 -0.107"/>
- <axis xyz="1 0 0"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <transmission name="leg_right_1_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_right_1_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_right_1_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="leg_right_2_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_right_2_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_right_2_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="leg_right_3_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_right_3_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_right_3_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="leg_right_4_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_right_4_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_right_4_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="leg_right_5_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_right_5_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_right_5_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="leg_right_6_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_right_6_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_right_6_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <gazebo reference="leg_right_1_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="leg_right_2_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="leg_right_3_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="leg_right_4_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="leg_right_5_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <!-- contact model for foot surface -->
- <gazebo reference="leg_right_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_right_1_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_right_2_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_right_3_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_right_4_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_right_5_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_right_6_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="leg_right_1_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="leg_right_2_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="leg_right_3_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="leg_right_4_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="leg_right_5_link">
- <material>Gazebo/White</material>
- </gazebo>
- <gazebo reference="leg_right_6_link">
- <material>Gazebo/White</material>
- </gazebo>
- <!-- Generic simulatalos_gazebo plugins -->
- <gazebo>
- <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
- <ns/>
- <robotSimType>pal_hardware_gazebo/PalHardwareGazebo</robotSimType>
- <robotNamespace/>
- <controlPeriod>0.001</controlPeriod>
- </plugin>
- </gazebo>
- <gazebo>
- <plugin filename="libgazebo_world_odometry.so" name="gazebo_ros_odometry">
- <frameName>base_link</frameName>
- <topicName>floating_base_pose_simulated</topicName>
- </plugin>
- </gazebo>
- <gazebo>
- <plugin filename="libgazebo_ros_force.so" name="gazebo_ros_force">
- <bodyName>base_link</bodyName>
- <topicName>wrench</topicName>
- </plugin>
- </gazebo>
- <gazebo reference="imu_link">
- <!-- this is expected to be reparented to pelvis with appropriate offset
- when imu_link is reduced by fixed joint reduction -->
- <!-- todo: this is working with gazebo 1.4, need to write a unit test -->
- <sensor name="imu_sensor" type="imu">
- <always_on>1</always_on>
- <update_rate>1000.0</update_rate>
- <imu>
- <noise>
- <type>gaussian</type>
- <!-- Noise parameters from Boston Dynamics
- (http://gazebosim.org/wiki/Sensor_noise):
- rates (rad/s): mean=0, stddev=2e-4
- accels (m/s/s): mean=0, stddev=1.7e-2
- rate bias (rad/s): 5e-6 - 1e-5
- accel bias (m/s/s): 1e-1
- Experimentally, simulation provide rates with noise of
- about 1e-3 rad/s and accels with noise of about 1e-1 m/s/s.
- So we don't expect to see the noise unless number of inner iterations
- are increased.
-
- We will add bias. In this model, bias is sampled once for rates
- and once for accels at startup; the sign (negative or positive)
- of each bias is then switched with equal probability. Thereafter,
- the biases are fixed additive offsets. We choose
- bias means and stddevs to produce biases close to the provided
- data. -->
- <!--
- <rate>
- <mean>0.0</mean>
- <stddev>2e-4</stddev>
- <bias_mean>0.0000075</bias_mean>
- <bias_stddev>0.0000008</bias_stddev>
- </rate>
- <accel>
- <mean>0.0</mean>
- <stddev>1.7e-2</stddev>
- <bias_mean>0.1</bias_mean>
- <bias_stddev>0.001</bias_stddev>
- </accel>
- -->
- <rate>
- <mean>0.0</mean>
- <stddev>0.0</stddev>
- <bias_mean>0.000000</bias_mean>
- <bias_stddev>0.0000008</bias_stddev>
- </rate>
- <accel>
- <mean>0.0</mean>
- <stddev>0.0</stddev>
- <bias_mean>0.0</bias_mean>
- <bias_stddev>0.000</bias_stddev>
- </accel>
- </noise>
- </imu>
- </sensor>
- </gazebo>
- <!-- define global properties -->
- <!-- <xacro:property name="M_PI" value="3.1415926535897931" /> -->
- <!-- Materials for visualization -->
- <material name="Blue">
- <color rgba="0.0 0.0 0.8 1.0"/>
- </material>
- <material name="Green">
- <color rgba="0.0 0.8 0.0 1.0"/>
- </material>
- <material name="Grey">
- <color rgba="0.7 0.7 0.7 1.0"/>
- </material>
- <material name="LightGrey">
- <color rgba="0.9 0.9 0.9 1.0"/>
- </material>
- <material name="DarkGrey">
- <color rgba="0.2 0.2 0.2 1.0"/>
- </material>
- <material name="Red">
- <color rgba="0.8 0.0 0.0 1.0"/>
- </material>
- <material name="White">
- <color rgba="1.0 1.0 1.0 1.0"/>
- </material>
- <material name="Orange">
- <color rgba="1.0 0.5 0.0 1.0"/>
- </material>
-</robot>
-
diff --git a/robots/talos_full_no_lower_arm.urdf.xacro b/robots/talos_full_no_lower_arm.urdf.xacro
deleted file mode 100644
index f9bd7e3d695623792aa884d17c41ec2190506a55..0000000000000000000000000000000000000000
--- a/robots/talos_full_no_lower_arm.urdf.xacro
+++ /dev/null
@@ -1,39 +0,0 @@
-<?xml version="1.0"?>
-<!--
-
- Copyright (c) 2016, PAL Robotics, S.L.
- All rights reserved.
-
- This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
- To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
- Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
--->
-<robot name="talos" xmlns:xacro="http://ros.org/wiki/xacro"
- xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
- xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
- xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
-
- <xacro:include filename="$(find talos_data)/urdf/torso/torso.urdf.xacro" />
- <xacro:include filename="$(find talos_data)/urdf/head/head.urdf.xacro" />
- <xacro:include filename="$(find talos_data)/urdf/arm/arm.urdf.xacro" />
- <xacro:include filename="$(find talos_data)/urdf/sensors/ftsensor.urdf.xacro" />
- <xacro:include filename="$(find talos_data)/urdf/gripper/gripper.urdf.xacro" />
- <xacro:include filename="$(find talos_data)/urdf/leg/leg.urdf.xacro" />
-
- <xacro:talos_torso name="torso" />
-
- <xacro:talos_head name="head" parent="torso_2_link"/>
-
- <xacro:talos_arm name="arm" parent="torso_2_link" side="left" reflect="1"/>
- <xacro:talos_arm name="arm" parent="torso_2_link" side="right" reflect="-1"/>
-
-
- <xacro:talos_leg prefix="left" reflect="1" />
- <xacro:talos_leg prefix="right" reflect="-1" />
-
- <!-- Generic simulatalos_gazebo plugins -->
- <xacro:include filename="$(find talos_data)/gazebo/gazebo.urdf.xacro" />
- <!-- Materials for visualization -->
- <xacro:include filename="$(find talos_data)/urdf/materials.urdf.xacro" />
-
-</robot>
diff --git a/robots/talos_full_v1.urdf.xacro b/robots/talos_full_v1.urdf.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..130d71ea3485ded5bee5c4324e3fa36e7f7700c3
--- /dev/null
+++ b/robots/talos_full_v1.urdf.xacro
@@ -0,0 +1,55 @@
+<?xml version="1.0"?>
+<!--
+
+ Copyright (c) 2016, PAL Robotics, S.L.
+ All rights reserved.
+
+ This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
+ To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
+ Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
+-->
+<robot name="talos" xmlns:xacro="http://ros.org/wiki/xacro"
+ xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+ xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+ xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
+
+ <xacro:if value="$(arg enable_crane)">
+ <xacro:include filename="$(find talos_description)/urdf/crane/crane.urdf.xacro" />
+ </xacro:if>
+
+ <xacro:include filename="$(find talos_description)/urdf/torso/torso.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/head/head.urdf.xacro" />
+ <!--arm_v1 loadded because of the different joint range for 1st DoF-->
+ <xacro:include filename="$(find talos_description)/urdf/arm/arm_v1.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/sensors/ftsensor.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/gripper/gripper.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/leg/leg.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/leg/foot_collision_$(arg foot_collision).urdf.xacro" />
+ <xacro:include filename="$(find talos_description_inertial)/urdf/inertial.xacro" />
+
+ <xacro:talos_torso name="torso" />
+
+ <xacro:if value="$(arg enable_crane)">
+ <xacro:crane parent="torso_2_link"/>
+ </xacro:if>
+
+ <xacro:talos_head name="head" parent="torso_2_link"/>
+
+ <xacro:talos_arm name="arm" parent="torso_2_link" side="left" reflect="1"/>
+ <xacro:talos_arm name="arm" parent="torso_2_link" side="right" reflect="-1"/>
+
+ <xacro:ft_sensor name="wrist" parent="arm_right_7_link" side="right" reflect="1" />
+ <xacro:ft_sensor name="wrist" parent="arm_left_7_link" side="left" reflect="-1" />
+
+ <xacro:talos_gripper name="gripper_left" parent="wrist_left_ft_tool_link" reflect="1" />
+ <xacro:talos_gripper name="gripper_right" parent="wrist_right_ft_tool_link" reflect="-1" />
+
+ <xacro:talos_leg prefix="left" reflect="1" />
+ <xacro:talos_leg prefix="right" reflect="-1" />
+
+ <!-- Generic simulator_gazebo plugins -->
+ <xacro:include filename="$(find talos_description)/gazebo/gazebo.urdf.xacro" />
+ <!-- Materials for visualization -->
+ <xacro:include filename="$(find talos_description)/urdf/materials.urdf.xacro" />
+
+</robot>
diff --git a/urdf/talos_full_accurate_gripper.urdf b/robots/talos_full_v2.urdf
similarity index 74%
rename from urdf/talos_full_accurate_gripper.urdf
rename to robots/talos_full_v2.urdf
index 94ba7d7a4c6273231bf3cd6001696717c72bec0c..10030e12781cb1390a7fa7940f9676d40c7beec5 100644
--- a/urdf/talos_full_accurate_gripper.urdf
+++ b/robots/talos_full_v2.urdf
@@ -1,6 +1,6 @@
<?xml version="1.0" ?>
<!-- =================================================================================== -->
-<!-- | This document was autogenerated by xacro from talos_full.urdf.xacro | -->
+<!-- | This document was autogenerated by xacro from ./talos_full_v2.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<!--
@@ -13,44 +13,26 @@
Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
-->
<robot name="talos" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:xacro="http://ros.org/wiki/xacro">
- <!--File includes-->
- <!--Constant parameters-->
- <!--File includes-->
- <!-- Macro -->
- <!--Constant parameters-->
- <!--************************-->
- <!-- HEAD_1 (TILT) -->
- <!--************************-->
- <!--************************-->
- <!-- HEAD_2 (PAN) -->
- <!--************************-->
- <!--File includes-->
- <!--File includes-->
- <!--Constant parameters-->
- <!--Constant parameters-->
- <!--File includes-->
- <!-- VIRTUAL (mimic) JOINTS -->
- <!-- 0.45deg -->
<!--************************-->
<!-- TORSO_2 (TILT) -->
<!--************************-->
<link name="torso_2_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.04551 -0.00053 0.16386"/>
- <mass value="17.55011"/>
- <inertia ixx="0.37376900000" ixy="0.00063900000" ixz="0.01219600000" iyy="0.24790200000" iyz="0.00000700000" izz="0.28140400000"/>
+ <mass value="16.97403"/>
+ <inertia ixx="0.44372633826" ixy="0.00069132133" ixz="-0.01218206353" iyy="0.2998576068" iyz="-0.00019623338" izz="0.32201554742"/>
+ <origin rpy="0 0 0" xyz="-0.0463563 -0.00099023 0.1452805"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/torso/torso_2.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/torso/torso_2.STL" scale="1 1 1"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/torso/torso_2_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/torso/torso_2_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -59,30 +41,31 @@
<!--************************-->
<link name="torso_1_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00013 -0.00001 -0.01306"/>
- <mass value="3.02433"/>
- <inertia ixx="0.00759400000" ixy="0.00000100000" ixz="-0.00004800000" iyy="0.00429200000" iyz="-0.00000100000" izz="0.00749700000"/>
+ <mass value="2.294658"/>
+ <inertia ixx="0.00638508087" ixy="-7.107e-08" ixz="-3.065592e-05" iyy="0.00410256102" iyz="-1.46946e-06" izz="0.00622968815"/>
+ <origin rpy="0 0 0" xyz="0.00078223 3.528e-05 -0.01782457"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/torso/torso_1.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/torso/torso_1.STL" scale="1 1 1"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/torso/torso_1.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/torso/torso_1.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="torso_1_joint" type="revolute">
<parent link="base_link"/>
<child link="torso_1_link"/>
+ <!-- XXX AS: The kinematic chain order for the torso was reversed manually. This value does not match the CAD model. XXX -->
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0722"/>
<axis xyz="0 0 1"/>
- <limit effort="78.0" lower="-1.308996939" upper="1.308996939" velocity="5.4"/>
+ <limit effort="200.0" lower="-1.25663706144" upper="1.25663706144" velocity="5.4"/>
<dynamics damping="1.0" friction="1.0"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
@@ -94,21 +77,21 @@
<!--************************-->
<link name="base_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.08222 0.00838 -0.07261"/>
- <mass value="13.53810"/>
- <inertia ixx="0.06989000000" ixy="-0.00011700000" ixz="0.00023000000" iyy="0.03998200000" iyz="-0.00132500000" izz="0.08234500000"/>
+ <mass value="15.36284"/>
+ <inertia ixx="0.20105075811" ixy="0.00023244734" ixz="0.0040167728" iyy="0.08411496729" iyz="-0.00087206649" izz="0.2318908414"/>
+ <origin rpy="0 0 0" xyz="-0.05709419 0.00153054 -0.0762521"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/torso/base_link.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/torso/base_link.STL" scale="1 1 1"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/torso/base_link_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/torso/base_link_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -117,7 +100,7 @@
<child link="torso_2_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<axis xyz="0 1 0"/>
- <limit effort="78.0" lower="-0.261799387799" upper="0.785398163397" velocity="5.4"/>
+ <limit effort="200.0" lower="-0.226892802759" upper="0.733038285838" velocity="5.4"/>
<dynamics damping="1.0" friction="1.0"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
@@ -127,8 +110,8 @@
<link name="imu_link">
<inertial>
<mass value="0.01"/>
- <origin xyz="0 0 0"/>
- <inertia ixx="0.000001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.000001"/>
+ <inertia ixx="1e-06" ixy="0" ixz="0" iyy="1e-06" iyz="0" izz="1e-06"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
@@ -161,7 +144,6 @@
<implicitSpringDamper>1</implicitSpringDamper>
<provideFeedback>1</provideFeedback>
</gazebo>
- <!-- extensions -->
<transmission name="talos_torso_trans">
<type>transmission_interface/DifferentialTransmission</type>
<actuator name="torso_1_motor">
@@ -189,30 +171,30 @@
</transmission>
<link name="head_1_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00120 0.00145 0.02165"/>
- <mass value="0.65988"/>
- <inertia ixx="0.00122100000" ixy="-0.00000400000" ixz="0.00007000000" iyy="0.00092400000" iyz="-0.00004100000" izz="0.00103300000"/>
+ <mass value="0.73746"/>
+ <inertia ixx="0.00224878584" ixy="4.69375e-06" ixz="8.55557e-05" iyy="0.00111158492" iyz="-4.132536e-05" izz="0.00205225921"/>
+ <origin rpy="0 0 0" xyz="-0.00157211 -0.00157919 0.02175767"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/head/head_1.stl" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/head/head_1.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_data/meshes/head/head_1_collision.stl" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/head/head_1_collision.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="head_1_joint" type="revolute">
<parent link="torso_2_link"/>
<child link="head_1_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.31600"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.02000 0.00000 0.32100"/>
<axis xyz="0 1 0"/>
- <limit effort="8.0" lower="-0.261799387799" upper="0.785398163397" velocity="1.0"/>
+ <limit effort="8.0" lower="-0.209439510239" upper="0.785398163397" velocity="1.0"/>
<dynamics damping="0.5" friction="1.0"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
@@ -231,21 +213,21 @@
</gazebo>
<link name="head_2_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.01036 -0.00037 0.13778"/>
- <mass value="1.40353"/>
- <inertia ixx="0.00722500000" ixy="-0.00002500000" ixz="0.00032900000" iyy="0.00687300000" iyz="0.00004400000" izz="0.00437300000"/>
+ <mass value="1.443954"/>
+ <inertia ixx="0.01084624339" ixy="1.050889e-05" ixz="0.00041594252" iyy="0.0109569176" iyz="2.367831e-05" izz="0.00571698895"/>
+ <origin rpy="0 0 0" xyz="0.01002657 5.218e-05 0.14136068"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/head/head_2.stl" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/head/head_2.stl" scale="1 1 1"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/head/head_2_collision.stl" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/head/head_2_collision.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -273,7 +255,7 @@
</gazebo>
<!-- frames in the center of the camera -->
<joint name="rgbd_joint" type="fixed">
- <origin rpy="0 0 0" xyz="0.066 0.0 0.1982"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.066 0.0 0.1982"/>
<axis xyz="0 0 1"/>
<!-- <limit lower="0" upper="0.001" effort="100" velocity="0.01"/> -->
<parent link="head_2_link"/>
@@ -282,14 +264,13 @@
<link name="rgbd_link">
<inertial>
<mass value="0.01"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <!-- inertia tensor computed analytically for a solid cuboid -->
- <inertia ixx="0.000030" ixy="0.0" ixz="0.0" iyy="0.000030" iyz="0.0" izz="0.000002"/>
+ <inertia ixx="3e-05" ixy="0" ixz="0" iyy="2e-06" iyz="0" izz="3e-05"/>
+ <origin rpy="-0.01 0.0025 0" xyz="0 0 0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/sensors/orbbec/orbbec.STL"/>
+ <mesh filename="package://talos_description/meshes/sensors/orbbec/orbbec.STL"/>
</geometry>
<material name="DarkGrey">
<color rgba="0.5 0.5 0.5 1"/>
@@ -310,8 +291,8 @@
<link name="rgbd_optical_frame">
<inertial>
<mass value="0.01"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
- <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
</inertial>
</link>
<!-- frames of the depth sensor -->
@@ -340,74 +321,79 @@
<child link="rgbd_rgb_optical_frame"/>
</joint>
<link name="rgbd_rgb_optical_frame"/>
- <!-- extensions -->
<gazebo reference="rgbd_link">
<!-- IR + depth -->
<sensor name="rgbd_frame_sensor" type="depth">
<always_on>true</always_on>
- <update_rate>6.0</update_rate>
+ <update_rate>30.0</update_rate>
<camera>
- <horizontal_fov>1.01229096616</horizontal_fov>
+ <horizontal_fov>1.0471975512</horizontal_fov>
<image>
- <format>R8G8B8</format>
- <width>320</width>
- <height>240</height>
+ <format>B8G8R8</format>
+ <width>640</width>
+ <height>480</height>
</image>
<clip>
- <near>0.45</near>
- <far>10.0</far>
+ <near>0.6</near>
+ <far>8.0</far>
</clip>
</camera>
<plugin filename="libgazebo_ros_openni_kinect.so" name="rgbd_frame_controller">
<alwaysOn>true</alwaysOn>
- <updateRate>6.0</updateRate>
+ <updateRate>30.0</updateRate>
<cameraName>rgbd</cameraName>
- <imageTopicName>ir/image_raw</imageTopicName>
- <cameraInfoTopicName>ir/camera_info</cameraInfoTopicName>
+ <imageTopicName>rgb/image_raw</imageTopicName>
+ <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
<depthImageTopicName>depth/image_raw</depthImageTopicName>
<depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
<pointCloudTopicName>depth/points</pointCloudTopicName>
<frameName>rgbd_optical_frame</frameName>
<pointCloudCutoff>0.45</pointCloudCutoff>
<rangeMax>10.0</rangeMax>
- <distalostionK1>0.00000001</distalostionK1>
- <distalostionK2>0.00000001</distalostionK2>
- <distalostionK3>0.00000001</distalostionK3>
- <distalostionT1>0.00000001</distalostionT1>
- <distalostionT2>0.00000001</distalostionT2>
+ <distortionK1>0.00000001</distortionK1>
+ <distortionK2>0.00000001</distortionK2>
+ <distortionK3>0.00000001</distortionK3>
+ <distortionT1>0.00000001</distortionT1>
+ <distortionT2>0.00000001</distortionT2>
</plugin>
</sensor>
- <!-- RGB -->
- <sensor name="rgbd_frame_sensor" type="depth">
- <always_on>true</always_on>
- <update_rate>6.0</update_rate>
- <camera>
- <horizontal_fov>1.01229096616</horizontal_fov>
+ <!-- RGB High res-->
+ <sensor name="rgbd_high_res_frame_sensor" type="camera">
+ <update_rate>30.0</update_rate>
+ <camera name="head">
+ <horizontal_fov>1.0471975512</horizontal_fov>
<image>
+ <width>1280</width>
+ <height>720</height>
<format>R8G8B8</format>
- <width>320</width>
- <height>240</height>
</image>
<clip>
- <near>0.45</near>
- <far>10.0</far>
+ <near>0.05</near>
+ <far>100</far>
</clip>
+ <noise>
+ <type>gaussian</type>
+ <!-- Noise is sampled independently per pixel on each frame.
