From bda5696536cfee93fcd295d5bab1dd11ac63d21f Mon Sep 17 00:00:00 2001
From: Olivier Stasse <ostasse@laas.fr>
Date: Wed, 9 Oct 2019 07:54:10 +0200
Subject: [PATCH] Introduces talos_gazebo with flexibilities.
---
CMakeLists.txt | 19 +-
config/collision_parameters.yaml | 2204 +++++++++++++++++
config/default_configuration_hanging.yaml | 56 +
config/default_configuration_locomotion.yaml | 54 +
config/default_configuration_zeros.yaml | 54 +
config/rviz.rviz | 755 ++++++
config/talos_plotjuggler.xml | 1329 ++++++++++
launch/talos_gazebo.launch | 48 +
launch/talos_spawn.launch | 23 +
package.xml | 4 +-
robots/talos_full_no_grippers.urdf.xacro | 18 +-
robots/talos_full_v1.urdf.xacro | 20 +-
robots/talos_full_v2.urdf.xacro | 28 +-
robots/talos_lower_body.urdf.xacro | 14 +-
robots/upload.launch | 16 +-
robots/upload_talos.launch | 2 +-
src/SpringPlugin.cc | 78 +
src/SpringPlugin.hh | 53 +
urdf/arm/arm_v1.urdf.xacro | 24 +-
urdf/arm/arm_v2.urdf.xacro | 24 +-
urdf/arm/left_arm.transmissions.urdf.xacro | 2 +-
urdf/arm/left_wrist.transmissions.urdf.xacro | 2 +-
urdf/arm/right_arm.transmissions.urdf.xacro | 2 +-
urdf/arm/right_wrist.transmissions.urdf.xacro | 2 +-
urdf/arm/wrist.urdf.xacro | 18 +-
urdf/crane/crane.urdf.xacro | 2 +-
urdf/gripper/gripper.urdf.xacro | 38 +-
urdf/head/head.urdf.xacro | 14 +-
urdf/leg/foot_collision_default.urdf.xacro | 2 +-
urdf/leg/leg.urdf.xacro | 24 +-
urdf/leg/leg_passive.urdf.xacro | 341 +++
urdf/sensors/orbbec_astra_pro.urdf.xacro | 4 +-
urdf/talos_full_common.urdf.xacro | 60 +
urdf/talos_full_v2.urdf.xacro | 18 +
urdf/torso/torso.urdf.xacro | 18 +-
35 files changed, 5237 insertions(+), 133 deletions(-)
create mode 100644 config/collision_parameters.yaml
create mode 100644 config/default_configuration_hanging.yaml
create mode 100644 config/default_configuration_locomotion.yaml
create mode 100644 config/default_configuration_zeros.yaml
create mode 100644 config/rviz.rviz
create mode 100644 config/talos_plotjuggler.xml
create mode 100644 launch/talos_gazebo.launch
create mode 100644 launch/talos_spawn.launch
create mode 100644 src/SpringPlugin.cc
create mode 100644 src/SpringPlugin.hh
create mode 100644 urdf/leg/leg_passive.urdf.xacro
create mode 100644 urdf/talos_full_common.urdf.xacro
create mode 100644 urdf/talos_full_v2.urdf.xacro
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 48d910d..bebae38 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -21,8 +21,25 @@ catkin_package(
# Find xml_reflection
ADD_REQUIRED_DEPENDENCY("urdfdom >= 0.2.9")
+ADD_REQUIRED_DEPENDENCY("gazebo >= 7.12.0")
+ADD_REQUIRED_DEPENDENCY(roscpp)
-FOREACH(dir config gazebo meshes robots urdf srdf)
+SET(LIBRARY_NAME ${PROJECT_NAME})
+
+ADD_LIBRARY(SpringPlugin
+ SHARED
+ src/SpringPlugin.cc
+)
+
+INSTALL(TARGETS
+ SpringPlugin
+ DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+ LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+ )
+PKG_CONFIG_USE_DEPENDENCY(SpringPlugin roscpp)
+PKG_CONFIG_USE_DEPENDENCY(SpringPlugin gazebo)
+
+FOREACH(dir config gazebo meshes robots urdf srdf launch)
INSTALL(DIRECTORY ${dir}/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
ENDFOREACH(dir)
diff --git a/config/collision_parameters.yaml b/config/collision_parameters.yaml
new file mode 100644
index 0000000..0e2f6fa
--- /dev/null
+++ b/config/collision_parameters.yaml
@@ -0,0 +1,2204 @@
+collision_model_parameters:
+ padding: 0
+ links_with_padding: []
+ blacklist:
+ manual:
+ - first: gripper_left_fingertip_2_link
+ second: gripper_left_motor_double_link
+ - first: gripper_left_motor_double_link
+ second: gripper_left_motor_single_link
+ - first: gripper_left_inner_double_link
+ second: gripper_left_inner_single_link
+ - first: gripper_left_fingertip_1_link
+ second: gripper_left_motor_double_link
+ - first: gripper_left_inner_single_link
+ second: gripper_left_motor_double_link
+ - first: arm_left_5_link
+ second: wrist_left_ft_link
+ - first: arm_left_6_link
+ second: wrist_left_ft_link
+
+ - first: gripper_right_fingertip_2_link
+ second: gripper_right_motor_double_link
+ - first: gripper_right_motor_double_link
+ second: gripper_right_motor_single_link
+ - first: gripper_right_inner_double_link
+ second: gripper_right_inner_single_link
+ - first: gripper_right_fingertip_1_link
+ second: gripper_right_motor_double_link
+ - first: gripper_right_inner_single_link
+ second: gripper_right_motor_double_link
+ - first: arm_right_5_link
+ second: wrist_right_ft_link
+ - first: arm_right_6_link
+ second: wrist_right_ft_link
+
+ auto:
+ - first: arm_left_2_link
+ second: arm_left_1_link
+ - first: arm_left_3_link
+ second: arm_left_1_link
+ - first: arm_left_3_link
+ second: arm_left_2_link
+ - first: arm_left_4_link
+ second: arm_left_1_link
+ - first: arm_left_4_link
+ second: arm_left_2_link
+ - first: arm_left_4_link
+ second: arm_left_3_link
+ - first: arm_left_5_link
+ second: arm_left_1_link
+ - first: arm_left_5_link
+ second: arm_left_2_link
+ - first: arm_left_5_link
+ second: arm_left_3_link
+ - first: arm_left_5_link
+ second: arm_left_4_link
+ - first: arm_left_6_link
+ second: arm_left_1_link
+ - first: arm_left_6_link
+ second: arm_left_2_link
+ - first: arm_left_6_link
+ second: arm_left_3_link
+ - first: arm_left_6_link
+ second: arm_left_4_link
+ - first: arm_left_6_link
+ second: arm_left_5_link
+ - first: arm_left_7_link
+ second: arm_left_1_link
+ - first: arm_left_7_link
+ second: arm_left_2_link
+ - first: arm_left_7_link
+ second: arm_left_3_link
+ - first: arm_left_7_link
+ second: arm_left_4_link
+ - first: arm_left_7_link
+ second: arm_left_5_link
+ - first: arm_left_7_link
+ second: arm_left_6_link
+ - first: arm_right_1_link
+ second: arm_left_1_link
+ - first: arm_right_1_link
+ second: arm_left_2_link
+ - first: arm_right_1_link
+ second: arm_left_3_link
+ - first: arm_right_1_link
+ second: arm_left_4_link
+ - first: arm_right_1_link
+ second: arm_left_5_link
+ - first: arm_right_1_link
+ second: arm_left_6_link
+ - first: arm_right_1_link
+ second: arm_left_7_link
+ - first: arm_right_2_link
+ second: arm_left_1_link
+ - first: arm_right_2_link
+ second: arm_left_2_link
+ - first: arm_right_2_link
+ second: arm_left_3_link
+ - first: arm_right_2_link
+ second: arm_left_4_link
+ - first: arm_right_2_link
+ second: arm_left_5_link
+ - first: arm_right_2_link
+ second: arm_left_6_link
+ - first: arm_right_2_link
+ second: arm_right_1_link
+ - first: arm_right_3_link
+ second: arm_left_1_link
+ - first: arm_right_3_link
+ second: arm_left_2_link
+ - first: arm_right_3_link
+ second: arm_left_3_link
+ - first: arm_right_3_link
+ second: arm_left_4_link
+ - first: arm_right_3_link
+ second: arm_left_5_link
+ - first: arm_right_3_link
+ second: arm_left_6_link
+ - first: arm_right_3_link
+ second: arm_right_1_link
+ - first: arm_right_3_link
+ second: arm_right_2_link
+ - first: arm_right_4_link
+ second: arm_left_1_link
+ - first: arm_right_4_link
+ second: arm_left_2_link
+ - first: arm_right_4_link
+ second: arm_left_3_link
+ - first: arm_right_4_link
+ second: arm_left_4_link
+ - first: arm_right_4_link
+ second: arm_right_1_link
+ - first: arm_right_4_link
+ second: arm_right_2_link
+ - first: arm_right_4_link
+ second: arm_right_3_link
+ - first: arm_right_5_link
+ second: arm_left_1_link
+ - first: arm_right_5_link
+ second: arm_left_2_link
+ - first: arm_right_5_link
+ second: arm_left_3_link
+ - first: arm_right_5_link
+ second: arm_left_4_link
+ - first: arm_right_5_link
+ second: arm_right_1_link
+ - first: arm_right_5_link
+ second: arm_right_2_link
+ - first: arm_right_5_link
+ second: arm_right_3_link
+ - first: arm_right_5_link
+ second: arm_right_4_link
+ - first: arm_right_6_link
+ second: arm_left_1_link
+ - first: arm_right_6_link
+ second: arm_left_2_link
+ - first: arm_right_6_link
+ second: arm_left_3_link
+ - first: arm_right_6_link
+ second: arm_left_4_link
+ - first: arm_right_6_link
+ second: arm_right_1_link
+ - first: arm_right_6_link
+ second: arm_right_2_link
+ - first: arm_right_6_link
+ second: arm_right_3_link
+ - first: arm_right_6_link
+ second: arm_right_4_link
+ - first: arm_right_6_link
+ second: arm_right_5_link
+ - first: arm_right_7_link
+ second: arm_left_1_link
+ - first: arm_right_7_link
+ second: arm_left_3_link
+ - first: arm_right_7_link
+ second: arm_left_4_link
+ - first: arm_right_7_link
+ second: arm_right_1_link
+ - first: arm_right_7_link
+ second: arm_right_2_link
+ - first: arm_right_7_link
+ second: arm_right_3_link
+ - first: arm_right_7_link
+ second: arm_right_4_link
+ - first: arm_right_7_link
+ second: arm_right_5_link
+ - first: arm_right_7_link
+ second: arm_right_6_link
+ - first: base_link
+ second: arm_left_1_link
+ - first: base_link
+ second: arm_left_2_link
+ - first: base_link
+ second: arm_right_1_link
+ - first: base_link
+ second: arm_right_2_link
+ - first: crane_link
+ second: arm_left_1_link
+ - first: crane_link
+ second: arm_left_2_link
+ - first: crane_link
+ second: arm_right_1_link
+ - first: crane_link
+ second: arm_right_2_link
+ - first: crane_link
+ second: base_link
+ - first: gripper_left_base_link
+ second: arm_left_1_link
+ - first: gripper_left_base_link
+ second: arm_left_2_link
+ - first: gripper_left_base_link
+ second: arm_left_3_link
+ - first: gripper_left_base_link
+ second: arm_left_4_link
+ - first: gripper_left_base_link
+ second: arm_left_5_link
+ - first: gripper_left_base_link
+ second: arm_left_6_link
+ - first: gripper_left_base_link
+ second: arm_left_7_link
+ - first: gripper_left_fingertip_1_link
+ second: arm_left_2_link
+ - first: gripper_left_fingertip_1_link
+ second: arm_left_3_link
+ - first: gripper_left_fingertip_1_link
+ second: arm_left_4_link
+ - first: gripper_left_fingertip_1_link
+ second: arm_left_5_link
+ - first: gripper_left_fingertip_1_link
+ second: arm_left_6_link
+ - first: gripper_left_fingertip_1_link
+ second: arm_left_7_link
+ - first: gripper_left_fingertip_1_link
+ second: arm_right_6_link
+ - first: gripper_left_fingertip_1_link
+ second: arm_right_7_link
+ - first: gripper_left_fingertip_1_link
+ second: gripper_left_base_link
+ - first: gripper_left_fingertip_2_link
+ second: arm_left_2_link
+ - first: gripper_left_fingertip_2_link
+ second: arm_left_3_link
+ - first: gripper_left_fingertip_2_link
+ second: arm_left_4_link
+ - first: gripper_left_fingertip_2_link
+ second: arm_left_5_link
+ - first: gripper_left_fingertip_2_link
+ second: arm_left_6_link
+ - first: gripper_left_fingertip_2_link
+ second: arm_left_7_link
+ - first: gripper_left_fingertip_2_link
+ second: arm_right_6_link
+ - first: gripper_left_fingertip_2_link
+ second: gripper_left_base_link
+ - first: gripper_left_fingertip_2_link
+ second: gripper_left_fingertip_1_link
+ - first: gripper_left_fingertip_3_link
+ second: arm_left_2_link
+ - first: gripper_left_fingertip_3_link
+ second: arm_left_3_link
+ - first: gripper_left_fingertip_3_link
+ second: arm_left_4_link
+ - first: gripper_left_fingertip_3_link
+ second: arm_left_5_link
+ - first: gripper_left_fingertip_3_link
+ second: arm_left_6_link
+ - first: gripper_left_fingertip_3_link
+ second: arm_left_7_link
+ - first: gripper_left_fingertip_3_link
+ second: arm_right_6_link
+ - first: gripper_left_fingertip_3_link
+ second: gripper_left_base_link
+ - first: gripper_left_fingertip_3_link
+ second: gripper_left_fingertip_1_link
+ - first: gripper_left_fingertip_3_link
+ second: gripper_left_fingertip_2_link
+ - first: gripper_left_inner_double_link
+ second: arm_left_2_link
+ - first: gripper_left_inner_double_link
+ second: arm_left_3_link
+ - first: gripper_left_inner_double_link
+ second: arm_left_4_link
+ - first: gripper_left_inner_double_link
+ second: arm_left_5_link
+ - first: gripper_left_inner_double_link
+ second: arm_left_6_link
+ - first: gripper_left_inner_double_link
+ second: arm_left_7_link
+ - first: gripper_left_inner_double_link
+ second: arm_right_6_link
+ - first: gripper_left_inner_double_link
+ second: arm_right_7_link
+ - first: gripper_left_inner_double_link
+ second: gripper_left_base_link
+ - first: gripper_left_inner_double_link
+ second: gripper_left_fingertip_1_link
+ - first: gripper_left_inner_double_link
+ second: gripper_left_fingertip_2_link
+ - first: gripper_left_inner_double_link
+ second: gripper_left_fingertip_3_link
+ - first: gripper_left_inner_single_link
+ second: arm_left_2_link
+ - first: gripper_left_inner_single_link
+ second: arm_left_3_link
+ - first: gripper_left_inner_single_link
+ second: arm_left_4_link
+ - first: gripper_left_inner_single_link
+ second: arm_left_5_link
+ - first: gripper_left_inner_single_link
+ second: arm_left_6_link
+ - first: gripper_left_inner_single_link
+ second: arm_left_7_link
+ - first: gripper_left_inner_single_link
+ second: arm_right_6_link
+ - first: gripper_left_inner_single_link
+ second: gripper_left_base_link
+ - first: gripper_left_inner_single_link
+ second: gripper_left_fingertip_1_link
+ - first: gripper_left_inner_single_link
+ second: gripper_left_fingertip_2_link
+ - first: gripper_left_inner_single_link
+ second: gripper_left_fingertip_3_link
+ - first: gripper_left_motor_double_link
+ second: arm_left_2_link
+ - first: gripper_left_motor_double_link
+ second: arm_left_3_link
+ - first: gripper_left_motor_double_link
+ second: arm_left_4_link
+ - first: gripper_left_motor_double_link
+ second: arm_left_5_link
+ - first: gripper_left_motor_double_link
+ second: arm_left_6_link
+ - first: gripper_left_motor_double_link
+ second: arm_left_7_link
+ - first: gripper_left_motor_double_link
+ second: gripper_left_base_link
+ - first: gripper_left_motor_double_link
+ second: gripper_left_fingertip_3_link
+ - first: gripper_left_motor_double_link
+ second: gripper_left_inner_double_link
+ - first: gripper_left_motor_single_link
+ second: arm_left_2_link
+ - first: gripper_left_motor_single_link
+ second: arm_left_3_link
+ - first: gripper_left_motor_single_link
+ second: arm_left_4_link
+ - first: gripper_left_motor_single_link
+ second: arm_left_5_link
+ - first: gripper_left_motor_single_link
+ second: arm_left_6_link
+ - first: gripper_left_motor_single_link
+ second: arm_left_7_link
+ - first: gripper_left_motor_single_link
+ second: gripper_left_base_link
+ - first: gripper_left_motor_single_link
+ second: gripper_left_fingertip_1_link
+ - first: gripper_left_motor_single_link
+ second: gripper_left_fingertip_2_link
+ - first: gripper_left_motor_single_link
+ second: gripper_left_fingertip_3_link
+ - first: gripper_left_motor_single_link
+ second: gripper_left_inner_double_link
+ - first: gripper_left_motor_single_link
+ second: gripper_left_inner_single_link
+ - first: gripper_right_base_link
+ second: arm_left_1_link
+ - first: gripper_right_base_link
+ second: arm_right_1_link
+ - first: gripper_right_base_link
+ second: arm_right_2_link
+ - first: gripper_right_base_link
+ second: arm_right_3_link
+ - first: gripper_right_base_link
+ second: arm_right_4_link
+ - first: gripper_right_base_link
+ second: arm_right_5_link
+ - first: gripper_right_base_link
+ second: arm_right_6_link
+ - first: gripper_right_base_link
+ second: arm_right_7_link
+ - first: gripper_right_base_link
+ second: gripper_left_fingertip_3_link
+ - first: gripper_right_fingertip_1_link
+ second: arm_left_6_link
+ - first: gripper_right_fingertip_1_link
+ second: arm_left_7_link
+ - first: gripper_right_fingertip_1_link
+ second: arm_right_2_link
+ - first: gripper_right_fingertip_1_link
+ second: arm_right_3_link
+ - first: gripper_right_fingertip_1_link
+ second: arm_right_4_link
+ - first: gripper_right_fingertip_1_link
+ second: arm_right_5_link
+ - first: gripper_right_fingertip_1_link
+ second: arm_right_6_link
+ - first: gripper_right_fingertip_1_link
+ second: arm_right_7_link
+ - first: gripper_right_fingertip_1_link
+ second: gripper_left_fingertip_1_link
+ - first: gripper_right_fingertip_1_link
+ second: gripper_left_fingertip_2_link
+ - first: gripper_right_fingertip_1_link
+ second: gripper_left_fingertip_3_link
+ - first: gripper_right_fingertip_1_link
+ second: gripper_right_base_link
+ - first: gripper_right_fingertip_2_link
+ second: arm_left_6_link
+ - first: gripper_right_fingertip_2_link
+ second: arm_right_2_link
+ - first: gripper_right_fingertip_2_link
+ second: arm_right_3_link
+ - first: gripper_right_fingertip_2_link
+ second: arm_right_4_link
+ - first: gripper_right_fingertip_2_link
+ second: arm_right_5_link
+ - first: gripper_right_fingertip_2_link
+ second: arm_right_6_link
+ - first: gripper_right_fingertip_2_link
+ second: arm_right_7_link
+ - first: gripper_right_fingertip_2_link
+ second: gripper_left_fingertip_1_link
+ - first: gripper_right_fingertip_2_link
+ second: gripper_left_fingertip_2_link
+ - first: gripper_right_fingertip_2_link
+ second: gripper_left_fingertip_3_link
+ - first: gripper_right_fingertip_2_link
+ second: gripper_left_inner_single_link
+ - first: gripper_right_fingertip_2_link
+ second: gripper_left_motor_single_link
+ - first: gripper_right_fingertip_2_link
+ second: gripper_right_base_link
+ - first: gripper_right_fingertip_2_link
+ second: gripper_right_fingertip_1_link
+ - first: gripper_right_fingertip_3_link
+ second: arm_right_2_link
+ - first: gripper_right_fingertip_3_link
+ second: arm_right_3_link
+ - first: gripper_right_fingertip_3_link
+ second: arm_right_4_link
+ - first: gripper_right_fingertip_3_link
+ second: arm_right_5_link
+ - first: gripper_right_fingertip_3_link
+ second: arm_right_6_link
+ - first: gripper_right_fingertip_3_link
+ second: arm_right_7_link
+ - first: gripper_right_fingertip_3_link
+ second: gripper_left_base_link
+ - first: gripper_right_fingertip_3_link
