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  • stack-of-tasks/talos-data
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<?xml version="1.0" ?>
<!--This does not replace URDF, and is not an extension of URDF.
This is a format for representing semantic information about the robot structure.
A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
-->
<robot name="talos">
<!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
<!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
<!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
<!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
<!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
<group name="r_arm">
<joint name="arm_right_1_joint" />
<joint name="arm_right_2_joint" />
<joint name="arm_right_3_joint" />
<joint name="arm_right_4_joint" />
<joint name="arm_right_5_joint" />
<joint name="arm_right_6_joint" />
<joint name="arm_right_7_joint" />
<joint name="wrist_right_ft_joint" />
<joint name="wrist_right_tool_joint" />
<chain base_link="torso_2_link" tip_link="wrist_right_ft_tool_link" />
</group>
<!-- <group name="gripper_right">
<link name="gripper_right_base_link" />
<link name="gripper_right_inner_double_link" />
<link name="gripper_right_fingertip_1_link" />
<link name="gripper_right_fingertip_2_link" />
<link name="gripper_right_inner_single_link" />
<link name="gripper_right_fingertip_3_link" />
<link name="gripper_right_motor_double_link" />
<link name="gripper_right_motor_single_link" />
<joint name="gripper_right_joint" />
<chain base_link="wrist_right_ft_tool_link" tip_link="gripper_right_base_link" />
</group>
<group name="gripper_left">
<link name="gripper_left_base_link" />
<link name="gripper_left_inner_double_link" />
<link name="gripper_left_fingertip_1_link" />
<link name="gripper_left_fingertip_2_link" />
<link name="gripper_left_inner_single_link" />
<link name="gripper_left_fingertip_3_link" />
<link name="gripper_left_motor_double_link" />
<link name="gripper_left_motor_single_link" />
<joint name="gripper_left_joint" />
<chain base_link="wrist_left_ft_tool_link" tip_link="gripper_left_base_link" />
</group>
-->
<group name="l_arm">
<joint name="arm_left_1_joint" />
<joint name="arm_left_2_joint" />
<joint name="arm_left_3_joint" />
<joint name="arm_left_4_joint" />
<joint name="arm_left_5_joint" />
<joint name="arm_left_6_joint" />
<joint name="arm_left_7_joint" />
<joint name="wrist_left_ft_joint" />
<joint name="wrist_left_tool_joint" />
<chain base_link="torso_2_link" tip_link="wrist_left_ft_tool_link" />
</group>
<group name="torso">
<joint name="torso_1_joint" />
<joint name="torso_2_joint" />
<chain base_link="base_link" tip_link="torso_2_link" />
</group>
<group name="both_arms_torso">
<group name="left_arm" />
<group name="right_arm" />
<group name="torso" />
</group>
<group name="right_arm_torso">
<group name="right_arm" />
<group name="torso" />
</group>
<group name="left_arm_torso">
<group name="left_arm" />
<group name="torso" />
</group>
<group name="r_leg">
<joint name="leg_right_1_joint" />
<joint name="leg_right_2_joint" />
<joint name="leg_right_3_joint" />
<joint name="leg_right_4_joint" />
<joint name="leg_right_5_joint" />
<joint name="leg_right_6_joint" />
<joint name="leg_right_sole_fix_joint" />
<chain base_link="base_link" tip_link="right_sole_link" />
</group>
<group name="l_leg">
<joint name="leg_left_1_joint" />
<joint name="leg_left_2_joint" />
<joint name="leg_left_3_joint" />
<joint name="leg_left_4_joint" />
<joint name="leg_left_5_joint" />
<joint name="leg_left_6_joint" />
<joint name="leg_left_sole_fix_joint" />
<chain base_link="base_link" tip_link="left_sole_link" />
</group>
<group name="head">
<joint name="head_1_joint" />
<joint name="head_2_joint" />
</group>
<group name="all">
<group name="l_arm" />
<group name="r_arm" />
<group name="l_leg" />
<group name="r_leg" />
<group name="head" />
<group name="torso" />
</group>
<!--END EFFECTOR: Purpose: Represent information about an end effector.-->
<end_effector name="right_eef" parent_link="wrist_right_ft_tool_link" group="gripper_right" parent_group="right_arm" />
<end_effector name="left_eef" parent_link="wrist_left_ft_tool_link" group="gripper_left" parent_group="left_arm" />
<!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated-->
<passive_joint name="gripper_left_motor_single_joint" />
<passive_joint name="gripper_left_inner_double_joint" />
<passive_joint name="gripper_left_fingertip_1_joint" />
<passive_joint name="gripper_left_fingertip_2_joint" />
<passive_joint name="gripper_left_inner_single_joint" />
<passive_joint name="gripper_left_fingertip_3_joint" />
<passive_joint name="gripper_right_inner_double_joint" />
<passive_joint name="gripper_right_fingertip_1_joint" />
<passive_joint name="gripper_right_fingertip_2_joint" />
<passive_joint name="gripper_right_inner_single_joint" />
<passive_joint name="gripper_right_fingertip_3_joint" />
<passive_joint name="gripper_right_motor_single_joint" />
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
<!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
<group_state name="half_sitting" group="all">
<joint name="root_joint" value="0. 0. 1.01927 0. 0. 0. 1." />
<joint name="arm_left_1_joint" value="0.25847" />
<joint name="arm_left_2_joint" value="0.173046" />
<joint name="arm_left_3_joint" value="-0.0002" />
<joint name="arm_left_4_joint" value="-0.525366" />
<joint name="arm_left_5_joint" value="0" />
<joint name="arm_left_6_joint" value="0" />
<joint name="arm_left_7_joint" value="0.1" />
<joint name="arm_right_1_joint" value="-0.25847" />
