diff --git a/tor_bringup/CMakeLists.txt b/talos_bringup/CMakeLists.txt
similarity index 86%
rename from tor_bringup/CMakeLists.txt
rename to talos_bringup/CMakeLists.txt
index ca514ac12cd078166b7de196767623115e9f9898..165d2bc492dbf5c5d3d2e0a76e4c59439a9ab630 100644
--- a/tor_bringup/CMakeLists.txt
+++ b/talos_bringup/CMakeLists.txt
@@ -1,11 +1,11 @@
cmake_minimum_required(VERSION 2.8.3)
-project(tor_bringup)
+project(talos_bringup)
find_package(catkin REQUIRED)
catkin_package(
# INCLUDE_DIRS include
-# LIBRARIES tor_bringup
+# LIBRARIES talos_bringup
# CATKIN_DEPENDS other_catkin_pkg
# DEPENDS system_lib
)
diff --git a/tor_bringup/config/tor_hardware.yaml b/talos_bringup/config/tor_hardware.yaml
similarity index 100%
rename from tor_bringup/config/tor_hardware.yaml
rename to talos_bringup/config/tor_hardware.yaml
diff --git a/tor_bringup/launch/tor_bringup.launch b/talos_bringup/launch/tor_bringup.launch
similarity index 78%
rename from tor_bringup/launch/tor_bringup.launch
rename to talos_bringup/launch/tor_bringup.launch
index 834271b4e0569b099aa8614112a02c668c4e5cd0..886b90dd6c1939f57ca75fcc7009235fbceccdcf 100644
--- a/tor_bringup/launch/tor_bringup.launch
+++ b/talos_bringup/launch/tor_bringup.launch
@@ -2,7 +2,7 @@
<arg name="robot" default="full_ft_hey5"/>
<!-- Load default controllers -->
- <include file="$(find tor_controller_configuration)/launch/tor_default_controllers.launch" />
+ <include file="$(find talos_controller_configuration)/launch/talos_default_controllers.launch" />
<!-- Robot state publisher -->
<node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher">
diff --git a/tor_bringup/package.xml b/talos_bringup/package.xml
similarity index 73%
rename from tor_bringup/package.xml
rename to talos_bringup/package.xml
index 0bb1ca3da4f732b9fec2e7a3c36ebf1d09e2bae1..89c811594180bf0ef421861b3b769d436a8f9e28 100644
--- a/tor_bringup/package.xml
+++ b/talos_bringup/package.xml
@@ -1,8 +1,8 @@
<?xml version="1.0"?>
<package>
- <name>tor_bringup</name>
+ <name>talos_bringup</name>
<version>0.0.0</version>
- <description>The tor_bringup package</description>
+ <description>The talos_bringup package</description>
<maintainer email="hilario@todo.todo">hilario</maintainer>
diff --git a/tor_controller_configuration/CMakeLists.txt b/talos_controller_configuration/CMakeLists.txt
similarity index 78%
rename from tor_controller_configuration/CMakeLists.txt
rename to talos_controller_configuration/CMakeLists.txt
index a3f8dc88798f8dc9edad059b81469e555a8b7b63..9729d1a80353c8f587722e30c76207f2231e1ac6 100644
--- a/tor_controller_configuration/CMakeLists.txt
+++ b/talos_controller_configuration/CMakeLists.txt
@@ -1,11 +1,11 @@
cmake_minimum_required(VERSION 2.8.3)
-project(tor_controller_configuration)
+project(talos_controller_configuration)
find_package(catkin REQUIRED)
catkin_package(
# INCLUDE_DIRS include
-# LIBRARIES tor_controller_configuration
+# LIBRARIES talos_controller_configuration
# CATKIN_DEPENDS other_catkin_pkg
# DEPENDS system_lib
)
diff --git a/tor_controller_configuration/config/init_offset_controller.yaml b/talos_controller_configuration/config/init_offset_controller.yaml
similarity index 100%
rename from tor_controller_configuration/config/init_offset_controller.yaml
rename to talos_controller_configuration/config/init_offset_controller.yaml
diff --git a/tor_controller_configuration/config/joint_trajectory_controllers.yaml b/talos_controller_configuration/config/joint_trajectory_controllers.yaml
similarity index 100%
rename from tor_controller_configuration/config/joint_trajectory_controllers.yaml
rename to talos_controller_configuration/config/joint_trajectory_controllers.yaml
diff --git a/tor_controller_configuration/config/tb_sine_sweep.yaml b/talos_controller_configuration/config/tb_sine_sweep.yaml
similarity index 100%
rename from tor_controller_configuration/config/tb_sine_sweep.yaml
rename to talos_controller_configuration/config/tb_sine_sweep.yaml
diff --git a/tor_controller_configuration/launch/tor_default_controllers.launch b/talos_controller_configuration/launch/tor_default_controllers.launch
similarity index 100%
rename from tor_controller_configuration/launch/tor_default_controllers.launch
rename to talos_controller_configuration/launch/tor_default_controllers.launch
diff --git a/tor_controller_configuration/launch/tor_homing_controller.launch b/talos_controller_configuration/launch/tor_homing_controller.launch
similarity index 65%
rename from tor_controller_configuration/launch/tor_homing_controller.launch
rename to talos_controller_configuration/launch/tor_homing_controller.launch
index 693554fbb88fd712360e6e37a7121dc0df408907..0e8635be66e1b50fd4882b96e4d74cdf5e307ebf 100644
--- a/tor_controller_configuration/launch/tor_homing_controller.launch
+++ b/talos_controller_configuration/launch/tor_homing_controller.launch
@@ -1,6 +1,6 @@
<launch>
- <rosparam command="load" file="$(find tor_controller_configuration)/config/homing_controller.yaml" />
+ <rosparam command="load" file="$(find talos_controller_configuration)/config/homing_controller.yaml" />
<!-- Controllers that come up started -->
<node name="controllers_spawner"
diff --git a/tor_controller_configuration/package.xml b/talos_controller_configuration/package.xml
similarity index 66%
rename from tor_controller_configuration/package.xml
rename to talos_controller_configuration/package.xml
index cf6f87f5555615b645a26d9b1b41e2e95bb23b85..d11932559a4b649cdd609005e96f8a385a4aed07 100644
--- a/tor_controller_configuration/package.xml
+++ b/talos_controller_configuration/package.xml
@@ -1,8 +1,8 @@
<?xml version="1.0"?>
<package>
- <name>tor_controller_configuration</name>
+ <name>talos_controller_configuration</name>
<version>0.0.0</version>
- <description>The tor_controller_configuration package</description>
+ <description>The talos_controller_configuration package</description>
<maintainer email="hilario@todo.todo">hilario</maintainer>
diff --git a/tor_description/CMakeLists.txt b/talos_description/CMakeLists.txt
similarity index 84%
rename from tor_description/CMakeLists.txt
rename to talos_description/CMakeLists.txt
index 4829602eb88d756c106321384c150fe5489ad51c..fe49d16c3334d9cf2ba002a0b87032e6a92ce729 100644
--- a/tor_description/CMakeLists.txt
+++ b/talos_description/CMakeLists.txt
@@ -1,11 +1,11 @@
cmake_minimum_required(VERSION 2.8.3)
-project(tor_description)
+project(talos_description)
find_package(catkin REQUIRED)
catkin_package(
# INCLUDE_DIRS include
-# LIBRARIES tor_description
+# LIBRARIES talos_description
# CATKIN_DEPENDS other_catkin_pkg
# DEPENDS system_lib
)
diff --git a/tor_description/config/joint_limits.yaml b/talos_description/config/joint_limits.yaml
similarity index 100%
rename from tor_description/config/joint_limits.yaml
rename to talos_description/config/joint_limits.yaml
diff --git a/tor_description/gazebo/gazebo.urdf.xacro b/talos_description/gazebo/gazebo.urdf.xacro
similarity index 98%
rename from tor_description/gazebo/gazebo.urdf.xacro
rename to talos_description/gazebo/gazebo.urdf.xacro
index 988e6fe3026f0593e312af1894da3b26105129e8..79b80b7e1ea52b8ae46f5d5ed67841345507532b 100644
--- a/tor_description/gazebo/gazebo.urdf.xacro
+++ b/talos_description/gazebo/gazebo.urdf.xacro
@@ -12,7 +12,7 @@
<gazebo>
<plugin filename="libgazebo_world_odometry.so" name="gazebo_ros_odometry">
- <frameName>torso_2_link</frameName>
+ <frameName>talos_2_link</frameName>
<topicName>floating_base_pose</topicName>
</plugin>
</gazebo>
diff --git a/tor_description/launch/tor_joint_command_rviz.launch b/talos_description/launch/tor_joint_command_rviz.launch
similarity index 75%
rename from tor_description/launch/tor_joint_command_rviz.launch
rename to talos_description/launch/tor_joint_command_rviz.launch
index 87e3a9893fb084f6366a189a6148c7b005effb82..dc665b775429bc38e723e2ac5cef495851f85262 100644
--- a/tor_description/launch/tor_joint_command_rviz.launch
+++ b/talos_description/launch/tor_joint_command_rviz.launch
@@ -1,5 +1,5 @@
-roslaunch tor_description upload_legs.launch
+roslaunch talos_description upload_legs.launch
rosrun joint_state_publisher joint_state_publisher _use_gui:=True
diff --git a/tor_description/meshes/arm/arm_1.STL b/talos_description/meshes/arm/arm_1.STL
similarity index 100%
rename from tor_description/meshes/arm/arm_1.STL
rename to talos_description/meshes/arm/arm_1.STL
diff --git a/tor_description/meshes/arm/arm_1_collision.STL b/talos_description/meshes/arm/arm_1_collision.STL
similarity index 100%
rename from tor_description/meshes/arm/arm_1_collision.STL
rename to talos_description/meshes/arm/arm_1_collision.STL
diff --git a/tor_description/meshes/arm/arm_2.STL b/talos_description/meshes/arm/arm_2.STL
similarity index 100%
rename from tor_description/meshes/arm/arm_2.STL
rename to talos_description/meshes/arm/arm_2.STL
diff --git a/tor_description/meshes/arm/arm_2_collision.STL b/talos_description/meshes/arm/arm_2_collision.STL
similarity index 100%
rename from tor_description/meshes/arm/arm_2_collision.STL
rename to talos_description/meshes/arm/arm_2_collision.STL
diff --git a/tor_description/meshes/arm/arm_3.STL b/talos_description/meshes/arm/arm_3.STL
similarity index 100%
rename from tor_description/meshes/arm/arm_3.STL
rename to talos_description/meshes/arm/arm_3.STL
diff --git a/tor_description/meshes/arm/arm_3_collision.STL b/talos_description/meshes/arm/arm_3_collision.STL
similarity index 100%
rename from tor_description/meshes/arm/arm_3_collision.STL
rename to talos_description/meshes/arm/arm_3_collision.STL
diff --git a/tor_description/meshes/arm/arm_4.STL b/talos_description/meshes/arm/arm_4.STL
similarity index 100%
rename from tor_description/meshes/arm/arm_4.STL
rename to talos_description/meshes/arm/arm_4.STL
diff --git a/tor_description/meshes/arm/arm_4_collision.STL b/talos_description/meshes/arm/arm_4_collision.STL
similarity index 100%
rename from tor_description/meshes/arm/arm_4_collision.STL
rename to talos_description/meshes/arm/arm_4_collision.STL
diff --git a/tor_description/meshes/arm/arm_5.STL b/talos_description/meshes/arm/arm_5.STL
similarity index 100%
rename from tor_description/meshes/arm/arm_5.STL
rename to talos_description/meshes/arm/arm_5.STL
diff --git a/tor_description/meshes/arm/arm_5_collision.STL b/talos_description/meshes/arm/arm_5_collision.STL
similarity index 100%
rename from tor_description/meshes/arm/arm_5_collision.STL
rename to talos_description/meshes/arm/arm_5_collision.STL
diff --git a/tor_description/meshes/arm/arm_6.STL b/talos_description/meshes/arm/arm_6.STL
similarity index 100%
rename from tor_description/meshes/arm/arm_6.STL
rename to talos_description/meshes/arm/arm_6.STL
diff --git a/tor_description/meshes/arm/arm_6_collision.STL b/talos_description/meshes/arm/arm_6_collision.STL
similarity index 100%
rename from tor_description/meshes/arm/arm_6_collision.STL
rename to talos_description/meshes/arm/arm_6_collision.STL
diff --git a/tor_description/meshes/arm/arm_7.STL b/talos_description/meshes/arm/arm_7.STL
similarity index 100%
rename from tor_description/meshes/arm/arm_7.STL
rename to talos_description/meshes/arm/arm_7.STL
diff --git a/tor_description/meshes/arm/arm_7_collision.STL b/talos_description/meshes/arm/arm_7_collision.STL
similarity index 100%
rename from tor_description/meshes/arm/arm_7_collision.STL
rename to talos_description/meshes/arm/arm_7_collision.STL
diff --git a/tor_description/meshes/dummy_hand.STL b/talos_description/meshes/dummy_hand.STL
similarity index 100%
rename from tor_description/meshes/dummy_hand.STL
rename to talos_description/meshes/dummy_hand.STL
diff --git a/tor_description/meshes/femur.STL b/talos_description/meshes/femur.STL
similarity index 100%
rename from tor_description/meshes/femur.STL
rename to talos_description/meshes/femur.STL
diff --git a/tor_description/meshes/femur_light.STL b/talos_description/meshes/femur_light.STL
similarity index 100%
rename from tor_description/meshes/femur_light.STL
rename to talos_description/meshes/femur_light.STL