+ second: gripper_left_fingertip_1_link
+ - first: gripper_right_fingertip_3_link
+ second: gripper_left_fingertip_3_link
+ - first: gripper_right_fingertip_3_link
+ second: gripper_left_motor_double_link
+ - first: gripper_right_fingertip_3_link
+ second: gripper_right_base_link
+ - first: gripper_right_fingertip_3_link
+ second: gripper_right_fingertip_1_link
+ - first: gripper_right_fingertip_3_link
+ second: gripper_right_fingertip_2_link
+ - first: gripper_right_inner_double_link
+ second: arm_left_6_link
+ - first: gripper_right_inner_double_link
+ second: arm_right_2_link
+ - first: gripper_right_inner_double_link
+ second: arm_right_3_link
+ - first: gripper_right_inner_double_link
+ second: arm_right_4_link
+ - first: gripper_right_inner_double_link
+ second: arm_right_5_link
+ - first: gripper_right_inner_double_link
+ second: arm_right_6_link
+ - first: gripper_right_inner_double_link
+ second: arm_right_7_link
+ - first: gripper_right_inner_double_link
+ second: gripper_left_fingertip_3_link
+ - first: gripper_right_inner_double_link
+ second: gripper_left_inner_single_link
+ - first: gripper_right_inner_double_link
+ second: gripper_right_base_link
+ - first: gripper_right_inner_double_link
+ second: gripper_right_fingertip_1_link
+ - first: gripper_right_inner_double_link
+ second: gripper_right_fingertip_2_link
+ - first: gripper_right_inner_double_link
+ second: gripper_right_fingertip_3_link
+ - first: gripper_right_inner_single_link
+ second: arm_right_2_link
+ - first: gripper_right_inner_single_link
+ second: arm_right_3_link
+ - first: gripper_right_inner_single_link
+ second: arm_right_4_link
+ - first: gripper_right_inner_single_link
+ second: arm_right_5_link
+ - first: gripper_right_inner_single_link
+ second: arm_right_6_link
+ - first: gripper_right_inner_single_link
+ second: arm_right_7_link
+ - first: gripper_right_inner_single_link
+ second: gripper_left_fingertip_1_link
+ - first: gripper_right_inner_single_link
+ second: gripper_right_base_link
+ - first: gripper_right_inner_single_link
+ second: gripper_right_fingertip_1_link
+ - first: gripper_right_inner_single_link
+ second: gripper_right_fingertip_2_link
+ - first: gripper_right_inner_single_link
+ second: gripper_right_fingertip_3_link
+ - first: gripper_right_motor_double_link
+ second: arm_right_2_link
+ - first: gripper_right_motor_double_link
+ second: arm_right_3_link
+ - first: gripper_right_motor_double_link
+ second: arm_right_4_link
+ - first: gripper_right_motor_double_link
+ second: arm_right_5_link
+ - first: gripper_right_motor_double_link
+ second: arm_right_6_link
+ - first: gripper_right_motor_double_link
+ second: arm_right_7_link
+ - first: gripper_right_motor_double_link
+ second: gripper_left_fingertip_3_link
+ - first: gripper_right_motor_double_link
+ second: gripper_left_inner_single_link
+ - first: gripper_right_motor_double_link
+ second: gripper_right_base_link
+ - first: gripper_right_motor_double_link
+ second: gripper_right_fingertip_3_link
+ - first: gripper_right_motor_double_link
+ second: gripper_right_inner_double_link
+ - first: gripper_right_motor_single_link
+ second: arm_right_2_link
+ - first: gripper_right_motor_single_link
+ second: arm_right_3_link
+ - first: gripper_right_motor_single_link
+ second: arm_right_4_link
+ - first: gripper_right_motor_single_link
+ second: arm_right_5_link
+ - first: gripper_right_motor_single_link
+ second: arm_right_6_link
+ - first: gripper_right_motor_single_link
+ second: arm_right_7_link
+ - first: gripper_right_motor_single_link
+ second: gripper_left_base_link
+ - first: gripper_right_motor_single_link
+ second: gripper_left_fingertip_1_link
+ - first: gripper_right_motor_single_link
+ second: gripper_left_fingertip_2_link
+ - first: gripper_right_motor_single_link
+ second: gripper_left_inner_double_link
+ - first: gripper_right_motor_single_link
+ second: gripper_left_motor_double_link
+ - first: gripper_right_motor_single_link
+ second: gripper_left_motor_single_link
+ - first: gripper_right_motor_single_link
+ second: gripper_right_base_link
+ - first: gripper_right_motor_single_link
+ second: gripper_right_fingertip_1_link
+ - first: gripper_right_motor_single_link
+ second: gripper_right_fingertip_2_link
+ - first: gripper_right_motor_single_link
+ second: gripper_right_fingertip_3_link
+ - first: gripper_right_motor_single_link
+ second: gripper_right_inner_double_link
+ - first: gripper_right_motor_single_link
+ second: gripper_right_inner_single_link
+ - first: head_1_link
+ second: arm_left_1_link
+ - first: head_1_link
+ second: arm_left_2_link
+ - first: head_1_link
+ second: arm_left_3_link
+ - first: head_1_link
+ second: arm_left_4_link
+ - first: head_1_link
+ second: arm_right_1_link
+ - first: head_1_link
+ second: arm_right_2_link
+ - first: head_1_link
+ second: arm_right_3_link
+ - first: head_1_link
+ second: arm_right_4_link
+ - first: head_1_link
+ second: base_link
+ - first: head_1_link
+ second: crane_link
+ - first: head_2_link
+ second: arm_left_1_link
+ - first: head_2_link
+ second: arm_left_4_link
+ - first: head_2_link
+ second: arm_right_1_link
+ - first: head_2_link
+ second: base_link
+ - first: head_2_link
+ second: crane_link
+ - first: head_2_link
+ second: head_1_link
+ - first: imu_link
+ second: arm_left_1_link
+ - first: imu_link
+ second: arm_left_2_link
+ - first: imu_link
+ second: arm_left_3_link
+ - first: imu_link
+ second: arm_left_4_link
+ - first: imu_link
+ second: arm_left_5_link
+ - first: imu_link
+ second: arm_left_6_link
+ - first: imu_link
+ second: arm_left_7_link
+ - first: imu_link
+ second: arm_right_1_link
+ - first: imu_link
+ second: arm_right_2_link
+ - first: imu_link
+ second: arm_right_3_link
+ - first: imu_link
+ second: arm_right_4_link
+ - first: imu_link
+ second: arm_right_5_link
+ - first: imu_link
+ second: arm_right_6_link
+ - first: imu_link
+ second: arm_right_7_link
+ - first: imu_link
+ second: base_link
+ - first: imu_link
+ second: crane_link
+ - first: imu_link
+ second: gripper_left_base_link
+ - first: imu_link
+ second: gripper_left_fingertip_1_link
+ - first: imu_link
+ second: gripper_left_fingertip_2_link
+ - first: imu_link
+ second: gripper_left_fingertip_3_link
+ - first: imu_link
+ second: gripper_left_inner_double_link
+ - first: imu_link
+ second: gripper_left_inner_single_link
+ - first: imu_link
+ second: gripper_left_motor_double_link
+ - first: imu_link
+ second: gripper_left_motor_single_link
+ - first: imu_link
+ second: gripper_right_base_link
+ - first: imu_link
+ second: gripper_right_fingertip_1_link
+ - first: imu_link
+ second: gripper_right_fingertip_2_link
+ - first: imu_link
+ second: gripper_right_fingertip_3_link
+ - first: imu_link
+ second: gripper_right_inner_double_link
+ - first: imu_link
+ second: gripper_right_inner_single_link
+ - first: imu_link
+ second: gripper_right_motor_double_link
+ - first: imu_link
+ second: gripper_right_motor_single_link
+ - first: imu_link
+ second: head_1_link
+ - first: imu_link
+ second: head_2_link
+ - first: left_sole_link
+ second: arm_left_1_link
+ - first: left_sole_link
+ second: arm_left_2_link
+ - first: left_sole_link
+ second: arm_left_3_link
+ - first: left_sole_link
+ second: arm_left_4_link
+ - first: left_sole_link
+ second: arm_left_5_link
+ - first: left_sole_link
+ second: arm_left_6_link
+ - first: left_sole_link
+ second: arm_left_7_link
+ - first: left_sole_link
+ second: arm_right_1_link
+ - first: left_sole_link
+ second: arm_right_2_link
+ - first: left_sole_link
+ second: arm_right_3_link
+ - first: left_sole_link
+ second: arm_right_4_link
+ - first: left_sole_link
+ second: arm_right_5_link
+ - first: left_sole_link
+ second: arm_right_6_link
+ - first: left_sole_link
+ second: arm_right_7_link
+ - first: left_sole_link
+ second: base_link
+ - first: left_sole_link
+ second: crane_link
+ - first: left_sole_link
+ second: gripper_left_base_link
+ - first: left_sole_link
+ second: gripper_left_fingertip_1_link
+ - first: left_sole_link
+ second: gripper_left_fingertip_2_link
+ - first: left_sole_link
+ second: gripper_left_fingertip_3_link
+ - first: left_sole_link
+ second: gripper_left_inner_double_link
+ - first: left_sole_link
+ second: gripper_left_inner_single_link
+ - first: left_sole_link
+ second: gripper_left_motor_double_link
+ - first: left_sole_link
+ second: gripper_left_motor_single_link
+ - first: left_sole_link
+ second: gripper_right_base_link
+ - first: left_sole_link
+ second: gripper_right_fingertip_1_link
+ - first: left_sole_link
+ second: gripper_right_fingertip_2_link
+ - first: left_sole_link
+ second: gripper_right_fingertip_3_link
+ - first: left_sole_link
+ second: gripper_right_inner_double_link
+ - first: left_sole_link
+ second: gripper_right_inner_single_link
+ - first: left_sole_link
+ second: gripper_right_motor_double_link
+ - first: left_sole_link
+ second: gripper_right_motor_single_link
+ - first: left_sole_link
+ second: head_1_link
+ - first: left_sole_link
+ second: head_2_link
+ - first: left_sole_link
+ second: imu_link
+ - first: leg_left_1_link
+ second: arm_left_1_link
+ - first: leg_left_1_link
+ second: arm_left_2_link
+ - first: leg_left_1_link
+ second: arm_left_3_link
+ - first: leg_left_1_link
+ second: arm_left_4_link
+ - first: leg_left_1_link
+ second: arm_right_1_link
+ - first: leg_left_1_link
+ second: arm_right_2_link
+ - first: leg_left_1_link
+ second: arm_right_3_link
+ - first: leg_left_1_link
+ second: arm_right_4_link
+ - first: leg_left_1_link
+ second: base_link
+ - first: leg_left_1_link
+ second: crane_link
+ - first: leg_left_1_link
+ second: head_1_link
+ - first: leg_left_1_link
+ second: head_2_link
+ - first: leg_left_1_link
+ second: imu_link
+ - first: leg_left_1_link
+ second: left_sole_link
+ - first: leg_left_2_link
+ second: arm_left_1_link
+ - first: leg_left_2_link
+ second: arm_left_2_link
+ - first: leg_left_2_link
+ second: arm_left_3_link
+ - first: leg_left_2_link
+ second: arm_left_4_link
+ - first: leg_left_2_link
+ second: arm_right_1_link
+ - first: leg_left_2_link
+ second: arm_right_2_link
+ - first: leg_left_2_link
+ second: arm_right_3_link
+ - first: leg_left_2_link
+ second: arm_right_4_link
+ - first: leg_left_2_link
+ second: arm_right_5_link
+ - first: leg_left_2_link
+ second: arm_right_6_link
+ - first: leg_left_2_link
+ second: base_link
+ - first: leg_left_2_link
+ second: crane_link
+ - first: leg_left_2_link
+ second: head_1_link
+ - first: leg_left_2_link
+ second: head_2_link
+ - first: leg_left_2_link
+ second: imu_link
+ - first: leg_left_2_link
+ second: left_sole_link
+ - first: leg_left_2_link
+ second: leg_left_1_link
+ - first: leg_left_3_link
+ second: arm_left_1_link
+ - first: leg_left_3_link
+ second: arm_left_2_link
+ - first: leg_left_3_link
+ second: arm_right_1_link
+ - first: leg_left_3_link
+ second: arm_right_2_link
+ - first: leg_left_3_link
+ second: arm_right_3_link
+ - first: leg_left_3_link
+ second: crane_link
+ - first: leg_left_3_link
+ second: head_1_link
+ - first: leg_left_3_link
+ second: head_2_link
+ - first: leg_left_3_link
+ second: imu_link
+ - first: leg_left_3_link
+ second: left_sole_link
+ - first: leg_left_3_link
+ second: leg_left_1_link
+ - first: leg_left_3_link
+ second: leg_left_2_link
+ - first: leg_left_4_link
+ second: arm_left_1_link
+ - first: leg_left_4_link
+ second: arm_left_2_link
+ - first: leg_left_4_link
+ second: arm_right_1_link
+ - first: leg_left_4_link
+ second: arm_right_2_link
+ - first: leg_left_4_link
+ second: arm_right_3_link
+ - first: leg_left_4_link
+ second: arm_right_4_link
+ - first: leg_left_4_link
+ second: crane_link
+ - first: leg_left_4_link
+ second: head_1_link
+ - first: leg_left_4_link
+ second: head_2_link
+ - first: leg_left_4_link
+ second: imu_link
+ - first: leg_left_4_link
+ second: left_sole_link
+ - first: leg_left_4_link
+ second: leg_left_1_link
+ - first: leg_left_4_link
+ second: leg_left_2_link
+ - first: leg_left_4_link
+ second: leg_left_3_link
+ - first: leg_left_5_link
+ second: arm_left_1_link
+ - first: leg_left_5_link
+ second: arm_left_2_link
+ - first: leg_left_5_link
+ second: arm_left_3_link
+ - first: leg_left_5_link
+ second: arm_left_4_link
+ - first: leg_left_5_link
+ second: arm_left_6_link
+ - first: leg_left_5_link
+ second: arm_right_1_link
+ - first: leg_left_5_link
+ second: arm_right_2_link
+ - first: leg_left_5_link
+ second: arm_right_3_link
+ - first: leg_left_5_link
+ second: arm_right_4_link
+ - first: leg_left_5_link
+ second: arm_right_5_link
+ - first: leg_left_5_link
+ second: arm_right_6_link
+ - first: leg_left_5_link
+ second: arm_right_7_link
+ - first: leg_left_5_link
+ second: crane_link
+ - first: leg_left_5_link
+ second: gripper_right_fingertip_2_link
+ - first: leg_left_5_link
+ second: head_1_link
+ - first: leg_left_5_link
+ second: head_2_link
+ - first: leg_left_5_link
+ second: imu_link
+ - first: leg_left_5_link
+ second: left_sole_link
+ - first: leg_left_5_link
+ second: leg_left_1_link
+ - first: leg_left_5_link
+ second: leg_left_2_link
+ - first: leg_left_5_link
+ second: leg_left_3_link
+ - first: leg_left_5_link
+ second: leg_left_4_link
+ - first: leg_left_6_link
+ second: arm_left_1_link
+ - first: leg_left_6_link
+ second: arm_left_2_link
+ - first: leg_left_6_link
+ second: arm_left_3_link
+ - first: leg_left_6_link
+ second: arm_left_4_link
+ - first: leg_left_6_link
+ second: arm_left_6_link
+ - first: leg_left_6_link
+ second: arm_right_1_link
+ - first: leg_left_6_link
+ second: arm_right_2_link
+ - first: leg_left_6_link
+ second: arm_right_3_link
+ - first: leg_left_6_link
+ second: arm_right_4_link
+ - first: leg_left_6_link
+ second: crane_link
+ - first: leg_left_6_link
+ second: head_1_link
+ - first: leg_left_6_link
+ second: head_2_link
+ - first: leg_left_6_link
+ second: imu_link
+ - first: leg_left_6_link
+ second: left_sole_link
+ - first: leg_left_6_link
+ second: leg_left_4_link
+ - first: leg_left_6_link
+ second: leg_left_5_link
+ - first: leg_right_1_link
+ second: arm_left_1_link
+ - first: leg_right_1_link
+ second: arm_left_2_link
+ - first: leg_right_1_link
+ second: arm_left_3_link
+ - first: leg_right_1_link
+ second: arm_left_4_link
+ - first: leg_right_1_link
+ second: arm_right_1_link
+ - first: leg_right_1_link
+ second: arm_right_2_link
+ - first: leg_right_1_link
+ second: arm_right_3_link
+ - first: leg_right_1_link
+ second: arm_right_4_link
+ - first: leg_right_1_link
+ second: base_link
+ - first: leg_right_1_link
+ second: crane_link
+ - first: leg_right_1_link
+ second: head_1_link
+ - first: leg_right_1_link
+ second: head_2_link
+ - first: leg_right_1_link
+ second: imu_link
+ - first: leg_right_1_link
+ second: left_sole_link
+ - first: leg_right_1_link
+ second: leg_left_2_link
+ - first: leg_right_2_link
+ second: arm_left_1_link
+ - first: leg_right_2_link
+ second: arm_left_2_link
+ - first: leg_right_2_link
+ second: arm_left_3_link
+ - first: leg_right_2_link
+ second: arm_left_4_link
+ - first: leg_right_2_link
+ second: arm_left_5_link
+ - first: leg_right_2_link
+ second: arm_left_6_link
+ - first: leg_right_2_link
+ second: arm_right_1_link
+ - first: leg_right_2_link
+ second: arm_right_2_link
+ - first: leg_right_2_link
+ second: arm_right_3_link
+ - first: leg_right_2_link
+ second: arm_right_4_link
+ - first: leg_right_2_link
+ second: crane_link
+ - first: leg_right_2_link
+ second: head_1_link
+ - first: leg_right_2_link
+ second: head_2_link
+ - first: leg_right_2_link
+ second: imu_link
+ - first: leg_right_2_link
+ second: left_sole_link
+ - first: leg_right_2_link
+ second: leg_left_1_link
+ - first: leg_right_2_link
+ second: leg_left_2_link
+ - first: leg_right_2_link
+ second: leg_right_1_link
+ - first: leg_right_3_link
+ second: arm_left_1_link
+ - first: leg_right_3_link
+ second: arm_left_2_link
+ - first: leg_right_3_link
+ second: arm_right_1_link
+ - first: leg_right_3_link
+ second: arm_right_2_link
+ - first: leg_right_3_link
+ second: head_1_link
+ - first: leg_right_3_link
+ second: head_2_link
+ - first: leg_right_3_link
+ second: imu_link
+ - first: leg_right_3_link
+ second: left_sole_link
+ - first: leg_right_3_link
+ second: leg_right_1_link
+ - first: leg_right_3_link
+ second: leg_right_2_link
+ - first: leg_right_4_link
+ second: arm_left_1_link
+ - first: leg_right_4_link
+ second: arm_left_2_link
+ - first: leg_right_4_link
+ second: arm_right_1_link
+ - first: leg_right_4_link
+ second: arm_right_2_link
+ - first: leg_right_4_link
+ second: base_link
+ - first: leg_right_4_link
+ second: head_1_link
+ - first: leg_right_4_link
+ second: head_2_link
+ - first: leg_right_4_link
+ second: imu_link
+ - first: leg_right_4_link
+ second: left_sole_link
+ - first: leg_right_4_link
+ second: leg_right_1_link
+ - first: leg_right_4_link
+ second: leg_right_2_link
+ - first: leg_right_4_link
+ second: leg_right_3_link
+ - first: leg_right_5_link
+ second: arm_left_1_link
+ - first: leg_right_5_link
+ second: arm_left_2_link
+ - first: leg_right_5_link
+ second: arm_left_3_link
+ - first: leg_right_5_link
+ second: arm_left_4_link
+ - first: leg_right_5_link
+ second: arm_left_6_link
+ - first: leg_right_5_link
+ second: arm_right_1_link
+ - first: leg_right_5_link
+ second: arm_right_2_link
+ - first: leg_right_5_link
+ second: arm_right_3_link
+ - first: leg_right_5_link
+ second: arm_right_4_link
+ - first: leg_right_5_link
+ second: crane_link
+ - first: leg_right_5_link
+ second: gripper_left_base_link
+ - first: leg_right_5_link
+ second: gripper_left_inner_double_link
+ - first: leg_right_5_link
