From d1329b92fdc202c1f9d395f0b3bb69d3562881dc Mon Sep 17 00:00:00 2001
From: Rohan Budhiraja <budhiraja@laas.fr>
Date: Fri, 23 Dec 2016 15:04:20 +0100
Subject: [PATCH] Copy proyan@gitlab:talos_robot/talos_description to
ostasse@redmine:pyrene-talos/talos-data
*make talos_description into current package. remove other sub-packages
*Contains srdf file with feet specificities, halfSitting and disabled collision pairs
*Contains urdf file for loading simpler "collision" geometry in visual models.
---
.../CHANGELOG.rst => CHANGELOG.rst | 0
.../CMakeLists.txt => CMakeLists.txt | 0
.../config => config}/joint_limits.yaml | 0
.../gazebo => gazebo}/gazebo.urdf.xacro | 0
.../talos_joint_command_rviz.launch | 0
.../meshes => meshes}/arm/arm_1.STL | Bin
.../meshes => meshes}/arm/arm_1_collision.STL | Bin
.../meshes => meshes}/arm/arm_2.STL | Bin
.../meshes => meshes}/arm/arm_2_collision.STL | Bin
.../meshes => meshes}/arm/arm_3.STL | Bin
.../meshes => meshes}/arm/arm_3_collision.STL | Bin
.../meshes => meshes}/arm/arm_4.STL | Bin
.../meshes => meshes}/arm/arm_4_collision.STL | Bin
.../meshes => meshes}/arm/arm_5.STL | Bin
.../meshes => meshes}/arm/arm_5_collision.STL | Bin
.../meshes => meshes}/arm/arm_6.STL | Bin
.../meshes => meshes}/arm/arm_6_collision.STL | Bin
.../meshes => meshes}/arm/arm_7.STL | Bin
.../meshes => meshes}/arm/arm_7_collision.STL | Bin
{talos_description/meshes => meshes}/bart.STL | Bin
.../meshes => meshes}/bart_light.STL | Bin
.../meshes => meshes}/dummy_hand.STL | Bin
.../meshes => meshes}/femur.STL | Bin
.../meshes => meshes}/femur_light.STL | Bin
{talos_description/meshes => meshes}/foot.STL | Bin
.../meshes => meshes}/gripper/base_link.STL | Bin
.../gripper/base_link_collision.STL | Bin
.../meshes => meshes}/gripper/fingertip.STL | Bin
.../gripper/fingertip_collision.STL | Bin
.../gripper/gripper_motor_double.STL | Bin
.../gripper_motor_double_collision.STL | Bin
.../gripper/gripper_motor_single.STL | Bin
.../gripper_motor_single_collision.STL | Bin
.../gripper/gripper_simple.STL | Bin
.../gripper/gripper_simple_collision.STL | Bin
.../gripper/gripper_tweezers.STL | Bin
.../gripper/gripper_tweezers_collision.STL | Bin
.../gripper/inner_double.STL | Bin
.../gripper/inner_double_collision.STL | Bin
.../gripper/inner_single.STL | Bin
.../gripper/inner_single_collision.STL | Bin
.../meshes => meshes}/head/head_1.stl | Bin
.../head/head_1_collision.stl | Bin
.../meshes => meshes}/head/head_2.stl | Bin
.../head/head_2_collision.stl | Bin
{talos_description/meshes => meshes}/hipZ.STL | Bin
.../meshes => meshes}/hipZ_light.STL | Bin
.../sensors/orbbec/orbbec.STL | Bin
.../sensors/xtion_pro_live/xtion_pro_live.dae | 0
.../sensors/xtion_pro_live/xtion_pro_live.png | Bin
.../meshes => meshes}/super-simple-bart.STL | Bin
.../meshes => meshes}/super-simple-femur.STL | Bin
.../meshes => meshes}/super-simple-tibia.STL | Bin
.../meshes => meshes}/talos_dummy.stl | Bin
.../meshes => meshes}/tibia.STL | Bin
.../meshes => meshes}/tibia_light.STL | Bin
.../meshes => meshes}/torso/base_link.STL | Bin
.../torso/base_link_collision.STL | Bin
.../meshes => meshes}/torso/torso_1.STL | Bin
.../meshes => meshes}/torso/torso_2.STL | Bin
.../torso/torso_2_collision.STL | Bin
.../v2/ankle_X_collision.stl | Bin
.../meshes => meshes}/v2/ankle_X_lo_res.stl | Bin
.../v2/ankle_Y_collision.stl | Bin
.../meshes => meshes}/v2/ankle_Y_lo_res.stl | Bin
.../v2/base_link_collision.stl | Bin
.../meshes => meshes}/v2/base_link_lo_res.stl | Bin
.../meshes => meshes}/v2/hip_x_collision.stl | Bin
.../meshes => meshes}/v2/hip_x_lo_res.stl | Bin
.../meshes => meshes}/v2/hip_y_collision.stl | Bin
.../meshes => meshes}/v2/hip_y_lo_res.stl | Bin
.../meshes => meshes}/v2/hip_z_collision.stl | Bin
.../meshes => meshes}/v2/hip_z_lo_res.stl | Bin
.../meshes => meshes}/v2/knee_collision.stl | Bin
.../meshes => meshes}/v2/knee_lo_res.stl | Bin
talos_description/package.xml => package.xml | 0
.../robots => robots}/talos_arm.urdf.xacro | 0
.../robots => robots}/talos_full.urdf.xacro | 0
.../talos_full_collision.urdf | 0
.../talos_full_no_grippers.urdf.xacro | 0
.../talos_full_no_lower_arm.urdf.xacro | 0
.../talos_gripper.urdf.xacro | 0
.../robots => robots}/talos_head.urdf.xacro | 0
.../talos_lower_body.urdf.xacro | 0
.../talos_lower_body_with_torso.urdf.xacro | 0
.../robots => robots}/talos_torso.urdf.xacro | 0
.../robots => robots}/upload_arm.launch | 0
.../robots => robots}/upload_gripper.launch | 0
.../robots => robots}/upload_head.launch | 0
.../robots => robots}/upload_legs.launch | 0
.../robots => robots}/upload_talos.launch | 0
{talos_description/srdf => srdf}/talos.srdf | 0
talos_bringup/CHANGELOG.rst | 85 -----
talos_bringup/CMakeLists.txt | 17 -
.../config/approach_planner_full.yaml | 16 -
talos_bringup/config/joy_teleop.yaml | 70 ----
talos_bringup/config/talos_full_hardware.yaml | 63 ----
talos_bringup/config/talos_motions.yaml | 303 ------------------
talos_bringup/config/twist_mux/joystick.yaml | 10 -
.../config/twist_mux/twist_mux_locks.yaml | 28 --
.../config/twist_mux/twist_mux_topics.yaml | 28 --
talos_bringup/launch/joystick_teleop.launch | 15 -
talos_bringup/launch/play_motion.launch | 14 -
talos_bringup/launch/talos.launch | 9 -
talos_bringup/launch/talos_bringup.launch | 29 --
.../launch/talos_preload_libraries.launch | 10 -
talos_bringup/launch/twist_mux.launch | 12 -
talos_bringup/package.xml | 26 --
talos_controller_configuration/CHANGELOG.rst | 83 -----
talos_controller_configuration/CMakeLists.txt | 18 --
.../config/init_offset_controller.yaml | 29 --
.../config/joint_trajectory_controllers.yaml | 172 ----------
.../config/offsets.yaml | 4 -
.../config/tb_sine_sweep.yaml | 7 -
.../config/tb_torque_control.yaml | 32 --
.../config/walking_controller.yaml | 33 --
.../config/walking_params.yaml | 39 ---
.../launch/bringup_controllers.launch | 18 --
.../launch/default_controllers.launch | 7 -
.../full_body_position_controllers.launch | 29 --
.../launch/init_offset_controller.launch | 12 -
.../launch/legs_position_controllers.launch | 11 -
.../launch/talos_homing_controller.launch | 10 -
.../upper_body_position_controllers.launch | 27 --
.../launch/walking_controller.launch | 14 -
talos_controller_configuration/package.xml | 26 --
talos_robot/CHANGELOG.rst | 63 ----
talos_robot/CMakeLists.txt | 4 -
talos_robot/package.xml | 20 --
.../urdf => urdf}/arm/arm.transmission.xacro | 0
.../urdf => urdf}/arm/arm.urdf.xacro | 0
.../arm/wrist.transmission.xacro | 0
.../urdf => urdf}/arm/wrist.urdf.xacro | 0
.../urdf => urdf}/deg_to_rad.xacro | 0
.../gripper/gripper.gazebo.xacro | 0
.../gripper/gripper.transmission.xacro | 0
.../urdf => urdf}/gripper/gripper.urdf.xacro | 0
.../head/head.transmission.xacro | 0
.../urdf => urdf}/head/head.urdf.xacro | 0
.../urdf => urdf}/leg/leg.transmission.xacro | 0
.../urdf => urdf}/leg/leg.urdf.xacro | 0
.../urdf => urdf}/materials.urdf.xacro | 0
.../urdf => urdf}/sensors/calibration.xacro | 0
.../sensors/ftsensor.gazebo.xacro | 0
.../urdf => urdf}/sensors/ftsensor.urdf.xacro | 0
.../urdf => urdf}/sensors/imu.urdf.xacro | 0
.../urdf => urdf}/sensors/openni.gazebo.xacro | 0
.../sensors/orbbec_astra_pro.urdf.xacro | 0
.../sensors/xtion_pro_live.gazebo.xacro | 0
.../sensors/xtion_pro_live.urdf.xacro | 0
.../torso/torso.transmission.xacro | 0
.../urdf => urdf}/torso/torso.urdf.xacro | 0
152 files changed, 1393 deletions(-)
rename talos_description/CHANGELOG.rst => CHANGELOG.rst (100%)
rename talos_description/CMakeLists.txt => CMakeLists.txt (100%)
rename {talos_description/config => config}/joint_limits.yaml (100%)
rename {talos_description/gazebo => gazebo}/gazebo.urdf.xacro (100%)
rename {talos_description/launch => launch}/talos_joint_command_rviz.launch (100%)
rename {talos_description/meshes => meshes}/arm/arm_1.STL (100%)
rename {talos_description/meshes => meshes}/arm/arm_1_collision.STL (100%)
rename {talos_description/meshes => meshes}/arm/arm_2.STL (100%)
rename {talos_description/meshes => meshes}/arm/arm_2_collision.STL (100%)
rename {talos_description/meshes => meshes}/arm/arm_3.STL (100%)
rename {talos_description/meshes => meshes}/arm/arm_3_collision.STL (100%)
rename {talos_description/meshes => meshes}/arm/arm_4.STL (100%)
rename {talos_description/meshes => meshes}/arm/arm_4_collision.STL (100%)
rename {talos_description/meshes => meshes}/arm/arm_5.STL (100%)
rename {talos_description/meshes => meshes}/arm/arm_5_collision.STL (100%)
rename {talos_description/meshes => meshes}/arm/arm_6.STL (100%)
rename {talos_description/meshes => meshes}/arm/arm_6_collision.STL (100%)
rename {talos_description/meshes => meshes}/arm/arm_7.STL (100%)
rename {talos_description/meshes => meshes}/arm/arm_7_collision.STL (100%)
rename {talos_description/meshes => meshes}/bart.STL (100%)
rename {talos_description/meshes => meshes}/bart_light.STL (100%)
rename {talos_description/meshes => meshes}/dummy_hand.STL (100%)
rename {talos_description/meshes => meshes}/femur.STL (100%)
rename {talos_description/meshes => meshes}/femur_light.STL (100%)
rename {talos_description/meshes => meshes}/foot.STL (100%)
rename {talos_description/meshes => meshes}/gripper/base_link.STL (100%)
rename {talos_description/meshes => meshes}/gripper/base_link_collision.STL (100%)
rename {talos_description/meshes => meshes}/gripper/fingertip.STL (100%)
rename {talos_description/meshes => meshes}/gripper/fingertip_collision.STL (100%)
rename {talos_description/meshes => meshes}/gripper/gripper_motor_double.STL (100%)
rename {talos_description/meshes => meshes}/gripper/gripper_motor_double_collision.STL (100%)
rename {talos_description/meshes => meshes}/gripper/gripper_motor_single.STL (100%)
rename {talos_description/meshes => meshes}/gripper/gripper_motor_single_collision.STL (100%)
rename {talos_description/meshes => meshes}/gripper/gripper_simple.STL (100%)
rename {talos_description/meshes => meshes}/gripper/gripper_simple_collision.STL (100%)
rename {talos_description/meshes => meshes}/gripper/gripper_tweezers.STL (100%)
rename {talos_description/meshes => meshes}/gripper/gripper_tweezers_collision.STL (100%)
rename {talos_description/meshes => meshes}/gripper/inner_double.STL (100%)
rename {talos_description/meshes => meshes}/gripper/inner_double_collision.STL (100%)
rename {talos_description/meshes => meshes}/gripper/inner_single.STL (100%)
rename {talos_description/meshes => meshes}/gripper/inner_single_collision.STL (100%)
rename {talos_description/meshes => meshes}/head/head_1.stl (100%)
rename {talos_description/meshes => meshes}/head/head_1_collision.stl (100%)
rename {talos_description/meshes => meshes}/head/head_2.stl (100%)
rename {talos_description/meshes => meshes}/head/head_2_collision.stl (100%)
rename {talos_description/meshes => meshes}/hipZ.STL (100%)
rename {talos_description/meshes => meshes}/hipZ_light.STL (100%)
rename {talos_description/meshes => meshes}/sensors/orbbec/orbbec.STL (100%)
rename {talos_description/meshes => meshes}/sensors/xtion_pro_live/xtion_pro_live.dae (100%)
rename {talos_description/meshes => meshes}/sensors/xtion_pro_live/xtion_pro_live.png (100%)
rename {talos_description/meshes => meshes}/super-simple-bart.STL (100%)
rename {talos_description/meshes => meshes}/super-simple-femur.STL (100%)
rename {talos_description/meshes => meshes}/super-simple-tibia.STL (100%)
rename {talos_description/meshes => meshes}/talos_dummy.stl (100%)
rename {talos_description/meshes => meshes}/tibia.STL (100%)
rename {talos_description/meshes => meshes}/tibia_light.STL (100%)
rename {talos_description/meshes => meshes}/torso/base_link.STL (100%)
rename {talos_description/meshes => meshes}/torso/base_link_collision.STL (100%)
rename {talos_description/meshes => meshes}/torso/torso_1.STL (100%)
rename {talos_description/meshes => meshes}/torso/torso_2.STL (100%)
rename {talos_description/meshes => meshes}/torso/torso_2_collision.STL (100%)
rename {talos_description/meshes => meshes}/v2/ankle_X_collision.stl (100%)
rename {talos_description/meshes => meshes}/v2/ankle_X_lo_res.stl (100%)