diff --git a/tor_description/meshes/foot.STL b/talos_description/meshes/foot.STL
similarity index 100%
rename from tor_description/meshes/foot.STL
rename to talos_description/meshes/foot.STL
diff --git a/tor_description/meshes/foot_light.STL b/talos_description/meshes/foot_light.STL
similarity index 100%
rename from tor_description/meshes/foot_light.STL
rename to talos_description/meshes/foot_light.STL
diff --git a/tor_description/meshes/gripper/base_link.STL b/talos_description/meshes/gripper/base_link.STL
similarity index 100%
rename from tor_description/meshes/gripper/base_link.STL
rename to talos_description/meshes/gripper/base_link.STL
diff --git a/tor_description/meshes/gripper/base_link_collision.STL b/talos_description/meshes/gripper/base_link_collision.STL
similarity index 100%
rename from tor_description/meshes/gripper/base_link_collision.STL
rename to talos_description/meshes/gripper/base_link_collision.STL
diff --git a/tor_description/meshes/gripper/fingertip.STL b/talos_description/meshes/gripper/fingertip.STL
similarity index 100%
rename from tor_description/meshes/gripper/fingertip.STL
rename to talos_description/meshes/gripper/fingertip.STL
diff --git a/tor_description/meshes/gripper/fingertip_collision.STL b/talos_description/meshes/gripper/fingertip_collision.STL
similarity index 100%
rename from tor_description/meshes/gripper/fingertip_collision.STL
rename to talos_description/meshes/gripper/fingertip_collision.STL
diff --git a/tor_description/meshes/gripper/gripper_motor_double.STL b/talos_description/meshes/gripper/gripper_motor_double.STL
similarity index 100%
rename from tor_description/meshes/gripper/gripper_motor_double.STL
rename to talos_description/meshes/gripper/gripper_motor_double.STL
diff --git a/tor_description/meshes/gripper/gripper_motor_double_collision.STL b/talos_description/meshes/gripper/gripper_motor_double_collision.STL
similarity index 100%
rename from tor_description/meshes/gripper/gripper_motor_double_collision.STL
rename to talos_description/meshes/gripper/gripper_motor_double_collision.STL
diff --git a/tor_description/meshes/gripper/gripper_simple.STL b/talos_description/meshes/gripper/gripper_simple.STL
similarity index 100%
rename from tor_description/meshes/gripper/gripper_simple.STL
rename to talos_description/meshes/gripper/gripper_simple.STL
diff --git a/tor_description/meshes/gripper/gripper_simple_collision.STL b/talos_description/meshes/gripper/gripper_simple_collision.STL
similarity index 100%
rename from tor_description/meshes/gripper/gripper_simple_collision.STL
rename to talos_description/meshes/gripper/gripper_simple_collision.STL
diff --git a/tor_description/meshes/gripper/gripper_tweezers.STL b/talos_description/meshes/gripper/gripper_tweezers.STL
similarity index 100%
rename from tor_description/meshes/gripper/gripper_tweezers.STL
rename to talos_description/meshes/gripper/gripper_tweezers.STL
diff --git a/tor_description/meshes/gripper/gripper_tweezers_collision.STL b/talos_description/meshes/gripper/gripper_tweezers_collision.STL
similarity index 100%
rename from tor_description/meshes/gripper/gripper_tweezers_collision.STL
rename to talos_description/meshes/gripper/gripper_tweezers_collision.STL
diff --git a/tor_description/meshes/gripper/inner_double.STL b/talos_description/meshes/gripper/inner_double.STL
similarity index 100%
rename from tor_description/meshes/gripper/inner_double.STL
rename to talos_description/meshes/gripper/inner_double.STL
diff --git a/tor_description/meshes/gripper/inner_double_collision.STL b/talos_description/meshes/gripper/inner_double_collision.STL
similarity index 100%
rename from tor_description/meshes/gripper/inner_double_collision.STL
rename to talos_description/meshes/gripper/inner_double_collision.STL
diff --git a/tor_description/meshes/head/head_1.stl b/talos_description/meshes/head/head_1.stl
similarity index 100%
rename from tor_description/meshes/head/head_1.stl
rename to talos_description/meshes/head/head_1.stl
diff --git a/tor_description/meshes/head/head_1_collision.stl b/talos_description/meshes/head/head_1_collision.stl
similarity index 100%
rename from tor_description/meshes/head/head_1_collision.stl
rename to talos_description/meshes/head/head_1_collision.stl
diff --git a/tor_description/meshes/head/head_2.stl b/talos_description/meshes/head/head_2.stl
similarity index 100%
rename from tor_description/meshes/head/head_2.stl
rename to talos_description/meshes/head/head_2.stl
diff --git a/tor_description/meshes/head/head_2_collision.stl b/talos_description/meshes/head/head_2_collision.stl
similarity index 100%
rename from tor_description/meshes/head/head_2_collision.stl
rename to talos_description/meshes/head/head_2_collision.stl
diff --git a/tor_description/meshes/hipZ.STL b/talos_description/meshes/hipZ.STL
similarity index 100%
rename from tor_description/meshes/hipZ.STL
rename to talos_description/meshes/hipZ.STL
diff --git a/tor_description/meshes/hipZ_light.STL b/talos_description/meshes/hipZ_light.STL
similarity index 100%
rename from tor_description/meshes/hipZ_light.STL
rename to talos_description/meshes/hipZ_light.STL
diff --git a/tor_description/meshes/sensors/orbbec/orbbec.STL b/talos_description/meshes/sensors/orbbec/orbbec.STL
similarity index 100%
rename from tor_description/meshes/sensors/orbbec/orbbec.STL
rename to talos_description/meshes/sensors/orbbec/orbbec.STL
diff --git a/tor_description/meshes/sensors/xtion_pro_live/xtion_pro_live.dae b/talos_description/meshes/sensors/xtion_pro_live/xtion_pro_live.dae
similarity index 99%
rename from tor_description/meshes/sensors/xtion_pro_live/xtion_pro_live.dae
rename to talos_description/meshes/sensors/xtion_pro_live/xtion_pro_live.dae
index 506f3cd28767a88aab9361334cb9fad40cffa884..31ddc4653771dc63dc4984efb822cdb508ecd30f 100644
--- a/tor_description/meshes/sensors/xtion_pro_live/xtion_pro_live.dae
+++ b/talos_description/meshes/sensors/xtion_pro_live/xtion_pro_live.dae
@@ -1,10 +1,10 @@
<?xml version="1.0" encoding="UTF-8"?>
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
<asset>
- <contributor>
+ <contributalos>
<author>VCGLab</author>
<authoring_tool>VCGLib | MeshLab</authoring_tool>
- </contributor>
+ </contributalos>
<up_axis>Y_UP</up_axis>
<created>Wed Jan 16 14:35:13 2013</created>
<modified>Wed Jan 16 14:35:13 2013</modified>
diff --git a/tor_description/meshes/sensors/xtion_pro_live/xtion_pro_live.png b/talos_description/meshes/sensors/xtion_pro_live/xtion_pro_live.png
similarity index 100%
rename from tor_description/meshes/sensors/xtion_pro_live/xtion_pro_live.png
rename to talos_description/meshes/sensors/xtion_pro_live/xtion_pro_live.png
diff --git a/tor_description/meshes/super-simple-femur.STL b/talos_description/meshes/super-simple-femur.STL
similarity index 100%
rename from tor_description/meshes/super-simple-femur.STL
rename to talos_description/meshes/super-simple-femur.STL
diff --git a/tor_description/meshes/super-simple-foot.STL b/talos_description/meshes/super-simple-foot.STL
similarity index 100%
rename from tor_description/meshes/super-simple-foot.STL
rename to talos_description/meshes/super-simple-foot.STL
diff --git a/tor_description/meshes/super-simple-tibia.STL b/talos_description/meshes/super-simple-tibia.STL
similarity index 100%
rename from tor_description/meshes/super-simple-tibia.STL
rename to talos_description/meshes/super-simple-tibia.STL
diff --git a/tor_description/meshes/tibia.STL b/talos_description/meshes/tibia.STL
similarity index 100%
rename from tor_description/meshes/tibia.STL
rename to talos_description/meshes/tibia.STL
diff --git a/tor_description/meshes/tibia_light.STL b/talos_description/meshes/tibia_light.STL
similarity index 100%
rename from tor_description/meshes/tibia_light.STL
rename to talos_description/meshes/tibia_light.STL
diff --git a/tor_description/meshes/torso/base_link.STL b/talos_description/meshes/torso/base_link.STL
similarity index 100%
rename from tor_description/meshes/torso/base_link.STL
rename to talos_description/meshes/torso/base_link.STL
diff --git a/tor_description/meshes/torso/base_link_collision.STL b/talos_description/meshes/torso/base_link_collision.STL
similarity index 100%
rename from tor_description/meshes/torso/base_link_collision.STL
rename to talos_description/meshes/torso/base_link_collision.STL
diff --git a/tor_description/meshes/torso/torso_1.STL b/talos_description/meshes/torso/torso_1.STL
similarity index 100%
rename from tor_description/meshes/torso/torso_1.STL
rename to talos_description/meshes/torso/torso_1.STL
diff --git a/tor_description/meshes/torso/torso_2.STL b/talos_description/meshes/torso/torso_2.STL
similarity index 100%
rename from tor_description/meshes/torso/torso_2.STL
rename to talos_description/meshes/torso/torso_2.STL
diff --git a/tor_description/meshes/torso/torso_2_collision.STL b/talos_description/meshes/torso/torso_2_collision.STL
similarity index 100%
rename from tor_description/meshes/torso/torso_2_collision.STL
rename to talos_description/meshes/torso/torso_2_collision.STL
diff --git a/tor_description/meshes/torso_dummy.stl b/talos_description/meshes/torso_dummy.stl
similarity index 100%
rename from tor_description/meshes/torso_dummy.stl
rename to talos_description/meshes/torso_dummy.stl
diff --git a/tor_description/meshes/v2/ankle_X_collision.stl b/talos_description/meshes/v2/ankle_X_collision.stl
similarity index 100%
rename from tor_description/meshes/v2/ankle_X_collision.stl
rename to talos_description/meshes/v2/ankle_X_collision.stl
diff --git a/tor_description/meshes/v2/ankle_X_lo_res.stl b/talos_description/meshes/v2/ankle_X_lo_res.stl
similarity index 100%
rename from tor_description/meshes/v2/ankle_X_lo_res.stl
rename to talos_description/meshes/v2/ankle_X_lo_res.stl
diff --git a/tor_description/meshes/v2/ankle_Y_collision.stl b/talos_description/meshes/v2/ankle_Y_collision.stl
similarity index 100%
rename from tor_description/meshes/v2/ankle_Y_collision.stl
rename to talos_description/meshes/v2/ankle_Y_collision.stl
diff --git a/tor_description/meshes/v2/ankle_Y_lo_res.stl b/talos_description/meshes/v2/ankle_Y_lo_res.stl
similarity index 100%
rename from tor_description/meshes/v2/ankle_Y_lo_res.stl
rename to talos_description/meshes/v2/ankle_Y_lo_res.stl
diff --git a/tor_description/meshes/v2/base_link_collision.stl b/talos_description/meshes/v2/base_link_collision.stl
similarity index 100%
rename from tor_description/meshes/v2/base_link_collision.stl
rename to talos_description/meshes/v2/base_link_collision.stl
diff --git a/tor_description/meshes/v2/base_link_lo_res.stl b/talos_description/meshes/v2/base_link_lo_res.stl
similarity index 100%
rename from tor_description/meshes/v2/base_link_lo_res.stl
rename to talos_description/meshes/v2/base_link_lo_res.stl
diff --git a/tor_description/meshes/v2/hip_x_collision.stl b/talos_description/meshes/v2/hip_x_collision.stl
similarity index 100%
rename from tor_description/meshes/v2/hip_x_collision.stl
rename to talos_description/meshes/v2/hip_x_collision.stl
diff --git a/tor_description/meshes/v2/hip_x_lo_res.stl b/talos_description/meshes/v2/hip_x_lo_res.stl
similarity index 100%
rename from tor_description/meshes/v2/hip_x_lo_res.stl
rename to talos_description/meshes/v2/hip_x_lo_res.stl
diff --git a/tor_description/meshes/v2/hip_y_collision.stl b/talos_description/meshes/v2/hip_y_collision.stl
similarity index 100%
rename from tor_description/meshes/v2/hip_y_collision.stl
rename to talos_description/meshes/v2/hip_y_collision.stl
diff --git a/tor_description/meshes/v2/hip_y_lo_res.stl b/talos_description/meshes/v2/hip_y_lo_res.stl
similarity index 100%
rename from tor_description/meshes/v2/hip_y_lo_res.stl
rename to talos_description/meshes/v2/hip_y_lo_res.stl
diff --git a/tor_description/meshes/v2/hip_z_collision.stl b/talos_description/meshes/v2/hip_z_collision.stl
similarity index 100%
rename from tor_description/meshes/v2/hip_z_collision.stl
rename to talos_description/meshes/v2/hip_z_collision.stl
diff --git a/tor_description/meshes/v2/hip_z_lo_res.stl b/talos_description/meshes/v2/hip_z_lo_res.stl