+ That pixel's noise value is added to each of its color
+ channels, which at that point lie in the range [0,1]. -->
+ <mean>0.0</mean>
+ <stddev>0.007</stddev>
+ </noise>
</camera>
- <plugin filename="libgazebo_ros_openni_kinect.so" name="rgbd_frame_controller">
+ <plugin filename="libgazebo_ros_camera.so" name="rgbd_high_res_frame_controller">
<alwaysOn>true</alwaysOn>
- <updateRate>6.0</updateRate>
- <cameraName>rgbd</cameraName>
- <imageTopicName>rgb/image_raw</imageTopicName>
- <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
- <pointCloudTopicName>rgb/points</pointCloudTopicName>
+ <!-- Patch to publish at 30 Hz -->
+ <updateRate>45.0</updateRate>
+ <cameraName>rgbd/high_res</cameraName>
+ <imageTopicName>/rgbd/rgb/high_res/image_raw</imageTopicName>
+ <cameraInfoTopicName>/rgbd/rgb/high_res/camera_info</cameraInfoTopicName>
<frameName>rgbd_optical_frame</frameName>
- <pointCloudCutoff>0.45</pointCloudCutoff>
- <rangeMax>10.0</rangeMax>
- <distalostionK1>0.00000001</distalostionK1>
- <distalostionK2>0.00000001</distalostionK2>
- <distalostionK3>0.00000001</distalostionK3>
- <distalostionT1>0.00000001</distalostionT1>
- <distalostionT2>0.00000001</distalostionT2>
+ <hackBaseline>0.0</hackBaseline>
+ <distortionK1>0.00000001</distortionK1>
+ <distortionK2>0.00000001</distortionK2>
+ <distortionK3>0.00000001</distortionK3>
+ <distortionT1>0.00000001</distortionT1>
+ <distortionT2>0.00000001</distortionT2>
</plugin>
</sensor>
<material>Gazebo/FlatBlack</material>
@@ -441,24 +427,22 @@
<!-- SHOULDER -->
<!--************************-->
<link name="arm_left_1_link">
- <!-- TODO: Missing reflects of inertias -->
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.01346 0.0913 0.04812"/>
- <!-- <mass value="1.52896"/> -->
- <mass value="1.42896"/>
- <inertia ixx="0.00555100000" ixy="-0.00073100000" ixz="0.00000800000" iyy="0.00167300000" iyz="-0.00006000000" izz="0.00582200000"/>
+ <mass value="2.714567"/>
+ <inertia ixx="0.01237818683" ixy="-3.625571e-05" ixz="7.14472e-05" iyy="0.004191372" iyz="-0.00023639064" izz="0.01358161109"/>
+ <origin rpy="0 0 0" xyz="-0.0002762 0.10060223 0.04437419"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_1.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_1.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_data/meshes/arm/arm_1_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_1_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -467,7 +451,9 @@
<child link="arm_left_1_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.00000 0.1575 0.23200"/>
<axis xyz="0 0 1"/>
- <limit effort="44.64" lower="-1.57079632679" upper="0.523598775598" velocity="2.7"/>
+ <!-- v1 TALOS has 1st arm left joint (-90,30) and right joint (-30,90) -->
+ <!-- v2 TALOS has 1st arm left joint (-90,50) and right joint (-50,90) -->
+ <limit effort="100.0" lower="-1.57079632679" upper="0.785398163397" velocity="2.7"/>
<dynamics damping="1.0" friction="1.0"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
@@ -476,22 +462,21 @@
</joint>
<link name="arm_left_2_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.02607 0.00049 -0.05209"/>
- <!-- <mass value="1.77729"/> -->
- <mass value="1.67729"/>
- <inertia ixx="0.00708700000" ixy="-0.00001400000" ixz="0.00214200000" iyy="0.00793600000" iyz="0.00003000000" izz="0.00378800000"/>
+ <mass value="2.425086"/>
+ <inertia ixx="0.01297822101" ixy="1.208791e-05" ixz="-0.00320370433" iyy="0.01380870278" iyz="-0.00012770059" izz="0.00478856621"/>
+ <origin rpy="0 0 0" xyz="0.01438831 0.00092938 -0.08684268"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_2.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_2.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_data/meshes/arm/arm_2_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_2_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -500,7 +485,7 @@
<child link="arm_left_2_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.00493 0.1365 0.04673"/>
<axis xyz="1 0 0"/>
- <limit effort="22.32" lower="0.0" upper="2.87979326579" velocity="3.66"/>
+ <limit effort="100.0" lower="0.00872664625997" upper="2.87106661953" velocity="3.66"/>
<dynamics damping="1.0" friction="1.0"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
@@ -509,22 +494,21 @@
</joint>
<link name="arm_left_3_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00841 0.01428 -0.22291"/>
- <!-- <mass value="1.57029"/> -->
- <mass value="1.47029"/>
- <inertia ixx="0.00433200000" ixy="0.00015300000" ixz="-0.00049600000" iyy="0.00434000000" iyz="-0.00060900000" izz="0.00254300000"/>
+ <mass value="2.208741"/>
+ <inertia ixx="0.00718831493" ixy="-0.00011563551" ixz="0.00075969733" iyy="0.00693528503" iyz="0.00042134743" izz="0.00388359007"/>
+ <origin rpy="0 0 0" xyz="0.0136084 0.01241619 -0.2499004"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_3.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_3.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_data/meshes/arm/arm_3_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_3_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -533,7 +517,7 @@
<child link="arm_left_3_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
<axis xyz="0 0 1"/>
- <limit effort="17.86" lower="-2.44346095279" upper="2.44346095279" velocity="4.58"/>
+ <limit effort="70.0" lower="-2.42600766027" upper="2.42600766027" velocity="4.58"/>
<dynamics damping="1.0" friction="1.0"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
@@ -545,22 +529,21 @@
<!--************************-->
<link name="arm_left_4_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00655 -0.02107 -0.02612"/>
- <!-- <mass value="1.20216"/> -->
- <mass value="1.10216"/>
- <inertia ixx="0.00221700000" ixy="-0.00010100000" ixz="0.00028800000" iyy="0.00241800000" iyz="-0.00039300000" izz="0.00111500000"/>
+ <mass value="0.877346"/>
+ <inertia ixx="0.00251207716" ixy="0.00010070062" ixz="-0.00032788214" iyy="0.00275869324" iyz="0.00040022227" izz="0.00120735959"/>
+ <origin rpy="0 0 0" xyz="-0.00742138 -0.0213895 -0.03312656"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_4.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_4.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_data/meshes/arm/arm_4_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_4_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -569,7 +552,7 @@
<child link="arm_left_4_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.02000 0.00000 -0.27300"/>
<axis xyz="0 1 0"/>
- <limit effort="17.86" lower="-2.35619449019" upper="0.0" velocity="4.58"/>
+ <limit effort="70.0" lower="-2.23402144255" upper="0.00349065850399" velocity="4.58"/>
<dynamics damping="1.0" friction="1.0"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
@@ -611,27 +594,23 @@
<!--************************-->
<!-- WRIST -->
<!--************************-->
- <!--************************-->
- <!-- WRIST -->
- <!--************************-->
<link name="arm_left_5_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00006 0.00326 0.07963"/>
- <!-- <mass value="1.87792"/> -->
- <mass value="1.77792"/>
- <inertia ixx="0.00349500000" ixy="-0.00001300000" ixz="-0.00001000000" iyy="0.00436800000" iyz="0.00009700000" izz="0.00228300000"/>
+ <mass value="1.877923"/>
+ <inertia ixx="0.00349507283" ixy="1.265489e-05" ixz="1.038286e-05" iyy="0.00436830072" iyz="-9.736042e-05" izz="0.0022826337"/>
+ <origin rpy="0 0 0" xyz="-6e-05 0.003262 0.079625"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_5.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_5.STL" scale="1 1 1"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_5_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_5_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -640,7 +619,7 @@
<child link="arm_left_5_link"/>
<origin rpy="0.0 0.0 0.0" xyz="-0.02000 0.00000 -0.26430"/>
<axis xyz="0 0 1"/>
- <limit effort="3" lower="-2.53072741539" upper="2.53072741539" velocity="1.95"/>
+ <limit effort="20.0" lower="-2.51327412287" upper="2.51327412287" velocity="1.95"/>
<dynamics damping="1.0" friction="1.0"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
@@ -649,22 +628,21 @@
</joint>
<link name="arm_left_6_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00002 -0.00197 -0.00059"/>
- <!-- <mass value="0.40931"/> -->
- <mass value="0.30931"/>
- <inertia ixx="0.00010700000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00014100000" iyz="-0.00000000000" izz="0.00015400000"/>
+ <mass value="0.40931"/>
+ <inertia ixx="0.00010700023" ixy="-8.899e-08" ixz="-4.392e-08" iyy="0.00014101316" iyz="4.1702e-07" izz="0.00015398658"/>
+ <origin rpy="0 0 0" xyz="2.1e-05 -0.001965 -0.000591"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_6.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_6.STL" scale="1 1 1"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_6_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_6_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -673,7 +651,7 @@
<child link="arm_left_6_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
<axis xyz="1 0 0"/>
- <limit effort="6.6" lower="-1.3962634016" upper="1.3962634016" velocity="1.76"/>
+ <limit effort="8.0" lower="-1.37008346282" upper="1.37008346282" velocity="1.76"/>
<dynamics damping="1.0" friction="1.0"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
@@ -681,31 +659,22 @@
soft_upper_limit="${80.00000 * deg_to_rad - eps_radians}" /> -->
</joint>
<link name="arm_left_7_link">
- <!-- WRONG VALUES
- <inertial>
- <origin xyz="-0.00089 0.00365 -0.07824" rpy="0.00000 0.00000 0.00000"/>
- <mass value="1.02604"/>
- <inertia ixx="0.00151400000" ixy="0.00000600000" ixz="0.00006600000"
- iyy="0.00146400000" iyz="0.00001200000"
- izz="0.00090300000"/>
- </inertial>
- -->
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.007525 0.001378 -0.024630"/>
<mass value="0.308441"/>
- <inertia ixx="0.000309" ixy="0.000002" ixz="-0.000002" iyy="0.000219" iyz="0.000012" izz="0.000176"/>
+ <inertia ixx="0.00030894317" ixy="-1.58687e-06" ixz="1.73418e-06" iyy="0.00021886181" iyz="-1.221167e-05" izz="0.00017519492"/>
+ <origin rpy="0 0 0" xyz="0.007525 0.001378 -0.02463"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_7.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_7.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_data/meshes/arm/arm_7_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_7_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -714,7 +683,7 @@
<child link="arm_left_7_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<axis xyz="0 1 0"/>
- <limit effort="6.6" lower="-0.698131700798" upper="0.698131700798" velocity="1.76"/>
+ <limit effort="8.0" lower="-0.680678408278" upper="0.680678408278" velocity="1.76"/>
<dynamics damping="1.0" friction="1.0"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
@@ -744,13 +713,13 @@
<implicitSpringDamper>1</implicitSpringDamper>
<provideFeedback>1</provideFeedback>
</gazebo>
- <!-- extensions -->
<transmission name="arm_left_5_trans">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="arm_left_5_motor">
<mechanicalReduction>1.0</mechanicalReduction>
</actuator>
<joint name="arm_left_5_joint">
+ <offset>0.0</offset>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
@@ -780,13 +749,13 @@
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
</transmission>
- <!-- extensions -->
<transmission name="arm_left_1_trans">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="arm_left_1_motor">
<mechanicalReduction>1.0</mechanicalReduction>
</actuator>
<joint name="arm_left_1_joint">
+ <offset>0.0</offset>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
@@ -797,6 +766,7 @@
<mechanicalReduction>1.0</mechanicalReduction>
</actuator>
<joint name="arm_left_2_joint">
+ <offset>0.0</offset>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
@@ -807,6 +777,7 @@
<mechanicalReduction>1.0</mechanicalReduction>
</actuator>
<joint name="arm_left_3_joint">
+ <offset>0.0</offset>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
@@ -817,6 +788,7 @@
<mechanicalReduction>1.0</mechanicalReduction>
</actuator>
<joint name="arm_left_4_joint">
+ <offset>0.0</offset>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
@@ -825,24 +797,22 @@
<!-- SHOULDER -->
<!--************************-->
<link name="arm_right_1_link">
- <!-- TODO: Missing reflects of inertias -->
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.01346 -0.0913 0.04812"/>
- <!-- <mass value="1.52896"/> -->
- <mass value="1.42896"/>
- <inertia ixx="0.00555100000" ixy="-0.00073100000" ixz="0.00000800000" iyy="0.00167300000" iyz="-0.00006000000" izz="0.00582200000"/>
+ <mass value="2.714567"/>
+ <inertia ixx="0.01237818683" ixy="3.625571e-05" ixz="7.14472e-05" iyy="0.004191372" iyz="0.00023639064" izz="0.01358161109"/>
+ <origin rpy="0 0 0" xyz="-0.0002762 -0.10060223 0.04437419"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_1.STL" scale="1 -1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_1.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_data/meshes/arm/arm_1_collision.STL" scale="1 -1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_1_collision.STL" scale="1 -1 1"/>
</geometry>
</collision>
</link>
@@ -851,7 +821,9 @@
<child link="arm_right_1_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.00000 -0.1575 0.23200"/>
<axis xyz="0 0 1"/>
- <limit effort="44.64" lower="-0.523598775598" upper="1.57079632679" velocity="2.7"/>
+ <!-- v1 TALOS has 1st arm left joint (-90,30) and right joint (-30,90) -->
+ <!-- v2 TALOS has 1st arm left joint (-90,50) and right joint (-50,90) -->
+ <limit effort="100.0" lower="-0.785398163397" upper="1.57079632679" velocity="2.7"/>
<dynamics damping="1.0" friction="1.0"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
@@ -860,22 +832,21 @@
</joint>
<link name="arm_right_2_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.02607 0.00049 -0.05209"/>
- <!-- <mass value="1.77729"/> -->
- <mass value="1.67729"/>
- <inertia ixx="0.00708700000" ixy="-0.00001400000" ixz="0.00214200000" iyy="0.00793600000" iyz="0.00003000000" izz="0.00378800000"/>
+ <mass value="2.425086"/>
+ <inertia ixx="0.01297822101" ixy="-1.208791e-05" ixz="-0.00320370433" iyy="0.01380870278" iyz="0.00012770059" izz="0.00478856621"/>
+ <origin rpy="0 0 0" xyz="0.01438831 -0.00092938 -0.08684268"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_2.STL" scale="1 -1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_2.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_data/meshes/arm/arm_2_collision.STL" scale="1 -1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_2_collision.STL" scale="1 -1 1"/>
</geometry>
</collision>
</link>
@@ -884,7 +855,7 @@
<child link="arm_right_2_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.00493 -0.1365 0.04673"/>
<axis xyz="1 0 0"/>
- <limit effort="22.32" lower="-2.87979326579" upper="0.0" velocity="3.66"/>
+ <limit effort="100.0" lower="-2.87106661953" upper="-0.00872664625997" velocity="3.66"/>
<dynamics damping="1.0" friction="1.0"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
@@ -893,22 +864,21 @@
</joint>
<link name="arm_right_3_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00841 0.01428 -0.22291"/>
- <!-- <mass value="1.57029"/> -->
- <mass value="1.47029"/>
- <inertia ixx="0.00433200000" ixy="0.00015300000" ixz="-0.00049600000" iyy="0.00434000000" iyz="-0.00060900000" izz="0.00254300000"/>
+ <mass value="2.208741"/>
+ <inertia ixx="0.00718831493" ixy="0.00011563551" ixz="0.00075969733" iyy="0.00693528503" iyz="-0.00042134743" izz="0.00388359007"/>
+ <origin rpy="0 0 0" xyz="0.0136084 -0.01241619 -0.2499004"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_3.STL" scale="1 -1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_3.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_data/meshes/arm/arm_3_collision.STL" scale="1 -1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_3_collision.STL" scale="1 -1 1"/>
</geometry>
</collision>
</link>
@@ -917,7 +887,7 @@
<child link="arm_right_3_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
<axis xyz="0 0 1"/>
- <limit effort="17.86" lower="-2.44346095279" upper="2.44346095279" velocity="4.58"/>
+ <limit effort="70.0" lower="-2.42600766027" upper="2.42600766027" velocity="4.58"/>
<dynamics damping="1.0" friction="1.0"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
@@ -929,22 +899,21 @@
<!--************************-->
<link name="arm_right_4_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00655 -0.02107 -0.02612"/>
- <!-- <mass value="1.20216"/> -->
- <mass value="1.10216"/>
- <inertia ixx="0.00221700000" ixy="-0.00010100000" ixz="0.00028800000" iyy="0.00241800000" iyz="-0.00039300000" izz="0.00111500000"/>
+ <mass value="0.877346"/>
+ <inertia ixx="0.00251207716" ixy="-0.00010070062" ixz="-0.00032788214" iyy="0.00275869324" iyz="-0.00040022227" izz="0.00120735959"/>
+ <origin rpy="0 0 0" xyz="-0.00742138 0.0213895 -0.03312656"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_4.STL" scale="1 -1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_4.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_data/meshes/arm/arm_4_collision.STL" scale="1 -1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_4_collision.STL" scale="1 -1 1"/>
</geometry>
</collision>
</link>
@@ -953,7 +922,7 @@
<child link="arm_right_4_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.02000 0.00000 -0.27300"/>
<axis xyz="0 1 0"/>
- <limit effort="17.86" lower="-2.35619449019" upper="0.0" velocity="4.58"/>
+ <limit effort="70.0" lower="-2.23402144255" upper="0.00349065850399" velocity="4.58"/>
<dynamics damping="1.0" friction="1.0"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
@@ -995,27 +964,23 @@
<!--************************-->
<!-- WRIST -->
<!--************************-->
- <!--************************-->
- <!-- WRIST -->
- <!--************************-->
<link name="arm_right_5_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00006 0.00326 0.07963"/>
- <!-- <mass value="1.87792"/> -->
- <mass value="1.77792"/>
- <inertia ixx="0.00349500000" ixy="-0.00001300000" ixz="-0.00001000000" iyy="0.00436800000" iyz="0.00009700000" izz="0.00228300000"/>
+ <mass value="1.877923"/>
+ <inertia ixx="0.00349507283" ixy="-1.265489e-05" ixz="1.038286e-05" iyy="0.00436830072" iyz="9.736042e-05" izz="0.0022826337"/>
+ <origin rpy="0 0 0" xyz="-6e-05 -0.003262 0.079625"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_5.STL" scale="1 -1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_5.STL" scale="1 -1 1"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_5_collision.STL" scale="1 -1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_5_collision.STL" scale="1 -1 1"/>
</geometry>
</collision>
</link>
@@ -1024,7 +989,7 @@
<child link="arm_right_5_link"/>
<origin rpy="0.0 0.0 0.0" xyz="-0.02000 0.00000 -0.26430"/>
<axis xyz="0 0 1"/>
- <limit effort="3" lower="-2.53072741539" upper="2.53072741539" velocity="1.95"/>
+ <limit effort="20.0" lower="-2.51327412287" upper="2.51327412287" velocity="1.95"/>
<dynamics damping="1.0" friction="1.0"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
@@ -1033,22 +998,21 @@
</joint>
<link name="arm_right_6_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00002 -0.00197 -0.00059"/>
- <!-- <mass value="0.40931"/> -->
- <mass value="0.30931"/>
- <inertia ixx="0.00010700000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00014100000" iyz="-0.00000000000" izz="0.00015400000"/>
+ <mass value="0.40931"/>
+ <inertia ixx="0.00010700023" ixy="8.899e-08" ixz="-4.392e-08" iyy="0.00014101316" iyz="-4.1702e-07" izz="0.00015398658"/>
+ <origin rpy="0 0 0" xyz="2.1e-05 0.001965 -0.000591"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_6.STL" scale="1 -1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_6.STL" scale="1 -1 1"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_6_collision.STL" scale="1 -1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_6_collision.STL" scale="1 -1 1"/>
</geometry>
</collision>
</link>
@@ -1057,7 +1021,7 @@
<child link="arm_right_6_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
<axis xyz="1 0 0"/>
- <limit effort="6.6" lower="-1.3962634016" upper="1.3962634016" velocity="1.76"/>
+ <limit effort="8.0" lower="-1.37008346282" upper="1.37008346282" velocity="1.76"/>
<dynamics damping="1.0" friction="1.0"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
@@ -1065,31 +1029,22 @@
soft_upper_limit="${80.00000 * deg_to_rad - eps_radians}" /> -->
</joint>
<link name="arm_right_7_link">
- <!-- WRONG VALUES
- <inertial>
- <origin xyz="-0.00089 0.00365 -0.07824" rpy="0.00000 0.00000 0.00000"/>
- <mass value="1.02604"/>
- <inertia ixx="0.00151400000" ixy="0.00000600000" ixz="0.00006600000"
- iyy="0.00146400000" iyz="0.00001200000"
- izz="0.00090300000"/>
- </inertial>
- -->
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.007525 0.001378 -0.024630"/>
<mass value="0.308441"/>
- <inertia ixx="0.000309" ixy="0.000002" ixz="-0.000002" iyy="0.000219" iyz="0.000012" izz="0.000176"/>
+ <inertia ixx="0.00030894317" ixy="1.58687e-06" ixz="1.73418e-06" iyy="0.00021886181" iyz="1.221167e-05" izz="0.00017519492"/>
+ <origin rpy="0 0 0" xyz="0.007525 -0.001378 -0.02463"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_7.STL" scale="1 -1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_7.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_data/meshes/arm/arm_7_collision.STL" scale="1 -1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_7_collision.STL" scale="1 -1 1"/>
</geometry>
</collision>
</link>
@@ -1098,7 +1053,7 @@
<child link="arm_right_7_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<axis xyz="0 1 0"/>
- <limit effort="6.6" lower="-0.698131700798" upper="0.698131700798" velocity="1.76"/>
+ <limit effort="8.0" lower="-0.680678408278" upper="0.680678408278" velocity="1.76"/>
<dynamics damping="1.0" friction="1.0"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
@@ -1128,13 +1083,13 @@
<implicitSpringDamper>1</implicitSpringDamper>
<provideFeedback>1</provideFeedback>
</gazebo>
- <!-- extensions -->
<transmission name="arm_right_5_trans">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="arm_right_5_motor">
<mechanicalReduction>1.0</mechanicalReduction>
</actuator>
<joint name="arm_right_5_joint">
+ <offset>0.0</offset>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
@@ -1159,18 +1114,18 @@
<joint name="arm_right_7_joint">
<role>joint2</role>
<offset>0.0</offset>
- <mechanicalReduction>1.0</mechanicalReduction>
+ <mechanicalReduction>-1.0</mechanicalReduction>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
</transmission>
- <!-- extensions -->
<transmission name="arm_right_1_trans">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="arm_right_1_motor">
<mechanicalReduction>1.0</mechanicalReduction>
</actuator>
<joint name="arm_right_1_joint">
+ <offset>0.0</offset>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
@@ -1181,6 +1136,7 @@
<mechanicalReduction>1.0</mechanicalReduction>
</actuator>
<joint name="arm_right_2_joint">
+ <offset>0.0</offset>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
@@ -1191,6 +1147,7 @@
<mechanicalReduction>1.0</mechanicalReduction>
</actuator>
<joint name="arm_right_3_joint">
+ <offset>0.0</offset>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
@@ -1201,6 +1158,7 @@
<mechanicalReduction>1.0</mechanicalReduction>
</actuator>
<joint name="arm_right_4_joint">
+ <offset>0.0</offset>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
@@ -1210,8 +1168,9 @@
<!--************************-->
<link name="wrist_right_ft_link">
<inertial>
- <mass value="0.1"/>
- <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ <mass value="0.095"/>
+ <inertia ixx="1.108502e-05" ixy="9.9077e-07" ixz="-2.3811e-07" iyy="1.092725e-05" iyz="2.3137e-07" izz="1.898772e-05"/>
+ <origin rpy="0 0 0" xyz="-0.001001 0.000995 -0.008108"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
@@ -1237,8 +1196,9 @@
<!--***********************-->
<link name="wrist_right_ft_tool_link">
<inertial>
- <mass value="0.1"/>
- <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ <mass value="0.001"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
</inertial>
<visual>
<origin rpy="0 0.0 0" xyz="0.0 0 0"/>
@@ -1264,8 +1224,9 @@
<!--************************-->
<link name="wrist_left_ft_link">
<inertial>
- <mass value="0.1"/>
- <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ <mass value="0.095"/>
+ <inertia ixx="1.108502e-05" ixy="9.9077e-07" ixz="-2.3811e-07" iyy="1.092725e-05" iyz="2.3137e-07" izz="1.898772e-05"/>
+ <origin rpy="0 0 0" xyz="-0.001001 0.000995 -0.008108"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
@@ -1291,8 +1252,9 @@
<!--***********************-->
<link name="wrist_left_ft_tool_link">
<inertial>
- <mass value="0.1"/>
- <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ <mass value="0.001"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
</inertial>
<visual>
<origin rpy="0 0.0 0" xyz="0.0 0 0"/>
@@ -1315,21 +1277,21 @@
</joint>
<link name="gripper_left_base_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00534 0.00362 -0.02357"/>
- <mass value="0.61585"/>
- <inertia ixx="0.00047200000" ixy="-0.00000800000" ixz="0.00003500000" iyy="0.00052100000" iyz="0.00000000000" izz="0.00069000000"/>
+ <mass value="0.637534"/>
+ <inertia ixx="0.0005849692" ixy="4.37159e-06" ixz="-1.2589e-05" iyy="0.00067076439" iyz="2.824361e-05" izz="0.00085526645"/>
+ <origin rpy="0 0 0" xyz="2.8e-05 0.005394 -0.023654"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/base_link.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/base_link.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -1341,23 +1303,21 @@
</joint>
<link name="gripper_left_motor_double_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.02270 0.01781 -0.00977"/>
- <mass value="0.16889"/>
- <!-- In order for Gazebo not to explode we needed to add these 0.001 values to the diagonal,
- also the tool pal_dynamics InertiaMassVisualization gave NaN on the computation of the inertia box -->
- <inertia ixx="0.001159" ixy="-0.00007000000" ixz="0.00003800000" iyy="0.001221" iyz="-0.00005300000" izz="0.001268"/>
+ <mass value="0.134356"/>
+ <inertia ixx="0.00013479919" ixy="6.184429e-05" ixz="-3.0798e-05" iyy="0.00019602207" iyz="4.707722e-05" izz="0.00024217879"/>
+ <origin rpy="0 0 0" xyz="0.019654 0.018572 -0.011998"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -1366,26 +1326,26 @@
<child link="gripper_left_motor_double_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.02025 -0.03"/>
<axis xyz="1 0 0"/>
- <limit effort="1.0" lower="-1.0471975512" upper="0.0" velocity="1.0"/>
+ <limit effort="1.0" lower="-0.959931088597" upper="0.0" velocity="1.0"/>
<dynamics damping="1.0" friction="1.0"/>
</joint>
<link name="gripper_left_inner_double_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00056 0.03358 -0.01741"/>
- <mass value="0.11922"/>
- <inertia ixx="0.00009100000" ixy="0.00000100000" ixz="-0.00000100000" iyy="0.00015600000" iyz="-0.00003200000" izz="0.00012600000"/>
+ <mass value="0.087986"/>
+ <inertia ixx="7.410642e-05" ixy="-7.4773e-07" ixz="1.01536e-06" iyy="0.0001279418" iyz="2.504083e-05" izz="0.00010495175"/>
+ <origin rpy="0 0 0" xyz="-0.013283 0.036852 -0.023153"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/inner_double.STL" scale="1 1 1"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -1399,21 +1359,21 @@
</joint>
<link name="gripper_left_fingertip_1_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
- <mass value="0.02630"/>
- <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
+ <mass value="0.026301"/>
+ <inertia ixx="8e-06" ixy="0" ixz="0" iyy="8.69179e-06" iyz="-1.43612e-06" izz="2.3082e-06"/>
+ <origin rpy="0 0 0" xyz="0 0.004604 -0.002537"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/fingertip.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -1427,21 +1387,21 @@
</joint>
<link name="gripper_left_fingertip_2_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
- <mass value="0.02630"/>
- <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
+ <mass value="0.026301"/>
+ <inertia ixx="8e-06" ixy="0" ixz="0" iyy="8.69179e-06" iyz="-1.43612e-06" izz="2.3082e-06"/>
+ <origin rpy="0 0 0" xyz="0 0.004604 -0.002537"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/fingertip.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -1455,21 +1415,21 @@
</joint>
<link name="gripper_left_motor_single_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.02589 -0.01284 -0.00640"/>
- <mass value="0.14765"/>
- <inertia ixx="0.00011500000" ixy="0.00005200000" ixz="0.00002500000" iyy="0.00015300000" iyz="0.00003400000" izz="0.00019000000"/>
+ <mass value="0.107923"/>
+ <inertia ixx="8.973662e-05" ixy="-4.082027e-05" ixz="-1.927099e-05" iyy="0.00011957255" iyz="-2.873284e-05" izz="0.00015469079"/>
+ <origin rpy="0 0 0" xyz="0.025237 -0.011231 -0.008158"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -1483,21 +1443,21 @@
</joint>
<link name="gripper_left_inner_single_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 -0.03253 -0.01883"/>
- <mass value="0.05356"/>
- <inertia ixx="0.00004700000" ixy="-0.00000000000" ixz="-0.00000000000" iyy="0.00003500000" iyz="0.00001700000" izz="0.00002400000"/>
+ <mass value="0.047177"/>
+ <inertia ixx="4.199818e-05" ixy="1.3418e-07" ixz="1.9358e-07" iyy="3.231338e-05" iyz="-1.509136e-05" izz="2.168842e-05"/>
+ <origin rpy="0 0 0" xyz="0 -0.034565 -0.021412"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/inner_single.STL" scale="1 1 1"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -1511,21 +1471,21 @@
</joint>
<link name="gripper_left_fingertip_3_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
- <mass value="0.02630"/>
- <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
+ <mass value="0.026301"/>
+ <inertia ixx="8e-06" ixy="0" ixz="0" iyy="8.69179e-06" iyz="-1.43612e-06" izz="2.3082e-06"/>
+ <origin rpy="0 0 0" xyz="0 0.004604 -0.002537"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/fingertip.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -1543,42 +1503,42 @@
<mimicJoint>gripper_left_inner_double_joint</mimicJoint>
<multiplier>1.0</multiplier>
<offset>0.0</offset>
- <!-- <hasPID/> -->
+ <hasPID/>
</plugin>
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_fingertip_1_joint">
<joint>gripper_left_joint</joint>
<mimicJoint>gripper_left_fingertip_1_joint</mimicJoint>
<multiplier>-1.0</multiplier>
<offset>0.0</offset>
- <!-- <hasPID/> -->
+ <hasPID/>
</plugin>
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_fingertip_2_joint">
<joint>gripper_left_joint</joint>
<mimicJoint>gripper_left_fingertip_2_joint</mimicJoint>
<multiplier>-1.0</multiplier>
<offset>0.0</offset>
- <!-- <hasPID/> -->
+ <hasPID/>
</plugin>
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_inner_single_joint">
<joint>gripper_left_joint</joint>
<mimicJoint>gripper_left_inner_single_joint</mimicJoint>
<multiplier>-1.0</multiplier>
<offset>0.0</offset>
- <!-- <hasPID/> -->
+ <hasPID/>
</plugin>
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_motor_single_joint">
<joint>gripper_left_joint</joint>
<mimicJoint>gripper_left_motor_single_joint</mimicJoint>
<multiplier>-1.0</multiplier>
<offset>0.0</offset>
- <!-- <hasPID/> -->
+ <hasPID/>
</plugin>
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_fingertip_3_joint">
<joint>gripper_left_joint</joint>
<mimicJoint>gripper_left_fingertip_3_joint</mimicJoint>
<multiplier>-1.0</multiplier>
<offset>0.0</offset>
- <!-- <hasPID/> -->
+ <hasPID/>
</plugin>
</gazebo>
<!-- <plugin filename="libgazebo_underactuated_finger.so" name="gazebo_${name}_underactuated">
@@ -1670,21 +1630,21 @@
<xacro:gripper_virtual_transmission name="${name}_fingertip_3" reduction="1.0"/> -->
