diff --git a/talos_controller_configuration/config/joint_trajectalosy_controllers.yaml b/talos_controller_configuration/config/joint_trajectalosy_controllers.yaml
deleted file mode 100644
index 82efac763aeb6053e8e4d7e49f57e4f1661703db..0000000000000000000000000000000000000000
--- a/talos_controller_configuration/config/joint_trajectalosy_controllers.yaml
+++ /dev/null
@@ -1,53 +0,0 @@
-left_leg_controller:
- type: "position_controllers/JointTrajectoryController"
- joints:
- - leg_left_1_joint
- - leg_left_2_joint
- - leg_left_3_joint
- - leg_left_4_joint
- - leg_left_5_joint
- - leg_left_6_joint
- constraints:
- goal_time: &goal_time_constraint 0.6
- stopped_velocity_tolerance: &stopped_velocity_constraint 0.05
- arm_left_1_joint:
- goal: &goal_pos_constraint 0.02
- arm_left_2_joint:
- goal: *goal_pos_constraint
- arm_left_3_joint:
- goal: *goal_pos_constraint
- arm_left_4_joint:
- goal: *goal_pos_constraint
- arm_left_5_joint:
- goal: *goal_pos_constraint
- arm_left_6_joint:
- goal: *goal_pos_constraint
-
- stop_trajectory_duration: 0.0
-
-right_leg_controller:
- type: "position_controllers/JointTrajectoryController"
- joints:
- - leg_right_1_joint
- - leg_right_2_joint
- - leg_right_3_joint
- - leg_right_4_joint
- - leg_right_5_joint
- - leg_right_6_joint
- constraints:
- goal_time: *goal_time_constraint
- stopped_velocity_tolerance: *stopped_velocity_constraint
- arm_right_1_joint:
- goal: *goal_pos_constraint
- arm_right_2_joint:
- goal: *goal_pos_constraint
- arm_right_3_joint:
- goal: *goal_pos_constraint
- arm_right_4_joint:
- goal: *goal_pos_constraint
- arm_right_5_joint:
- goal: *goal_pos_constraint
- arm_right_6_joint:
- goal: *goal_pos_constraint
-
- stop_trajectory_duration: 0.0
diff --git a/talos_controller_configuration/config/joint_trajectory_controllers.yaml b/talos_controller_configuration/config/joint_trajectory_controllers.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..ea3f7da7c28a85f17271d42b5bfa894ecb10fbe2
--- /dev/null
+++ b/talos_controller_configuration/config/joint_trajectory_controllers.yaml
@@ -0,0 +1,172 @@
+torso_controller:
+ type: "position_controllers/JointTrajectoryController"
+ joints:
+ - torso_1_joint
+ - torso_2_joint
+
+ constraints:
+ goal_time: &goal_time_constraint 0.6
+ stopped_velocity_tolerance: &stopped_velocity_constraint 0.05
+ torso_1_joint:
+ goal: &goal_pos_constraint 0.02
+ torso_2_joint:
+ goal: *goal_pos_constraint
+
+ stop_trajectory_duration: 0.0
+
+head_controller:
+ type: "position_controllers/JointTrajectoryController"
+ joints:
+ - head_1_joint
+ - head_2_joint
+
+ constraints:
+ goal_time: *goal_time_constraint
+ stopped_velocity_tolerance: *stopped_velocity_constraint
+ head_1_joint:
+ goal: *goal_pos_constraint
+ head_2_joint:
+ goal: *goal_pos_constraint
+
+ stop_trajectory_duration: 0.0
+
+left_arm_controller:
+ type: "position_controllers/JointTrajectoryController"
+ joints:
+ - arm_left_1_joint
+ - arm_left_2_joint
+ - arm_left_3_joint
+ - arm_left_4_joint
+ - arm_left_5_joint
+ - arm_left_6_joint
+ - arm_left_7_joint
+ constraints:
+ goal_time: *goal_time_constraint
+ stopped_velocity_tolerance: *stopped_velocity_constraint
+ arm_left_1_joint:
+ goal: *goal_pos_constraint
+ arm_left_2_joint:
+ goal: *goal_pos_constraint
+ arm_left_3_joint:
+ goal: *goal_pos_constraint
+ arm_left_4_joint:
+ goal: *goal_pos_constraint
+ arm_left_5_joint:
+ goal: *goal_pos_constraint
+ arm_left_6_joint:
+ goal: *goal_pos_constraint
+ arm_left_7_joint:
+ goal: *goal_pos_constraint
+
+ stop_trajectory_duration: 0.0
+
+right_arm_controller:
+ type: "position_controllers/JointTrajectoryController"
+ joints:
+ - arm_right_1_joint
+ - arm_right_2_joint
+ - arm_right_3_joint
+ - arm_right_4_joint
+ - arm_right_5_joint
+ - arm_right_6_joint
+ - arm_right_7_joint
+ constraints:
+ goal_time: *goal_time_constraint
+ stopped_velocity_tolerance: *stopped_velocity_constraint
+ arm_right_1_joint:
+ goal: *goal_pos_constraint
+ arm_right_2_joint:
+ goal: *goal_pos_constraint
+ arm_right_3_joint:
+ goal: *goal_pos_constraint
+ arm_right_4_joint:
+ goal: *goal_pos_constraint
+ arm_right_5_joint:
+ goal: *goal_pos_constraint
+ arm_right_6_joint:
+ goal: *goal_pos_constraint
+ arm_right_7_joint:
+ goal: *goal_pos_constraint
+
+ stop_trajectory_duration: 0.0
+
+right_gripper_controller:
+ type: "position_controllers/JointTrajectoryController"
+ joints:
+ - right_gripper_joint
+
+ constraints:
+ goal_time: *goal_time_constraint