<joint name="arm_right_2_joint" value="-0.173046" />
<joint name="arm_right_3_joint" value="0.0002" />
<joint name="arm_right_4_joint" value="-0.525366" />
<joint name="arm_right_5_joint" value="0" />
<joint name="arm_right_6_joint" value="0" />
<joint name="arm_right_7_joint" value="0.1" />
<joint name="head_1_joint" value="0" />
<joint name="head_2_joint" value="0" />
<joint name="leg_left_1_joint" value="0.0" />
<joint name="leg_left_2_joint" value="0.0" />
<joint name="leg_left_3_joint" value="-0.411354" />
<joint name="leg_left_4_joint" value="0.859395" />
<joint name="leg_left_5_joint" value="-0.448041" />
<joint name="leg_left_6_joint" value="-0.001708" />
<joint name="leg_right_1_joint" value="0.0" />
<joint name="leg_right_2_joint" value="0.0" />
<joint name="leg_right_3_joint" value="-0.411354" />
<joint name="leg_right_4_joint" value="0.859395" />
<joint name="leg_right_5_joint" value="-0.448041" />
<joint name="leg_right_6_joint" value="-0.001708" />
<joint name="torso_1_joint" value="0" />
<joint name="torso_2_joint" value="0.006761" />
</group_state>
<rotor_params>
<joint name="arm_left_1_joint" mass="1e-5" gear_ratio="100." />
<joint name="arm_left_2_joint" mass="1e-5" gear_ratio="100." />
<joint name="arm_left_3_joint" mass="1e-5" gear_ratio="100." />
<joint name="arm_left_4_joint" mass="1e-5" gear_ratio="100." />
<joint name="arm_left_5_joint" mass="1e-5" gear_ratio="100." />
<joint name="arm_left_6_joint" mass="1e-5" gear_ratio="100." />
<joint name="arm_left_7_joint" mass="1e-5" gear_ratio="100." />
<joint name="arm_right_1_joint" mass="1e-5" gear_ratio="100." />
<joint name="arm_right_2_joint" mass="1e-5" gear_ratio="100." />
<joint name="arm_right_3_joint" mass="1e-5" gear_ratio="100." />
<joint name="arm_right_4_joint" mass="1e-5" gear_ratio="100." />
<joint name="arm_right_5_joint" mass="1e-5" gear_ratio="100." />
<joint name="arm_right_6_joint" mass="1e-5" gear_ratio="100." />
<joint name="arm_right_7_joint" mass="1e-5" gear_ratio="100." />
<joint name="head_1_joint" mass="1e-5" gear_ratio="100." />
<joint name="head_2_joint" mass="1e-5" gear_ratio="100." />
<joint name="leg_left_1_joint" mass="1e-5" gear_ratio="100." />
<joint name="leg_left_2_joint" mass="1e-5" gear_ratio="100." />
<joint name="leg_left_3_joint" mass="1e-5" gear_ratio="100." />
<joint name="leg_left_4_joint" mass="1e-5" gear_ratio="100." />
<joint name="leg_left_5_joint" mass="1e-5" gear_ratio="100." />
<joint name="leg_left_6_joint" mass="1e-5" gear_ratio="100." />
<joint name="leg_right_1_joint" mass="1e-5" gear_ratio="100." />
<joint name="leg_right_2_joint" mass="1e-5" gear_ratio="100." />
<joint name="leg_right_3_joint" mass="1e-5" gear_ratio="100." />
<joint name="leg_right_4_joint" mass="1e-5" gear_ratio="100." />
<joint name="leg_right_5_joint" mass="1e-5" gear_ratio="100." />
<joint name="leg_right_6_joint" mass="1e-5" gear_ratio="100." />
<joint name="torso_1_joint" mass="1e-5" gear_ratio="100." />
<joint name="torso_2_joint" mass="1e-5" gear_ratio="100." />
</rotor_params>
<!--
Talos Specificities.
foot height = y axis
foot width = x axis
foot depth = z axis
-->
<specificities>
<feet>
<right>
<size height="0.122" width="0.205" depth="0.107" />
<anklePosition x="0.0" y="0.0" z="0.107" />
</right>
<left>
<size height="0.122" width="0.205" depth="0.107" />
<anklePosition x="0.0" y="0.0" z="0.107" />
</left>
</feet>
</specificities>
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links.
TALOS disabled collisions generated by Moveit! using the moveit_setup_assistant. Kindly see http://docs.ros.org/hydro/api/moveit_setup_assistant/html/doc/tutorial.html for details. -->
<disable_collisions link1="arm_left_1_link" link2="arm_left_2_link" reason="Adjacent" />
<disable_collisions link1="arm_left_1_link" link2="arm_left_3_link" reason="Never" />
<disable_collisions link1="arm_left_1_link" link2="arm_left_4_link" reason="Never" />
<disable_collisions link1="arm_left_1_link" link2="arm_left_5_link" reason="Never" />
<disable_collisions link1="arm_left_1_link" link2="arm_left_6_link" reason="Never" />
<disable_collisions link1="arm_left_1_link" link2="arm_right_1_link" reason="Never" />
<disable_collisions link1="arm_left_1_link" link2="arm_right_2_link" reason="Never" />
<disable_collisions link1="arm_left_1_link" link2="arm_right_3_link" reason="Never" />
<disable_collisions link1="arm_left_1_link" link2="arm_right_4_link" reason="Never" />
<disable_collisions link1="arm_left_1_link" link2="arm_right_5_link" reason="Never" />
<disable_collisions link1="arm_left_1_link" link2="arm_right_6_link" reason="Never" />
<disable_collisions link1="arm_left_1_link" link2="base_link" reason="Never" />
<disable_collisions link1="arm_left_1_link" link2="head_1_link" reason="Never" />
<disable_collisions link1="arm_left_1_link" link2="head_2_link" reason="Never" />
<disable_collisions link1="arm_left_1_link" link2="imu_link" reason="Never" />
<disable_collisions link1="arm_left_1_link" link2="leg_left_1_link" reason="Never" />
<disable_collisions link1="arm_left_1_link" link2="leg_left_2_link" reason="Never" />
<disable_collisions link1="arm_left_1_link" link2="leg_left_3_link" reason="Never" />
<disable_collisions link1="arm_left_1_link" link2="leg_left_4_link" reason="Never" />
<disable_collisions link1="arm_left_1_link" link2="leg_left_5_link" reason="Never" />
<disable_collisions link1="arm_left_1_link" link2="leg_left_6_link" reason="Never" />
<disable_collisions link1="arm_left_1_link" link2="leg_right_1_link" reason="Never" />