similarity index 100%
rename from tor_description/meshes/v2/hip_z_lo_res.stl
rename to talos_description/meshes/v2/hip_z_lo_res.stl
diff --git a/tor_description/meshes/v2/knee_collision.stl b/talos_description/meshes/v2/knee_collision.stl
similarity index 100%
rename from tor_description/meshes/v2/knee_collision.stl
rename to talos_description/meshes/v2/knee_collision.stl
diff --git a/tor_description/meshes/v2/knee_lo_res.stl b/talos_description/meshes/v2/knee_lo_res.stl
similarity index 100%
rename from tor_description/meshes/v2/knee_lo_res.stl
rename to talos_description/meshes/v2/knee_lo_res.stl
diff --git a/tor_description/package.xml b/talos_description/package.xml
similarity index 73%
rename from tor_description/package.xml
rename to talos_description/package.xml
index c761e6a1b55ea3bfd0180692cdc3d513be7ec77e..cb6de436a7a52f9e9bda183478247c5a1cdda115 100644
--- a/tor_description/package.xml
+++ b/talos_description/package.xml
@@ -1,8 +1,8 @@
<?xml version="1.0"?>
<package>
- <name>tor_description</name>
+ <name>talos_description</name>
<version>0.0.0</version>
- <description>The tor_description package</description>
+ <description>The talos_description package</description>
<maintainer email="hilario.tome@pal-robotics.com">Hilario Tomé</maintainer>
diff --git a/tor_description/robots/tor_arm.urdf.xacro b/talos_description/robots/tor_arm.urdf.xacro
similarity index 57%
rename from tor_description/robots/tor_arm.urdf.xacro
rename to talos_description/robots/tor_arm.urdf.xacro
index a47029af9523416e28d4562810e3b5152b889ab1..af91b2e14dc80a6f9c68d74af644160f8876c8a9 100644
--- a/tor_description/robots/tor_arm.urdf.xacro
+++ b/talos_description/robots/tor_arm.urdf.xacro
@@ -8,15 +8,15 @@
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="tor" xmlns:xacro="http://www.ros.org/wiki/xacro"
+<robot name="talos" xmlns:xacro="http://www.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="$(find tor_description)/urdf/arm/arm.urdf.xacro" />
- <xacro:include filename="$(find tor_description)/urdf/gripper/gripper.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/arm/arm.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/gripper/gripper.urdf.xacro" />
- <link name="torso_2_link">
+ <link name="talos_2_link">
<inertial>
<origin xyz="-0.04551 -0.00053 0.16386" rpy="0.00000 0.00000 0.00000"/>
<mass value="17.55011"/>
@@ -28,7 +28,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://tor_description/meshes/torso/torso_2.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/talos/talos_2.STL" scale="1 1 1"/>
</geometry>
<material name="LightGrey" />
</visual>
@@ -36,20 +36,20 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://tor_description/meshes/torso/torso_2_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/talos/talos_2_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
- <xacro:tor_arm name="arm" parent="torso_2_link" side="left" reflect="1"/>
- <xacro:tor_arm name="arm" parent="torso_2_link" side="right" reflect="-1"/>
+ <xacro:talos_arm name="arm" parent="talos_2_link" side="left" reflect="1"/>
+ <xacro:talos_arm name="arm" parent="talos_2_link" side="right" reflect="-1"/>
- <xacro:tor_gripper name="left_gripper" parent="arm_left_7_link"/>
- <xacro:tor_gripper name="right_gripper" parent="arm_right_7_link"/>
+ <xacro:talos_gripper name="left_gripper" parent="arm_left_7_link"/>
+ <xacro:talos_gripper name="right_gripper" parent="arm_right_7_link"/>
- <!-- Generic simulator_gazebo plugins -->
- <xacro:include filename="$(find tor_description)/gazebo/gazebo.urdf.xacro" />
+ <!-- Generic simulatalos_gazebo plugins -->
+ <xacro:include filename="$(find talos_description)/gazebo/gazebo.urdf.xacro" />
<!-- Materials for visualization -->
- <xacro:include filename="$(find tor_description)/urdf/materials.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/materials.urdf.xacro" />
</robot>
diff --git a/talos_description/robots/tor_full.urdf.xacro b/talos_description/robots/tor_full.urdf.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..4dbba25b683501a38e8874658beeff83ae637796
--- /dev/null
+++ b/talos_description/robots/tor_full.urdf.xacro
@@ -0,0 +1,44 @@
+<?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://www.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="$(find talos_description)/urdf/talos/talos.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/head/head.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/arm/arm.urdf.xacro" />
+ <xacro:include filename="$(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_v2.urdf.xacro" />
+
+ <xacro:talos_talos name="talos" />
+
+ <xacro:talos_head name="head" parent="talos_2_link"/>
+
+ <xacro:talos_arm name="arm" parent="talos_2_link" side="left" reflect="1"/>
+ <xacro:talos_arm name="arm" parent="talos_2_link" side="right" reflect="-1"/>
+
+ <xacro: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="left_gripper" parent="wrist_left_ft_tool_link"/>
+ <xacro:talos_gripper name="right_gripper" parent="wrist_right_ft_tool_link"/>
+
+ <xacro:talos_leg prefix="left" reflect="1" />
+ <xacro:talos_leg prefix="right" reflect="-1" />
+
+ <!-- Generic simulatalos_gazebo plugins -->
+ <xacro:include filename="$(find talos_description)/gazebo/gazebo.urdf.xacro" />
+ <!-- Materials for visualization -->
+ <xacro:include filename="$(find talos_description)/urdf/materials.urdf.xacro" />
+
+</robot>
diff --git a/tor_description/robots/tor_head.urdf.xacro b/talos_description/robots/tor_head.urdf.xacro
similarity index 66%
rename from tor_description/robots/tor_head.urdf.xacro
rename to talos_description/robots/tor_head.urdf.xacro
index fc15d0ed6ed7d9849b1256b7476dadb57d1e726f..7204ac38995ffc2f8fb1d9486cfebd74a4c7ae53 100644
--- a/tor_description/robots/tor_head.urdf.xacro
+++ b/talos_description/robots/tor_head.urdf.xacro
@@ -8,14 +8,14 @@
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="tor" xmlns:xacro="http://www.ros.org/wiki/xacro"
+<robot name="talos" xmlns:xacro="http://www.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="$(find tor_description)/urdf/head/head.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/head/head.urdf.xacro" />
- <link name="torso_2_link">
+ <link name="talos_2_link">
<inertial>
<origin xyz="-0.04551 -0.00053 0.16386" rpy="0.00000 0.00000 0.00000"/>
<mass value="17.55011"/>
@@ -27,7 +27,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://tor_description/meshes/torso/torso_2.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/talos/talos_2.STL" scale="1 1 1"/>
</geometry>
<material name="LightGrey" />
</visual>
@@ -35,16 +35,16 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://tor_description/meshes/torso/torso_2_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/talos/talos_2_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
- <xacro:tor_head name="head" parent="torso_2_link"/>
+ <xacro:talos_head name="head" parent="talos_2_link"/>
- <!-- Generic simulator_gazebo plugins -->
- <xacro:include filename="$(find tor_description)/gazebo/gazebo.urdf.xacro" />
+ <!-- Generic simulatalos_gazebo plugins -->
+ <xacro:include filename="$(find talos_description)/gazebo/gazebo.urdf.xacro" />
<!-- Materials for visualization -->
- <xacro:include filename="$(find tor_description)/urdf/materials.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/materials.urdf.xacro" />
</robot>
diff --git a/tor_description/robots/tor_lower_body.urdf.xacro b/talos_description/robots/tor_lower_body.urdf.xacro
similarity index 69%
rename from tor_description/robots/tor_lower_body.urdf.xacro
rename to talos_description/robots/tor_lower_body.urdf.xacro
index 64546173aa4661d10ca07fcb71a0443a865233f3..6a5af6e6afb8489013ab35876b5e5a87af91abb4 100644
--- a/tor_description/robots/tor_lower_body.urdf.xacro
+++ b/talos_description/robots/tor_lower_body.urdf.xacro
@@ -8,13 +8,13 @@
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="tor" xmlns:xacro="http://www.ros.org/wiki/xacro"
+<robot name="talos" xmlns:xacro="http://www.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="$(find tor_description)/urdf/leg/leg.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/leg/leg.urdf.xacro" />
<link name="base_link">
@@ -27,7 +27,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tor_description/meshes/torso_dummy.stl" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/talos_dummy.stl" scale="1 1 1"/>
</geometry>
</visual>
@@ -54,7 +54,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tor_description/meshes/torso_dummy.stl" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/talos_dummy.stl" scale="1 1 1"/>
</geometry>
</visual>
@@ -67,20 +67,20 @@
</link>
-->
- <xacro:tor_leg prefix="left" reflect="1" />
- <xacro:tor_leg prefix="right" reflect="-1" />
+ <xacro:talos_leg prefix="left" reflect="1" />
+ <xacro:talos_leg prefix="right" reflect="-1" />
- <!-- Generic simulator_gazebo plugins -->
- <xacro:include filename="$(find tor_description)/gazebo/gazebo.urdf.xacro" />
+ <!-- Generic simulatalos_gazebo plugins -->
+ <xacro:include filename="$(find talos_description)/gazebo/gazebo.urdf.xacro" />
<!-- Materials for visualization -->
- <xacro:include filename="$(find tor_description)/urdf/materials.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/materials.urdf.xacro" />
- <xacro:include filename="$(find tor_description)/urdf/sensors/imu.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/sensors/imu.urdf.xacro" />
<!-- imu -->
- <xacro:tor_imu name="imu" parent="base_link" update_rate="100.0">
+ <xacro:talos_imu name="imu" parent="base_link" update_rate="100.0">
<origin xyz="0.069 0 0.14647" rpy="3.14 0.0 1.57"/>
- </xacro:tor_imu>
+ </xacro:talos_imu>
</robot>
diff --git a/tor_description/robots/tor_lower_body_v1.urdf.xacro b/talos_description/robots/tor_lower_body_v1.urdf.xacro
similarity index 64%
rename from tor_description/robots/tor_lower_body_v1.urdf.xacro
rename to talos_description/robots/tor_lower_body_v1.urdf.xacro
index 5cc159c94dea7999e9043ba4cd968d291916f522..2d1ef4f43893521011d2a9070862c6ca9453eb82 100644
--- a/tor_description/robots/tor_lower_body_v1.urdf.xacro
+++ b/talos_description/robots/tor_lower_body_v1.urdf.xacro
@@ -8,13 +8,13 @@
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="tor" xmlns:xacro="http://www.ros.org/wiki/xacro"
+<robot name="talos" xmlns:xacro="http://www.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="$(find tor_description)/urdf/leg/leg.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/leg/leg.urdf.xacro" />
<link name="base_link">
<inertial>
@@ -26,7 +26,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tor_description/meshes/torso_dummy.stl" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/talos_dummy.stl" scale="1 1 1"/>
</geometry>
</visual>
@@ -40,20 +40,20 @@
</link>
- <xacro:tor_leg prefix="left" reflect="1" />
- <xacro:tor_leg prefix="right" reflect="-1" />
+ <xacro:talos_leg prefix="left" reflect="1" />
+ <xacro:talos_leg prefix="right" reflect="-1" />
- <!-- Generic simulator_gazebo plugins -->
- <xacro:include filename="$(find tor_description)/gazebo/gazebo.urdf.xacro" />
+ <!-- Generic simulatalos_gazebo plugins -->
+ <xacro:include filename="$(find talos_description)/gazebo/gazebo.urdf.xacro" />
<!-- Materials for visualization -->
- <xacro:include filename="$(find tor_description)/urdf/materials.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/materials.urdf.xacro" />
- <xacro:include filename="$(find tor_description)/urdf/sensors/imu.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/sensors/imu.urdf.xacro" />
<!-- imu -->
- <xacro:tor_imu name="imu" parent="base_link" update_rate="100.0">
+ <xacro:talos_imu name="imu" parent="base_link" update_rate="100.0">
<origin xyz="0 0 0" rpy="0 0 0"/>
- </xacro:tor_imu>
+ </xacro:talos_imu>
</robot>
diff --git a/tor_description/robots/tor_lower_body_v2.urdf.xacro b/talos_description/robots/tor_lower_body_v2.urdf.xacro
similarity index 67%
rename from tor_description/robots/tor_lower_body_v2.urdf.xacro