+ second: gripper_left_motor_double_link
+ - first: leg_right_5_link
+ second: head_1_link
+ - first: leg_right_5_link
+ second: head_2_link
+ - first: leg_right_5_link
+ second: imu_link
+ - first: leg_right_5_link
+ second: left_sole_link
+ - first: leg_right_5_link
+ second: leg_right_1_link
+ - first: leg_right_5_link
+ second: leg_right_2_link
+ - first: leg_right_5_link
+ second: leg_right_3_link
+ - first: leg_right_5_link
+ second: leg_right_4_link
+ - first: leg_right_6_link
+ second: arm_left_1_link
+ - first: leg_right_6_link
+ second: arm_left_2_link
+ - first: leg_right_6_link
+ second: arm_right_1_link
+ - first: leg_right_6_link
+ second: arm_right_2_link
+ - first: leg_right_6_link
+ second: arm_right_3_link
+ - first: leg_right_6_link
+ second: crane_link
+ - first: leg_right_6_link
+ second: head_1_link
+ - first: leg_right_6_link
+ second: head_2_link
+ - first: leg_right_6_link
+ second: imu_link
+ - first: leg_right_6_link
+ second: left_sole_link
+ - first: leg_right_6_link
+ second: leg_right_4_link
+ - first: leg_right_6_link
+ second: leg_right_5_link
+ - first: rgbd_depth_frame
+ second: arm_left_1_link
+ - first: rgbd_depth_frame
+ second: arm_left_2_link
+ - first: rgbd_depth_frame
+ second: arm_left_3_link
+ - first: rgbd_depth_frame
+ second: arm_left_4_link
+ - first: rgbd_depth_frame
+ second: arm_left_5_link
+ - first: rgbd_depth_frame
+ second: arm_left_6_link
+ - first: rgbd_depth_frame
+ second: arm_left_7_link
+ - first: rgbd_depth_frame
+ second: arm_right_1_link
+ - first: rgbd_depth_frame
+ second: arm_right_2_link
+ - first: rgbd_depth_frame
+ second: arm_right_3_link
+ - first: rgbd_depth_frame
+ second: arm_right_4_link
+ - first: rgbd_depth_frame
+ second: arm_right_5_link
+ - first: rgbd_depth_frame
+ second: arm_right_6_link
+ - first: rgbd_depth_frame
+ second: arm_right_7_link
+ - first: rgbd_depth_frame
+ second: base_link
+ - first: rgbd_depth_frame
+ second: crane_link
+ - first: rgbd_depth_frame
+ second: gripper_left_base_link
+ - first: rgbd_depth_frame
+ second: gripper_left_fingertip_1_link
+ - first: rgbd_depth_frame
+ second: gripper_left_fingertip_2_link
+ - first: rgbd_depth_frame
+ second: gripper_left_fingertip_3_link
+ - first: rgbd_depth_frame
+ second: gripper_left_inner_double_link
+ - first: rgbd_depth_frame
+ second: gripper_left_inner_single_link
+ - first: rgbd_depth_frame
+ second: gripper_left_motor_double_link
+ - first: rgbd_depth_frame
+ second: gripper_left_motor_single_link
+ - first: rgbd_depth_frame
+ second: gripper_right_base_link
+ - first: rgbd_depth_frame
+ second: gripper_right_fingertip_1_link
+ - first: rgbd_depth_frame
+ second: gripper_right_fingertip_2_link
+ - first: rgbd_depth_frame
+ second: gripper_right_fingertip_3_link
+ - first: rgbd_depth_frame
+ second: gripper_right_inner_double_link
+ - first: rgbd_depth_frame
+ second: gripper_right_inner_single_link
+ - first: rgbd_depth_frame
+ second: gripper_right_motor_double_link
+ - first: rgbd_depth_frame
+ second: gripper_right_motor_single_link
+ - first: rgbd_depth_frame
+ second: head_1_link
+ - first: rgbd_depth_frame
+ second: head_2_link
+ - first: rgbd_depth_frame
+ second: imu_link
+ - first: rgbd_depth_frame
+ second: left_sole_link
+ - first: rgbd_depth_frame
+ second: leg_left_1_link
+ - first: rgbd_depth_frame
+ second: leg_left_2_link
+ - first: rgbd_depth_frame
+ second: leg_left_3_link
+ - first: rgbd_depth_frame
+ second: leg_left_4_link
+ - first: rgbd_depth_frame
+ second: leg_left_5_link
+ - first: rgbd_depth_frame
+ second: leg_left_6_link
+ - first: rgbd_depth_frame
+ second: leg_right_1_link
+ - first: rgbd_depth_frame
+ second: leg_right_2_link
+ - first: rgbd_depth_frame
+ second: leg_right_3_link
+ - first: rgbd_depth_frame
+ second: leg_right_4_link
+ - first: rgbd_depth_frame
+ second: leg_right_5_link
+ - first: rgbd_depth_frame
+ second: leg_right_6_link
+ - first: rgbd_depth_optical_frame
+ second: arm_left_1_link
+ - first: rgbd_depth_optical_frame
+ second: arm_left_2_link
+ - first: rgbd_depth_optical_frame
+ second: arm_left_3_link
+ - first: rgbd_depth_optical_frame
+ second: arm_left_4_link
+ - first: rgbd_depth_optical_frame
+ second: arm_left_5_link
+ - first: rgbd_depth_optical_frame
+ second: arm_left_6_link
+ - first: rgbd_depth_optical_frame
+ second: arm_left_7_link
+ - first: rgbd_depth_optical_frame
+ second: arm_right_1_link
+ - first: rgbd_depth_optical_frame
+ second: arm_right_2_link
+ - first: rgbd_depth_optical_frame
+ second: arm_right_3_link
+ - first: rgbd_depth_optical_frame
+ second: arm_right_4_link
+ - first: rgbd_depth_optical_frame
+ second: arm_right_5_link
+ - first: rgbd_depth_optical_frame
+ second: arm_right_6_link
+ - first: rgbd_depth_optical_frame
+ second: arm_right_7_link
+ - first: rgbd_depth_optical_frame
+ second: base_link
+ - first: rgbd_depth_optical_frame
+ second: crane_link
+ - first: rgbd_depth_optical_frame
+ second: gripper_left_base_link
+ - first: rgbd_depth_optical_frame
+ second: gripper_left_fingertip_1_link
+ - first: rgbd_depth_optical_frame
+ second: gripper_left_fingertip_2_link
+ - first: rgbd_depth_optical_frame
+ second: gripper_left_fingertip_3_link
+ - first: rgbd_depth_optical_frame
+ second: gripper_left_inner_double_link
+ - first: rgbd_depth_optical_frame
+ second: gripper_left_inner_single_link
+ - first: rgbd_depth_optical_frame
+ second: gripper_left_motor_double_link
+ - first: rgbd_depth_optical_frame
+ second: gripper_left_motor_single_link
+ - first: rgbd_depth_optical_frame
+ second: gripper_right_base_link
+ - first: rgbd_depth_optical_frame
+ second: gripper_right_fingertip_1_link
+ - first: rgbd_depth_optical_frame
+ second: gripper_right_fingertip_2_link
+ - first: rgbd_depth_optical_frame
+ second: gripper_right_fingertip_3_link
+ - first: rgbd_depth_optical_frame
+ second: gripper_right_inner_double_link
+ - first: rgbd_depth_optical_frame
+ second: gripper_right_inner_single_link
+ - first: rgbd_depth_optical_frame
+ second: gripper_right_motor_double_link
+ - first: rgbd_depth_optical_frame
+ second: gripper_right_motor_single_link
+ - first: rgbd_depth_optical_frame
+ second: head_1_link
+ - first: rgbd_depth_optical_frame
+ second: head_2_link
+ - first: rgbd_depth_optical_frame
+ second: imu_link
+ - first: rgbd_depth_optical_frame
+ second: left_sole_link
+ - first: rgbd_depth_optical_frame
+ second: leg_left_1_link
+ - first: rgbd_depth_optical_frame
+ second: leg_left_2_link
+ - first: rgbd_depth_optical_frame
+ second: leg_left_3_link
+ - first: rgbd_depth_optical_frame
+ second: leg_left_4_link
+ - first: rgbd_depth_optical_frame
+ second: leg_left_5_link
+ - first: rgbd_depth_optical_frame
+ second: leg_left_6_link
+ - first: rgbd_depth_optical_frame
+ second: leg_right_1_link
+ - first: rgbd_depth_optical_frame
+ second: leg_right_2_link
+ - first: rgbd_depth_optical_frame
+ second: leg_right_3_link
+ - first: rgbd_depth_optical_frame
+ second: leg_right_4_link
+ - first: rgbd_depth_optical_frame
+ second: leg_right_5_link
+ - first: rgbd_depth_optical_frame
+ second: leg_right_6_link
+ - first: rgbd_depth_optical_frame
+ second: rgbd_depth_frame
+ - first: rgbd_link
+ second: arm_left_1_link
+ - first: rgbd_link
+ second: arm_left_4_link
+ - first: rgbd_link
+ second: arm_right_1_link
+ - first: rgbd_link
+ second: arm_right_4_link
+ - first: rgbd_link
+ second: base_link
+ - first: rgbd_link
+ second: crane_link
+ - first: rgbd_link
+ second: gripper_right_fingertip_2_link
+ - first: rgbd_link
+ second: head_1_link
+ - first: rgbd_link
+ second: head_2_link
+ - first: rgbd_link
+ second: imu_link
+ - first: rgbd_link
+ second: left_sole_link
+ - first: rgbd_link
+ second: leg_left_1_link
+ - first: rgbd_link
+ second: leg_left_2_link
+ - first: rgbd_link
+ second: leg_left_3_link
+ - first: rgbd_link
+ second: leg_left_4_link
+ - first: rgbd_link
+ second: leg_left_5_link
+ - first: rgbd_link
+ second: leg_left_6_link
+ - first: rgbd_link
+ second: leg_right_1_link
+ - first: rgbd_link
+ second: leg_right_2_link
+ - first: rgbd_link
+ second: leg_right_3_link
+ - first: rgbd_link
+ second: leg_right_4_link
+ - first: rgbd_link
+ second: leg_right_5_link
+ - first: rgbd_link
+ second: leg_right_6_link
+ - first: rgbd_link
+ second: rgbd_depth_frame
+ - first: rgbd_link
+ second: rgbd_depth_optical_frame
+ - first: rgbd_optical_frame
+ second: arm_left_1_link
+ - first: rgbd_optical_frame
+ second: arm_left_2_link
+ - first: rgbd_optical_frame
+ second: arm_left_3_link
+ - first: rgbd_optical_frame
+ second: arm_left_4_link
+ - first: rgbd_optical_frame
+ second: arm_left_5_link
+ - first: rgbd_optical_frame
+ second: arm_left_6_link
+ - first: rgbd_optical_frame
+ second: arm_left_7_link
+ - first: rgbd_optical_frame
+ second: arm_right_1_link
+ - first: rgbd_optical_frame
+ second: arm_right_2_link
+ - first: rgbd_optical_frame
+ second: arm_right_3_link
+ - first: rgbd_optical_frame
+ second: arm_right_4_link
+ - first: rgbd_optical_frame
+ second: arm_right_5_link
+ - first: rgbd_optical_frame
+ second: arm_right_6_link
+ - first: rgbd_optical_frame
+ second: arm_right_7_link
+ - first: rgbd_optical_frame
+ second: base_link
+ - first: rgbd_optical_frame
+ second: crane_link
+ - first: rgbd_optical_frame
+ second: gripper_left_base_link
+ - first: rgbd_optical_frame
+ second: gripper_left_fingertip_1_link
+ - first: rgbd_optical_frame
+ second: gripper_left_fingertip_2_link
+ - first: rgbd_optical_frame
+ second: gripper_left_fingertip_3_link
+ - first: rgbd_optical_frame
+ second: gripper_left_inner_double_link
+ - first: rgbd_optical_frame
+ second: gripper_left_inner_single_link
+ - first: rgbd_optical_frame
+ second: gripper_left_motor_double_link
+ - first: rgbd_optical_frame
+ second: gripper_left_motor_single_link
+ - first: rgbd_optical_frame
+ second: gripper_right_base_link
+ - first: rgbd_optical_frame
+ second: gripper_right_fingertip_1_link
+ - first: rgbd_optical_frame
+ second: gripper_right_fingertip_2_link
+ - first: rgbd_optical_frame
+ second: gripper_right_fingertip_3_link
+ - first: rgbd_optical_frame
+ second: gripper_right_inner_double_link
+ - first: rgbd_optical_frame
+ second: gripper_right_inner_single_link
+ - first: rgbd_optical_frame
+ second: gripper_right_motor_double_link
+ - first: rgbd_optical_frame
+ second: gripper_right_motor_single_link
+ - first: rgbd_optical_frame
+ second: head_1_link
+ - first: rgbd_optical_frame
+ second: head_2_link
+ - first: rgbd_optical_frame
+ second: imu_link
+ - first: rgbd_optical_frame
+ second: left_sole_link
+ - first: rgbd_optical_frame
+ second: leg_left_1_link
+ - first: rgbd_optical_frame
+ second: leg_left_2_link
+ - first: rgbd_optical_frame
+ second: leg_left_3_link
+ - first: rgbd_optical_frame
+ second: leg_left_4_link
+ - first: rgbd_optical_frame
+ second: leg_left_5_link
+ - first: rgbd_optical_frame
+ second: leg_left_6_link
+ - first: rgbd_optical_frame
+ second: leg_right_1_link
+ - first: rgbd_optical_frame
+ second: leg_right_2_link
+ - first: rgbd_optical_frame
+ second: leg_right_3_link
+ - first: rgbd_optical_frame
+ second: leg_right_4_link
+ - first: rgbd_optical_frame
+ second: leg_right_5_link
+ - first: rgbd_optical_frame
+ second: leg_right_6_link
+ - first: rgbd_optical_frame
+ second: rgbd_depth_frame
+ - first: rgbd_optical_frame
+ second: rgbd_depth_optical_frame
+ - first: rgbd_optical_frame
+ second: rgbd_link
+ - first: rgbd_rgb_frame
+ second: arm_left_1_link
+ - first: rgbd_rgb_frame
+ second: arm_left_2_link
+ - first: rgbd_rgb_frame
+ second: arm_left_3_link
+ - first: rgbd_rgb_frame
+ second: arm_left_4_link
+ - first: rgbd_rgb_frame
+ second: arm_left_5_link
+ - first: rgbd_rgb_frame
+ second: arm_left_6_link
+ - first: rgbd_rgb_frame
+ second: arm_left_7_link
+ - first: rgbd_rgb_frame
+ second: arm_right_1_link
+ - first: rgbd_rgb_frame
+ second: arm_right_2_link
+ - first: rgbd_rgb_frame
+ second: arm_right_3_link
+ - first: rgbd_rgb_frame
+ second: arm_right_4_link
+ - first: rgbd_rgb_frame
+ second: arm_right_5_link
+ - first: rgbd_rgb_frame
+ second: arm_right_6_link
+ - first: rgbd_rgb_frame
+ second: arm_right_7_link
+ - first: rgbd_rgb_frame
+ second: base_link
+ - first: rgbd_rgb_frame
+ second: crane_link
+ - first: rgbd_rgb_frame
+ second: gripper_left_base_link
+ - first: rgbd_rgb_frame
+ second: gripper_left_fingertip_1_link
+ - first: rgbd_rgb_frame
+ second: gripper_left_fingertip_2_link
+ - first: rgbd_rgb_frame
+ second: gripper_left_fingertip_3_link
+ - first: rgbd_rgb_frame
+ second: gripper_left_inner_double_link
+ - first: rgbd_rgb_frame
+ second: gripper_left_inner_single_link
+ - first: rgbd_rgb_frame
+ second: gripper_left_motor_double_link
+ - first: rgbd_rgb_frame
+ second: gripper_left_motor_single_link
+ - first: rgbd_rgb_frame
+ second: gripper_right_base_link
+ - first: rgbd_rgb_frame
+ second: gripper_right_fingertip_1_link
+ - first: rgbd_rgb_frame
+ second: gripper_right_fingertip_2_link
+ - first: rgbd_rgb_frame
+ second: gripper_right_fingertip_3_link
+ - first: rgbd_rgb_frame
+ second: gripper_right_inner_double_link
+ - first: rgbd_rgb_frame
+ second: gripper_right_inner_single_link
+ - first: rgbd_rgb_frame
+ second: gripper_right_motor_double_link
+ - first: rgbd_rgb_frame
+ second: gripper_right_motor_single_link
+ - first: rgbd_rgb_frame
+ second: head_1_link
+ - first: rgbd_rgb_frame
+ second: head_2_link
+ - first: rgbd_rgb_frame
+ second: imu_link
+ - first: rgbd_rgb_frame
+ second: left_sole_link
+ - first: rgbd_rgb_frame
+ second: leg_left_1_link
+ - first: rgbd_rgb_frame
+ second: leg_left_2_link
+ - first: rgbd_rgb_frame
+ second: leg_left_3_link
+ - first: rgbd_rgb_frame
+ second: leg_left_4_link
+ - first: rgbd_rgb_frame
+ second: leg_left_5_link
+ - first: rgbd_rgb_frame
+ second: leg_left_6_link
+ - first: rgbd_rgb_frame
+ second: leg_right_1_link
+ - first: rgbd_rgb_frame
+ second: leg_right_2_link
+ - first: rgbd_rgb_frame
+ second: leg_right_3_link
+ - first: rgbd_rgb_frame
+ second: leg_right_4_link
+ - first: rgbd_rgb_frame
+ second: leg_right_5_link
+ - first: rgbd_rgb_frame
+ second: leg_right_6_link
+ - first: rgbd_rgb_frame
+ second: rgbd_depth_frame
+ - first: rgbd_rgb_frame
+ second: rgbd_depth_optical_frame
+ - first: rgbd_rgb_frame
+ second: rgbd_link
+ - first: rgbd_rgb_frame
+ second: rgbd_optical_frame
+ - first: rgbd_rgb_optical_frame
+ second: arm_left_1_link
+ - first: rgbd_rgb_optical_frame
+ second: arm_left_2_link
+ - first: rgbd_rgb_optical_frame
+ second: arm_left_3_link
+ - first: rgbd_rgb_optical_frame
+ second: arm_left_4_link
+ - first: rgbd_rgb_optical_frame
+ second: arm_left_5_link
+ - first: rgbd_rgb_optical_frame
+ second: arm_left_6_link
+ - first: rgbd_rgb_optical_frame
+ second: arm_left_7_link
+ - first: rgbd_rgb_optical_frame
+ second: arm_right_1_link
+ - first: rgbd_rgb_optical_frame
+ second: arm_right_2_link
+ - first: rgbd_rgb_optical_frame
+ second: arm_right_3_link
+ - first: rgbd_rgb_optical_frame
+ second: arm_right_4_link
+ - first: rgbd_rgb_optical_frame
+ second: arm_right_5_link
+ - first: rgbd_rgb_optical_frame
+ second: arm_right_6_link
+ - first: rgbd_rgb_optical_frame
+ second: arm_right_7_link
+ - first: rgbd_rgb_optical_frame
+ second: base_link
+ - first: rgbd_rgb_optical_frame
+ second: crane_link
+ - first: rgbd_rgb_optical_frame
+ second: gripper_left_base_link
+ - first: rgbd_rgb_optical_frame
+ second: gripper_left_fingertip_1_link
+ - first: rgbd_rgb_optical_frame
+ second: gripper_left_fingertip_2_link
+ - first: rgbd_rgb_optical_frame
+ second: gripper_left_fingertip_3_link
+ - first: rgbd_rgb_optical_frame
+ second: gripper_left_inner_double_link
+ - first: rgbd_rgb_optical_frame
+ second: gripper_left_inner_single_link
+ - first: rgbd_rgb_optical_frame
+ second: gripper_left_motor_double_link
+ - first: rgbd_rgb_optical_frame
+ second: gripper_left_motor_single_link
+ - first: rgbd_rgb_optical_frame
+ second: gripper_right_base_link
+ - first: rgbd_rgb_optical_frame
+ second: gripper_right_fingertip_1_link
+ - first: rgbd_rgb_optical_frame
+ second: gripper_right_fingertip_2_link
+ - first: rgbd_rgb_optical_frame
+ second: gripper_right_fingertip_3_link
+ - first: rgbd_rgb_optical_frame
+ second: gripper_right_inner_double_link
+ - first: rgbd_rgb_optical_frame
+ second: gripper_right_inner_single_link
+ - first: rgbd_rgb_optical_frame
+ second: gripper_right_motor_double_link
+ - first: rgbd_rgb_optical_frame
+ second: gripper_right_motor_single_link
+ - first: rgbd_rgb_optical_frame
+ second: head_1_link
+ - first: rgbd_rgb_optical_frame
+ second: head_2_link
+ - first: rgbd_rgb_optical_frame
+ second: imu_link
+ - first: rgbd_rgb_optical_frame
+ second: left_sole_link
+ - first: rgbd_rgb_optical_frame
+ second: leg_left_1_link
+ - first: rgbd_rgb_optical_frame
+ second: leg_left_2_link
+ - first: rgbd_rgb_optical_frame
+ second: leg_left_3_link
+ - first: rgbd_rgb_optical_frame
+ second: leg_left_4_link
+ - first: rgbd_rgb_optical_frame
+ second: leg_left_5_link
+ - first: rgbd_rgb_optical_frame
+ second: leg_left_6_link
+ - first: rgbd_rgb_optical_frame
+ second: leg_right_1_link
+ - first: rgbd_rgb_optical_frame
+ second: leg_right_2_link
+ - first: rgbd_rgb_optical_frame
+ second: leg_right_3_link
+ - first: rgbd_rgb_optical_frame
+ second: leg_right_4_link
+ - first: rgbd_rgb_optical_frame
+ second: leg_right_5_link
+ - first: rgbd_rgb_optical_frame
+ second: leg_right_6_link
+ - first: rgbd_rgb_optical_frame
+ second: rgbd_depth_frame
+ - first: rgbd_rgb_optical_frame
+ second: rgbd_depth_optical_frame
+ - first: rgbd_rgb_optical_frame
+ second: rgbd_link