<disable_collisions link1="arm_left_1_link" link2="leg_right_2_link" reason="Never" />
<disable_collisions link1="arm_left_1_link" link2="leg_right_3_link" reason="Never" />
<disable_collisions link1="arm_left_1_link" link2="leg_right_4_link" reason="Never" />
<disable_collisions link1="arm_left_1_link" link2="leg_right_5_link" reason="Never" />
<disable_collisions link1="arm_left_1_link" link2="leg_right_6_link" reason="Never" />
<disable_collisions link1="arm_left_1_link" link2="rgbd_link" reason="Never" />
<disable_collisions link1="arm_left_1_link" link2="torso_1_link" reason="Never" />
<disable_collisions link1="arm_left_1_link" link2="torso_2_link" reason="Adjacent" />
<disable_collisions link1="arm_left_1_link" link2="wrist_left_ft_link" reason="Never" />
<disable_collisions link1="arm_left_1_link" link2="wrist_left_ft_tool_link" reason="Never" />
<disable_collisions link1="arm_left_1_link" link2="wrist_right_ft_link" reason="Never" />
<disable_collisions link1="arm_left_1_link" link2="wrist_right_ft_tool_link" reason="Never" />
<disable_collisions link1="arm_left_2_link" link2="arm_left_3_link" reason="Adjacent" />
<disable_collisions link1="arm_left_2_link" link2="arm_left_4_link" reason="Never" />
<disable_collisions link1="arm_left_2_link" link2="arm_left_5_link" reason="Never" />
<disable_collisions link1="arm_left_2_link" link2="arm_left_6_link" reason="Never" />
<disable_collisions link1="arm_left_2_link" link2="arm_left_7_link" reason="Never" />
<disable_collisions link1="arm_left_2_link" link2="arm_right_1_link" reason="Never" />
<disable_collisions link1="arm_left_2_link" link2="arm_right_2_link" reason="Never" />
<disable_collisions link1="arm_left_2_link" link2="arm_right_3_link" reason="Never" />
<disable_collisions link1="arm_left_2_link" link2="arm_right_4_link" reason="Never" />
<disable_collisions link1="arm_left_2_link" link2="base_link" reason="Never" />
<disable_collisions link1="arm_left_2_link" link2="head_1_link" reason="Never" />
<disable_collisions link1="arm_left_2_link" link2="imu_link" reason="Never" />
<disable_collisions link1="arm_left_2_link" link2="leg_left_1_link" reason="Never" />
<disable_collisions link1="arm_left_2_link" link2="leg_left_2_link" reason="Never" />
<disable_collisions link1="arm_left_2_link" link2="leg_left_3_link" reason="Never" />
<disable_collisions link1="arm_left_2_link" link2="leg_left_5_link" reason="Never" />
<disable_collisions link1="arm_left_2_link" link2="leg_left_6_link" reason="Never" />
<disable_collisions link1="arm_left_2_link" link2="leg_right_1_link" reason="Never" />
<disable_collisions link1="arm_left_2_link" link2="leg_right_2_link" reason="Never" />
<disable_collisions link1="arm_left_2_link" link2="leg_right_3_link" reason="Never" />
<disable_collisions link1="arm_left_2_link" link2="leg_right_5_link" reason="Never" />
<disable_collisions link1="arm_left_2_link" link2="torso_1_link" reason="Never" />
<disable_collisions link1="arm_left_2_link" link2="wrist_left_ft_link" reason="Never" />
<disable_collisions link1="arm_left_2_link" link2="wrist_left_ft_tool_link" reason="Never" />
<disable_collisions link1="arm_left_3_link" link2="arm_left_4_link" reason="Adjacent" />
<disable_collisions link1="arm_left_3_link" link2="arm_left_6_link" reason="Never" />
<disable_collisions link1="arm_left_3_link" link2="arm_left_7_link" reason="Never" />
<disable_collisions link1="arm_left_3_link" link2="arm_right_1_link" reason="Never" />
<disable_collisions link1="arm_left_3_link" link2="arm_right_2_link" reason="Never" />
<disable_collisions link1="arm_left_3_link" link2="arm_right_3_link" reason="Never" />
<disable_collisions link1="arm_left_3_link" link2="arm_right_4_link" reason="Never" />
<disable_collisions link1="arm_left_3_link" link2="gripper_left_base_link" reason="Never" />
<disable_collisions link1="arm_left_3_link" link2="gripper_left_fingertip_1_link" reason="Never" />
<disable_collisions link1="arm_left_3_link" link2="gripper_left_fingertip_2_link" reason="Never" />
<disable_collisions link1="arm_left_3_link" link2="gripper_left_fingertip_3_link" reason="Never" />
<disable_collisions link1="arm_left_3_link" link2="gripper_left_inner_double_link" reason="Never" />
<disable_collisions link1="arm_left_3_link" link2="gripper_left_inner_single_link" reason="Never" />
<disable_collisions link1="arm_left_3_link" link2="gripper_left_motor_double_link" reason="Never" />
<disable_collisions link1="arm_left_3_link" link2="gripper_left_motor_single_link" reason="Never" />
<disable_collisions link1="arm_left_3_link" link2="head_1_link" reason="Never" />
<disable_collisions link1="arm_left_3_link" link2="imu_link" reason="Never" />
<disable_collisions link1="arm_left_3_link" link2="leg_left_1_link" reason="Never" />
<disable_collisions link1="arm_left_3_link" link2="leg_left_2_link" reason="Never" />
<disable_collisions link1="arm_left_3_link" link2="leg_right_1_link" reason="Never" />
<disable_collisions link1="arm_left_3_link" link2="leg_right_2_link" reason="Never" />
<disable_collisions link1="arm_left_3_link" link2="torso_1_link" reason="Never" />
<disable_collisions link1="arm_left_3_link" link2="wrist_left_ft_link" reason="Never" />
<disable_collisions link1="arm_left_3_link" link2="wrist_left_ft_tool_link" reason="Never" />
<disable_collisions link1="arm_left_4_link" link2="arm_left_5_link" reason="Adjacent" />
<disable_collisions link1="arm_left_4_link" link2="arm_left_6_link" reason="Never" />
<disable_collisions link1="arm_left_4_link" link2="arm_left_7_link" reason="Never" />
<disable_collisions link1="arm_left_4_link" link2="arm_right_1_link" reason="Never" />