+ stopped_velocity_tolerance: *stopped_velocity_constraint
+ right_gripper_joint:
+ goal: *goal_pos_constraint
+
+ stop_trajectory_duration: 0.0
+
+left_gripper_controller:
+ type: "position_controllers/JointTrajectoryController"
+ joints:
+ - left_gripper_joint
+
+ constraints:
+ goal_time: *goal_time_constraint
+ stopped_velocity_tolerance: *stopped_velocity_constraint
+ left_gripper_joint:
+ goal: *goal_pos_constraint
+
+ stop_trajectory_duration: 0.0
+
+
+left_leg_controller:
+ type: "position_controllers/JointTrajectoryController"
+ joints:
+ - leg_left_1_joint
+ - leg_left_2_joint
+ - leg_left_3_joint
+ - leg_left_4_joint
+ - leg_left_5_joint
+ - leg_left_6_joint
+ constraints:
+ goal_time: *goal_time_constraint
+ stopped_velocity_tolerance: *stopped_velocity_constraint
+ arm_left_1_joint:
+ goal: *goal_pos_constraint
+ arm_left_2_joint:
+ goal: *goal_pos_constraint
+ arm_left_3_joint:
+ goal: *goal_pos_constraint
+ arm_left_4_joint:
+ goal: *goal_pos_constraint
+ arm_left_5_joint:
+ goal: *goal_pos_constraint
+ arm_left_6_joint:
+ goal: *goal_pos_constraint
+
+ stop_trajectory_duration: 0.0
+
+right_leg_controller:
+ type: "position_controllers/JointTrajectoryController"
+ joints:
+ - leg_right_1_joint
+ - leg_right_2_joint
+ - leg_right_3_joint
+ - leg_right_4_joint
+ - leg_right_5_joint
+ - leg_right_6_joint
+ constraints:
+ goal_time: *goal_time_constraint
+ stopped_velocity_tolerance: *stopped_velocity_constraint
+ arm_right_1_joint:
+ goal: *goal_pos_constraint
+ arm_right_2_joint:
+ goal: *goal_pos_constraint
+ arm_right_3_joint:
+ goal: *goal_pos_constraint
+ arm_right_4_joint:
+ goal: *goal_pos_constraint
+ arm_right_5_joint:
+ goal: *goal_pos_constraint
+ arm_right_6_joint:
+ goal: *goal_pos_constraint
+
+ stop_trajectory_duration: 0.0
diff --git a/talos_controller_configuration/launch/full_body_position_controllers.launch b/talos_controller_configuration/launch/full_body_position_controllers.launch
new file mode 100644
index 0000000000000000000000000000000000000000..53f34d5dcf54da36974c1942e20c464ab8afa90d
--- /dev/null
+++ b/talos_controller_configuration/launch/full_body_position_controllers.launch
@@ -0,0 +1,29 @@
+<launch>
+
+ <rosparam command="load" file="$(find talos_controller_configuration)/config/joint_trajectory_controllers.yaml" />
+
+ <!-- Spawn upper-body joint trajectory controllers -->
+ <node name="upper_body_controllers_spawner"
+ pkg="controller_manager" type="spawner" output="screen"
+ args="torso_controller
+ head_controller
+ left_arm_controller
+ right_arm_controller
+ left_gripper_controller
+ right_gripper_controller
+ left_leg_controller
+ right_leg_controller" />
+
+ <!-- Point head action -->
+ <group ns="head_controller">
+ <node name="point_head_action" pkg="head_action" type="head_action" output="screen" >
+ <rosparam>
+ pan_link: head_1_link
+ tilt_link: head_2_link
+ success_angle_threshold: 0.01
+ </rosparam>
+ </node>
+ </group>
+
+
+</launch>
diff --git a/talos_controller_configuration/launch/legs_position_controllers.launch b/talos_controller_configuration/launch/legs_position_controllers.launch
new file mode 100644
index 0000000000000000000000000000000000000000..630ba4970436fe153701ee806b962c38efd3283d
--- /dev/null
+++ b/talos_controller_configuration/launch/legs_position_controllers.launch
@@ -0,0 +1,11 @@
+<launch>
+
+ <rosparam command="load" file="$(find talos_controller_configuration)/config/joint_trajectory_controllers.yaml" />
+
+ <!-- Spawn legs joint trajectory controllers -->
+ <node name="upper_body_controllers_spawner"
+ pkg="controller_manager" type="spawner" output="screen"
+ args="left_leg_controller
+ right_leg_controller" />
+
+</launch>
diff --git a/talos_controller_configuration/launch/upper_body_position_controllers.launch b/talos_controller_configuration/launch/upper_body_position_controllers.launch
new file mode 100644
index 0000000000000000000000000000000000000000..f2b9dbe8d982e94f46dd3cc67671a59e270271b6
--- /dev/null
+++ b/talos_controller_configuration/launch/upper_body_position_controllers.launch
@@ -0,0 +1,27 @@
+<launch>
+
+ <rosparam command="load" file="$(find talos_controller_configuration)/config/joint_trajectory_controllers.yaml" />
+
+ <!-- Spawn upper-body joint trajectory controllers -->
+ <node name="upper_body_controllers_spawner"
+ pkg="controller_manager" type="spawner" output="screen"
+ args="torso_controller
+ head_controller
+ left_arm_controller
+ right_arm_controller