rename to talos_description/robots/tor_lower_body_v2.urdf.xacro
index 9fbdec630ab761448c55298f3e6b2f52952d0d8d..6deb9f32d816fe435b0fcde2f1494f8dae4c0509 100644
--- a/tor_description/robots/tor_lower_body_v2.urdf.xacro
+++ b/talos_description/robots/tor_lower_body_v2.urdf.xacro
@@ -8,12 +8,12 @@
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="tor" xmlns:xacro="http://www.ros.org/wiki/xacro"
+<robot name="talos" xmlns:xacro="http://www.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="$(find tor_description)/urdf/leg/leg_v2.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/leg/leg_v2.urdf.xacro" />
<link name="base_link">
<inertial>
<origin xyz="-0.08222 0.00838 -0.07261" rpy="0.00000 0.00000 0.00000"/>
@@ -26,7 +26,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tor_description/meshes/torso/base_link.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/talos/base_link.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey" />
</visual>
@@ -34,18 +34,18 @@
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tor_description/meshes/torso/base_link_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/talos/base_link_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
- <xacro:tor_leg prefix="left" reflect="1" />
- <xacro:tor_leg prefix="right" reflect="-1" />
+ <xacro:talos_leg prefix="left" reflect="1" />
+ <xacro:talos_leg prefix="right" reflect="-1" />
- <!-- Generic simulator_gazebo plugins -->
- <xacro:include filename="$(find tor_description)/gazebo/gazebo.urdf.xacro" />
+ <!-- Generic simulatalos_gazebo plugins -->
+ <xacro:include filename="$(find talos_description)/gazebo/gazebo.urdf.xacro" />
<!-- Materials for visualization -->
- <xacro:include filename="$(find tor_description)/urdf/materials.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/materials.urdf.xacro" />
</robot>
diff --git a/tor_description/robots/tor_torso.urdf.xacro b/talos_description/robots/tor_torso.urdf.xacro
similarity index 64%
rename from tor_description/robots/tor_torso.urdf.xacro
rename to talos_description/robots/tor_torso.urdf.xacro
index 0d8b8dd6ff434d2e94c44394e8b0eabe57120c96..e6df79b08064215288f5686d8032034573afd38a 100644
--- a/tor_description/robots/tor_torso.urdf.xacro
+++ b/talos_description/robots/tor_torso.urdf.xacro
@@ -8,18 +8,18 @@
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="tor" xmlns:xacro="http://www.ros.org/wiki/xacro"
+<robot name="talos" xmlns:xacro="http://www.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="$(find tor_description)/urdf/torso/torso.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/talos/talos.urdf.xacro" />
- <xacro:tor_torso name="torso" />
+ <xacro:talos_talos name="talos" />
- <!-- Generic simulator_gazebo plugins -->
- <xacro:include filename="$(find tor_description)/gazebo/gazebo.urdf.xacro" />
+ <!-- Generic simulatalos_gazebo plugins -->
+ <xacro:include filename="$(find talos_description)/gazebo/gazebo.urdf.xacro" />
<!-- Materials for visualization -->
- <xacro:include filename="$(find tor_description)/urdf/materials.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/materials.urdf.xacro" />
</robot>
diff --git a/tor_description/robots/upload_arm.launch b/talos_description/robots/upload_arm.launch
similarity index 64%
rename from tor_description/robots/upload_arm.launch
rename to talos_description/robots/upload_arm.launch
index 5045dd96d08540868347948ec4cd3d56003df4e7..677635c1b858554b9f1e0250477b280994aee8c7 100644
--- a/tor_description/robots/upload_arm.launch
+++ b/talos_description/robots/upload_arm.launch
@@ -1,6 +1,6 @@
<launch>
<!-- Robot description -->
- <param name="robot_description" command="$(find xacro)/xacro.py '$(find tor_description)/robots/tor_arm.urdf.xacro'" />
+ <param name="robot_description" command="$(find xacro)/xacro.py '$(find talos_description)/robots/talos_arm.urdf.xacro'" />
</launch>
diff --git a/tor_description/robots/upload_full.launch b/talos_description/robots/upload_full.launch
similarity index 64%
rename from tor_description/robots/upload_full.launch
rename to talos_description/robots/upload_full.launch
index 7253b43104e9255e3d44cac8de5ac95164118c11..294e4b9a8a4e7dd92c7933dc775f3f906ff57776 100644
--- a/tor_description/robots/upload_full.launch
+++ b/talos_description/robots/upload_full.launch
@@ -1,6 +1,6 @@
<launch>
<!-- Robot description -->
- <param name="robot_description" command="$(find xacro)/xacro.py '$(find tor_description)/robots/tor_full.urdf.xacro'" />
+ <param name="robot_description" command="$(find xacro)/xacro.py '$(find talos_description)/robots/talos_full.urdf.xacro'" />
</launch>
diff --git a/tor_description/robots/upload_head.launch b/talos_description/robots/upload_head.launch
similarity index 64%
rename from tor_description/robots/upload_head.launch
rename to talos_description/robots/upload_head.launch
index 04dfb3b38cbd38d59c2fed2b80a5d12d9df52582..0bf635bf131bc2f50a5c774e71919ad2f8054904 100644
--- a/tor_description/robots/upload_head.launch
+++ b/talos_description/robots/upload_head.launch
@@ -1,6 +1,6 @@
<launch>
<!-- Robot description -->
- <param name="robot_description" command="$(find xacro)/xacro.py '$(find tor_description)/robots/tor_head.urdf.xacro'" />
+ <param name="robot_description" command="$(find xacro)/xacro.py '$(find talos_description)/robots/talos_head.urdf.xacro'" />
</launch>
diff --git a/tor_description/robots/upload_legs.launch b/talos_description/robots/upload_legs.launch
similarity index 69%
rename from tor_description/robots/upload_legs.launch
rename to talos_description/robots/upload_legs.launch
index 6f9689187107d2206d8fafe40340e5a0d779c438..ef7fcf79cd706f65c142d9a0dad26293c36378dd 100644
--- a/tor_description/robots/upload_legs.launch
+++ b/talos_description/robots/upload_legs.launch
@@ -3,6 +3,6 @@
<arg name="robot" default="titanium"/>
<!-- Robot description -->
- <param name="robot_description" command="$(find xacro)/xacro.py '$(find tor_description)/robots/tor_lower_body.urdf.xacro'" />
+ <param name="robot_description" command="$(find xacro)/xacro.py '$(find talos_description)/robots/talos_lower_body.urdf.xacro'" />
</launch>
diff --git a/tor_description/robots/upload_legs_v2.launch b/talos_description/robots/upload_legs_v2.launch
similarity index 68%
rename from tor_description/robots/upload_legs_v2.launch
rename to talos_description/robots/upload_legs_v2.launch
index 87688ef3ee2232558837a188ed64840cf4c574a0..b554fd58360bc283bb6aeffffc9a5aa393523226 100644
--- a/tor_description/robots/upload_legs_v2.launch
+++ b/talos_description/robots/upload_legs_v2.launch
@@ -3,6 +3,6 @@
<arg name="robot" default="titanium"/>
<!-- Robot description -->
- <param name="robot_description" command="$(find xacro)/xacro.py '$(find tor_description)/robots/tor_lower_body_v2.urdf.xacro'" />
+ <param name="robot_description" command="$(find xacro)/xacro.py '$(find talos_description)/robots/talos_lower_body_v2.urdf.xacro'" />
</launch>
diff --git a/tor_description/robots/upload_torso.launch b/talos_description/robots/upload_torso.launch
similarity index 64%
rename from tor_description/robots/upload_torso.launch
rename to talos_description/robots/upload_torso.launch
index 535338e38226092f91849b2facf8c3b1934dc7a0..0bda81247edd6bc4a909bef0e17a5dfa486e4a65 100644
--- a/tor_description/robots/upload_torso.launch
+++ b/talos_description/robots/upload_torso.launch
@@ -1,6 +1,6 @@
<launch>
<!-- Robot description -->
- <param name="robot_description" command="$(find xacro)/xacro.py '$(find tor_description)/robots/tor_torso.urdf.xacro'" />
+ <param name="robot_description" command="$(find xacro)/xacro.py '$(find talos_description)/robots/talos_talos.urdf.xacro'" />
</launch>
diff --git a/tor_description/urdf/arm/arm.transmission.xacro b/talos_description/urdf/arm/arm.transmission.xacro
similarity index 84%
rename from tor_description/urdf/arm/arm.transmission.xacro
rename to talos_description/urdf/arm/arm.transmission.xacro
index 558cd993bc96bb6ec29fe236f0779131cfae368a..3b621fc91d611940c3090452378d8508fe7b00e0 100644
--- a/tor_description/urdf/arm/arm.transmission.xacro
+++ b/talos_description/urdf/arm/arm.transmission.xacro
@@ -10,12 +10,12 @@
-->
<robot xmlns:xacro="http://ros.org/wiki/xacro">
- <xacro:macro name="tor_arm_simple_transmission" params="name side number reduction" >
+ <xacro:macro name="talos_arm_simple_transmission" params="name side number reduction" >
<transmission name="${name}_${side}_${number}_trans">
<type>transmission_interface/SimpleTransmission</type>
- <actuator name="${name}_${side}_${number}_motor" >
+ <actuatalos name="${name}_${side}_${number}_motalos" >
<mechanicalReduction>${reduction}</mechanicalReduction>
- </actuator>
+ </actuatalos>
<joint name="${name}_${side}_${number}_joint">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
diff --git a/tor_description/urdf/arm/arm.urdf.xacro b/talos_description/urdf/arm/arm.urdf.xacro
similarity index 85%
rename from tor_description/urdf/arm/arm.urdf.xacro
rename to talos_description/urdf/arm/arm.urdf.xacro
index 967b3dc749573549483114b8a25077f46c5dfd1f..1c7f08a94c68b84a1a522e352bcf39b10e069106 100644
--- a/tor_description/urdf/arm/arm.urdf.xacro
+++ b/talos_description/urdf/arm/arm.urdf.xacro
@@ -11,9 +11,9 @@
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<!--File includes-->
- <xacro:include filename="$(find tor_description)/urdf/deg_to_rad.xacro" />
- <xacro:include filename="$(find tor_description)/urdf/arm/wrist.urdf.xacro" />
- <xacro:include filename="$(find tor_description)/urdf/arm/arm.transmission.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/deg_to_rad.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/arm/wrist.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/arm/arm.transmission.xacro" />
<!--Constant parameters-->
<xacro:property name="arm_friction" value="1.0" />
@@ -29,7 +29,7 @@
<xacro:property name="arm_eps" value="0.02" />
- <xacro:macro name="tor_arm" params="name parent side reflect">
+ <xacro:macro name="talos_arm" params="name parent side reflect">
<!--************************-->
<!-- SHOULDER -->
@@ -47,14 +47,14 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://tor_description/meshes/arm/arm_1.STL" scale="1 ${reflect} 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_1.STL" scale="1 ${reflect} 1"/>
</geometry>
<material name="DarkGrey" />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://tor_description/meshes/arm/arm_1_collision.STL" scale="1 ${reflect} 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_1_collision.STL" scale="1 ${reflect} 1"/>
</geometry>
</collision>
</link>
@@ -90,14 +90,14 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://tor_description/meshes/arm/arm_2.STL" scale="1 ${reflect} 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_2.STL" scale="1 ${reflect} 1"/>
</geometry>
<material name="DarkGrey" />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://tor_description/meshes/arm/arm_2_collision.STL" scale="1 ${reflect} 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_2_collision.STL" scale="1 ${reflect} 1"/>
</geometry>
</collision>
</link>
@@ -134,14 +134,14 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://tor_description/meshes/arm/arm_3.STL" scale="1 ${reflect} 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_3.STL" scale="1 ${reflect} 1"/>
</geometry>
<material name="DarkGrey" />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://tor_description/meshes/arm/arm_3_collision.STL" scale="1 ${reflect} 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_3_collision.STL" scale="1 ${reflect} 1"/>
</geometry>
</collision>
</link>
@@ -176,14 +176,14 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://tor_description/meshes/arm/arm_4.STL" scale="1 ${reflect} 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_4.STL" scale="1 ${reflect} 1"/>
</geometry>
<material name="DarkGrey" />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://tor_description/meshes/arm/arm_4_collision.STL" scale="1 ${reflect} 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_4_collision.STL" scale="1 ${reflect} 1"/>