<link name="gripper_right_base_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00534 0.00362 -0.02357"/>
- <mass value="0.61585"/>
- <inertia ixx="0.00047200000" ixy="-0.00000800000" ixz="0.00003500000" iyy="0.00052100000" iyz="0.00000000000" izz="0.00069000000"/>
+ <mass value="0.637534"/>
+ <inertia ixx="0.0005849692" ixy="4.37159e-06" ixz="-1.2589e-05" iyy="0.00067076439" iyz="2.824361e-05" izz="0.00085526645"/>
+ <origin rpy="0 0 0" xyz="2.8e-05 0.005394 -0.023654"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/base_link.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/base_link.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -1696,23 +1656,21 @@
</joint>
<link name="gripper_right_motor_double_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.02270 0.01781 -0.00977"/>
- <mass value="0.16889"/>
- <!-- In order for Gazebo not to explode we needed to add these 0.001 values to the diagonal,
- also the tool pal_dynamics InertiaMassVisualization gave NaN on the computation of the inertia box -->
- <inertia ixx="0.001159" ixy="-0.00007000000" ixz="0.00003800000" iyy="0.001221" iyz="-0.00005300000" izz="0.001268"/>
+ <mass value="0.134356"/>
+ <inertia ixx="0.00013479919" ixy="6.184429e-05" ixz="-3.0798e-05" iyy="0.00019602207" iyz="4.707722e-05" izz="0.00024217879"/>
+ <origin rpy="0 0 0" xyz="0.019654 0.018572 -0.011998"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -1721,26 +1679,26 @@
<child link="gripper_right_motor_double_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.02025 -0.03"/>
<axis xyz="1 0 0"/>
- <limit effort="1.0" lower="-1.0471975512" upper="0.0" velocity="1.0"/>
+ <limit effort="1.0" lower="-0.959931088597" upper="0.0" velocity="1.0"/>
<dynamics damping="1.0" friction="1.0"/>
</joint>
<link name="gripper_right_inner_double_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00056 0.03358 -0.01741"/>
- <mass value="0.11922"/>
- <inertia ixx="0.00009100000" ixy="0.00000100000" ixz="-0.00000100000" iyy="0.00015600000" iyz="-0.00003200000" izz="0.00012600000"/>
+ <mass value="0.087986"/>
+ <inertia ixx="7.410642e-05" ixy="-7.4773e-07" ixz="1.01536e-06" iyy="0.0001279418" iyz="2.504083e-05" izz="0.00010495175"/>
+ <origin rpy="0 0 0" xyz="-0.013283 0.036852 -0.023153"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/inner_double.STL" scale="1 1 1"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -1754,21 +1712,21 @@
</joint>
<link name="gripper_right_fingertip_1_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
- <mass value="0.02630"/>
- <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
+ <mass value="0.026301"/>
+ <inertia ixx="8e-06" ixy="0" ixz="0" iyy="8.69179e-06" iyz="-1.43612e-06" izz="2.3082e-06"/>
+ <origin rpy="0 0 0" xyz="0 0.004604 -0.002537"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/fingertip.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -1782,21 +1740,21 @@
</joint>
<link name="gripper_right_fingertip_2_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
- <mass value="0.02630"/>
- <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
+ <mass value="0.026301"/>
+ <inertia ixx="8e-06" ixy="0" ixz="0" iyy="8.69179e-06" iyz="-1.43612e-06" izz="2.3082e-06"/>
+ <origin rpy="0 0 0" xyz="0 0.004604 -0.002537"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/fingertip.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -1810,21 +1768,21 @@
</joint>
<link name="gripper_right_motor_single_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.02589 -0.01284 -0.00640"/>
- <mass value="0.14765"/>
- <inertia ixx="0.00011500000" ixy="0.00005200000" ixz="0.00002500000" iyy="0.00015300000" iyz="0.00003400000" izz="0.00019000000"/>
+ <mass value="0.107923"/>
+ <inertia ixx="8.973662e-05" ixy="-4.082027e-05" ixz="-1.927099e-05" iyy="0.00011957255" iyz="-2.873284e-05" izz="0.00015469079"/>
+ <origin rpy="0 0 0" xyz="0.025237 -0.011231 -0.008158"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -1838,21 +1796,21 @@
</joint>
<link name="gripper_right_inner_single_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 -0.03253 -0.01883"/>
- <mass value="0.05356"/>
- <inertia ixx="0.00004700000" ixy="-0.00000000000" ixz="-0.00000000000" iyy="0.00003500000" iyz="0.00001700000" izz="0.00002400000"/>
+ <mass value="0.047177"/>
+ <inertia ixx="4.199818e-05" ixy="1.3418e-07" ixz="1.9358e-07" iyy="3.231338e-05" iyz="-1.509136e-05" izz="2.168842e-05"/>
+ <origin rpy="0 0 0" xyz="0 -0.034565 -0.021412"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/inner_single.STL" scale="1 1 1"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -1866,21 +1824,21 @@
</joint>
<link name="gripper_right_fingertip_3_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
- <mass value="0.02630"/>
- <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
+ <mass value="0.026301"/>
+ <inertia ixx="8e-06" ixy="0" ixz="0" iyy="8.69179e-06" iyz="-1.43612e-06" izz="2.3082e-06"/>
+ <origin rpy="0 0 0" xyz="0 0.004604 -0.002537"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/fingertip.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -1898,42 +1856,42 @@
<mimicJoint>gripper_right_inner_double_joint</mimicJoint>
<multiplier>1.0</multiplier>
<offset>0.0</offset>
- <!-- <hasPID/> -->
+ <hasPID/>
</plugin>
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_fingertip_1_joint">
<joint>gripper_right_joint</joint>
<mimicJoint>gripper_right_fingertip_1_joint</mimicJoint>
<multiplier>-1.0</multiplier>
<offset>0.0</offset>
- <!-- <hasPID/> -->
+ <hasPID/>
</plugin>
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_fingertip_2_joint">
<joint>gripper_right_joint</joint>
<mimicJoint>gripper_right_fingertip_2_joint</mimicJoint>
<multiplier>-1.0</multiplier>
<offset>0.0</offset>
- <!-- <hasPID/> -->
+ <hasPID/>
</plugin>
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_inner_single_joint">
<joint>gripper_right_joint</joint>
<mimicJoint>gripper_right_inner_single_joint</mimicJoint>
<multiplier>-1.0</multiplier>
<offset>0.0</offset>
- <!-- <hasPID/> -->
+ <hasPID/>
</plugin>
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_motor_single_joint">
<joint>gripper_right_joint</joint>
<mimicJoint>gripper_right_motor_single_joint</mimicJoint>
<multiplier>-1.0</multiplier>
<offset>0.0</offset>
- <!-- <hasPID/> -->
+ <hasPID/>
</plugin>
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_fingertip_3_joint">
<joint>gripper_right_joint</joint>
<mimicJoint>gripper_right_fingertip_3_joint</mimicJoint>
<multiplier>-1.0</multiplier>
<offset>0.0</offset>
- <!-- <hasPID/> -->
+ <hasPID/>
</plugin>
</gazebo>
<!-- <plugin filename="libgazebo_underactuated_finger.so" name="gazebo_${name}_underactuated">
@@ -2026,21 +1984,21 @@
<!-- Joint hip_z (mesh link) : child link hip_x -> parent link base_link -->
<link name="leg_left_1_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.02320 -0.00009 0.04949"/>
- <mass value="1.88569"/>
- <inertia ixx="0.00384800000" ixy="0.00003200000" ixz="-0.00082600000" iyy="0.00599400000" iyz="0.00007800000" izz="0.00322200000"/>
+ <mass value="1.845591"/>
+ <inertia ixx="0.00541533521" ixy="-0.00015428714" ixz="0.00131612622" iyy="0.00848624936" iyz="-1.906103e-05" izz="0.00474512541"/>
+ <origin rpy="0 0 0" xyz="0.02247868 0.00106736 0.03130665"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_z_lo_res.stl" scale="1 1.0 1"/>
+ <mesh filename="package://talos_description/meshes/v2/hip_z_lo_res.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_data/meshes/v2/hip_z_collision.stl" scale="1 1.0 1"/>
+ <mesh filename="package://talos_description/meshes/v2/hip_z_collision.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -2055,21 +2013,21 @@
<!-- Joint hip_x (mesh link) : child link hip_y -> parent link hip_z -->
<link name="leg_left_2_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.01583 -0.00021 0.00619"/>
- <mass value="2.37607"/>
- <inertia ixx="0.00342100000" ixy="-0.00011300000" ixz="-0.00022500000" iyy="0.00402400000" iyz="-0.00003100000" izz="0.00416400000"/>
+ <mass value="1.490952"/>
+ <inertia ixx="0.00497152259" ixy="-0.0001311358" ixz="-4.86648e-06" iyy="0.00190550993" iyz="4.585381e-05" izz="0.00474289754"/>
+ <origin rpy="0 0 0" xyz="-0.00704703 0.02592659 0.00273385"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0.0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_x_lo_res.stl" scale="1 1.0 1"/>
+ <mesh filename="package://talos_description/meshes/v2/hip_x_lo_res.stl" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_x_collision.stl" scale="1 1.0 1"/>
+ <mesh filename="package://talos_description/meshes/v2/hip_x_collision.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -2084,21 +2042,21 @@
<!-- Joint hip_y (mesh link) : child link knee -> parent link hip_x -->
<link name="leg_left_3_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00658 0.06563 -0.17278"/>
- <mass value="6.82734"/>
- <inertia ixx="0.12390600000" ixy="-0.000412" ixz="-0.00205900000" iyy="0.10844700000" iyz="0.016725" izz="0.02781200000"/>
+ <mass value="6.239871"/>
+ <inertia ixx="0.15337403915" ixy="0.00068913396" ixz="0.00168034366" iyy="0.13648139346" iyz="-0.02187635445" izz="0.03001594885"/>
+ <origin rpy="0 0 0" xyz="0.0058523 0.0636967 -0.18339564"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_y_lo_res.stl" scale="1 1.0 1"/>
+ <mesh filename="package://talos_description/meshes/v2/hip_y_lo_res.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_data/meshes/v2/hip_y_collision.stl" scale="1 1.0 1"/>
+ <mesh filename="package://talos_description/meshes/v2/hip_y_collision.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -2113,21 +2071,21 @@
<!-- Joint knee (mesh link) : child link ankle_y -> parent link hip_y -->
<link name="leg_left_4_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.01520 0.02331 -0.12063"/>
- <mass value="3.63668"/>
- <inertia ixx="0.03531500000" ixy="2.9e-05" ixz="-0.00016600000" iyy="0.02933600000" iyz="-0.001305" izz="0.01174000000"/>
+ <mass value="3.759951"/>
+ <inertia ixx="0.04287677484" ixy="0.00043705397" ixz="0.00078292368" iyy="0.03598906971" iyz="0.00037717694" izz="0.01364791564"/>
+ <origin rpy="0 0 0" xyz="0.01317717 0.02917508 -0.11594602"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/v2/knee_lo_res.stl" scale="1 1.0 1"/>
+ <mesh filename="package://talos_description/meshes/v2/knee_lo_res.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_data/meshes/v2/knee_collision.stl" scale="1 1.0 1"/>
+ <mesh filename="package://talos_description/meshes/v2/knee_collision.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -2142,21 +2100,21 @@
<!-- Joint ankle_y (mesh link) : child link ankle_x -> parent link knee -->
<link name="leg_left_5_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.01106 0.04708 0.05271"/>
- <mass value="1.24433"/>
- <inertia ixx="0.01148700000" ixy="-0.000686" ixz="-0.00052600000" iyy="0.00952600000" iyz="0.002633" izz="0.00390800000"/>
+ <mass value="1.29096"/>
+ <inertia ixx="0.01143430819" ixy="0.00096978273" ixz="0.00039976581" iyy="0.00888974312" iyz="-0.00277808667" izz="0.00506373875"/>
+ <origin rpy="0 0 0" xyz="-0.01400838 0.04180064 0.03820186"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0.0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/v2/ankle_Y_lo_res.stl" scale="1 1.0 1"/>
+ <mesh filename="package://talos_description/meshes/v2/ankle_Y_lo_res.stl" scale="1 1 1"/>
</geometry>
<material name="Grey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/v2/ankle_Y_collision.stl" scale="1 1.0 1"/>
+ <mesh filename="package://talos_description/meshes/v2/ankle_Y_collision.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -2165,32 +2123,23 @@
<child link="leg_left_5_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.32500"/>
<axis xyz="0 1 0"/>
- <limit effort="160" lower="-1.309" upper="0.768" velocity="5.8"/>
+ <limit effort="160" lower="-1.27" upper="0.68" velocity="5.8"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Joint ankle_x (mesh link) : child link None -> parent link ankle_y -->
<link name="leg_left_6_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.02087 -0.00019 -0.06059"/>
- <mass value="1.59457"/>
- <inertia ixx="0.00383800000" ixy="0.00001600000" ixz="-0.00104100000" iyy="0.00657200000" iyz="-0.00001700000" izz="0.00504400000"/>
+ <mass value="1.597773"/>
+ <inertia ixx="0.00439027267" ixy="-6.743674e-05" ixz="0.00113816363" iyy="0.00743063029" iyz="3.943143e-05" izz="0.00550906699"/>
+ <origin rpy="0 0 0" xyz="-0.02034668 -0.00051514 -0.05987428"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/v2/ankle_X_lo_res.stl" scale="1 1.0 1"/>
+ <mesh filename="package://talos_description/meshes/v2/ankle_X_lo_res.stl" scale="1 1 1"/>
</geometry>
<material name="Grey"/>
</visual>
- <!--
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
- </geometry>
- </collision>
-
- -->
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.1"/>
<geometry>
@@ -2209,9 +2158,9 @@
<!-- from here is copy paste -->
<link name="left_sole_link">
<inertial>
- <origin rpy="0 0 0" xyz="0.0 0.0 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"/>
+ <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
</inertial>
</link>
<joint name="leg_left_sole_fix_joint" type="fixed">
@@ -2352,21 +2301,21 @@
<!-- Joint hip_z (mesh link) : child link hip_x -> parent link base_link -->
<link name="leg_right_1_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.02320 -0.00009 0.04949"/>
- <mass value="1.88569"/>
- <inertia ixx="0.00384800000" ixy="0.00003200000" ixz="-0.00082600000" iyy="0.00599400000" iyz="0.00007800000" izz="0.00322200000"/>
+ <mass value="1.845591"/>
+ <inertia ixx="0.00541533521" ixy="0.00015428714" ixz="0.00131612622" iyy="0.00848624936" iyz="1.906103e-05" izz="0.00474512541"/>
+ <origin rpy="0 0 0" xyz="0.02247868 -0.00106736 0.03130665"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_z_lo_res.stl" scale="1 -1.0 1"/>
+ <mesh filename="package://talos_description/meshes/v2/hip_z_lo_res.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_data/meshes/v2/hip_z_collision.stl" scale="1 -1.0 1"/>
+ <mesh filename="package://talos_description/meshes/v2/hip_z_collision.stl" scale="1 -1 1"/>
</geometry>
</collision>
</link>
@@ -2381,21 +2330,21 @@
<!-- Joint hip_x (mesh link) : child link hip_y -> parent link hip_z -->
<link name="leg_right_2_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.01583 -0.00021 0.00619"/>
- <mass value="2.37607"/>
- <inertia ixx="0.00342100000" ixy="-0.00011300000" ixz="-0.00022500000" iyy="0.00402400000" iyz="-0.00003100000" izz="0.00416400000"/>
+ <mass value="1.490952"/>
+ <inertia ixx="0.00497152259" ixy="0.0001311358" ixz="-4.86648e-06" iyy="0.00190550993" iyz="-4.585381e-05" izz="0.00474289754"/>
+ <origin rpy="0 0 0" xyz="-0.00704703 -0.02592659 0.00273385"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0.0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_x_lo_res.stl" scale="1 -1.0 1"/>
+ <mesh filename="package://talos_description/meshes/v2/hip_x_lo_res.stl" scale="1 -1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_x_collision.stl" scale="1 -1.0 1"/>
+ <mesh filename="package://talos_description/meshes/v2/hip_x_collision.stl" scale="1 -1 1"/>
</geometry>
</collision>
</link>
@@ -2410,21 +2359,21 @@
<!-- Joint hip_y (mesh link) : child link knee -> parent link hip_x -->
<link name="leg_right_3_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00658 -0.06563 -0.17278"/>
- <mass value="6.82734"/>
- <inertia ixx="0.12390600000" ixy="0.000412" ixz="-0.00205900000" iyy="0.10844700000" iyz="-0.016725" izz="0.02781200000"/>
+ <mass value="6.239871"/>
+ <inertia ixx="0.15337403915" ixy="-0.00068913396" ixz="0.00168034366" iyy="0.13648139346" iyz="0.02187635445" izz="0.03001594885"/>
+ <origin rpy="0 0 0" xyz="0.0058523 -0.0636967 -0.18339564"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_y_lo_res.stl" scale="1 -1.0 1"/>
+ <mesh filename="package://talos_description/meshes/v2/hip_y_lo_res.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_data/meshes/v2/hip_y_collision.stl" scale="1 -1.0 1"/>
+ <mesh filename="package://talos_description/meshes/v2/hip_y_collision.stl" scale="1 -1 1"/>
</geometry>
</collision>
</link>
@@ -2439,21 +2388,21 @@
<!-- Joint knee (mesh link) : child link ankle_y -> parent link hip_y -->
<link name="leg_right_4_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.01520 -0.02331 -0.12063"/>
- <mass value="3.63668"/>
- <inertia ixx="0.03531500000" ixy="-2.9e-05" ixz="-0.00016600000" iyy="0.02933600000" iyz="0.001305" izz="0.01174000000"/>
+ <mass value="3.759951"/>
+ <inertia ixx="0.04287677484" ixy="-0.00043705397" ixz="0.00078292368" iyy="0.03598906971" iyz="-0.00037717694" izz="0.01364791564"/>
+ <origin rpy="0 0 0" xyz="0.01317717 -0.02917508 -0.11594602"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/v2/knee_lo_res.stl" scale="1 -1.0 1"/>
+ <mesh filename="package://talos_description/meshes/v2/knee_lo_res.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_data/meshes/v2/knee_collision.stl" scale="1 -1.0 1"/>
+ <mesh filename="package://talos_description/meshes/v2/knee_collision.stl" scale="1 -1 1"/>
</geometry>
</collision>
</link>
@@ -2468,21 +2417,21 @@
<!-- Joint ankle_y (mesh link) : child link ankle_x -> parent link knee -->
<link name="leg_right_5_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.01106 -0.04708 0.05271"/>
- <mass value="1.24433"/>
- <inertia ixx="0.01148700000" ixy="0.000686" ixz="-0.00052600000" iyy="0.00952600000" iyz="-0.002633" izz="0.00390800000"/>
+ <mass value="1.29096"/>
+ <inertia ixx="0.01143430819" ixy="-0.00096978273" ixz="0.00039976581" iyy="0.00888974312" iyz="0.00277808667" izz="0.00506373875"/>
+ <origin rpy="0 0 0" xyz="-0.01400838 -0.04180064 0.03820186"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0.0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/v2/ankle_Y_lo_res.stl" scale="1 -1.0 1"/>
+ <mesh filename="package://talos_description/meshes/v2/ankle_Y_lo_res.stl" scale="1 -1 1"/>
</geometry>
<material name="Grey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/v2/ankle_Y_collision.stl" scale="1 -1.0 1"/>
+ <mesh filename="package://talos_description/meshes/v2/ankle_Y_collision.stl" scale="1 -1 1"/>
</geometry>
</collision>
</link>
@@ -2491,32 +2440,23 @@
<child link="leg_right_5_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.32500"/>
<axis xyz="0 1 0"/>
- <limit effort="160" lower="-1.309" upper="0.768" velocity="5.8"/>
+ <limit effort="160" lower="-1.27" upper="0.68" velocity="5.8"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Joint ankle_x (mesh link) : child link None -> parent link ankle_y -->
<link name="leg_right_6_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.02087 -0.00019 -0.06059"/>
- <mass value="1.59457"/>
- <inertia ixx="0.00383800000" ixy="0.00001600000" ixz="-0.00104100000" iyy="0.00657200000" iyz="-0.00001700000" izz="0.00504400000"/>
+ <mass value="1.597773"/>
+ <inertia ixx="0.00439027267" ixy="6.743674e-05" ixz="0.00113816363" iyy="0.00743063029" iyz="-3.943143e-05" izz="0.00550906699"/>
+ <origin rpy="0 0 0" xyz="-0.02034668 0.00051514 -0.05987428"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/v2/ankle_X_lo_res.stl" scale="1 -1.0 1"/>
+ <mesh filename="package://talos_description/meshes/v2/ankle_X_lo_res.stl" scale="1 -1 1"/>
</geometry>
<material name="Grey"/>
</visual>
- <!--
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
- </geometry>
- </collision>
-
- -->
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.1"/>
<geometry>
@@ -2535,9 +2475,9 @@
<!-- from here is copy paste -->
<link name="right_sole_link">
<inertial>
- <origin rpy="0 0 0" xyz="0.0 0.0 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"/>
+ <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
</inertial>
</link>
<joint name="leg_right_sole_fix_joint" type="fixed">
@@ -2675,7 +2615,6 @@
<gazebo reference="leg_right_6_link">
<material>Gazebo/White</material>
</gazebo>
- <!-- Generic simulatalos_gazebo plugins -->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<ns/>
@@ -2755,7 +2694,6 @@
</gazebo>
<!-- define global properties -->
<!-- <xacro:property name="M_PI" value="3.1415926535897931" /> -->
- <!-- Materials for visualization -->
<material name="Blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
@@ -2781,3 +2719,4 @@
<color rgba="1.0 0.5 0.0 1.0"/>
</material>
</robot>
+
diff --git a/robots/talos_full_v2.urdf.xacro b/robots/talos_full_v2.urdf.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..5fb80e495f1753123d0c450788c17de7193e68f1
--- /dev/null
+++ b/robots/talos_full_v2.urdf.xacro
@@ -0,0 +1,55 @@
+<?xml version="1.0"?>
+<!--
+
+ Copyright (c) 2016, PAL Robotics, S.L.
+ All rights reserved.
+
+ This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
+ To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
+ Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
+-->
+<robot name="talos" xmlns:xacro="http://ros.org/wiki/xacro"
+ xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+ xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+ xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
+
+ <xacro:if value="$(arg enable_crane)">
+ <xacro:include filename="$(find talos_description)/urdf/crane/crane.urdf.xacro" />
+ </xacro:if>
+
+ <xacro:include filename="$(find talos_description)/urdf/torso/torso.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/head/head.urdf.xacro" />
+ <!--arm_v1 loadded because of the different joint range for 1st DoF-->
+ <xacro:include filename="$(find talos_description)/urdf/arm/arm_v2.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/sensors/ftsensor.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/gripper/gripper.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/leg/leg.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/leg/foot_collision_$(arg foot_collision).urdf.xacro" />
+ <xacro:include filename="$(find talos_description_inertial)/urdf/inertial.xacro" />
+
+ <xacro:talos_torso name="torso" />
+
+ <xacro:if value="$(arg enable_crane)">
+ <xacro:crane parent="torso_2_link"/>
+ </xacro:if>
+
+ <xacro:talos_head name="head" parent="torso_2_link"/>
+
+ <xacro:talos_arm name="arm" parent="torso_2_link" side="left" reflect="1"/>
+ <xacro:talos_arm name="arm" parent="torso_2_link" side="right" reflect="-1"/>
+
+ <xacro:ft_sensor name="wrist" parent="arm_right_7_link" side="right" reflect="1" />
+ <xacro:ft_sensor name="wrist" parent="arm_left_7_link" side="left" reflect="-1" />
+
+ <xacro:talos_gripper name="gripper_left" parent="wrist_left_ft_tool_link" reflect="1" />
+ <xacro:talos_gripper name="gripper_right" parent="wrist_right_ft_tool_link" reflect="-1" />
+
+ <xacro:talos_leg prefix="left" reflect="1" />
+ <xacro:talos_leg prefix="right" reflect="-1" />
+
+ <!-- Generic simulator_gazebo plugins -->
+ <xacro:include filename="$(find talos_description)/gazebo/gazebo.urdf.xacro" />
+ <!-- Materials for visualization -->
+ <xacro:include filename="$(find talos_description)/urdf/materials.urdf.xacro" />
+
+</robot>
diff --git a/robots/talos_gripper.urdf.xacro b/robots/talos_gripper.urdf.xacro
deleted file mode 100644
index 4245a7da434f25db30f05ed55bc1e071f38b89f9..0000000000000000000000000000000000000000
--- a/robots/talos_gripper.urdf.xacro
+++ /dev/null
@@ -1,29 +0,0 @@
-<?xml version="1.0"?>
-<!--
-
- Copyright (c) 2016, PAL Robotics, S.L.
- All rights reserved.
-
- This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
- To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
- Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
--->
-<robot name="talos" xmlns:xacro="http://ros.org/wiki/xacro"
- xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
- xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
- xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
-
- <xacro:include filename="$(find talos_data)/urdf/gripper/gripper.urdf.xacro" />
-
- <xacro:include filename="$(find talos_data)/urdf/torso/torso.urdf.xacro" />
-
- <xacro:talos_torso name="torso" />
-
- <xacro:talos_gripper name="gripper" parent="torso_2_link"/>
-
- <!-- Generic simulatalos_gazebo plugins -->
- <xacro:include filename="$(find talos_data)/gazebo/gazebo.urdf.xacro" />
- <!-- Materials for visualization -->
- <xacro:include filename="$(find talos_data)/urdf/materials.urdf.xacro" />
-
-</robot>
diff --git a/robots/talos_head.urdf.xacro b/robots/talos_head.urdf.xacro
deleted file mode 100644
index 10f6e9fed8b7981ffaad1c1642114db3254800bb..0000000000000000000000000000000000000000
--- a/robots/talos_head.urdf.xacro
+++ /dev/null
@@ -1,50 +0,0 @@
-<?xml version="1.0"?>
-<!--
-
- Copyright (c) 2016, PAL Robotics, S.L.
- All rights reserved.
-
- This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
- To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
- Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
--->
-<robot name="talos" xmlns:xacro="http://ros.org/wiki/xacro"
- xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
- xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
- xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
-
- <xacro:include filename="$(find talos_data)/urdf/head/head.urdf.xacro" />
-
- <link name="talos_2_link">
- <inertial>
- <origin xyz="-0.04551 -0.00053 0.16386" rpy="0.00000 0.00000 0.00000"/>
- <mass value="17.55011"/>
- <inertia ixx="0.37376900000" ixy="0.00063900000" ixz="0.01219600000"
- iyy="0.24790200000" iyz="0.00000700000"
- izz="0.28140400000"/>
- </inertial>
-
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://talos_data/meshes/talos/talos_2.STL" scale="1 1 1"/>
- </geometry>
- <material name="LightGrey" />
- </visual>
-
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://talos_data/meshes/talos/talos_2_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
-
- <xacro:talos_head name="head" parent="talos_2_link"/>
-
- <!-- Generic simulatalos_gazebo plugins -->
- <xacro:include filename="$(find talos_data)/gazebo/gazebo.urdf.xacro" />
- <!-- Materials for visualization -->
- <xacro:include filename="$(find talos_data)/urdf/materials.urdf.xacro" />
-
-</robot>
diff --git a/robots/talos_lower_body_with_torso.urdf.xacro b/robots/talos_lower_body_with_torso.urdf.xacro
deleted file mode 100644
index 1ddaa4cefba6fd7211c52ff64b892d295ee86f27..0000000000000000000000000000000000000000
--- a/robots/talos_lower_body_with_torso.urdf.xacro
+++ /dev/null
@@ -1,35 +0,0 @@
-<?xml version="1.0"?>
-<!--
-
- Copyright (c) 2016, PAL Robotics, S.L.
- All rights reserved.
-
- This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
- To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
- Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
--->
-<robot name="talos" xmlns:xacro="http://ros.org/wiki/xacro"
- xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
- xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
- xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
-
- <xacro:include filename="$(find talos_data)/urdf/torso/torso.urdf.xacro" />
- <xacro:include filename="$(find talos_data)/urdf/head/head.urdf.xacro" />
- <xacro:include filename="$(find talos_data)/urdf/arm/arm.urdf.xacro" />
- <xacro:include filename="$(find talos_data)/urdf/sensors/ftsensor.urdf.xacro" />
- <xacro:include filename="$(find talos_data)/urdf/gripper/gripper.urdf.xacro" />
- <xacro:include filename="$(find talos_data)/urdf/leg/leg.urdf.xacro" />
-
- <xacro:talos_torso name="torso" />
-
- <xacro:talos_head name="head" parent="torso_2_link"/>
-
- <xacro:talos_leg prefix="left" reflect="1" />
- <xacro:talos_leg prefix="right" reflect="-1" />
-
- <!-- Generic simulatalos_gazebo plugins -->
- <xacro:include filename="$(find talos_data)/gazebo/gazebo.urdf.xacro" />
- <!-- Materials for visualization -->
- <xacro:include filename="$(find talos_data)/urdf/materials.urdf.xacro" />
-
-</robot>
diff --git a/robots/talos_torso.urdf.xacro b/robots/talos_torso.urdf.xacro
deleted file mode 100644
index 3ba7398f1eb8dd373de09f7dfc905f6a1107382e..0000000000000000000000000000000000000000
--- a/robots/talos_torso.urdf.xacro
+++ /dev/null
@@ -1,25 +0,0 @@
-<?xml version="1.0"?>
-<!--
-
- Copyright (c) 2016, PAL Robotics, S.L.
- All rights reserved.
-
- This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
- To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
- Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
--->
-<robot name="talos" xmlns:xacro="http://ros.org/wiki/xacro"
- xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
- xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
- xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
-
- <xacro:include filename="$(find talos_data)/urdf/torso/torso.urdf.xacro" />
-
- <xacro:talos_torso name="torso" />
-
- <!-- Generic simulatalos_gazebo plugins -->
- <xacro:include filename="$(find talos_data)/gazebo/gazebo.urdf.xacro" />
- <!-- Materials for visualization -->
- <xacro:include filename="$(find talos_data)/urdf/materials.urdf.xacro" />
-
-</robot>
diff --git a/robots/upload.launch b/robots/upload.launch
new file mode 100644
index 0000000000000000000000000000000000000000..e95b737f2c83f3708bb563f949b10ab155b36702
--- /dev/null
+++ b/robots/upload.launch
@@ -0,0 +1,20 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<launch>
+ <!-- arg could be v1 (Pyerene) or v2 (IJS/PAL) -->
+ <arg name="robot" default="full_v1"/>
+ <arg name="foot_collision" default="default"/> <!-- default / thinbox / tallbox -->
+ <arg name="enable_crane" default="false"/> <!-- crude adhoc approximation of the crane for collision avoidance -->
+ <arg name="parameter_name" default="robot_description"/>
+
+
+ <!-- Robot description -->
+ <param
+ name="$(arg parameter_name)"
+ command=" $(find xacro)/xacro.py --inorder
+
+ '$(find talos_description)/robots/talos_$(arg robot).urdf.xacro'
+ foot_collision:=$(arg foot_collision)
+ enable_crane:=$(arg enable_crane)"
+ />
+</launch>
diff --git a/robots/upload_arm.launch b/robots/upload_arm.launch
deleted file mode 100644
index 739a8e8cf3e61b27a49ff09bb33f1cb6ac8b73d1..0000000000000000000000000000000000000000
--- a/robots/upload_arm.launch
+++ /dev/null
@@ -1,6 +0,0 @@
-<launch>
-
- <!-- Robot description -->
- <param name="robot_description" command="$(find xacro)/xacro.py '$(find talos_data)/robots/talos_arm.urdf.xacro'" />
-
-</launch>
diff --git a/robots/upload_gripper.launch b/robots/upload_gripper.launch
deleted file mode 100644
index 9cb8705ff8192f7c7ae6ca4856d6bf38b8813f8a..0000000000000000000000000000000000000000
--- a/robots/upload_gripper.launch
+++ /dev/null
@@ -1,6 +0,0 @@
-<launch>
-
- <!-- Robot description -->
- <param name="robot_description" command="$(find xacro)/xacro.py '$(find talos_data)/robots/talos_gripper.urdf.xacro'" />
-
-</launch>
diff --git a/robots/upload_head.launch b/robots/upload_head.launch
deleted file mode 100644
index 1e6fcabab05c5c15e27f47d8fbff65d223ca5432..0000000000000000000000000000000000000000
--- a/robots/upload_head.launch
+++ /dev/null
@@ -1,6 +0,0 @@
-<launch>
-
- <!-- Robot description -->
- <param name="robot_description" command="$(find xacro)/xacro.py '$(find talos_data)/robots/talos_head.urdf.xacro'" />
-
-</launch>
diff --git a/robots/upload_legs.launch b/robots/upload_legs.launch
deleted file mode 100644
index e335ea4454b3686a4f33c6ad0c519e1988780a3b..0000000000000000000000000000000000000000
--- a/robots/upload_legs.launch
+++ /dev/null
@@ -1,6 +0,0 @@
-<launch>
-
- <!-- Robot description -->
- <param name="robot_description" command="$(find xacro)/xacro.py '$(find talos_data)/robots/talos_lower_body.urdf.xacro'" />
-
-</launch>
diff --git a/srdf/talos.srdf b/srdf/talos.srdf
deleted file mode 100644
index 9f8fcbb92c07e4699cfeae3dbdffa1253f63330f..0000000000000000000000000000000000000000
--- a/srdf/talos.srdf
+++ /dev/null
@@ -1,660 +0,0 @@
-<?xml version="1.0" ?>
-<!--This does not replace URDF, and is not an extension of URDF.