+ left_gripper_controller
+ right_gripper_controller" />
+
+ <!-- Point head action -->
+ <group ns="head_controller">
+ <node name="point_head_action" pkg="head_action" type="head_action" output="screen" >
+ <rosparam>
+ pan_link: head_1_link
+ tilt_link: head_2_link
+ success_angle_threshold: 0.01
+ </rosparam>
+ </node>
+ </group>
+
+
+</launch>
diff --git a/talos_description/meshes/gripper/gripper_motalos_double.STL b/talos_description/meshes/gripper/gripper_motor_double.STL
similarity index 100%
rename from talos_description/meshes/gripper/gripper_motalos_double.STL
rename to talos_description/meshes/gripper/gripper_motor_double.STL
diff --git a/talos_description/meshes/gripper/gripper_motalos_double_collision.STL b/talos_description/meshes/gripper/gripper_motor_double_collision.STL
similarity index 100%
rename from talos_description/meshes/gripper/gripper_motalos_double_collision.STL
rename to talos_description/meshes/gripper/gripper_motor_double_collision.STL
diff --git a/talos_description/meshes/gripper/gripper_motor_single.STL b/talos_description/meshes/gripper/gripper_motor_single.STL
new file mode 100644
index 0000000000000000000000000000000000000000..c139310128a6f165849531a5f33619343aa44e35
Binary files /dev/null and b/talos_description/meshes/gripper/gripper_motor_single.STL differ
diff --git a/talos_description/meshes/gripper/gripper_motor_single_collision.STL b/talos_description/meshes/gripper/gripper_motor_single_collision.STL
new file mode 100644
index 0000000000000000000000000000000000000000..c8bac51be45b381929d45fb583a207e69783acac
Binary files /dev/null and b/talos_description/meshes/gripper/gripper_motor_single_collision.STL differ
diff --git a/talos_description/meshes/gripper/inner_single.STL b/talos_description/meshes/gripper/inner_single.STL
new file mode 100644
index 0000000000000000000000000000000000000000..70f1fba94c8a9edd3a9a9f9f272fef1e7609bda7
Binary files /dev/null and b/talos_description/meshes/gripper/inner_single.STL differ
diff --git a/talos_description/meshes/gripper/inner_single_collision.STL b/talos_description/meshes/gripper/inner_single_collision.STL
new file mode 100644
index 0000000000000000000000000000000000000000..56a62d4857518ed639770154f7c0983087344860
Binary files /dev/null and b/talos_description/meshes/gripper/inner_single_collision.STL differ
diff --git a/talos_description/meshes/torso/toso_1.STL b/talos_description/meshes/torso/torso_1.STL
similarity index 100%
rename from talos_description/meshes/torso/toso_1.STL
rename to talos_description/meshes/torso/torso_1.STL
diff --git a/talos_description/robots/talos_arm.urdf.xacro b/talos_description/robots/talos_arm.urdf.xacro
index af91b2e14dc80a6f9c68d74af644160f8876c8a9..dcf152cab4c2e57565d668442b7c65ac1a9cc780 100644
--- a/talos_description/robots/talos_arm.urdf.xacro
+++ b/talos_description/robots/talos_arm.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="talos" xmlns:xacro="http://www.ros.org/wiki/xacro"
+<robot name="talos" xmlns:xacro="http://ros.org/wiki/xacro"
xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
<xacro:include filename="$(find talos_description)/urdf/arm/arm.urdf.xacro" />
- <xacro:include filename="$(find talos_description)/urdf/gripper/gripper.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/gripper/gripper_v2.urdf.xacro" />
<link name="talos_2_link">
<inertial>
diff --git a/talos_description/robots/talos_full.urdf.xacro b/talos_description/robots/talos_full.urdf.xacro
index 633285900d459c0f5998a59c425a3015348272c7..88ec02537bff568c8ee54e267a2638960d233a43 100644
--- a/talos_description/robots/talos_full.urdf.xacro
+++ b/talos_description/robots/talos_full.urdf.xacro
@@ -8,7 +8,7 @@
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"
+<robot name="talos" xmlns:xacro="http://ros.org/wiki/xacro"
xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
@@ -17,7 +17,7 @@
<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="$(find talos_description)/urdf/gripper/gripper_v2.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/leg/leg_v2.urdf.xacro" />
<xacro:talos_torso name="torso" />
diff --git a/talos_description/robots/talos_gripper.urdf.xacro b/talos_description/robots/talos_gripper.urdf.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..897316815a9a8054983b4aea352146b03756c00a
--- /dev/null
+++ b/talos_description/robots/talos_gripper.urdf.xacro
@@ -0,0 +1,29 @@
+<?xml version="1.0"?>
+<!--
+
+ Copyright (c) 2016, PAL Robotics, S.L.