</geometry>
</collision>
</link>
@@ -236,7 +236,7 @@
<!--************************-->
<!-- WRIST -->
<!--************************-->
- <xacro:tor_wrist name="arm" parent="${name}_${side}_4_link" side="${side}" reflect="${reflect}" />
+ <xacro:talos_wrist name="arm" parent="${name}_${side}_4_link" side="${side}" reflect="${reflect}" />
<!--***********************-->
<!-- TOOL -->
@@ -273,10 +273,10 @@
</joint>
-->
<!-- extensions -->
- <xacro:tor_arm_simple_transmission name="${name}" side="${side}" number="1" reduction="1.0" />
- <xacro:tor_arm_simple_transmission name="${name}" side="${side}" number="2" reduction="1.0" />
- <xacro:tor_arm_simple_transmission name="${name}" side="${side}" number="3" reduction="1.0" />
- <xacro:tor_arm_simple_transmission name="${name}" side="${side}" number="4" reduction="1.0" />
+ <xacro:talos_arm_simple_transmission name="${name}" side="${side}" number="1" reduction="1.0" />
+ <xacro:talos_arm_simple_transmission name="${name}" side="${side}" number="2" reduction="1.0" />
+ <xacro:talos_arm_simple_transmission name="${name}" side="${side}" number="3" reduction="1.0" />
+ <xacro:talos_arm_simple_transmission name="${name}" side="${side}" number="4" reduction="1.0" />
</xacro:macro>
diff --git a/tor_description/urdf/arm/wrist.transmission.xacro b/talos_description/urdf/arm/wrist.transmission.xacro
similarity index 81%
rename from tor_description/urdf/arm/wrist.transmission.xacro
rename to talos_description/urdf/arm/wrist.transmission.xacro
index f76c5a93169c2e327adb575c0f0f41e058be654a..611f165279394f4c36320a5128878e3fb9b62feb 100644
--- a/tor_description/urdf/arm/wrist.transmission.xacro
+++ b/talos_description/urdf/arm/wrist.transmission.xacro
@@ -10,12 +10,12 @@
-->
<robot xmlns:xacro="http://ros.org/wiki/xacro">
- <xacro:macro name="tor_wrist_simple_transmission" params="name side number reduction" >
+ <xacro:macro name="talos_wrist_simple_transmission" params="name side number reduction" >
<transmission name="${name}_${side}_${number}_trans">
<type>transmission_interface/SimpleTransmission</type>
- <actuator name="${name}_${side}_${number}_motor" >
+ <actuatalos name="${name}_${side}_${number}_motalos" >
<mechanicalReduction>${reduction}</mechanicalReduction>
- </actuator>
+ </actuatalos>
<joint name="${name}_${side}_${number}_joint">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
@@ -23,18 +23,18 @@
</transmission>
</xacro:macro>
- <xacro:macro name="tor_wrist_differential_transmission"
+ <xacro:macro name="talos_wrist_differential_transmission"
params="name side number_1 number_2 act_reduction_1 act_reduction_2 jnt_reduction_1 jnt_reduction_2" >
<transmission name="wrist_${side}_trans">
<type>transmission_interface/DifferentialTransmission</type>
- <actuator name="${name}_${side}_${number_1}_motor">
- <role>actuator1</role>
+ <actuatalos name="${name}_${side}_${number_1}_motalos">
+ <role>actuatalos1</role>
<mechanicalReduction>${act_reduction_1}</mechanicalReduction>
- </actuator>
- <actuator name="${name}_${side}_${number_2}_motor">
- <role>actuator2</role>
+ </actuatalos>
+ <actuatalos name="${name}_${side}_${number_2}_motalos">
+ <role>actuatalos2</role>
<mechanicalReduction>${act_reduction_2}</mechanicalReduction>
- </actuator>
+ </actuatalos>
<joint name="${name}_${side}_${number_1}_joint">
<role>joint1</role>
<offset>0.0</offset>
diff --git a/tor_description/urdf/arm/wrist.urdf.xacro b/talos_description/urdf/arm/wrist.urdf.xacro
similarity index 86%
rename from tor_description/urdf/arm/wrist.urdf.xacro
rename to talos_description/urdf/arm/wrist.urdf.xacro
index f7c8fe422e063e2f5814c0e4da905ca789925b5a..f2c3af786290b92b0d798399ef8ca54a7a002ba6 100644
--- a/tor_description/urdf/arm/wrist.urdf.xacro
+++ b/talos_description/urdf/arm/wrist.urdf.xacro
@@ -11,8 +11,8 @@
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<!--File includes-->
- <xacro:include filename="$(find tor_description)/urdf/deg_to_rad.xacro" />
- <xacro:include filename="$(find tor_description)/urdf/arm/wrist.transmission.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/deg_to_rad.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/arm/wrist.transmission.xacro" />
<!--Constant parameters-->
<xacro:property name="wrist_friction" value="1.0" />
@@ -26,7 +26,7 @@
<xacro:property name="wrist_eps" value="0.02" />
- <xacro:macro name="tor_wrist" params="name parent side reflect">
+ <xacro:macro name="talos_wrist" params="name parent side reflect">
<!--************************-->
<!-- WRIST -->
@@ -43,14 +43,14 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://tor_description/meshes/arm/arm_5.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_5.STL" scale="1 1 1"/>
</geometry>
<material name="LightGrey" />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://tor_description/meshes/arm/arm_5_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_5_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -88,14 +88,14 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://tor_description/meshes/arm/arm_6.STL" scale="1 ${reflect} 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_6.STL" scale="1 ${reflect} 1"/>
</geometry>
<material name="LightGrey" />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://tor_description/meshes/arm/arm_6_collision.STL" scale="1 ${reflect} 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_6_collision.STL" scale="1 ${reflect} 1"/>
</geometry>
</collision>
</link>
@@ -127,7 +127,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://tor_description/meshes/arm/arm_7.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_7.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey" />
</visual>
@@ -135,7 +135,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://tor_description/meshes/arm/arm_7_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_7_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -181,8 +181,8 @@
</gazebo>
<!-- extensions -->
- <xacro:tor_wrist_simple_transmission name="${name}" side="${side}" number="5" reduction="1.0" />
- <xacro:tor_wrist_differential_transmission name="${name}" side="${side}" number_1="6" number_2="7"
+ <xacro:talos_wrist_simple_transmission name="${name}" side="${side}" number="5" reduction="1.0" />
+ <xacro:talos_wrist_differential_transmission name="${name}" side="${side}" number_1="6" number_2="7"
act_reduction_1="-1.0" act_reduction_2="1.0"
jnt_reduction_1="-1.0" jnt_reduction_2="${-reflect}" />
diff --git a/tor_description/urdf/deg_to_rad.xacro b/talos_description/urdf/deg_to_rad.xacro
similarity index 100%
rename from tor_description/urdf/deg_to_rad.xacro
rename to talos_description/urdf/deg_to_rad.xacro
diff --git a/tor_description/urdf/gripper/gripper.urdf.xacro b/talos_description/urdf/gripper/gripper.urdf.xacro
similarity index 71%
rename from tor_description/urdf/gripper/gripper.urdf.xacro
rename to talos_description/urdf/gripper/gripper.urdf.xacro
index 965ec54913df693fe5a341a8e4437880ecd8dfda..30999e2fb5d063340e85463f33d0a48be9501022 100644
--- a/tor_description/urdf/gripper/gripper.urdf.xacro
+++ b/talos_description/urdf/gripper/gripper.urdf.xacro
@@ -3,12 +3,12 @@
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<!--File includes-->
- <!-- <xacro:include filename="$(find tor_description)/urdf/deg_to_rad.urdf.xacro" />
- <xacro:include filename="$(find tor_description)/urdf/gripper.transmission.xacro" />
- <xacro:include filename="$(find tor_description)/urdf/gripper.gazebo.xacro" /> -->
+ <!-- <xacro:include filename="$(find talos_description)/urdf/deg_to_rad.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/gripper.transmission.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/gripper.gazebo.xacro" /> -->
- <xacro:macro name="tor_gripper" params="name parent">
+ <xacro:macro name="talos_gripper" params="name parent">
<link name="${name}_base_link">
<inertial>
@@ -21,14 +21,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
- <mesh filename="package://tor_description/meshes/gripper/base_link.STL"/>
+ <mesh filename="package://talos_description/meshes/gripper/base_link.STL"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
- <mesh filename="package://tor_description/meshes/gripper/base_link_collision.STL"/>
+ <mesh filename="package://talos_description/meshes/gripper/base_link_collision.STL"/>
</geometry>
</collision>
</link>
@@ -51,14 +51,14 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
- <mesh filename="package://tor_description/meshes/gripper/gripper_simple.STL"/>
+ <mesh filename="package://talos_description/meshes/gripper/gripper_simple.STL"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
- <mesh filename="package://tor_description/meshes/gripper/gripper_simple_collision.STL"/>
+ <mesh filename="package://talos_description/meshes/gripper/gripper_simple_collision.STL"/>
</geometry>
</collision>
</link>
diff --git a/tor_description/urdf/gripper/gripper_v2.urdf.xacro b/talos_description/urdf/gripper/gripper_v2.urdf.xacro
similarity index 72%
rename from tor_description/urdf/gripper/gripper_v2.urdf.xacro
rename to talos_description/urdf/gripper/gripper_v2.urdf.xacro
index adf75754af358b81f47415f6641c653e056313c5..d88f434d6478bb49a08e797f1a755b88ab41d8b0 100644
--- a/tor_description/urdf/gripper/gripper_v2.urdf.xacro
+++ b/talos_description/urdf/gripper/gripper_v2.urdf.xacro
@@ -3,12 +3,12 @@
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<!--File includes-->
- <!-- <xacro:include filename="$(find tor_description)/urdf/deg_to_rad.urdf.xacro" />
- <xacro:include filename="$(find tor_description)/urdf/gripper.transmission.xacro" />
- <xacro:include filename="$(find tor_description)/urdf/gripper.gazebo.xacro" /> -->
+ <!-- <xacro:include filename="$(find talos_description)/urdf/deg_to_rad.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/gripper.transmission.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/gripper.gazebo.xacro" /> -->
- <xacro:macro name="tor_gripper" params="name parent">
+ <xacro:macro name="talos_gripper" params="name parent">
<link name="${name}_base_link">
<inertial>
@@ -22,14 +22,14 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://tor_description/meshes/gripper/base_link.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/base_link.STL" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://tor_description/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -42,10 +42,10 @@
<axis xyz="0 0 0" />
</joint>
- <!-- Joint gripper_motor_double (None) : child link -- -> parent link gripper_base_link -->
+ <!-- Joint gripper_motalos_double (None) : child link -- -> parent link gripper_base_link -->
- <link name="${name}_motor_double_link">
+ <link name="${name}_motalos_double_link">
<inertial>
<origin xyz="0.02270 0.01781 -0.00977" rpy="0.00000 0.00000 0.00000"/>
<mass value="0.16889"/>
@@ -57,21 +57,21 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://tor_description/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/gripper_motalos_double.STL" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://tor_description/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/gripper_motalos_double_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
- <joint name="${name}_motor_double_joint" type="revolute">
+ <joint name="${name}_motalos_double_joint" type="revolute">
<parent link="${name}_base_link"/>
- <child link="${name}_motor_double_link"/>
+ <child link="${name}_motalos_double_link"/>
<origin xyz="0.00000 0.02025 -0.03000"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<!-- You may want to change axis -->
@@ -93,14 +93,14 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://tor_description/meshes/gripper/inner_double.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/inner_double.STL" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://tor_description/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -113,7 +113,7 @@
<!-- You may want to change axis -->
<axis xyz="0 0 1" />
<limit lower="${0.00000 * deg_to_rad}" upper="${0.00000 * deg_to_rad}" effort="1.0" velocity="1.0" />