- This is a format for representing semantic information about the robot structure.
- A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
--->
-<robot name="talos">
- <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
- <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
- <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
- <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
- <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
- <group name="r_arm">
- <joint name="arm_right_1_joint" />
- <joint name="arm_right_2_joint" />
- <joint name="arm_right_3_joint" />
- <joint name="arm_right_4_joint" />
- <joint name="arm_right_5_joint" />
- <joint name="arm_right_6_joint" />
- <joint name="arm_right_7_joint" />
- <joint name="wrist_right_ft_joint" />
- <joint name="wrist_right_tool_joint" />
- <chain base_link="torso_2_link" tip_link="wrist_right_ft_tool_link" />
- </group>
-<!-- <group name="gripper_right">
- <link name="gripper_right_base_link" />
- <link name="gripper_right_inner_double_link" />
- <link name="gripper_right_fingertip_1_link" />
- <link name="gripper_right_fingertip_2_link" />
- <link name="gripper_right_inner_single_link" />
- <link name="gripper_right_fingertip_3_link" />
- <link name="gripper_right_motor_double_link" />
- <link name="gripper_right_motor_single_link" />
- <joint name="gripper_right_joint" />
- <chain base_link="wrist_right_ft_tool_link" tip_link="gripper_right_base_link" />
- </group>
- <group name="gripper_left">
- <link name="gripper_left_base_link" />
- <link name="gripper_left_inner_double_link" />
- <link name="gripper_left_fingertip_1_link" />
- <link name="gripper_left_fingertip_2_link" />
- <link name="gripper_left_inner_single_link" />
- <link name="gripper_left_fingertip_3_link" />
- <link name="gripper_left_motor_double_link" />
- <link name="gripper_left_motor_single_link" />
- <joint name="gripper_left_joint" />
- <chain base_link="wrist_left_ft_tool_link" tip_link="gripper_left_base_link" />
- </group>
--->
- <group name="l_arm">
- <joint name="arm_left_1_joint" />
- <joint name="arm_left_2_joint" />
- <joint name="arm_left_3_joint" />
- <joint name="arm_left_4_joint" />
- <joint name="arm_left_5_joint" />
- <joint name="arm_left_6_joint" />
- <joint name="arm_left_7_joint" />
- <joint name="wrist_left_ft_joint" />
- <joint name="wrist_left_tool_joint" />
- <chain base_link="torso_2_link" tip_link="wrist_left_ft_tool_link" />
- </group>
- <group name="torso">
- <joint name="torso_1_joint" />
- <joint name="torso_2_joint" />
- <chain base_link="base_link" tip_link="torso_2_link" />
- </group>
- <group name="both_arms_torso">
- <group name="left_arm" />
- <group name="right_arm" />
- <group name="torso" />
- </group>
- <group name="right_arm_torso">
- <group name="right_arm" />
- <group name="torso" />
- </group>
- <group name="left_arm_torso">
- <group name="left_arm" />
- <group name="torso" />
- </group>
- <group name="r_leg">
- <joint name="leg_right_1_joint" />
- <joint name="leg_right_2_joint" />
- <joint name="leg_right_3_joint" />
- <joint name="leg_right_4_joint" />
- <joint name="leg_right_5_joint" />
- <joint name="leg_right_6_joint" />
- <joint name="leg_right_sole_fix_joint" />
- <chain base_link="base_link" tip_link="right_sole_link" />
- </group>
- <group name="l_leg">
- <joint name="leg_left_1_joint" />
- <joint name="leg_left_2_joint" />
- <joint name="leg_left_3_joint" />
- <joint name="leg_left_4_joint" />
- <joint name="leg_left_5_joint" />
- <joint name="leg_left_6_joint" />
- <joint name="leg_left_sole_fix_joint" />
- <chain base_link="base_link" tip_link="left_sole_link" />
- </group>
- <group name="head">
- <joint name="head_1_joint" />
- <joint name="head_2_joint" />
- </group>
- <group name="all">
- <group name="l_arm" />
- <group name="r_arm" />
- <group name="l_leg" />
- <group name="r_leg" />
- <group name="head" />
- <group name="torso" />
- </group>
-
- <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
- <end_effector name="right_eef" parent_link="wrist_right_ft_tool_link" group="gripper_right" parent_group="right_arm" />
- <end_effector name="left_eef" parent_link="wrist_left_ft_tool_link" group="gripper_left" parent_group="left_arm" />
- <!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated-->
- <passive_joint name="gripper_left_motor_single_joint" />
- <passive_joint name="gripper_left_inner_double_joint" />
- <passive_joint name="gripper_left_fingertip_1_joint" />
- <passive_joint name="gripper_left_fingertip_2_joint" />
- <passive_joint name="gripper_left_inner_single_joint" />
- <passive_joint name="gripper_left_fingertip_3_joint" />
- <passive_joint name="gripper_right_inner_double_joint" />
- <passive_joint name="gripper_right_fingertip_1_joint" />
- <passive_joint name="gripper_right_fingertip_2_joint" />
- <passive_joint name="gripper_right_inner_single_joint" />
- <passive_joint name="gripper_right_fingertip_3_joint" />
- <passive_joint name="gripper_right_motor_single_joint" />
- <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
-
- <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
- <group_state name="half_sitting" group="all">
- <joint name="arm_left_1_joint" value="0.25847" />
- <joint name="arm_left_2_joint" value="0.173046" />
- <joint name="arm_left_3_joint" value="-0.0002" />
- <joint name="arm_left_4_joint" value="-0.525366" />
- <joint name="arm_left_5_joint" value="0" />
- <joint name="arm_left_6_joint" value="0" />
- <joint name="arm_left_7_joint" value="0.1" />
- <joint name="arm_right_1_joint" value="-0.25847" />
- <joint name="arm_right_2_joint" value="-0.173046" />
- <joint name="arm_right_3_joint" value="0.0002" />
- <joint name="arm_right_4_joint" value="-0.525366" />
- <joint name="arm_right_5_joint" value="0" />
- <joint name="arm_right_6_joint" value="0" />
- <joint name="arm_right_7_joint" value="0.1" />
- <joint name="head_1_joint" value="0" />
- <joint name="head_2_joint" value="0" />
- <joint name="leg_left_1_joint" value="0.0" />
- <joint name="leg_left_2_joint" value="0.0" />
- <joint name="leg_left_3_joint" value="-0.411354" />
- <joint name="leg_left_4_joint" value="0.859395" />
- <joint name="leg_left_5_joint" value="-0.448041" />
- <joint name="leg_left_6_joint" value="-0.001708" />
- <joint name="leg_right_1_joint" value="0.0" />
- <joint name="leg_right_2_joint" value="0.0" />
- <joint name="leg_right_3_joint" value="-0.411354" />
- <joint name="leg_right_4_joint" value="0.859395" />
- <joint name="leg_right_5_joint" value="-0.448041" />
- <joint name="leg_right_6_joint" value="-0.001708" />
- <joint name="torso_1_joint" value="0" />
- <joint name="torso_2_joint" value="0.006761" />
- </group_state>
-
- <!--
- Talos Specificities.
- foot height = y axis
- foot width = x axis
- foot depth = z axis
- -->
- <specificities>
- <feet>
- <right>
- <size height="0.122" width="0.205" depth="0.107" />
- <anklePosition x="0.0" y="0.0" z="0.107" />
- </right>
- <left>
- <size height="0.122" width="0.205" depth="0.107" />
- <anklePosition x="0.0" y="0.0" z="0.107" />
- </left>
- </feet>
- </specificities>
-
- <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links.
-
-TALOS disabled collisions generated by Moveit! using the moveit_setup_assistant. Kindly see http://docs.ros.org/hydro/api/moveit_setup_assistant/html/doc/tutorial.html for details. -->
-
-
- <disable_collisions link1="arm_left_1_link" link2="arm_left_2_link" reason="Adjacent" />
- <disable_collisions link1="arm_left_1_link" link2="arm_left_3_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="arm_left_4_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="arm_left_5_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="arm_left_6_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="arm_right_1_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="arm_right_2_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="arm_right_3_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="arm_right_4_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="arm_right_5_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="arm_right_6_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="base_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="head_1_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="head_2_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="imu_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="leg_left_1_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="leg_left_2_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="leg_left_3_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="leg_left_4_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="leg_left_5_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="leg_left_6_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="leg_right_1_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="leg_right_2_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="leg_right_3_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="leg_right_4_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="leg_right_5_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="leg_right_6_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="rgbd_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="torso_1_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="torso_2_link" reason="Adjacent" />
- <disable_collisions link1="arm_left_1_link" link2="wrist_left_ft_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="wrist_left_ft_tool_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="wrist_right_ft_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="wrist_right_ft_tool_link" reason="Never" />
- <disable_collisions link1="arm_left_2_link" link2="arm_left_3_link" reason="Adjacent" />
- <disable_collisions link1="arm_left_2_link" link2="arm_left_4_link" reason="Never" />
- <disable_collisions link1="arm_left_2_link" link2="arm_left_5_link" reason="Never" />
- <disable_collisions link1="arm_left_2_link" link2="arm_left_6_link" reason="Never" />
- <disable_collisions link1="arm_left_2_link" link2="arm_left_7_link" reason="Never" />
- <disable_collisions link1="arm_left_2_link" link2="arm_right_1_link" reason="Never" />
- <disable_collisions link1="arm_left_2_link" link2="arm_right_2_link" reason="Never" />
- <disable_collisions link1="arm_left_2_link" link2="arm_right_3_link" reason="Never" />
- <disable_collisions link1="arm_left_2_link" link2="arm_right_4_link" reason="Never" />
- <disable_collisions link1="arm_left_2_link" link2="base_link" reason="Never" />
- <disable_collisions link1="arm_left_2_link" link2="head_1_link" reason="Never" />
- <disable_collisions link1="arm_left_2_link" link2="imu_link" reason="Never" />
- <disable_collisions link1="arm_left_2_link" link2="leg_left_1_link" reason="Never" />
- <disable_collisions link1="arm_left_2_link" link2="leg_left_2_link" reason="Never" />
- <disable_collisions link1="arm_left_2_link" link2="leg_left_3_link" reason="Never" />
- <disable_collisions link1="arm_left_2_link" link2="leg_left_5_link" reason="Never" />
- <disable_collisions link1="arm_left_2_link" link2="leg_left_6_link" reason="Never" />
- <disable_collisions link1="arm_left_2_link" link2="leg_right_1_link" reason="Never" />
- <disable_collisions link1="arm_left_2_link" link2="leg_right_2_link" reason="Never" />
- <disable_collisions link1="arm_left_2_link" link2="leg_right_3_link" reason="Never" />
- <disable_collisions link1="arm_left_2_link" link2="leg_right_5_link" reason="Never" />
- <disable_collisions link1="arm_left_2_link" link2="torso_1_link" reason="Never" />
- <disable_collisions link1="arm_left_2_link" link2="wrist_left_ft_link" reason="Never" />
- <disable_collisions link1="arm_left_2_link" link2="wrist_left_ft_tool_link" reason="Never" />
- <disable_collisions link1="arm_left_3_link" link2="arm_left_4_link" reason="Adjacent" />
- <disable_collisions link1="arm_left_3_link" link2="arm_left_6_link" reason="Never" />
- <disable_collisions link1="arm_left_3_link" link2="arm_left_7_link" reason="Never" />
- <disable_collisions link1="arm_left_3_link" link2="arm_right_1_link" reason="Never" />
- <disable_collisions link1="arm_left_3_link" link2="arm_right_2_link" reason="Never" />
- <disable_collisions link1="arm_left_3_link" link2="arm_right_3_link" reason="Never" />
- <disable_collisions link1="arm_left_3_link" link2="arm_right_4_link" reason="Never" />
- <disable_collisions link1="arm_left_3_link" link2="gripper_left_base_link" reason="Never" />
- <disable_collisions link1="arm_left_3_link" link2="gripper_left_fingertip_1_link" reason="Never" />
- <disable_collisions link1="arm_left_3_link" link2="gripper_left_fingertip_2_link" reason="Never" />
- <disable_collisions link1="arm_left_3_link" link2="gripper_left_fingertip_3_link" reason="Never" />
- <disable_collisions link1="arm_left_3_link" link2="gripper_left_inner_double_link" reason="Never" />
- <disable_collisions link1="arm_left_3_link" link2="gripper_left_inner_single_link" reason="Never" />
- <disable_collisions link1="arm_left_3_link" link2="gripper_left_motor_double_link" reason="Never" />
- <disable_collisions link1="arm_left_3_link" link2="gripper_left_motor_single_link" reason="Never" />
- <disable_collisions link1="arm_left_3_link" link2="head_1_link" reason="Never" />
- <disable_collisions link1="arm_left_3_link" link2="imu_link" reason="Never" />
- <disable_collisions link1="arm_left_3_link" link2="leg_left_1_link" reason="Never" />
- <disable_collisions link1="arm_left_3_link" link2="leg_left_2_link" reason="Never" />
- <disable_collisions link1="arm_left_3_link" link2="leg_right_1_link" reason="Never" />
- <disable_collisions link1="arm_left_3_link" link2="leg_right_2_link" reason="Never" />
- <disable_collisions link1="arm_left_3_link" link2="torso_1_link" reason="Never" />
- <disable_collisions link1="arm_left_3_link" link2="wrist_left_ft_link" reason="Never" />
- <disable_collisions link1="arm_left_3_link" link2="wrist_left_ft_tool_link" reason="Never" />
- <disable_collisions link1="arm_left_4_link" link2="arm_left_5_link" reason="Adjacent" />
- <disable_collisions link1="arm_left_4_link" link2="arm_left_6_link" reason="Never" />
- <disable_collisions link1="arm_left_4_link" link2="arm_left_7_link" reason="Never" />
- <disable_collisions link1="arm_left_4_link" link2="arm_right_1_link" reason="Never" />
- <disable_collisions link1="arm_left_4_link" link2="arm_right_2_link" reason="Never" />
- <disable_collisions link1="arm_left_4_link" link2="arm_right_3_link" reason="Never" />
- <disable_collisions link1="arm_left_4_link" link2="arm_right_4_link" reason="Never" />
- <disable_collisions link1="arm_left_4_link" link2="gripper_left_base_link" reason="Never" />
- <disable_collisions link1="arm_left_4_link" link2="gripper_left_fingertip_1_link" reason="Never" />
- <disable_collisions link1="arm_left_4_link" link2="gripper_left_fingertip_2_link" reason="Never" />
- <disable_collisions link1="arm_left_4_link" link2="gripper_left_fingertip_3_link" reason="Never" />
- <disable_collisions link1="arm_left_4_link" link2="gripper_left_inner_double_link" reason="Never" />
- <disable_collisions link1="arm_left_4_link" link2="gripper_left_inner_single_link" reason="Never" />
- <disable_collisions link1="arm_left_4_link" link2="gripper_left_motor_double_link" reason="Never" />
- <disable_collisions link1="arm_left_4_link" link2="gripper_left_motor_single_link" reason="Never" />
- <disable_collisions link1="arm_left_4_link" link2="head_1_link" reason="Never" />
- <disable_collisions link1="arm_left_4_link" link2="imu_link" reason="Never" />
- <disable_collisions link1="arm_left_4_link" link2="leg_left_2_link" reason="Never" />
- <disable_collisions link1="arm_left_4_link" link2="leg_right_1_link" reason="Never" />
- <disable_collisions link1="arm_left_4_link" link2="leg_right_2_link" reason="Never" />
- <disable_collisions link1="arm_left_4_link" link2="wrist_left_ft_link" reason="Never" />
- <disable_collisions link1="arm_left_4_link" link2="wrist_left_ft_tool_link" reason="Never" />
- <disable_collisions link1="arm_left_5_link" link2="arm_left_6_link" reason="Adjacent" />
- <disable_collisions link1="arm_left_5_link" link2="arm_left_7_link" reason="Default" />
- <disable_collisions link1="arm_left_5_link" link2="arm_right_1_link" reason="Never" />
- <disable_collisions link1="arm_left_5_link" link2="gripper_left_base_link" reason="Never" />
- <disable_collisions link1="arm_left_5_link" link2="gripper_left_fingertip_1_link" reason="Never" />
- <disable_collisions link1="arm_left_5_link" link2="gripper_left_fingertip_2_link" reason="Never" />
- <disable_collisions link1="arm_left_5_link" link2="gripper_left_fingertip_3_link" reason="Never" />
- <disable_collisions link1="arm_left_5_link" link2="gripper_left_inner_double_link" reason="Never" />
- <disable_collisions link1="arm_left_5_link" link2="gripper_left_inner_single_link" reason="Never" />
- <disable_collisions link1="arm_left_5_link" link2="gripper_left_motor_double_link" reason="Never" />
- <disable_collisions link1="arm_left_5_link" link2="gripper_left_motor_single_link" reason="Never" />
- <disable_collisions link1="arm_left_5_link" link2="wrist_left_ft_link" reason="Never" />
- <disable_collisions link1="arm_left_5_link" link2="wrist_left_ft_tool_link" reason="Never" />
- <disable_collisions link1="arm_left_6_link" link2="arm_left_7_link" reason="Adjacent" />
- <disable_collisions link1="arm_left_6_link" link2="arm_right_1_link" reason="Never" />
- <disable_collisions link1="arm_left_6_link" link2="gripper_left_base_link" reason="Never" />
- <disable_collisions link1="arm_left_6_link" link2="gripper_left_fingertip_1_link" reason="Never" />
- <disable_collisions link1="arm_left_6_link" link2="gripper_left_fingertip_2_link" reason="Never" />
- <disable_collisions link1="arm_left_6_link" link2="gripper_left_fingertip_3_link" reason="Never" />
- <disable_collisions link1="arm_left_6_link" link2="gripper_left_inner_double_link" reason="Never" />
- <disable_collisions link1="arm_left_6_link" link2="gripper_left_inner_single_link" reason="Never" />
- <disable_collisions link1="arm_left_6_link" link2="gripper_left_motor_double_link" reason="Never" />
- <disable_collisions link1="arm_left_6_link" link2="gripper_left_motor_single_link" reason="Never" />
- <disable_collisions link1="arm_left_6_link" link2="wrist_left_ft_link" reason="Never" />
- <disable_collisions link1="arm_left_6_link" link2="wrist_left_ft_tool_link" reason="Never" />
- <disable_collisions link1="arm_left_7_link" link2="gripper_left_base_link" reason="Default" />
- <disable_collisions link1="arm_left_7_link" link2="gripper_left_fingertip_1_link" reason="Never" />
- <disable_collisions link1="arm_left_7_link" link2="gripper_left_fingertip_2_link" reason="Never" />
- <disable_collisions link1="arm_left_7_link" link2="gripper_left_fingertip_3_link" reason="Never" />
- <disable_collisions link1="arm_left_7_link" link2="gripper_left_inner_double_link" reason="Never" />
- <disable_collisions link1="arm_left_7_link" link2="gripper_left_inner_single_link" reason="Never" />
- <disable_collisions link1="arm_left_7_link" link2="gripper_left_motor_double_link" reason="Never" />
- <disable_collisions link1="arm_left_7_link" link2="gripper_left_motor_single_link" reason="Never" />
- <disable_collisions link1="arm_left_7_link" link2="wrist_left_ft_link" reason="Adjacent" />
- <disable_collisions link1="arm_left_7_link" link2="wrist_left_ft_tool_link" reason="Never" />
- <disable_collisions link1="arm_right_1_link" link2="arm_right_2_link" reason="Adjacent" />
- <disable_collisions link1="arm_right_1_link" link2="arm_right_3_link" reason="Never" />
- <disable_collisions link1="arm_right_1_link" link2="arm_right_4_link" reason="Never" />
- <disable_collisions link1="arm_right_1_link" link2="arm_right_5_link" reason="Never" />
- <disable_collisions link1="arm_right_1_link" link2="arm_right_6_link" reason="Never" />
- <disable_collisions link1="arm_right_1_link" link2="base_link" reason="Never" />
- <disable_collisions link1="arm_right_1_link" link2="head_1_link" reason="Never" />
- <disable_collisions link1="arm_right_1_link" link2="head_2_link" reason="Never" />
- <disable_collisions link1="arm_right_1_link" link2="imu_link" reason="Never" />
- <disable_collisions link1="arm_right_1_link" link2="leg_left_1_link" reason="Never" />
- <disable_collisions link1="arm_right_1_link" link2="leg_left_2_link" reason="Never" />
- <disable_collisions link1="arm_right_1_link" link2="leg_left_3_link" reason="Never" />
- <disable_collisions link1="arm_right_1_link" link2="leg_left_4_link" reason="Never" />
- <disable_collisions link1="arm_right_1_link" link2="leg_left_5_link" reason="Never" />
- <disable_collisions link1="arm_right_1_link" link2="leg_left_6_link" reason="Never" />
- <disable_collisions link1="arm_right_1_link" link2="leg_right_1_link" reason="Never" />
- <disable_collisions link1="arm_right_1_link" link2="leg_right_2_link" reason="Never" />
- <disable_collisions link1="arm_right_1_link" link2="leg_right_3_link" reason="Never" />
- <disable_collisions link1="arm_right_1_link" link2="leg_right_4_link" reason="Never" />
- <disable_collisions link1="arm_right_1_link" link2="leg_right_5_link" reason="Never" />
- <disable_collisions link1="arm_right_1_link" link2="leg_right_6_link" reason="Never" />
- <disable_collisions link1="arm_right_1_link" link2="rgbd_link" reason="Never" />
- <disable_collisions link1="arm_right_1_link" link2="torso_1_link" reason="Never" />
- <disable_collisions link1="arm_right_1_link" link2="torso_2_link" reason="Adjacent" />
- <disable_collisions link1="arm_right_1_link" link2="wrist_left_ft_link" reason="Never" />
- <disable_collisions link1="arm_right_1_link" link2="wrist_left_ft_tool_link" reason="Never" />
- <disable_collisions link1="arm_right_1_link" link2="wrist_right_ft_link" reason="Never" />
- <disable_collisions link1="arm_right_1_link" link2="wrist_right_ft_tool_link" reason="Never" />
- <disable_collisions link1="arm_right_2_link" link2="arm_right_3_link" reason="Adjacent" />
- <disable_collisions link1="arm_right_2_link" link2="arm_right_4_link" reason="Never" />
- <disable_collisions link1="arm_right_2_link" link2="arm_right_5_link" reason="Never" />
- <disable_collisions link1="arm_right_2_link" link2="arm_right_6_link" reason="Never" />
- <disable_collisions link1="arm_right_2_link" link2="arm_right_7_link" reason="Never" />
- <disable_collisions link1="arm_right_2_link" link2="base_link" reason="Never" />
- <disable_collisions link1="arm_right_2_link" link2="head_1_link" reason="Never" />
- <disable_collisions link1="arm_right_2_link" link2="imu_link" reason="Never" />
- <disable_collisions link1="arm_right_2_link" link2="leg_left_1_link" reason="Never" />
- <disable_collisions link1="arm_right_2_link" link2="leg_left_2_link" reason="Never" />
- <disable_collisions link1="arm_right_2_link" link2="leg_left_3_link" reason="Never" />
- <disable_collisions link1="arm_right_2_link" link2="leg_left_5_link" reason="Never" />
- <disable_collisions link1="arm_right_2_link" link2="leg_right_1_link" reason="Never" />
- <disable_collisions link1="arm_right_2_link" link2="leg_right_2_link" reason="Never" />
- <disable_collisions link1="arm_right_2_link" link2="leg_right_3_link" reason="Never" />
- <disable_collisions link1="arm_right_2_link" link2="leg_right_5_link" reason="Never" />
- <disable_collisions link1="arm_right_2_link" link2="leg_right_6_link" reason="Never" />
- <disable_collisions link1="arm_right_2_link" link2="torso_1_link" reason="Never" />
- <disable_collisions link1="arm_right_2_link" link2="wrist_right_ft_link" reason="Never" />
- <disable_collisions link1="arm_right_2_link" link2="wrist_right_ft_tool_link" reason="Never" />
- <disable_collisions link1="arm_right_3_link" link2="arm_right_4_link" reason="Adjacent" />
- <disable_collisions link1="arm_right_3_link" link2="arm_right_6_link" reason="Never" />
- <disable_collisions link1="arm_right_3_link" link2="arm_right_7_link" reason="Never" />
- <disable_collisions link1="arm_right_3_link" link2="gripper_right_base_link" reason="Never" />
- <disable_collisions link1="arm_right_3_link" link2="gripper_right_fingertip_1_link" reason="Never" />
- <disable_collisions link1="arm_right_3_link" link2="gripper_right_fingertip_2_link" reason="Never" />
- <disable_collisions link1="arm_right_3_link" link2="gripper_right_fingertip_3_link" reason="Never" />
- <disable_collisions link1="arm_right_3_link" link2="gripper_right_inner_double_link" reason="Never" />
- <disable_collisions link1="arm_right_3_link" link2="gripper_right_inner_single_link" reason="Never" />
- <disable_collisions link1="arm_right_3_link" link2="gripper_right_motor_double_link" reason="Never" />
- <disable_collisions link1="arm_right_3_link" link2="gripper_right_motor_single_link" reason="Never" />
- <disable_collisions link1="arm_right_3_link" link2="head_1_link" reason="Never" />
- <disable_collisions link1="arm_right_3_link" link2="imu_link" reason="Never" />
- <disable_collisions link1="arm_right_3_link" link2="leg_left_1_link" reason="Never" />
- <disable_collisions link1="arm_right_3_link" link2="leg_left_2_link" reason="Never" />
- <disable_collisions link1="arm_right_3_link" link2="leg_right_1_link" reason="Never" />
- <disable_collisions link1="arm_right_3_link" link2="leg_right_2_link" reason="Never" />
- <disable_collisions link1="arm_right_3_link" link2="torso_1_link" reason="Never" />
- <disable_collisions link1="arm_right_3_link" link2="wrist_right_ft_link" reason="Never" />
- <disable_collisions link1="arm_right_3_link" link2="wrist_right_ft_tool_link" reason="Never" />
- <disable_collisions link1="arm_right_4_link" link2="arm_right_5_link" reason="Adjacent" />
- <disable_collisions link1="arm_right_4_link" link2="arm_right_6_link" reason="Never" />
- <disable_collisions link1="arm_right_4_link" link2="arm_right_7_link" reason="Never" />
- <disable_collisions link1="arm_right_4_link" link2="gripper_right_base_link" reason="Never" />
- <disable_collisions link1="arm_right_4_link" link2="gripper_right_fingertip_1_link" reason="Never" />
- <disable_collisions link1="arm_right_4_link" link2="gripper_right_fingertip_2_link" reason="Never" />
- <disable_collisions link1="arm_right_4_link" link2="gripper_right_fingertip_3_link" reason="Never" />
- <disable_collisions link1="arm_right_4_link" link2="gripper_right_inner_double_link" reason="Never" />
- <disable_collisions link1="arm_right_4_link" link2="gripper_right_inner_single_link" reason="Never" />
- <disable_collisions link1="arm_right_4_link" link2="gripper_right_motor_double_link" reason="Never" />
- <disable_collisions link1="arm_right_4_link" link2="gripper_right_motor_single_link" reason="Never" />
- <disable_collisions link1="arm_right_4_link" link2="head_1_link" reason="Never" />
- <disable_collisions link1="arm_right_4_link" link2="imu_link" reason="Never" />
- <disable_collisions link1="arm_right_4_link" link2="leg_left_1_link" reason="Never" />
- <disable_collisions link1="arm_right_4_link" link2="leg_left_2_link" reason="Never" />
- <disable_collisions link1="arm_right_4_link" link2="leg_right_2_link" reason="Never" />
- <disable_collisions link1="arm_right_4_link" link2="wrist_right_ft_link" reason="Never" />
- <disable_collisions link1="arm_right_4_link" link2="wrist_right_ft_tool_link" reason="Never" />
- <disable_collisions link1="arm_right_5_link" link2="arm_right_6_link" reason="Adjacent" />
- <disable_collisions link1="arm_right_5_link" link2="arm_right_7_link" reason="Default" />
- <disable_collisions link1="arm_right_5_link" link2="gripper_right_base_link" reason="Never" />
- <disable_collisions link1="arm_right_5_link" link2="gripper_right_fingertip_1_link" reason="Never" />
- <disable_collisions link1="arm_right_5_link" link2="gripper_right_fingertip_2_link" reason="Never" />
- <disable_collisions link1="arm_right_5_link" link2="gripper_right_fingertip_3_link" reason="Never" />
- <disable_collisions link1="arm_right_5_link" link2="gripper_right_inner_double_link" reason="Never" />
- <disable_collisions link1="arm_right_5_link" link2="gripper_right_inner_single_link" reason="Never" />
- <disable_collisions link1="arm_right_5_link" link2="gripper_right_motor_double_link" reason="Never" />
- <disable_collisions link1="arm_right_5_link" link2="gripper_right_motor_single_link" reason="Never" />
- <disable_collisions link1="arm_right_5_link" link2="wrist_right_ft_link" reason="Never" />
- <disable_collisions link1="arm_right_5_link" link2="wrist_right_ft_tool_link" reason="Never" />
- <disable_collisions link1="arm_right_6_link" link2="arm_right_7_link" reason="Adjacent" />
- <disable_collisions link1="arm_right_6_link" link2="gripper_right_base_link" reason="Never" />