rename {talos_description/meshes => meshes}/v2/ankle_Y_collision.stl (100%)
rename {talos_description/meshes => meshes}/v2/ankle_Y_lo_res.stl (100%)
rename {talos_description/meshes => meshes}/v2/base_link_collision.stl (100%)
rename {talos_description/meshes => meshes}/v2/base_link_lo_res.stl (100%)
rename {talos_description/meshes => meshes}/v2/hip_x_collision.stl (100%)
rename {talos_description/meshes => meshes}/v2/hip_x_lo_res.stl (100%)
rename {talos_description/meshes => meshes}/v2/hip_y_collision.stl (100%)
rename {talos_description/meshes => meshes}/v2/hip_y_lo_res.stl (100%)
rename {talos_description/meshes => meshes}/v2/hip_z_collision.stl (100%)
rename {talos_description/meshes => meshes}/v2/hip_z_lo_res.stl (100%)
rename {talos_description/meshes => meshes}/v2/knee_collision.stl (100%)
rename {talos_description/meshes => meshes}/v2/knee_lo_res.stl (100%)
rename talos_description/package.xml => package.xml (100%)
rename {talos_description/robots => robots}/talos_arm.urdf.xacro (100%)
rename {talos_description/robots => robots}/talos_full.urdf.xacro (100%)
rename {talos_description/robots => robots}/talos_full_collision.urdf (100%)
rename {talos_description/robots => robots}/talos_full_no_grippers.urdf.xacro (100%)
rename {talos_description/robots => robots}/talos_full_no_lower_arm.urdf.xacro (100%)
rename {talos_description/robots => robots}/talos_gripper.urdf.xacro (100%)
rename {talos_description/robots => robots}/talos_head.urdf.xacro (100%)
rename {talos_description/robots => robots}/talos_lower_body.urdf.xacro (100%)
rename {talos_description/robots => robots}/talos_lower_body_with_torso.urdf.xacro (100%)
rename {talos_description/robots => robots}/talos_torso.urdf.xacro (100%)
rename {talos_description/robots => robots}/upload_arm.launch (100%)
rename {talos_description/robots => robots}/upload_gripper.launch (100%)
rename {talos_description/robots => robots}/upload_head.launch (100%)
rename {talos_description/robots => robots}/upload_legs.launch (100%)
rename {talos_description/robots => robots}/upload_talos.launch (100%)
rename {talos_description/srdf => srdf}/talos.srdf (100%)
delete mode 100644 talos_bringup/CHANGELOG.rst
delete mode 100644 talos_bringup/CMakeLists.txt
delete mode 100644 talos_bringup/config/approach_planner_full.yaml
delete mode 100644 talos_bringup/config/joy_teleop.yaml
delete mode 100644 talos_bringup/config/talos_full_hardware.yaml
delete mode 100644 talos_bringup/config/talos_motions.yaml
delete mode 100644 talos_bringup/config/twist_mux/joystick.yaml
delete mode 100644 talos_bringup/config/twist_mux/twist_mux_locks.yaml
delete mode 100644 talos_bringup/config/twist_mux/twist_mux_topics.yaml
delete mode 100644 talos_bringup/launch/joystick_teleop.launch
delete mode 100644 talos_bringup/launch/play_motion.launch
delete mode 100644 talos_bringup/launch/talos.launch
delete mode 100644 talos_bringup/launch/talos_bringup.launch
delete mode 100644 talos_bringup/launch/talos_preload_libraries.launch
delete mode 100644 talos_bringup/launch/twist_mux.launch
delete mode 100644 talos_bringup/package.xml
delete mode 100644 talos_controller_configuration/CHANGELOG.rst
delete mode 100644 talos_controller_configuration/CMakeLists.txt
delete mode 100644 talos_controller_configuration/config/init_offset_controller.yaml
delete mode 100644 talos_controller_configuration/config/joint_trajectory_controllers.yaml
delete mode 100644 talos_controller_configuration/config/offsets.yaml
delete mode 100644 talos_controller_configuration/config/tb_sine_sweep.yaml
delete mode 100644 talos_controller_configuration/config/tb_torque_control.yaml
delete mode 100644 talos_controller_configuration/config/walking_controller.yaml
delete mode 100644 talos_controller_configuration/config/walking_params.yaml
delete mode 100644 talos_controller_configuration/launch/bringup_controllers.launch
delete mode 100644 talos_controller_configuration/launch/default_controllers.launch
delete mode 100644 talos_controller_configuration/launch/full_body_position_controllers.launch
delete mode 100644 talos_controller_configuration/launch/init_offset_controller.launch
delete mode 100644 talos_controller_configuration/launch/legs_position_controllers.launch
delete mode 100644 talos_controller_configuration/launch/talos_homing_controller.launch
delete mode 100644 talos_controller_configuration/launch/upper_body_position_controllers.launch
delete mode 100644 talos_controller_configuration/launch/walking_controller.launch
delete mode 100644 talos_controller_configuration/package.xml
delete mode 100644 talos_robot/CHANGELOG.rst
delete mode 100644 talos_robot/CMakeLists.txt
delete mode 100644 talos_robot/package.xml
rename {talos_description/urdf => urdf}/arm/arm.transmission.xacro (100%)
rename {talos_description/urdf => urdf}/arm/arm.urdf.xacro (100%)
rename {talos_description/urdf => urdf}/arm/wrist.transmission.xacro (100%)
rename {talos_description/urdf => urdf}/arm/wrist.urdf.xacro (100%)
rename {talos_description/urdf => urdf}/deg_to_rad.xacro (100%)
rename {talos_description/urdf => urdf}/gripper/gripper.gazebo.xacro (100%)
rename {talos_description/urdf => urdf}/gripper/gripper.transmission.xacro (100%)
rename {talos_description/urdf => urdf}/gripper/gripper.urdf.xacro (100%)
rename {talos_description/urdf => urdf}/head/head.transmission.xacro (100%)
rename {talos_description/urdf => urdf}/head/head.urdf.xacro (100%)
rename {talos_description/urdf => urdf}/leg/leg.transmission.xacro (100%)
rename {talos_description/urdf => urdf}/leg/leg.urdf.xacro (100%)
rename {talos_description/urdf => urdf}/materials.urdf.xacro (100%)
rename {talos_description/urdf => urdf}/sensors/calibration.xacro (100%)
rename {talos_description/urdf => urdf}/sensors/ftsensor.gazebo.xacro (100%)
rename {talos_description/urdf => urdf}/sensors/ftsensor.urdf.xacro (100%)
rename {talos_description/urdf => urdf}/sensors/imu.urdf.xacro (100%)
rename {talos_description/urdf => urdf}/sensors/openni.gazebo.xacro (100%)
rename {talos_description/urdf => urdf}/sensors/orbbec_astra_pro.urdf.xacro (100%)
rename {talos_description/urdf => urdf}/sensors/xtion_pro_live.gazebo.xacro (100%)
rename {talos_description/urdf => urdf}/sensors/xtion_pro_live.urdf.xacro (100%)
rename {talos_description/urdf => urdf}/torso/torso.transmission.xacro (100%)
rename {talos_description/urdf => urdf}/torso/torso.urdf.xacro (100%)
diff --git a/talos_description/CHANGELOG.rst b/CHANGELOG.rst
similarity index 100%
rename from talos_description/CHANGELOG.rst
rename to CHANGELOG.rst
diff --git a/talos_description/CMakeLists.txt b/CMakeLists.txt
similarity index 100%
rename from talos_description/CMakeLists.txt
rename to CMakeLists.txt
diff --git a/talos_description/config/joint_limits.yaml b/config/joint_limits.yaml
similarity index 100%
rename from talos_description/config/joint_limits.yaml
rename to config/joint_limits.yaml
diff --git a/talos_description/gazebo/gazebo.urdf.xacro b/gazebo/gazebo.urdf.xacro
similarity index 100%
rename from talos_description/gazebo/gazebo.urdf.xacro
rename to gazebo/gazebo.urdf.xacro
diff --git a/talos_description/launch/talos_joint_command_rviz.launch b/launch/talos_joint_command_rviz.launch
similarity index 100%
rename from talos_description/launch/talos_joint_command_rviz.launch
rename to launch/talos_joint_command_rviz.launch
diff --git a/talos_description/meshes/arm/arm_1.STL b/meshes/arm/arm_1.STL
similarity index 100%
rename from talos_description/meshes/arm/arm_1.STL
rename to meshes/arm/arm_1.STL
diff --git a/talos_description/meshes/arm/arm_1_collision.STL b/meshes/arm/arm_1_collision.STL
similarity index 100%
rename from talos_description/meshes/arm/arm_1_collision.STL
rename to meshes/arm/arm_1_collision.STL
diff --git a/talos_description/meshes/arm/arm_2.STL b/meshes/arm/arm_2.STL
similarity index 100%
rename from talos_description/meshes/arm/arm_2.STL
rename to meshes/arm/arm_2.STL
diff --git a/talos_description/meshes/arm/arm_2_collision.STL b/meshes/arm/arm_2_collision.STL
similarity index 100%
rename from talos_description/meshes/arm/arm_2_collision.STL
rename to meshes/arm/arm_2_collision.STL
diff --git a/talos_description/meshes/arm/arm_3.STL b/meshes/arm/arm_3.STL
similarity index 100%
rename from talos_description/meshes/arm/arm_3.STL
rename to meshes/arm/arm_3.STL
diff --git a/talos_description/meshes/arm/arm_3_collision.STL b/meshes/arm/arm_3_collision.STL
similarity index 100%
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diff --git a/talos_description/meshes/arm/arm_4.STL b/meshes/arm/arm_4.STL
similarity index 100%
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similarity index 100%
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diff --git a/talos_description/meshes/arm/arm_5.STL b/meshes/arm/arm_5.STL
similarity index 100%
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similarity index 100%
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diff --git a/talos_description/meshes/arm/arm_6.STL b/meshes/arm/arm_6.STL
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diff --git a/talos_description/meshes/arm/arm_6_collision.STL b/meshes/arm/arm_6_collision.STL
similarity index 100%
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diff --git a/talos_description/meshes/arm/arm_7.STL b/meshes/arm/arm_7.STL
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diff --git a/talos_description/meshes/bart.STL b/meshes/bart.STL
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diff --git a/talos_description/meshes/bart_light.STL b/meshes/bart_light.STL
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diff --git a/talos_description/meshes/dummy_hand.STL b/meshes/dummy_hand.STL
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diff --git a/talos_description/meshes/femur.STL b/meshes/femur.STL
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diff --git a/talos_description/meshes/foot.STL b/meshes/foot.STL
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diff --git a/talos_description/meshes/gripper/gripper_tweezers.STL b/meshes/gripper/gripper_tweezers.STL
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diff --git a/talos_description/meshes/gripper/inner_double.STL b/meshes/gripper/inner_double.STL
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diff --git a/talos_description/meshes/head/head_1.stl b/meshes/head/head_1.stl
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diff --git a/talos_description/meshes/hipZ.STL b/meshes/hipZ.STL
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diff --git a/talos_description/meshes/hipZ_light.STL b/meshes/hipZ_light.STL
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diff --git a/talos_description/meshes/sensors/orbbec/orbbec.STL b/meshes/sensors/orbbec/orbbec.STL
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diff --git a/talos_description/meshes/sensors/xtion_pro_live/xtion_pro_live.dae b/meshes/sensors/xtion_pro_live/xtion_pro_live.dae
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diff --git a/talos_description/meshes/super-simple-bart.STL b/meshes/super-simple-bart.STL
similarity index 100%
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diff --git a/talos_description/meshes/super-simple-femur.STL b/meshes/super-simple-femur.STL
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diff --git a/talos_description/meshes/super-simple-tibia.STL b/meshes/super-simple-tibia.STL
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diff --git a/talos_description/meshes/talos_dummy.stl b/meshes/talos_dummy.stl
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diff --git a/talos_description/meshes/tibia.STL b/meshes/tibia.STL
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diff --git a/talos_description/meshes/tibia_light.STL b/meshes/tibia_light.STL
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diff --git a/talos_description/meshes/torso/base_link.STL b/meshes/torso/base_link.STL