+ - first: rgbd_rgb_optical_frame
+ second: rgbd_optical_frame
+ - first: rgbd_rgb_optical_frame
+ second: rgbd_rgb_frame
+ - first: right_sole_link
+ second: arm_left_1_link
+ - first: right_sole_link
+ second: arm_left_2_link
+ - first: right_sole_link
+ second: arm_left_3_link
+ - first: right_sole_link
+ second: arm_left_4_link
+ - first: right_sole_link
+ second: arm_left_5_link
+ - first: right_sole_link
+ second: arm_left_6_link
+ - first: right_sole_link
+ second: arm_left_7_link
+ - first: right_sole_link
+ second: arm_right_1_link
+ - first: right_sole_link
+ second: arm_right_2_link
+ - first: right_sole_link
+ second: arm_right_3_link
+ - first: right_sole_link
+ second: arm_right_4_link
+ - first: right_sole_link
+ second: arm_right_5_link
+ - first: right_sole_link
+ second: arm_right_6_link
+ - first: right_sole_link
+ second: arm_right_7_link
+ - first: right_sole_link
+ second: base_link
+ - first: right_sole_link
+ second: crane_link
+ - first: right_sole_link
+ second: gripper_left_base_link
+ - first: right_sole_link
+ second: gripper_left_fingertip_1_link
+ - first: right_sole_link
+ second: gripper_left_fingertip_2_link
+ - first: right_sole_link
+ second: gripper_left_fingertip_3_link
+ - first: right_sole_link
+ second: gripper_left_inner_double_link
+ - first: right_sole_link
+ second: gripper_left_inner_single_link
+ - first: right_sole_link
+ second: gripper_left_motor_double_link
+ - first: right_sole_link
+ second: gripper_left_motor_single_link
+ - first: right_sole_link
+ second: gripper_right_base_link
+ - first: right_sole_link
+ second: gripper_right_fingertip_1_link
+ - first: right_sole_link
+ second: gripper_right_fingertip_2_link
+ - first: right_sole_link
+ second: gripper_right_fingertip_3_link
+ - first: right_sole_link
+ second: gripper_right_inner_double_link
+ - first: right_sole_link
+ second: gripper_right_inner_single_link
+ - first: right_sole_link
+ second: gripper_right_motor_double_link
+ - first: right_sole_link
+ second: gripper_right_motor_single_link
+ - first: right_sole_link
+ second: head_1_link
+ - first: right_sole_link
+ second: head_2_link
+ - first: right_sole_link
+ second: imu_link
+ - first: right_sole_link
+ second: left_sole_link
+ - first: right_sole_link
+ second: leg_left_1_link
+ - first: right_sole_link
+ second: leg_left_2_link
+ - first: right_sole_link
+ second: leg_left_3_link
+ - first: right_sole_link
+ second: leg_left_4_link
+ - first: right_sole_link
+ second: leg_left_5_link
+ - first: right_sole_link
+ second: leg_left_6_link
+ - first: right_sole_link
+ second: leg_right_1_link
+ - first: right_sole_link
+ second: leg_right_2_link
+ - first: right_sole_link
+ second: leg_right_3_link
+ - first: right_sole_link
+ second: leg_right_4_link
+ - first: right_sole_link
+ second: leg_right_5_link
+ - first: right_sole_link
+ second: leg_right_6_link
+ - first: right_sole_link
+ second: rgbd_depth_frame
+ - first: right_sole_link
+ second: rgbd_depth_optical_frame
+ - first: right_sole_link
+ second: rgbd_link
+ - first: right_sole_link
+ second: rgbd_optical_frame
+ - first: right_sole_link
+ second: rgbd_rgb_frame
+ - first: right_sole_link
+ second: rgbd_rgb_optical_frame
+ - first: torso_1_link
+ second: arm_left_1_link
+ - first: torso_1_link
+ second: arm_left_2_link
+ - first: torso_1_link
+ second: arm_left_3_link
+ - first: torso_1_link
+ second: arm_left_4_link
+ - first: torso_1_link
+ second: arm_right_1_link
+ - first: torso_1_link
+ second: arm_right_2_link
+ - first: torso_1_link
+ second: arm_right_3_link
+ - first: torso_1_link
+ second: arm_right_4_link
+ - first: torso_1_link
+ second: base_link
+ - first: torso_1_link
+ second: crane_link
+ - first: torso_1_link
+ second: head_1_link
+ - first: torso_1_link
+ second: head_2_link
+ - first: torso_1_link
+ second: imu_link
+ - first: torso_1_link
+ second: left_sole_link
+ - first: torso_1_link
+ second: leg_left_1_link
+ - first: torso_1_link
+ second: leg_left_2_link
+ - first: torso_1_link
+ second: leg_left_3_link
+ - first: torso_1_link
+ second: leg_left_4_link
+ - first: torso_1_link
+ second: leg_left_5_link
+ - first: torso_1_link
+ second: leg_left_6_link
+ - first: torso_1_link
+ second: leg_right_1_link
+ - first: torso_1_link
+ second: leg_right_2_link
+ - first: torso_1_link
+ second: leg_right_3_link
+ - first: torso_1_link
+ second: leg_right_4_link
+ - first: torso_1_link
+ second: leg_right_5_link
+ - first: torso_1_link
+ second: leg_right_6_link
+ - first: torso_1_link
+ second: rgbd_depth_frame
+ - first: torso_1_link
+ second: rgbd_depth_optical_frame
+ - first: torso_1_link
+ second: rgbd_link
+ - first: torso_1_link
+ second: rgbd_optical_frame
+ - first: torso_1_link
+ second: rgbd_rgb_frame
+ - first: torso_1_link
+ second: rgbd_rgb_optical_frame
+ - first: torso_1_link
+ second: right_sole_link
+ - first: torso_2_link
+ second: arm_left_1_link
+ - first: torso_2_link
+ second: arm_right_1_link
+ - first: torso_2_link
+ second: base_link
+ - first: torso_2_link
+ second: crane_link
+ - first: torso_2_link
+ second: head_1_link
+ - first: torso_2_link
+ second: head_2_link
+ - first: torso_2_link
+ second: imu_link
+ - first: torso_2_link
+ second: left_sole_link
+ - first: torso_2_link
+ second: leg_left_1_link
+ - first: torso_2_link
+ second: leg_left_2_link
+ - first: torso_2_link
+ second: leg_left_3_link
+ - first: torso_2_link
+ second: leg_left_4_link
+ - first: torso_2_link
+ second: leg_left_5_link
+ - first: torso_2_link
+ second: leg_left_6_link
+ - first: torso_2_link
+ second: leg_right_1_link
+ - first: torso_2_link
+ second: leg_right_2_link
+ - first: torso_2_link
+ second: leg_right_3_link
+ - first: torso_2_link
+ second: leg_right_4_link
+ - first: torso_2_link
+ second: leg_right_5_link
+ - first: torso_2_link
+ second: leg_right_6_link
+ - first: torso_2_link
+ second: rgbd_depth_frame
+ - first: torso_2_link
+ second: rgbd_depth_optical_frame
+ - first: torso_2_link
+ second: rgbd_link
+ - first: torso_2_link
+ second: rgbd_optical_frame
+ - first: torso_2_link
+ second: rgbd_rgb_frame
+ - first: torso_2_link
+ second: rgbd_rgb_optical_frame
+ - first: torso_2_link
+ second: right_sole_link
+ - first: torso_2_link
+ second: torso_1_link
+ - first: wrist_left_ft_link
+ second: arm_left_1_link
+ - first: wrist_left_ft_link
+ second: arm_left_2_link
+ - first: wrist_left_ft_link
+ second: arm_left_3_link
+ - first: wrist_left_ft_link
+ second: arm_left_4_link
+ - first: wrist_left_ft_link
+ second: arm_left_7_link
+ - first: wrist_left_ft_link
+ second: arm_right_1_link
+ - first: wrist_left_ft_link
+ second: arm_right_2_link
+ - first: wrist_left_ft_link
+ second: arm_right_3_link
+ - first: wrist_left_ft_link
+ second: arm_right_4_link
+ - first: wrist_left_ft_link
+ second: gripper_left_base_link
+ - first: wrist_left_ft_link
+ second: gripper_left_fingertip_1_link
+ - first: wrist_left_ft_link
+ second: gripper_left_fingertip_2_link
+ - first: wrist_left_ft_link
+ second: gripper_left_fingertip_3_link
+ - first: wrist_left_ft_link
+ second: gripper_left_inner_double_link
+ - first: wrist_left_ft_link
+ second: gripper_left_inner_single_link
+ - first: wrist_left_ft_link
+ second: gripper_left_motor_double_link
+ - first: wrist_left_ft_link
+ second: gripper_left_motor_single_link
+ - first: wrist_left_ft_link
+ second: gripper_right_base_link
+ - first: wrist_left_ft_link
+ second: gripper_right_fingertip_1_link
+ - first: wrist_left_ft_link
+ second: gripper_right_fingertip_2_link
+ - first: wrist_left_ft_link
+ second: gripper_right_inner_double_link
+ - first: wrist_left_ft_link
+ second: gripper_right_inner_single_link
+ - first: wrist_left_ft_link
+ second: gripper_right_motor_double_link
+ - first: wrist_left_ft_link
+ second: gripper_right_motor_single_link
+ - first: wrist_left_ft_link
+ second: imu_link
+ - first: wrist_left_ft_link
+ second: left_sole_link
+ - first: wrist_left_ft_link
+ second: leg_left_5_link
+ - first: wrist_left_ft_link
+ second: leg_left_6_link
+ - first: wrist_left_ft_link
+ second: leg_right_2_link
+ - first: wrist_left_ft_link
+ second: leg_right_5_link
+ - first: wrist_left_ft_link
+ second: rgbd_depth_frame
+ - first: wrist_left_ft_link
+ second: rgbd_depth_optical_frame
+ - first: wrist_left_ft_link
+ second: rgbd_optical_frame
+ - first: wrist_left_ft_link
+ second: rgbd_rgb_frame
+ - first: wrist_left_ft_link
+ second: rgbd_rgb_optical_frame
+ - first: wrist_left_ft_link
+ second: right_sole_link
+ - first: wrist_left_ft_tool_link
+ second: arm_left_1_link
+ - first: wrist_left_ft_tool_link
+ second: arm_left_2_link
+ - first: wrist_left_ft_tool_link
+ second: arm_left_3_link
+ - first: wrist_left_ft_tool_link
+ second: arm_left_4_link
+ - first: wrist_left_ft_tool_link
+ second: arm_left_5_link
+ - first: wrist_left_ft_tool_link
+ second: arm_left_6_link
+ - first: wrist_left_ft_tool_link
+ second: arm_left_7_link
+ - first: wrist_left_ft_tool_link
+ second: arm_right_1_link
+ - first: wrist_left_ft_tool_link
+ second: arm_right_2_link
+ - first: wrist_left_ft_tool_link
+ second: arm_right_3_link
+ - first: wrist_left_ft_tool_link
+ second: arm_right_4_link
+ - first: wrist_left_ft_tool_link
+ second: gripper_left_base_link
+ - first: wrist_left_ft_tool_link
+ second: gripper_left_fingertip_1_link
+ - first: wrist_left_ft_tool_link
+ second: gripper_left_fingertip_2_link
+ - first: wrist_left_ft_tool_link
+ second: gripper_left_fingertip_3_link
+ - first: wrist_left_ft_tool_link
+ second: gripper_left_inner_double_link
+ - first: wrist_left_ft_tool_link
+ second: gripper_left_inner_single_link
+ - first: wrist_left_ft_tool_link
+ second: gripper_left_motor_double_link
+ - first: wrist_left_ft_tool_link
+ second: gripper_left_motor_single_link
+ - first: wrist_left_ft_tool_link
+ second: gripper_right_base_link
+ - first: wrist_left_ft_tool_link
+ second: gripper_right_fingertip_1_link
+ - first: wrist_left_ft_tool_link
+ second: gripper_right_fingertip_2_link
+ - first: wrist_left_ft_tool_link
+ second: gripper_right_fingertip_3_link
+ - first: wrist_left_ft_tool_link
+ second: gripper_right_inner_single_link
+ - first: wrist_left_ft_tool_link
+ second: gripper_right_motor_double_link
+ - first: wrist_left_ft_tool_link
+ second: gripper_right_motor_single_link
+ - first: wrist_left_ft_tool_link
+ second: imu_link
+ - first: wrist_left_ft_tool_link
+ second: left_sole_link
+ - first: wrist_left_ft_tool_link
+ second: leg_left_5_link
+ - first: wrist_left_ft_tool_link
+ second: leg_left_6_link
+ - first: wrist_left_ft_tool_link
+ second: leg_right_2_link
+ - first: wrist_left_ft_tool_link
+ second: leg_right_5_link
+ - first: wrist_left_ft_tool_link
+ second: rgbd_depth_frame
+ - first: wrist_left_ft_tool_link
+ second: rgbd_depth_optical_frame
+ - first: wrist_left_ft_tool_link
+ second: rgbd_optical_frame
+ - first: wrist_left_ft_tool_link
+ second: rgbd_rgb_frame
+ - first: wrist_left_ft_tool_link
+ second: rgbd_rgb_optical_frame
+ - first: wrist_left_ft_tool_link
+ second: right_sole_link
+ - first: wrist_left_ft_tool_link
+ second: wrist_left_ft_link
+ - first: wrist_right_ft_link
+ second: arm_left_1_link
+ - first: wrist_right_ft_link
+ second: arm_left_2_link
+ - first: wrist_right_ft_link
+ second: arm_left_3_link
+ - first: wrist_right_ft_link
+ second: arm_left_4_link
+ - first: wrist_right_ft_link
+ second: arm_left_6_link
+ - first: wrist_right_ft_link
+ second: arm_right_1_link
+ - first: wrist_right_ft_link
+ second: arm_right_2_link
+ - first: wrist_right_ft_link
+ second: arm_right_3_link
+ - first: wrist_right_ft_link
+ second: arm_right_4_link
+ - first: wrist_right_ft_link
+ second: arm_right_7_link
+ - first: wrist_right_ft_link
+ second: gripper_left_fingertip_1_link
+ - first: wrist_right_ft_link
+ second: gripper_left_fingertip_2_link
+ - first: wrist_right_ft_link
+ second: gripper_left_fingertip_3_link
+ - first: wrist_right_ft_link
+ second: gripper_left_inner_double_link
+ - first: wrist_right_ft_link
+ second: gripper_left_inner_single_link
+ - first: wrist_right_ft_link
+ second: gripper_left_motor_double_link
+ - first: wrist_right_ft_link
+ second: gripper_right_base_link
+ - first: wrist_right_ft_link
+ second: gripper_right_fingertip_1_link
+ - first: wrist_right_ft_link
+ second: gripper_right_fingertip_2_link
+ - first: wrist_right_ft_link
+ second: gripper_right_fingertip_3_link
+ - first: wrist_right_ft_link
+ second: gripper_right_inner_double_link
+ - first: wrist_right_ft_link
+ second: gripper_right_inner_single_link
+ - first: wrist_right_ft_link
+ second: gripper_right_motor_double_link
+ - first: wrist_right_ft_link
+ second: gripper_right_motor_single_link
+ - first: wrist_right_ft_link
+ second: head_1_link
+ - first: wrist_right_ft_link
+ second: imu_link
+ - first: wrist_right_ft_link
+ second: left_sole_link
+ - first: wrist_right_ft_link
+ second: leg_left_5_link
+ - first: wrist_right_ft_link
+ second: leg_left_6_link
+ - first: wrist_right_ft_link
+ second: leg_right_5_link
+ - first: wrist_right_ft_link
+ second: leg_right_6_link
+ - first: wrist_right_ft_link
+ second: rgbd_depth_frame
+ - first: wrist_right_ft_link
+ second: rgbd_depth_optical_frame
+ - first: wrist_right_ft_link
+ second: rgbd_optical_frame
+ - first: wrist_right_ft_link
+ second: rgbd_rgb_frame
+ - first: wrist_right_ft_link
+ second: rgbd_rgb_optical_frame
+ - first: wrist_right_ft_link
+ second: right_sole_link
+ - first: wrist_right_ft_link
+ second: wrist_left_ft_link
+ - first: wrist_right_ft_link
+ second: wrist_left_ft_tool_link
+ - first: wrist_right_ft_tool_link
+ second: arm_left_1_link
+ - first: wrist_right_ft_tool_link
+ second: arm_left_2_link
+ - first: wrist_right_ft_tool_link
+ second: arm_left_3_link
+ - first: wrist_right_ft_tool_link
+ second: arm_left_4_link
+ - first: wrist_right_ft_tool_link
+ second: arm_left_6_link
+ - first: wrist_right_ft_tool_link
+ second: arm_left_7_link
+ - first: wrist_right_ft_tool_link
+ second: arm_right_1_link
+ - first: wrist_right_ft_tool_link
+ second: arm_right_2_link
+ - first: wrist_right_ft_tool_link
+ second: arm_right_3_link
+ - first: wrist_right_ft_tool_link
+ second: arm_right_4_link
+ - first: wrist_right_ft_tool_link
+ second: arm_right_5_link
+ - first: wrist_right_ft_tool_link
+ second: arm_right_6_link
+ - first: wrist_right_ft_tool_link
+ second: arm_right_7_link
+ - first: wrist_right_ft_tool_link
+ second: gripper_left_base_link
+ - first: wrist_right_ft_tool_link
+ second: gripper_left_fingertip_1_link
+ - first: wrist_right_ft_tool_link
+ second: gripper_left_fingertip_2_link
+ - first: wrist_right_ft_tool_link
+ second: gripper_left_fingertip_3_link
+ - first: wrist_right_ft_tool_link
+ second: gripper_left_inner_double_link
+ - first: wrist_right_ft_tool_link
+ second: gripper_left_inner_single_link
+ - first: wrist_right_ft_tool_link
+ second: gripper_left_motor_double_link
+ - first: wrist_right_ft_tool_link
+ second: gripper_right_base_link
+ - first: wrist_right_ft_tool_link
+ second: gripper_right_fingertip_1_link
+ - first: wrist_right_ft_tool_link
+ second: gripper_right_fingertip_2_link
+ - first: wrist_right_ft_tool_link
+ second: gripper_right_fingertip_3_link
+ - first: wrist_right_ft_tool_link
+ second: gripper_right_inner_double_link
+ - first: wrist_right_ft_tool_link
+ second: gripper_right_inner_single_link
+ - first: wrist_right_ft_tool_link
+ second: gripper_right_motor_double_link
+ - first: wrist_right_ft_tool_link
+ second: gripper_right_motor_single_link
+ - first: wrist_right_ft_tool_link
+ second: head_1_link
+ - first: wrist_right_ft_tool_link
+ second: imu_link
+ - first: wrist_right_ft_tool_link
+ second: left_sole_link
+ - first: wrist_right_ft_tool_link
+ second: leg_left_5_link
+ - first: wrist_right_ft_tool_link
+ second: leg_left_6_link
+ - first: wrist_right_ft_tool_link
+ second: leg_right_5_link
+ - first: wrist_right_ft_tool_link
+ second: leg_right_6_link
+ - first: wrist_right_ft_tool_link
+ second: rgbd_depth_frame
+ - first: wrist_right_ft_tool_link
+ second: rgbd_depth_optical_frame
+ - first: wrist_right_ft_tool_link
+ second: rgbd_optical_frame
+ - first: wrist_right_ft_tool_link
+ second: rgbd_rgb_frame
+ - first: wrist_right_ft_tool_link
+ second: rgbd_rgb_optical_frame
+ - first: wrist_right_ft_tool_link
+ second: right_sole_link
+ - first: wrist_right_ft_tool_link
+ second: wrist_left_ft_link
+ - first: wrist_right_ft_tool_link
+ second: wrist_left_ft_tool_link
+ - first: wrist_right_ft_tool_link
+ second: wrist_right_ft_link
diff --git a/config/default_configuration_hanging.yaml b/config/default_configuration_hanging.yaml
new file mode 100644
index 0000000..74eaf9e
--- /dev/null
+++ b/config/default_configuration_hanging.yaml
@@ -0,0 +1,56 @@
+zeros:
+ torso_1_joint: 0.0
+ torso_2_joint: 0.0
+ head_1_joint: 0.0
+ head_2_joint: 0.0
+ arm_left_1_joint: 0.0
+ arm_left_2_joint: 0.6
+ arm_left_3_joint: 0.0
+ arm_left_4_joint: -0.2
+ arm_left_5_joint: 0.0
+ arm_left_6_joint: 0.0
+ arm_left_7_joint: 0.0
+ arm_right_1_joint: 0.0
+ arm_right_2_joint: -0.6
+ arm_right_3_joint: 0.0
+ arm_right_4_joint: -0.2
+ arm_right_5_joint: 0.0
+ arm_right_6_joint: 0.0
+ arm_right_7_joint: 0.0
+# gripper_left_joint: -0.2
+ 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: -0.2
+ 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: 0.2
+ leg_left_3_joint: 0.0
+ leg_left_4_joint: 0.2
+ leg_left_5_joint: 0.0
+ leg_left_6_joint: 0.0
+ leg_right_1_joint: 0.0
+ leg_right_2_joint: -0.2
+ leg_right_3_joint: 0.0
+ leg_right_4_joint: 0.2
+ leg_right_5_joint: 0.0
+ leg_right_6_joint: 0.0
+
+
+default_floating_base_pose:
+ orientation:
+ x: 0.