<disable_collisions link1="arm_left_4_link" link2="arm_right_2_link" reason="Never" />
<disable_collisions link1="arm_left_4_link" link2="arm_right_3_link" reason="Never" />
<disable_collisions link1="arm_left_4_link" link2="arm_right_4_link" reason="Never" />
<disable_collisions link1="arm_left_4_link" link2="gripper_left_base_link" reason="Never" />
<disable_collisions link1="arm_left_4_link" link2="gripper_left_fingertip_1_link" reason="Never" />
<disable_collisions link1="arm_left_4_link" link2="gripper_left_fingertip_2_link" reason="Never" />
<disable_collisions link1="arm_left_4_link" link2="gripper_left_fingertip_3_link" reason="Never" />
<disable_collisions link1="arm_left_4_link" link2="gripper_left_inner_double_link" reason="Never" />
<disable_collisions link1="arm_left_4_link" link2="gripper_left_inner_single_link" reason="Never" />
<disable_collisions link1="arm_left_4_link" link2="gripper_left_motor_double_link" reason="Never" />
<disable_collisions link1="arm_left_4_link" link2="gripper_left_motor_single_link" reason="Never" />
<disable_collisions link1="arm_left_4_link" link2="head_1_link" reason="Never" />
<disable_collisions link1="arm_left_4_link" link2="imu_link" reason="Never" />
<disable_collisions link1="arm_left_4_link" link2="leg_left_2_link" reason="Never" />
<disable_collisions link1="arm_left_4_link" link2="leg_right_1_link" reason="Never" />
<disable_collisions link1="arm_left_4_link" link2="leg_right_2_link" reason="Never" />
<disable_collisions link1="arm_left_4_link" link2="wrist_left_ft_link" reason="Never" />
<disable_collisions link1="arm_left_4_link" link2="wrist_left_ft_tool_link" reason="Never" />
<disable_collisions link1="arm_left_5_link" link2="arm_left_6_link" reason="Adjacent" />
<disable_collisions link1="arm_left_5_link" link2="arm_left_7_link" reason="Default" />
<disable_collisions link1="arm_left_5_link" link2="arm_right_1_link" reason="Never" />
<disable_collisions link1="arm_left_5_link" link2="gripper_left_base_link" reason="Never" />
<disable_collisions link1="arm_left_5_link" link2="gripper_left_fingertip_1_link" reason="Never" />
<disable_collisions link1="arm_left_5_link" link2="gripper_left_fingertip_2_link" reason="Never" />
<disable_collisions link1="arm_left_5_link" link2="gripper_left_fingertip_3_link" reason="Never" />
<disable_collisions link1="arm_left_5_link" link2="gripper_left_inner_double_link" reason="Never" />
<disable_collisions link1="arm_left_5_link" link2="gripper_left_inner_single_link" reason="Never" />
<disable_collisions link1="arm_left_5_link" link2="gripper_left_motor_double_link" reason="Never" />
<disable_collisions link1="arm_left_5_link" link2="gripper_left_motor_single_link" reason="Never" />
<disable_collisions link1="arm_left_5_link" link2="wrist_left_ft_link" reason="Never" />
<disable_collisions link1="arm_left_5_link" link2="wrist_left_ft_tool_link" reason="Never" />
<disable_collisions link1="arm_left_6_link" link2="arm_left_7_link" reason="Adjacent" />
<disable_collisions link1="arm_left_6_link" link2="arm_right_1_link" reason="Never" />
<disable_collisions link1="arm_left_6_link" link2="gripper_left_base_link" reason="Never" />
<disable_collisions link1="arm_left_6_link" link2="gripper_left_fingertip_1_link" reason="Never" />
<disable_collisions link1="arm_left_6_link" link2="gripper_left_fingertip_2_link" reason="Never" />
<disable_collisions link1="arm_left_6_link" link2="gripper_left_fingertip_3_link" reason="Never" />
<disable_collisions link1="arm_left_6_link" link2="gripper_left_inner_double_link" reason="Never" />
<disable_collisions link1="arm_left_6_link" link2="gripper_left_inner_single_link" reason="Never" />
<disable_collisions link1="arm_left_6_link" link2="gripper_left_motor_double_link" reason="Never" />
<disable_collisions link1="arm_left_6_link" link2="gripper_left_motor_single_link" reason="Never" />
<disable_collisions link1="arm_left_6_link" link2="wrist_left_ft_link" reason="Never" />
<disable_collisions link1="arm_left_6_link" link2="wrist_left_ft_tool_link" reason="Never" />
<disable_collisions link1="arm_left_7_link" link2="gripper_left_base_link" reason="Default" />
<disable_collisions link1="arm_left_7_link" link2="gripper_left_fingertip_1_link" reason="Never" />
<disable_collisions link1="arm_left_7_link" link2="gripper_left_fingertip_2_link" reason="Never" />
<disable_collisions link1="arm_left_7_link" link2="gripper_left_fingertip_3_link" reason="Never" />
<disable_collisions link1="arm_left_7_link" link2="gripper_left_inner_double_link" reason="Never" />
<disable_collisions link1="arm_left_7_link" link2="gripper_left_inner_single_link" reason="Never" />
<disable_collisions link1="arm_left_7_link" link2="gripper_left_motor_double_link" reason="Never" />
<disable_collisions link1="arm_left_7_link" link2="gripper_left_motor_single_link" reason="Never" />
<disable_collisions link1="arm_left_7_link" link2="wrist_left_ft_link" reason="Adjacent" />
<disable_collisions link1="arm_left_7_link" link2="wrist_left_ft_tool_link" reason="Never" />
<disable_collisions link1="arm_right_1_link" link2="arm_right_2_link" reason="Adjacent" />
<disable_collisions link1="arm_right_1_link" link2="arm_right_3_link" reason="Never" />
<disable_collisions link1="arm_right_1_link" link2="arm_right_4_link" reason="Never" />
<disable_collisions link1="arm_right_1_link" link2="arm_right_5_link" reason="Never" />
<disable_collisions link1="arm_right_1_link" link2="arm_right_6_link" reason="Never" />
<disable_collisions link1="arm_right_1_link" link2="base_link" reason="Never" />