- <mimic joint="${name}_motor_double_joint" multiplier="${1.0}" offset="0.0" />
+ <mimic joint="${name}_motalos_double_joint" multiplier="${1.0}" offset="0.0" />
</joint>
diff --git a/tor_description/urdf/head/head.transmission.xacro b/talos_description/urdf/head/head.transmission.xacro
similarity index 83%
rename from tor_description/urdf/head/head.transmission.xacro
rename to talos_description/urdf/head/head.transmission.xacro
index c4d892b25330a2ab78c93a1eca2b05f5bd36f5c1..a9871cbd4240928cc2ea44b69873ce69dc3bdfea 100644
--- a/tor_description/urdf/head/head.transmission.xacro
+++ b/talos_description/urdf/head/head.transmission.xacro
@@ -10,18 +10,18 @@
-->
<robot xmlns:xacro="http://ros.org/wiki/xacro">
- <xacro:macro name="tor_head_differential_transmission"
+ <xacro:macro name="talos_head_differential_transmission"
params="name number1 number2 act_reduction1 act_reduction2 jnt_reduction1 jnt_reduction2" >
- <transmission name="torso_trans">
+ <transmission name="talos_trans">
<type>transmission_interface/DifferentialTransmission</type>
- <actuator name="${name}_${number1}_motor">
- <role>actuator1</role>
+ <actuatalos name="${name}_${number1}_motalos">
+ <role>actuatalos1</role>
<mechanicalReduction>${act_reduction1}</mechanicalReduction>
- </actuator>
- <actuator name="${name}_${number2}_motor">
- <role>actuator2</role>
+ </actuatalos>
+ <actuatalos name="${name}_${number2}_motalos">
+ <role>actuatalos2</role>
<mechanicalReduction>${act_reduction2}</mechanicalReduction>
- </actuator>
+ </actuatalos>
<joint name="${name}_${number1}_joint">
<role>joint1</role>
<offset>0.0</offset>
diff --git a/tor_description/urdf/head/head.urdf.xacro b/talos_description/urdf/head/head.urdf.xacro
similarity index 81%
rename from tor_description/urdf/head/head.urdf.xacro
rename to talos_description/urdf/head/head.urdf.xacro
index ea56e823638639adc41154868d77ec9a6c97fc66..a24c9c9be38f94b645c5d9c6188e31e08775659d 100644
--- a/tor_description/urdf/head/head.urdf.xacro
+++ b/talos_description/urdf/head/head.urdf.xacro
@@ -11,9 +11,9 @@
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<!--File includes-->
- <xacro:include filename="$(find tor_description)/urdf/deg_to_rad.xacro" />
- <xacro:include filename="$(find tor_description)/urdf/head/head.transmission.xacro" />
- <xacro:include filename="$(find tor_description)/urdf/sensors/orbbec_astra_pro.urdf.xacro" />
+ <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="$(find talos_description)/urdf/sensors/orbbec_astra_pro.urdf.xacro" />
<!--Constant parameters-->
<xacro:property name="head_friction" value="1.0" />
@@ -24,7 +24,7 @@
<!--************************-->
<!-- HEAD_1 (TILT) -->
<!--************************-->
- <xacro:macro name="tor_head_1" params="name parent">
+ <xacro:macro name="talos_head_1" params="name parent">
<link name="${name}_link">
<inertial>
<origin xyz="0.00120 0.00145 0.02165" rpy="0.00000 0.00000 0.00000"/>
@@ -37,7 +37,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://tor_description/meshes/head/head_1.stl" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/head/head_1.stl" scale="1 1 1"/>
</geometry>
<material name="DarkGrey" />
</visual>
@@ -45,7 +45,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://tor_description/meshes/head/head_1_collision.stl" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/head/head_1_collision.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -77,7 +77,7 @@
<!--************************-->
<!-- HEAD_2 (PAN) -->
<!--************************-->
- <xacro:macro name="tor_head_2" params="name parent">
+ <xacro:macro name="talos_head_2" params="name parent">
<link name="${name}_link">
<inertial>
<origin xyz="-0.01036 -0.00037 0.13778" rpy="0.00000 0.00000 0.00000"/>
@@ -90,7 +90,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://tor_description/meshes/head/head_2.stl" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/head/head_2.stl" scale="1 1 1"/>
</geometry>
<material name="LightGrey" />
</visual>
@@ -98,7 +98,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://tor_description/meshes/head/head_2_collision.stl" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/head/head_2_collision.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -129,16 +129,16 @@
</xacro:macro>
- <xacro:macro name="tor_head" params="name parent">
- <xacro:tor_head_1 name="${name}_1" parent="${parent}" />
- <xacro:tor_head_2 name="${name}_2" parent="${name}_1_link"/>
+ <xacro:macro name="talos_head" params="name parent">
+ <xacro:talos_head_1 name="${name}_1" parent="${parent}" />
+ <xacro:talos_head_2 name="${name}_2" parent="${name}_1_link"/>
<xacro:xtion_pro_live name="rgbd" parent="${name}_2">
<!-- Pose of sensor frame wrt to base -->
<origin xyz="0.066 0.0 0.1982" rpy="0 0 0"/>
<!-- Pose of optical frame wrt to sensor -->
<origin xyz="0 0 0" rpy="${-90 * deg_to_rad} 0 ${-90 * deg_to_rad}"/>
</xacro:xtion_pro_live>
- <xacro:tor_head_differential_transmission name="${name}" number1="1" number2="2"
+ <xacro:talos_head_differential_transmission name="${name}" number1="1" number2="2"
act_reduction1="1.0" act_reduction2="1.0"
jnt_reduction1="1.0" jnt_reduction2="1.0" />
</xacro:macro>
diff --git a/tor_description/urdf/leg/leg.transmission.xacro b/talos_description/urdf/leg/leg.transmission.xacro
similarity index 79%
rename from tor_description/urdf/leg/leg.transmission.xacro
rename to talos_description/urdf/leg/leg.transmission.xacro
index 65b26a1573e9eba450a92709588bcd0bcc4d0f6b..c2a50e8def8f9f6679755f843ec1eec26318a81e 100644
--- a/tor_description/urdf/leg/leg.transmission.xacro
+++ b/talos_description/urdf/leg/leg.transmission.xacro
@@ -8,14 +8,14 @@
To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
-->
-<robot name="tor" xmlns:xacro="http://ros.org/wiki/xacro">
+<robot name="talos" xmlns:xacro="http://ros.org/wiki/xacro">
- <xacro:macro name="tor_leg_simple_transmission" params="side number reduction" >
+ <xacro:macro name="talos_leg_simple_transmission" params="side number reduction" >
<transmission name="leg_${side}_${number}_trans">
<type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_${side}_${number}_motor" >
+ <actuatalos name="leg_${side}_${number}_motalos" >
<mechanicalReduction>${reduction}</mechanicalReduction>
- </actuator>
+ </actuatalos>
<joint name="leg_${side}_${number}_joint">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
diff --git a/tor_description/urdf/leg/leg.urdf.xacro b/talos_description/urdf/leg/leg.urdf.xacro
similarity index 88%
rename from tor_description/urdf/leg/leg.urdf.xacro
rename to talos_description/urdf/leg/leg.urdf.xacro
index 63219ec0c74f2c1530ceda020d4991808f3d2586..71ded42aea29d3588582bca4746295b62091e2ff 100644
--- a/tor_description/urdf/leg/leg.urdf.xacro
+++ b/talos_description/urdf/leg/leg.urdf.xacro
@@ -1,12 +1,12 @@
<?xml version="1.0"?>
-<robot name="tor" xmlns:xacro="http://ros.org/wiki/xacro" >
+<robot name="talos" xmlns:xacro="http://ros.org/wiki/xacro" >
- <xacro:include filename="$(find tor_description)/urdf/leg/leg.transmission.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/leg/leg.transmission.xacro" />
<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="tor_leg" params="prefix reflect">
+ <xacro:macro name="talos_leg" params="prefix reflect">
<link name="leg_${prefix}_1_link">
<inertial>
@@ -18,7 +18,7 @@
<visual>
<origin rpy="0 0 3.14" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tor_description/meshes/hipZ.STL" scale="1 ${reflect*1} 1"/>
+ <mesh filename="package://talos_description/meshes/hipZ.STL" scale="1 ${reflect*1} 1"/>
</geometry>
<!-- <material name="LightGrey" /> -->
</visual>
@@ -60,7 +60,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tor_description/meshes/femur.STL" scale="1 ${reflect*1} 1"/>
+ <mesh filename="package://talos_description/meshes/femur.STL" scale="1 ${reflect*1} 1"/>
</geometry>
<!-- <material name="LightGrey" /> -->
</visual>
@@ -90,7 +90,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tor_description/meshes/tibia.STL" scale="1 ${reflect*1} 1"/>
+ <mesh filename="package://talos_description/meshes/tibia.STL" scale="1 ${reflect*1} 1"/>
</geometry>
<!-- <material name="LightGrey" /> -->
</visual>
@@ -138,7 +138,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tor_description/meshes/foot.STL" scale="1 ${reflect*1} 1"/>
+ <mesh filename="package://talos_description/meshes/foot.STL" scale="1 ${reflect*1} 1"/>
</geometry>
<!-- <material name="LightGrey" /> -->
</visual>
@@ -247,12 +247,12 @@
<dynamics friction="${leg_friction}" damping="${leg_damping}"/>
</joint>
- <xacro:tor_leg_simple_transmission side="${prefix}" number="1" reduction="${leg_reduction}" />
- <xacro:tor_leg_simple_transmission side="${prefix}" number="2" reduction="${leg_reduction}" />
- <xacro:tor_leg_simple_transmission side="${prefix}" number="3" reduction="${leg_reduction}" />
- <xacro:tor_leg_simple_transmission side="${prefix}" number="4" reduction="${leg_reduction}" />
- <xacro:tor_leg_simple_transmission side="${prefix}" number="5" reduction="${leg_reduction}" />
- <xacro:tor_leg_simple_transmission side="${prefix}" number="6" reduction="${leg_reduction}" />
+ <xacro:talos_leg_simple_transmission side="${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>
diff --git a/tor_description/urdf/leg/leg_v2.urdf.xacro b/talos_description/urdf/leg/leg_v2.urdf.xacro
similarity index 82%
rename from tor_description/urdf/leg/leg_v2.urdf.xacro
rename to talos_description/urdf/leg/leg_v2.urdf.xacro
index 5aa0895606c3e8fe832bb3dab8586c63e2b5822c..9b298279d2ce6f605a3b467d21c89417acc84244 100644
--- a/tor_description/urdf/leg/leg_v2.urdf.xacro
+++ b/talos_description/urdf/leg/leg_v2.urdf.xacro
@@ -1,8 +1,8 @@
<?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="tor">
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="talos">
- <xacro:include filename="$(find tor_description)/urdf/leg/leg.transmission.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/leg/leg.transmission.xacro" />
<xacro:property name="deg_to_rad" value="0.01745329251994329577" />
<xacro:property name="eps_radians" value="0.008" /> <!-- 0.45deg -->
@@ -12,7 +12,7 @@
<xacro:property name="leg_damping" value="0.0" />
- <xacro:macro name="tor_leg" params="prefix reflect">
+ <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">
@@ -27,7 +27,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tor_description/meshes/v2/hip_z_lo_res.stl" scale="1 ${reflect*1} 1"/>
+ <mesh filename="package://talos_description/meshes/v2/hip_z_lo_res.stl" scale="1 ${reflect*1} 1"/>
</geometry>
<material name="DarkGrey" />
</visual>
@@ -35,7 +35,7 @@
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tor_description/meshes/v2/hip_z_collision.stl" scale="1 ${reflect*1} 1"/>
+ <mesh filename="package://talos_description/meshes/v2/hip_z_collision.stl" scale="1 ${reflect*1} 1"/>
</geometry>
</collision>
</link>
@@ -70,7 +70,7 @@
<visual>
<origin xyz="0 0 0.0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://tor_description/meshes/v2/hip_x_lo_res.stl" scale="1 ${reflect*1} 1"/>
+ <mesh filename="package://talos_description/meshes/v2/hip_x_lo_res.stl" scale="1 ${reflect*1} 1"/>
</geometry>
<material name="DarkGrey" />
</visual>
@@ -78,7 +78,7 @@
<collision>
<origin xyz="0 0 0.0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://tor_description/meshes/v2/hip_x_collision.stl" scale="1 ${reflect*1} 1"/>
+ <mesh filename="package://talos_description/meshes/v2/hip_x_collision.stl" scale="1 ${reflect*1} 1"/>
</geometry>
</collision>
</link>
@@ -107,7 +107,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tor_description/meshes/v2/hip_y_lo_res.stl" scale="1 ${reflect*1} 1"/>
+ <mesh filename="package://talos_description/meshes/v2/hip_y_lo_res.stl" scale="1 ${reflect*1} 1"/>
</geometry>
<material name="DarkGrey" />
</visual>
@@ -115,7 +115,7 @@
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tor_description/meshes/v2/hip_y_collision.stl" scale="1 ${reflect*1} 1"/>
+ <mesh filename="package://talos_description/meshes/v2/hip_y_collision.stl" scale="1 ${reflect*1} 1"/>