+ All rights reserved.
+
+ This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
+ To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
+ Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
+-->
+<robot name="talos" xmlns:xacro="http://ros.org/wiki/xacro"
+ xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+ xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+ xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
+
+ <xacro:include filename="$(find talos_description)/urdf/gripper/gripper_v2.urdf.xacro" />
+
+ <xacro:include filename="$(find talos_description)/urdf/torso/torso.urdf.xacro" />
+
+ <xacro:talos_torso name="torso" />
+
+ <xacro:talos_gripper name="gripper" parent="torso_2_link"/>
+
+ <!-- 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/talos_description/robots/talos_head.urdf.xacro b/talos_description/robots/talos_head.urdf.xacro
index 7204ac38995ffc2f8fb1d9486cfebd74a4c7ae53..4c0e63d5702f90b3b25eb476ea3d57d0ed3b7032 100644
--- a/talos_description/robots/talos_head.urdf.xacro
+++ b/talos_description/robots/talos_head.urdf.xacro
@@ -8,7 +8,7 @@
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"
+<robot name="talos" xmlns:xacro="http://ros.org/wiki/xacro"
xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
diff --git a/talos_description/robots/talos_lower_body.urdf.xacro b/talos_description/robots/talos_lower_body.urdf.xacro
index 6a5af6e6afb8489013ab35876b5e5a87af91abb4..886b2ec27969941173992fb62cda2353eac27697 100644
--- a/talos_description/robots/talos_lower_body.urdf.xacro
+++ b/talos_description/robots/talos_lower_body.urdf.xacro
@@ -8,7 +8,7 @@
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"
+<robot name="talos" xmlns:xacro="http://ros.org/wiki/xacro"
xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
diff --git a/talos_description/robots/talos_lower_body_v1.urdf.xacro b/talos_description/robots/talos_lower_body_v1.urdf.xacro
index 2d1ef4f43893521011d2a9070862c6ca9453eb82..b9d86aff6d2dcf9493f636683859cbbef957ec01 100644
--- a/talos_description/robots/talos_lower_body_v1.urdf.xacro
+++ b/talos_description/robots/talos_lower_body_v1.urdf.xacro
@@ -8,7 +8,7 @@
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"
+<robot name="talos" xmlns:xacro="http://ros.org/wiki/xacro"
xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
diff --git a/talos_description/robots/talos_lower_body_v2.urdf.xacro b/talos_description/robots/talos_lower_body_v2.urdf.xacro
index 6deb9f32d816fe435b0fcde2f1494f8dae4c0509..101bed5410e089b35aac1a9fc1d85de1ef93f7e4 100644
--- a/talos_description/robots/talos_lower_body_v2.urdf.xacro
+++ b/talos_description/robots/talos_lower_body_v2.urdf.xacro
@@ -8,7 +8,7 @@
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"
+<robot name="talos" xmlns:xacro="http://ros.org/wiki/xacro"
xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
diff --git a/talos_description/robots/talos_torso.urdf.xacro b/talos_description/robots/talos_torso.urdf.xacro
index 05a70cce3f4c69b493965e4de84e11acac4692cd..129bf7384d4408b0c10778890d9c6f7440ba3d3d 100644
--- a/talos_description/robots/talos_torso.urdf.xacro
+++ b/talos_description/robots/talos_torso.urdf.xacro
@@ -8,7 +8,7 @@
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"
+<robot name="talos" xmlns:xacro="http://ros.org/wiki/xacro"
xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
diff --git a/talos_description/robots/upload_gripper.launch b/talos_description/robots/upload_gripper.launch
new file mode 100644
index 0000000000000000000000000000000000000000..723e285c4cb957ec31aa3f5140c516c503f7e885
--- /dev/null
+++ b/talos_description/robots/upload_gripper.launch
@@ -0,0 +1,6 @@
+<launch>
+
+ <!-- Robot description -->
+ <param name="robot_description" command="$(find xacro)/xacro.py '$(find talos_description)/robots/talos_gripper.urdf.xacro'" />
+
+</launch>
diff --git a/talos_description/urdf/arm/arm.urdf.xacro b/talos_description/urdf/arm/arm.urdf.xacro
index 1c7f08a94c68b84a1a522e352bcf39b10e069106..f020b56582734810dec708cd0b2702cf1d28b479 100644
--- a/talos_description/urdf/arm/arm.urdf.xacro
+++ b/talos_description/urdf/arm/arm.urdf.xacro
@@ -205,18 +205,22 @@
<gazebo reference="${name}_${side}_1_link">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
+ <material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="${name}_${side}_2_link">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
+ <material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="${name}_${side}_3_link">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
+ <material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="${name}_${side}_4_link">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
+ <material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="${name}_${side}_1_joint">
diff --git a/talos_description/urdf/arm/wrist.urdf.xacro b/talos_description/urdf/arm/wrist.urdf.xacro
index f2c3af786290b92b0d798399ef8ca54a7a002ba6..efa3435abf660f039d5c3ce6eee3ddc80a300aa3 100644