<disable_collisions link1="arm_right_1_link" link2="head_1_link" reason="Never" />
<disable_collisions link1="arm_right_1_link" link2="head_2_link" reason="Never" />
<disable_collisions link1="arm_right_1_link" link2="imu_link" reason="Never" />
<disable_collisions link1="arm_right_1_link" link2="leg_left_1_link" reason="Never" />
<disable_collisions link1="arm_right_1_link" link2="leg_left_2_link" reason="Never" />
<disable_collisions link1="arm_right_1_link" link2="leg_left_3_link" reason="Never" />
<disable_collisions link1="arm_right_1_link" link2="leg_left_4_link" reason="Never" />
<disable_collisions link1="arm_right_1_link" link2="leg_left_5_link" reason="Never" />
<disable_collisions link1="arm_right_1_link" link2="leg_left_6_link" reason="Never" />
<disable_collisions link1="arm_right_1_link" link2="leg_right_1_link" reason="Never" />
<disable_collisions link1="arm_right_1_link" link2="leg_right_2_link" reason="Never" />
<disable_collisions link1="arm_right_1_link" link2="leg_right_3_link" reason="Never" />
<disable_collisions link1="arm_right_1_link" link2="leg_right_4_link" reason="Never" />
<disable_collisions link1="arm_right_1_link" link2="leg_right_5_link" reason="Never" />
<disable_collisions link1="arm_right_1_link" link2="leg_right_6_link" reason="Never" />
<disable_collisions link1="arm_right_1_link" link2="rgbd_link" reason="Never" />
<disable_collisions link1="arm_right_1_link" link2="torso_1_link" reason="Never" />
<disable_collisions link1="arm_right_1_link" link2="torso_2_link" reason="Adjacent" />
<disable_collisions link1="arm_right_1_link" link2="wrist_left_ft_link" reason="Never" />
<disable_collisions link1="arm_right_1_link" link2="wrist_left_ft_tool_link" reason="Never" />
<disable_collisions link1="arm_right_1_link" link2="wrist_right_ft_link" reason="Never" />
<disable_collisions link1="arm_right_1_link" link2="wrist_right_ft_tool_link" reason="Never" />
<disable_collisions link1="arm_right_2_link" link2="arm_right_3_link" reason="Adjacent" />
<disable_collisions link1="arm_right_2_link" link2="arm_right_4_link" reason="Never" />
<disable_collisions link1="arm_right_2_link" link2="arm_right_5_link" reason="Never" />
<disable_collisions link1="arm_right_2_link" link2="arm_right_6_link" reason="Never" />
<disable_collisions link1="arm_right_2_link" link2="arm_right_7_link" reason="Never" />
<disable_collisions link1="arm_right_2_link" link2="base_link" reason="Never" />
<disable_collisions link1="arm_right_2_link" link2="head_1_link" reason="Never" />
<disable_collisions link1="arm_right_2_link" link2="imu_link" reason="Never" />
<disable_collisions link1="arm_right_2_link" link2="leg_left_1_link" reason="Never" />
<disable_collisions link1="arm_right_2_link" link2="leg_left_2_link" reason="Never" />
<disable_collisions link1="arm_right_2_link" link2="leg_left_3_link" reason="Never" />
<disable_collisions link1="arm_right_2_link" link2="leg_left_5_link" reason="Never" />
<disable_collisions link1="arm_right_2_link" link2="leg_right_1_link" reason="Never" />
<disable_collisions link1="arm_right_2_link" link2="leg_right_2_link" reason="Never" />
<disable_collisions link1="arm_right_2_link" link2="leg_right_3_link" reason="Never" />
<disable_collisions link1="arm_right_2_link" link2="leg_right_5_link" reason="Never" />
<disable_collisions link1="arm_right_2_link" link2="leg_right_6_link" reason="Never" />
<disable_collisions link1="arm_right_2_link" link2="torso_1_link" reason="Never" />
<disable_collisions link1="arm_right_2_link" link2="wrist_right_ft_link" reason="Never" />
<disable_collisions link1="arm_right_2_link" link2="wrist_right_ft_tool_link" reason="Never" />
<disable_collisions link1="arm_right_3_link" link2="arm_right_4_link" reason="Adjacent" />
<disable_collisions link1="arm_right_3_link" link2="arm_right_6_link" reason="Never" />
<disable_collisions link1="arm_right_3_link" link2="arm_right_7_link" reason="Never" />
<disable_collisions link1="arm_right_3_link" link2="gripper_right_base_link" reason="Never" />
<disable_collisions link1="arm_right_3_link" link2="gripper_right_fingertip_1_link" reason="Never" />
<disable_collisions link1="arm_right_3_link" link2="gripper_right_fingertip_2_link" reason="Never" />
<disable_collisions link1="arm_right_3_link" link2="gripper_right_fingertip_3_link" reason="Never" />
<disable_collisions link1="arm_right_3_link" link2="gripper_right_inner_double_link" reason="Never" />
<disable_collisions link1="arm_right_3_link" link2="gripper_right_inner_single_link" reason="Never" />
<disable_collisions link1="arm_right_3_link" link2="gripper_right_motor_double_link" reason="Never" />
<disable_collisions link1="arm_right_3_link" link2="gripper_right_motor_single_link" reason="Never" />
<disable_collisions link1="arm_right_3_link" link2="head_1_link" reason="Never" />
<disable_collisions link1="arm_right_3_link" link2="imu_link" reason="Never" />
<disable_collisions link1="arm_right_3_link" link2="leg_left_1_link" reason="Never" />
<disable_collisions link1="arm_right_3_link" link2="leg_left_2_link" reason="Never" />
<disable_collisions link1="arm_right_3_link" link2="leg_right_1_link" reason="Never" />
<disable_collisions link1="arm_right_3_link" link2="leg_right_2_link" reason="Never" />
<disable_collisions link1="arm_right_3_link" link2="torso_1_link" reason="Never" />
<disable_collisions link1="arm_right_3_link" link2="wrist_right_ft_link" reason="Never" />
<disable_collisions link1="arm_right_3_link" link2="wrist_right_ft_tool_link" reason="Never" />