</geometry>
</collision>
</link>
@@ -144,7 +144,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tor_description/meshes/v2/knee_lo_res.stl" scale="1 ${reflect*1} 1"/>
+ <mesh filename="package://talos_description/meshes/v2/knee_lo_res.stl" scale="1 ${reflect*1} 1"/>
</geometry>
<material name="DarkGrey" />
</visual>
@@ -152,7 +152,7 @@
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tor_description/meshes/v2/knee_collision.stl" scale="1 ${reflect*1} 1"/>
+ <mesh filename="package://talos_description/meshes/v2/knee_collision.stl" scale="1 ${reflect*1} 1"/>
</geometry>
</collision>
</link>
@@ -182,7 +182,7 @@
<visual>
<origin xyz="0 0 0.0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://tor_description/meshes/v2/ankle_Y_lo_res.stl" scale="1 ${reflect*1} 1"/>
+ <mesh filename="package://talos_description/meshes/v2/ankle_Y_lo_res.stl" scale="1 ${reflect*1} 1"/>
</geometry>
<material name="Grey" />
</visual>
@@ -190,7 +190,7 @@
<collision>
<origin xyz="0 0 0.0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://tor_description/meshes/v2/ankle_Y_collision.stl" scale="1 ${reflect*1} 1"/>
+ <mesh filename="package://talos_description/meshes/v2/ankle_Y_collision.stl" scale="1 ${reflect*1} 1"/>
</geometry>
</collision>
</link>
@@ -219,7 +219,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://tor_description/meshes/v2/ankle_X_lo_res.stl" scale="1 ${reflect*1} 1"/>
+ <mesh filename="package://talos_description/meshes/v2/ankle_X_lo_res.stl" scale="1 ${reflect*1} 1"/>
</geometry>
<material name="Grey" />
</visual>
@@ -228,7 +228,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://tor_description/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
+ <mesh filename="package://talos_description/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
</geometry>
</collision>
@@ -271,12 +271,12 @@
<dynamics friction="${leg_friction}" damping="${leg_damping}"/>
</joint>
- <xacro:tor_leg_simple_transmission side="${prefix}" number="1" reduction="${leg_reduction}" />
- <xacro:tor_leg_simple_transmission side="${prefix}" number="2" reduction="${leg_reduction}" />
- <xacro:tor_leg_simple_transmission side="${prefix}" number="3" reduction="${leg_reduction}" />
- <xacro:tor_leg_simple_transmission side="${prefix}" number="4" reduction="${leg_reduction}" />
- <xacro:tor_leg_simple_transmission side="${prefix}" number="5" reduction="${leg_reduction}" />
- <xacro:tor_leg_simple_transmission side="${prefix}" number="6" reduction="${leg_reduction}" />
+ <xacro:talos_leg_simple_transmission side="${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>
diff --git a/tor_description/urdf/materials.urdf.xacro b/talos_description/urdf/materials.urdf.xacro
similarity index 100%
rename from tor_description/urdf/materials.urdf.xacro
rename to talos_description/urdf/materials.urdf.xacro
diff --git a/tor_description/urdf/sensors/back_camera.urdf.xacro b/talos_description/urdf/sensors/back_camera.urdf.xacro
similarity index 100%
rename from tor_description/urdf/sensors/back_camera.urdf.xacro
rename to talos_description/urdf/sensors/back_camera.urdf.xacro
diff --git a/tor_description/urdf/sensors/calibration.xacro b/talos_description/urdf/sensors/calibration.xacro
similarity index 100%
rename from tor_description/urdf/sensors/calibration.xacro
rename to talos_description/urdf/sensors/calibration.xacro
diff --git a/tor_description/urdf/sensors/ftsensor.gazebo.xacro b/talos_description/urdf/sensors/ftsensor.gazebo.xacro
similarity index 92%
rename from tor_description/urdf/sensors/ftsensor.gazebo.xacro
rename to talos_description/urdf/sensors/ftsensor.gazebo.xacro
index 6cafe214563c1758f6454b7002cde6f08c958c29..603ab7dbb0fd8f568eb096b38e34acfa4bf09752 100644
--- a/tor_description/urdf/sensors/ftsensor.gazebo.xacro
+++ b/talos_description/urdf/sensors/ftsensor.gazebo.xacro
@@ -10,7 +10,7 @@
<robot name="reemc" xmlns:xacro="http://ros.org/wiki/xacro">
-<xacro:macro name="reemc_force_torque_sensor" params="name update_rate">
+<xacro:macro name="reemc_force_talosque_sensor" params="name update_rate">
<gazebo reference="${name}">
<sensor name="${name}_contact_sensor" type="contact">
<pose>0.105 0.071 0 0 0 0</pose>
diff --git a/tor_description/urdf/sensors/ftsensor.urdf.xacro b/talos_description/urdf/sensors/ftsensor.urdf.xacro
similarity index 100%
rename from tor_description/urdf/sensors/ftsensor.urdf.xacro
rename to talos_description/urdf/sensors/ftsensor.urdf.xacro
diff --git a/tor_description/urdf/sensors/imu.urdf.xacro b/talos_description/urdf/sensors/imu.urdf.xacro
similarity index 87%
rename from tor_description/urdf/sensors/imu.urdf.xacro
rename to talos_description/urdf/sensors/imu.urdf.xacro
index 114bca4b80544c4f65972536a6eec1968cbf9a93..05bd32c9e994302559ea7f39cdbc9c32e8be0c40 100644
--- a/tor_description/urdf/sensors/imu.urdf.xacro
+++ b/talos_description/urdf/sensors/imu.urdf.xacro
@@ -7,9 +7,9 @@
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="tor" xmlns:xacro="http://ros.org/wiki/xacro">
+<robot name="talos" xmlns:xacro="http://ros.org/wiki/xacro">
- <xacro:macro name="tor_imu" params="name parent update_rate *origin">
+ <xacro:macro name="talos_imu" params="name parent update_rate *origin">
<link name="${name}_link">
<inertial>
<mass value="0.01"/>
diff --git a/tor_description/urdf/sensors/laser.gazebo.xacro b/talos_description/urdf/sensors/laser.gazebo.xacro
similarity index 100%
rename from tor_description/urdf/sensors/laser.gazebo.xacro
rename to talos_description/urdf/sensors/laser.gazebo.xacro
diff --git a/tor_description/urdf/sensors/laser.urdf.xacro b/talos_description/urdf/sensors/laser.urdf.xacro
similarity index 100%
rename from tor_description/urdf/sensors/laser.urdf.xacro
rename to talos_description/urdf/sensors/laser.urdf.xacro
diff --git a/tor_description/urdf/sensors/mvbluefox_back_camera.gazebo.xacro b/talos_description/urdf/sensors/mvbluefox_back_camera.gazebo.xacro
similarity index 89%
rename from tor_description/urdf/sensors/mvbluefox_back_camera.gazebo.xacro
rename to talos_description/urdf/sensors/mvbluefox_back_camera.gazebo.xacro
index df00ee79929f66fa31aef740fa54ce6628ca76ce..8765c11b88e5d942378992e67d9112e1507c559c 100644
--- a/tor_description/urdf/sensors/mvbluefox_back_camera.gazebo.xacro
+++ b/talos_description/urdf/sensors/mvbluefox_back_camera.gazebo.xacro
@@ -43,11 +43,11 @@
<Cx>${(image_width+1)/2}</Cx>
<Cy>${(image_height+1)/2}</Cy>
<focalLength>${focal_length}</focalLength> <!-- image_width / (2*tan(hfov_radian /2)) -->
- <distortionK1>0.0</distortionK1>
- <distortionK2>0.0</distortionK2>
- <distortionK3>0.0</distortionK3>
- <distortionT1>0.0</distortionT1>
- <distortionT2>0.0</distortionT2>
+ <distalostionK1>0.0</distalostionK1>
+ <distalostionK2>0.0</distalostionK2>
+ <distalostionK3>0.0</distalostionK3>
+ <distalostionT1>0.0</distalostionT1>
+ <distalostionT2>0.0</distalostionT2>
</plugin>
</sensor>
diff --git a/tor_description/urdf/sensors/mvbluefox_camera.urdf.xacro b/talos_description/urdf/sensors/mvbluefox_camera.urdf.xacro
similarity index 100%
rename from tor_description/urdf/sensors/mvbluefox_camera.urdf.xacro
rename to talos_description/urdf/sensors/mvbluefox_camera.urdf.xacro
diff --git a/tor_description/urdf/sensors/openni.gazebo.xacro b/talos_description/urdf/sensors/openni.gazebo.xacro
similarity index 85%
rename from tor_description/urdf/sensors/openni.gazebo.xacro
rename to talos_description/urdf/sensors/openni.gazebo.xacro
index b0f20b1e82668259cef180e97bba5c9b7051bb5e..2c74e619ab0a03e95cc1793272566dfaa648b9bd 100644
--- a/tor_description/urdf/sensors/openni.gazebo.xacro
+++ b/talos_description/urdf/sensors/openni.gazebo.xacro
@@ -37,11 +37,11 @@
<pointCloudTopicName>/${camera_name}/depth/points</pointCloudTopicName>
<frameName>${frame_name}</frameName>
<pointCloudCutoff>0.5</pointCloudCutoff>
- <distortionK1>0.00000001</distortionK1>
- <distortionK2>0.00000001</distortionK2>
- <distortionK3>0.00000001</distortionK3>
- <distortionT1>0.00000001</distortionT1>
- <distortionT2>0.00000001</distortionT2>
+ <distalostionK1>0.00000001</distalostionK1>
+ <distalostionK2>0.00000001</distalostionK2>
+ <distalostionK3>0.00000001</distalostionK3>
+ <distalostionT1>0.00000001</distalostionT1>
+ <distalostionT2>0.00000001</distalostionT2>
</controller:gazebo_ros_openni_kinect>
</sensor:camera>
</gazebo>
@@ -66,11 +66,11 @@
<pointCloudTopicName>/${camera_name}/depth_registered/points</pointCloudTopicName>
<frameName>${frame_name}</frameName>
<pointCloudCutoff>0.5</pointCloudCutoff>
- <distortionK1>0.00000001</distortionK1>
- <distortionK2>0.00000001</distortionK2>
- <distortionK3>0.00000001</distortionK3>
- <distortionT1>0.00000001</distortionT1>
- <distortionT2>0.00000001</distortionT2>
+ <distalostionK1>0.00000001</distalostionK1>
+ <distalostionK2>0.00000001</distalostionK2>
+ <distalostionK3>0.00000001</distalostionK3>
+ <distalostionT1>0.00000001</distalostionT1>
+ <distalostionT2>0.00000001</distalostionT2>
</controller:gazebo_ros_openni_kinect>
</sensor:camera>
</gazebo>
diff --git a/tor_description/urdf/sensors/orbbec_astra_pro.urdf.xacro b/talos_description/urdf/sensors/orbbec_astra_pro.urdf.xacro
similarity index 95%
rename from tor_description/urdf/sensors/orbbec_astra_pro.urdf.xacro
rename to talos_description/urdf/sensors/orbbec_astra_pro.urdf.xacro
index a85bb9a0ece46429cdcedec171a898bf5b5b8f4d..81a7f457ac0d4b8fbb02ace500435f1638128950 100644
--- a/tor_description/urdf/sensors/orbbec_astra_pro.urdf.xacro
+++ b/talos_description/urdf/sensors/orbbec_astra_pro.urdf.xacro
@@ -24,7 +24,7 @@
-->
<robot xmlns:xacro="http://ros.org/wiki/xacro">
- <xacro:include filename="$(find tor_description)/urdf/sensors/xtion_pro_live.gazebo.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/sensors/xtion_pro_live.gazebo.xacro" />
<!-- Macro -->
<xacro:macro name="xtion_pro_live" params="name parent *origin *optical_origin">
@@ -50,7 +50,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
- <mesh filename="package://tor_description/meshes/sensors/orbbec/orbbec.STL" />
+ <mesh filename="package://talos_description/meshes/sensors/orbbec/orbbec.STL" />
</geometry>
<material name="DarkGrey">
<color rgba="0.5 0.5 0.5 1"/>
diff --git a/tor_description/urdf/sensors/prosilicaGC655C_camera.urdf.xacro b/talos_description/urdf/sensors/prosilicaGC655C_camera.urdf.xacro
similarity index 100%
rename from tor_description/urdf/sensors/prosilicaGC655C_camera.urdf.xacro
rename to talos_description/urdf/sensors/prosilicaGC655C_camera.urdf.xacro
diff --git a/tor_description/urdf/sensors/prosilica_stereo_camera.gazebo.xacro b/talos_description/urdf/sensors/prosilica_stereo_camera.gazebo.xacro
similarity index 90%
rename from tor_description/urdf/sensors/prosilica_stereo_camera.gazebo.xacro
rename to talos_description/urdf/sensors/prosilica_stereo_camera.gazebo.xacro
index 3cf6c280a2951fcfe03b5ec64db928cac7549f55..abfd2748d2dd73c906aca6003225c5fd9bee5ed9 100644
--- a/tor_description/urdf/sensors/prosilica_stereo_camera.gazebo.xacro
+++ b/talos_description/urdf/sensors/prosilica_stereo_camera.gazebo.xacro
@@ -52,11 +52,11 @@
<Cx>${(image_width+1)/2}</Cx>
<Cy>${(image_height+1)/2}</Cy>
<focalLength>${focal_length}</focalLength> <!-- image_width / (2*tan(hfov_radian /2)) -->
- <distortionK1>0.0</distortionK1>
- <distortionK2>0.0</distortionK2>
- <distortionK3>0.0</distortionK3>
- <distortionT1>0.0</distortionT1>
- <distortionT2>0.0</distortionT2>
+ <distalostionK1>0.0</distalostionK1>
+ <distalostionK2>0.0</distalostionK2>
+ <distalostionK3>0.0</distalostionK3>
+ <distalostionT1>0.0</distalostionT1>
+ <distalostionT2>0.0</distalostionT2>
</plugin>
</sensor>
</gazebo>
diff --git a/tor_description/urdf/sensors/range.gazebo.xacro b/talos_description/urdf/sensors/range.gazebo.xacro
similarity index 100%
rename from tor_description/urdf/sensors/range.gazebo.xacro
rename to talos_description/urdf/sensors/range.gazebo.xacro
diff --git a/tor_description/urdf/sensors/range.urdf.xacro b/talos_description/urdf/sensors/range.urdf.xacro