- <disable_collisions link1="arm_right_6_link" link2="gripper_right_fingertip_1_link" reason="Never" />
- <disable_collisions link1="arm_right_6_link" link2="gripper_right_fingertip_2_link" reason="Never" />
- <disable_collisions link1="arm_right_6_link" link2="gripper_right_fingertip_3_link" reason="Never" />
- <disable_collisions link1="arm_right_6_link" link2="gripper_right_inner_double_link" reason="Never" />
- <disable_collisions link1="arm_right_6_link" link2="gripper_right_inner_single_link" reason="Never" />
- <disable_collisions link1="arm_right_6_link" link2="gripper_right_motor_double_link" reason="Never" />
- <disable_collisions link1="arm_right_6_link" link2="gripper_right_motor_single_link" reason="Never" />
- <disable_collisions link1="arm_right_6_link" link2="wrist_right_ft_link" reason="Never" />
- <disable_collisions link1="arm_right_6_link" link2="wrist_right_ft_tool_link" reason="Never" />
- <disable_collisions link1="arm_right_7_link" link2="gripper_right_base_link" reason="Default" />
- <disable_collisions link1="arm_right_7_link" link2="gripper_right_fingertip_1_link" reason="Never" />
- <disable_collisions link1="arm_right_7_link" link2="gripper_right_fingertip_2_link" reason="Never" />
- <disable_collisions link1="arm_right_7_link" link2="gripper_right_fingertip_3_link" reason="Never" />
- <disable_collisions link1="arm_right_7_link" link2="gripper_right_inner_double_link" reason="Never" />
- <disable_collisions link1="arm_right_7_link" link2="gripper_right_inner_single_link" reason="Never" />
- <disable_collisions link1="arm_right_7_link" link2="gripper_right_motor_double_link" reason="Never" />
- <disable_collisions link1="arm_right_7_link" link2="gripper_right_motor_single_link" reason="Never" />
- <disable_collisions link1="arm_right_7_link" link2="wrist_right_ft_link" reason="Adjacent" />
- <disable_collisions link1="arm_right_7_link" link2="wrist_right_ft_tool_link" reason="Never" />
- <disable_collisions link1="base_link" link2="head_1_link" reason="Never" />
- <disable_collisions link1="base_link" link2="head_2_link" reason="Never" />
- <disable_collisions link1="base_link" link2="imu_link" reason="Never" />
- <disable_collisions link1="base_link" link2="leg_left_1_link" reason="Adjacent" />
- <disable_collisions link1="base_link" link2="leg_left_2_link" reason="Default" />
- <disable_collisions link1="base_link" link2="leg_right_1_link" reason="Adjacent" />
- <disable_collisions link1="base_link" link2="leg_right_2_link" reason="Default" />
- <disable_collisions link1="base_link" link2="rgbd_link" reason="Never" />
- <disable_collisions link1="base_link" link2="torso_1_link" reason="Adjacent" />
- <disable_collisions link1="base_link" link2="torso_2_link" reason="Default" />
- <disable_collisions link1="gripper_left_base_link" link2="gripper_left_fingertip_1_link" reason="Never" />
- <disable_collisions link1="gripper_left_base_link" link2="gripper_left_fingertip_2_link" reason="Never" />
- <disable_collisions link1="gripper_left_base_link" link2="gripper_left_fingertip_3_link" reason="Never" />
- <disable_collisions link1="gripper_left_base_link" link2="gripper_left_inner_double_link" reason="Adjacent" />
- <disable_collisions link1="gripper_left_base_link" link2="gripper_left_inner_single_link" reason="Adjacent" />
- <disable_collisions link1="gripper_left_base_link" link2="gripper_left_motor_double_link" reason="Adjacent" />
- <disable_collisions link1="gripper_left_base_link" link2="gripper_left_motor_single_link" reason="Adjacent" />
- <disable_collisions link1="gripper_left_base_link" link2="wrist_left_ft_link" reason="Never" />
- <disable_collisions link1="gripper_left_base_link" link2="wrist_left_ft_tool_link" reason="Adjacent" />
- <disable_collisions link1="gripper_left_fingertip_1_link" link2="gripper_left_fingertip_2_link" reason="Never" />
- <disable_collisions link1="gripper_left_fingertip_1_link" link2="gripper_left_fingertip_3_link" reason="Never" />
- <disable_collisions link1="gripper_left_fingertip_1_link" link2="gripper_left_inner_double_link" reason="Adjacent" />
- <disable_collisions link1="gripper_left_fingertip_1_link" link2="gripper_left_inner_single_link" reason="Never" />
- <disable_collisions link1="gripper_left_fingertip_1_link" link2="gripper_left_motor_double_link" reason="Default" />
- <disable_collisions link1="gripper_left_fingertip_1_link" link2="gripper_left_motor_single_link" reason="Never" />
- <disable_collisions link1="gripper_left_fingertip_1_link" link2="wrist_left_ft_link" reason="Never" />
- <disable_collisions link1="gripper_left_fingertip_1_link" link2="wrist_left_ft_tool_link" reason="Never" />
- <disable_collisions link1="gripper_left_fingertip_2_link" link2="gripper_left_fingertip_3_link" reason="Never" />
- <disable_collisions link1="gripper_left_fingertip_2_link" link2="gripper_left_inner_double_link" reason="Adjacent" />
- <disable_collisions link1="gripper_left_fingertip_2_link" link2="gripper_left_inner_single_link" reason="Never" />
- <disable_collisions link1="gripper_left_fingertip_2_link" link2="gripper_left_motor_double_link" reason="Default" />
- <disable_collisions link1="gripper_left_fingertip_2_link" link2="gripper_left_motor_single_link" reason="Never" />
- <disable_collisions link1="gripper_left_fingertip_2_link" link2="wrist_left_ft_link" reason="Never" />
- <disable_collisions link1="gripper_left_fingertip_2_link" link2="wrist_left_ft_tool_link" reason="Never" />
- <disable_collisions link1="gripper_left_fingertip_3_link" link2="gripper_left_inner_single_link" reason="Adjacent" />
- <disable_collisions link1="gripper_left_fingertip_3_link" link2="gripper_left_motor_single_link" reason="Default" />
- <disable_collisions link1="gripper_left_fingertip_3_link" link2="wrist_left_ft_link" reason="Never" />
- <disable_collisions link1="gripper_left_fingertip_3_link" link2="wrist_left_ft_tool_link" reason="Never" />
- <disable_collisions link1="gripper_left_inner_double_link" link2="gripper_left_motor_double_link" reason="Default" />
- <disable_collisions link1="gripper_left_inner_double_link" link2="wrist_left_ft_link" reason="Never" />
- <disable_collisions link1="gripper_left_inner_double_link" link2="wrist_left_ft_tool_link" reason="Never" />
- <disable_collisions link1="gripper_left_inner_single_link" link2="gripper_left_motor_single_link" reason="Default" />
- <disable_collisions link1="gripper_left_inner_single_link" link2="wrist_left_ft_link" reason="Never" />
- <disable_collisions link1="gripper_left_inner_single_link" link2="wrist_left_ft_tool_link" reason="Never" />
- <disable_collisions link1="gripper_left_motor_double_link" link2="gripper_left_motor_single_link" reason="Default" />
- <disable_collisions link1="gripper_left_motor_double_link" link2="wrist_left_ft_link" reason="Never" />
- <disable_collisions link1="gripper_left_motor_double_link" link2="wrist_left_ft_tool_link" reason="Never" />
- <disable_collisions link1="gripper_left_motor_single_link" link2="wrist_left_ft_link" reason="Never" />
- <disable_collisions link1="gripper_left_motor_single_link" link2="wrist_left_ft_tool_link" reason="Never" />
- <disable_collisions link1="gripper_right_base_link" link2="gripper_right_fingertip_1_link" reason="Never" />
- <disable_collisions link1="gripper_right_base_link" link2="gripper_right_fingertip_2_link" reason="Never" />
- <disable_collisions link1="gripper_right_base_link" link2="gripper_right_fingertip_3_link" reason="Never" />
- <disable_collisions link1="gripper_right_base_link" link2="gripper_right_inner_double_link" reason="Adjacent" />
- <disable_collisions link1="gripper_right_base_link" link2="gripper_right_inner_single_link" reason="Adjacent" />
- <disable_collisions link1="gripper_right_base_link" link2="gripper_right_motor_double_link" reason="Adjacent" />
- <disable_collisions link1="gripper_right_base_link" link2="gripper_right_motor_single_link" reason="Adjacent" />
- <disable_collisions link1="gripper_right_base_link" link2="wrist_right_ft_link" reason="Never" />
- <disable_collisions link1="gripper_right_base_link" link2="wrist_right_ft_tool_link" reason="Adjacent" />
- <disable_collisions link1="gripper_right_fingertip_1_link" link2="gripper_right_fingertip_2_link" reason="Never" />
- <disable_collisions link1="gripper_right_fingertip_1_link" link2="gripper_right_fingertip_3_link" reason="Never" />
- <disable_collisions link1="gripper_right_fingertip_1_link" link2="gripper_right_inner_double_link" reason="Adjacent" />
- <disable_collisions link1="gripper_right_fingertip_1_link" link2="gripper_right_inner_single_link" reason="Never" />
- <disable_collisions link1="gripper_right_fingertip_1_link" link2="gripper_right_motor_double_link" reason="Default" />
- <disable_collisions link1="gripper_right_fingertip_1_link" link2="gripper_right_motor_single_link" reason="Never" />
- <disable_collisions link1="gripper_right_fingertip_1_link" link2="wrist_right_ft_link" reason="Never" />
- <disable_collisions link1="gripper_right_fingertip_1_link" link2="wrist_right_ft_tool_link" reason="Never" />
- <disable_collisions link1="gripper_right_fingertip_2_link" link2="gripper_right_fingertip_3_link" reason="Never" />
- <disable_collisions link1="gripper_right_fingertip_2_link" link2="gripper_right_inner_double_link" reason="Adjacent" />
- <disable_collisions link1="gripper_right_fingertip_2_link" link2="gripper_right_inner_single_link" reason="Never" />
- <disable_collisions link1="gripper_right_fingertip_2_link" link2="gripper_right_motor_double_link" reason="Default" />
- <disable_collisions link1="gripper_right_fingertip_2_link" link2="gripper_right_motor_single_link" reason="Never" />
- <disable_collisions link1="gripper_right_fingertip_2_link" link2="wrist_right_ft_link" reason="Never" />
- <disable_collisions link1="gripper_right_fingertip_2_link" link2="wrist_right_ft_tool_link" reason="Never" />
- <disable_collisions link1="gripper_right_fingertip_3_link" link2="gripper_right_inner_single_link" reason="Adjacent" />
- <disable_collisions link1="gripper_right_fingertip_3_link" link2="gripper_right_motor_single_link" reason="Default" />
- <disable_collisions link1="gripper_right_fingertip_3_link" link2="wrist_right_ft_link" reason="Never" />
- <disable_collisions link1="gripper_right_fingertip_3_link" link2="wrist_right_ft_tool_link" reason="Never" />
- <disable_collisions link1="gripper_right_inner_double_link" link2="gripper_right_motor_double_link" reason="Default" />
- <disable_collisions link1="gripper_right_inner_double_link" link2="wrist_right_ft_link" reason="Never" />
- <disable_collisions link1="gripper_right_inner_double_link" link2="wrist_right_ft_tool_link" reason="Never" />
- <disable_collisions link1="gripper_right_inner_single_link" link2="gripper_right_motor_single_link" reason="Default" />
- <disable_collisions link1="gripper_right_inner_single_link" link2="wrist_right_ft_link" reason="Never" />
- <disable_collisions link1="gripper_right_inner_single_link" link2="wrist_right_ft_tool_link" reason="Never" />
- <disable_collisions link1="gripper_right_motor_double_link" link2="gripper_right_motor_single_link" reason="Default" />
- <disable_collisions link1="gripper_right_motor_double_link" link2="wrist_right_ft_link" reason="Never" />
- <disable_collisions link1="gripper_right_motor_double_link" link2="wrist_right_ft_tool_link" reason="Never" />
- <disable_collisions link1="gripper_right_motor_single_link" link2="wrist_right_ft_link" reason="Never" />
- <disable_collisions link1="gripper_right_motor_single_link" link2="wrist_right_ft_tool_link" reason="Never" />
- <disable_collisions link1="head_1_link" link2="head_2_link" reason="Adjacent" />
- <disable_collisions link1="head_1_link" link2="imu_link" reason="Never" />
- <disable_collisions link1="head_1_link" link2="leg_left_1_link" reason="Never" />
- <disable_collisions link1="head_1_link" link2="leg_left_2_link" reason="Never" />
- <disable_collisions link1="head_1_link" link2="leg_left_3_link" reason="Never" />
- <disable_collisions link1="head_1_link" link2="leg_left_4_link" reason="Never" />
- <disable_collisions link1="head_1_link" link2="leg_left_5_link" reason="Never" />
- <disable_collisions link1="head_1_link" link2="leg_left_6_link" reason="Never" />
- <disable_collisions link1="head_1_link" link2="leg_right_1_link" reason="Never" />
- <disable_collisions link1="head_1_link" link2="leg_right_2_link" reason="Never" />
- <disable_collisions link1="head_1_link" link2="leg_right_3_link" reason="Never" />
- <disable_collisions link1="head_1_link" link2="leg_right_4_link" reason="Never" />
- <disable_collisions link1="head_1_link" link2="leg_right_5_link" reason="Never" />
- <disable_collisions link1="head_1_link" link2="leg_right_6_link" reason="Never" />
- <disable_collisions link1="head_1_link" link2="rgbd_link" reason="Never" />
- <disable_collisions link1="head_1_link" link2="torso_1_link" reason="Never" />
- <disable_collisions link1="head_1_link" link2="torso_2_link" reason="Adjacent" />
- <disable_collisions link1="head_2_link" link2="imu_link" reason="Never" />
- <disable_collisions link1="head_2_link" link2="leg_left_1_link" reason="Never" />
- <disable_collisions link1="head_2_link" link2="leg_left_2_link" reason="Never" />
- <disable_collisions link1="head_2_link" link2="leg_left_3_link" reason="Never" />
- <disable_collisions link1="head_2_link" link2="leg_left_4_link" reason="Never" />
- <disable_collisions link1="head_2_link" link2="leg_left_5_link" reason="Never" />
- <disable_collisions link1="head_2_link" link2="leg_left_6_link" reason="Never" />
- <disable_collisions link1="head_2_link" link2="leg_right_1_link" reason="Never" />
- <disable_collisions link1="head_2_link" link2="leg_right_2_link" reason="Never" />
- <disable_collisions link1="head_2_link" link2="leg_right_3_link" reason="Never" />
- <disable_collisions link1="head_2_link" link2="leg_right_4_link" reason="Never" />
- <disable_collisions link1="head_2_link" link2="leg_right_5_link" reason="Never" />
- <disable_collisions link1="head_2_link" link2="leg_right_6_link" reason="Never" />
- <disable_collisions link1="head_2_link" link2="rgbd_link" reason="Adjacent" />
- <disable_collisions link1="head_2_link" link2="torso_1_link" reason="Never" />
- <disable_collisions link1="head_2_link" link2="torso_2_link" reason="Never" />
- <disable_collisions link1="imu_link" link2="leg_left_1_link" reason="Never" />
- <disable_collisions link1="imu_link" link2="leg_left_2_link" reason="Never" />
- <disable_collisions link1="imu_link" link2="leg_left_3_link" reason="Never" />
- <disable_collisions link1="imu_link" link2="leg_left_4_link" reason="Never" />
- <disable_collisions link1="imu_link" link2="leg_left_5_link" reason="Never" />
- <disable_collisions link1="imu_link" link2="leg_left_6_link" reason="Never" />
- <disable_collisions link1="imu_link" link2="leg_right_1_link" reason="Never" />
- <disable_collisions link1="imu_link" link2="leg_right_2_link" reason="Never" />
- <disable_collisions link1="imu_link" link2="leg_right_3_link" reason="Never" />
- <disable_collisions link1="imu_link" link2="leg_right_4_link" reason="Never" />
- <disable_collisions link1="imu_link" link2="leg_right_5_link" reason="Never" />
- <disable_collisions link1="imu_link" link2="leg_right_6_link" reason="Never" />
- <disable_collisions link1="imu_link" link2="rgbd_link" reason="Never" />
- <disable_collisions link1="imu_link" link2="torso_1_link" reason="Never" />
- <disable_collisions link1="imu_link" link2="torso_2_link" reason="Adjacent" />
- <disable_collisions link1="leg_left_1_link" link2="leg_left_2_link" reason="Adjacent" />
- <disable_collisions link1="leg_left_1_link" link2="leg_left_3_link" reason="Default" />
- <disable_collisions link1="leg_left_1_link" link2="leg_left_4_link" reason="Never" />
- <disable_collisions link1="leg_left_1_link" link2="leg_left_5_link" reason="Never" />
- <disable_collisions link1="leg_left_1_link" link2="rgbd_link" reason="Never" />
- <disable_collisions link1="leg_left_1_link" link2="torso_1_link" reason="Never" />
- <disable_collisions link1="leg_left_1_link" link2="torso_2_link" reason="Never" />
- <disable_collisions link1="leg_left_2_link" link2="leg_left_3_link" reason="Adjacent" />
- <disable_collisions link1="leg_left_2_link" link2="leg_left_4_link" reason="Never" />
- <disable_collisions link1="leg_left_2_link" link2="leg_left_5_link" reason="Never" />
- <disable_collisions link1="leg_left_2_link" link2="rgbd_link" reason="Never" />
- <disable_collisions link1="leg_left_2_link" link2="torso_1_link" reason="Never" />
- <disable_collisions link1="leg_left_2_link" link2="torso_2_link" reason="Never" />
- <disable_collisions link1="leg_left_3_link" link2="leg_left_4_link" reason="Adjacent" />
- <disable_collisions link1="leg_left_3_link" link2="leg_left_5_link" reason="Never" />
- <disable_collisions link1="leg_left_3_link" link2="rgbd_link" reason="Never" />
- <disable_collisions link1="leg_left_3_link" link2="torso_1_link" reason="Never" />
- <disable_collisions link1="leg_left_3_link" link2="torso_2_link" reason="Never" />
- <disable_collisions link1="leg_left_4_link" link2="leg_left_5_link" reason="Adjacent" />
- <disable_collisions link1="leg_left_4_link" link2="leg_left_6_link" reason="Never" />
- <disable_collisions link1="leg_left_4_link" link2="rgbd_link" reason="Never" />
- <disable_collisions link1="leg_left_4_link" link2="torso_1_link" reason="Never" />
- <disable_collisions link1="leg_left_4_link" link2="torso_2_link" reason="Never" />
- <disable_collisions link1="leg_left_5_link" link2="leg_left_6_link" reason="Adjacent" />
- <disable_collisions link1="leg_left_5_link" link2="rgbd_link" reason="Never" />
- <disable_collisions link1="leg_left_5_link" link2="torso_1_link" reason="Never" />
- <disable_collisions link1="leg_left_5_link" link2="torso_2_link" reason="Never" />
- <disable_collisions link1="leg_left_6_link" link2="rgbd_link" reason="Never" />
- <disable_collisions link1="leg_left_6_link" link2="torso_1_link" reason="Never" />
- <disable_collisions link1="leg_left_6_link" link2="torso_2_link" reason="Never" />
- <disable_collisions link1="leg_right_1_link" link2="leg_right_2_link" reason="Adjacent" />
- <disable_collisions link1="leg_right_1_link" link2="leg_right_3_link" reason="Default" />
- <disable_collisions link1="leg_right_1_link" link2="leg_right_4_link" reason="Never" />
- <disable_collisions link1="leg_right_1_link" link2="leg_right_5_link" reason="Never" />
- <disable_collisions link1="leg_right_1_link" link2="rgbd_link" reason="Never" />
- <disable_collisions link1="leg_right_1_link" link2="torso_1_link" reason="Never" />
- <disable_collisions link1="leg_right_1_link" link2="torso_2_link" reason="Never" />
- <disable_collisions link1="leg_right_2_link" link2="leg_right_3_link" reason="Adjacent" />
- <disable_collisions link1="leg_right_2_link" link2="leg_right_4_link" reason="Never" />
- <disable_collisions link1="leg_right_2_link" link2="leg_right_5_link" reason="Never" />
- <disable_collisions link1="leg_right_2_link" link2="rgbd_link" reason="Never" />
- <disable_collisions link1="leg_right_2_link" link2="torso_1_link" reason="Never" />
- <disable_collisions link1="leg_right_2_link" link2="torso_2_link" reason="Never" />
- <disable_collisions link1="leg_right_3_link" link2="leg_right_4_link" reason="Adjacent" />
- <disable_collisions link1="leg_right_3_link" link2="leg_right_5_link" reason="Never" />
- <disable_collisions link1="leg_right_3_link" link2="rgbd_link" reason="Never" />
- <disable_collisions link1="leg_right_3_link" link2="torso_1_link" reason="Never" />
- <disable_collisions link1="leg_right_3_link" link2="torso_2_link" reason="Never" />
- <disable_collisions link1="leg_right_4_link" link2="leg_right_5_link" reason="Adjacent" />
- <disable_collisions link1="leg_right_4_link" link2="leg_right_6_link" reason="Never" />
- <disable_collisions link1="leg_right_4_link" link2="rgbd_link" reason="Never" />
- <disable_collisions link1="leg_right_4_link" link2="torso_1_link" reason="Never" />
- <disable_collisions link1="leg_right_4_link" link2="torso_2_link" reason="Never" />
- <disable_collisions link1="leg_right_5_link" link2="leg_right_6_link" reason="Adjacent" />
- <disable_collisions link1="leg_right_5_link" link2="rgbd_link" reason="Never" />
- <disable_collisions link1="leg_right_5_link" link2="torso_1_link" reason="Never" />
- <disable_collisions link1="leg_right_5_link" link2="torso_2_link" reason="Never" />
- <disable_collisions link1="leg_right_6_link" link2="rgbd_link" reason="Never" />
- <disable_collisions link1="leg_right_6_link" link2="torso_1_link" reason="Never" />
- <disable_collisions link1="leg_right_6_link" link2="torso_2_link" reason="Never" />
- <disable_collisions link1="rgbd_link" link2="torso_1_link" reason="Never" />
- <disable_collisions link1="rgbd_link" link2="torso_2_link" reason="Never" />
- <disable_collisions link1="torso_1_link" link2="torso_2_link" reason="Adjacent" />
- <disable_collisions link1="wrist_left_ft_link" link2="wrist_left_ft_tool_link" reason="Adjacent" />
- <disable_collisions link1="wrist_right_ft_link" link2="wrist_right_ft_tool_link" reason="Adjacent" />
-
-
- <gripper name="left_gripper" clearance="0.03">
- <position> 0 0 -0.13 0.707106 0 0.707106 0</position>
- <link name="gripper_left_base_link" />
- <joint name="gripper_left_joint" />
- </gripper>
-
- <gripper name="right_gripper" clearance="0.03">
- <position> 0 0 -0.13 0 -0.707106 0 0.707106 </position>
- <link name="gripper_right_base_link" />
- <joint name="gripper_right_joint" />
- </gripper>
-</robot>
diff --git a/urdf/arm/arm.urdf.xacro b/urdf/arm/arm_v1.urdf.xacro
similarity index 78%
rename from urdf/arm/arm.urdf.xacro
rename to urdf/arm/arm_v1.urdf.xacro
index e80b6b8da7e1123ad23e5f22c8bdc989097a94b2..3512ca6261d465b99b96954dbc9b24c9c87a4e76 100644
--- a/urdf/arm/arm.urdf.xacro
+++ b/urdf/arm/arm_v1.urdf.xacro
@@ -11,9 +11,9 @@
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<!--File includes-->
- <xacro:include filename="$(find talos_data)/urdf/deg_to_rad.xacro" />
- <xacro:include filename="$(find talos_data)/urdf/arm/wrist.urdf.xacro" />
- <xacro:include filename="$(find talos_data)/urdf/arm/arm.transmission.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/deg_to_rad.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/arm/wrist.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/arm/arm.transmission.xacro" />
<!--Constant parameters-->
<xacro:property name="arm_friction" value="1.0" />
@@ -22,10 +22,10 @@
<xacro:property name="arm_2_max_vel" value="3.66" />
<xacro:property name="arm_3_max_vel" value="4.58" />
<xacro:property name="arm_4_max_vel" value="4.58" />
- <xacro:property name="arm_1_max_effort" value="44.64" />
- <xacro:property name="arm_2_max_effort" value="22.32" />
- <xacro:property name="arm_3_max_effort" value="17.86" />
- <xacro:property name="arm_4_max_effort" value="17.86" />
+ <xacro:property name="arm_1_max_effort" value="100.0" />
+ <xacro:property name="arm_2_max_effort" value="100.0" />
+ <xacro:property name="arm_3_max_effort" value="70.0" />
+ <xacro:property name="arm_4_max_effort" value="70.0" />
<xacro:property name="arm_eps" value="0.02" />
@@ -35,7 +35,6 @@
<!-- SHOULDER -->
<!--************************-->
<link name="${name}_${side}_1_link">
- <!-- TODO: Missing reflects of inertias -->
<inertial>
<origin xyz="-0.01346 ${reflect*0.09130} 0.04812" rpy="0.00000 0.00000 0.00000"/>
<!-- <mass value="1.52896"/> -->
@@ -48,14 +47,14 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_1.STL" scale="1 ${reflect} 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_1.STL" scale="1 ${reflect} 1"/>
</geometry>
<material name="DarkGrey" />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_1_collision.STL" scale="1 ${reflect} 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_1_collision.STL" scale="1 ${reflect} 1"/>
</geometry>
</collision>
</link>
@@ -63,7 +62,7 @@
<joint name="${name}_${side}_1_joint" type="revolute">
<parent link="${parent}" />
<child link="${name}_${side}_1_link" />
- <origin xyz="0.00000 ${0.15750*reflect} 0.23200"
+ <origin xyz="0.00000 ${0.15750*reflect} 0.23200"
rpy="${0.0 * deg_to_rad} ${0.0 * deg_to_rad} ${0.0 * deg_to_rad}"/>
<axis xyz="0 0 1" />
<limit lower="${(-60.0 - 30.0*reflect)* deg_to_rad}" upper="${(60.0 - 30.0*reflect)* deg_to_rad}" effort="${arm_1_max_effort}" velocity="${arm_1_max_vel}" />
@@ -87,14 +86,14 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_2.STL" scale="1 ${reflect} 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_2.STL" scale="1 ${reflect} 1"/>
</geometry>
<material name="DarkGrey" />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_2_collision.STL" scale="1 ${reflect} 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_2_collision.STL" scale="1 ${reflect} 1"/>
</geometry>
</collision>
</link>
@@ -102,10 +101,10 @@
<joint name="${name}_${side}_2_joint" type="revolute">
<parent link="${name}_${side}_1_link" />
<child link="${name}_${side}_2_link" />
- <origin xyz="0.00493 ${0.13650*reflect} 0.04673"
+ <origin xyz="0.00493 ${0.13650*reflect} 0.04673"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="1 0 0" />
- <limit lower="${(-82.50000 + 82.5*reflect)* deg_to_rad}" upper="${(82.50000 + 82.5000*reflect)* deg_to_rad}" effort="${arm_2_max_effort}" velocity="${arm_2_max_vel}" />
+ <limit lower="${(-82.0000 + 82.5000*reflect)* deg_to_rad}" upper="${(82.50000 + 82.0000*reflect)* deg_to_rad}" effort="${arm_2_max_effort}" velocity="${arm_2_max_vel}" />
<dynamics friction="${arm_friction}" damping="${arm_damping}"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
@@ -127,14 +126,14 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_3.STL" scale="1 ${reflect} 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_3.STL" scale="1 ${reflect} 1"/>
</geometry>
<material name="DarkGrey" />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_3_collision.STL" scale="1 ${reflect} 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_3_collision.STL" scale="1 ${reflect} 1"/>
</geometry>
</collision>
</link>
@@ -142,10 +141,10 @@
<joint name="${name}_${side}_3_joint" type="revolute">
<parent link="${name}_${side}_2_link" />
<child link="${name}_${side}_3_link" />
- <origin xyz="0.00000 0.00000 0.00000"
+ <origin xyz="0.00000 0.00000 0.00000"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="0 0 1" />
- <limit lower="${-140.0 * deg_to_rad}" upper="${140.0 * deg_to_rad}" effort="${arm_3_max_effort}" velocity="${arm_3_max_vel}" />
+ <limit lower="${-139.0 * deg_to_rad}" upper="${139.0 * deg_to_rad}" effort="${arm_3_max_effort}" velocity="${arm_3_max_vel}" />
<dynamics friction="${arm_friction}" damping="${arm_damping}"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
@@ -170,14 +169,14 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_4.STL" scale="1 ${reflect} 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_4.STL" scale="1 ${reflect} 1"/>
</geometry>
<material name="DarkGrey" />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_4_collision.STL" scale="1 ${reflect} 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_4_collision.STL" scale="1 ${reflect} 1"/>
</geometry>
</collision>
</link>
@@ -185,10 +184,10 @@
<joint name="${name}_${side}_4_joint" type="revolute">
<parent link="${name}_${side}_3_link" />
<child link="${name}_${side}_4_link" />
- <origin xyz="0.02000 0.00000 -0.27300"
+ <origin xyz="0.02000 0.00000 -0.27300"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="0 1 0" />
- <limit lower="${-135.0 * deg_to_rad}" upper="${0.0 * deg_to_rad}" effort="${arm_4_max_effort}" velocity="${arm_4_max_vel}" />
+ <limit lower="${-128.0 * deg_to_rad}" upper="${0.2 * deg_to_rad}" effort="${arm_4_max_effort}" velocity="${arm_4_max_vel}" />
<dynamics friction="${arm_friction}" damping="${arm_damping}"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
@@ -237,10 +236,7 @@
<xacro:talos_wrist name="arm" parent="${name}_${side}_4_link" side="${side}" reflect="${reflect}" />
<!-- extensions -->
- <xacro:talos_arm_simple_transmission name="${name}" side="${side}" number="1" reduction="1.0" />
- <xacro:talos_arm_simple_transmission name="${name}" side="${side}" number="2" reduction="1.0" />
- <xacro:talos_arm_simple_transmission name="${name}" side="${side}" number="3" reduction="1.0" />
- <xacro:talos_arm_simple_transmission name="${name}" side="${side}" number="4" reduction="1.0" />
+ <xacro:include filename="$(find talos_description)/urdf/arm/${side}_arm.transmissions.urdf.xacro" />
</xacro:macro>
diff --git a/urdf/arm/arm_v2.urdf.xacro b/urdf/arm/arm_v2.urdf.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..a3bfaf7ae8f15dd06c6288132c3d2c68e3fc0427
--- /dev/null
+++ b/urdf/arm/arm_v2.urdf.xacro
@@ -0,0 +1,224 @@
+<?xml version="1.0"?>
+<!--
+
+ Copyright (c) 2016, PAL Robotics, S.L.