<disable_collisions link1="arm_right_4_link" link2="arm_right_5_link" reason="Adjacent" />
<disable_collisions link1="arm_right_4_link" link2="arm_right_6_link" reason="Never" />
<disable_collisions link1="arm_right_4_link" link2="arm_right_7_link" reason="Never" />
<disable_collisions link1="arm_right_4_link" link2="gripper_right_base_link" reason="Never" />
<disable_collisions link1="arm_right_4_link" link2="gripper_right_fingertip_1_link" reason="Never" />
<disable_collisions link1="arm_right_4_link" link2="gripper_right_fingertip_2_link" reason="Never" />
<disable_collisions link1="arm_right_4_link" link2="gripper_right_fingertip_3_link" reason="Never" />
<disable_collisions link1="arm_right_4_link" link2="gripper_right_inner_double_link" reason="Never" />
<disable_collisions link1="arm_right_4_link" link2="gripper_right_inner_single_link" reason="Never" />
<disable_collisions link1="arm_right_4_link" link2="gripper_right_motor_double_link" reason="Never" />
<disable_collisions link1="arm_right_4_link" link2="gripper_right_motor_single_link" reason="Never" />
<disable_collisions link1="arm_right_4_link" link2="head_1_link" reason="Never" />
<disable_collisions link1="arm_right_4_link" link2="imu_link" reason="Never" />
<disable_collisions link1="arm_right_4_link" link2="leg_left_1_link" reason="Never" />
<disable_collisions link1="arm_right_4_link" link2="leg_left_2_link" reason="Never" />
<disable_collisions link1="arm_right_4_link" link2="leg_right_2_link" reason="Never" />
<disable_collisions link1="arm_right_4_link" link2="wrist_right_ft_link" reason="Never" />
<disable_collisions link1="arm_right_4_link" link2="wrist_right_ft_tool_link" reason="Never" />
<disable_collisions link1="arm_right_5_link" link2="arm_right_6_link" reason="Adjacent" />
<disable_collisions link1="arm_right_5_link" link2="arm_right_7_link" reason="Default" />
<disable_collisions link1="arm_right_5_link" link2="gripper_right_base_link" reason="Never" />
<disable_collisions link1="arm_right_5_link" link2="gripper_right_fingertip_1_link" reason="Never" />
<disable_collisions link1="arm_right_5_link" link2="gripper_right_fingertip_2_link" reason="Never" />
<disable_collisions link1="arm_right_5_link" link2="gripper_right_fingertip_3_link" reason="Never" />
<disable_collisions link1="arm_right_5_link" link2="gripper_right_inner_double_link" reason="Never" />
<disable_collisions link1="arm_right_5_link" link2="gripper_right_inner_single_link" reason="Never" />
<disable_collisions link1="arm_right_5_link" link2="gripper_right_motor_double_link" reason="Never" />
<disable_collisions link1="arm_right_5_link" link2="gripper_right_motor_single_link" reason="Never" />
<disable_collisions link1="arm_right_5_link" link2="wrist_right_ft_link" reason="Never" />
<disable_collisions link1="arm_right_5_link" link2="wrist_right_ft_tool_link" reason="Never" />
<disable_collisions link1="arm_right_6_link" link2="arm_right_7_link" reason="Adjacent" />
<disable_collisions link1="arm_right_6_link" link2="gripper_right_base_link" reason="Never" />
<disable_collisions link1="arm_right_6_link" link2="gripper_right_fingertip_1_link" reason="Never" />
<disable_collisions link1="arm_right_6_link" link2="gripper_right_fingertip_2_link" reason="Never" />
<disable_collisions link1="arm_right_6_link" link2="gripper_right_fingertip_3_link" reason="Never" />
<disable_collisions link1="arm_right_6_link" link2="gripper_right_inner_double_link" reason="Never" />
<disable_collisions link1="arm_right_6_link" link2="gripper_right_inner_single_link" reason="Never" />
<disable_collisions link1="arm_right_6_link" link2="gripper_right_motor_double_link" reason="Never" />
<disable_collisions link1="arm_right_6_link" link2="gripper_right_motor_single_link" reason="Never" />
<disable_collisions link1="arm_right_6_link" link2="wrist_right_ft_link" reason="Never" />
<disable_collisions link1="arm_right_6_link" link2="wrist_right_ft_tool_link" reason="Never" />
<disable_collisions link1="arm_right_7_link" link2="gripper_right_base_link" reason="Default" />
<disable_collisions link1="arm_right_7_link" link2="gripper_right_fingertip_1_link" reason="Never" />
<disable_collisions link1="arm_right_7_link" link2="gripper_right_fingertip_2_link" reason="Never" />
<disable_collisions link1="arm_right_7_link" link2="gripper_right_fingertip_3_link" reason="Never" />
<disable_collisions link1="arm_right_7_link" link2="gripper_right_inner_double_link" reason="Never" />
<disable_collisions link1="arm_right_7_link" link2="gripper_right_inner_single_link" reason="Never" />
<disable_collisions link1="arm_right_7_link" link2="gripper_right_motor_double_link" reason="Never" />
<disable_collisions link1="arm_right_7_link" link2="gripper_right_motor_single_link" reason="Never" />
<disable_collisions link1="arm_right_7_link" link2="wrist_right_ft_link" reason="Adjacent" />
<disable_collisions link1="arm_right_7_link" link2="wrist_right_ft_tool_link" reason="Never" />
<disable_collisions link1="base_link" link2="head_1_link" reason="Never" />
<disable_collisions link1="base_link" link2="head_2_link" reason="Never" />
<disable_collisions link1="base_link" link2="imu_link" reason="Never" />
<disable_collisions link1="base_link" link2="leg_left_1_link" reason="Adjacent" />
<disable_collisions link1="base_link" link2="leg_left_2_link" reason="Default" />
<disable_collisions link1="base_link" link2="leg_right_1_link" reason="Adjacent" />
<disable_collisions link1="base_link" link2="leg_right_2_link" reason="Default" />
<disable_collisions link1="base_link" link2="rgbd_link" reason="Never" />