--- a/talos_description/urdf/arm/wrist.urdf.xacro
+++ b/talos_description/urdf/arm/wrist.urdf.xacro
@@ -167,6 +167,7 @@
<gazebo reference="${name}_${side}_7_link">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
+ <material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="${name}_${side}_5_joint">
diff --git a/talos_description/urdf/gripper/gripper.gazebo.xacro b/talos_description/urdf/gripper/gripper.gazebo.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..9a2a7412a0281afe669e32ed86a2c157bd28a18b
--- /dev/null
+++ b/talos_description/urdf/gripper/gripper.gazebo.xacro
@@ -0,0 +1,153 @@
+<?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 xmlns:xacro="http://ros.org/wiki/xacro">
+
+ <!-- VIRTUAL (mimic) JOINTS -->
+ <xacro:macro name="virtual_joints" params="name">
+ <gazebo>
+ <plugin name="mimic_${name}_inner_double_joint" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
+ <joint>${name}_joint</joint>
+ <mimicJoint>${name}_inner_double_joint</mimicJoint>
+ <multiplier>1.0</multiplier>
+ <offset>0.0</offset>
+ <!-- <hasPID/> -->
+ </plugin>
+ <plugin name="mimic_${name}_fingertip_1_joint" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
+ <joint>${name}_joint</joint>
+ <mimicJoint>${name}_fingertip_1_joint</mimicJoint>
+ <multiplier>-1.0</multiplier>
+ <offset>0.0</offset>
+ <!-- <hasPID/> -->
+ </plugin>
+
+ <plugin name="mimic_${name}_fingertip_2_joint" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
+ <joint>${name}_joint</joint>
+ <mimicJoint>${name}_fingertip_2_joint</mimicJoint>
+ <multiplier>-1.0</multiplier>
+ <offset>0.0</offset>
+ <!-- <hasPID/> -->
+ </plugin>
+
+ <plugin name="mimic_${name}_inner_single_joint" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
+ <joint>${name}_joint</joint>
+ <mimicJoint>${name}_inner_single_joint</mimicJoint>
+ <multiplier>-1.0</multiplier>
+ <offset>0.0</offset>
+ <!-- <hasPID/> -->
+ </plugin>
+
+ <plugin name="mimic_${name}_motor_single_joint" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
+ <joint>${name}_joint</joint>
+ <mimicJoint>${name}_motor_single_joint</mimicJoint>
+ <multiplier>-1.0</multiplier>
+ <offset>0.0</offset>
+ <!-- <hasPID/> -->
+ </plugin>
+ <plugin name="mimic_${name}_fingertip_3_joint" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
+ <joint>${name}_joint</joint>
+ <mimicJoint>${name}_fingertip_3_joint</mimicJoint>
+ <multiplier>-1.0</multiplier>
+ <offset>0.0</offset>
+ <!-- <hasPID/> -->
+ </plugin>
+ </gazebo>
+
+<!-- <plugin filename="libgazebo_underactuated_finger.so" name="gazebo_${name}_underactuated">
+ <actuatedJoint>${name}_joint</actuatedJoint>
+ <virtualJoint>
+ <name>${name}_inner_double_joint</name>
+ <scale_factor>1.0</scale_factor>
+ </virtualJoint> -->
+<!-- <virtualJoint>
+ <name>${name}_fingertip_1_joint</name>
+ <scale_factor>-1.0</scale_factor>
+ </virtualJoint>
+ <virtualJoint>
+ <name>${name}_fingertip_2_joint</name>
+ <scale_factor>-1.0</scale_factor>
+ </virtualJoint>
+ <virtualJoint>
+ <name>${name}_motor_single_joint</name>
+ <scale_factor>1.0</scale_factor>
+ </virtualJoint>
+ <virtualJoint>
+ <name>${name}_fingertip_3_joint</name>
+ <scale_factor>-1.0</scale_factor>
+ </virtualJoint> -->
+<!-- </plugin> -->
+
+
+ <gazebo reference="${name}_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+
+ <gazebo reference="${name}_inner_double_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+
+ <gazebo reference="${name}_fingertip_1_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+
+ <gazebo reference="${name}_fingertip_2_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+
+ <gazebo reference="${name}_motor_single_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+
+ <gazebo reference="${name}_fingertip_3_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
+
+ <gazebo reference="${name}_base_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+
+ <gazebo reference="${name}_motor_double_link">
+ <material>Gazebo/Orange</material>
+ </gazebo>
+
+ <gazebo reference="${name}_inner_double_link">
+ <material>Gazebo/Orange</material>
+ </gazebo>
+
+ <gazebo reference="${name}_fingertip_1_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+
+ <gazebo reference="${name}_motor_single_link">
+ <material>Gazebo/Orange</material>
+ </gazebo>
+
+
+ <gazebo reference="${name}_inner_single_link">
+ <material>Gazebo/Orange</material>
+ </gazebo>
+
+ <gazebo reference="${name}_fingertip_2_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+
+ <gazebo reference="${name}_fingertip_3_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+
+ </xacro:macro>
+
+</robot>
\ No newline at end of file
diff --git a/talos_description/urdf/gripper/gripper.transmission.xacro b/talos_description/urdf/gripper/gripper.transmission.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..ea9b889e41a3218d737e07ddd89cc0db90329092
--- /dev/null
+++ b/talos_description/urdf/gripper/gripper.transmission.xacro
@@ -0,0 +1,38 @@
+<?xml version="1.0"?>
+<!--
+
+ Copyright (c) 2011, PAL Robotics, S.L.