+ All rights reserved.
+
+ This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
+ To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
+ Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
+-->
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+ <!--File includes-->
+ <xacro:include filename="$(find talos_description)/urdf/deg_to_rad.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/arm/wrist.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/arm/arm.transmission.xacro" />
+
+ <!--Constant parameters-->
+ <xacro:property name="arm_friction" value="1.0" />
+ <xacro:property name="arm_damping" value="1.0" />
+ <xacro:property name="arm_1_max_vel" value="2.7" />
+ <xacro:property name="arm_2_max_vel" value="3.66" />
+ <xacro:property name="arm_3_max_vel" value="4.58" />
+ <xacro:property name="arm_4_max_vel" value="4.58" />
+ <xacro:property name="arm_1_max_effort" value="100.0" />
+ <xacro:property name="arm_2_max_effort" value="100.0" />
+ <xacro:property name="arm_3_max_effort" value="70.0" />
+ <xacro:property name="arm_4_max_effort" value="70.0" />
+ <xacro:property name="arm_eps" value="0.02" />
+
+
+ <xacro:macro name="talos_arm" params="name parent side reflect">
+
+ <!--************************-->
+ <!-- SHOULDER -->
+ <!--************************-->
+ <link name="${name}_${side}_1_link">
+ <xacro:call macro="${name}_${side}_1_link_inertial" />
+
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://talos_description/meshes/arm/arm_1.STL" scale="1 ${reflect} 1"/>
+ </geometry>
+ <material name="DarkGrey" />
+ </visual>
+
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://talos_description/meshes/arm/arm_1_collision.STL" scale="1 ${reflect} 1"/>
+ </geometry>
+ </collision>
+ </link>
+
+ <joint name="${name}_${side}_1_joint" type="revolute">
+ <parent link="${parent}" />
+ <child link="${name}_${side}_1_link" />
+ <origin xyz="0.00000 ${0.15750*reflect} 0.23200"
+ rpy="${0.0 * deg_to_rad} ${0.0 * deg_to_rad} ${0.0 * deg_to_rad}"/>
+ <axis xyz="0 0 1" />
+
+ <!-- v1 TALOS has 1st arm left joint (-90,30) and right joint (-30,90) -->
+ <!-- v2 TALOS has 1st arm left joint (-90,50) and right joint (-50,90) -->
+ <limit lower="${(-67.5 - 22.5*reflect)* deg_to_rad}" upper="${(67.5 - 22.5*reflect)* deg_to_rad}" effort="${arm_1_max_effort}" velocity="${arm_1_max_vel}" />
+ <dynamics friction="${arm_friction}" damping="${arm_damping}"/>
+<!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${-90.00000 * deg_to_rad + arm_eps}"
+ soft_upper_limit="${30.00000 * deg_to_rad - arm_eps}" /> -->
+ </joint>
+
+
+ <link name="${name}_${side}_2_link">
+ <xacro:call macro="${name}_${side}_2_link_inertial" />
+
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://talos_description/meshes/arm/arm_2.STL" scale="1 ${reflect} 1"/>
+ </geometry>
+ <material name="DarkGrey" />
+ </visual>
+
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://talos_description/meshes/arm/arm_2_collision.STL" scale="1 ${reflect} 1"/>
+ </geometry>
+ </collision>
+ </link>
+
+ <joint name="${name}_${side}_2_joint" type="revolute">
+ <parent link="${name}_${side}_1_link" />
+ <child link="${name}_${side}_2_link" />
+ <origin xyz="0.00493 ${0.13650*reflect} 0.04673"
+ rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
+ <axis xyz="1 0 0" />
+ <limit lower="${(-82.0000 + 82.5000*reflect)* deg_to_rad}" upper="${(82.50000*reflect + 82.0000)* deg_to_rad}" effort="${arm_2_max_effort}" velocity="${arm_2_max_vel}" />
+ <dynamics friction="${arm_friction}" damping="${arm_damping}"/>
+<!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${0.00000 * deg_to_rad + arm_eps}"
+ soft_upper_limit="${165.00000 * deg_to_rad - arm_eps}" /> -->
+
+ </joint>
+
+
+ <link name="${name}_${side}_3_link">
+ <xacro:call macro="${name}_${side}_3_link_inertial" />
+
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://talos_description/meshes/arm/arm_3.STL" scale="1 ${reflect} 1"/>
+ </geometry>
+ <material name="DarkGrey" />
+ </visual>
+
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://talos_description/meshes/arm/arm_3_collision.STL" scale="1 ${reflect} 1"/>
+ </geometry>
+ </collision>
+ </link>
+
+ <joint name="${name}_${side}_3_joint" type="revolute">
+ <parent link="${name}_${side}_2_link" />
+ <child link="${name}_${side}_3_link" />
+ <origin xyz="0.00000 0.00000 0.00000"
+ rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
+ <axis xyz="0 0 1" />
+ <limit lower="${-139.0 * deg_to_rad}" upper="${139.0 * deg_to_rad}" effort="${arm_3_max_effort}" velocity="${arm_3_max_vel}" />
+ <dynamics friction="${arm_friction}" damping="${arm_damping}"/>
+<!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${-140.0 * deg_to_rad + arm_eps}"
+ soft_upper_limit="${140.0 * deg_to_rad - arm_eps}" /> -->
+
+ </joint>
+
+ <!--************************-->
+ <!-- ELBOW -->
+ <!--************************-->
+ <link name="${name}_${side}_4_link">
+ <xacro:call macro="${name}_${side}_4_link_inertial" />
+
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://talos_description/meshes/arm/arm_4.STL" scale="1 ${reflect} 1"/>
+ </geometry>
+ <material name="DarkGrey" />
+ </visual>
+
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://talos_description/meshes/arm/arm_4_collision.STL" scale="1 ${reflect} 1"/>
+ </geometry>
+ </collision>
+ </link>
+
+ <joint name="${name}_${side}_4_joint" type="revolute">
+ <parent link="${name}_${side}_3_link" />
+ <child link="${name}_${side}_4_link" />
+ <origin xyz="0.02000 0.00000 -0.27300"
+ rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
+ <axis xyz="0 1 0" />
+ <limit lower="${-128.0 * deg_to_rad}" upper="${0.2 * deg_to_rad}" effort="${arm_4_max_effort}" velocity="${arm_4_max_vel}" />
+ <dynamics friction="${arm_friction}" damping="${arm_damping}"/>
+<!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${-135.0 * deg_to_rad + arm_eps}"
+ soft_upper_limit="${0.0 * deg_to_rad - arm_eps}" /> -->
+ </joint>
+
+ <gazebo reference="${name}_${side}_1_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="${name}_${side}_2_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="${name}_${side}_3_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="${name}_${side}_4_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+
+ <gazebo reference="${name}_${side}_1_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="${name}_${side}_2_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="${name}_${side}_3_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="${name}_${side}_4_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+
+
+ <!--************************-->
+ <!-- WRIST -->
+ <!--************************-->
+ <xacro:talos_wrist name="arm" parent="${name}_${side}_4_link" side="${side}" reflect="${reflect}" />
+
+ <!-- extensions -->
+ <xacro:include filename="$(find talos_description)/urdf/arm/${side}_arm.transmissions.urdf.xacro" />
+
+ </xacro:macro>
+
+</robot>
diff --git a/urdf/arm/left_arm.transmissions.urdf.xacro b/urdf/arm/left_arm.transmissions.urdf.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..d81750bb6bb262d94c857b679cb86a7ff5a4245d
--- /dev/null
+++ b/urdf/arm/left_arm.transmissions.urdf.xacro
@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<!--
+
+ Copyright (c) 2018, PAL Robotics, S.L.
+ All rights reserved.
+
+ This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
+ To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
+ Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
+-->
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+ <!--File includes-->
+ <xacro:include filename="$(find talos_description)/urdf/arm/arm.transmission.xacro" />
+ <xacro:include filename="$(find talos_description_calibration)/urdf/calibration/calibration_constants.urdf.xacro" />
+
+ <!-- extensions -->
+ <xacro:talos_arm_simple_transmission name="${name}" side="left" number="1" reduction="1.0" offset_value="${arm_left_1_joint_offset}" />
+ <xacro:talos_arm_simple_transmission name="${name}" side="left" number="2" reduction="1.0" offset_value="${arm_left_2_joint_offset}" />
+ <xacro:talos_arm_simple_transmission name="${name}" side="left" number="3" reduction="1.0" offset_value="${arm_left_3_joint_offset}" />
+ <xacro:talos_arm_simple_transmission name="${name}" side="left" number="4" reduction="1.0" offset_value="${arm_left_4_joint_offset}" />
+
+</robot>
diff --git a/urdf/arm/left_wrist.transmissions.urdf.xacro b/urdf/arm/left_wrist.transmissions.urdf.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..277e72aa1a969f3007ce909faf85f1961e3d228c
--- /dev/null
+++ b/urdf/arm/left_wrist.transmissions.urdf.xacro
@@ -0,0 +1,26 @@
+<?xml version="1.0"?>
+<!--
+
+ Copyright (c) 2018, PAL Robotics, S.L.
+ All rights reserved.
+
+ This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
+ To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
+ Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
+-->
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+ <!--File includes-->
+ <xacro:include filename="$(find talos_description)/urdf/arm/wrist.transmission.xacro" />
+ <xacro:include filename="$(find talos_description_calibration)/urdf/calibration/calibration_constants.urdf.xacro" />
+
+ <!-- extensions -->
+ <xacro:talos_wrist_simple_transmission name="${name}" side="${side}" number="5" reduction="1.0"
+ offset_value="${arm_left_5_joint_offset}"/>
+ <xacro:talos_wrist_differential_transmission name="${name}" side="${side}" number_1="6" number_2="7"
+ act_reduction_1="-1.0" act_reduction_2="1.0"
+ jnt_reduction_1="-1.0" jnt_reduction_2="-1.0"
+ offset_value_1="${arm_left_6_joint_offset}"
+ offset_value_2="${arm_left_7_joint_offset}"/>
+
+</robot>
diff --git a/urdf/arm/right_arm.transmissions.urdf.xacro b/urdf/arm/right_arm.transmissions.urdf.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..17afbc55a8ab7ccfdf3abd0efbf7a670ae6c8aed
--- /dev/null
+++ b/urdf/arm/right_arm.transmissions.urdf.xacro
@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<!--
+
+ Copyright (c) 2018, 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">
+
+ <!--File includes-->
+ <xacro:include filename="$(find talos_description)/urdf/arm/arm.transmission.xacro" />
+ <xacro:include filename="$(find talos_description_calibration)/urdf/calibration/calibration_constants.urdf.xacro" />
+
+ <!-- extensions -->
+ <xacro:talos_arm_simple_transmission name="${name}" side="right" number="1" reduction="1.0" offset_value="${arm_right_1_joint_offset}" />
+ <xacro:talos_arm_simple_transmission name="${name}" side="right" number="2" reduction="1.0" offset_value="${arm_right_2_joint_offset}" />
+ <xacro:talos_arm_simple_transmission name="${name}" side="right" number="3" reduction="1.0" offset_value="${arm_right_3_joint_offset}" />
+ <xacro:talos_arm_simple_transmission name="${name}" side="right" number="4" reduction="1.0" offset_value="${arm_right_4_joint_offset}" />
+
+</robot>
diff --git a/urdf/arm/right_wrist.transmissions.urdf.xacro b/urdf/arm/right_wrist.transmissions.urdf.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..448968e5b1a7b308d7e564f6f08bac9b97639ea1
--- /dev/null
+++ b/urdf/arm/right_wrist.transmissions.urdf.xacro
@@ -0,0 +1,26 @@
+<?xml version="1.0"?>
+<!--
+
+ Copyright (c) 2018, 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">
+
+ <!--File includes-->
+ <xacro:include filename="$(find talos_description)/urdf/arm/wrist.transmission.xacro" />
+ <xacro:include filename="$(find talos_description_calibration)/urdf/calibration/calibration_constants.urdf.xacro" />
+
+ <!-- extensions -->
+ <xacro:talos_wrist_simple_transmission name="${name}" side="${side}" number="5" reduction="1.0"
+ offset_value="${arm_right_5_joint_offset}"/>
+ <xacro:talos_wrist_differential_transmission name="${name}" side="${side}" number_1="6" number_2="7"
+ act_reduction_1="-1.0" act_reduction_2="1.0"
+ jnt_reduction_1="-1.0" jnt_reduction_2="-1.0"
+ offset_value_1="${arm_right_6_joint_offset}"
+ offset_value_2="${arm_right_7_joint_offset}"/>
+
+</robot>
diff --git a/urdf/crane/crane.urdf.xacro b/urdf/crane/crane.urdf.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..feaa96b2ce15f895bd9cdfcb34638be0c4d22fa9
--- /dev/null
+++ b/urdf/crane/crane.urdf.xacro
@@ -0,0 +1,59 @@
+<?xml version="1.0"?>
+<!--
+
+ Copyright (c) 2016, PAL Robotics, S.L.
+ All rights reserved.
+
+ This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
+ To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
+ Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
+-->
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+ <!--File includes-->
+ <xacro:include filename="$(find talos_description)/urdf/deg_to_rad.xacro" />
+
+ <xacro:macro name="crane" params="parent">
+
+ <link name="crane_link">
+ <inertial>
+ <origin xyz="0.0 0.0 0.25" rpy="0.0 0.0 0.0"/>
+ <mass value="0.0"/>
+ <!-- [ m(3r^2 + h^2)/12 m(3r^2 + h^2)/12 mr^2/2] -->
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0"
+ iyy="0.0" iyz="0.0"
+ izz="0.0"/>
+ </inertial>
+
+ <visual>
+ <origin xyz="0 0 0.25" rpy="0 0 0" />
+ <geometry>
+ <cylinder length="0.5" radius="0.3"/>
+ </geometry>
+ <material name="CraneMaterial" rgba="0.3 0.3 0.3 0.1"/>
+ </visual>
+
+ <collision>
+ <origin xyz="0 0 0.25" rpy="0 0 0" />
+ <geometry>
+ <cylinder length="0.5" radius="0.3"/>
+ </geometry>
+ <material name="CraneMaterial"/>
+ </collision>
+ </link>
+
+ <joint name="crane_joint" type="fixed">
+ <parent link="${parent}" />
+ <child link="crane_link" />
+ <origin xyz="0.003 0.0 0.4" rpy="0.0 0.0 0.0"/>
+ <limit lower="0.0" upper="0.0" effort="0.0" velocity="0.0" />
+ <dynamics friction="0.0" damping="0.0"/>
+ </joint>
+
+ </xacro:macro>
+
+ <material name="CraneMaterial">
+ <color rgba="0.2 0.2 0.2 0.5"/>
+ </material>
+
+</robot>
diff --git a/urdf/leg/foot_collision_default.urdf.xacro b/urdf/leg/foot_collision_default.urdf.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..68c76e9d876259884e87153915e2ffec1865b309
--- /dev/null
+++ b/urdf/leg/foot_collision_default.urdf.xacro
@@ -0,0 +1,12 @@
+<?xml version="1.0"?>
+
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="talos">
+ <xacro:macro name="talos_foot_collision">
+ <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>
+ </xacro:macro>
+</robot>
diff --git a/urdf/leg/foot_collision_tallbox.urdf.xacro b/urdf/leg/foot_collision_tallbox.urdf.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..b77aba0a460e4d82110e2d6e66ba9711ea3caf52
--- /dev/null
+++ b/urdf/leg/foot_collision_tallbox.urdf.xacro
@@ -0,0 +1,12 @@
+<?xml version="1.0"?>
+
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="talos">
+ <xacro:macro name="talos_foot_collision">
+ <collision>
+ <origin xyz="0 0 -0.035" rpy="0 0 0" />
+ <geometry>
+ <box size="0.21 0.13 0.15"/>
+ </geometry>
+ </collision>
+ </xacro:macro>
+</robot>
diff --git a/urdf/leg/foot_collision_thinbox.urdf.xacro b/urdf/leg/foot_collision_thinbox.urdf.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..8404ab0ec446d36476081943d0fcaaba2995cca9
--- /dev/null
+++ b/urdf/leg/foot_collision_thinbox.urdf.xacro
@@ -0,0 +1,12 @@
+<?xml version="1.0"?>
+
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="talos">
+ <xacro:macro name="talos_foot_collision">
+ <collision>
+ <origin xyz="0 0 -0.1" rpy="0 0 0" />
+ <geometry>
+ <box size="0.21 0.13 0.02"/>
+ </geometry>
+ </collision>
+ </xacro:macro>
+</robot>
diff --git a/urdf/sensors/ftsensor.gazebo.xacro b/urdf/sensors/ftsensor.gazebo.xacro
deleted file mode 100644
index 603ab7dbb0fd8f568eb096b38e34acfa4bf09752..0000000000000000000000000000000000000000
--- a/urdf/sensors/ftsensor.gazebo.xacro
+++ /dev/null
@@ -1,29 +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">
-
-<xacro:macro name="reemc_force_talosque_sensor" params="name update_rate">
- <gazebo reference="${name}">
- <sensor name="${name}_contact_sensor" type="contact">
- <pose>0.105 0.071 0 0 0 0</pose>
- <always_on>1</always_on>
- <update_rate>${update_rate}</update_rate>
- <contact>
- <collision>${name}_collision</collision>
- </contact>
- </sensor>
- </gazebo>
- <gazebo reference="${name}">
- <provideFeedback>1</provideFeedback>
- </gazebo>
-
-</xacro:macro>
-</robot>
diff --git a/urdf/sensors/orbbec_astra_pro.gazebo.xacro b/urdf/sensors/orbbec_astra_pro.gazebo.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..3e2b2d2c394e757df4e7109da09256aec20f9b7f
--- /dev/null
+++ b/urdf/sensors/orbbec_astra_pro.gazebo.xacro
@@ -0,0 +1,100 @@
+<?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.
+
+ ROS Gazebo plugin for RGBD sensor (OpenNI/Kinect/ASUS)
+ * Publishes MONO8 format "depth" image & PointCloud
+ * Publishes RGB8 format color image & 2nd copy of PointCloud (for registered)
+
+ Configuration according with:
+ https://orbbec3d.com/product-astra-pro/
+-->
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+ <xacro:macro name="orbbec_astra_pro_rgbd_camera_gazebo" params="name">
+ <gazebo reference="${name}_link">
+ <!-- IR + depth -->
+ <sensor type="depth" name="${name}_frame_sensor">
+ <always_on>true</always_on>
+ <update_rate>30.0</update_rate>
+ <camera>
+ <horizontal_fov>${60.0 * deg_to_rad}</horizontal_fov>
+ <image>
+ <format>B8G8R8</format>
+ <width>640</width>
+ <height>480</height>
+ </image>
+ <clip>
+ <near>0.6</near>
+ <far>8.0</far>
+ </clip>
+ </camera>
+ <plugin name="${name}_frame_controller" filename="libgazebo_ros_openni_kinect.so">
+ <alwaysOn>true</alwaysOn>
+ <updateRate>30.0</updateRate>
+ <cameraName>${name}</cameraName>
+ <imageTopicName>rgb/image_raw</imageTopicName>
+ <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
+ <depthImageTopicName>depth/image_raw</depthImageTopicName>
+ <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
+ <pointCloudTopicName>depth/points</pointCloudTopicName>
+ <frameName>${name}_optical_frame</frameName>
+ <pointCloudCutoff>0.45</pointCloudCutoff>
+ <rangeMax>10.0</rangeMax>
+ <distortionK1>0.00000001</distortionK1>
+ <distortionK2>0.00000001</distortionK2>
+ <distortionK3>0.00000001</distortionK3>
+ <distortionT1>0.00000001</distortionT1>
+ <distortionT2>0.00000001</distortionT2>
+ </plugin>
+ </sensor>
+
+ <!-- RGB High res-->
+ <sensor type="camera" name="${name}_high_res_frame_sensor">
+ <update_rate>30.0</update_rate>
+ <camera name="head">
+ <horizontal_fov>${60.0 * deg_to_rad}</horizontal_fov>
+ <image>
+ <width>1280</width>
+ <height>720</height>
+ <format>R8G8B8</format>
+ </image>
+ <clip>
+ <near>0.05</near>
+ <far>100</far>
+ </clip>
+ <noise>
+ <type>gaussian</type>
+ <!-- Noise is sampled independently per pixel on each frame.
+ That pixel's noise value is added to each of its color
+ channels, which at that point lie in the range [0,1]. -->
+ <mean>0.0</mean>
+ <stddev>0.007</stddev>
+ </noise>
+ </camera>
+ <plugin name="${name}_high_res_frame_controller" filename="libgazebo_ros_camera.so">
+ <alwaysOn>true</alwaysOn>
+ <!-- Patch to publish at 30 Hz -->
+ <updateRate>45.0</updateRate>
+ <cameraName>${name}/high_res</cameraName>
+ <imageTopicName>/${name}/rgb/high_res/image_raw</imageTopicName>
+ <cameraInfoTopicName>/${name}/rgb/high_res/camera_info</cameraInfoTopicName>
+ <frameName>${name}_optical_frame</frameName>
+ <hackBaseline>0.0</hackBaseline>
+ <distortionK1>0.00000001</distortionK1>
+ <distortionK2>0.00000001</distortionK2>
+ <distortionK3>0.00000001</distortionK3>
+ <distortionT1>0.00000001</distortionT1>
+ <distortionT2>0.00000001</distortionT2>
+ </plugin>
+ </sensor>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ </xacro:macro>
+</robot>
diff --git a/urdf/talos_full_collision.urdf b/urdf/talos_full_collision.urdf
deleted file mode 100644
index 100c7a1280093b2d63e98c4575ec56d69cfa1956..0000000000000000000000000000000000000000
--- a/urdf/talos_full_collision.urdf
+++ /dev/null
@@ -1,2786 +0,0 @@
-<?xml version="1.0" ?>
-<!-- =================================================================================== -->
-<!-- | This document was autogenerated by xacro from talos_full.urdf.xacro | -->
-<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
-<!-- =================================================================================== -->
-<!--
-
- Copyright (c) 2016, PAL Robotics, S.L.
- All rights reserved.