+ y: 0.
+ z: 0.
+ w: 1.
+ position: [0., 0., 1.2]
diff --git a/config/default_configuration_locomotion.yaml b/config/default_configuration_locomotion.yaml
new file mode 100644
index 0000000..026d68e
--- /dev/null
+++ b/config/default_configuration_locomotion.yaml
@@ -0,0 +1,54 @@
+zeros:
+ torso_1_joint: 0.0
+ torso_2_joint: 0.0
+ head_1_joint: 0.0
+ head_2_joint: 0.0
+ arm_left_1_joint: 0.3
+ arm_left_2_joint: 0.4
+ arm_left_3_joint: -0.5
+ arm_left_4_joint: -1.5
+ arm_left_5_joint: 0.0
+ arm_left_6_joint: 0.0
+ arm_left_7_joint: 0.0
+ arm_right_1_joint: -0.3
+ arm_right_2_joint: -0.4
+ arm_right_3_joint: 0.5
+ arm_right_4_joint: -1.5
+ arm_right_5_joint: 0.0
+ arm_right_6_joint: 0.0
+ arm_right_7_joint: 0.0
+ gripper_left_joint: -0.4
+ 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: -0.4
+ 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: -0.4
+ leg_left_4_joint: 0.8
+ leg_left_5_joint: -0.4
+ leg_left_6_joint: 0.0
+ leg_right_1_joint: 0.0
+ leg_right_2_joint: 0.0
+ leg_right_3_joint: -0.4
+ leg_right_4_joint: 0.8
+ leg_right_5_joint: -0.4
+ leg_right_6_joint: 0.0
+
+
+default_floating_base_pose:
+ orientation:
+ x: 0.
+ y: 0.
+ z: 0.
+ w: 1.
+ position: [0., 0., 1.03]
diff --git a/config/default_configuration_zeros.yaml b/config/default_configuration_zeros.yaml
new file mode 100644
index 0000000..926daef
--- /dev/null
+++ b/config/default_configuration_zeros.yaml
@@ -0,0 +1,54 @@
+zeros:
+ torso_1_joint: 0.0
+ torso_2_joint: 0.0
+ head_1_joint: 0.0
+ head_2_joint: 0.0
+ arm_left_1_joint: 0.0
+ arm_left_2_joint: 0.0
+ arm_left_3_joint: 0.0
+ arm_left_4_joint: 0.0
+ arm_left_5_joint: 0.0
+ arm_left_6_joint: 0.0
+ arm_left_7_joint: 0.0
+ arm_right_1_joint: 0.0
+ arm_right_2_joint: 0.0
+ arm_right_3_joint: 0.0
+ arm_right_4_joint: 0.0
+ arm_right_5_joint: 0.0
+ arm_right_6_joint: 0.0
+ arm_right_7_joint: 0.0
+ 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: 0.0
+ leg_left_4_joint: 0.0
+ leg_left_5_joint: 0.0
+ leg_left_6_joint: 0.0
+ leg_right_1_joint: 0.0
+ leg_right_2_joint: 0.0
+ leg_right_3_joint: 0.0
+ leg_right_4_joint: 0.0
+ leg_right_5_joint: 0.0
+ leg_right_6_joint: 0.0
+
+
+default_floating_base_pose:
+ orientation:
+ x: 0.
+ y: 0.
+ z: 0.
+ w: 1.
+ position: [0., 0., 1.2]
diff --git a/config/rviz.rviz b/config/rviz.rviz
new file mode 100644
index 0000000..3590cbf
--- /dev/null
+++ b/config/rviz.rviz
@@ -0,0 +1,755 @@
+Panels:
+ - Class: rviz/Displays
+ Help Height: 78
+ Name: Displays
+ Property Tree Widget:
+ Expanded:
+ - /Global Options1
+ - /Status1
+ - /RobotModel1/Links1/leg_left_6_link1
+ - /RobotModel1/Links1/leg_right_6_link1
+ - /TF1/Frames1
+ - /Camera1
+ - /DepthCloud1
+ - /DepthCloud1/Auto Size1
+ Splitter Ratio: 0.336673349
+ Tree Height: 883
+ - Class: rviz/Selection
+ Name: Selection
+ - Class: rviz/Tool Properties
+ Expanded:
+ - /2D Pose Estimate1
+ - /2D Nav Goal1
+ - /Publish Point1
+ Name: Tool Properties
+ Splitter Ratio: 0.588679016
+ - Class: rviz/Views
+ Expanded:
+ - /Current View1
+ Name: Views
+ Splitter Ratio: 0.5
+ - Class: rviz/Time
+ Experimental: false
+ Name: Time
+ SyncMode: 0
+ SyncSource: Camera
+Visualization Manager:
+ Class: ""
+ Displays:
+ - Alpha: 0.5
+ Cell Size: 1
+ Class: rviz/Grid
+ Color: 160; 160; 164
+ Enabled: true
+ Line Style:
+ Line Width: 0.0299999993
+ Value: Lines
+ Name: Grid
+ Normal Cell Count: 0
+ Offset:
+ X: 0
+ Y: 0
+ Z: 0
+ Plane: XY
+ Plane Cell Count: 10
+ Reference Frame: <Fixed Frame>
+ Value: true
+ - Alpha: 0.5
+ Class: rviz/RobotModel
+ Collision Enabled: false
+ Enabled: true
+ Links:
+ All Links Enabled: true
+ Expand Joint Details: false
+ Expand Link Details: false
+ Expand Tree: false
+ Link Tree Style: Links in Alphabetic Order
+ arm_left_1_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ arm_left_2_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ arm_left_3_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ arm_left_4_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ arm_left_5_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ arm_left_6_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ arm_left_7_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ arm_right_1_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ arm_right_2_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ arm_right_3_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ arm_right_4_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ arm_right_5_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ arm_right_6_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ arm_right_7_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ gripper_left_base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ gripper_left_fingertip_1_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ gripper_left_fingertip_2_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ gripper_left_fingertip_3_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ gripper_left_inner_double_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ gripper_left_inner_single_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ gripper_left_motor_double_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ gripper_left_motor_single_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ gripper_right_base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ gripper_right_fingertip_1_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ gripper_right_fingertip_2_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ gripper_right_fingertip_3_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ gripper_right_inner_double_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ gripper_right_inner_single_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ gripper_right_motor_double_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ gripper_right_motor_single_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ head_1_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ head_2_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ imu_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_sole_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ leg_left_1_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ leg_left_2_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ leg_left_3_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ leg_left_4_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ leg_left_5_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ leg_left_6_link:
+ Alpha: 1
+ Show Axes: true
+ Show Trail: true
+ Value: true
+ leg_right_1_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ leg_right_2_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ leg_right_3_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ leg_right_4_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ leg_right_5_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ leg_right_6_link:
+ Alpha: 1
+ Show Axes: true
+ Show Trail: true
+ Value: true
+ rgbd_depth_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ rgbd_depth_optical_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ rgbd_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rgbd_optical_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ rgbd_rgb_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ rgbd_rgb_optical_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ right_sole_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ torso_1_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ torso_2_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ wrist_left_ft_link:
+ Alpha: 1
+ Show Axes: true
+ Show Trail: true
+ Value: true
+ wrist_left_ft_tool_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ wrist_right_ft_link:
+ Alpha: 1
+ Show Axes: true
+ Show Trail: true
+ Value: true
+ wrist_right_ft_tool_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ Name: RobotModel
+ Robot Description: robot_description
+ TF Prefix: ""
+ Update Interval: 0
+ Value: true
+ Visual Enabled: true
+ - Alpha: 1
+ Class: rviz/Effort
+ Enabled: true
+ History Length: 1
+ Joints:
+ {}
+ Name: Effort
+ Robot Description: robot_description
+ Scale: 1
+ Topic: ""
+ Unreliable: false
+ Value: true
+ Width: 0.0199999996
+ arm_left_1_joint:
+ Value: true
+ arm_left_2_joint:
+ Value: true
+ arm_left_3_joint:
+ Value: false
+ arm_left_4_joint:
+ Value: false
+ arm_left_5_joint:
+ Value: false
+ arm_left_6_joint:
+ Value: false
+ arm_left_7_joint:
+ Value: false
+ arm_right_1_joint:
+ Value: true
+ arm_right_2_joint:
+ Value: true
+ arm_right_3_joint:
+ Value: true
+ arm_right_4_joint:
+ Value: true
+ arm_right_5_joint:
+ Value: false
+ arm_right_6_joint:
+ Value: false
+ arm_right_7_joint:
+ Value: false
+ gripper_left_fingertip_1_joint:
+ Value: false
+ gripper_left_fingertip_2_joint:
+ Value: false
+ gripper_left_fingertip_3_joint:
+ Value: false
+ gripper_left_inner_double_joint:
+ Value: false
+ gripper_left_inner_single_joint:
+ Value: false
+ gripper_left_joint:
+ Value: false
+ gripper_left_motor_single_joint:
+ Value: false
+ gripper_right_fingertip_1_joint:
+ Value: false
+ gripper_right_fingertip_2_joint:
+ Value: false
+ gripper_right_fingertip_3_joint:
+ Value: false
+ gripper_right_inner_double_joint:
+ Value: false
+ gripper_right_inner_single_joint:
+ Value: false
+ gripper_right_joint:
+ Value: false
+ gripper_right_motor_single_joint:
+ Value: false
+ head_1_joint:
+ Value: false
+ head_2_joint:
+ Value: false
+ leg_left_1_joint:
+ Value: true
+ leg_left_2_joint:
+ Value: true
+ leg_left_3_joint:
+ Value: true
+ leg_left_4_joint:
+ Value: true
+ leg_left_5_joint:
+ Value: true
+ leg_left_6_joint:
+ Value: true
+ leg_right_1_joint:
+ Value: true
+ leg_right_2_joint:
+ Value: true
+ leg_right_3_joint:
+ Value: true
+ leg_right_4_joint:
+ Value: true
+ leg_right_5_joint:
+ Value: true
+ leg_right_6_joint:
+ Value: true
+ torso_1_joint:
+ Value: true
+ torso_2_joint:
+ Value: true
+ - Class: rviz/TF
+ Enabled: false
+ Frame Timeout: 15
+ Frames:
+ All Enabled: false
+ Marker Scale: 1
+ Name: TF
+ Show Arrows: true
+ Show Axes: true
+ Show Names: true
+ Tree:
+ {}
+ Update Interval: 0
+ Value: false
+ - Alpha: 1
+ Arrow Width: 0.5
+ Class: rviz/WrenchStamped
+ Enabled: true
+ Force Arrow Scale: 0.0500000007
+ Force Color: 204; 51; 51
+ History Length: 1
+ Name: WrenchStamped
+ Topic: /left_wrist_ft
+ Torque Arrow Scale: 0.100000001
+ Torque Color: 204; 204; 51
+ Unreliable: false
+ Value: true
+ - Alpha: 1
+ Arrow Width: 0.5
+ Class: rviz/WrenchStamped
+ Enabled: true
+ Force Arrow Scale: 0.0500000007
+ Force Color: 204; 51; 51
+ History Length: 1
+ Name: WrenchStamped
+ Topic: /right_wrist_ft
+ Torque Arrow Scale: 0.100000001
+ Torque Color: 204; 204; 51
+ Unreliable: false
+ Value: true
+ - Alpha: 1
+ Arrow Width: 0.5
+ Class: rviz/WrenchStamped
+ Enabled: true
+ Force Arrow Scale: 0.00999999978
+ Force Color: 204; 51; 51
+ History Length: 1
+ Name: WrenchStamped
+ Topic: /left_ankle_ft
+ Torque Arrow Scale: 0.0500000007
+ Torque Color: 204; 204; 51
+ Unreliable: false
+ Value: true
+ - Alpha: 1
+ Arrow Width: 0.5
+ Class: rviz/WrenchStamped
+ Enabled: true
+ Force Arrow Scale: 0.00999999978
+ Force Color: 204; 51; 51
+ History Length: 1
+ Name: WrenchStamped
+ Topic: /right_ankle_ft
+ Torque Arrow Scale: 0.0500000007
+ Torque Color: 204; 204; 51
+ Unreliable: false
+ Value: true
+ - Alpha: 1
+ Class: rviz/Effort
+ Enabled: true
+ History Length: 1
+ Joints:
+ {}
+ Name: Effort
+ Robot Description: robot_description
+ Scale: 1
+ Topic: /joint_torque_states
+ Unreliable: false
+ Value: true
+ Width: 0.0199999996
+ arm_left_1_joint:
+ Value: true
+ arm_left_2_joint:
+ Value: true
+ arm_left_3_joint:
+ Value: true
+ arm_left_4_joint:
+ Value: true
+ arm_left_5_joint:
+ Value: false
+ arm_left_6_joint:
+ Value: false
+ arm_left_7_joint:
+ Value: false
+ arm_right_1_joint:
+ Value: true
+ arm_right_2_joint:
+ Value: true
+ arm_right_3_joint:
+ Value: true
+ arm_right_4_joint:
+ Value: true
+ arm_right_5_joint:
+ Value: false
+ arm_right_6_joint:
+ Value: false
+ arm_right_7_joint:
+ Value: false
+ gripper_left_fingertip_1_joint:
+ Value: false
+ gripper_left_fingertip_2_joint:
+ Value: false
+ gripper_left_fingertip_3_joint:
+ Value: false
+ gripper_left_inner_double_joint:
+ Value: false
+ gripper_left_inner_single_joint:
+ Value: false
+ gripper_left_joint:
+ Value: false
+ gripper_left_motor_single_joint:
+ Value: false
+ gripper_right_fingertip_1_joint:
+ Value: false
+ gripper_right_fingertip_2_joint:
+ Value: false
+ gripper_right_fingertip_3_joint:
+ Value: false
+ gripper_right_inner_double_joint:
+ Value: false
+ gripper_right_inner_single_joint:
+ Value: false
+ gripper_right_joint:
+ Value: false
+ gripper_right_motor_single_joint:
+ Value: false
+ head_1_joint:
+ Value: false
+ head_2_joint:
+ Value: false
+ leg_left_1_joint:
+ Value: true
+ leg_left_2_joint:
+ Value: true
+ leg_left_3_joint:
+ Value: true
+ leg_left_4_joint:
+ Value: true
+ leg_left_5_joint:
+ Value: true
+ leg_left_6_joint:
+ Value: true
+ leg_right_1_joint:
+ Value: true
+ leg_right_2_joint:
+ Value: true
+ leg_right_3_joint:
+ Value: true
+ leg_right_4_joint:
+ Value: true
+ leg_right_5_joint:
+ Value: true
+ leg_right_6_joint:
+ Value: true
+ torso_1_joint:
+ Value: true
+ torso_2_joint:
+ Value: true
+ - Class: rviz/Camera
+ Enabled: true
+ Image Rendering: background and overlay
+ Image Topic: /rgbd/rgb/image_color
+ Name: Camera
+ Overlay Alpha: 0.5
+ Queue Size: 2
+ Transport Hint: compressed
+ Unreliable: false
+ Value: true
+ Visibility:
+ DepthCloud: true
+ Effort: true
+ Grid: true
+ RobotModel: true
+ TF: true
+ Value: true
+ WrenchStamped: true
+ Zoom Factor: 1
+ - Alpha: 1
+ Auto Size:
+ Auto Size Factor: 1
+ Value: true
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: 10
+ Min Value: -10
+ Value: true
+ Axis: Z
+ Channel Name: intensity
+ Class: rviz/DepthCloud
+ Color: 255; 255; 255
+ Color Image Topic: /rgbd/rgb/image_color
+ Color Transformer: RGB8
+ Color Transport Hint: compressed
+ Decay Time: 0
+ Depth Map Topic: /rgbd/depth/image_rect_raw
+ Depth Map Transport Hint: raw
+ Enabled: true
+ Invert Rainbow: false
+ Max Color: 255; 255; 255
+ Max Intensity: 4096
+ Min Color: 0; 0; 0
+ Min Intensity: 0
+ Name: DepthCloud
+ Occlusion Compensation:
+ Occlusion Time-Out: 30
+ Value: false
+ Position Transformer: XYZ
+ Queue Size: 5
+ Selectable: true
+ Size (Pixels): 3
+ Style: Flat Squares
+ Topic Filter: true
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: true
+ Enabled: true
+ Global Options:
+ Background Color: 48; 48; 48
+ Default Light: true
+ Fixed Frame: base_link
+ Frame Rate: 30
+ Name: root
+ Tools:
+ - Class: rviz/Interact
+ Hide Inactive Objects: true
+ - Class: rviz/MoveCamera
+ - Class: rviz/Select
+ - Class: rviz/FocusCamera
+ - Class: rviz/Measure
+ - Class: rviz/SetInitialPose
+ Topic: /initialpose
+ - Class: rviz/SetGoal
+ Topic: /move_base_simple/goal
+ - Class: rviz/PublishPoint
+ Single click: true
+ Topic: /clicked_point
+ Value: true
+ Views:
+ Current:
+ Class: rviz/Orbit
+ Distance: 8.08980751
+ Enable Stereo Rendering:
+ Stereo Eye Separation: 0.0599999987
+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
+ Focal Point:
+ X: 0.877970338
+ Y: 0.936086059
+ Z: -0.421179205
+ Focal Shape Fixed Size: true
+ Focal Shape Size: 0.0500000007
+ Invert Z Axis: false
+ Name: Current View
+ Near Clip Distance: 0.00999999978
+ Pitch: 0.655398846
+ Target Frame: <Fixed Frame>
+ Value: Orbit (rviz)
+ Yaw: 1.98539031
+ Saved: ~
+Window Geometry:
+ Camera:
+ collapsed: false
+ Displays:
+ collapsed: false
+ Height: 1388
+ Hide Left Dock: false
+ Hide Right Dock: true
+ QMainWindow State: 000000ff00000000fd0000000400000000000001f5000004d4fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003a000003fb000000c600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d006500720061010000043b000000d30000001600ffffff000000010000010f000002b6fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003a000002b60000009e00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004e60000003efc0100000002fb0000000800540069006d00650100000000000004e60000024400fffffffb0000000800540069006d00650100000000000004500000000000000000000002eb000004d400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ Selection:
+ collapsed: false
+ Time:
+ collapsed: false
+ Tool Properties:
+ collapsed: false
+ Views:
+ collapsed: true
+ Width: 1254
+ X: 1306
+ Y: 24
diff --git a/config/talos_plotjuggler.xml b/config/talos_plotjuggler.xml
new file mode 100644
index 0000000..db2b765
--- /dev/null
+++ b/config/talos_plotjuggler.xml
@@ -0,0 +1,1329 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<root>
+ <tabbed_widget name="Main Window" parent="main_window">
+ <plotmatrix rows="4" columns="2" tab_name="leg_1">
+ <plot row="0" col="0">
+ <range right="437.423965" bottom="-0.210092" top="0.210042" left="0.000000"/>
+ <limitY/>
+ <curve name="/introspection_data/leg_left_1_joint_absolute_encoder_position" R="222" B="18" G="15"/>
+ <curve name="/introspection_data/leg_left_1_joint_position" R="0" B="255" G="0"/>
+ <curve name="/introspection_data/leg_left_1_joint_position_command" R="0" B="0" G="128"/>
+ <transform value="noTransform"/>
+ </plot>
+ <plot row="1" col="0">
+ <range right="437.423965" bottom="-7.223535" top="6.144435" left="0.000000"/>
+ <limitY/>
+ <curve name="/introspection_data/leg_left_1_joint_effort" R="255" B="0" G="0"/>
+ <transform value="noTransform"/>
+ </plot>
+ <plot row="2" col="0">
+ <range right="437.423965" bottom="-9.118346" top="9.219244" left="0.000000"/>
+ <limitY/>
+ <curve name="/introspection_data/leg_left_1_joint_torque_sensor" R="255" B="255" G="0"/>
+ <transform value="noTransform"/>
+ </plot>
+ <plot row="3" col="0">
+ <range right="437.423965" bottom="-0.200791" top="0.197833" left="0.000000"/>
+ <limitY/>
+ <curve name="/introspection_data/leg_left_1_joint_velocity" R="0" B="128" G="0"/>
+ <transform value="noTransform"/>
+ </plot>
+ <plot row="0" col="1">
+ <range right="437.423965" bottom="-0.210084" top="0.210681" left="0.000000"/>
+ <limitY/>
+ <curve name="/introspection_data/leg_right_1_joint_absolute_encoder_position" R="128" B="0" G="0"/>
+ <curve name="/introspection_data/leg_right_1_joint_position" R="160" B="164" G="160"/>
+ <curve name="/introspection_data/leg_right_1_joint_position_command" R="128" B="0" G="128"/>
+ <transform value="noTransform"/>
+ </plot>
+ <plot row="1" col="1">
+ <range right="437.423965" bottom="-6.855131" top="5.800781" left="0.000000"/>
+ <limitY/>
+ <curve name="/introspection_data/leg_right_1_joint_effort" R="0" B="255" G="0"/>
+ <transform value="noTransform"/>
+ </plot>
+ <plot row="2" col="1">
+ <range right="437.423965" bottom="-9.687184" top="9.030818" left="0.000000"/>
+ <limitY/>
+ <curve name="/introspection_data/leg_right_1_joint_torque_sensor" R="0" B="0" G="128"/>
+ <transform value="noTransform"/>
+ </plot>
+ <plot row="3" col="1">
+ <range right="437.423965" bottom="-0.210331" top="0.207907" left="0.000000"/>
+ <limitY/>
+ <curve name="/introspection_data/leg_right_1_joint_velocity" R="255" B="0" G="0"/>
+ <transform value="noTransform"/>
+ </plot>
+ </plotmatrix>
+ <plotmatrix rows="4" columns="2" tab_name="leg_2">
+ <plot row="0" col="0">
+ <range right="437.423965" bottom="-0.105106" top="0.105582" left="0.000000"/>
+ <limitY/>
+ <curve name="/introspection_data/leg_left_2_joint_absolute_encoder_position" R="0" B="128" G="128"/>
+ <curve name="/introspection_data/leg_left_2_joint_position" R="255" B="255" G="0"/>
+ <curve name="/introspection_data/leg_left_2_joint_position_command" R="0" B="128" G="0"/>