+ All rights reserved.
+
+ This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
+ To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
+ Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
+-->
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+ <xacro:macro name="gripper_transmission" params="name reduction" >
+ <transmission name="${name}_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="${name}_motor" >
+ <mechanicalReduction>${reduction}</mechanicalReduction>
+ </actuator>
+ <joint name="${name}_joint" >
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ </xacro:macro>
+
+ <xacro:macro name="gripper_virtual_transmission" params="name reduction" >
+ <transmission name="${name}_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <actuator name="${name}_motor" >
+ <mechanicalReduction>${reduction}</mechanicalReduction>
+ </actuator>
+ <joint name="${name}_joint" >
+ <hardwareInterface>hardware_interface/JointStateInterface</hardwareInterface>
+ </joint>
+ </transmission>
+ </xacro:macro>
+
+
+</robot>
\ No newline at end of file
diff --git a/talos_description/urdf/gripper/gripper_v2.urdf.xacro b/talos_description/urdf/gripper/gripper_v2.urdf.xacro
index 5fc0e7c20bfc688a1663506a8192f32ef020450e..8342e12b6f2e2f76ea853e97ddc6d2994f4510bc 100644
--- a/talos_description/urdf/gripper/gripper_v2.urdf.xacro
+++ b/talos_description/urdf/gripper/gripper_v2.urdf.xacro
@@ -3,9 +3,9 @@
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<!--File includes-->
- <!-- <xacro:include filename="$(find talos_description)/urdf/deg_to_rad.urdf.xacro" />
- <xacro:include filename="$(find talos_description)/urdf/gripper.transmission.xacro" />
- <xacro:include filename="$(find talos_description)/urdf/gripper.gazebo.xacro" /> -->
+ <xacro:include filename="$(find talos_description)/urdf/deg_to_rad.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/gripper/gripper.transmission.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/gripper/gripper.gazebo.xacro" />
<xacro:macro name="talos_gripper" params="name parent">
@@ -24,6 +24,7 @@
<geometry>
<mesh filename="package://talos_description/meshes/gripper/base_link.STL" scale="1 1 1"/>
</geometry>
+ <material name="DarkGrey"/>
</visual>
<collision>
@@ -41,17 +42,17 @@
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${90.00000 * deg_to_rad}"/>
<axis xyz="0 0 0" />
</joint>
-
- <!-- Joint gripper_motor_double (None) : child link -- -> parent link gripper_base_link -->
<link name="${name}_motor_double_link">
<inertial>
<origin xyz="0.02270 0.01781 -0.00977" rpy="0.00000 0.00000 0.00000"/>
<mass value="0.16889"/>
- <inertia ixx="0.00015900000" ixy="-0.00007000000" ixz="0.00003800000"
- iyy="0.00022100000" iyz="-0.00005300000"
- izz="0.00026800000"/>
+ <!-- In order for Gazebo not to explode we needed to add these 0.001 values to the diagonal,
+ also the tool pal_dynamics InertiaMassVisualization gave NaN on the computation of the inertia box -->
+ <inertia ixx="${0.00015900000 + 0.001}" ixy="-0.00007000000" ixz="0.00003800000"
+ iyy="${0.00022100000 + 0.001}" iyz="-0.00005300000"
+ izz="${0.00026800000 + 0.001}"/>
</inertial>
<visual>
@@ -59,6 +60,7 @@
<geometry>
<mesh filename="package://talos_description/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
</geometry>
+ <material name="Orange"/>
</visual>
<collision>
@@ -69,14 +71,13 @@
</collision>
</link>
- <joint name="${name}_motor_double_joint" type="revolute">
+ <joint name="${name}_joint" type="revolute">
<parent link="${name}_base_link"/>
<child link="${name}_motor_double_link"/>
- <origin xyz="0.00000 0.02025 -0.03000"
- rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
- <!-- You may want to change axis -->
- <axis xyz="0 0 1" />
- <limit lower="${0.00000 * deg_to_rad}" upper="${60.00000 * deg_to_rad}" effort="1.0" velocity="1.0" />
+ <origin xyz="0.0 0.02025 -0.03"
+ rpy="${0.0 * deg_to_rad} ${0.0 * deg_to_rad} ${0.0 * deg_to_rad}"/>
+ <axis xyz="1 0 0" />
+ <limit lower="${-60.0 * deg_to_rad}" upper="${0.0 * deg_to_rad}" effort="1.0" velocity="1.0" />
<dynamics friction="1.0" damping="1.0"/>
</joint>
@@ -95,6 +96,7 @@
<geometry>
<mesh filename="package://talos_description/meshes/gripper/inner_double.STL" scale="1 1 1"/>
</geometry>
+ <material name="Orange"/>
</visual>
<collision>
@@ -110,13 +112,208 @@
<child link="${name}_inner_double_link"/>
<origin xyz="0.00000 0.00525 -0.05598"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
- <!-- You may want to change axis -->
- <axis xyz="0 0 1" />