<disable_collisions link1="base_link" link2="torso_1_link" reason="Adjacent" />
<disable_collisions link1="base_link" link2="torso_2_link" reason="Default" />
<disable_collisions link1="gripper_left_base_link" link2="gripper_left_fingertip_1_link" reason="Never" />
<disable_collisions link1="gripper_left_base_link" link2="gripper_left_fingertip_2_link" reason="Never" />
<disable_collisions link1="gripper_left_base_link" link2="gripper_left_fingertip_3_link" reason="Never" />
<disable_collisions link1="gripper_left_base_link" link2="gripper_left_inner_double_link" reason="Adjacent" />
<disable_collisions link1="gripper_left_base_link" link2="gripper_left_inner_single_link" reason="Adjacent" />
<disable_collisions link1="gripper_left_base_link" link2="gripper_left_motor_double_link" reason="Adjacent" />
<disable_collisions link1="gripper_left_base_link" link2="gripper_left_motor_single_link" reason="Adjacent" />
<disable_collisions link1="gripper_left_base_link" link2="wrist_left_ft_link" reason="Never" />
<disable_collisions link1="gripper_left_base_link" link2="wrist_left_ft_tool_link" reason="Adjacent" />
<disable_collisions link1="gripper_left_fingertip_1_link" link2="gripper_left_fingertip_2_link" reason="Never" />
<disable_collisions link1="gripper_left_fingertip_1_link" link2="gripper_left_fingertip_3_link" reason="Never" />
<disable_collisions link1="gripper_left_fingertip_1_link" link2="gripper_left_inner_double_link" reason="Adjacent" />
<disable_collisions link1="gripper_left_fingertip_1_link" link2="gripper_left_inner_single_link" reason="Never" />
<disable_collisions link1="gripper_left_fingertip_1_link" link2="gripper_left_motor_double_link" reason="Default" />
<disable_collisions link1="gripper_left_fingertip_1_link" link2="gripper_left_motor_single_link" reason="Never" />
<disable_collisions link1="gripper_left_fingertip_1_link" link2="wrist_left_ft_link" reason="Never" />
<disable_collisions link1="gripper_left_fingertip_1_link" link2="wrist_left_ft_tool_link" reason="Never" />
<disable_collisions link1="gripper_left_fingertip_2_link" link2="gripper_left_fingertip_3_link" reason="Never" />
<disable_collisions link1="gripper_left_fingertip_2_link" link2="gripper_left_inner_double_link" reason="Adjacent" />
<disable_collisions link1="gripper_left_fingertip_2_link" link2="gripper_left_inner_single_link" reason="Never" />
<disable_collisions link1="gripper_left_fingertip_2_link" link2="gripper_left_motor_double_link" reason="Default" />
<disable_collisions link1="gripper_left_fingertip_2_link" link2="gripper_left_motor_single_link" reason="Never" />
<disable_collisions link1="gripper_left_fingertip_2_link" link2="wrist_left_ft_link" reason="Never" />
<disable_collisions link1="gripper_left_fingertip_2_link" link2="wrist_left_ft_tool_link" reason="Never" />
<disable_collisions link1="gripper_left_fingertip_3_link" link2="gripper_left_inner_single_link" reason="Adjacent" />
<disable_collisions link1="gripper_left_fingertip_3_link" link2="gripper_left_motor_single_link" reason="Default" />
<disable_collisions link1="gripper_left_fingertip_3_link" link2="wrist_left_ft_link" reason="Never" />
<disable_collisions link1="gripper_left_fingertip_3_link" link2="wrist_left_ft_tool_link" reason="Never" />
<disable_collisions link1="gripper_left_inner_double_link" link2="gripper_left_motor_double_link" reason="Default" />
<disable_collisions link1="gripper_left_inner_double_link" link2="wrist_left_ft_link" reason="Never" />
<disable_collisions link1="gripper_left_inner_double_link" link2="wrist_left_ft_tool_link" reason="Never" />
<disable_collisions link1="gripper_left_inner_single_link" link2="gripper_left_motor_single_link" reason="Default" />
<disable_collisions link1="gripper_left_inner_single_link" link2="wrist_left_ft_link" reason="Never" />
<disable_collisions link1="gripper_left_inner_single_link" link2="wrist_left_ft_tool_link" reason="Never" />
<disable_collisions link1="gripper_left_motor_double_link" link2="gripper_left_motor_single_link" reason="Default" />
<disable_collisions link1="gripper_left_motor_double_link" link2="wrist_left_ft_link" reason="Never" />
<disable_collisions link1="gripper_left_motor_double_link" link2="wrist_left_ft_tool_link" reason="Never" />
<disable_collisions link1="gripper_left_motor_single_link" link2="wrist_left_ft_link" reason="Never" />
<disable_collisions link1="gripper_left_motor_single_link" link2="wrist_left_ft_tool_link" reason="Never" />
<disable_collisions link1="gripper_right_base_link" link2="gripper_right_fingertip_1_link" reason="Never" />
<disable_collisions link1="gripper_right_base_link" link2="gripper_right_fingertip_2_link" reason="Never" />
<disable_collisions link1="gripper_right_base_link" link2="gripper_right_fingertip_3_link" reason="Never" />
<disable_collisions link1="gripper_right_base_link" link2="gripper_right_inner_double_link" reason="Adjacent" />
<disable_collisions link1="gripper_right_base_link" link2="gripper_right_inner_single_link" reason="Adjacent" />
<disable_collisions link1="gripper_right_base_link" link2="gripper_right_motor_double_link" reason="Adjacent" />
<disable_collisions link1="gripper_right_base_link" link2="gripper_right_motor_single_link" reason="Adjacent" />
<disable_collisions link1="gripper_right_base_link" link2="wrist_right_ft_link" reason="Never" />
<disable_collisions link1="gripper_right_base_link" link2="wrist_right_ft_tool_link" reason="Adjacent" />
<disable_collisions link1="gripper_right_fingertip_1_link" link2="gripper_right_fingertip_2_link" reason="Never" />