-
- This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
- To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
- Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
--->
-<robot name="talos" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:xacro="http://ros.org/wiki/xacro">
- <!--File includes-->
- <!--Constant parameters-->
- <!--File includes-->
- <!-- Macro -->
- <!--Constant parameters-->
- <!--************************-->
- <!-- HEAD_1 (TILT) -->
- <!--************************-->
- <!--************************-->
- <!-- HEAD_2 (PAN) -->
- <!--************************-->
- <!--File includes-->
- <!--File includes-->
- <!--Constant parameters-->
- <!--Constant parameters-->
- <!--File includes-->
- <!-- VIRTUAL (mimic) JOINTS -->
- <!-- 0.45deg -->
- <!--************************-->
- <!-- TORSO_2 (TILT) -->
- <!--************************-->
- <link name="torso_2_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.04551 -0.00053 0.16386"/>
- <mass value="17.55011"/>
- <inertia ixx="0.37376900000" ixy="0.00063900000" ixz="0.01219600000" iyy="0.24790200000" iyz="0.00000700000" izz="0.28140400000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/torso/torso_2.STL" scale="1 1 1"/>
- </geometry>
- <material name="LightGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/torso/torso_2_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <!--************************-->
- <!-- TORSO_1 (PAN) -->
- <!--************************-->
- <link name="torso_1_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00013 -0.00001 -0.01306"/>
- <mass value="3.02433"/>
- <inertia ixx="0.00759400000" ixy="0.00000100000" ixz="-0.00004800000" iyy="0.00429200000" iyz="-0.00000100000" izz="0.00749700000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/torso/torso_1.STL" scale="1 1 1"/>
- </geometry>
- <material name="LightGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/torso/torso_1.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="torso_1_joint" type="revolute">
- <parent link="base_link"/>
- <child link="torso_1_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0722"/>
- <axis xyz="0 0 1"/>
- <limit effort="78.0" lower="-1.308996939" upper="1.308996939" velocity="5.4"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-15.0 * deg_to_rad + torso_eps}"
- soft_upper_limit="${ 45.0 * deg_to_rad - torso_eps}" /> -->
- </joint>
- <!--************************-->
- <!-- BASE_LINK -->
- <!--************************-->
- <link name="base_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.08222 0.00838 -0.07261"/>
- <mass value="13.53810"/>
- <inertia ixx="0.06989000000" ixy="-0.00011700000" ixz="0.00023000000" iyy="0.03998200000" iyz="-0.00132500000" izz="0.08234500000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/torso/base_link.STL" scale="1 1 1"/>
- </geometry>
- <material name="LightGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/torso/base_link_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="torso_2_joint" type="revolute">
- <parent link="torso_1_link"/>
- <child link="torso_2_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
- <axis xyz="0 1 0"/>
- <limit effort="78.0" lower="-0.261799387799" upper="0.785398163397" velocity="5.4"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-75.00000 * deg_to_rad + eps_radians}"
- soft_upper_limit="${75.00000 * deg_to_rad - eps_radians}" /> -->
- </joint>
- <link name="imu_link">
- <inertial>
- <mass value="0.01"/>
- <origin xyz="0 0 0"/>
- <inertia ixx="0.000001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.000001"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <box size="0.01 0.01 0.01"/>
- </geometry>
- </visual>
- </link>
- <joint name="imu_joint" type="fixed">
- <origin rpy="3.14159265359 0 1.57079632679" xyz="0.04925 0 0.078"/>
- <parent link="torso_2_link"/>
- <child link="imu_link"/>
- </joint>
- <gazebo reference="torso_1_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="torso_2_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="base_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="torso_1_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="torso_2_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <!-- extensions -->
- <transmission name="talos_torso_trans">
- <type>transmission_interface/DifferentialTransmission</type>
- <actuator name="torso_1_motor">
- <role>actuator1</role>
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <actuator name="torso_2_motor">
- <role>actuator2</role>
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="torso_1_joint">
- <role>joint1</role>
- <offset>0.0</offset>
- <mechanicalReduction>1.0</mechanicalReduction>
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- <joint name="torso_2_joint">
- <role>joint2</role>
- <offset>0.0</offset>
- <mechanicalReduction>1.0</mechanicalReduction>
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <link name="head_1_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00120 0.00145 0.02165"/>
- <mass value="0.65988"/>
- <inertia ixx="0.00122100000" ixy="-0.00000400000" ixz="0.00007000000" iyy="0.00092400000" iyz="-0.00004100000" izz="0.00103300000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/head/head_1.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_data/meshes/head/head_1_collision.stl" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="head_1_joint" type="revolute">
- <parent link="torso_2_link"/>
- <child link="head_1_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.31600"/>
- <axis xyz="0 1 0"/>
- <limit effort="8.0" lower="-0.261799387799" upper="0.785398163397" velocity="1.0"/>
- <dynamics damping="0.5" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-15.00000 * deg_to_rad + eps_radians}"
- soft_upper_limit="${45.00000 * deg_to_rad - eps_radians}" /> -->
- </joint>
- <gazebo reference="head_1_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="head_1_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="head_1_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <link name="head_2_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.01036 -0.00037 0.13778"/>
- <mass value="1.40353"/>
- <inertia ixx="0.00722500000" ixy="-0.00002500000" ixz="0.00032900000" iyy="0.00687300000" iyz="0.00004400000" izz="0.00437300000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/head/head_2.stl" scale="1 1 1"/>
- </geometry>
- <material name="LightGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/head/head_2_collision.stl" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="head_2_joint" type="revolute">
- <parent link="head_1_link"/>
- <child link="head_2_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
- <axis xyz="0 0 1"/>
- <limit effort="4.0" lower="-1.308996939" upper="1.308996939" velocity="1.0"/>
- <dynamics damping="0.5" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-75.00000 * deg_to_rad + eps_radians}"
- soft_upper_limit="${75.00000 * deg_to_rad - eps_radians}" /> -->
- </joint>
- <gazebo reference="head_2_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="head_2_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="head_2_link">
- <material>Gazebo/White</material>
- </gazebo>
- <!-- frames in the center of the camera -->
- <joint name="rgbd_joint" type="fixed">
- <origin rpy="0 0 0" xyz="0.066 0.0 0.1982"/>
- <axis xyz="0 0 1"/>
- <!-- <limit lower="0" upper="0.001" effort="100" velocity="0.01"/> -->
- <parent link="head_2_link"/>
- <child link="rgbd_link"/>
- </joint>
- <link name="rgbd_link">
- <inertial>
- <mass value="0.01"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <!-- inertia tensor computed analytically for a solid cuboid -->
- <inertia ixx="0.000030" ixy="0.0" ixz="0.0" iyy="0.000030" iyz="0.0" izz="0.000002"/>
- </inertial>
- <!--
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/sensors/orbbec/orbbec.STL"/>
- </geometry>
- <material name="DarkGrey">
- <color rgba="0.5 0.5 0.5 1"/>
- </material>
- </visual>
- -->
- <collision>
- <origin rpy="0 0 0" xyz="-0.01 0.0025 0"/>
- <geometry>
- <box size="0.04 0.185 0.03"/>
- </geometry>
- </collision>
- </link>
- <joint name="rgbd_optical_joint" type="fixed">
- <origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
- <parent link="rgbd_link"/>
- <child link="rgbd_optical_frame"/>
- </joint>
- <link name="rgbd_optical_frame">
- <inertial>
- <mass value="0.01"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
- </link>
- <!-- frames of the depth sensor -->
- <joint name="rgbd_depth_joint" type="fixed">
- <origin rpy="0 0 0" xyz="0.0 0.03751 0.0"/>
- <parent link="rgbd_link"/>
- <child link="rgbd_depth_frame"/>
- </joint>
- <link name="rgbd_depth_frame"/>
- <joint name="rgbd_depth_optical_joint" type="fixed">
- <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
- <parent link="rgbd_depth_frame"/>
- <child link="rgbd_depth_optical_frame"/>
- </joint>
- <link name="rgbd_depth_optical_frame"/>
- <!-- frames of the rgb sensor -->
- <joint name="rgbd_rgb_joint" type="fixed">
- <origin rpy="0 0 0" xyz="0.0 0.01251 0.0"/>
- <parent link="rgbd_link"/>
- <child link="rgbd_rgb_frame"/>
- </joint>
- <link name="rgbd_rgb_frame"/>
- <joint name="rgbd_rgb_optical_joint" type="fixed">
- <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
- <parent link="rgbd_rgb_frame"/>
- <child link="rgbd_rgb_optical_frame"/>
- </joint>
- <link name="rgbd_rgb_optical_frame"/>
- <!-- extensions -->
- <gazebo reference="rgbd_link">
- <!-- IR + depth -->
- <sensor name="rgbd_frame_sensor" type="depth">
- <always_on>true</always_on>
- <update_rate>6.0</update_rate>
- <camera>
- <horizontal_fov>1.01229096616</horizontal_fov>
- <image>
- <format>R8G8B8</format>
- <width>320</width>
- <height>240</height>
- </image>
- <clip>
- <near>0.45</near>
- <far>10.0</far>
- </clip>
- </camera>
- <plugin filename="libgazebo_ros_openni_kinect.so" name="rgbd_frame_controller">
- <alwaysOn>true</alwaysOn>
- <updateRate>6.0</updateRate>
- <cameraName>rgbd</cameraName>
- <imageTopicName>ir/image_raw</imageTopicName>
- <cameraInfoTopicName>ir/camera_info</cameraInfoTopicName>
- <depthImageTopicName>depth/image_raw</depthImageTopicName>
- <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
- <pointCloudTopicName>depth/points</pointCloudTopicName>
- <frameName>rgbd_optical_frame</frameName>
- <pointCloudCutoff>0.45</pointCloudCutoff>
- <rangeMax>10.0</rangeMax>
- <distalostionK1>0.00000001</distalostionK1>
- <distalostionK2>0.00000001</distalostionK2>
- <distalostionK3>0.00000001</distalostionK3>
- <distalostionT1>0.00000001</distalostionT1>
- <distalostionT2>0.00000001</distalostionT2>
- </plugin>
- </sensor>
- <!-- RGB -->
- <sensor name="rgbd_frame_sensor" type="depth">
- <always_on>true</always_on>
- <update_rate>6.0</update_rate>
- <camera>
- <horizontal_fov>1.01229096616</horizontal_fov>
- <image>
- <format>R8G8B8</format>
- <width>320</width>
- <height>240</height>
- </image>
- <clip>
- <near>0.45</near>
- <far>10.0</far>
- </clip>
- </camera>
- <plugin filename="libgazebo_ros_openni_kinect.so" name="rgbd_frame_controller">
- <alwaysOn>true</alwaysOn>
- <updateRate>6.0</updateRate>
- <cameraName>rgbd</cameraName>
- <imageTopicName>rgb/image_raw</imageTopicName>
- <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
- <pointCloudTopicName>rgb/points</pointCloudTopicName>
- <frameName>rgbd_optical_frame</frameName>
- <pointCloudCutoff>0.45</pointCloudCutoff>
- <rangeMax>10.0</rangeMax>
- <distalostionK1>0.00000001</distalostionK1>
- <distalostionK2>0.00000001</distalostionK2>
- <distalostionK3>0.00000001</distalostionK3>
- <distalostionT1>0.00000001</distalostionT1>
- <distalostionT2>0.00000001</distalostionT2>
- </plugin>
- </sensor>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <transmission name="talos_trans">
- <type>transmission_interface/HalfDifferentialTransmission</type>
- <actuator name="head_1_motor">
- <role>actuator1</role>
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <actuator name="head_2_motor">
- <role>actuator2</role>
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="head_1_joint">
- <role>joint1</role>
- <offset>0.0</offset>
- <mechanicalReduction>1.0</mechanicalReduction>
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- <joint name="head_2_joint">
- <role>joint2</role>
- <offset>0.0</offset>
- <mechanicalReduction>2.0</mechanicalReduction>
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <!--************************-->
- <!-- SHOULDER -->
- <!--************************-->
- <link name="arm_left_1_link">
- <!-- TODO: Missing reflects of inertias -->
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.01346 0.0913 0.04812"/>
- <!-- <mass value="1.52896"/> -->
- <mass value="1.42896"/>
- <inertia ixx="0.00555100000" ixy="-0.00073100000" ixz="0.00000800000" iyy="0.00167300000" iyz="-0.00006000000" izz="0.00582200000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_1_collision.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_data/meshes/arm/arm_1_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_left_1_joint" type="revolute">
- <parent link="torso_2_link"/>
- <child link="arm_left_1_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.1575 0.23200"/>
- <axis xyz="0 0 1"/>
- <limit effort="44.64" lower="-1.57079632679" upper="0.523598775598" velocity="2.7"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-90.00000 * deg_to_rad + arm_eps}"
- soft_upper_limit="${30.00000 * deg_to_rad - arm_eps}" /> -->
- </joint>
- <link name="arm_left_2_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.02607 0.00049 -0.05209"/>
- <!-- <mass value="1.77729"/> -->
- <mass value="1.67729"/>
- <inertia ixx="0.00708700000" ixy="-0.00001400000" ixz="0.00214200000" iyy="0.00793600000" iyz="0.00003000000" izz="0.00378800000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_2_collision.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_2_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_left_2_joint" type="revolute">
- <parent link="arm_left_1_link"/>
- <child link="arm_left_2_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00493 0.1365 0.04673"/>
- <axis xyz="1 0 0"/>
- <limit effort="22.32" lower="0.0" upper="2.87979326579" velocity="3.66"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${0.00000 * deg_to_rad + arm_eps}"
- soft_upper_limit="${165.00000 * deg_to_rad - arm_eps}" /> -->
- </joint>
- <link name="arm_left_3_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00841 0.01428 -0.22291"/>
- <!-- <mass value="1.57029"/> -->
- <mass value="1.47029"/>
- <inertia ixx="0.00433200000" ixy="0.00015300000" ixz="-0.00049600000" iyy="0.00434000000" iyz="-0.00060900000" izz="0.00254300000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_3_collision.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_3_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_left_3_joint" type="revolute">
- <parent link="arm_left_2_link"/>
- <child link="arm_left_3_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
- <axis xyz="0 0 1"/>
- <limit effort="17.86" lower="-2.44346095279" upper="2.44346095279" velocity="4.58"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-140.0 * deg_to_rad + arm_eps}"
- soft_upper_limit="${140.0 * deg_to_rad - arm_eps}" /> -->
- </joint>
- <!--************************-->
- <!-- ELBOW -->
- <!--************************-->
- <link name="arm_left_4_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00655 -0.02107 -0.02612"/>
- <!-- <mass value="1.20216"/> -->
- <mass value="1.10216"/>
- <inertia ixx="0.00221700000" ixy="-0.00010100000" ixz="0.00028800000" iyy="0.00241800000" iyz="-0.00039300000" izz="0.00111500000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_4_collision.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_4_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_left_4_joint" type="revolute">
- <parent link="arm_left_3_link"/>
- <child link="arm_left_4_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.02000 0.00000 -0.27300"/>
- <axis xyz="0 1 0"/>
- <limit effort="17.86" lower="-2.35619449019" upper="0.0" velocity="4.58"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-135.0 * deg_to_rad + arm_eps}"
- soft_upper_limit="${0.0 * deg_to_rad - arm_eps}" /> -->
- </joint>
- <gazebo reference="arm_left_1_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="arm_left_2_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="arm_left_3_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="arm_left_4_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="arm_left_1_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="arm_left_2_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="arm_left_3_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="arm_left_4_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <!--************************-->
- <!-- WRIST -->
- <!--************************-->
- <!--************************-->
- <!-- WRIST -->
- <!--************************-->
- <link name="arm_left_5_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00006 0.00326 0.07963"/>
- <!-- <mass value="1.87792"/> -->
- <mass value="1.77792"/>
- <inertia ixx="0.00349500000" ixy="-0.00001300000" ixz="-0.00001000000" iyy="0.00436800000" iyz="0.00009700000" izz="0.00228300000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_5_collision.STL" scale="1 1 1"/>
- </geometry>
- <material name="LightGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_5_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_left_5_joint" type="revolute">
- <parent link="arm_left_4_link"/>
- <child link="arm_left_5_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="-0.02000 0.00000 -0.26430"/>
- <axis xyz="0 0 1"/>
- <limit effort="3" lower="-2.53072741539" upper="2.53072741539" velocity="1.95"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-145.00000 * deg_to_rad + wrist_eps}"
- soft_upper_limit="${145.00000 * deg_to_rad - wrist_eps}" /> -->
- </joint>
- <link name="arm_left_6_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00002 -0.00197 -0.00059"/>
- <!-- <mass value="0.40931"/> -->
- <mass value="0.30931"/>
- <inertia ixx="0.00010700000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00014100000" iyz="-0.00000000000" izz="0.00015400000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_6_collision.STL" scale="1 1 1"/>
- </geometry>
- <material name="LightGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_6_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_left_6_joint" type="revolute">
- <parent link="arm_left_5_link"/>
- <child link="arm_left_6_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
- <axis xyz="1 0 0"/>
- <limit effort="6.6" lower="-1.3962634016" upper="1.3962634016" velocity="1.76"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-80.00000 * deg_to_rad + eps_radians}"
- soft_upper_limit="${80.00000 * deg_to_rad - eps_radians}" /> -->
- </joint>
- <link name="arm_left_7_link">
- <!-- WRONG VALUES
- <inertial>
- <origin xyz="-0.00089 0.00365 -0.07824" rpy="0.00000 0.00000 0.00000"/>
- <mass value="1.02604"/>
- <inertia ixx="0.00151400000" ixy="0.00000600000" ixz="0.00006600000"
- iyy="0.00146400000" iyz="0.00001200000"
- izz="0.00090300000"/>
- </inertial>
- -->
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.007525 0.001378 -0.024630"/>
- <mass value="0.308441"/>
- <inertia ixx="0.000309" ixy="0.000002" ixz="-0.000002" iyy="0.000219" iyz="0.000012" izz="0.000176"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_7.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_7_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_left_7_joint" type="revolute">
- <parent link="arm_left_6_link"/>
- <child link="arm_left_7_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
- <axis xyz="0 1 0"/>
- <limit effort="6.6" lower="-0.698131700798" upper="0.698131700798" velocity="1.76"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-40.00000 * deg_to_rad + eps_radians}"
- soft_upper_limit="${40.00000 * deg_to_rad - eps_radians}" /> -->
- </joint>
- <gazebo reference="arm_left_5_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="arm_left_6_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="arm_left_7_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="arm_left_5_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="arm_left_6_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="arm_left_7_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <!-- extensions -->
- <transmission name="arm_left_5_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="arm_left_5_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_left_5_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="wrist_left_trans">
- <type>transmission_interface/DifferentialTransmission</type>
- <actuator name="arm_left_6_motor">
- <role>actuator1</role>
- <mechanicalReduction>-1.0</mechanicalReduction>
- </actuator>
- <actuator name="arm_left_7_motor">
- <role>actuator2</role>
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_left_6_joint">
- <role>joint1</role>
- <offset>0.0</offset>
- <mechanicalReduction>-1.0</mechanicalReduction>
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- <joint name="arm_left_7_joint">
- <role>joint2</role>
- <offset>0.0</offset>
- <mechanicalReduction>-1.0</mechanicalReduction>
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <!-- extensions -->
- <transmission name="arm_left_1_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="arm_left_1_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_left_1_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="arm_left_2_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="arm_left_2_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_left_2_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="arm_left_3_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="arm_left_3_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_left_3_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="arm_left_4_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="arm_left_4_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_left_4_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <!--************************-->
- <!-- SHOULDER -->
- <!--************************-->
- <link name="arm_right_1_link">
- <!-- TODO: Missing reflects of inertias -->
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.01346 -0.0913 0.04812"/>
- <!-- <mass value="1.52896"/> -->
- <mass value="1.42896"/>
- <inertia ixx="0.00555100000" ixy="-0.00073100000" ixz="0.00000800000" iyy="0.00167300000" iyz="-0.00006000000" izz="0.00582200000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_1_collision.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_data/meshes/arm/arm_1_collision.STL" scale="1 -1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_right_1_joint" type="revolute">
- <parent link="torso_2_link"/>
- <child link="arm_right_1_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 -0.1575 0.23200"/>
- <axis xyz="0 0 1"/>
- <limit effort="44.64" lower="-0.523598775598" upper="1.57079632679" velocity="2.7"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-90.00000 * deg_to_rad + arm_eps}"
- soft_upper_limit="${30.00000 * deg_to_rad - arm_eps}" /> -->
- </joint>
- <link name="arm_right_2_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.02607 0.00049 -0.05209"/>
- <!-- <mass value="1.77729"/> -->
- <mass value="1.67729"/>
- <inertia ixx="0.00708700000" ixy="-0.00001400000" ixz="0.00214200000" iyy="0.00793600000" iyz="0.00003000000" izz="0.00378800000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_2_collision.STL" scale="1 -1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_2_collision.STL" scale="1 -1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_right_2_joint" type="revolute">
- <parent link="arm_right_1_link"/>
- <child link="arm_right_2_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00493 -0.1365 0.04673"/>
- <axis xyz="1 0 0"/>
- <limit effort="22.32" lower="-2.87979326579" upper="0.0" velocity="3.66"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${0.00000 * deg_to_rad + arm_eps}"
- soft_upper_limit="${165.00000 * deg_to_rad - arm_eps}" /> -->
- </joint>
- <link name="arm_right_3_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00841 0.01428 -0.22291"/>
- <!-- <mass value="1.57029"/> -->
- <mass value="1.47029"/>
- <inertia ixx="0.00433200000" ixy="0.00015300000" ixz="-0.00049600000" iyy="0.00434000000" iyz="-0.00060900000" izz="0.00254300000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_3_collision.STL" scale="1 -1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_3_collision.STL" scale="1 -1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_right_3_joint" type="revolute">
- <parent link="arm_right_2_link"/>
- <child link="arm_right_3_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
- <axis xyz="0 0 1"/>
- <limit effort="17.86" lower="-2.44346095279" upper="2.44346095279" velocity="4.58"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-140.0 * deg_to_rad + arm_eps}"
- soft_upper_limit="${140.0 * deg_to_rad - arm_eps}" /> -->
- </joint>
- <!--************************-->
- <!-- ELBOW -->
- <!--************************-->
- <link name="arm_right_4_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00655 -0.02107 -0.02612"/>
- <!-- <mass value="1.20216"/> -->
- <mass value="1.10216"/>
- <inertia ixx="0.00221700000" ixy="-0.00010100000" ixz="0.00028800000" iyy="0.00241800000" iyz="-0.00039300000" izz="0.00111500000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_4_collision.STL" scale="1 -1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_4_collision.STL" scale="1 -1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_right_4_joint" type="revolute">
- <parent link="arm_right_3_link"/>
- <child link="arm_right_4_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.02000 0.00000 -0.27300"/>
- <axis xyz="0 1 0"/>
- <limit effort="17.86" lower="-2.35619449019" upper="0.0" velocity="4.58"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-135.0 * deg_to_rad + arm_eps}"
- soft_upper_limit="${0.0 * deg_to_rad - arm_eps}" /> -->
- </joint>
- <gazebo reference="arm_right_1_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="arm_right_2_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="arm_right_3_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="arm_right_4_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="arm_right_1_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="arm_right_2_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="arm_right_3_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="arm_right_4_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <!--************************-->
- <!-- WRIST -->
- <!--************************-->
- <!--************************-->
- <!-- WRIST -->
- <!--************************-->
- <link name="arm_right_5_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00006 0.00326 0.07963"/>
- <!-- <mass value="1.87792"/> -->
- <mass value="1.77792"/>
- <inertia ixx="0.00349500000" ixy="-0.00001300000" ixz="-0.00001000000" iyy="0.00436800000" iyz="0.00009700000" izz="0.00228300000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_5_collision.STL" scale="1 -1 1"/>
- </geometry>
- <material name="LightGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_5_collision.STL" scale="1 -1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_right_5_joint" type="revolute">
- <parent link="arm_right_4_link"/>
- <child link="arm_right_5_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="-0.02000 0.00000 -0.26430"/>
- <axis xyz="0 0 1"/>
- <limit effort="3" lower="-2.53072741539" upper="2.53072741539" velocity="1.95"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-145.00000 * deg_to_rad + wrist_eps}"
- soft_upper_limit="${145.00000 * deg_to_rad - wrist_eps}" /> -->
- </joint>
- <link name="arm_right_6_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00002 -0.00197 -0.00059"/>
- <!-- <mass value="0.40931"/> -->
- <mass value="0.30931"/>
- <inertia ixx="0.00010700000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00014100000" iyz="-0.00000000000" izz="0.00015400000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_6_collision.STL" scale="1 -1 1"/>
- </geometry>
- <material name="LightGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_6_collision.STL" scale="1 -1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_right_6_joint" type="revolute">
- <parent link="arm_right_5_link"/>
- <child link="arm_right_6_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
- <axis xyz="1 0 0"/>
- <limit effort="6.6" lower="-1.3962634016" upper="1.3962634016" velocity="1.76"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-80.00000 * deg_to_rad + eps_radians}"
- soft_upper_limit="${80.00000 * deg_to_rad - eps_radians}" /> -->
- </joint>
- <link name="arm_right_7_link">
- <!-- WRONG VALUES
- <inertial>
- <origin xyz="-0.00089 0.00365 -0.07824" rpy="0.00000 0.00000 0.00000"/>
- <mass value="1.02604"/>
- <inertia ixx="0.00151400000" ixy="0.00000600000" ixz="0.00006600000"
- iyy="0.00146400000" iyz="0.00001200000"
- izz="0.00090300000"/>
- </inertial>
- -->
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.007525 0.001378 -0.024630"/>
- <mass value="0.308441"/>
- <inertia ixx="0.000309" ixy="0.000002" ixz="-0.000002" iyy="0.000219" iyz="0.000012" izz="0.000176"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_7_collision.STL" scale="1 -1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_7_collision.STL" scale="1 -1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_right_7_joint" type="revolute">
- <parent link="arm_right_6_link"/>
- <child link="arm_right_7_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
- <axis xyz="0 1 0"/>
- <limit effort="6.6" lower="-0.698131700798" upper="0.698131700798" velocity="1.76"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-40.00000 * deg_to_rad + eps_radians}"
- soft_upper_limit="${40.00000 * deg_to_rad - eps_radians}" /> -->
- </joint>
- <gazebo reference="arm_right_5_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="arm_right_6_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="arm_right_7_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="arm_right_5_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="arm_right_6_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="arm_right_7_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <!-- extensions -->
- <transmission name="arm_right_5_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="arm_right_5_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_right_5_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="wrist_right_trans">
- <type>transmission_interface/DifferentialTransmission</type>
- <actuator name="arm_right_6_motor">
- <role>actuator1</role>
- <mechanicalReduction>-1.0</mechanicalReduction>
- </actuator>
- <actuator name="arm_right_7_motor">
- <role>actuator2</role>
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_right_6_joint">
- <role>joint1</role>
- <offset>0.0</offset>
- <mechanicalReduction>-1.0</mechanicalReduction>
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- <joint name="arm_right_7_joint">
- <role>joint2</role>
- <offset>0.0</offset>
- <mechanicalReduction>1.0</mechanicalReduction>
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <!-- extensions -->
- <transmission name="arm_right_1_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="arm_right_1_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_right_1_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="arm_right_2_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="arm_right_2_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_right_2_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="arm_right_3_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="arm_right_3_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_right_3_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="arm_right_4_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="arm_right_4_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_right_4_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <!--************************-->
- <!-- ft sensor -->
- <!--************************-->
- <link name="wrist_right_ft_link">
- <inertial>
- <mass value="0.1"/>
- <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <cylinder length="0.0157" radius="0.0225"/>
- </geometry>
- <material name="LightGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <cylinder length="0.0157" radius="0.0225"/>
- </geometry>
- </collision>
- </link>
- <joint name="wrist_right_ft_joint" type="fixed">
- <parent link="arm_right_7_link"/>
- <child link="wrist_right_ft_link"/>
- <origin rpy="0.0 0 -1.57079632679" xyz="0 0 -0.051"/>
- </joint>
- <!--***********************-->
- <!-- FT TOOL -->
- <!--***********************-->
- <link name="wrist_right_ft_tool_link">
- <inertial>
- <mass value="0.1"/>
- <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
- <visual>
- <origin rpy="0 0.0 0" xyz="0.0 0 0"/>
- <geometry>
- <cylinder length="0.00975" radius="0.025"/>
- </geometry>
- <material name="FlatBlack"/>
- </visual>
- <collision>
- <origin rpy="0 0.0 0" xyz="0.0 0 0"/>
- <geometry>
- <cylinder length="0.00975" radius="0.025"/>
- </geometry>
- </collision>
- </link>
- <joint name="wrist_right_tool_joint" type="fixed">
- <parent link="wrist_right_ft_link"/>
- <child link="wrist_right_ft_tool_link"/>
- <origin rpy="0 0 -1.57079632679" xyz="0 0 -0.012725"/>
- </joint>
- <!--************************-->
- <!-- ft sensor -->
- <!--************************-->
- <link name="wrist_left_ft_link">
- <inertial>
- <mass value="0.1"/>
- <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <cylinder length="0.0157" radius="0.0225"/>
- </geometry>
- <material name="LightGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <cylinder length="0.0157" radius="0.0225"/>
- </geometry>
- </collision>
- </link>
- <joint name="wrist_left_ft_joint" type="fixed">
- <parent link="arm_left_7_link"/>
- <child link="wrist_left_ft_link"/>
- <origin rpy="0.0 0 -4.71238898038" xyz="0 0 -0.051"/>
- </joint>
- <!--***********************-->
- <!-- FT TOOL -->
- <!--***********************-->
- <link name="wrist_left_ft_tool_link">
- <inertial>
- <mass value="0.1"/>
- <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
- <visual>
- <origin rpy="0 0.0 0" xyz="0.0 0 0"/>
- <geometry>
- <cylinder length="0.00975" radius="0.025"/>
- </geometry>
- <material name="FlatBlack"/>
- </visual>
- <collision>
- <origin rpy="0 0.0 0" xyz="0.0 0 0"/>
- <geometry>
- <cylinder length="0.00975" radius="0.025"/>
- </geometry>
- </collision>
- </link>
- <joint name="wrist_left_tool_joint" type="fixed">
- <parent link="wrist_left_ft_link"/>
- <child link="wrist_left_ft_tool_link"/>
- <origin rpy="0 0 4.71238898038" xyz="0 0 -0.012725"/>
- </joint>
- <link name="gripper_left_base_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00534 0.00362 -0.02357"/>
- <mass value="0.61585"/>
- <inertia ixx="0.00047200000" ixy="-0.00000800000" ixz="0.00003500000" iyy="0.00052100000" iyz="0.00000000000" izz="0.00069000000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/base_link.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_left_base_link_joint" type="fixed">
- <parent link="wrist_left_ft_tool_link"/>
- <child link="gripper_left_base_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.02875"/>
- <axis xyz="0 0 0"/>
- </joint>
- <link name="gripper_left_motor_double_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.02270 0.01781 -0.00977"/>
- <mass value="0.16889"/>
- <!-- In order for Gazebo not to explode we needed to add these 0.001 values to the diagonal,
- also the tool pal_dynamics InertiaMassVisualization gave NaN on the computation of the inertia box -->
- <inertia ixx="0.001159" ixy="-0.00007000000" ixz="0.00003800000" iyy="0.001221" iyz="-0.00005300000" izz="0.001268"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
- </geometry>
- <material name="Orange"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_left_joint" type="revolute">
- <parent link="gripper_left_base_link"/>
- <child link="gripper_left_motor_double_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.02025 -0.03"/>