- <limit lower="${0.00000 * deg_to_rad}" upper="${0.00000 * deg_to_rad}" effort="1.0" velocity="1.0" />
- <mimic joint="${name}_motor_double_joint" multiplier="${1.0}" offset="0.0" />
+ <axis xyz="1 0 0" />
+ <limit lower="${-60.0 * deg_to_rad}" upper="${0.0 * deg_to_rad}" effort="100.0" velocity="1.0" />
+ <mimic joint="${name}_joint" multiplier="${1.0}" offset="0.0" />
- </joint>
+ </joint>
+
+
+
+ <link name="${name}_fingertip_1_link">
+ <inertial>
+ <origin xyz="0.00000 0.00460 -0.00254" rpy="0.00000 0.00000 0.00000"/>
+ <mass value="0.02630"/>
+ <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000"
+ iyy="0.00000900000" iyz="0.00000100000"
+ izz="0.00000200000"/>
+ </inertial>
+
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://talos_description/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://talos_description/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+
+
+ <joint name="${name}_fingertip_1_joint" type="revolute">
+ <parent link="${name}_inner_double_link"/>
+ <child link="${name}_fingertip_1_link"/>
+ <origin xyz="0.03200 0.04589 -0.06553"
+ rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
+ <axis xyz="1 0 0" />
+ <limit lower="${0.0 * deg_to_rad}" upper="${60.0 * deg_to_rad}" effort="100.0" velocity="1.0" />
+ <mimic joint="${name}_joint" multiplier="${-1.0}" offset="0.0" />
+ </joint>
+
+
+ <link name="${name}_fingertip_2_link">
+ <inertial>
+ <origin xyz="0.00000 0.00460 -0.00254" rpy="0.00000 0.00000 0.00000"/>
+ <mass value="0.02630"/>
+ <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000"
+ iyy="0.00000900000" iyz="0.00000100000"
+ izz="0.00000200000"/>
+ </inertial>
+
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://talos_description/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://talos_description/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+
+ <joint name="${name}_fingertip_2_joint" type="revolute">
+ <parent link="${name}_inner_double_link"/>
+ <child link="${name}_fingertip_2_link"/>
+ <origin xyz="-0.03200 0.04589 -0.06553"
+ rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
+ <axis xyz="1 0 0" />
+ <limit lower="${0.0 * deg_to_rad}" upper="${60.0 * deg_to_rad}" effort="100.0" velocity="1.0" />
+ <mimic joint="${name}_joint" multiplier="${-1.0}" offset="0.0" />
+ </joint>
+
+
+ <link name="${name}_motor_single_link">
+ <inertial>
+ <origin xyz="0.02589 -0.01284 -0.00640" rpy="0.00000 0.00000 0.00000"/>
+ <mass value="0.14765"/>
+ <inertia ixx="0.00011500000" ixy="0.00005200000" ixz="0.00002500000"
+ iyy="0.00015300000" iyz="0.00003400000"
+ izz="0.00019000000"/>
+ </inertial>
+
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://talos_description/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="Orange"/>
+ </visual>
+
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://talos_description/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+
+ <joint name="${name}_motor_single_joint" type="revolute">
+ <parent link="${name}_base_link"/>
+ <child link="${name}_motor_single_link"/>
+ <origin xyz="0.00000 -0.02025 -0.03000"
+ rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
+ <axis xyz="1 0 0" />
+ <limit lower="${0.0 * deg_to_rad}" upper="${60.0 * deg_to_rad}" effort="100.0" velocity="1.0" />
+ <mimic joint="${name}_joint" multiplier="${-1.0}" offset="0.0" />
+ </joint>
+
+
+
+ <link name="${name}_inner_single_link">
+ <inertial>
+ <origin xyz="0.00000 -0.03253 -0.01883" rpy="0.00000 0.00000 0.00000"/>
+ <mass value="0.05356"/>
+ <inertia ixx="0.00004700000" ixy="-0.00000000000" ixz="-0.00000000000"
+ iyy="0.00003500000" iyz="0.00001700000"
+ izz="0.00002400000"/>
+ </inertial>
+
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://talos_description/meshes/gripper/inner_single.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="Orange"/>
+ </visual>
+
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://talos_description/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+
+ <joint name="${name}_inner_single_joint" type="revolute">
+ <parent link="${name}_base_link"/>
+ <child link="${name}_inner_single_link"/>
+ <origin xyz="0.00000 -0.00525 -0.05598"
+ rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
+ <axis xyz="1 0 0" />
+ <limit lower="${0.0 * deg_to_rad}" upper="${60.0 * deg_to_rad}" effort="100.0" velocity="1.0" />
+ <mimic joint="${name}_joint" multiplier="${-1.0}" offset="0.0" />
+
+ </joint>
+
+
+ <link name="${name}_fingertip_3_link">
+ <inertial>
+ <origin xyz="0.00000 0.00460 -0.00254" rpy="0.00000 0.00000 0.00000"/>