+ <transform value="noTransform"/>
+ </plot>
+ <plot row="1" col="0">
+ <range right="437.423965" bottom="-2.849942" top="6.792502" left="0.000000"/>
+ <limitY/>
+ <curve name="/introspection_data/leg_left_2_joint_effort" R="160" B="164" G="160"/>
+ <transform value="noTransform"/>
+ </plot>
+ <plot row="2" col="0">
+ <range right="437.423965" bottom="-7.000271" top="14.687718" left="0.000000"/>
+ <limitY/>
+ <curve name="/introspection_data/leg_left_2_joint_torque_sensor" R="128" B="0" G="128"/>
+ <transform value="noTransform"/>
+ </plot>
+ <plot row="3" col="0">
+ <range right="437.423965" bottom="-0.106640" top="0.101505" left="0.000000"/>
+ <limitY/>
+ <curve name="/introspection_data/leg_left_2_joint_velocity" R="128" B="0" G="0"/>
+ <transform value="noTransform"/>
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+ </plotmatrix>
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+ </plot>
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+ </plot>
+ </plotmatrix>
+ <plotmatrix rows="7" columns="2" tab_name="arm_pos">
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+ </plot>
+ <plot row="4" col="0">
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+ <curve name="/introspection_data/arm_left_5_joint_absolute_encoder_position" R="128" B="0" G="0"/>
+ <curve name="/introspection_data/arm_left_5_joint_position" R="160" B="164" G="160"/>
+ <curve name="/introspection_data/arm_left_5_joint_position_command" R="128" B="0" G="128"/>
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+ </plot>
+ <plot row="5" col="0">
+ <range right="437.423965" bottom="-0.318038" top="0.315207" left="0.000000"/>
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+ <curve name="/introspection_data/arm_left_6_joint_absolute_encoder_position" R="255" B="0" G="0"/>
+ <curve name="/introspection_data/arm_left_6_joint_position" R="0" B="255" G="0"/>
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+ </plot>
+ <plot row="6" col="0">
+ <range right="437.423965" bottom="-0.316489" top="0.316106" left="0.000000"/>
+ <limitY/>
+ <curve name="/introspection_data/arm_left_7_joint_absolute_encoder_position" R="0" B="128" G="128"/>
+ <curve name="/introspection_data/arm_left_7_joint_position" R="255" B="255" G="0"/>
+ <curve name="/introspection_data/arm_left_7_joint_position_command" R="0" B="128" G="0"/>
+ <transform value="noTransform"/>
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+ <plot row="0" col="1">
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+ <curve name="/introspection_data/arm_right_1_joint_absolute_encoder_position" R="128" B="0" G="0"/>
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+ <curve name="/introspection_data/arm_right_2_joint_position_command" R="0" B="0" G="128"/>
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+ <curve name="/introspection_data/arm_right_3_joint_absolute_encoder_position" R="0" B="128" G="128"/>
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+ <curve name="/introspection_data/arm_right_4_joint_absolute_encoder_position" R="128" B="0" G="0"/>
+ <curve name="/introspection_data/arm_right_4_joint_position" R="160" B="164" G="160"/>
+ <curve name="/introspection_data/arm_right_4_joint_position_command" R="128" B="0" G="128"/>
+ <transform value="noTransform"/>
+ </plot>
+ <plot row="4" col="1">
+ <range right="437.423965" bottom="-0.630036" top="0.630055" left="0.000000"/>
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+ <curve name="/introspection_data/arm_right_5_joint_absolute_encoder_position" R="255" B="0" G="0"/>
+ <curve name="/introspection_data/arm_right_5_joint_position" R="0" B="255" G="0"/>
+ <curve name="/introspection_data/arm_right_5_joint_position_command" R="0" B="0" G="128"/>
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+ <curve name="/introspection_data/arm_right_6_joint_absolute_encoder_position" R="0" B="128" G="128"/>
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+ <curve name="/introspection_data/arm_right_6_joint_position_command" R="0" B="128" G="0"/>
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+ </plot>
+ <plot row="6" col="1">
+ <range right="437.423965" bottom="-0.315094" top="0.315067" left="0.000000"/>
+ <limitY/>
+ <curve name="/introspection_data/arm_right_7_joint_absolute_encoder_position" R="128" B="0" G="0"/>
+ <curve name="/introspection_data/arm_right_7_joint_position" R="160" B="164" G="160"/>
+ <curve name="/introspection_data/arm_right_7_joint_position_command" R="128" B="0" G="128"/>
+ <transform value="noTransform"/>
+ </plot>
+ </plotmatrix>
+ <plotmatrix rows="7" columns="2" tab_name="arm_effort">
+ <plot row="0" col="0">
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+ <limitY/>
+ <curve name="/introspection_data/arm_left_2_joint_effort" R="0" B="0" G="128"/>
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+ <range right="437.423965" bottom="-7.771475" top="8.360525" left="0.000000"/>
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+ </plot>
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+ <range right="437.423965" bottom="-2.075726" top="2.320256" left="0.000000"/>
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+ <curve name="/introspection_data/arm_left_6_joint_effort" R="0" B="128" G="128"/>
+ <curve name="/introspection_data/arm_left_6_motor_effort" R="128" B="0" G="0"/>
+ <transform value="noTransform"/>
+ </plot>
+ <plot row="6" col="0">
+ <range right="437.423965" bottom="-2.470679" top="1.499969" left="0.000000"/>
+ <limitY/>
+ <curve name="/introspection_data/arm_left_7_joint_effort" R="160" B="164" G="160"/>
+ <curve name="/introspection_data/arm_left_7_motor_effort" R="0" B="255" G="0"/>
+ <transform value="noTransform"/>
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+ <plot row="2" col="1">
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+ <limitY/>
+ <curve name="/introspection_data/arm_right_5_joint_effort" R="255" B="0" G="0"/>
+ <transform value="noTransform"/>
+ </plot>
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+ <range right="437.423965" bottom="-1.895293" top="1.769323" left="0.000000"/>
+ <limitY/>
+ <curve name="/introspection_data/arm_right_6_joint_effort" R="255" B="255" G="0"/>
+ <curve name="/introspection_data/arm_right_6_motor_effort" R="160" B="164" G="160"/>
+ <transform value="noTransform"/>
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+ <limitY/>
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+ <curve name="/introspection_data/arm_right_7_motor_effort" R="0" B="128" G="128"/>
+ <transform value="noTransform"/>
+ </plot>
+ </plotmatrix>
+ <plotmatrix rows="4" columns="2" tab_name="arm_torque">
+ <plot row="0" col="0">
+ <range right="437.423965" bottom="-7.123202" top="8.819966" left="0.000000"/>
+ <limitY/>
+ <curve name="/introspection_data/arm_left_1_joint_torque_sensor" R="0" B="0" G="128"/>
+ <transform value="noTransform"/>
+ </plot>
+ <plot row="1" col="0">
+ <range right="437.423965" bottom="-0.091127" top="32.609113" left="0.000000"/>
+ <limitY/>
+ <curve name="/introspection_data/arm_left_2_joint_torque_sensor" R="255" B="0" G="0"/>
+ <transform value="noTransform"/>
+ </plot>
+ <plot row="2" col="0">
+ <range right="437.423965" bottom="1.132165" top="13.033079" left="0.000000"/>
+ <limitY/>
+ <curve name="/introspection_data/arm_left_3_joint_torque_sensor" R="255" B="255" G="0"/>
+ <transform value="noTransform"/>
+ </plot>
+ <plot row="3" col="0">
+ <range right="437.423965" bottom="-13.688265" top="2.453076" left="0.000000"/>
+ <limitY/>
+ <curve name="/introspection_data/arm_left_4_joint_torque_sensor" R="0" B="128" G="0"/>
+ <transform value="noTransform"/>
+ </plot>
+ <plot row="0" col="1">
+ <range right="437.423965" bottom="-9.292502" top="5.532310" left="0.000000"/>
+ <limitY/>
+ <curve name="/introspection_data/arm_right_1_joint_torque_sensor" R="160" B="164" G="160"/>
+ <transform value="noTransform"/>
+ </plot>
+ <plot row="1" col="1">
+ <range right="437.423965" bottom="-27.349070" top="-7.201840" left="0.000000"/>
+ <limitY/>
+ <curve name="/introspection_data/arm_right_2_joint_torque_sensor" R="128" B="0" G="128"/>
+ <transform value="noTransform"/>
+ </plot>
+ <plot row="2" col="1">
+ <range right="437.423965" bottom="-13.363645" top="1.236103" left="0.000000"/>
+ <limitY/>
+ <curve name="/introspection_data/arm_right_3_joint_torque_sensor" R="128" B="0" G="0"/>
+ <transform value="noTransform"/>
+ </plot>
+ <plot row="3" col="1">
+ <range right="437.423965" bottom="-14.415256" top="-0.500100" left="0.000000"/>
+ <limitY/>
+ <curve name="/introspection_data/arm_right_4_joint_torque_sensor" R="0" B="255" G="0"/>
+ <transform value="noTransform"/>
+ </plot>
+ </plotmatrix>
+ <currentPlotMatrix index="4"/>
+ </tabbed_widget>
+ <use_relative_time_offset enabled="1"/>
+ <Plugins>
+ <DataLoad_CSV>
+ <default time_axis=""/>
+ </DataLoad_CSV>
+ <DataLoad_ROS_bags>
+ <selected_topics list="/introspection_data"/>
+ </DataLoad_ROS_bags>
+ <ROS_Topic_Streamer>
+ <selected_topics list=""/>
+ </ROS_Topic_Streamer>
+ <RosoutPublisherROS/>
+ <TopicPublisherROS/>
+ </Plugins>
+ <previouslyLoadedDatafile filename="/home/user/2018-09-23-18-06-22.bag"/>
+</root>
+
diff --git a/launch/talos_gazebo.launch b/launch/talos_gazebo.launch
new file mode 100644
index 0000000..1c2f478
--- /dev/null
+++ b/launch/talos_gazebo.launch
@@ -0,0 +1,48 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<launch>
+ <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="gui" default="true"/>
+ <arg name="debug" default="false"/>
+ <arg name="recording" default="false"/>
+ <arg name="extra_gazebo_args" default=""/>
+
+ <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="default_configuration_type" default="zeros"/>
+
+ <env name="GAZEBO_MODEL_PATH" value="$(find talos_gazebo)/models:$(optenv GAZEBO_MODEL_PATH)"/>
+
+ <!-- start up world -->
+ <include file="$(find pal_gazebo_worlds)/launch/pal_gazebo.launch">
+ <arg name="world" value="$(arg world)"/>
+ <arg name="gui" value="$(arg gui)"/>
+ <arg name="debug" value="$(arg debug)"/>
+ <arg name="recording" value="$(arg recording)"/>
+ <arg name="extra_gazebo_args" value="$(arg extra_gazebo_args)"/>
+ </include>
+
+
+ <group if="$(arg load_model)">
+ <include file="$(find talos_data)/robots/upload.launch" >
+ <arg name="robot" value="$(arg robot)"/>
+ <arg name="foot_collision" default="$(arg foot_collision)"/>
+ <arg name="enable_leg_passive" default="$(arg enable_leg_passive)"/>
+ <arg name="default_configuration_type" default="$(arg default_configuration_type)"/>
+ </include>
+ </group>
+
+
+ <!-- spawn robot in simulation -->
+ <include file="$(find talos_gazebo)/launch/talos_spawn.launch">
+ <arg name="robot" value="$(arg robot)"/>
+ <arg name="gzpose" value="$(arg gzpose)"/>
+ </include>
+
+ <!-- default controllers -->
+ <!-- <include file="$(find talos_controller_configuration)/launch/talos_default_controllers.launch"/> -->
+ <include file="$(find talos_bringup)/launch/talos_bringup.launch" />
+</launch>
diff --git a/launch/talos_spawn.launch b/launch/talos_spawn.launch
new file mode 100644
index 0000000..aad59da
--- /dev/null
+++ b/launch/talos_spawn.launch
@@ -0,0 +1,23 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<launch>
+ <arg name="robot" default="full_v2"/>
+ <arg name="gzpose" default="-x 0 -y 0 -z 1.0 -R 0.0 -P 0.0 -Y 0.0"/>
+
+ <!-- PAL Hardware gazebo config -->
+ <include file="$(find talos_controller_configuration)/launch/selective_rosparam_loader.launch">
+ <arg name="robot" value="$(arg robot)" />
+ <arg name="prefix" value="$(find talos_hardware_gazebo)/config/sensors/" />
+ </include>
+
+
+ <!-- PID gains -->
+ <rosparam command="load" file="$(find talos_hardware_gazebo)/config/pids.yaml"/>
+
+ <!-- Spawn robot in Gazebo -->
+ <node pkg="gazebo_ros" type="spawn_model" name="spawn_model"
+ args="-urdf -param robot_description $(arg gzpose) -model talos" />
+
+ <node ns="/rgbd/rgb/high_res" pkg="image_proc" type="image_proc" name="image_proc_high_res"/>
+ <node ns="/rgbd/rgb" pkg="image_proc" type="image_proc" name="image_proc"/>
+</launch>
diff --git a/package.xml b/package.xml
index c592f17..9806465 100644
--- a/package.xml
+++ b/package.xml
@@ -2,9 +2,9 @@
<package format="2">
<name>talos_data</name>
<version>1.0.4</version>
- <description>The talos_description package</description>
+ <description>The talos_data package</description>
- <maintainer email="hilario.tome@pal-robotics.com">Hilario Tomé</maintainer>
+ <maintainer email="olivier.stasse@laas.fr">Olivier Stasse</maintainer>
<license>LGPL-3.0</license>
diff --git a/robots/talos_full_no_grippers.urdf.xacro b/robots/talos_full_no_grippers.urdf.xacro
index 95c9416..1051877 100644
--- a/robots/talos_full_no_grippers.urdf.xacro
+++ b/robots/talos_full_no_grippers.urdf.xacro
@@ -14,15 +14,15 @@
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
<xacro:if value="$(arg enable_crane)">
- <xacro:include filename="$(find talos_description)/urdf/crane/crane.urdf.xacro" />
+ <xacro:include filename="$(find talos_data)/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" />
- <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="$(find talos_description)/urdf/leg/leg.urdf.xacro" />
- <xacro:include filename="$(find talos_description)/urdf/leg/foot_collision_$(arg foot_collision).urdf.xacro" />
+ <xacro:include filename="$(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_v2.urdf.xacro" />
+ <xacro:include filename="$(find talos_data)/urdf/sensors/ftsensor.urdf.xacro" />
+ <xacro:include filename="$(find talos_data)/urdf/leg/leg.urdf.xacro" />
+ <xacro:include filename="$(find talos_data)/urdf/leg/foot_collision_$(arg foot_collision).urdf.xacro" />
<xacro:include filename="$(find talos_description_inertial)/urdf/inertial.xacro" />
<xacro:talos_torso name="torso" />
@@ -43,8 +43,8 @@
<xacro:talos_leg prefix="right" reflect="-1" />
<!-- Generic simulator_gazebo plugins -->
- <xacro:include filename="$(find talos_description)/gazebo/gazebo.urdf.xacro" />
+ <xacro:include filename="$(find talos_data)/gazebo/gazebo.urdf.xacro" />
<!-- Materials for visualization -->
- <xacro:include filename="$(find talos_description)/urdf/materials.urdf.xacro" />
+ <xacro:include filename="$(find talos_data)/urdf/materials.urdf.xacro" />
</robot>
diff --git a/robots/talos_full_v1.urdf.xacro b/robots/talos_full_v1.urdf.xacro
index 130d71e..d7d6d18 100644
--- a/robots/talos_full_v1.urdf.xacro
+++ b/robots/talos_full_v1.urdf.xacro
@@ -14,17 +14,17 @@
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
<xacro:if value="$(arg enable_crane)">
- <xacro:include filename="$(find talos_description)/urdf/crane/crane.urdf.xacro" />
+ <xacro:include filename="$(find talos_data)/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" />
+ <xacro:include filename="$(find talos_data)/urdf/torso/torso.urdf.xacro" />
+ <xacro:include filename="$(find talos_data)/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="$(find talos_data)/urdf/arm/arm_v1.urdf.xacro" />
+ <xacro:include filename="$(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:include filename="$(find talos_data)/urdf/leg/foot_collision_$(arg foot_collision).urdf.xacro" />
<xacro:include filename="$(find talos_description_inertial)/urdf/inertial.xacro" />
<xacro:talos_torso name="torso" />
@@ -48,8 +48,8 @@
<xacro:talos_leg prefix="right" reflect="-1" />
<!-- Generic simulator_gazebo plugins -->
- <xacro:include filename="$(find talos_description)/gazebo/gazebo.urdf.xacro" />
+ <xacro:include filename="$(find talos_data)/gazebo/gazebo.urdf.xacro" />
<!-- Materials for visualization -->
- <xacro:include filename="$(find talos_description)/urdf/materials.urdf.xacro" />
+ <xacro:include filename="$(find talos_data)/urdf/materials.urdf.xacro" />
</robot>
diff --git a/robots/talos_full_v2.urdf.xacro b/robots/talos_full_v2.urdf.xacro
index 5fb80e4..73fb67d 100644
--- a/robots/talos_full_v2.urdf.xacro
+++ b/robots/talos_full_v2.urdf.xacro
@@ -14,17 +14,25 @@
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
<xacro:if value="$(arg enable_crane)">
- <xacro:include filename="$(find talos_description)/urdf/crane/crane.urdf.xacro" />
+ <xacro:include filename="$(find talos_data)/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" />
+ <xacro:include filename="$(find talos_data)/urdf/torso/torso.urdf.xacro" />
+ <xacro:include filename="$(find talos_data)/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="$(find talos_data)/urdf/arm/arm_v2.urdf.xacro" />
+ <xacro:include filename="$(find talos_data)/urdf/sensors/ftsensor.urdf.xacro" />
+ <xacro:include filename="$(find talos_data)/urdf/gripper/gripper.urdf.xacro" />
+
+ <xacro:if value="$(arg enable_leg_passive)">
+ <xacro:include filename="$(find talos_data)/urdf/leg/leg_passive.urdf.xacro" />
+ </xacro:if>
+ <xacro:property name="var_enable_leg_passive" value="$(arg enable_leg_passive)"/>
+ <xacro:if value="${var_enable_leg_passive != 'true'}">
+ <xacro:include filename="$(find talos_data)/urdf/leg/leg.urdf.xacro" />
+ </xacro:if>
+
+ <xacro:include filename="$(find talos_data)/urdf/leg/foot_collision_$(arg foot_collision).urdf.xacro" />
<xacro:include filename="$(find talos_description_inertial)/urdf/inertial.xacro" />
<xacro:talos_torso name="torso" />
@@ -48,8 +56,8 @@
<xacro:talos_leg prefix="right" reflect="-1" />
<!-- Generic simulator_gazebo plugins -->
- <xacro:include filename="$(find talos_description)/gazebo/gazebo.urdf.xacro" />
+ <xacro:include filename="$(find talos_data)/gazebo/gazebo.urdf.xacro" />
<!-- Materials for visualization -->
- <xacro:include filename="$(find talos_description)/urdf/materials.urdf.xacro" />
+ <xacro:include filename="$(find talos_data)/urdf/materials.urdf.xacro" />
</robot>
diff --git a/robots/talos_lower_body.urdf.xacro b/robots/talos_lower_body.urdf.xacro
index 72264b1..e1d6f4a 100644
--- a/robots/talos_lower_body.urdf.xacro
+++ b/robots/talos_lower_body.urdf.xacro
@@ -13,9 +13,9 @@
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
- <xacro:include filename="$(find talos_description)/urdf/sensors/ftsensor.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_data)/urdf/sensors/ftsensor.urdf.xacro" />
+ <xacro:include filename="$(find talos_data)/urdf/leg/leg.urdf.xacro" />
+ <xacro:include filename="$(find talos_data)/urdf/leg/foot_collision_$(arg foot_collision).urdf.xacro" />
<xacro:include filename="$(find talos_description_inertial)/urdf/inertial.xacro" />
<!--************************-->
@@ -33,7 +33,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_description/meshes/torso/base_link.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_data/meshes/torso/base_link.STL" scale="1 1 1"/>
</geometry>
<material name="LightGrey" />
</visual>
@@ -41,7 +41,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_description/meshes/torso/base_link_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_data/meshes/torso/base_link_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -51,8 +51,8 @@
<xacro:talos_leg prefix="right" reflect="-1" />
<!-- Generic simulator_gazebo plugins -->
- <xacro:include filename="$(find talos_description)/gazebo/gazebo.urdf.xacro" />
+ <xacro:include filename="$(find talos_data)/gazebo/gazebo.urdf.xacro" />
<!-- Materials for visualization -->
- <xacro:include filename="$(find talos_description)/urdf/materials.urdf.xacro" />
+ <xacro:include filename="$(find talos_data)/urdf/materials.urdf.xacro" />
</robot>
diff --git a/robots/upload.launch b/robots/upload.launch
index e95b737..3950f95 100644