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diff --git a/talos_description/meshes/torso/base_link_collision.STL b/meshes/torso/base_link_collision.STL
similarity index 100%
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diff --git a/talos_description/meshes/torso/torso_1.STL b/meshes/torso/torso_1.STL
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diff --git a/talos_description/meshes/v2/ankle_X_collision.stl b/meshes/v2/ankle_X_collision.stl
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diff --git a/talos_description/meshes/v2/ankle_Y_collision.stl b/meshes/v2/ankle_Y_collision.stl
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diff --git a/talos_description/meshes/v2/base_link_collision.stl b/meshes/v2/base_link_collision.stl
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diff --git a/talos_description/meshes/v2/base_link_lo_res.stl b/meshes/v2/base_link_lo_res.stl
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diff --git a/talos_description/meshes/v2/hip_x_collision.stl b/meshes/v2/hip_x_collision.stl
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diff --git a/talos_description/meshes/v2/hip_y_collision.stl b/meshes/v2/hip_y_collision.stl
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diff --git a/talos_description/meshes/v2/hip_z_collision.stl b/meshes/v2/hip_z_collision.stl
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diff --git a/talos_description/meshes/v2/hip_z_lo_res.stl b/meshes/v2/hip_z_lo_res.stl
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diff --git a/talos_description/meshes/v2/knee_collision.stl b/meshes/v2/knee_collision.stl
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diff --git a/talos_description/package.xml b/package.xml
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diff --git a/talos_description/robots/talos_arm.urdf.xacro b/robots/talos_arm.urdf.xacro
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diff --git a/talos_description/robots/talos_full.urdf.xacro b/robots/talos_full.urdf.xacro
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diff --git a/talos_description/robots/talos_full_collision.urdf b/robots/talos_full_collision.urdf
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diff --git a/talos_description/robots/talos_full_no_grippers.urdf.xacro b/robots/talos_full_no_grippers.urdf.xacro
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diff --git a/talos_description/robots/talos_full_no_lower_arm.urdf.xacro b/robots/talos_full_no_lower_arm.urdf.xacro
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diff --git a/talos_description/robots/talos_gripper.urdf.xacro b/robots/talos_gripper.urdf.xacro
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diff --git a/talos_description/robots/talos_head.urdf.xacro b/robots/talos_head.urdf.xacro
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diff --git a/talos_description/robots/talos_lower_body.urdf.xacro b/robots/talos_lower_body.urdf.xacro
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diff --git a/talos_description/robots/talos_lower_body_with_torso.urdf.xacro b/robots/talos_lower_body_with_torso.urdf.xacro
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diff --git a/talos_description/robots/talos_torso.urdf.xacro b/robots/talos_torso.urdf.xacro
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diff --git a/talos_description/robots/upload_arm.launch b/robots/upload_arm.launch
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diff --git a/talos_description/robots/upload_gripper.launch b/robots/upload_gripper.launch
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diff --git a/talos_description/robots/upload_head.launch b/robots/upload_head.launch
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diff --git a/talos_description/robots/upload_legs.launch b/robots/upload_legs.launch
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diff --git a/talos_description/robots/upload_talos.launch b/robots/upload_talos.launch
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diff --git a/talos_description/srdf/talos.srdf b/srdf/talos.srdf
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rename to srdf/talos.srdf
diff --git a/talos_bringup/CHANGELOG.rst b/talos_bringup/CHANGELOG.rst
deleted file mode 100644
index 82cbdec..0000000
--- a/talos_bringup/CHANGELOG.rst
+++ /dev/null
@@ -1,85 +0,0 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package talos_bringup
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-0.0.13 (2016-11-15)
--------------------
-* Add missing dependency. Walking params and fixed talos motion
-* Contributors: Luca
-
-0.0.12 (2016-11-15)
--------------------
-* Button from joystick for play_motion
-* Contributors: Luca
-
-0.0.11 (2016-11-12)
--------------------
-* Fix imu tf and frame
-* Contributors: Luca
-
-0.0.10 (2016-11-12 12:48)
--------------------------
-* Update changelog
-* Fix close left gripper motion typo
-* Contributors: Luca, Victor Lopez
-
-0.0.9 (2016-11-12 11:14)
-------------------------
-* Add changelog
-* Contributors: Luca
-
-0.0.8 (2016-11-11)
-------------------
-* Add changelog
-* Added motions, and ft sensor signs fixed
-* Contributors: Luca
-
-0.0.7 (2016-11-10 18:45)
-------------------------
-* Updated changelog
-* Contributors: Hilario Tome
-
-0.0.6 (2016-11-10 18:16)
-------------------------
-* Updated changelog
-* Moved the files from talos walking to talos controller configuration
-* Contributors: Hilario Tome
-
-0.0.5 (2016-11-10 12:06)
-------------------------
-* Updated changelog
-* Moved talos hardware out of bringup
-* motions for talos, tested on robot
-* Contributors: Hilario Tome, Luca
-
-0.0.4 (2016-11-09)
-------------------
-* Updated changelog
-* Head talos finally working hardware, added wrists ft to pal hardware
-* MoveIt and play_motion config files
-* modified talos bringu
-* Modify motions for Talos
-* Updated twist mux and add talos.launch
-* Not working approach planner
-* Modified bringup
-* Contributors: Hilario Tome, Hillario Tome, Luca
-
-0.0.3 (2016-10-31)
-------------------
-* Updated changelog
-* Changed head differential, default controllers stopped
-* Succesfull walking in talos, added talos teleop
-* Added missing depends and completed bringup
-* Contributors: Hilario Tome
-
-0.0.2 (2016-10-13)
-------------------
-* Updated changelog
-* Contributors: Hilario Tome
-
-0.0.1 (2016-10-12)
-------------------
-* Created intial changelog
-* Fixing
-* Renamed tor to talos
-* Contributors: Hilario Tome
diff --git a/talos_bringup/CMakeLists.txt b/talos_bringup/CMakeLists.txt
deleted file mode 100644
index 165d2bc..0000000
--- a/talos_bringup/CMakeLists.txt
+++ /dev/null
@@ -1,17 +0,0 @@
-cmake_minimum_required(VERSION 2.8.3)
-project(talos_bringup)
-
-find_package(catkin REQUIRED)
-
-catkin_package(
-# INCLUDE_DIRS include
-# LIBRARIES talos_bringup
-# CATKIN_DEPENDS other_catkin_pkg
-# DEPENDS system_lib
-)
-
-foreach(dir config launch)
- install(DIRECTORY ${dir}/
- DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
-endforeach(dir)
-
diff --git a/talos_bringup/config/approach_planner_full.yaml b/talos_bringup/config/approach_planner_full.yaml
deleted file mode 100644
index b8dac36..0000000
--- a/talos_bringup/config/approach_planner_full.yaml
+++ /dev/null
@@ -1,16 +0,0 @@
-approach_planner:
- planning_groups: # Sorted by order of preference
- - left_arm
- - right_arm
- - torso
- - both_arms_torso
-
- exclude_from_planning_joints:
- - head_1_joint
- - head_2_joint
- - gripper_right_joint
- - gripper_left_joint
-
- joint_tolerance: 0.01
- skip_planning_approach_vel: 0.5
- skip_planning_approach_min_dur: 0.5
diff --git a/talos_bringup/config/joy_teleop.yaml b/talos_bringup/config/joy_teleop.yaml
deleted file mode 100644
index 0a61c93..0000000
--- a/talos_bringup/config/joy_teleop.yaml
+++ /dev/null
@@ -1,70 +0,0 @@
-teleop:
- walk:
- type: topic
- message_type: geometry_msgs/Twist
- topic_name: cmd_vel
- deadman_buttons: [4]
- axis_mappings:
- -
- axis: 1
- target: linear.x
- scale: 0.25
- -
- axis: 0
- target: angular.z
- scale: 0.25
- -
- axis: 2
- target: linear.y
- scale: 0.15
-
- joy_priority:
- type: action
- action_name: joy_priority_action
- buttons: [0]
-
- # undocumented poses, with 'back' button
- home:
- type: action
- action_name: play_motion
- action_goal:
- motion_name: home
- buttons: [8, 1]
-
- hands_walk:
- type: action
- action_name: play_motion
- action_goal:
- motion_name: walk_pose
- buttons: [8, 2]
-
- # documented motions, with right upper button and right trigger
- # see SDE4 documentation
- wave:
- type: action
- action_name: play_motion
- action_goal:
- motion_name: wave
- buttons: [5, 1]
-
- bow:
- type: action
- action_name: play_motion
- action_goal:
- motion_name: bow
- buttons: [5, 0]
-
- open_arms:
- type: action
- action_name: play_motion
- action_goal:
- motion_name: wave_both_arms
- buttons: [5, 3]
-
- shake_hand:
- type: action
- action_name: play_motion
- action_goal:
- motion_name: lift_weights
- buttons: [5, 2]
-
diff --git a/talos_bringup/config/talos_full_hardware.yaml b/talos_bringup/config/talos_full_hardware.yaml
deleted file mode 100644
index 4e65050..0000000
--- a/talos_bringup/config/talos_full_hardware.yaml
+++ /dev/null
@@ -1,63 +0,0 @@
-actuators:
- raw_data:
- position_port: act_position
- velocity_port: act_velocity
- effort_port: act_current
- mode_port: act_control_mode
- position_cmd_port: ref_position
- effort_cmd_port: ref_current
- mode_cmd_port: ref_control_mode
- absolute_encoder_position_port: act_abs_position
- torque_sensor_port: act_torque
- temperature_sensor_port: act_temperature
-
-
-e_stop:
- raw_data:
- e_stop_port: emergency_stop_state
-
-force_torque:
- left_ankle_ft:
- frame: leg_left_6_link
- transformation:
- force: [x,-y,-z]
- torque: [x,-y,-z]
- raw_data:
- force_port: force_ankle_left
- torque_port: torque_ankle_left
- right_ankle_ft:
- frame: leg_right_6_link
- transformation:
- force: [x,-y,-z]
- torque: [x,-y,-z]
- raw_data:
- force_port: force_ankle_right
- torque_port: torque_ankle_right
- left_wrist_ft:
- frame: wrist_left_ft_link
- transformation:
- force: [x, y, -z]
- torque: [x, y, -z]
- raw_data:
- force_port: force_wrist_left
- torque_port: torque_wrist_left
- right_wrist_ft:
- frame: wrist_right_ft_link
- transformation:
- force: [x, y, -z]
- torque: [x, y, -z]
- raw_data:
- force_port: force_wrist_right
- torque_port: torque_wrist_right
-
-imu:
- base_imu:
- frame: imu_link
- raw_data:
- orientation_port: orientation_base
- linear_acceleration_port: linear_acceleration_base
- angular_velocity_port: angular_velocity_base
-
-#ros_control_component:
-# ignore_read_errors: true
-
diff --git a/talos_bringup/config/talos_motions.yaml b/talos_bringup/config/talos_motions.yaml
deleted file mode 100644
index 6b4d043..0000000
--- a/talos_bringup/config/talos_motions.yaml
+++ /dev/null
@@ -1,303 +0,0 @@
-play_motion:
- controllers: [right_arm_controller, left_arm_controller, left_leg_controller, right_leg_controller,
- head_controller, torso_controller, gripper_left_controller, gripper_right_controller]
- motions:
- hands_front:
- joints: [torso_1_joint, torso_2_joint, arm_right_1_joint, arm_right_2_joint, arm_right_3_joint, arm_right_4_joint, arm_right_5_joint, arm_right_6_joint, arm_right_7_joint,
- arm_left_1_joint, arm_left_2_joint, arm_left_3_joint, arm_left_4_joint, arm_left_5_joint, arm_left_6_joint, arm_left_7_joint]
- points:
- - positions: [0.0, 0.0, 0.0, -0.252, 0.285, -1.591, -1.57, 0.0, 0.0, 0.0, 0.252, -0.285, -1.591, 1.57, 0.0, 0.0]
- time_from_start: 0.0
- hands_up:
- joints: [torso_1_joint, torso_2_joint,
- arm_right_1_joint, arm_right_2_joint, arm_right_3_joint,
- arm_right_4_joint, arm_right_5_joint, arm_right_6_joint, arm_right_7_joint,
- arm_left_1_joint, arm_left_2_joint, arm_left_3_joint,
- arm_left_4_joint, arm_left_5_joint, arm_left_6_joint, arm_left_7_joint]
- points:
- - positions: [0.0, 0.0, -0.0, -1.57, -1.57, -1.57, 0.0, -0.0, 0.0, 0.0, 1.57, 1.57, -1.57, 0.0, 0.0, 0.0]
- time_from_start: 0.0
- home: # NOTE: arm_*_2_joint is nonzero!