- <axis xyz="1 0 0"/>
- <limit effort="1.0" lower="-1.0471975512" upper="0.0" velocity="1.0"/>
- <dynamics damping="1.0" friction="1.0"/>
- </joint>
- <link name="gripper_left_inner_double_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00056 0.03358 -0.01741"/>
- <mass value="0.11922"/>
- <inertia ixx="0.00009100000" ixy="0.00000100000" ixz="-0.00000100000" iyy="0.00015600000" iyz="-0.00003200000" izz="0.00012600000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
- </geometry>
- <material name="Orange"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_left_inner_double_joint" type="revolute">
- <parent link="gripper_left_base_link"/>
- <child link="gripper_left_inner_double_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00525 -0.05598"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="-1.0471975512" upper="0.0" velocity="1.0"/>
- <mimic joint="gripper_left_joint" multiplier="1.0" offset="0.0"/>
- </joint>
- <link name="gripper_left_fingertip_1_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
- <mass value="0.02630"/>
- <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_left_fingertip_1_joint" type="revolute">
- <parent link="gripper_left_inner_double_link"/>
- <child link="gripper_left_fingertip_1_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.03200 0.04589 -0.06553"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
- <mimic joint="gripper_left_joint" multiplier="-1.0" offset="0.0"/>
- </joint>
- <link name="gripper_left_fingertip_2_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
- <mass value="0.02630"/>
- <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_left_fingertip_2_joint" type="revolute">
- <parent link="gripper_left_inner_double_link"/>
- <child link="gripper_left_fingertip_2_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="-0.03200 0.04589 -0.06553"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
- <mimic joint="gripper_left_joint" multiplier="-1.0" offset="0.0"/>
- </joint>
- <link name="gripper_left_motor_single_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.02589 -0.01284 -0.00640"/>
- <mass value="0.14765"/>
- <inertia ixx="0.00011500000" ixy="0.00005200000" ixz="0.00002500000" iyy="0.00015300000" iyz="0.00003400000" izz="0.00019000000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
- </geometry>
- <material name="Orange"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_left_motor_single_joint" type="revolute">
- <parent link="gripper_left_base_link"/>
- <child link="gripper_left_motor_single_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 -0.02025 -0.03000"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
- <mimic joint="gripper_left_joint" multiplier="-1.0" offset="0.0"/>
- </joint>
- <link name="gripper_left_inner_single_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 -0.03253 -0.01883"/>
- <mass value="0.05356"/>
- <inertia ixx="0.00004700000" ixy="-0.00000000000" ixz="-0.00000000000" iyy="0.00003500000" iyz="0.00001700000" izz="0.00002400000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
- </geometry>
- <material name="Orange"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_left_inner_single_joint" type="revolute">
- <parent link="gripper_left_base_link"/>
- <child link="gripper_left_inner_single_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 -0.00525 -0.05598"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
- <mimic joint="gripper_left_joint" multiplier="-1.0" offset="0.0"/>
- </joint>
- <link name="gripper_left_fingertip_3_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
- <mass value="0.02630"/>
- <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_left_fingertip_3_joint" type="revolute">
- <parent link="gripper_left_inner_single_link"/>
- <child link="gripper_left_fingertip_3_link"/>
- <origin rpy="0.0 0.0 3.14159265359" xyz="0.00000 -0.04589 -0.06553"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
- <mimic joint="gripper_left_joint" multiplier="-1.0" offset="0.0"/>
- </joint>
- <gazebo>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_inner_double_joint">
- <joint>gripper_left_joint</joint>
- <mimicJoint>gripper_left_inner_double_joint</mimicJoint>
- <multiplier>1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_fingertip_1_joint">
- <joint>gripper_left_joint</joint>
- <mimicJoint>gripper_left_fingertip_1_joint</mimicJoint>
- <multiplier>-1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_fingertip_2_joint">
- <joint>gripper_left_joint</joint>
- <mimicJoint>gripper_left_fingertip_2_joint</mimicJoint>
- <multiplier>-1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_inner_single_joint">
- <joint>gripper_left_joint</joint>
- <mimicJoint>gripper_left_inner_single_joint</mimicJoint>
- <multiplier>-1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_motor_single_joint">
- <joint>gripper_left_joint</joint>
- <mimicJoint>gripper_left_motor_single_joint</mimicJoint>
- <multiplier>-1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_fingertip_3_joint">
- <joint>gripper_left_joint</joint>
- <mimicJoint>gripper_left_fingertip_3_joint</mimicJoint>
- <multiplier>-1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- </gazebo>
- <!-- <plugin filename="libgazebo_underactuated_finger.so" name="gazebo_${name}_underactuated">
- <actuatedJoint>${name}_joint</actuatedJoint>
- <virtualJoint>
- <name>${name}_inner_double_joint</name>
- <scale_factor>1.0</scale_factor>
- </virtualJoint> -->
- <!-- <virtualJoint>
- <name>${name}_fingertip_1_joint</name>
- <scale_factor>-1.0</scale_factor>
- </virtualJoint>
- <virtualJoint>
- <name>${name}_fingertip_2_joint</name>
- <scale_factor>-1.0</scale_factor>
- </virtualJoint>
- <virtualJoint>
- <name>${name}_motor_single_joint</name>
- <scale_factor>1.0</scale_factor>
- </virtualJoint>
- <virtualJoint>
- <name>${name}_fingertip_3_joint</name>
- <scale_factor>-1.0</scale_factor>
- </virtualJoint> -->
- <!-- </plugin> -->
- <gazebo reference="gripper_left_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_left_inner_double_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_left_fingertip_1_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_left_fingertip_2_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_left_motor_single_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_left_fingertip_3_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_left_base_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="gripper_left_motor_double_link">
- <material>Gazebo/Orange</material>
- </gazebo>
- <gazebo reference="gripper_left_inner_double_link">
- <material>Gazebo/Orange</material>
- </gazebo>
- <gazebo reference="gripper_left_fingertip_1_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="gripper_left_motor_single_link">
- <material>Gazebo/Orange</material>
- </gazebo>
- <gazebo reference="gripper_left_inner_single_link">
- <material>Gazebo/Orange</material>
- </gazebo>
- <gazebo reference="gripper_left_fingertip_2_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="gripper_left_fingertip_3_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <transmission name="gripper_left_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="gripper_left_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="gripper_left_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <!-- virtual mimic joints -->
- <!-- <xacro:gripper_virtual_transmission name="${name}_inner_double" reduction="1.0"/>
- <xacro:gripper_virtual_transmission name="${name}_fingertip_1" reduction="1.0"/>
- <xacro:gripper_virtual_transmission name="${name}_fingertip_2" reduction="1.0"/>
- <xacro:gripper_virtual_transmission name="${name}_inner_single" reduction="1.0"/>
- <xacro:gripper_virtual_transmission name="${name}_motor_single" reduction="1.0"/>
- <xacro:gripper_virtual_transmission name="${name}_fingertip_3" reduction="1.0"/> -->
- <link name="gripper_right_base_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00534 0.00362 -0.02357"/>
- <mass value="0.61585"/>
- <inertia ixx="0.00047200000" ixy="-0.00000800000" ixz="0.00003500000" iyy="0.00052100000" iyz="0.00000000000" izz="0.00069000000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/base_link.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_right_base_link_joint" type="fixed">
- <parent link="wrist_right_ft_tool_link"/>
- <child link="gripper_right_base_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.02875"/>
- <axis xyz="0 0 0"/>
- </joint>
- <link name="gripper_right_motor_double_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.02270 0.01781 -0.00977"/>
- <mass value="0.16889"/>
- <!-- In order for Gazebo not to explode we needed to add these 0.001 values to the diagonal,
- also the tool pal_dynamics InertiaMassVisualization gave NaN on the computation of the inertia box -->
- <inertia ixx="0.001159" ixy="-0.00007000000" ixz="0.00003800000" iyy="0.001221" iyz="-0.00005300000" izz="0.001268"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
- </geometry>
- <material name="Orange"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_right_joint" type="revolute">
- <parent link="gripper_right_base_link"/>
- <child link="gripper_right_motor_double_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.02025 -0.03"/>
- <axis xyz="1 0 0"/>
- <limit effort="1.0" lower="-1.0471975512" upper="0.0" velocity="1.0"/>
- <dynamics damping="1.0" friction="1.0"/>
- </joint>
- <link name="gripper_right_inner_double_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00056 0.03358 -0.01741"/>
- <mass value="0.11922"/>
- <inertia ixx="0.00009100000" ixy="0.00000100000" ixz="-0.00000100000" iyy="0.00015600000" iyz="-0.00003200000" izz="0.00012600000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
- </geometry>
- <material name="Orange"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_right_inner_double_joint" type="revolute">
- <parent link="gripper_right_base_link"/>
- <child link="gripper_right_inner_double_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00525 -0.05598"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="-1.0471975512" upper="0.0" velocity="1.0"/>
- <mimic joint="gripper_right_joint" multiplier="1.0" offset="0.0"/>
- </joint>
- <link name="gripper_right_fingertip_1_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
- <mass value="0.02630"/>
- <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_right_fingertip_1_joint" type="revolute">
- <parent link="gripper_right_inner_double_link"/>
- <child link="gripper_right_fingertip_1_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.03200 0.04589 -0.06553"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
- <mimic joint="gripper_right_joint" multiplier="-1.0" offset="0.0"/>
- </joint>
- <link name="gripper_right_fingertip_2_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
- <mass value="0.02630"/>
- <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_right_fingertip_2_joint" type="revolute">
- <parent link="gripper_right_inner_double_link"/>
- <child link="gripper_right_fingertip_2_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="-0.03200 0.04589 -0.06553"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
- <mimic joint="gripper_right_joint" multiplier="-1.0" offset="0.0"/>
- </joint>
- <link name="gripper_right_motor_single_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.02589 -0.01284 -0.00640"/>
- <mass value="0.14765"/>
- <inertia ixx="0.00011500000" ixy="0.00005200000" ixz="0.00002500000" iyy="0.00015300000" iyz="0.00003400000" izz="0.00019000000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
- </geometry>
- <material name="Orange"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_right_motor_single_joint" type="revolute">
- <parent link="gripper_right_base_link"/>
- <child link="gripper_right_motor_single_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 -0.02025 -0.03000"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
- <mimic joint="gripper_right_joint" multiplier="-1.0" offset="0.0"/>
- </joint>
- <link name="gripper_right_inner_single_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 -0.03253 -0.01883"/>
- <mass value="0.05356"/>
- <inertia ixx="0.00004700000" ixy="-0.00000000000" ixz="-0.00000000000" iyy="0.00003500000" iyz="0.00001700000" izz="0.00002400000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
- </geometry>
- <material name="Orange"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_right_inner_single_joint" type="revolute">
- <parent link="gripper_right_base_link"/>
- <child link="gripper_right_inner_single_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 -0.00525 -0.05598"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
- <mimic joint="gripper_right_joint" multiplier="-1.0" offset="0.0"/>
- </joint>
- <link name="gripper_right_fingertip_3_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
- <mass value="0.02630"/>
- <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_right_fingertip_3_joint" type="revolute">
- <parent link="gripper_right_inner_single_link"/>
- <child link="gripper_right_fingertip_3_link"/>
- <origin rpy="0.0 0.0 3.14159265359" xyz="0.00000 -0.04589 -0.06553"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
- <mimic joint="gripper_right_joint" multiplier="-1.0" offset="0.0"/>
- </joint>
- <gazebo>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_inner_double_joint">
- <joint>gripper_right_joint</joint>
- <mimicJoint>gripper_right_inner_double_joint</mimicJoint>
- <multiplier>1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_fingertip_1_joint">
- <joint>gripper_right_joint</joint>
- <mimicJoint>gripper_right_fingertip_1_joint</mimicJoint>
- <multiplier>-1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_fingertip_2_joint">
- <joint>gripper_right_joint</joint>
- <mimicJoint>gripper_right_fingertip_2_joint</mimicJoint>
- <multiplier>-1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_inner_single_joint">
- <joint>gripper_right_joint</joint>
- <mimicJoint>gripper_right_inner_single_joint</mimicJoint>
- <multiplier>-1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_motor_single_joint">
- <joint>gripper_right_joint</joint>
- <mimicJoint>gripper_right_motor_single_joint</mimicJoint>
- <multiplier>-1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_fingertip_3_joint">
- <joint>gripper_right_joint</joint>
- <mimicJoint>gripper_right_fingertip_3_joint</mimicJoint>
- <multiplier>-1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- </gazebo>
- <!-- <plugin filename="libgazebo_underactuated_finger.so" name="gazebo_${name}_underactuated">
- <actuatedJoint>${name}_joint</actuatedJoint>
- <virtualJoint>
- <name>${name}_inner_double_joint</name>
- <scale_factor>1.0</scale_factor>
- </virtualJoint> -->
- <!-- <virtualJoint>
- <name>${name}_fingertip_1_joint</name>
- <scale_factor>-1.0</scale_factor>
- </virtualJoint>
- <virtualJoint>
- <name>${name}_fingertip_2_joint</name>
- <scale_factor>-1.0</scale_factor>
- </virtualJoint>
- <virtualJoint>
- <name>${name}_motor_single_joint</name>
- <scale_factor>1.0</scale_factor>
- </virtualJoint>
- <virtualJoint>
- <name>${name}_fingertip_3_joint</name>
- <scale_factor>-1.0</scale_factor>
- </virtualJoint> -->
- <!-- </plugin> -->
- <gazebo reference="gripper_right_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_right_inner_double_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_right_fingertip_1_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_right_fingertip_2_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_right_motor_single_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_right_fingertip_3_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_right_base_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="gripper_right_motor_double_link">
- <material>Gazebo/Orange</material>
- </gazebo>
- <gazebo reference="gripper_right_inner_double_link">
- <material>Gazebo/Orange</material>
- </gazebo>
- <gazebo reference="gripper_right_fingertip_1_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="gripper_right_motor_single_link">
- <material>Gazebo/Orange</material>
- </gazebo>
- <gazebo reference="gripper_right_inner_single_link">
- <material>Gazebo/Orange</material>
- </gazebo>
- <gazebo reference="gripper_right_fingertip_2_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="gripper_right_fingertip_3_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <transmission name="gripper_right_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="gripper_right_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="gripper_right_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <!-- virtual mimic joints -->
- <!-- <xacro:gripper_virtual_transmission name="${name}_inner_double" reduction="1.0"/>
- <xacro:gripper_virtual_transmission name="${name}_fingertip_1" reduction="1.0"/>
- <xacro:gripper_virtual_transmission name="${name}_fingertip_2" reduction="1.0"/>
- <xacro:gripper_virtual_transmission name="${name}_inner_single" reduction="1.0"/>
- <xacro:gripper_virtual_transmission name="${name}_motor_single" reduction="1.0"/>
- <xacro:gripper_virtual_transmission name="${name}_fingertip_3" reduction="1.0"/> -->
- <!-- Joint hip_z (mesh link) : child link hip_x -> parent link base_link -->
- <link name="leg_left_1_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.02320 -0.00009 0.04949"/>
- <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_data/meshes/v2/hip_z_lo_res.stl" scale="1 1.0 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_z_collision.stl" scale="1 1.0 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_left_1_joint" type="revolute">
- <parent link="base_link"/>
- <child link="leg_left_1_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="-0.02 0.085 -0.27105"/>
- <axis xyz="0 0 1"/>
- <limit effort="100" lower="-0.349065850399" upper="1.57079632679" velocity="3.87"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- Joint hip_x (mesh link) : child link hip_y -> parent link hip_z -->
- <link name="leg_left_2_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.01583 -0.00021 0.00619"/>
- <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 rpy="0 0 0" xyz="0 0 0.0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_x_lo_res.stl" scale="1 1.0 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0.0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_x_collision.stl" scale="1 1.0 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_left_2_joint" type="revolute">
- <parent link="leg_left_1_link"/>
- <child link="leg_left_2_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
- <axis xyz="1 0 0"/>
- <limit effort="160" lower="-0.5236" upper="0.5236" velocity="5.8"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- Joint hip_y (mesh link) : child link knee -> parent link hip_x -->
- <link name="leg_left_3_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00658 0.06563 -0.17278"/>
- <mass value="6.82734"/>
- <inertia ixx="0.12390600000" ixy="-0.000412" ixz="-0.00205900000" iyy="0.10844700000" iyz="0.016725" izz="0.02781200000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_y_lo_res.stl" scale="1 1.0 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_y_collision.stl" scale="1 1.0 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_left_3_joint" type="revolute">
- <parent link="leg_left_2_link"/>
- <child link="leg_left_3_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
- <axis xyz="0 1 0"/>
- <limit effort="160" lower="-2.095" upper="0.7" velocity="5.8"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- Joint knee (mesh link) : child link ankle_y -> parent link hip_y -->
- <link name="leg_left_4_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.01520 0.02331 -0.12063"/>
- <mass value="3.63668"/>
- <inertia ixx="0.03531500000" ixy="2.9e-05" ixz="-0.00016600000" iyy="0.02933600000" iyz="-0.001305" izz="0.01174000000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/knee_lo_res.stl" scale="1 1.0 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/knee_collision.stl" scale="1 1.0 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_left_4_joint" type="revolute">
- <parent link="leg_left_3_link"/>
- <child link="leg_left_4_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.38000"/>
- <axis xyz="0 1 0"/>
- <limit effort="300" lower="0" upper="2.618" velocity="7"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- Joint ankle_y (mesh link) : child link ankle_x -> parent link knee -->
- <link name="leg_left_5_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.01106 0.04708 0.05271"/>
- <mass value="1.24433"/>
- <inertia ixx="0.01148700000" ixy="-0.000686" ixz="-0.00052600000" iyy="0.00952600000" iyz="0.002633" izz="0.00390800000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0.0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/ankle_Y_lo_res.stl" scale="1 1.0 1"/>
- </geometry>
- <material name="Grey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0.0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/ankle_Y_collision.stl" scale="1 1.0 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_left_5_joint" type="revolute">
- <parent link="leg_left_4_link"/>
- <child link="leg_left_5_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.32500"/>
- <axis xyz="0 1 0"/>
- <limit effort="160" lower="-1.309" upper="0.768" velocity="5.8"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- Joint ankle_x (mesh link) : child link None -> parent link ankle_y -->
- <link name="leg_left_6_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.02087 -0.00019 -0.06059"/>
- <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_data/meshes/v2/ankle_X_lo_res.stl" scale="1 1.0 1"/>
- </geometry>
- <material name="Grey"/>
- </visual>
- <!--
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
- </geometry>
- </collision>
-
- -->
- <collision>
- <origin rpy="0 0 0" xyz="0 0 -0.1"/>
- <geometry>
- <box size="0.21 0.13 0.02"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_left_6_joint" type="revolute">
- <parent link="leg_left_5_link"/>
- <child link="leg_left_6_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
- <axis xyz="1 0 0"/>
- <limit effort="100" lower="-0.5236" upper="0.5236" velocity="4.8"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- from here is copy paste -->
- <link name="left_sole_link">
- <inertial>
- <origin rpy="0 0 0" xyz="0.0 0.0 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_left_sole_fix_joint" type="fixed">
- <parent link="leg_left_6_link"/>
- <child link="left_sole_link"/>
- <origin rpy="0 0 0" xyz="0.00 0.00 -0.107"/>
- <axis xyz="1 0 0"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <transmission name="leg_left_1_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_left_1_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_left_1_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="leg_left_2_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_left_2_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_left_2_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="leg_left_3_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_left_3_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_left_3_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="leg_left_4_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_left_4_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_left_4_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="leg_left_5_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_left_5_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_left_5_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="leg_left_6_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_left_6_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_left_6_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <gazebo reference="leg_left_1_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="leg_left_2_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="leg_left_3_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="leg_left_4_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="leg_left_5_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <!-- contact model for foot surface -->
- <gazebo reference="leg_left_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_left_1_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_left_2_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_left_3_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_left_4_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_left_5_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_left_6_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="leg_left_1_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="leg_left_2_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="leg_left_3_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="leg_left_4_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="leg_left_5_link">
- <material>Gazebo/White</material>
- </gazebo>
- <gazebo reference="leg_left_6_link">
- <material>Gazebo/White</material>
- </gazebo>
- <!-- Joint hip_z (mesh link) : child link hip_x -> parent link base_link -->
- <link name="leg_right_1_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.02320 -0.00009 0.04949"/>
- <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_data/meshes/v2/hip_z_lo_res.stl" scale="1 -1.0 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_z_collision.stl" scale="1 -1.0 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_right_1_joint" type="revolute">
- <parent link="base_link"/>
- <child link="leg_right_1_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="-0.02 -0.085 -0.27105"/>
- <axis xyz="0 0 1"/>
- <limit effort="100" lower="-1.57079632679" upper="0.349065850399" velocity="3.87"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- Joint hip_x (mesh link) : child link hip_y -> parent link hip_z -->
- <link name="leg_right_2_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.01583 -0.00021 0.00619"/>
- <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 rpy="0 0 0" xyz="0 0 0.0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_x_lo_res.stl" scale="1 -1.0 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0.0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_x_collision.stl" scale="1 -1.0 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_right_2_joint" type="revolute">
- <parent link="leg_right_1_link"/>
- <child link="leg_right_2_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
- <axis xyz="1 0 0"/>
- <limit effort="160" lower="-0.5236" upper="0.5236" velocity="5.8"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- Joint hip_y (mesh link) : child link knee -> parent link hip_x -->
- <link name="leg_right_3_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00658 -0.06563 -0.17278"/>
- <mass value="6.82734"/>
- <inertia ixx="0.12390600000" ixy="0.000412" ixz="-0.00205900000" iyy="0.10844700000" iyz="-0.016725" izz="0.02781200000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_y_lo_res.stl" scale="1 -1.0 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_y_collision.stl" scale="1 -1.0 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_right_3_joint" type="revolute">
- <parent link="leg_right_2_link"/>
- <child link="leg_right_3_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
- <axis xyz="0 1 0"/>
- <limit effort="160" lower="-2.095" upper="0.7" velocity="5.8"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- Joint knee (mesh link) : child link ankle_y -> parent link hip_y -->
- <link name="leg_right_4_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.01520 -0.02331 -0.12063"/>
- <mass value="3.63668"/>
- <inertia ixx="0.03531500000" ixy="-2.9e-05" ixz="-0.00016600000" iyy="0.02933600000" iyz="0.001305" izz="0.01174000000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/knee_lo_res.stl" scale="1 -1.0 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/knee_collision.stl" scale="1 -1.0 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_right_4_joint" type="revolute">
- <parent link="leg_right_3_link"/>
- <child link="leg_right_4_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.38000"/>
- <axis xyz="0 1 0"/>
- <limit effort="300" lower="0" upper="2.618" velocity="7"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- Joint ankle_y (mesh link) : child link ankle_x -> parent link knee -->
- <link name="leg_right_5_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.01106 -0.04708 0.05271"/>
- <mass value="1.24433"/>
- <inertia ixx="0.01148700000" ixy="0.000686" ixz="-0.00052600000" iyy="0.00952600000" iyz="-0.002633" izz="0.00390800000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0.0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/ankle_Y_lo_res.stl" scale="1 -1.0 1"/>
- </geometry>
- <material name="Grey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0.0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/ankle_Y_collision.stl" scale="1 -1.0 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_right_5_joint" type="revolute">
- <parent link="leg_right_4_link"/>
- <child link="leg_right_5_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.32500"/>
- <axis xyz="0 1 0"/>
- <limit effort="160" lower="-1.309" upper="0.768" velocity="5.8"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- Joint ankle_x (mesh link) : child link None -> parent link ankle_y -->
- <link name="leg_right_6_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.02087 -0.00019 -0.06059"/>
- <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_data/meshes/v2/ankle_X_lo_res.stl" scale="1 -1.0 1"/>
- </geometry>
- <material name="Grey"/>
- </visual>
- <!--
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
- </geometry>
- </collision>
-
- -->
- <collision>
- <origin rpy="0 0 0" xyz="0 0 -0.1"/>
- <geometry>
- <box size="0.21 0.13 0.02"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_right_6_joint" type="revolute">
- <parent link="leg_right_5_link"/>
- <child link="leg_right_6_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
- <axis xyz="1 0 0"/>
- <limit effort="100" lower="-0.5236" upper="0.5236" velocity="4.8"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- from here is copy paste -->
- <link name="right_sole_link">
- <inertial>
- <origin rpy="0 0 0" xyz="0.0 0.0 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_right_sole_fix_joint" type="fixed">
- <parent link="leg_right_6_link"/>
- <child link="right_sole_link"/>
- <origin rpy="0 0 0" xyz="0.00 0.00 -0.107"/>
- <axis xyz="1 0 0"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <transmission name="leg_right_1_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_right_1_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_right_1_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="leg_right_2_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_right_2_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_right_2_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="leg_right_3_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_right_3_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_right_3_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="leg_right_4_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_right_4_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_right_4_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="leg_right_5_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_right_5_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_right_5_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="leg_right_6_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_right_6_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_right_6_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <gazebo reference="leg_right_1_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="leg_right_2_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="leg_right_3_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="leg_right_4_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="leg_right_5_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <!-- contact model for foot surface -->
- <gazebo reference="leg_right_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_right_1_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_right_2_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_right_3_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_right_4_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_right_5_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_right_6_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="leg_right_1_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="leg_right_2_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="leg_right_3_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="leg_right_4_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="leg_right_5_link">
- <material>Gazebo/White</material>
- </gazebo>
- <gazebo reference="leg_right_6_link">
- <material>Gazebo/White</material>
- </gazebo>
- <!-- Generic simulatalos_gazebo plugins -->
- <gazebo>
- <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
- <ns/>
- <robotSimType>pal_hardware_gazebo/PalHardwareGazebo</robotSimType>
- <robotNamespace/>
- <controlPeriod>0.001</controlPeriod>
- </plugin>
- </gazebo>
- <gazebo>
- <plugin filename="libgazebo_world_odometry.so" name="gazebo_ros_odometry">
- <frameName>base_link</frameName>
- <topicName>floating_base_pose_simulated</topicName>
- </plugin>
- </gazebo>
- <gazebo>
- <plugin filename="libgazebo_ros_force.so" name="gazebo_ros_force">
- <bodyName>base_link</bodyName>
- <topicName>wrench</topicName>
- </plugin>
- </gazebo>
- <gazebo reference="imu_link">
- <!-- this is expected to be reparented to pelvis with appropriate offset
- when imu_link is reduced by fixed joint reduction -->
- <!-- todo: this is working with gazebo 1.4, need to write a unit test -->
- <sensor name="imu_sensor" type="imu">
- <always_on>1</always_on>
- <update_rate>1000.0</update_rate>
- <imu>
- <noise>
- <type>gaussian</type>
- <!-- Noise parameters from Boston Dynamics
- (http://gazebosim.org/wiki/Sensor_noise):
- rates (rad/s): mean=0, stddev=2e-4
- accels (m/s/s): mean=0, stddev=1.7e-2
- rate bias (rad/s): 5e-6 - 1e-5
- accel bias (m/s/s): 1e-1
- Experimentally, simulation provide rates with noise of
- about 1e-3 rad/s and accels with noise of about 1e-1 m/s/s.
- So we don't expect to see the noise unless number of inner iterations
- are increased.
-
- We will add bias. In this model, bias is sampled once for rates
- and once for accels at startup; the sign (negative or positive)
- of each bias is then switched with equal probability. Thereafter,
- the biases are fixed additive offsets. We choose
- bias means and stddevs to produce biases close to the provided
- data. -->
- <!--
- <rate>
- <mean>0.0</mean>
- <stddev>2e-4</stddev>
- <bias_mean>0.0000075</bias_mean>
- <bias_stddev>0.0000008</bias_stddev>
- </rate>
- <accel>
- <mean>0.0</mean>
- <stddev>1.7e-2</stddev>
- <bias_mean>0.1</bias_mean>
- <bias_stddev>0.001</bias_stddev>
- </accel>
- -->
- <rate>
- <mean>0.0</mean>
- <stddev>0.0</stddev>
- <bias_mean>0.000000</bias_mean>
- <bias_stddev>0.0000008</bias_stddev>
- </rate>
- <accel>
- <mean>0.0</mean>
- <stddev>0.0</stddev>
- <bias_mean>0.0</bias_mean>
- <bias_stddev>0.000</bias_stddev>
- </accel>
- </noise>
- </imu>
- </sensor>
- </gazebo>
- <!-- define global properties -->
- <!-- <xacro:property name="M_PI" value="3.1415926535897931" /> -->
- <!-- Materials for visualization -->
- <material name="Blue">
- <color rgba="0.0 0.0 0.8 1.0"/>
- </material>
- <material name="Green">
- <color rgba="0.0 0.8 0.0 1.0"/>
- </material>
- <material name="Grey">
- <color rgba="0.7 0.7 0.7 1.0"/>
- </material>
- <material name="LightGrey">
- <color rgba="0.9 0.9 0.9 1.0"/>
- </material>
- <material name="DarkGrey">
- <color rgba="0.2 0.2 0.2 1.0"/>
- </material>
- <material name="Red">
- <color rgba="0.8 0.0 0.0 1.0"/>
- </material>
- <material name="White">
- <color rgba="1.0 1.0 1.0 1.0"/>
- </material>
- <material name="Orange">
- <color rgba="1.0 0.5 0.0 1.0"/>
- </material>
-</robot>
-