diff --git a/README.md b/README.md
index b528f268d5622172823ce4ae006e8dd45ea22484..2e4cbb6ab70c7cf01f53438329f2456946e4f861 100644
--- a/README.md
+++ b/README.md
@@ -15,6 +15,18 @@ Some dummy data were added (rotor inertia) to help the dynamic regularization.
For initial and data validated by PAL-Robotics please see the http://github.com/pal-robotics/talos_robot
repository.
+## Fixed joint
+To start the robot in the air you can use:
+```
+roslaunch talos_data talos_gazebo.launch enable_fixed_robot:=true
+```
+
+## Straight robot
+To start the robot straight (i.e. not in half-sitting) you can use:
+```
+roslaunch talos_data talos_gazebo.launch starting_half_sitting:=false
+```
+
## Flexibilities
To start the flexibilities:
diff --git a/config/default_configuration_half_sitting.yaml b/config/default_configuration_half_sitting.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..5c5638e0ffc4f6950b94259dd899fd1248ccfc6d
--- /dev/null
+++ b/config/default_configuration_half_sitting.yaml
@@ -0,0 +1,54 @@
+zeros:
+ torso_1_joint: 0.0
+ torso_2_joint: 0.006761
+ head_1_joint: 0.0
+ head_2_joint: 0.0
+ arm_left_1_joint: 0.25847
+ arm_left_2_joint: 0.173046
+ arm_left_3_joint: 0.0002
+ arm_left_4_joint: -0.525366
+ arm_left_5_joint: 0.0
+ arm_left_6_joint: 0.0
+ arm_left_7_joint: 0.1
+ arm_right_1_joint: -0.25847
+ arm_right_2_joint: -0.173046
+ arm_right_3_joint: -0.0002
+ arm_right_4_joint: -0.525366
+ arm_right_5_joint: 0.0
+ arm_right_6_joint: 0.0
+ arm_right_7_joint: 0.1
+ gripper_left_joint: 0.0
+ gripper_left_inner_double_joint: 0.0
+ gripper_left_fingertip_1_joint: 0.0
+ gripper_left_fingertip_2_joint: 0.0
+ gripper_left_motor_single_joint: 0.0
+ gripper_left_inner_single_joint: 0.0
+ gripper_left_fingertip_3_joint: 0.0
+ gripper_right_joint: 0.0
+ gripper_right_inner_double_joint: 0.0
+ gripper_right_fingertip_1_joint: 0.0
+ gripper_right_fingertip_2_joint: 0.0
+ gripper_right_motor_single_joint: 0.0
+ gripper_right_inner_single_joint: 0.0
+ gripper_right_fingertip_3_joint: 0.0
+ leg_left_1_joint: 0.0
+ leg_left_2_joint: 0.0
+ leg_left_3_joint: -0.411354
+ leg_left_4_joint: 0.859395
+ leg_left_5_joint: -0.448041
+ leg_left_6_joint: -0.001708
+ leg_right_1_joint: 0.0
+ leg_right_2_joint: 0.0
+ leg_right_3_joint: -0.411354
+ leg_right_4_joint: 0.859395
+ leg_right_5_joint: -0.448041
+ leg_right_6_joint: -0.001708
+
+
+default_floating_base_pose:
+ orientation:
+ x: 0.
+ y: 0.
+ z: 0.
+ w: 1.