--- a/robots/upload.launch
+++ b/robots/upload.launch
@@ -2,19 +2,25 @@
<launch>
<!-- arg could be v1 (Pyerene) or v2 (IJS/PAL) -->
- <arg name="robot" default="full_v1"/>
+ <arg name="robot" default="full_v2"/>
<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"/>
+ <!-- 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"/>
<!-- Robot description -->
<param
name="$(arg parameter_name)"
- command=" $(find xacro)/xacro.py --inorder
-
- '$(find talos_description)/robots/talos_$(arg robot).urdf.xacro'
+ command=" $(find xacro)/xacro --inorder
+ '$(find talos_data)/robots/talos_$(arg robot).urdf.xacro'
foot_collision:=$(arg foot_collision)
- enable_crane:=$(arg enable_crane)"
+ enable_crane:=$(arg enable_crane)
+ enable_leg_passive:=$(arg enable_leg_passive)"
/>
+
+ <rosparam command="load" file="$(find talos_data)/config/default_configuration_$(arg default_configuration_type).yaml" />
+ <rosparam command="load" file="$(find talos_data)/config/collision_parameters.yaml" />
</launch>
diff --git a/robots/upload_talos.launch b/robots/upload_talos.launch
index 6afd767..ddccf21 100644
--- a/robots/upload_talos.launch
+++ b/robots/upload_talos.launch
@@ -3,7 +3,7 @@
<arg name="foot_collision" default="default"/>
<arg name="enable_crane" default="false"/>
- <include file="$(find talos_description)/robots/upload.launch">
+ <include file="$(find talos_data)/robots/upload.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="foot_collision" value="$(arg foot_collision)"/>
<arg name="enable_crane" value="$(arg enable_crane)"/>
diff --git a/src/SpringPlugin.cc b/src/SpringPlugin.cc
new file mode 100644
index 0000000..3b753f4
--- /dev/null
+++ b/src/SpringPlugin.cc
@@ -0,0 +1,78 @@
+/*
+ * Copyright 2011 Nate Koenig & Andrew Howard
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+#include "gazebo/physics/physics.hh"
+#include "SpringPlugin.hh"
+#include <ros/ros.h>
+
+using namespace gazebo;
+
+GZ_REGISTER_MODEL_PLUGIN(SpringPlugin)
+
+/////////////////////////////////////////////////
+SpringPlugin::SpringPlugin()
+{
+}
+
+/////////////////////////////////////////////////
+void SpringPlugin::Load(physics::ModelPtr _model,
+ sdf::ElementPtr _sdf)
+{
+ this->model = _model;
+
+ // hardcoded params for this test
+ this->jointExplicitName = _sdf->Get<std::string>("joint_spring");
+
+ this->kpExplicit = _sdf->Get<double>("kp");
+
+ this->kdExplicit = _sdf->Get<double>("kd");
+
+ ROS_INFO_NAMED("SpringPlugin",
+ "Loading joint : %s kp: %f kd: %f",
+ this->jointExplicitName,
+ this->kpExplicit,
+ this->kdExplicit);
+}
+
+/////////////////////////////////////////////////
+void SpringPlugin::Init()
+{
+ this->jointExplicit = this->model->GetJoint(this->jointExplicitName);
+
+ /* this->jointImplicit->SetStiffnessDamping(0, this->kpImplicit,
+ this->kdImplicit); */
+
+ this->updateConnection = event::Events::ConnectWorldUpdateBegin(
+ boost::bind(&SpringPlugin::ExplicitUpdate, this));
+}
+
+
+
+/////////////////////////////////////////////////
+void SpringPlugin::ExplicitUpdate()
+{
+ common::Time currTime = this->model->GetWorld()->GetSimTime();
+ common::Time stepTime = currTime - this->prevUpdateTime;
+ this->prevUpdateTime = currTime;
+
+ double pos = this->jointExplicit->GetAngle(0).Radian();
+ double vel = this->jointExplicit->GetVelocity(0);
+ double force = -this->kpExplicit * pos
+ -this->kdExplicit * vel;
+ this->jointExplicit->SetForce(0, force);
+}
+
diff --git a/src/SpringPlugin.hh b/src/SpringPlugin.hh
new file mode 100644
index 0000000..586fa21
--- /dev/null
+++ b/src/SpringPlugin.hh
@@ -0,0 +1,53 @@
+/*
+ * Copyright (C) 2012 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+#ifndef __GAZEBO_SPRING_TEST_PLUGIN_HH__
+#define __GAZEBO_SPRING_TEST_PLUGIN_HH__
+
+#include <string>
+
+#include "gazebo/common/Plugin.hh"
+#include "gazebo/physics/physics.hh"
+#include "gazebo/util/system.hh"
+
+namespace gazebo
+{
+ class GAZEBO_VISIBLE SpringPlugin : public ModelPlugin
+ {
+ public: SpringPlugin();
+ public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
+ public: virtual void Init();
+
+ private: void ExplicitUpdate();
+
+ private: event::ConnectionPtr updateConnection;
+
+ private: physics::ModelPtr model;
+
+ private: common::Time prevUpdateTime;
+
+ private: physics::JointPtr jointExplicit;
+ private: std::string jointExplicitName;
+
+ /// \brief simulate spring/damper with ExplicitUpdate function
+ private: double kpExplicit;
+
+ /// \brief simulate spring/damper with ExplicitUpdate function
+ private: double kdExplicit;
+
+ };
+}
+#endif
diff --git a/urdf/arm/arm_v1.urdf.xacro b/urdf/arm/arm_v1.urdf.xacro
index 3512ca6..5b79c55 100644
--- a/urdf/arm/arm_v1.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_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" />
+ <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" />
<!--Constant parameters-->
<xacro:property name="arm_friction" value="1.0" />
@@ -47,14 +47,14 @@
<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"/>
+ <mesh filename="package://talos_data/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"/>
+ <mesh filename="package://talos_data/meshes/arm/arm_1_collision.STL" scale="1 ${reflect} 1"/>
</geometry>
</collision>
</link>
@@ -86,14 +86,14 @@
<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"/>
+ <mesh filename="package://talos_data/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"/>
+ <mesh filename="package://talos_data/meshes/arm/arm_2_collision.STL" scale="1 ${reflect} 1"/>
</geometry>
</collision>
</link>
@@ -126,14 +126,14 @@
<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"/>
+ <mesh filename="package://talos_data/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"/>
+ <mesh filename="package://talos_data/meshes/arm/arm_3_collision.STL" scale="1 ${reflect} 1"/>
</geometry>
</collision>
</link>
@@ -169,14 +169,14 @@
<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"/>
+ <mesh filename="package://talos_data/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"/>
+ <mesh filename="package://talos_data/meshes/arm/arm_4_collision.STL" scale="1 ${reflect} 1"/>
</geometry>
</collision>
</link>
@@ -236,7 +236,7 @@
<xacro:talos_wrist name="arm" parent="${name}_${side}_4_link" side="${side}" reflect="${reflect}" />
<!-- extensions -->
- <xacro:include filename="$(find talos_description)/urdf/arm/${side}_arm.transmissions.urdf.xacro" />
+ <xacro:include filename="$(find talos_data)/urdf/arm/${side}_arm.transmissions.urdf.xacro" />
</xacro:macro>
diff --git a/urdf/arm/arm_v2.urdf.xacro b/urdf/arm/arm_v2.urdf.xacro
index a3bfaf7..088b19a 100644
--- a/urdf/arm/arm_v2.urdf.xacro
+++ b/urdf/arm/arm_v2.urdf.xacro
@@ -11,9 +11,9 @@
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<!--File includes-->
- <xacro:include filename="$(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" />
+ <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" />
<!--Constant parameters-->
<xacro:property name="arm_friction" value="1.0" />
@@ -40,7 +40,7 @@
<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"/>
+ <mesh filename="package://talos_data/meshes/arm/arm_1.STL" scale="1 ${reflect} 1"/>
</geometry>
<material name="DarkGrey" />
</visual>
@@ -48,7 +48,7 @@
<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"/>
+ <mesh filename="package://talos_data/meshes/arm/arm_1_collision.STL" scale="1 ${reflect} 1"/>
</geometry>
</collision>
</link>
@@ -77,7 +77,7 @@
<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"/>
+ <mesh filename="package://talos_data/meshes/arm/arm_2.STL" scale="1 ${reflect} 1"/>
</geometry>
<material name="DarkGrey" />
</visual>
@@ -85,7 +85,7 @@
<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"/>
+ <mesh filename="package://talos_data/meshes/arm/arm_2_collision.STL" scale="1 ${reflect} 1"/>
</geometry>
</collision>
</link>
@@ -112,7 +112,7 @@
<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"/>
+ <mesh filename="package://talos_data/meshes/arm/arm_3.STL" scale="1 ${reflect} 1"/>
</geometry>
<material name="DarkGrey" />
</visual>
@@ -120,7 +120,7 @@
<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"/>
+ <mesh filename="package://talos_data/meshes/arm/arm_3_collision.STL" scale="1 ${reflect} 1"/>
</geometry>
</collision>
</link>
@@ -149,7 +149,7 @@
<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"/>
+ <mesh filename="package://talos_data/meshes/arm/arm_4.STL" scale="1 ${reflect} 1"/>
</geometry>
<material name="DarkGrey" />
</visual>
@@ -157,7 +157,7 @@
<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"/>
+ <mesh filename="package://talos_data/meshes/arm/arm_4_collision.STL" scale="1 ${reflect} 1"/>
</geometry>
</collision>
</link>
@@ -217,7 +217,7 @@
<xacro:talos_wrist name="arm" parent="${name}_${side}_4_link" side="${side}" reflect="${reflect}" />
<!-- extensions -->
- <xacro:include filename="$(find talos_description)/urdf/arm/${side}_arm.transmissions.urdf.xacro" />
+ <xacro:include filename="$(find talos_data)/urdf/arm/${side}_arm.transmissions.urdf.xacro" />
</xacro:macro>
diff --git a/urdf/arm/left_arm.transmissions.urdf.xacro b/urdf/arm/left_arm.transmissions.urdf.xacro
index d81750b..19f32e1 100644
--- a/urdf/arm/left_arm.transmissions.urdf.xacro
+++ b/urdf/arm/left_arm.transmissions.urdf.xacro
@@ -11,7 +11,7 @@
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<!--File includes-->
- <xacro:include filename="$(find talos_description)/urdf/arm/arm.transmission.xacro" />
+ <xacro:include filename="$(find talos_data)/urdf/arm/arm.transmission.xacro" />
<xacro:include filename="$(find talos_description_calibration)/urdf/calibration/calibration_constants.urdf.xacro" />
<!-- extensions -->
diff --git a/urdf/arm/left_wrist.transmissions.urdf.xacro b/urdf/arm/left_wrist.transmissions.urdf.xacro
index 277e72a..406064e 100644
--- a/urdf/arm/left_wrist.transmissions.urdf.xacro
+++ b/urdf/arm/left_wrist.transmissions.urdf.xacro
@@ -11,7 +11,7 @@
<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_data)/urdf/arm/wrist.transmission.xacro" />
<xacro:include filename="$(find talos_description_calibration)/urdf/calibration/calibration_constants.urdf.xacro" />
<!-- extensions -->
diff --git a/urdf/arm/right_arm.transmissions.urdf.xacro b/urdf/arm/right_arm.transmissions.urdf.xacro
index 17afbc5..68b02da 100644
--- a/urdf/arm/right_arm.transmissions.urdf.xacro
+++ b/urdf/arm/right_arm.transmissions.urdf.xacro
@@ -11,7 +11,7 @@
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<!--File includes-->
- <xacro:include filename="$(find talos_description)/urdf/arm/arm.transmission.xacro" />
+ <xacro:include filename="$(find talos_data)/urdf/arm/arm.transmission.xacro" />
<xacro:include filename="$(find talos_description_calibration)/urdf/calibration/calibration_constants.urdf.xacro" />
<!-- extensions -->
diff --git a/urdf/arm/right_wrist.transmissions.urdf.xacro b/urdf/arm/right_wrist.transmissions.urdf.xacro
index 448968e..4d942fb 100644
--- a/urdf/arm/right_wrist.transmissions.urdf.xacro
+++ b/urdf/arm/right_wrist.transmissions.urdf.xacro
@@ -11,7 +11,7 @@
<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_data)/urdf/arm/wrist.transmission.xacro" />
<xacro:include filename="$(find talos_description_calibration)/urdf/calibration/calibration_constants.urdf.xacro" />
<!-- extensions -->
diff --git a/urdf/arm/wrist.urdf.xacro b/urdf/arm/wrist.urdf.xacro
index b8c27f2..1741ed5 100644
--- a/urdf/arm/wrist.urdf.xacro
+++ b/urdf/arm/wrist.urdf.xacro
@@ -11,8 +11,8 @@
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<!--File includes-->
- <xacro:include filename="$(find talos_description)/urdf/deg_to_rad.xacro" />
- <xacro:include filename="$(find talos_description)/urdf/arm/wrist.transmission.xacro" />
+ <xacro:include filename="$(find talos_data)/urdf/deg_to_rad.xacro" />
+ <xacro:include filename="$(find talos_data)/urdf/arm/wrist.transmission.xacro" />
<!--Constant parameters-->
<xacro:property name="wrist_friction" value="1.0" />
@@ -37,7 +37,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_description/meshes/arm/arm_5.STL" scale="1 ${reflect} 1"/>
+ <mesh filename="package://talos_data/meshes/arm/arm_5.STL" scale="1 ${reflect} 1"/>
</geometry>
<material name="LightGrey" />
</visual>
@@ -45,7 +45,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_description/meshes/arm/arm_5_collision.STL" scale="1 ${reflect} 1"/>
+ <mesh filename="package://talos_data/meshes/arm/arm_5_collision.STL" scale="1 ${reflect} 1"/>
</geometry>
</collision>
</link>
@@ -71,7 +71,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_description/meshes/arm/arm_6.STL" scale="1 ${reflect} 1"/>
+ <mesh filename="package://talos_data/meshes/arm/arm_6.STL" scale="1 ${reflect} 1"/>
</geometry>
<material name="LightGrey" />
</visual>
@@ -79,7 +79,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_description/meshes/arm/arm_6_collision.STL" scale="1 ${reflect} 1"/>
+ <mesh filename="package://talos_data/meshes/arm/arm_6_collision.STL" scale="1 ${reflect} 1"/>
</geometry>
</collision>
</link>
@@ -105,7 +105,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_description/meshes/arm/arm_7.STL" scale="1 ${reflect} 1"/>
+ <mesh filename="package://talos_data/meshes/arm/arm_7.STL" scale="1 ${reflect} 1"/>
</geometry>
<material name="DarkGrey" />
</visual>
@@ -113,7 +113,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_description/meshes/arm/arm_7_collision.STL" scale="1 ${reflect} 1"/>
+ <mesh filename="package://talos_data/meshes/arm/arm_7_collision.STL" scale="1 ${reflect} 1"/>
</geometry>
</collision>
</link>
@@ -160,7 +160,7 @@
</gazebo>
<!-- extensions -->
- <xacro:include filename="$(find talos_description)/urdf/arm/${side}_wrist.transmissions.urdf.xacro" />
+ <xacro:include filename="$(find talos_data)/urdf/arm/${side}_wrist.transmissions.urdf.xacro" />
</xacro:macro>
</robot>
diff --git a/urdf/crane/crane.urdf.xacro b/urdf/crane/crane.urdf.xacro
index feaa96b..af2337a 100644
--- a/urdf/crane/crane.urdf.xacro
+++ b/urdf/crane/crane.urdf.xacro
@@ -11,7 +11,7 @@
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<!--File includes-->
- <xacro:include filename="$(find talos_description)/urdf/deg_to_rad.xacro" />
+ <xacro:include filename="$(find talos_data)/urdf/deg_to_rad.xacro" />
<xacro:macro name="crane" params="parent">
diff --git a/urdf/gripper/gripper.urdf.xacro b/urdf/gripper/gripper.urdf.xacro
index 967d7d8..abb7e5d 100644
--- a/urdf/gripper/gripper.urdf.xacro
+++ b/urdf/gripper/gripper.urdf.xacro
@@ -3,9 +3,9 @@
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<!--File includes-->
- <xacro:include filename="$(find talos_description)/urdf/deg_to_rad.xacro" />
- <xacro:include filename="$(find talos_description)/urdf/gripper/gripper.transmission.xacro" />
- <xacro:include filename="$(find talos_description)/urdf/gripper/gripper.gazebo.xacro" />
+ <xacro:include filename="$(find talos_data)/urdf/deg_to_rad.xacro" />
+ <xacro:include filename="$(find talos_data)/urdf/gripper/gripper.transmission.xacro" />
+ <xacro:include filename="$(find talos_data)/urdf/gripper/gripper.gazebo.xacro" />
<xacro:macro name="talos_gripper" params="name parent reflect">
@@ -16,7 +16,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_description/meshes/gripper/base_link.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_data/meshes/gripper/base_link.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
@@ -24,7 +24,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_description/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_data/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -44,7 +44,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_description/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
</geometry>
<material name="Orange"/>
</visual>
@@ -52,7 +52,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_description/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -74,7 +74,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_description/meshes/gripper/inner_double.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
</geometry>
<material name="Orange"/>
</visual>
@@ -82,7 +82,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_description/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_data/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -105,7 +105,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_description/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
@@ -113,7 +113,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_description/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -136,7 +136,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_description/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
@@ -144,7 +144,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_description/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -166,7 +166,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_description/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
</geometry>
<material name="Orange"/>
</visual>
@@ -174,7 +174,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_description/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -197,7 +197,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_description/meshes/gripper/inner_single.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
</geometry>
<material name="Orange"/>
</visual>
@@ -205,7 +205,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_description/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_data/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -227,7 +227,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_description/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
@@ -235,7 +235,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_description/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
diff --git a/urdf/head/head.urdf.xacro b/urdf/head/head.urdf.xacro
index 2b49c5d..75eef3b 100644
--- a/urdf/head/head.urdf.xacro
+++ b/urdf/head/head.urdf.xacro
@@ -11,9 +11,9 @@
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<!--File includes-->
- <xacro:include filename="$(find talos_description)/urdf/deg_to_rad.xacro" />
- <xacro:include filename="$(find talos_description)/urdf/head/head.transmission.xacro" />
- <xacro:include filename="$(find talos_description)/urdf/sensors/orbbec_astra_pro.urdf.xacro" />
+ <xacro:include filename="$(find talos_data)/urdf/deg_to_rad.xacro" />
+ <xacro:include filename="$(find talos_data)/urdf/head/head.transmission.xacro" />
+ <xacro:include filename="$(find talos_data)/urdf/sensors/orbbec_astra_pro.urdf.xacro" />
<xacro:include filename="$(find talos_description_calibration)/urdf/calibration/calibration_constants.urdf.xacro" />
<!--Constant parameters-->
@@ -32,7 +32,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_description/meshes/head/head_1.stl" scale="1 1 1"/>
+ <mesh filename="package://talos_data/meshes/head/head_1.stl" scale="1 1 1"/>
</geometry>
<material name="DarkGrey" />
</visual>
@@ -40,7 +40,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_description/meshes/head/head_1_collision.stl" scale="1 1 1"/>
+ <mesh filename="package://talos_data/meshes/head/head_1_collision.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -86,7 +86,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_description/meshes/head/head_2.stl" scale="1 1 1"/>
+ <mesh filename="package://talos_data/meshes/head/head_2.stl" scale="1 1 1"/>
</geometry>
<material name="LightGrey" />
</visual>
@@ -94,7 +94,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_description/meshes/head/head_2_collision.stl" scale="1 1 1"/>