similarity index 100%
rename from tor_description/urdf/sensors/range.urdf.xacro
rename to talos_description/urdf/sensors/range.urdf.xacro
diff --git a/tor_description/urdf/sensors/stereo_camera.gazebo.xacro b/talos_description/urdf/sensors/stereo_camera.gazebo.xacro
similarity index 100%
rename from tor_description/urdf/sensors/stereo_camera.gazebo.xacro
rename to talos_description/urdf/sensors/stereo_camera.gazebo.xacro
diff --git a/tor_description/urdf/sensors/stereo_camera.urdf.xacro b/talos_description/urdf/sensors/stereo_camera.urdf.xacro
similarity index 100%
rename from tor_description/urdf/sensors/stereo_camera.urdf.xacro
rename to talos_description/urdf/sensors/stereo_camera.urdf.xacro
diff --git a/tor_description/urdf/sensors/xtion_pro_live.gazebo.xacro b/talos_description/urdf/sensors/xtion_pro_live.gazebo.xacro
similarity index 85%
rename from tor_description/urdf/sensors/xtion_pro_live.gazebo.xacro
rename to talos_description/urdf/sensors/xtion_pro_live.gazebo.xacro
index ac5c2622021546614d320a1e84aa45d9d61ca5ed..92066ecb9a0f93510308441fc2e5fd4979fe620d 100644
--- a/tor_description/urdf/sensors/xtion_pro_live.gazebo.xacro
+++ b/talos_description/urdf/sensors/xtion_pro_live.gazebo.xacro
@@ -49,11 +49,11 @@
<frameName>${name}_optical_frame</frameName>
<pointCloudCutoff>0.45</pointCloudCutoff>
<rangeMax>10.0</rangeMax>
- <distortionK1>0.00000001</distortionK1>
- <distortionK2>0.00000001</distortionK2>
- <distortionK3>0.00000001</distortionK3>
- <distortionT1>0.00000001</distortionT1>
- <distortionT2>0.00000001</distortionT2>
+ <distalostionK1>0.00000001</distalostionK1>
+ <distalostionK2>0.00000001</distalostionK2>
+ <distalostionK3>0.00000001</distalostionK3>
+ <distalostionT1>0.00000001</distalostionT1>
+ <distalostionT2>0.00000001</distalostionT2>
</plugin>
</sensor>
@@ -83,11 +83,11 @@
<frameName>${name}_optical_frame</frameName>
<pointCloudCutoff>0.45</pointCloudCutoff>
<rangeMax>10.0</rangeMax>
- <distortionK1>0.00000001</distortionK1>
- <distortionK2>0.00000001</distortionK2>
- <distortionK3>0.00000001</distortionK3>
- <distortionT1>0.00000001</distortionT1>
- <distortionT2>0.00000001</distortionT2>
+ <distalostionK1>0.00000001</distalostionK1>
+ <distalostionK2>0.00000001</distalostionK2>
+ <distalostionK3>0.00000001</distalostionK3>
+ <distalostionT1>0.00000001</distalostionT1>
+ <distalostionT2>0.00000001</distalostionT2>
</plugin>
</sensor>
</gazebo>
diff --git a/tor_description/urdf/sensors/xtion_pro_live.urdf.xacro b/talos_description/urdf/sensors/xtion_pro_live.urdf.xacro
similarity index 100%
rename from tor_description/urdf/sensors/xtion_pro_live.urdf.xacro
rename to talos_description/urdf/sensors/xtion_pro_live.urdf.xacro
diff --git a/tor_description/urdf/torso/torso.transmission.xacro b/talos_description/urdf/torso/torso.transmission.xacro
similarity index 83%
rename from tor_description/urdf/torso/torso.transmission.xacro
rename to talos_description/urdf/torso/torso.transmission.xacro
index db7414e3ed1ac0b908f5c21e4703de0aadfb882f..b4eaab257f9391050d784f5c9ff37a92bd62e03b 100644
--- a/tor_description/urdf/torso/torso.transmission.xacro
+++ b/talos_description/urdf/torso/torso.transmission.xacro
@@ -10,18 +10,18 @@
-->
<robot xmlns:xacro="http://ros.org/wiki/xacro">
- <xacro:macro name="tor_torso_differential_transmission"
+ <xacro:macro name="talos_talos_differential_transmission"
params="name number1 number2 act_reduction1 act_reduction2 jnt_reduction1 jnt_reduction2" >
- <transmission name="torso_trans">
+ <transmission name="talos_trans">
<type>transmission_interface/DifferentialTransmission</type>
- <actuator name="${name}_${number1}_motor">
- <role>actuator1</role>
+ <actuatalos name="${name}_${number1}_motalos">
+ <role>actuatalos1</role>
<mechanicalReduction>${act_reduction1}</mechanicalReduction>
- </actuator>
- <actuator name="${name}_${number2}_motor">
- <role>actuator2</role>
+ </actuatalos>
+ <actuatalos name="${name}_${number2}_motalos">
+ <role>actuatalos2</role>
<mechanicalReduction>${act_reduction2}</mechanicalReduction>
- </actuator>
+ </actuatalos>
<joint name="${name}_${number1}_joint">
<role>joint1</role>
<offset>0.0</offset>
diff --git a/tor_description/urdf/torso/torso.urdf.xacro b/talos_description/urdf/torso/torso.urdf.xacro
similarity index 77%
rename from tor_description/urdf/torso/torso.urdf.xacro
rename to talos_description/urdf/torso/torso.urdf.xacro
index 6527c1f02a01d6dce0dcb20550c69e48cd91e877..25b9f5e0b259aeeda3a75ddccb145010d0211429 100644
--- a/tor_description/urdf/torso/torso.urdf.xacro
+++ b/talos_description/urdf/torso/torso.urdf.xacro
@@ -11,16 +11,16 @@
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<!--File includes-->
- <xacro:include filename="$(find tor_description)/urdf/deg_to_rad.xacro" />
- <xacro:include filename="$(find tor_description)/urdf/torso/torso.transmission.xacro" />
- <xacro:include filename="$(find tor_description)/urdf/sensors/imu.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/deg_to_rad.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/talos/talos.transmission.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/sensors/imu.urdf.xacro" />
<!--Constant parameters-->
- <xacro:property name="torso_max_vel" value="5.4" />
- <xacro:property name="torso_max_effort" value="78.0" />
- <xacro:property name="torso_eps" value="0.02" />
+ <xacro:property name="talos_max_vel" value="5.4" />
+ <xacro:property name="talos_max_effort" value="78.0" />
+ <xacro:property name="talos_eps" value="0.02" />
- <xacro:macro name="tor_torso" params="name">
+ <xacro:macro name="talos_talos" params="name">
<!--************************-->
<!-- TORSO_2 (TILT) -->
<!--************************-->
@@ -36,7 +36,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://tor_description/meshes/torso/torso_2.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/talos/talos_2.STL" scale="1 1 1"/>
</geometry>
<material name="LightGrey" />
</visual>
@@ -44,7 +44,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://tor_description/meshes/torso/torso_2_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/talos/talos_2_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -64,14 +64,14 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://tor_description/meshes/torso/torso_1.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/talos/talos_1.STL" scale="1 1 1"/>
</geometry>
<material name="LightGrey" />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://tor_description/meshes/torso/torso_1.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/talos/talos_1.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -83,13 +83,13 @@
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="0 1 0" />
<limit lower="${-45.0 * deg_to_rad}" upper="${15.0 * deg_to_rad}"
- effort="${torso_max_effort}" velocity="${torso_max_vel}"/>
+ effort="${talos_max_effort}" velocity="${talos_max_vel}"/>
<dynamics damping="1.0" friction="1.0"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
- soft_lower_limit="${-15.0 * deg_to_rad + torso_eps}"
- soft_upper_limit="${ 45.0 * deg_to_rad - torso_eps}" /> -->
+ soft_lower_limit="${-15.0 * deg_to_rad + talos_eps}"
+ soft_upper_limit="${ 45.0 * deg_to_rad - talos_eps}" /> -->
</joint>
<!--************************-->
@@ -107,7 +107,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://tor_description/meshes/torso/base_link.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/talos/base_link.STL" scale="1 1 1"/>
</geometry>
<material name="LightGrey" />
</visual>
@@ -115,7 +115,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://tor_description/meshes/torso/base_link_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/talos/base_link_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -127,7 +127,7 @@
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="0 0 1" />
<limit lower="${-75.00000 * deg_to_rad}" upper="${75.00000 * deg_to_rad}"
- effort="${torso_max_effort}" velocity="${torso_max_vel}" />
+ effort="${talos_max_effort}" velocity="${talos_max_vel}" />
<dynamics friction="1.0" damping="1.0"/>
<!-- <safety_controller k_position="20"
@@ -137,9 +137,9 @@
</joint>
- <xacro:tor_imu name="imu" parent="${name}_2_link" update_rate="100.0">
+ <xacro:talos_imu name="imu" parent="${name}_2_link" update_rate="100.0">
<origin xyz="0.04925 0 0.078" rpy="${180.0*deg_to_rad} 0 ${-90.0*deg_to_rad}"/>
- </xacro:tor_imu>
+ </xacro:talos_imu>
<gazebo reference="${name}_1_link">
@@ -165,7 +165,7 @@
<!-- extensions -->
- <xacro:tor_torso_differential_transmission name="${name}" number1="1" number2="2"
+ <xacro:talos_talos_differential_transmission name="${name}" number1="1" number2="2"
act_reduction1="1.0" act_reduction2="1.0"
jnt_reduction1="1.0" jnt_reduction2="1.0" />
</xacro:macro>
diff --git a/tor_robot/CMakeLists.txt b/talos_robot/CMakeLists.txt
similarity index 80%
rename from tor_robot/CMakeLists.txt
rename to talos_robot/CMakeLists.txt
index 5e13d728bfeddadc59d8919da874c8a9d45f585e..ce5db9cc625e140cf938b7690dd29ace78bebcf1 100644
--- a/tor_robot/CMakeLists.txt
+++ b/talos_robot/CMakeLists.txt
@@ -1,4 +1,4 @@
cmake_minimum_required(VERSION 2.8.3)
-project(tor_robot)
+project(talos_robot)
find_package(catkin REQUIRED)
catkin_metapackage()
diff --git a/tor_robot/package.xml b/talos_robot/package.xml
similarity index 71%
rename from tor_robot/package.xml
rename to talos_robot/package.xml
index af9be14263d07b034d6f069dc4c2a305f7a66c9c..2d5f94654956d5ccc85cc26a4536935d6bef555a 100644
--- a/tor_robot/package.xml
+++ b/talos_robot/package.xml
@@ -1,6 +1,6 @@
<?xml version="1.0"?>
<package>
- <name>tor_robot</name>
+ <name>talos_robot</name>
<version>0.0.0</version>
<description>Description and launch files for the TOR robot</description>
<maintainer email="hilario.tome@pal-robotics.com">Hilario Tomé</maintainer>
@@ -9,9 +9,9 @@
<buildtool_depend>catkin</buildtool_depend>
- <run_depend>tor_description</run_depend>
- <run_depend>tor_bringup</run_depend>
- <run_depend>tor_controller_configuration</run_depend>
+ <run_depend>talos_description</run_depend>
+ <run_depend>talos_bringup</run_depend>
+ <run_depend>talos_controller_configuration</run_depend>
<export>
<metapackage/>
diff --git a/tor_description/robots/tor_full.urdf.xacro b/tor_description/robots/tor_full.urdf.xacro
deleted file mode 100644
index b0d97ea39eea26c15d673802bd18ba4c0b919050..0000000000000000000000000000000000000000
--- a/tor_description/robots/tor_full.urdf.xacro
+++ /dev/null
@@ -1,44 +0,0 @@
-<?xml version="1.0"?>
-<!--
-
- Copyright (c) 2016, PAL Robotics, S.L.
- All rights reserved.
-
- This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
- To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
- Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
--->
-<robot name="tor" xmlns:xacro="http://www.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="$(find tor_description)/urdf/torso/torso.urdf.xacro" />
- <xacro:include filename="$(find tor_description)/urdf/head/head.urdf.xacro" />
- <xacro:include filename="$(find tor_description)/urdf/arm/arm.urdf.xacro" />
- <xacro:include filename="$(find tor_description)/urdf/sensors/ftsensor.urdf.xacro" />
- <xacro:include filename="$(find tor_description)/urdf/gripper/gripper.urdf.xacro" />
- <xacro:include filename="$(find tor_description)/urdf/leg/leg_v2.urdf.xacro" />
-
- <xacro:tor_torso name="torso" />
-
- <xacro:tor_head name="head" parent="torso_2_link"/>
-
- <xacro:tor_arm name="arm" parent="torso_2_link" side="left" reflect="1"/>
- <xacro:tor_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:tor_gripper name="left_gripper" parent="wrist_left_ft_tool_link"/>
- <xacro:tor_gripper name="right_gripper" parent="wrist_right_ft_tool_link"/>
-
- <xacro:tor_leg prefix="left" reflect="1" />
- <xacro:tor_leg prefix="right" reflect="-1" />
-
- <!-- Generic simulator_gazebo plugins -->
- <xacro:include filename="$(find tor_description)/gazebo/gazebo.urdf.xacro" />
- <!-- Materials for visualization -->
- <xacro:include filename="$(find tor_description)/urdf/materials.urdf.xacro" />
-
-</robot>