- joints: [torso_1_joint, torso_2_joint, head_1_joint, head_2_joint, arm_left_1_joint,
- arm_left_2_joint, arm_left_3_joint, arm_left_4_joint, arm_left_5_joint, arm_left_6_joint,
- arm_left_7_joint, arm_right_1_joint, arm_right_2_joint, arm_right_3_joint,
- arm_right_4_joint, arm_right_5_joint, arm_right_6_joint, arm_right_7_joint,
- gripper_left_joint, gripper_right_joint]
- points:
- - positions: [0.0, 0.0, 0.0, 0.0, 0.0, 0.25, 0.0, 0.0, 0.0, 0.0, 0.0,
- 0.0, -0.25, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
- time_from_start: 0.0
- meta:
- name: Home
- usage: posture
- description: Both arms down and completely stretched.
- home_legs:
- joints: [leg_left_1_joint, leg_left_2_joint, leg_left_3_joint, leg_left_4_joint,
- leg_left_5_joint, leg_left_6_joint,
- leg_right_1_joint, leg_right_2_joint, leg_right_3_joint,leg_right_4_joint,
- leg_right_5_joint, leg_right_6_joint]
- points:
- - positions: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
- time_from_start: 0.0
- walk_pose:
- joints: [torso_1_joint, torso_2_joint, head_1_joint, head_2_joint, arm_left_1_joint,
- arm_left_2_joint, arm_left_3_joint, arm_left_4_joint, arm_left_5_joint, arm_left_6_joint,
- arm_left_7_joint, arm_right_1_joint, arm_right_2_joint, arm_right_3_joint,
- arm_right_4_joint, arm_right_5_joint, arm_right_6_joint, arm_right_7_joint,
- gripper_left_joint, gripper_right_joint]
- points:
- - positions: [0.0, 0.06, 0.0, 0.0, 0.31, 0.32, -0.3, -0.80, 0.0, 0.0, 0.0,
- -0.31, -0.32, 0.3, -0.80, 0.0, 0.0, 0.0, 0.0, 0.0]
- time_from_start: 0.0
- meta:
- name: Home
- usage: posture
- description: Both arms down and completely stretched.
- interact:
- joints: [torso_1_joint, torso_2_joint, head_1_joint, head_2_joint, arm_left_1_joint,
- arm_left_2_joint, arm_left_3_joint, arm_left_4_joint, arm_left_5_joint, arm_left_6_joint,
- arm_left_7_joint, arm_right_1_joint, arm_right_2_joint, arm_right_3_joint,
- arm_right_4_joint, arm_right_5_joint, arm_right_6_joint, arm_right_7_joint,
- gripper_left_joint, gripper_right_joint]
- points:
- - positions: [0.0, 0.0, 0.0, 0.0, -0.2, 0.25, -0.1, -0.6109, 0.0, 0.0, 0.0, 0.2,
- -0.25, 0.1, -0.6109, 0.0, 0.0, 0.0, 0.0, 0.0]
- time_from_start: 0.0
- meta:
- name: Interact
- usage: posture
- description: Same posture as in Hands Down.
- small_squat:
- joints: [leg_left_4_joint, leg_right_3_joint, leg_right_5_joint, leg_left_5_joint,
- leg_right_4_joint, leg_left_3_joint]
- points:
- - positions: [1.0, -0.5, -0.5, -0.5, 1.0, -0.5]
- time_from_start: 0.0
- squat:
- joints: [head_1_joint, head_2_joint, torso_1_joint, torso_2_joint,
- arm_right_1_joint, arm_right_2_joint, arm_right_3_joint, arm_right_4_joint,
- arm_right_5_joint, arm_right_6_joint, arm_right_7_joint,
- arm_left_1_joint, arm_left_2_joint, arm_left_3_joint, arm_left_4_joint,
- arm_left_5_joint, arm_left_6_joint, arm_left_7_joint,
- leg_right_1_joint, leg_right_2_joint, leg_right_3_joint,
- leg_right_4_joint, leg_right_5_joint, leg_right_6_joint,
- leg_left_1_joint, leg_left_2_joint, leg_left_3_joint,
- leg_left_4_joint, leg_left_5_joint, leg_left_6_joint]
- points:
- - positions: [0.0,0.0, 0.0, -0.15,
- -0.21, -0.60, 0.637, -1.598, -0.3, 0.00, 0.0,
- 0.21, 0.60, -0.637, -1.598, 0.3, 0.0, 0.0,
- 0.0, 0.0, -1.3, 2.4, -1.2, 0.0,
- 0.0, 0.0, -1.3, 2.4, -1.2, 0.0]
- time_from_start: 0.0
- wave:
- joints: [torso_1_joint, torso_2_joint, arm_right_1_joint, arm_right_2_joint, arm_right_3_joint, arm_right_4_joint, arm_right_5_joint, arm_right_6_joint, arm_right_7_joint, arm_left_1_joint, arm_left_2_joint, arm_left_3_joint, arm_left_4_joint, arm_left_5_joint, arm_left_6_joint, arm_left_7_joint, gripper_right_joint, gripper_left_joint]
- points:
- - positions: [0.0, 0.0, 0.0, -0.25, -0.0, 0.0, 0.0, 0.00, -0.0, -0.0, 0.25, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0]
- time_from_start: 0.0
- - positions: [0.0, -0.001, -0.314, -1.175, -0.927, -2.214, -0.0, 0.002, -0.001, -0.0, 0.15, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0]
- time_from_start: 3.0
- - positions: [0.0, -0.001, -0.314, -1.174, -0.927, -1.741, -0.0, 0.002, 0.001, 0.0, 0.15, 0.0, 0.0, -0.0, -0.0, -0.0, -0.7, 0.0]
- time_from_start: 4.0
- - positions: [0.0, -0.001, -0.314, -1.175, -0.927, -2.214, -0.0, 0.002, -0.001, -0.0, 0.15, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0]
- time_from_start: 5.0
- - positions: [0.0, 0.0, 0.0, -0.25, -0.0, 0.0, 0.0, 0.0, -0.0, -0.0, 0.25, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0]
- time_from_start: 8.0
- lift_weights:
- joints: [head_1_joint, head_2_joint, torso_1_joint, torso_2_joint, arm_right_1_joint, arm_right_2_joint, arm_right_3_joint, arm_right_4_joint, arm_right_5_joint, arm_right_6_joint, arm_right_7_joint, arm_left_1_joint, arm_left_2_joint, arm_left_3_joint, arm_left_4_joint, arm_left_5_joint, arm_left_6_joint, arm_left_7_joint, gripper_right_joint, gripper_left_joint]
- points:
- - positions: [-0.0, -0.0, 0.0, 0.002, -0.0, -0.252, 0.286, -1.588, -1.57, -0.003, 0.001, -0.0, 0.252, -0.286, -1.588, 1.57, 0.003, 0.001, -0.7, -0.7]
- time_from_start: 0.0
- - positions: [-0.0, -0.0, 0.0, 0.001, -0.0, -0.252, 0.286, -1.588, -1.57, -0.003, 0.001, 0.0, 0.249, 0.097, -2.307, 1.57, 0.002, 0.001, -0.7, -0.7]
- time_from_start: 2.0
- - positions: [-0.0, -0.0, 0.0, 0.002, -0.0, -0.252, 0.286, -1.588, -1.57, -0.003, 0.001, -0.0, 0.252, -0.286, -1.588, 1.57, 0.003, 0.001, -0.7, -0.7]
- time_from_start: 4.0
- - positions: [-0.0, 0.0, -0.0, 0.001, 0.0, -0.249, -0.042, -2.306, -1.57, -0.003, 0.001, 0.0, 0.252, -0.286, -1.588, 1.57, 0.003, 0.001, -0.7, -0.7]
- time_from_start: 6.0
- - positions: [-0.0, -0.0, 0.0, 0.002, -0.0, -0.252, 0.286, -1.588, -1.57, -0.003, 0.001, -0.0, 0.252, -0.286, -1.588, 1.57, 0.003, 0.001, -0.7, -0.7]
- time_from_start: 8.0
- - positions: [0.0, 0.0, 0.0, 0.0, 0.0, -0.25, -0.0, 0.0, 0.0, 0.0, -0.0, -0.0, 0.25, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0]
- time_from_start: 10.0
- close_right_gripper:
- joints: [gripper_right_joint]
- points:
- - positions: [-0.7]
- time_from_start: 0.0
- open_right_gripper:
- joints: [gripper_right_joint]
- points:
- - positions: [0.0]
- time_from_start: 0.0
- close_left_gripper:
- joints: [gripper_left_joint]
- points:
- - positions: [-0.7]
- time_from_start: 0.0
- open_left_gripper:
- joints: [gripper_left_joint]
- points:
- - positions: [0.0]
- time_from_start: 0.0
- wave_left:
- joints: [torso_1_joint, torso_2_joint, arm_right_1_joint, arm_right_2_joint, arm_right_3_joint, arm_right_4_joint, arm_right_5_joint, arm_right_6_joint, arm_right_7_joint, arm_left_1_joint, arm_left_2_joint, arm_left_3_joint, arm_left_4_joint, arm_left_5_joint, arm_left_6_joint, arm_left_7_joint, gripper_right_joint, gripper_left_joint]
- points:
- - positions: [-0.0, -0.001, 0.0, -0.15, 0.0, -0.2, -0.0, -0.0, -0.0, 0.0, 0.148, -0.0, -0.2, 0.0, 0.001, -0.0, 0.0, 0.0]
- time_from_start: 0.0
- - positions: [0.0, -0.001, -0.0, -0.15, 0.0, -0.2, -0.0, -0.0, -0.0, 0.314, 1.175, 0.927, -2.214, -0.0, 0.002, -0.001, 0.0, 0.0]
- time_from_start: 3.0
- - positions: [0.0, -0.001, 0.0, -0.15, 0.0, -0.2, -0.0, -0.0, -0.0, 0.314, 1.174, 0.927, -1.741, -0.0, 0.002, 0.001, 0.0, -0.7]
- time_from_start: 4.0
- - positions: [0.0, -0.001, -0.0, -0.15, 0.0, -0.2, -0.0, -0.0, -0.0, 0.314, 1.175, 0.927, -2.214, -0.0, 0.002, -0.001, 0.0, 0.0]
- time_from_start: 5.0
- - positions: [-0.0, -0.001, -0.0, -0.15, 0.0, -0.2, -0.0, -0.0, -0.0, 0.0, 0.148, -0.0, -0.2, 0.0, 0.001, -0.0, 0.0, 0.0]
- time_from_start: 8.0
-
- wave_both_arms:
- joints: [torso_1_joint, torso_2_joint, arm_right_1_joint, arm_right_2_joint, arm_right_3_joint, arm_right_4_joint, arm_right_5_joint, arm_right_6_joint, arm_right_7_joint, arm_left_1_joint, arm_left_2_joint, arm_left_3_joint, arm_left_4_joint, arm_left_5_joint, arm_left_6_joint, arm_left_7_joint, gripper_right_joint, gripper_left_joint]
- points:
- - positions: [-0.0, -0.001, 0.0, -0.15, 0.0, -0.2, -0.0, -0.0, -0.0, 0.0, 0.148, -0.0, -0.2, 0.0, 0.001, -0.0, 0.0, 0.0]
- time_from_start: 0.0
- - positions: [0.0, -0.001, -0.314, -1.175, -0.927, -2.214, 0.0, 0.0, 0.0, 0.314, 1.175, 0.927, -2.214, -0.0, 0.002, -0.001, 0.0, 0.0]
- time_from_start: 3.0
- - positions: [0.0, -0.001, -0.314, -1.174, -0.927, -1.741, 0.0, 0.0, 0.0, 0.314, 1.174, 0.927, -1.741, -0.0, 0.002, 0.001, -0.7, -0.7]
- time_from_start: 4.0
- - positions: [0.0, -0.001, -0.314, -1.175, -0.927, -2.214, 0.0, 0.0, 0.0, 0.314, 1.175, 0.927, -2.214, -0.0, 0.002, -0.001, 0.0, 0.0]
- time_from_start: 5.0
- - positions: [-0.0, -0.001, 0.0, -0.15, -0.0, -0.2, 0.0, 0.0, 0.0, 0.0, 0.148, -0.0, -0.2, 0.0, 0.001, -0.0, 0.0, 0.0]
- time_from_start: 8.0
- test_arm_right:
- joints: [torso_1_joint, torso_2_joint, arm_right_1_joint, arm_right_2_joint, arm_right_3_joint, arm_right_4_joint, arm_right_5_joint, arm_right_6_joint, arm_right_7_joint, arm_left_1_joint, arm_left_2_joint, arm_left_3_joint, arm_left_4_joint, arm_left_5_joint, arm_left_6_joint, arm_left_7_joint, gripper_right_joint, gripper_left_joint]
- points:
- - positions: [0.0, 0.0, 0.0, -0.15, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.15, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