+ <mesh filename="package://talos_data/meshes/head/head_2_collision.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
diff --git a/urdf/leg/foot_collision_default.urdf.xacro b/urdf/leg/foot_collision_default.urdf.xacro
index 68c76e9..fd599d4 100644
--- a/urdf/leg/foot_collision_default.urdf.xacro
+++ b/urdf/leg/foot_collision_default.urdf.xacro
@@ -5,7 +5,7 @@
<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"/>
+ <mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
</geometry>
</collision>
</xacro:macro>
diff --git a/urdf/leg/leg.urdf.xacro b/urdf/leg/leg.urdf.xacro
index b6f6328..c9bfd28 100644
--- a/urdf/leg/leg.urdf.xacro
+++ b/urdf/leg/leg.urdf.xacro
@@ -2,7 +2,7 @@
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="talos">
- <xacro:include filename="$(find talos_description)/urdf/leg/leg.transmission.xacro" />
+ <xacro:include filename="$(find talos_data)/urdf/leg/leg.transmission.xacro" />
<xacro:property name="deg_to_rad" value="0.01745329251994329577" />
<xacro:property name="eps_radians" value="0.008" /> <!-- 0.45deg -->
@@ -21,7 +21,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_description/meshes/v2/hip_z_lo_res.stl" scale="1 ${reflect*1} 1"/>
+ <mesh filename="package://talos_data/meshes/v2/hip_z_lo_res.stl" scale="1 ${reflect*1} 1"/>
</geometry>
<material name="DarkGrey" />
</visual>
@@ -29,7 +29,7 @@
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_description/meshes/v2/hip_z_collision.stl" scale="1 ${reflect*1} 1"/>
+ <mesh filename="package://talos_data/meshes/v2/hip_z_collision.stl" scale="1 ${reflect*1} 1"/>
</geometry>
</collision>
</link>
@@ -53,7 +53,7 @@
<visual>
<origin xyz="0 0 0.0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_description/meshes/v2/hip_x_lo_res.stl" scale="1 ${reflect*1} 1"/>
+ <mesh filename="package://talos_data/meshes/v2/hip_x_lo_res.stl" scale="1 ${reflect*1} 1"/>
</geometry>
<material name="DarkGrey" />
</visual>
@@ -61,7 +61,7 @@
<collision>
<origin xyz="0 0 0.0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_description/meshes/v2/hip_x_collision.stl" scale="1 ${reflect*1} 1"/>
+ <mesh filename="package://talos_data/meshes/v2/hip_x_collision.stl" scale="1 ${reflect*1} 1"/>
</geometry>
</collision>
</link>
@@ -84,7 +84,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_description/meshes/v2/hip_y_lo_res.stl" scale="1 ${reflect*1} 1"/>
+ <mesh filename="package://talos_data/meshes/v2/hip_y_lo_res.stl" scale="1 ${reflect*1} 1"/>
</geometry>
<material name="DarkGrey" />
</visual>
@@ -92,7 +92,7 @@
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_description/meshes/v2/hip_y_collision.stl" scale="1 ${reflect*1} 1"/>
+ <mesh filename="package://talos_data/meshes/v2/hip_y_collision.stl" scale="1 ${reflect*1} 1"/>
</geometry>
</collision>
</link>
@@ -115,7 +115,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_description/meshes/v2/knee_lo_res.stl" scale="1 ${reflect*1} 1"/>
+ <mesh filename="package://talos_data/meshes/v2/knee_lo_res.stl" scale="1 ${reflect*1} 1"/>
</geometry>
<material name="DarkGrey" />
</visual>
@@ -123,7 +123,7 @@
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_description/meshes/v2/knee_collision.stl" scale="1 ${reflect*1} 1"/>
+ <mesh filename="package://talos_data/meshes/v2/knee_collision.stl" scale="1 ${reflect*1} 1"/>
</geometry>
</collision>
</link>
@@ -148,7 +148,7 @@
<visual>
<origin xyz="0 0 0.0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_description/meshes/v2/ankle_Y_lo_res.stl" scale="1 ${reflect*1} 1"/>
+ <mesh filename="package://talos_data/meshes/v2/ankle_Y_lo_res.stl" scale="1 ${reflect*1} 1"/>
</geometry>
<material name="Grey" />
</visual>
@@ -156,7 +156,7 @@
<collision>
<origin xyz="0 0 0.0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_description/meshes/v2/ankle_Y_collision.stl" scale="1 ${reflect*1} 1"/>
+ <mesh filename="package://talos_data/meshes/v2/ankle_Y_collision.stl" scale="1 ${reflect*1} 1"/>
</geometry>
</collision>
</link>
@@ -179,7 +179,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_description/meshes/v2/ankle_X_lo_res.stl" scale="1 ${reflect*1} 1"/>
+ <mesh filename="package://talos_data/meshes/v2/ankle_X_lo_res.stl" scale="1 ${reflect*1} 1"/>
</geometry>
<material name="Grey" />
</visual>
diff --git a/urdf/leg/leg_passive.urdf.xacro b/urdf/leg/leg_passive.urdf.xacro
new file mode 100644
index 0000000..2b3f3f4
--- /dev/null
+++ b/urdf/leg/leg_passive.urdf.xacro
@@ -0,0 +1,341 @@
+<?xml version="1.0"?>
+
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="talos">
+
+ <xacro:include filename="$(find talos_data)/urdf/leg/leg.transmission.xacro" />
+
+ <xacro:property name="deg_to_rad" value="0.01745329251994329577" />
+ <xacro:property name="eps_radians" value="0.008" /> <!-- 0.45deg -->
+ <xacro:property name="eps_meters" value="0.005" />
+ <xacro:property name="leg_reduction" value="1.0" />
+ <xacro:property name="leg_friction" value="0.0" />
+ <xacro:property name="leg_damping" value="0.0" />
+
+
+ <xacro:macro name="talos_leg" params="prefix reflect">
+ <!-- Joint hip_z (mesh link) : child link hip_x -> parent link base_link -->
+
+ <link name="leg_${prefix}_1_link">
+ <xacro:call macro="leg_${prefix}_1_link_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 ${reflect*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 ${reflect*1} 1"/>
+ </geometry>
+ </collision>
+ </link>
+
+ <joint name="leg_${prefix}_1_joint" type="revolute">
+ <parent link="base_link"/>
+ <child link="leg_${prefix}_1_link"/>
+ <origin xyz="-0.02 ${reflect*0.08500} -0.27105"
+ rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
+ <axis xyz="0 0 1" />
+ <limit lower="${(-55.0 + 35.0*reflect)*deg_to_rad}" upper="${(55.0 + 35.0*reflect)*deg_to_rad}" effort="100" velocity="3.87" />
+ <dynamics friction="${leg_friction}" damping="${leg_damping}"/>
+ </joint>
+
+ <link name="leg_${prefix}_1_link_passive">
+ <inertial>
+ <mass value="0.001"/>
+ <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
+ <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+ </inertial>
+ </link>
+
+ <joint name="leg_${prefix}_1_joint_passive" type="revolute">
+ <parent link="leg_${prefix}_1_link"/>
+ <child link="leg_${prefix}_1_link_passive"/>
+ <origin xyz="0.0 0.0 0.0"
+ rpy="0.00000 0.00000 0.00000"/>
+ <axis xyz="0 1 0" />
+ <limit lower="${(-180.0)*deg_to_rad}" upper="${(180.0)*deg_to_rad}" effort="100" velocity="3.87" />
+ <dynamics friction="970.0" damping="0.0"/>
+ </joint>
+
+ <gazebo>
+ <plugin filename="libSpringPlugin.so" name="spring_leg_${prefix}_1_joint_passive">
+ <joint_spring>leg_${prefix}_1_joint_passive</joint_spring>
+ <kp>970.0</kp>
+ <kd>0.0</kd>
+ </plugin>
+ </gazebo>
+ <!-- Joint hip_x (mesh link) : child link hip_y -> parent link hip_z -->
+
+ <!-- <link name="leg_${prefix}_2_link_passive"> -->
+ <!-- <inertial> -->
+ <!-- <mass value="0.001"/> -->
+ <!-- <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" /> -->
+ <!-- <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/> -->
+ <!-- </inertial> -->
+ <!-- </link> -->
+
+ <!-- <joint name="leg_${prefix}_2_joint_passive" type="revolute"> -->
+ <!-- <parent link="leg_${prefix}_1_link_passive"/> -->
+ <!-- <child link="leg_${prefix}_2_link_passive"/> -->
+ <!-- <origin xyz="0.0 0.0 0.0" -->
+ <!-- rpy="0.00000 0.00000 0.00000"/> -->
+ <!-- <axis xyz="0 1 0" /> -->
+ <!-- <limit lower="${(-180.0)*deg_to_rad}" upper="${(180.0)*deg_to_rad}" effort="100" velocity="3.87" /> -->
+ <!-- <dynamics friction="970.0" damping="0.0"/> -->
+ <!-- </joint> -->
+
+
+ <!-- Joint hip_x (mesh link) : child link hip_y -> parent link hip_z -->
+
+ <link name="leg_${prefix}_2_link">
+ <xacro:call macro="leg_${prefix}_2_link_inertial" />
+
+ <visual>
+ <origin xyz="0 0 0.0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://talos_data/meshes/v2/hip_x_lo_res.stl" scale="1 ${reflect*1} 1"/>
+ </geometry>
+ <material name="DarkGrey" />
+ </visual>
+
+ <collision>
+ <origin xyz="0 0 0.0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://talos_data/meshes/v2/hip_x_collision.stl" scale="1 ${reflect*1} 1"/>
+ </geometry>
+ </collision>
+ </link>
+
+
+ <joint name="leg_${prefix}_2_joint" type="revolute">
+ <parent link="leg_${prefix}_1_link_passive"/>
+ <child link="leg_${prefix}_2_link"/>
+ <origin xyz="0.00000 0.00000 0.00000"
+ rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
+ <axis xyz="1 0 0" />
+ <limit lower="-0.5236" upper="0.5236" effort="160" velocity="5.8" />
+ <dynamics friction="${leg_friction}" damping="${leg_damping}"/>
+ </joint>
+
+ <!-- Joint hip_y (mesh link) : child link knee -> parent link hip_x -->
+
+ <link name="leg_${prefix}_3_link">
+ <xacro:call macro="leg_${prefix}_3_link_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 ${reflect*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 ${reflect*1} 1"/>
+ </geometry>
+ </collision>
+ </link>
+
+ <joint name="leg_${prefix}_3_joint" type="revolute">
+ <parent link="leg_${prefix}_2_link"/>
+ <child link="leg_${prefix}_3_link"/>
+ <origin xyz="0.00000 0.00000 0.00000"
+ rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
+ <axis xyz="0 1 0" />
+ <limit lower="-2.095" upper="0.7" effort="160" velocity="5.8" />
+ <dynamics friction="${leg_friction}" damping="${leg_damping}"/>
+ </joint>
+
+ <!-- Joint knee (mesh link) : child link ankle_y -> parent link hip_y -->
+
+ <link name="leg_${prefix}_4_link">
+ <xacro:call macro="leg_${prefix}_4_link_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 ${reflect*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 ${reflect*1} 1"/>
+ </geometry>
+ </collision>
+ </link>
+
+ <joint name="leg_${prefix}_4_joint" type="revolute">
+ <parent link="leg_${prefix}_3_link"/>
+ <child link="leg_${prefix}_4_link"/>
+
+ <origin xyz="0.00000 0.00000 -0.38000"
+ rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
+ <axis xyz="0 1 0" />
+ <limit lower="0" upper="2.618" effort="300" velocity="7" />
+ <dynamics friction="${leg_friction}" damping="${leg_damping}"/>
+ </joint>
+
+ <!-- Joint ankle_y (mesh link) : child link ankle_x -> parent link knee -->
+
+ <link name="leg_${prefix}_5_link">
+ <!-- XXX AS: this link has moving lever and inertial parameters should slightly vary depending on configuration. XXX -->
+ <xacro:call macro="leg_${prefix}_5_link_inertial" />
+
+ <visual>
+ <origin xyz="0 0 0.0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://talos_data/meshes/v2/ankle_Y_lo_res.stl" scale="1 ${reflect*1} 1"/>
+ </geometry>
+ <material name="Grey" />
+ </visual>
+
+ <collision>
+ <origin xyz="0 0 0.0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://talos_data/meshes/v2/ankle_Y_collision.stl" scale="1 ${reflect*1} 1"/>
+ </geometry>
+ </collision>
+ </link>
+
+ <joint name="leg_${prefix}_5_joint" type="revolute">
+ <parent link="leg_${prefix}_4_link"/>
+ <child link="leg_${prefix}_5_link"/>
+ <origin xyz="0.00000 0.00000 -0.32500"
+ rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
+ <axis xyz="0 1 0" />
+ <limit lower="-1.27" upper="0.68" effort="160" velocity="5.8" />
+ <dynamics friction="${leg_friction}" damping="${leg_damping}"/>
+ </joint>
+
+ <!-- Joint ankle_x (mesh link) : child link None -> parent link ankle_y -->
+
+ <link name="leg_${prefix}_6_link">
+ <xacro:call macro="leg_${prefix}_6_link_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 ${reflect*1} 1"/>
+ </geometry>
+ <material name="Grey" />
+ </visual>
+
+ <xacro:talos_foot_collision />
+ </link>
+
+ <joint name="leg_${prefix}_6_joint" type="revolute">
+ <parent link="leg_${prefix}_5_link"/>
+ <child link="leg_${prefix}_6_link"/>
+ <origin xyz="0.00000 0.00000 0.00000"
+ rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
+ <axis xyz="1 0 0" />
+ <limit lower="-0.5236" upper="0.5236" effort="100" velocity="4.8" />
+ <dynamics friction="${leg_friction}" damping="${leg_damping}"/>
+ </joint>
+
+ <!-- from here is copy paste -->
+
+ <link name="${prefix}_sole_link">
+ <xacro:call macro="${prefix}_sole_link_inertial" />
+ </link>
+
+ <joint name="leg_${prefix}_sole_fix_joint" type="fixed">
+ <parent link="leg_${prefix}_6_link" />
+ <child link="${prefix}_sole_link" />
+ <origin xyz="0.00 0.00 -0.107" rpy="0 0 0" />
+ <axis xyz="1 0 0" />
+ <dynamics friction="${leg_friction}" damping="${leg_damping}"/>
+ </joint>
+
+ <xacro:talos_leg_simple_transmission side="${prefix}" number="1" reduction="${leg_reduction}" />
+ <xacro:talos_leg_simple_transmission side="${prefix}" number="2" reduction="${leg_reduction}" />
+ <xacro:talos_leg_simple_transmission side="${prefix}" number="3" reduction="${leg_reduction}" />
+ <xacro:talos_leg_simple_transmission side="${prefix}" number="4" reduction="${leg_reduction}" />
+ <xacro:talos_leg_simple_transmission side="${prefix}" number="5" reduction="${leg_reduction}" />
+ <xacro:talos_leg_simple_transmission side="${prefix}" number="6" reduction="${leg_reduction}" />
+
+ <gazebo reference="leg_${prefix}_1_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="leg_${prefix}_2_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="leg_${prefix}_3_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="leg_${prefix}_4_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="leg_${prefix}_5_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+
+ <!-- contact model for foot surface -->
+ <gazebo reference="leg_${prefix}_6_link">
+ <kp>1000000.0</kp>
+ <kd>100.0</kd>
+ <mu1>1.0</mu1>
+ <mu2>1.0</mu2>
+ <fdir1>1 0 0</fdir1>
+ <maxVel>1.0</maxVel>
+ <minDepth>0.00</minDepth>
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+
+ <gazebo reference="leg_${prefix}_1_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="leg_${prefix}_2_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="leg_${prefix}_3_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="leg_${prefix}_4_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="leg_${prefix}_5_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="leg_${prefix}_6_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+
+ <gazebo reference="leg_${prefix}_1_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="leg_${prefix}_2_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="leg_${prefix}_3_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="leg_${prefix}_4_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="leg_${prefix}_5_link">
+ <material>Gazebo/White</material>
+ </gazebo>
+ <gazebo reference="leg_${prefix}_6_link">
+ <material>Gazebo/White</material>
+ </gazebo>
+
+ </xacro:macro>
+
+</robot>
diff --git a/urdf/sensors/orbbec_astra_pro.urdf.xacro b/urdf/sensors/orbbec_astra_pro.urdf.xacro
index aca2216..9ebd19b 100644
--- a/urdf/sensors/orbbec_astra_pro.urdf.xacro
+++ b/urdf/sensors/orbbec_astra_pro.urdf.xacro
@@ -24,7 +24,7 @@
-->
<robot xmlns:xacro="http://ros.org/wiki/xacro">
- <xacro:include filename="$(find talos_description)/urdf/sensors/orbbec_astra_pro.gazebo.xacro" />
+ <xacro:include filename="$(find talos_data)/urdf/sensors/orbbec_astra_pro.gazebo.xacro" />
<!-- Macro -->
<xacro:macro name="orbbec_astra_pro" params="name parent *origin *optical_origin">
@@ -44,7 +44,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
- <mesh filename="package://talos_description/meshes/sensors/orbbec/orbbec.STL" />
+ <mesh filename="package://talos_data/meshes/sensors/orbbec/orbbec.STL" />
</geometry>
<material name="DarkGrey">
<color rgba="0.5 0.5 0.5 1"/>
diff --git a/urdf/talos_full_common.urdf.xacro b/urdf/talos_full_common.urdf.xacro
new file mode 100644
index 0000000..e2fd331
--- /dev/null
+++ b/urdf/talos_full_common.urdf.xacro
@@ -0,0 +1,60 @@
+<?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_data)/urdf/crane/crane.urdf.xacro" />
+ </xacro:if>
+
+ <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="$(find talos_data)/urdf/gripper/gripper.urdf.xacro" />
+ <!-- <xacro:if value="$(arg enable_leg_passive)"> -->
+ <xacro:include filename="$(find talos_data)/urdf/leg/leg_passive.urdf.xacro" />
+ <!-- </xacro:if> -->
+ <!-- <xacro:unless value="$(arg enable_leg_passive)">
+ <xacro:include filename="$(find talos_data)/urdf/leg/leg.urdf.xacro" />
+ </xacro:unless> -->
+
+ <xacro:include filename="$(find talos_data)/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_data)/gazebo/gazebo.urdf.xacro" />
+ <!-- Materials for visualization -->
+ <xacro:include filename="$(find talos_data)/urdf/materials.urdf.xacro" />
+
+</robot>
diff --git a/urdf/talos_full_v2.urdf.xacro b/urdf/talos_full_v2.urdf.xacro
new file mode 100644
index 0000000..3b573dc
--- /dev/null
+++ b/urdf/talos_full_v2.urdf.xacro
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<!--
+
+ Copyright (c) 2016, PAL Robotics, S.L.
+ All rights reserved.
+
+ This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
+ To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
+ Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
+-->
+<robot name="talos" xmlns:xacro="http://ros.org/wiki/xacro"
+ xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+ xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+ xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
+
+ <xacro:include filename="$(find talos_data)/urdf/arm/arm_specifics_v2.urdf.xacro" />
+ <xacro:include filename="$(find talos_data)/urdf/talos_full_common.urdf.xacro" />
+</robot>
diff --git a/urdf/torso/torso.urdf.xacro b/urdf/torso/torso.urdf.xacro
index f92e7b1..c61cdb8 100644
--- a/urdf/torso/torso.urdf.xacro
+++ b/urdf/torso/torso.urdf.xacro
@@ -11,9 +11,9 @@
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<!--File includes-->
- <xacro:include filename="$(find talos_description)/urdf/deg_to_rad.xacro" />
- <xacro:include filename="$(find talos_description)/urdf/torso/torso.transmission.xacro" />
- <xacro:include filename="$(find talos_description)/urdf/sensors/imu.urdf.xacro" />
+ <xacro:include filename="$(find talos_data)/urdf/deg_to_rad.xacro" />
+ <xacro:include filename="$(find talos_data)/urdf/torso/torso.transmission.xacro" />
+ <xacro:include filename="$(find talos_data)/urdf/sensors/imu.urdf.xacro" />
<!--Constant parameters-->
<xacro:property name="torso_max_vel" value="5.4" />
@@ -30,7 +30,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_description/meshes/torso/torso_2.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_data/meshes/torso/torso_2.STL" scale="1 1 1"/>
</geometry>
<material name="LightGrey" />
</visual>
@@ -38,7 +38,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_description/meshes/torso/torso_2_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_data/meshes/torso/torso_2_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -53,7 +53,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_description/meshes/torso/torso_1.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_data/meshes/torso/torso_1.STL" scale="1 1 1"/>
</geometry>
<material name="LightGrey" />
</visual>
@@ -61,7 +61,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_description/meshes/torso/torso_1.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_data/meshes/torso/torso_1.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -92,7 +92,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_description/meshes/torso/base_link.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_data/meshes/torso/base_link.STL" scale="1 1 1"/>
</geometry>
<material name="LightGrey" />
</visual>
@@ -100,7 +100,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_description/meshes/torso/base_link_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_data/meshes/torso/base_link_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
--
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