+ <mass value="0.02630"/>
+ <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000"
+ iyy="0.00000900000" iyz="0.00000100000"
+ izz="0.00000200000"/>
+ </inertial>
+
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://talos_description/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+ </geometry>
+ <material name="DarkGrey"/>
+ </visual>
+
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://talos_description/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+
+ <joint name="${name}_fingertip_3_joint" type="revolute">
+ <parent link="${name}_inner_single_link"/>
+ <child link="${name}_fingertip_3_link"/>
+ <origin xyz="0.00000 -0.04589 -0.06553"
+ rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${180.00000 * deg_to_rad}"/>
+ <axis xyz="1 0 0" />
+ <limit lower="${0.0 * deg_to_rad}" upper="${60.0 * deg_to_rad}" effort="100.0" velocity="1.0" />
+ <mimic joint="${name}_joint" multiplier="${-1.0}" offset="0.0" />
+ </joint>
+
+
+
+ <xacro:virtual_joints name="${name}" />
+ <xacro:gripper_transmission name="${name}" reduction="1.0" />
+ <!-- virtual mimic joints -->
+<!-- <xacro:gripper_virtual_transmission name="${name}_inner_double" reduction="1.0"/>
+ <xacro:gripper_virtual_transmission name="${name}_fingertip_1" reduction="1.0"/>
+ <xacro:gripper_virtual_transmission name="${name}_fingertip_2" reduction="1.0"/>
+ <xacro:gripper_virtual_transmission name="${name}_inner_single" reduction="1.0"/>
+ <xacro:gripper_virtual_transmission name="${name}_motor_single" reduction="1.0"/>
+ <xacro:gripper_virtual_transmission name="${name}_fingertip_3" reduction="1.0"/> -->
</xacro:macro>
diff --git a/talos_description/urdf/head/head.urdf.xacro b/talos_description/urdf/head/head.urdf.xacro
index a24c9c9be38f94b645c5d9c6188e31e08775659d..c2cdb352639816e9090e06af679c414f71c06157 100644
--- a/talos_description/urdf/head/head.urdf.xacro
+++ b/talos_description/urdf/head/head.urdf.xacro
@@ -72,8 +72,15 @@
<gazebo reference="${name}_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
+
+ <gazebo reference="${name}_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+
</xacro:macro>
+
+
<!--************************-->
<!-- HEAD_2 (PAN) -->
<!--************************-->
@@ -127,6 +134,11 @@
</gazebo>
+ <gazebo reference="${name}_link">
+ <material>Gazebo/White</material>
+ </gazebo>
+
+
</xacro:macro>
<xacro:macro name="talos_head" params="name parent">
diff --git a/talos_description/urdf/leg/leg_v2.urdf.xacro b/talos_description/urdf/leg/leg_v2.urdf.xacro
index 9b298279d2ce6f605a3b467d21c89417acc84244..5f5a4e9bc66799b5f9bd4e4a21c8a45245d38b87 100644
--- a/talos_description/urdf/leg/leg_v2.urdf.xacro
+++ b/talos_description/urdf/leg/leg_v2.urdf.xacro
@@ -330,6 +330,25 @@
<provideFeedback>1</provideFeedback>
</gazebo>
+ <gazebo reference="leg_${prefix}_1_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="leg_${prefix}_2_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="leg_${prefix}_3_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="leg_${prefix}_4_link">
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="leg_${prefix}_5_link">
+ <material>Gazebo/White</material>
+ </gazebo>
+ <gazebo reference="leg_${prefix}_6_link">
+ <material>Gazebo/White</material>
+ </gazebo>
+
</xacro:macro>
</robot>
diff --git a/talos_description/urdf/sensors/prosilicaGC655C_camera.urdf.xacro b/talos_description/urdf/sensors/prosilicaGC655C_camera.urdf.xacro
index d46075ff0b4b8deb3a86d9279a165ba2b62cd95a..4499bcde87e365c61e8dc50dfdaf5ebe92bb2e09 100644
--- a/talos_description/urdf/sensors/prosilicaGC655C_camera.urdf.xacro
+++ b/talos_description/urdf/sensors/prosilicaGC655C_camera.urdf.xacro
@@ -9,7 +9,7 @@
Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
-->
<!-- XML namespaces -->
-<robot name="reemc" xmlns:xacro="http://www.ros.org/wiki/xacro">
+<robot name="reemc" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="prosilicaGC655C_camera" params="name parent *origin">
<joint name="${name}_frame_joint" type="fixed">
diff --git a/talos_description/urdf/sensors/xtion_pro_live.gazebo.xacro b/talos_description/urdf/sensors/xtion_pro_live.gazebo.xacro
index 92066ecb9a0f93510308441fc2e5fd4979fe620d..6ac77d35e06b960a6bd84586b26f4efee3132787 100644
--- a/talos_description/urdf/sensors/xtion_pro_live.gazebo.xacro
+++ b/talos_description/urdf/sensors/xtion_pro_live.gazebo.xacro
@@ -90,6 +90,8 @@
<distalostionT2>0.00000001</distalostionT2>
</plugin>
</sensor>
+
+ <material>Gazebo/FlatBlack</material>
</gazebo>
</xacro:macro>
</robot>