- time_from_start: 0.0
- - positions: [-0.0, -0.002, -0.464, -0.343, -0.0, -0.0, -0.0, 0.001, -0.0, -0.0, 0.148, 0.0, -0.0, 0.0, -0.001, 0.0, 0.001, -0.0]
- time_from_start: 4.0
- - positions: [-0.0, 0.001, 1.508, -0.343, -0.0, -0.0, -0.0, 0.001, -0.0, -0.0, 0.148, 0.0, -0.001, 0.0, -0.001, 0.0, -0.0, 0.001]
- time_from_start: 7.0
- - positions: [-0.0, 0.001, 1.508, -0.343, 2.238, -0.002, 0.0, -0.001, -0.001, -0.0, 0.148, 0.0, -0.001, 0.0, -0.001, 0.0, -0.0, -0.0]
- time_from_start: 10.0
- - positions: [-0.0, 0.001, 1.508, -0.343, -2.339, 0.0, 0.0, -0.001, 0.001, -0.0, 0.148, 0.0, -0.001, 0.0, -0.001, -0.0, -0.001, -0.0]
- time_from_start: 14.0
- - positions: [-0.0, 0.001, 1.508, -0.343, -2.347, -2.305, -0.0, -0.001, 0.002, -0.0, 0.148, 0.0, -0.001, 0.0, -0.001, -0.0, -0.0, -0.0]
- time_from_start: 17.0
- - positions: [-0.0, -0.001, 0.482, -2.728, 1.247, -1.842, 0.0, -0.001, -0.003, 0.0, 0.148, 0.0, -0.0, 0.0, -0.001, 0.0, -0.0, -0.0]
- time_from_start: 21.0
- - positions: [-0.0, 0.001, 0.482, -0.286, -0.437, -1.835, -0.0, 0.001, 0.003, -0.0, 0.148, 0.0, -0.001, 0.0, -0.001, 0.0, -0.0, -0.0]
- time_from_start: 23.0
- - positions: [-0.0, 0.001, 0.482, -0.285, -0.439, -1.835, -2.382, 1.313, -0.653, -0.0, 0.148, 0.0, -0.001, 0.0, -0.001, 0.0, 0.0, 0.0]
- time_from_start: 26.0
- - positions: [-0.0, 0.001, 0.482, -0.286, -0.439, -1.836, 2.422, -1.303, 0.646, -0.0, 0.148, 0.0, -0.001, 0.0, -0.001, 0.0, 0.0, -0.0]
- time_from_start: 29.0
- - positions: [0.0, 0.0, 0.0, -0.15, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.15, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
- time_from_start: 33.0
- test_arm_left:
- joints: [torso_1_joint, torso_2_joint, arm_right_1_joint, arm_right_2_joint, arm_right_3_joint, arm_right_4_joint, arm_right_5_joint, arm_right_6_joint, arm_right_7_joint, arm_left_1_joint, arm_left_2_joint, arm_left_3_joint, arm_left_4_joint, arm_left_5_joint, arm_left_6_joint, arm_left_7_joint, gripper_right_joint, gripper_left_joint]
- points:
- - positions: [0.0, 0.0, 0.0, -0.15, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.15, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
- time_from_start: 0.0
- - positions: [-0.0, -0.002, 0.0, -0.15, 0.0, 0.0, 0.0, 0.0, 0.0, 0.464, 0.343, -0.0, -0.0, -0.0, 0.001, -0.0, 0.001, -0.0]
- time_from_start: 4.0
- - positions: [-0.0, 0.001, 0.0, -0.15, 0.0, 0.0, 0.0, 0.0, 0.0, -1.508, 0.343, -0.0, -0.0, -0.0, 0.001, -0.0, -0.0, 0.001]
- time_from_start: 7.0
- - positions: [-0.0, 0.001, 0.0, -0.15, 0.0, 0.0, 0.0, 0.0, 0.0, -1.508, 0.343, -2.238, -0.002, 0.0, -0.001, -0.001, -0.0, -0.0]
- time_from_start: 10.0
- - positions: [-0.0, 0.001, 0.0, -0.15, 0.0, 0.0, 0.0, 0.0, 0.0, -1.508, 0.343, 2.339, 0.0, 0.0, -0.001, 0.001, -0.001, -0.0]
- time_from_start: 14.0
- - positions: [-0.0, 0.001, 0.0, -0.15, 0.0, 0.0, 0.0, 0.0, 0.0, -1.508, 0.343, 2.347, -2.305, -0.0, -0.001, 0.002, -0.0, -0.0]
- time_from_start: 17.0
- - positions: [-0.0, -0.001, 0.0, -0.15, 0.0, 0.0, 0.0, 0.0, 0.0, -0.482, 2.728, -1.247, -1.842, 0.0, -0.001, -0.003, -0.0, -0.0]
- time_from_start: 21.0
- - positions: [-0.0, 0.001, 0.0, -0.15, 0.0, 0.0, 0.0, 0.0, 0.0, -0.482, 0.286, 0.437, -1.835, -0.0, 0.001, 0.003, -0.0, -0.0]
- time_from_start: 23.0
- - positions: [-0.0, 0.001, 0.0, -0.15, 0.0, 0.0, 0.0, 0.0, 0.0, -0.482, 0.285, 0.439, -1.835, 2.382, -1.313, -0.653, 0.0, 0.0]
- time_from_start: 26.0
- - positions: [-0.0, 0.001, 0.0, -0.15, 0.0, 0.0, 0.0, 0.0, 0.0, -0.482, 0.286, 0.439, -1.836, -2.422, 1.303, 0.646, 0.0, -0.0]
- time_from_start: 29.0
- - positions: [0.0, 0.0, 0.0, -0.15, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.15, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
- time_from_start: 33.0
- test_head:
- joints: [head_1_joint, head_2_joint]
- points:
- - positions: [-0.0, 0.0]
- time_from_start: 0.0
- - positions: [-0.24, 0.0]
- time_from_start: 2.0
- - positions: [0.77, 0.0]
- time_from_start: 4.0
- - positions: [-0.0, -1.20]
- time_from_start: 6.0
- - positions: [-0.0, 1.20]
- time_from_start: 10.0
- - positions: [-0.0, 0.0]
- time_from_start: 12.0
- bow:
- joints: [torso_1_joint, torso_2_joint, head_1_joint, head_2_joint, arm_left_1_joint,
- arm_left_2_joint, arm_left_3_joint, arm_left_4_joint, arm_left_5_joint, arm_left_6_joint,
- arm_left_7_joint, arm_right_1_joint, arm_right_2_joint, arm_right_3_joint,
- arm_right_4_joint, arm_right_5_joint, arm_right_6_joint, arm_right_7_joint]
- points:
- - positions: [0.0, 0.0, 0.0, 0.0, 0.1, 0.25, -0.2, -0.6109, 0.0, 0.0, 0.0,
- -0.1, -0.25, 0.2, -0.6109, 0.0, 0.0, 0.0]
- time_from_start: 0.0
- - positions: [0.0, 0.4, 0.3, 0.0, 0.25, 0.15, -0.0, -0.6109, 0.0, 0.0, 0.0,
- -0.25, -0.15, 0.0, -0.6109, 0.0, 0.0, 0.0]
- time_from_start: 1.5
- - positions: [0.0, 0.4, 0.3, 0.0, 0.25, 0.15, -0.0, -0.6109, 0.0, 0.0, 0.0,
- -0.25, -0.15, 0.0, -0.6109, 0.0, 0.0, 0.0]
- time_from_start: 2.0
- - positions: [0.0, 0.0, 0.0, 0.0, 0.1, 0.25, -0.2, -0.6109, 0.0, 0.0, 0.0,
- -0.1, -0.25, 0.2, -0.6109, 0.0, 0.0, 0.0]
- time_from_start: 3.25
- meta:
- name: Bow
- usage: greet
- description: Makes a short reverence with both arms back.
- center_head:
- joints: [head_1_joint, head_2_joint]
- points:
- - positions: [0.0, 0.0]
- time_from_start: 0.0
- meta:
- name: Center Head
- usage: posture
- description: Moves only head to a centered posture.
- look_around:
- joints: [torso_1_joint, torso_2_joint, head_1_joint, head_2_joint, arm_left_1_joint,
- arm_left_2_joint, arm_left_3_joint, arm_left_4_joint, arm_left_5_joint, arm_left_6_joint,
- arm_left_7_joint, arm_right_1_joint, arm_right_2_joint, arm_right_3_joint,
- arm_right_4_joint, arm_right_5_joint, arm_right_6_joint, arm_right_7_joint]
- points:
- - positions: [0.0, 0.0, 0.0, 0.0, 0.1, 0.35, -0.2, -1.4109, 0.0, 0.0, 0.0,
- -0.1, -0.35, 0.2, -1.4109, 0.0, 0.0, 0.0]
- time_from_start: 0.0
- - positions: [0.0, 0.2, -0.2, 0.0, 0.25, 0.35, -0.0, -1.4109, 0.0, 0.0, 0.0,
- -0.25, -0.35, 0.0, -1.4109, 0.0, 0.0, 0.0]
- time_from_start: 1.5
- - positions: [0.7, 0.2, -0.2, 0.0, 0.15, 0.35, -0.0, -1.2109, 0.0, 0.0, 0.0,
- -0.35, -0.35, 0.0, -1.6109, 0.0, 0.0, 0.0]
- time_from_start: 3.5
- - positions: [0.0, 0.2, 0.2, 0.0, 0.2, 0.35, -0.0, -1.0109, 0.0, 0.0, 0.0,
- -0.2, -0.35, 0.0, -1.0109, 0.0, 0.0, 0.0]
- time_from_start: 5.0
- - positions: [-0.7, 0.2, -0.2, 0.0, 0.35, 0.35, 0.0, -1.6109, 0.0, 0.0, 0.0,
- -0.15, -0.35, 0.0, -1.2109, 0.0, 0.0, 0.0]
- time_from_start: 6.5
- - positions: [0.0, 0.0, 0.0, 0.0, 0.1, 0.25, -0.2, -0.6109, 0.0, 0.0, 0.0,
- -0.1, -0.25, 0.2, -0.6109, 0.0, 0.0, 0.0]
- time_from_start: 8.5
- meta:
- name: look_around
- usage: demonstration
- description: turn torso and head from left to right.
- reset_ft_wrist_pose:
- joints: ['torso_1_joint', 'torso_2_joint', 'arm_right_1_joint', 'arm_right_2_joint', 'arm_right_3_joint', 'arm_right_4_joint', 'arm_right_5_joint', 'arm_right_6_joint', 'arm_right_7_joint', 'arm_left_1_joint', 'arm_left_2_joint', 'arm_left_3_joint', 'arm_left_4_joint', 'arm_left_5_joint', 'arm_left_6_joint', 'arm_left_7_joint']
- points:
- - positions: [0.0, 0.0, -0.0, -1.571, 1.571, -1.571, 0.0, 0.0, 0.0, -0.0, 1.571, -1.571, -1.571, 0.0, 0.0, 0.0]
- time_from_start: 0.0
- - positions: [0.0, 0.0, -0.0, -1.571, 1.571, -1.571, 0.0, 0.0, 0.0, -0.0, 1.571, -1.571, -1.571, 0.0, 0.0, 0.0]
- time_from_start: 4.0
- arms_t:
- joints: ['torso_1_joint', 'torso_2_joint', 'arm_right_1_joint', 'arm_right_2_joint', 'arm_right_3_joint', 'arm_right_4_joint', 'arm_right_5_joint', 'arm_right_6_joint', 'arm_right_7_joint', 'arm_left_1_joint', 'arm_left_2_joint', 'arm_left_3_joint', 'arm_left_4_joint', 'arm_left_5_joint', 'arm_left_6_joint', 'arm_left_7_joint']
- points:
- - positions: [0.0, 0.0, -0.0, -1.571, 1.571, 0.0, 0.0, 0.0, 0.0, -0.0, 1.571, -1.571, 0.0, 0.0, 0.0, 0.0]
- time_from_start: 0.0
diff --git a/talos_bringup/config/twist_mux/joystick.yaml b/talos_bringup/config/twist_mux/joystick.yaml
deleted file mode 100644
index e89cc5d..0000000
--- a/talos_bringup/config/twist_mux/joystick.yaml
+++ /dev/null
@@ -1,10 +0,0 @@
-turbo:
- linear_forward_min : 1.0
- linear_forward_max : 1.0
- linear_backward_min : 1.0
- linear_backward_max : 1.0
- linear_lateral_min : 1.0
- linear_lateral_max : 1.0
- angular_min : 1.0
- angular_max : 1.0
- steps : 1
diff --git a/talos_bringup/config/twist_mux/twist_mux_locks.yaml b/talos_bringup/config/twist_mux/twist_mux_locks.yaml
deleted file mode 100644
index d09a73e..0000000
--- a/talos_bringup/config/twist_mux/twist_mux_locks.yaml
+++ /dev/null
@@ -1,28 +0,0 @@
-# Locks to stop the twist mux.
-# For each lock:
-# - topic : input topic that provides the lock; it must be of type std_msgs::Bool?!!!
-# - timeout : == 0.0 -> not used
-# > 0.0 -> the lock is supposed to published at a certain frequency in order
-# to detect that the publisher is alive; the timeout in seconds allows
-# to detect that, and if the publisher dies we will enable the lock
-# - priority: priority in the range [0, 255], so all the topics with priority lower than it
-# will be stopped/disabled
-
-locks:
--
- name : pause
- topic : pause_navigation
- timeout : 0.0
- # Same priority as joystick control, so it'll not block it.
