From 8abc5ebcbb84fda9ab97216194966840a8fa7937 Mon Sep 17 00:00:00 2001
From: Luca <luca.marchionni@pal-robotics.com>
Date: Thu, 10 Nov 2016 19:53:03 +0100
Subject: [PATCH] Added motions, and ft sensor signs fixed
---
talos_bringup/config/talos_full_hardware.yaml | 8 ++++----
talos_bringup/config/talos_motions.yaml | 14 +++++++++++++-
talos_description/urdf/sensors/ftsensor.urdf.xacro | 4 ++--
3 files changed, 19 insertions(+), 7 deletions(-)
diff --git a/talos_bringup/config/talos_full_hardware.yaml b/talos_bringup/config/talos_full_hardware.yaml
index f65bf22..ea93025 100644
--- a/talos_bringup/config/talos_full_hardware.yaml
+++ b/talos_bringup/config/talos_full_hardware.yaml
@@ -36,16 +36,16 @@ force_torque:
left_wrist_ft:
frame: wrist_left_ft_link
transformation:
- force: [x, y, z]
- torque: [x, y, z]
+ force: [x, y, -z]
+ torque: [x, y, -z]
raw_data:
force_port: force_wrist_left
torque_port: torque_wrist_left
right_wrist_ft:
frame: wrist_right_ft_link
transformation:
- force: [x, y, z]
- torque: [x, y, z]
+ force: [x, y, -z]
+ torque: [x, y, -z]
raw_data:
force_port: force_wrist_right
torque_port: torque_wrist_right
diff --git a/talos_bringup/config/talos_motions.yaml b/talos_bringup/config/talos_motions.yaml
index 44b5ab7..89d4a16 100644
--- a/talos_bringup/config/talos_motions.yaml
+++ b/talos_bringup/config/talos_motions.yaml
@@ -26,7 +26,7 @@ play_motion:
points:
- positions: [0.0, 0.0, 0.0, 0.0, 0.0, 0.15, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, -0.15, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
- time_from_start: 0.0
+ time_from_start: 4.0
meta:
name: Home
usage: posture
@@ -273,3 +273,15 @@ play_motion:
name: look_around
usage: demonstration
description: turn torso and head from left to right.
+ reset_ft_wrist_pose:
+ joints: ['torso_1_joint', 'torso_2_joint', 'arm_right_1_joint', 'arm_right_2_joint', 'arm_right_3_joint', 'arm_right_4_joint', 'arm_right_5_joint', 'arm_right_6_joint', 'arm_right_7_joint', 'arm_left_1_joint', 'arm_left_2_joint', 'arm_left_3_joint', 'arm_left_4_joint', 'arm_left_5_joint', 'arm_left_6_joint', 'arm_left_7_joint']
+ points:
+ - positions: [0.0, 0.0, -0.0, -1.571, 1.571, -1.571, 0.0, 0.0, 0.0, -0.0, 1.571, -1.571, -1.571, 0.0, 0.0, 0.0]
+ time_from_start: 0.0
+ - positions: [0.0, 0.0, -0.0, -1.571, 1.571, -1.571, 0.0, 0.0, 0.0, -0.0, 1.571, -1.571, -1.571, 0.0, 0.0, 0.0]
+ time_from_start: 4.0
+ arms_t:
+ joints: ['torso_1_joint', 'torso_2_joint', 'arm_right_1_joint', 'arm_right_2_joint', 'arm_right_3_joint', 'arm_right_4_joint', 'arm_right_5_joint', 'arm_right_6_joint', 'arm_right_7_joint', 'arm_left_1_joint', 'arm_left_2_joint', 'arm_left_3_joint', 'arm_left_4_joint', 'arm_left_5_joint', 'arm_left_6_joint', 'arm_left_7_joint']
+ points:
+ - positions: [0.0, 0.0, -0.0, -1.571, 1.571, 0.0, 0.0, 0.0, 0.0, -0.0, 1.571, -1.571, 0.0, 0.0, 0.0, 0.0]
+ time_from_start: 0.0
diff --git a/talos_description/urdf/sensors/ftsensor.urdf.xacro b/talos_description/urdf/sensors/ftsensor.urdf.xacro
index bcbd2be..b599d70 100644
--- a/talos_description/urdf/sensors/ftsensor.urdf.xacro
+++ b/talos_description/urdf/sensors/ftsensor.urdf.xacro
@@ -38,7 +38,7 @@
<joint name="${name}_${side}_ft_joint" type="fixed">
<parent link="${parent}" />
<child link="${name}_${side}_ft_link" />
- <origin xyz="0 0 -0.051" rpy="${0.0 * deg_to_rad} 0 ${(-60 + 90.0*reflect) * deg_to_rad}" />
+ <origin xyz="0 0 -0.051" rpy="${0.0 * deg_to_rad} 0 ${(-180.0 + 90.0*reflect)* deg_to_rad}" />
</joint>
<!--***********************-->
@@ -67,7 +67,7 @@
<joint name="${name}_${side}_tool_joint" type="fixed">
<parent link="${name}_${side}_ft_link" />
<child link="${name}_${side}_ft_tool_link" />
- <origin xyz="0 0 ${-1.0 * (0.0157*0.5 + 0.00975*0.5)}" rpy="0 0 ${(-30 - 180.0 * reflect) * deg_to_rad}" />
+ <origin xyz="0 0 ${-1.0 * (0.0157*0.5 + 0.00975*0.5)}" rpy="0 0 ${(90.0 -180.0* reflect) * deg_to_rad}" />
</joint>
--
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