+ position: [0., 0., 1.0]
diff --git a/launch/talos_gazebo.launch b/launch/talos_gazebo.launch
index 1c2f478fbee5aebb055ceee57c747e5a561d28be..e65eb7957eaffe4798dbd5382b4a935da8df70b1 100644
--- a/launch/talos_gazebo.launch
+++ b/launch/talos_gazebo.launch
@@ -1,8 +1,9 @@
<?xml version="1.0" encoding="UTF-8"?>
<launch>
+ <arg name="start_half_sitting" default="true"/>
<arg name="world" default="empty"/> <!-- empty, small_office, ... (see ../worlds) -->
- <arg name="gzpose" default="-x 0.0 -y 0.0 -z 1.16 -R 0.0 -P 0.0 -Y 0.0"/>
+ <arg name="gzpose" default="-x 0.0 -y 0.0 -z 1.16 -R 0.0 -P 0.0 -Y 0.0" unless="$(arg start_half_sitting)"/>
<arg name="gui" default="true"/>
<arg name="debug" default="false"/>
<arg name="recording" default="false"/>
@@ -11,11 +12,19 @@
<arg name="load_model" default="true"/> <!-- AS: should probably be false by default -->
<arg name="robot" default="full_v2"/> <!-- full, lower_body, foot -->
<arg name="foot_collision" default="thinbox"/>
- <arg name="enable_leg_passive" default="true"/>
+ <arg name="enable_leg_passive" default="false"/>
+ <arg name="enable_fixed_robot" default="false"/>
<arg name="default_configuration_type" default="zeros"/>
<env name="GAZEBO_MODEL_PATH" value="$(find talos_gazebo)/models:$(optenv GAZEBO_MODEL_PATH)"/>
+ <arg name="left_leg_pose" default="-J leg_left_1_joint 0.0 -J leg_left_2_joint 0.0 -J leg_left_3_joint -0.411354 -J leg_left_4_joint 0.859395 -J leg_left_5_joint -0.448041 -J leg_left_6_joint -0.001708"/>
+ <arg name="right_leg_pose" default="-J leg_right_1_joint 0.0 -J leg_right_2_joint 0.0 -J leg_right_3_joint -0.411354 -J leg_right_4_joint 0.859395 -J leg_right_5_joint -0.448041 -J leg_right_6_joint -0.001708"/>
+ <arg name="left_arm_pose" default="-J arm_left_1_joint 0.25847 -J arm_left_2_joint 0.173046 -J arm_left_3_joint -0.0002 -J arm_left_4_joint -0.525366 -J arm_left_5_joint 0.0 -J arm_left_6_joint 0.0 -J arm_left_7_joint 0.1"/>
+ <arg name="right_arm_pose" default="-J arm_right_1_joint -0.25847 -J arm_right_2_joint -0.173046 -J arm_left_3_joint 0.0002 -J arm_right_4_joint -0.525366 -J arm_right_5_joint 0.0 -J arm_right_6_joint 0.0 -J arm_right_7_joint 0.1"/>
+ <arg name="torso_pose" default="-J torso_1_joint 0.0 -J torso_2_joint 0.006761"/>
+ <arg name="gzpose" default="-x 0.0 -y 0.0 -z 1.00 -R 0.0 -P 0.0 -Y 0.0 $(arg left_leg_pose) $(arg right_leg_pose) $(arg left_arm_pose) $(arg right_arm_pose) $(arg torso_pose) -u" if="$(arg start_half_sitting)"/>
+
<!-- start up world -->
<include file="$(find pal_gazebo_worlds)/launch/pal_gazebo.launch">
<arg name="world" value="$(arg world)"/>
@@ -31,6 +40,7 @@
<arg name="robot" value="$(arg robot)"/>
<arg name="foot_collision" default="$(arg foot_collision)"/>
<arg name="enable_leg_passive" default="$(arg enable_leg_passive)"/>
+ <arg name="enable_fixed_robot" default="$(arg enable_fixed_robot)"/>
<arg name="default_configuration_type" default="$(arg default_configuration_type)"/>
</include>
</group>
diff --git a/robots/upload.launch b/robots/upload.launch
index 3950f9519211c41d51e966199aef7e983e800fc8..8725e60814b6b4c0a830781c0f5ac1c43c0c0ef1 100644
--- a/robots/upload.launch
+++ b/robots/upload.launch
@@ -10,6 +10,7 @@
<!-- TODO AS: zeros should not be the default (self-colliding), but it is currently required for tests -->
<arg name="default_configuration_type" default="zeros"/>
<arg name="enable_leg_passive" default="true"/>
+ <arg name="enable_fixed_robot" default="true"/>
<!-- Robot description -->
<param
@@ -18,7 +19,8 @@
'$(find talos_data)/robots/talos_$(arg robot).urdf.xacro'
foot_collision:=$(arg foot_collision)
enable_crane:=$(arg enable_crane)
- enable_leg_passive:=$(arg enable_leg_passive)"
+ enable_leg_passive:=$(arg enable_leg_passive)
+ enable_fixed_robot:=$(arg enable_fixed_robot)"
/>
<rosparam command="load" file="$(find talos_data)/config/default_configuration_$(arg default_configuration_type).yaml" />
diff --git a/urdf/torso/torso.urdf.xacro b/urdf/torso/torso.urdf.xacro
index f264042dafdf710e319fd22e5ce06ddddde34810..acffea1fdbe9ce3e423a06517a10d98f3a5b99b5 100644
--- a/urdf/torso/torso.urdf.xacro
+++ b/urdf/torso/torso.urdf.xacro
@@ -105,14 +105,14 @@
</collision>
</link>
- <!-- <xacro:if value="$(arg enable_fixed_robot)"> -->
+ <xacro:if value="$(arg enable_fixed_robot)">
<link name="world"/>
<joint name="fixed" type="fixed">
<parent link="world"/>
<child link="base_link"/>
</joint>
- <!-- </xacro:if> -->
+ </xacro:if>
<joint name="${name}_2_joint" type="revolute">
<parent link="${name}_1_link"/>