- priority: 100
--
- name : loop_closure
- topic : stop_closing_loop
- timeout : 0.0
- priority: 200
--
- name : joystick
- topic : joy_priority
- timeout : 0.0
- priority: 100
-
diff --git a/talos_bringup/config/twist_mux/twist_mux_topics.yaml b/talos_bringup/config/twist_mux/twist_mux_topics.yaml
deleted file mode 100644
index 9e3fc28..0000000
--- a/talos_bringup/config/twist_mux/twist_mux_topics.yaml
+++ /dev/null
@@ -1,28 +0,0 @@
-# Input topics handled/muxed by the twist mux.
-# For each topic:
-# - name : name identifier to select the topic
-# - topic : input topic of geometry_msgs::Twist type
-# - timeout : timeout in seconds to start discarding old messages, and use 0.0 speed instead
-# - priority: priority in the range [0, 255]; the higher the more priority over other topics
-
-topics:
--
- name : navigation
- topic : nav_vel
- timeout : 0.5
- priority: 10
--
- name : joystick
- topic : joy_vel
- timeout : 0.5
- priority: 100
--
- name : keyboard
- topic : key_vel
- timeout : 0.5
- priority: 90
--
- name : tablet
- topic : tab_vel
- timeout : 0.5
- priority: 100
diff --git a/talos_bringup/launch/joystick_teleop.launch b/talos_bringup/launch/joystick_teleop.launch
deleted file mode 100644
index 49f142c..0000000
--- a/talos_bringup/launch/joystick_teleop.launch
+++ /dev/null
@@ -1,15 +0,0 @@
-<launch>
-
- <arg name="cmd_vel" default="input_joy/cmd_vel" />
- <arg name="teleop_config" default="$(find talos_bringup)/config/joy_teleop.yaml" />
-
- <rosparam file="$(arg teleop_config)" command="load" />
- <node pkg="joy_teleop" type="joy_teleop.py" name="joy_teleop">
- <remap from="cmd_vel" to="$(arg cmd_vel)" />
- </node>
-
- <node pkg="joy" type="joy_node" name="joystick">
- <param name="autorepeat_rate" value="10" />
- </node>
-
-</launch>
diff --git a/talos_bringup/launch/play_motion.launch b/talos_bringup/launch/play_motion.launch
deleted file mode 100644
index 19cc525..0000000
--- a/talos_bringup/launch/play_motion.launch
+++ /dev/null
@@ -1,14 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-
-<launch>
-
- <!-- execute pre-recorded motions -->
- <rosparam file="$(find talos_bringup)/config/talos_motions.yaml" command="load" />
-
- <node pkg="play_motion" type="play_motion" name="play_motion">
- <rosparam file="$(find talos_bringup)/config/approach_planner_full.yaml" command="load" />
- </node>
-
- <node pkg="play_motion" type="is_already_there.py" name="is_already_there" />
-
-</launch>
diff --git a/talos_bringup/launch/talos.launch b/talos_bringup/launch/talos.launch
deleted file mode 100644
index 44db213..0000000
--- a/talos_bringup/launch/talos.launch
+++ /dev/null
@@ -1,9 +0,0 @@
-<launch>
-
- <!-- Hardware configuration -->
- <rosparam command="load" file="$(find talos_bringup)/config/talos_full_hardware.yaml" />
-
- <include file="$(find talos_bringup)/launch/talos_bringup.launch" />
-
-</launch>
-
diff --git a/talos_bringup/launch/talos_bringup.launch b/talos_bringup/launch/talos_bringup.launch
deleted file mode 100644
index 14717c2..0000000
--- a/talos_bringup/launch/talos_bringup.launch
+++ /dev/null
@@ -1,29 +0,0 @@
-<launch>
- <arg name="robot" default="full"/>
-
- <!-- Load default controllers -->
- <include file="$(find talos_controller_configuration)/launch/bringup_controllers.launch" />
-
- <!-- Robot state publisher -->
- <node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher">
- <param name="publish_frequency" type="double" value="100.0" />
- <param name="tf_prefix" type="string" value="" />
- </node>
-
- <!-- Robot model -->
- <include file="$(find talos_description)/robots/upload_talos.launch" >
- <arg name="robot" value="$(arg robot)"/>
- </include>
-
- <!-- Twist mux -->
- <include file="$(find talos_bringup)/launch/twist_mux.launch" />
-
- <!-- Joystick controller -->
- <include file="$(find talos_bringup)/launch/joystick_teleop.launch" />
-
- <include file="$(find talos_moveit_config)/launch/move_group.launch" />
-
- <!-- Pre-recorded motions executor -->
- <include file="$(find talos_bringup)/launch/play_motion.launch" />
-
-</launch>
diff --git a/talos_bringup/launch/talos_preload_libraries.launch b/talos_bringup/launch/talos_preload_libraries.launch
deleted file mode 100644
index 897f355..0000000
--- a/talos_bringup/launch/talos_preload_libraries.launch
+++ /dev/null
@@ -1,10 +0,0 @@
-<launch>
-
- <include file="$(find talos_controller_configuration)/launch/talos_default_controllers.launch" />
-
- <include file="$(find talos_controller_configuration)/launch/full_body_position_controllers.launch" />
-
- <include file="$(find talos_walking)/launch/walking_controller.launch" />
-
-</launch>
-
diff --git a/talos_bringup/launch/twist_mux.launch b/talos_bringup/launch/twist_mux.launch
deleted file mode 100644
index c3f3191..0000000
--- a/talos_bringup/launch/twist_mux.launch
+++ /dev/null
@@ -1,12 +0,0 @@
-<launch>
-
- <include file="$(find twist_mux)/launch/twist_mux.launch">
- <arg name="cmd_vel_out" value="walking_controller/cmd_vel"/>
-
- <arg name="config_locks" value="$(find talos_bringup)/config/twist_mux/twist_mux_locks.yaml"/>
- <arg name="config_topics" value="$(find talos_bringup)/config/twist_mux/twist_mux_topics.yaml"/>
-
- <arg name="config_joy" value="$(find talos_bringup)/config/twist_mux/joystick.yaml"/>
- </include>
-
-</launch>
diff --git a/talos_bringup/package.xml b/talos_bringup/package.xml
deleted file mode 100644
index 36f3cf5..0000000
--- a/talos_bringup/package.xml
+++ /dev/null
@@ -1,26 +0,0 @@
-<?xml version="1.0"?>
-<package>
- <name>talos_bringup</name>
- <version>0.0.13</version>
- <description>The talos_bringup package</description>
-
- <maintainer email="hilario.tome@pal-robotics.com">Hilario Tome</maintainer>
-
- <license>Proprietary</license>
-
- <buildtool_depend>catkin</buildtool_depend>
-
- <run_depend>talos_controller_configuration</run_depend>
- <run_depend>talos_description</run_depend>
- <run_depend>robot_state_publisher</run_depend>
- <run_depend>tf_lookup</run_depend>
- <run_depend>twist_mux</run_depend>
- <run_depend>joy</run_depend>
- <run_depend>joy_teleop</run_depend>
- <run_depend>play_motion</run_depend>
- <run_depend>talos_moveit_config</run_depend>
-
- <export>
- </export>
-
-</package>
diff --git a/talos_controller_configuration/CHANGELOG.rst b/talos_controller_configuration/CHANGELOG.rst
deleted file mode 100644
index 8d14359..0000000
--- a/talos_controller_configuration/CHANGELOG.rst
+++ /dev/null
@@ -1,83 +0,0 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package talos_controller_configuration
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-0.0.13 (2016-11-15)
--------------------
-* Lipm z higher because of covers
-* Add missing dependency. Walking params and fixed talos motion
-* Contributors: Luca
-
-0.0.12 (2016-11-15)
--------------------
-* Remove --stopped param from init_offset_controller
-* Cleaninng and renaming v2 to default
-* Contributors: Luca
-
-0.0.11 (2016-11-12)
--------------------
-
-0.0.10 (2016-11-12 12:48)
--------------------------
-* Update changelog
-* Add missing dependencies to talos_controller_configuration
-* Contributors: Victor Lopez
-
-0.0.9 (2016-11-12 11:14)
-------------------------
-* Add changelog
-* Talos offsets for walking and tuning params
-* Contributors: Luca
-
-0.0.8 (2016-11-11)
-------------------
-* Add changelog
-* Changed torso joint to Z
-* Contributors: Luca
-
-0.0.7 (2016-11-10 18:45)
-------------------------
-* Updated changelog
-* Fixed bug package depend head action
-* Contributors: Hilario Tome
-
-0.0.6 (2016-11-10 18:16)
-------------------------
-* Updated changelog
-* Moved the files from talos walking to talos controller configuration
-* Contributors: Hilario Tome
-
-0.0.5 (2016-11-10 12:06)
-------------------------
-* Updated changelog
-* motions for talos, tested on robot
-* Contributors: Hilario Tome, Luca
-
-0.0.4 (2016-11-09)
-------------------
-* Updated changelog
-* Modified bringup
-* Contributors: Hilario Tome
-
-0.0.3 (2016-10-31)
-------------------
-* Updated changelog
-* Added joint torque control
-* Changed head differential, default controllers stopped
-* Succesfull walking in talos, added talos teleop
-* Added missing depends and completed bringup
-* Contributors: Hilario Tome
-
-0.0.2 (2016-10-13)
-------------------
-* Updated changelog
-* Contributors: Hilario Tome
-
-0.0.1 (2016-10-12)
-------------------
-* Created intial changelog
-* Change gripper motor joint to just side_gripper_joint
-* Fix gripper controller and add controller launchers for follow joint trajectory controllers
-* Fixing
-* Renamed tor to talos
-* Contributors: Hilario Tome, Sam Pfeiffer
diff --git a/talos_controller_configuration/CMakeLists.txt b/talos_controller_configuration/CMakeLists.txt
deleted file mode 100644
index 9729d1a..0000000
--- a/talos_controller_configuration/CMakeLists.txt
+++ /dev/null
@@ -1,18 +0,0 @@
-cmake_minimum_required(VERSION 2.8.3)
-project(talos_controller_configuration)
-
-find_package(catkin REQUIRED)
-
-catkin_package(
-# INCLUDE_DIRS include
-# LIBRARIES talos_controller_configuration
-# CATKIN_DEPENDS other_catkin_pkg
-# DEPENDS system_lib
-)
-
-foreach(dir config launch)
- install(DIRECTORY ${dir}/
- DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
-endforeach(dir)
-
-
diff --git a/talos_controller_configuration/config/init_offset_controller.yaml b/talos_controller_configuration/config/init_offset_controller.yaml
deleted file mode 100644
index 6c33936..0000000
--- a/talos_controller_configuration/config/init_offset_controller.yaml
+++ /dev/null
@@ -1,29 +0,0 @@
-init_offset_controller:
- type: reemc_controllers/ReemcInitOffsetController
- joints:
- - leg_left_1_joint
- - leg_left_2_joint
- - leg_left_3_joint
- - leg_left_4_joint
- - leg_left_5_joint
- - leg_left_6_joint
- - leg_right_1_joint
- - leg_right_2_joint
- - leg_right_3_joint
- - leg_right_4_joint
- - leg_right_5_joint
- - leg_right_6_joint
- left_ft_sensor: left_ankle_ft
- right_ft_sensor: right_ankle_ft
- base_imu_sensor: base_imu
-
- hip_spacing_x: -0.02
- hip_spacing_y: 0.085
- hip_spacing_z: 0.0
-
- femur_length: 0.380
- tibia_length: 0.320
- foot_height: 0.107
- ft_sensor_z: 0.02
-
- config_folder: "$HOME/.pal/init_offset_controller/config"
diff --git a/talos_controller_configuration/config/joint_trajectory_controllers.yaml b/talos_controller_configuration/config/joint_trajectory_controllers.yaml
deleted file mode 100644
index 903b987..0000000
--- a/talos_controller_configuration/config/joint_trajectory_controllers.yaml
+++ /dev/null
@@ -1,172 +0,0 @@
-torso_controller:
- type: "position_controllers/JointTrajectoryController"
- joints:
- - torso_1_joint
- - torso_2_joint
-
- constraints:
- goal_time: &goal_time_constraint 0.6
- stopped_velocity_tolerance: &stopped_velocity_constraint 0.05
- torso_1_joint:
- goal: &goal_pos_constraint 0.02
- torso_2_joint:
- goal: *goal_pos_constraint
-
- stop_trajectory_duration: 0.0
-
-head_controller:
- type: "position_controllers/JointTrajectoryController"
- joints:
- - head_1_joint
- - head_2_joint
-
- constraints:
- goal_time: *goal_time_constraint
- stopped_velocity_tolerance: *stopped_velocity_constraint
- head_1_joint:
- goal: *goal_pos_constraint
- head_2_joint:
- goal: *goal_pos_constraint
-
- stop_trajectory_duration: 0.0
-
-left_arm_controller:
- type: "position_controllers/JointTrajectoryController"
- joints:
- - arm_left_1_joint
- - arm_left_2_joint
- - arm_left_3_joint
- - arm_left_4_joint
- - arm_left_5_joint
- - arm_left_6_joint
- - arm_left_7_joint
- constraints:
- goal_time: *goal_time_constraint
- stopped_velocity_tolerance: *stopped_velocity_constraint
- arm_left_1_joint:
- goal: *goal_pos_constraint
- arm_left_2_joint:
- goal: *goal_pos_constraint
- arm_left_3_joint:
- goal: *goal_pos_constraint
- arm_left_4_joint:
- goal: *goal_pos_constraint
- arm_left_5_joint:
- goal: *goal_pos_constraint
- arm_left_6_joint:
- goal: *goal_pos_constraint
- arm_left_7_joint:
- goal: *goal_pos_constraint
-
- stop_trajectory_duration: 0.0
-
-right_arm_controller:
- type: "position_controllers/JointTrajectoryController"
- joints:
- - arm_right_1_joint
- - arm_right_2_joint
- - arm_right_3_joint
- - arm_right_4_joint
- - arm_right_5_joint
- - arm_right_6_joint
- - arm_right_7_joint
- constraints:
- goal_time: *goal_time_constraint
- stopped_velocity_tolerance: *stopped_velocity_constraint
- arm_right_1_joint:
- goal: *goal_pos_constraint
- arm_right_2_joint:
- goal: *goal_pos_constraint
- arm_right_3_joint:
- goal: *goal_pos_constraint
- arm_right_4_joint:
- goal: *goal_pos_constraint
- arm_right_5_joint:
- goal: *goal_pos_constraint
- arm_right_6_joint:
- goal: *goal_pos_constraint
- arm_right_7_joint:
- goal: *goal_pos_constraint
-
- stop_trajectory_duration: 0.0
-
-right_gripper_controller:
- type: "position_controllers/JointTrajectoryController"
- joints:
- - gripper_right_joint
-
- constraints:
- goal_time: *goal_time_constraint
- stopped_velocity_tolerance: *stopped_velocity_constraint
- gripper_right_joint:
- goal: *goal_pos_constraint
-
- stop_trajectory_duration: 0.0
-
-left_gripper_controller:
- type: "position_controllers/JointTrajectoryController"
- joints:
- - gripper_left_joint
-
- constraints:
- goal_time: *goal_time_constraint
- stopped_velocity_tolerance: *stopped_velocity_constraint
- gripper_left_joint:
- goal: *goal_pos_constraint
-
- stop_trajectory_duration: 0.0
-
-
-left_leg_controller:
- type: "position_controllers/JointTrajectoryController"
- joints:
- - leg_left_1_joint
- - leg_left_2_joint
- - leg_left_3_joint
- - leg_left_4_joint
- - leg_left_5_joint
- - leg_left_6_joint
- constraints:
- goal_time: *goal_time_constraint
- stopped_velocity_tolerance: *stopped_velocity_constraint
- arm_left_1_joint:
- goal: *goal_pos_constraint
- arm_left_2_joint:
- goal: *goal_pos_constraint
- arm_left_3_joint:
- goal: *goal_pos_constraint
- arm_left_4_joint:
- goal: *goal_pos_constraint
- arm_left_5_joint:
- goal: *goal_pos_constraint
- arm_left_6_joint:
- goal: *goal_pos_constraint
-
- stop_trajectory_duration: 0.0
-
-right_leg_controller:
- type: "position_controllers/JointTrajectoryController"
- joints:
- - leg_right_1_joint
- - leg_right_2_joint
- - leg_right_3_joint
- - leg_right_4_joint
- - leg_right_5_joint
- - leg_right_6_joint
- constraints:
- goal_time: *goal_time_constraint
- stopped_velocity_tolerance: *stopped_velocity_constraint
- arm_right_1_joint:
- goal: *goal_pos_constraint
- arm_right_2_joint:
- goal: *goal_pos_constraint
- arm_right_3_joint:
- goal: *goal_pos_constraint
- arm_right_4_joint:
- goal: *goal_pos_constraint
- arm_right_5_joint:
- goal: *goal_pos_constraint
- arm_right_6_joint:
- goal: *goal_pos_constraint
-
- stop_trajectory_duration: 0.0
diff --git a/talos_controller_configuration/config/offsets.yaml b/talos_controller_configuration/config/offsets.yaml
deleted file mode 100644
index 6b9882f..0000000
--- a/talos_controller_configuration/config/offsets.yaml
+++ /dev/null
@@ -1,4 +0,0 @@
-{leg_left_1_joint: 0.0, leg_left_2_joint: -0.013744896206368427, leg_left_3_joint: -0.019587835752816352,
- leg_left_4_joint: 0.0, leg_left_5_joint: 0.017379989108226523, leg_left_6_joint: 0.021335173195333856,
- leg_right_1_joint: 0.0, leg_right_2_joint: -0.013744896206368427, leg_right_3_joint: -0.019587835752816352,
- leg_right_4_joint: 0.0, leg_right_5_joint: 0.02179568239740618, leg_right_6_joint: 0.012978677416071465}
diff --git a/talos_controller_configuration/config/tb_sine_sweep.yaml b/talos_controller_configuration/config/tb_sine_sweep.yaml
deleted file mode 100644
index f0da830..0000000
--- a/talos_controller_configuration/config/tb_sine_sweep.yaml
+++ /dev/null
@@ -1,7 +0,0 @@
-tb_torque:
- type: "ModuleTestbenchTorqueControl"
-
- dt: 0.001
-
- joints:
- - leg_1_joint
diff --git a/talos_controller_configuration/config/tb_torque_control.yaml b/talos_controller_configuration/config/tb_torque_control.yaml
deleted file mode 100644
index 274b091..0000000
--- a/talos_controller_configuration/config/tb_torque_control.yaml
+++ /dev/null
@@ -1,32 +0,0 @@
-leg_right_4_joint_force_control:
- type: "ModuleTestbenchTorqueControl"
-
- dt: 0.001
-
- joints:
- - leg_left_6_joint
-
- gains:
- leg_left_6_joint: {p: 0.0, d: 0.0, i: 0.0, i_clamp: 0.0, torque_clamp: 0.0}
-
-leg_right_6_joint_force_control:
- type: "ModuleTestbenchTorqueControl"
-
- dt: 0.001
-
- joints:
- - leg_left_6_joint
-
- gains:
- leg_left_6_joint: {p: 0.0, d: 0.0, i: 0.0, i_clamp: 0.0, torque_clamp: 0.0}
-
-leg_right_5_joint_force_control:
- type: "ModuleTestbenchTorqueControl"
-
- dt: 0.001
-
- joints:
- - leg_left_5_joint
-
- gains:
- leg_left_5_joint: {p: 0.0, d: 0.0, i: 0.0, i_clamp: 0.0, torque_clamp: 0.0}
diff --git a/talos_controller_configuration/config/walking_controller.yaml b/talos_controller_configuration/config/walking_controller.yaml
deleted file mode 100644
index 1e0b93c..0000000
--- a/talos_controller_configuration/config/walking_controller.yaml
+++ /dev/null
@@ -1,33 +0,0 @@
-walking_controller:
- type: walking_controller/ReemcControl
- joints:
- - leg_left_1_joint
- - leg_left_2_joint
- - leg_left_3_joint
- - leg_left_4_joint
- - leg_left_5_joint
- - leg_left_6_joint
- - leg_right_1_joint
- - leg_right_2_joint
- - leg_right_3_joint
- - leg_right_4_joint
- - leg_right_5_joint
- - leg_right_6_joint
- left_ft_sensor: left_ankle_ft
- right_ft_sensor: right_ankle_ft
- base_imu_sensor: base_imu
- check_mode: True
-
- actuators:
- - leg_left_1_motor
- - leg_left_2_motor
- - leg_left_3_motor
- - leg_left_4_motor
- - leg_left_5_motor
- - leg_left_6_motor
- - leg_right_1_motor
- - leg_right_2_motor
- - leg_right_3_motor
- - leg_right_4_motor
- - leg_right_5_motor
- - leg_right_6_motor
diff --git a/talos_controller_configuration/config/walking_params.yaml b/talos_controller_configuration/config/walking_params.yaml
deleted file mode 100644
index 1c98e1a..0000000
--- a/talos_controller_configuration/config/walking_params.yaml
+++ /dev/null
@@ -1,39 +0,0 @@
-loop_counter_factor: -1
-debug_backdoor: true
-
-odometry:
- enabled : false
- vel_window_size: 10
- use_imu_yaw : false
- publish_rate : 100.0
-
- pose_covariance_diagonal : [0.001, 0.001, 1000000.0, 0.1, 0.1, 0.1]
- twist_covariance_diagonal: [0.001, 0.001, 1000000.0, 0.1, 0.1, 0.1]
-
-biped_controller:
- delta_T: 0.001
- ft_sensor_z: 0.02
- variable_joint_offset_hip: -0.7
- variable_joint_offset_ankle: -0.7
- swing_foot_z: 0.03
- z_lipm: 1.05
-
-com_stabilizer:
- ds_x_p: 0.7
- ds_y_p: 0.6
- ss_x_p: 0.6
- ss_y_p: 0.5
- dead_zone: 0.01
- foot_offset_clamp: 0.05
- hip_offset_x_clamp: 0.05
- hip_offset_y_clamp: 0.05
- hip_offset_decay: 0.997
-
-hip_spacing_x: -0.02
-hip_spacing_y: 0.085
-hip_spacing_z: 0.0
-femur_length: 0.380
-tibia_length: 0.320
-foot_height: 0.107
-
-read_absolute_encoders: False
diff --git a/talos_controller_configuration/launch/bringup_controllers.launch b/talos_controller_configuration/launch/bringup_controllers.launch
deleted file mode 100644
index fa08364..0000000
--- a/talos_controller_configuration/launch/bringup_controllers.launch
+++ /dev/null
@@ -1,18 +0,0 @@
-<launch>
-
- <!-- Joint state controller -->
- <rosparam command="load" file="$(find joint_state_controller)/joint_state_controller.yaml" />
-
- <!-- Force-torque sensors controller -->
- <rosparam command="load" file="$(find force_torque_sensor_controller)/force_torque_sensor_controller.yaml" />
-
- <!-- IMU sensors controller -->
- <rosparam command="load" file="$(find imu_sensor_controller)/imu_sensor_controller.yaml" />
-
- <!-- Controllers that come up started -->
- <node name="bringup_controllers_spawner"
- pkg="controller_manager" type="spawner" output="screen"
- args="force_torque_sensor_controller
- imu_sensor_controller
- joint_state_controller" />
-</launch>
diff --git a/talos_controller_configuration/launch/default_controllers.launch b/talos_controller_configuration/launch/default_controllers.launch
deleted file mode 100644
index 4f4bc7b..0000000
--- a/talos_controller_configuration/launch/default_controllers.launch
+++ /dev/null
@@ -1,7 +0,0 @@
-<launch>
-
- <include file="$(find talos_controller_configuration)/launch/walking_controller.launch" />
-
- <include file="$(find talos_controller_configuration)/launch/upper_body_position_controllers.launch" />
-
-</launch>
diff --git a/talos_controller_configuration/launch/full_body_position_controllers.launch b/talos_controller_configuration/launch/full_body_position_controllers.launch
deleted file mode 100644
index 53f34d5..0000000
--- a/talos_controller_configuration/launch/full_body_position_controllers.launch
+++ /dev/null
@@ -1,29 +0,0 @@
-<launch>
-
- <rosparam command="load" file="$(find talos_controller_configuration)/config/joint_trajectory_controllers.yaml" />
-
- <!-- Spawn upper-body joint trajectory controllers -->
- <node name="upper_body_controllers_spawner"
- pkg="controller_manager" type="spawner" output="screen"
- args="torso_controller
- head_controller
- left_arm_controller
- right_arm_controller
- left_gripper_controller
- right_gripper_controller
- left_leg_controller
- right_leg_controller" />
-
- <!-- Point head action -->
- <group ns="head_controller">
- <node name="point_head_action" pkg="head_action" type="head_action" output="screen" >
- <rosparam>
- pan_link: head_1_link
- tilt_link: head_2_link
- success_angle_threshold: 0.01
- </rosparam>
- </node>
- </group>
-
-
-</launch>
diff --git a/talos_controller_configuration/launch/init_offset_controller.launch b/talos_controller_configuration/launch/init_offset_controller.launch
deleted file mode 100644
index 8da34f8..0000000
--- a/talos_controller_configuration/launch/init_offset_controller.launch
+++ /dev/null
@@ -1,12 +0,0 @@
-<launch>
-
- <!-- init offset controller configuration -->
- <rosparam command="load" file="$(find talos_controller_configuration)/config/init_offset_controller.yaml" />
-
- <!-- Spawn init offset controller -->
- <node name="init_offset_controller_spawner"
- pkg="controller_manager" type="spawner" output="screen"
- args="init_offset_controller" />
-
-</launch>
-
diff --git a/talos_controller_configuration/launch/legs_position_controllers.launch b/talos_controller_configuration/launch/legs_position_controllers.launch
deleted file mode 100644
index beb9482..0000000
--- a/talos_controller_configuration/launch/legs_position_controllers.launch
+++ /dev/null
@@ -1,11 +0,0 @@
-<launch>
-
- <rosparam command="load" file="$(find talos_controller_configuration)/config/joint_trajectory_controllers.yaml" />
-
- <!-- Spawn legs joint trajectory controllers -->
- <node name="lower_body_controllers_spawner"
- pkg="controller_manager" type="spawner" output="screen"
- args="left_leg_controller
- right_leg_controller" />
-
-</launch>
diff --git a/talos_controller_configuration/launch/talos_homing_controller.launch b/talos_controller_configuration/launch/talos_homing_controller.launch
deleted file mode 100644
index 0e8635b..0000000
--- a/talos_controller_configuration/launch/talos_homing_controller.launch
+++ /dev/null
@@ -1,10 +0,0 @@
-<launch>
-
- <rosparam command="load" file="$(find talos_controller_configuration)/config/homing_controller.yaml" />
-
- <!-- Controllers that come up started -->
- <node name="controllers_spawner"
- pkg="controller_manager" type="spawner" output="screen"
- args="homing_controller" />
-
-</launch>
diff --git a/talos_controller_configuration/launch/upper_body_position_controllers.launch b/talos_controller_configuration/launch/upper_body_position_controllers.launch
deleted file mode 100644
index f2b9dbe..0000000
--- a/talos_controller_configuration/launch/upper_body_position_controllers.launch
+++ /dev/null
@@ -1,27 +0,0 @@
-<launch>
-
- <rosparam command="load" file="$(find talos_controller_configuration)/config/joint_trajectory_controllers.yaml" />
-
- <!-- Spawn upper-body joint trajectory controllers -->
- <node name="upper_body_controllers_spawner"
- pkg="controller_manager" type="spawner" output="screen"
- args="torso_controller
- head_controller
- left_arm_controller
- right_arm_controller
- left_gripper_controller
- right_gripper_controller" />
-
- <!-- Point head action -->
- <group ns="head_controller">
- <node name="point_head_action" pkg="head_action" type="head_action" output="screen" >
- <rosparam>
- pan_link: head_1_link
- tilt_link: head_2_link
- success_angle_threshold: 0.01
- </rosparam>
- </node>
- </group>
-
-
-</launch>
diff --git a/talos_controller_configuration/launch/walking_controller.launch b/talos_controller_configuration/launch/walking_controller.launch
deleted file mode 100644
index 96dc0bc..0000000
--- a/talos_controller_configuration/launch/walking_controller.launch
+++ /dev/null
@@ -1,14 +0,0 @@
-<launch>
-
- <!-- Walking controller configuration -->
- <rosparam command="load" file="$(find talos_controller_configuration)/config/walking_params.yaml" ns="walking_controller" />
- <rosparam command="load" file="$(find talos_controller_configuration)/config/walking_controller.yaml" />
- <rosparam command="load" file="$(find talos_controller_configuration)/config/offsets.yaml" ns="walking_controller/offsets" />
-
- <!-- Spawn walking controller -->
- <node name="walking_controller_spawner"
- pkg="controller_manager" type="spawner" output="screen"
- args="walking_controller" />
-
-</launch>
-
diff --git a/talos_controller_configuration/package.xml b/talos_controller_configuration/package.xml
deleted file mode 100644
index ff92908..0000000
--- a/talos_controller_configuration/package.xml
+++ /dev/null
@@ -1,26 +0,0 @@
-<?xml version="1.0"?>
-<package>
- <name>talos_controller_configuration</name>
- <version>0.0.13</version>
- <description>The talos_controller_configuration package</description>
-
- <maintainer email="hilario.tome@pal-robotics.com">Hilario Tome</maintainer>
-
- <license>Proprietary</license>
-
- <buildtool_depend>catkin</buildtool_depend>
-
- <run_depend>imu_sensor_controller</run_depend>
- <run_depend>force_torque_sensor_controller</run_depend>
- <run_depend>joint_trajectory_controller</run_depend>
- <run_depend>controller_manager</run_depend>
- <run_depend>joint_state_controller</run_depend>
- <run_depend>walking_controller</run_depend>
- <run_depend>head_action</run_depend>
- <run_depend>pal_transmissions</run_depend>
- <run_depend>reemc_init_offset_controller</run_depend>
-
- <export>
- </export>
-
-</package>
diff --git a/talos_robot/CHANGELOG.rst b/talos_robot/CHANGELOG.rst
deleted file mode 100644
index d9c112d..0000000
--- a/talos_robot/CHANGELOG.rst
+++ /dev/null
@@ -1,63 +0,0 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package talos_robot
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-0.0.13 (2016-11-15)
--------------------
-
-0.0.12 (2016-11-15)
--------------------
-
-0.0.11 (2016-11-12)
--------------------
-
-0.0.10 (2016-11-12 12:48)
--------------------------
-* Update changelog
-* Contributors: Victor Lopez
-
-0.0.9 (2016-11-12 11:14)
-------------------------
-* Add changelog
-* Contributors: Luca
-
-0.0.8 (2016-11-11)
-------------------
-* Add changelog
-* Contributors: Luca
-
-0.0.7 (2016-11-10 18:45)
-------------------------
-* Updated changelog
-* Contributors: Hilario Tome
-
-0.0.6 (2016-11-10 18:16)
-------------------------
-* Updated changelog
-* Contributors: Hilario Tome
-
-0.0.5 (2016-11-10 12:06)
-------------------------
-* Updated changelog
-* Contributors: Hilario Tome
-
-0.0.4 (2016-11-09)
-------------------
-* Updated changelog
-* Contributors: Hilario Tome
-
-0.0.3 (2016-10-31)
-------------------
-* Updated changelog
-* Contributors: Hilario Tome
-
-0.0.2 (2016-10-13)
-------------------
-* Updated changelog
-* Contributors: Hilario Tome
-
-0.0.1 (2016-10-12)
-------------------
-* Created intial changelog
-* Renamed tor to talos
-* Contributors: Hilario Tome
diff --git a/talos_robot/CMakeLists.txt b/talos_robot/CMakeLists.txt
deleted file mode 100644
index ce5db9c..0000000
--- a/talos_robot/CMakeLists.txt
+++ /dev/null
@@ -1,4 +0,0 @@
-cmake_minimum_required(VERSION 2.8.3)
-project(talos_robot)
-find_package(catkin REQUIRED)
-catkin_metapackage()
diff --git a/talos_robot/package.xml b/talos_robot/package.xml
deleted file mode 100644
index de951da..0000000
--- a/talos_robot/package.xml
+++ /dev/null
@@ -1,20 +0,0 @@
-<?xml version="1.0"?>
-<package>
- <name>talos_robot</name>
- <version>0.0.13</version>
- <description>Description and launch files for the TOR robot</description>
- <maintainer email="hilario.tome@pal-robotics.com">Hilario Tomé</maintainer>
- <license>Propietary</license>
- <author email="hilario.tome@pal-robotics.com">Hilario Tomé</author>
-
- <buildtool_depend>catkin</buildtool_depend>
-
- <run_depend>talos_description</run_depend>
- <run_depend>talos_bringup</run_depend>
- <run_depend>talos_controller_configuration</run_depend>
-
- <export>
- <metapackage/>
- </export>
-</package>
-
diff --git a/talos_description/urdf/arm/arm.transmission.xacro b/urdf/arm/arm.transmission.xacro
similarity index 100%
rename from talos_description/urdf/arm/arm.transmission.xacro
rename to urdf/arm/arm.transmission.xacro
diff --git a/talos_description/urdf/arm/arm.urdf.xacro b/urdf/arm/arm.urdf.xacro
similarity index 100%
rename from talos_description/urdf/arm/arm.urdf.xacro
rename to urdf/arm/arm.urdf.xacro
diff --git a/talos_description/urdf/arm/wrist.transmission.xacro b/urdf/arm/wrist.transmission.xacro
similarity index 100%
rename from talos_description/urdf/arm/wrist.transmission.xacro
rename to urdf/arm/wrist.transmission.xacro
diff --git a/talos_description/urdf/arm/wrist.urdf.xacro b/urdf/arm/wrist.urdf.xacro
similarity index 100%
rename from talos_description/urdf/arm/wrist.urdf.xacro
rename to urdf/arm/wrist.urdf.xacro
diff --git a/talos_description/urdf/deg_to_rad.xacro b/urdf/deg_to_rad.xacro
similarity index 100%
rename from talos_description/urdf/deg_to_rad.xacro
rename to urdf/deg_to_rad.xacro
diff --git a/talos_description/urdf/gripper/gripper.gazebo.xacro b/urdf/gripper/gripper.gazebo.xacro
similarity index 100%
rename from talos_description/urdf/gripper/gripper.gazebo.xacro
rename to urdf/gripper/gripper.gazebo.xacro
diff --git a/talos_description/urdf/gripper/gripper.transmission.xacro b/urdf/gripper/gripper.transmission.xacro
similarity index 100%
rename from talos_description/urdf/gripper/gripper.transmission.xacro
rename to urdf/gripper/gripper.transmission.xacro
diff --git a/talos_description/urdf/gripper/gripper.urdf.xacro b/urdf/gripper/gripper.urdf.xacro
similarity index 100%
rename from talos_description/urdf/gripper/gripper.urdf.xacro
rename to urdf/gripper/gripper.urdf.xacro
diff --git a/talos_description/urdf/head/head.transmission.xacro b/urdf/head/head.transmission.xacro
similarity index 100%
rename from talos_description/urdf/head/head.transmission.xacro
rename to urdf/head/head.transmission.xacro
diff --git a/talos_description/urdf/head/head.urdf.xacro b/urdf/head/head.urdf.xacro
similarity index 100%
rename from talos_description/urdf/head/head.urdf.xacro
rename to urdf/head/head.urdf.xacro
diff --git a/talos_description/urdf/leg/leg.transmission.xacro b/urdf/leg/leg.transmission.xacro
similarity index 100%
rename from talos_description/urdf/leg/leg.transmission.xacro
rename to urdf/leg/leg.transmission.xacro
diff --git a/talos_description/urdf/leg/leg.urdf.xacro b/urdf/leg/leg.urdf.xacro
similarity index 100%
rename from talos_description/urdf/leg/leg.urdf.xacro
rename to urdf/leg/leg.urdf.xacro
diff --git a/talos_description/urdf/materials.urdf.xacro b/urdf/materials.urdf.xacro
similarity index 100%
rename from talos_description/urdf/materials.urdf.xacro
rename to urdf/materials.urdf.xacro
diff --git a/talos_description/urdf/sensors/calibration.xacro b/urdf/sensors/calibration.xacro
similarity index 100%
rename from talos_description/urdf/sensors/calibration.xacro
rename to urdf/sensors/calibration.xacro
diff --git a/talos_description/urdf/sensors/ftsensor.gazebo.xacro b/urdf/sensors/ftsensor.gazebo.xacro
similarity index 100%
rename from talos_description/urdf/sensors/ftsensor.gazebo.xacro
rename to urdf/sensors/ftsensor.gazebo.xacro
diff --git a/talos_description/urdf/sensors/ftsensor.urdf.xacro b/urdf/sensors/ftsensor.urdf.xacro
similarity index 100%
rename from talos_description/urdf/sensors/ftsensor.urdf.xacro
rename to urdf/sensors/ftsensor.urdf.xacro
diff --git a/talos_description/urdf/sensors/imu.urdf.xacro b/urdf/sensors/imu.urdf.xacro
similarity index 100%
rename from talos_description/urdf/sensors/imu.urdf.xacro
rename to urdf/sensors/imu.urdf.xacro
diff --git a/talos_description/urdf/sensors/openni.gazebo.xacro b/urdf/sensors/openni.gazebo.xacro
similarity index 100%
rename from talos_description/urdf/sensors/openni.gazebo.xacro
rename to urdf/sensors/openni.gazebo.xacro
diff --git a/talos_description/urdf/sensors/orbbec_astra_pro.urdf.xacro b/urdf/sensors/orbbec_astra_pro.urdf.xacro
similarity index 100%
rename from talos_description/urdf/sensors/orbbec_astra_pro.urdf.xacro
rename to urdf/sensors/orbbec_astra_pro.urdf.xacro
diff --git a/talos_description/urdf/sensors/xtion_pro_live.gazebo.xacro b/urdf/sensors/xtion_pro_live.gazebo.xacro
similarity index 100%
rename from talos_description/urdf/sensors/xtion_pro_live.gazebo.xacro
rename to urdf/sensors/xtion_pro_live.gazebo.xacro
diff --git a/talos_description/urdf/sensors/xtion_pro_live.urdf.xacro b/urdf/sensors/xtion_pro_live.urdf.xacro
similarity index 100%
rename from talos_description/urdf/sensors/xtion_pro_live.urdf.xacro
rename to urdf/sensors/xtion_pro_live.urdf.xacro
diff --git a/talos_description/urdf/torso/torso.transmission.xacro b/urdf/torso/torso.transmission.xacro
similarity index 100%
rename from talos_description/urdf/torso/torso.transmission.xacro
rename to urdf/torso/torso.transmission.xacro
diff --git a/talos_description/urdf/torso/torso.urdf.xacro b/urdf/torso/torso.urdf.xacro
similarity index 100%
rename from talos_description/urdf/torso/torso.urdf.xacro
rename to urdf/torso/torso.urdf.xacro
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