<disable_collisions link1="gripper_right_fingertip_1_link" link2="gripper_right_fingertip_3_link" reason="Never" />
<disable_collisions link1="gripper_right_fingertip_1_link" link2="gripper_right_inner_double_link" reason="Adjacent" />
<disable_collisions link1="gripper_right_fingertip_1_link" link2="gripper_right_inner_single_link" reason="Never" />
<disable_collisions link1="gripper_right_fingertip_1_link" link2="gripper_right_motor_double_link" reason="Default" />
<disable_collisions link1="gripper_right_fingertip_1_link" link2="gripper_right_motor_single_link" reason="Never" />
<disable_collisions link1="gripper_right_fingertip_1_link" link2="wrist_right_ft_link" reason="Never" />
<disable_collisions link1="gripper_right_fingertip_1_link" link2="wrist_right_ft_tool_link" reason="Never" />
<disable_collisions link1="gripper_right_fingertip_2_link" link2="gripper_right_fingertip_3_link" reason="Never" />
<disable_collisions link1="gripper_right_fingertip_2_link" link2="gripper_right_inner_double_link" reason="Adjacent" />
<disable_collisions link1="gripper_right_fingertip_2_link" link2="gripper_right_inner_single_link" reason="Never" />
<disable_collisions link1="gripper_right_fingertip_2_link" link2="gripper_right_motor_double_link" reason="Default" />
<disable_collisions link1="gripper_right_fingertip_2_link" link2="gripper_right_motor_single_link" reason="Never" />
<disable_collisions link1="gripper_right_fingertip_2_link" link2="wrist_right_ft_link" reason="Never" />
<disable_collisions link1="gripper_right_fingertip_2_link" link2="wrist_right_ft_tool_link" reason="Never" />
<disable_collisions link1="gripper_right_fingertip_3_link" link2="gripper_right_inner_single_link" reason="Adjacent" />
<disable_collisions link1="gripper_right_fingertip_3_link" link2="gripper_right_motor_single_link" reason="Default" />
<disable_collisions link1="gripper_right_fingertip_3_link" link2="wrist_right_ft_link" reason="Never" />
<disable_collisions link1="gripper_right_fingertip_3_link" link2="wrist_right_ft_tool_link" reason="Never" />
<disable_collisions link1="gripper_right_inner_double_link" link2="gripper_right_motor_double_link" reason="Default" />
<disable_collisions link1="gripper_right_inner_double_link" link2="wrist_right_ft_link" reason="Never" />
<disable_collisions link1="gripper_right_inner_double_link" link2="wrist_right_ft_tool_link" reason="Never" />
<disable_collisions link1="gripper_right_inner_single_link" link2="gripper_right_motor_single_link" reason="Default" />
<disable_collisions link1="gripper_right_inner_single_link" link2="wrist_right_ft_link" reason="Never" />
<disable_collisions link1="gripper_right_inner_single_link" link2="wrist_right_ft_tool_link" reason="Never" />
<disable_collisions link1="gripper_right_motor_double_link" link2="gripper_right_motor_single_link" reason="Default" />
<disable_collisions link1="gripper_right_motor_double_link" link2="wrist_right_ft_link" reason="Never" />
<disable_collisions link1="gripper_right_motor_double_link" link2="wrist_right_ft_tool_link" reason="Never" />
<disable_collisions link1="gripper_right_motor_single_link" link2="wrist_right_ft_link" reason="Never" />
<disable_collisions link1="gripper_right_motor_single_link" link2="wrist_right_ft_tool_link" reason="Never" />
<disable_collisions link1="head_1_link" link2="head_2_link" reason="Adjacent" />
<disable_collisions link1="head_1_link" link2="imu_link" reason="Never" />
<disable_collisions link1="head_1_link" link2="leg_left_1_link" reason="Never" />
<disable_collisions link1="head_1_link" link2="leg_left_2_link" reason="Never" />
<disable_collisions link1="head_1_link" link2="leg_left_3_link" reason="Never" />
<disable_collisions link1="head_1_link" link2="leg_left_4_link" reason="Never" />
<disable_collisions link1="head_1_link" link2="leg_left_5_link" reason="Never" />
<disable_collisions link1="head_1_link" link2="leg_left_6_link" reason="Never" />
<disable_collisions link1="head_1_link" link2="leg_right_1_link" reason="Never" />
<disable_collisions link1="head_1_link" link2="leg_right_2_link" reason="Never" />
<disable_collisions link1="head_1_link" link2="leg_right_3_link" reason="Never" />
<disable_collisions link1="head_1_link" link2="leg_right_4_link" reason="Never" />
<disable_collisions link1="head_1_link" link2="leg_right_5_link" reason="Never" />
<disable_collisions link1="head_1_link" link2="leg_right_6_link" reason="Never" />
<disable_collisions link1="head_1_link" link2="rgbd_link" reason="Never" />
<disable_collisions link1="head_1_link" link2="torso_1_link" reason="Never" />
<disable_collisions link1="head_1_link" link2="torso_2_link" reason="Adjacent" />
<disable_collisions link1="head_2_link" link2="imu_link" reason="Never" />
<disable_collisions link1="head_2_link" link2="leg_left_1_link" reason="Never" />
<disable_collisions link1="head_2_link" link2="leg_left_2_link" reason="Never" />
<disable_collisions link1="head_2_link" link2="leg_left_3_link" reason="Never" />
<disable_collisions link1="head_2_link" link2="leg_left_4_link" reason="Never" />
<disable_collisions link1="head_2_link" link2="leg_left_5_link" reason="Never" />
<disable_collisions link1="head_2_link" link2="leg_left_6_link" reason="Never" />
<disable_collisions link1="head_2_link" link2="leg_right_1_link" reason="Never" />
<disable_collisions link1="head_2_link" link2="leg_right_2_link" reason="Never" />
<disable_collisions link1="head_2_link" link2="leg_right_3_link" reason="Never" />
<disable_collisions link1="head_2_link" link2="leg_right_4_link" reason="Never" />
<disable_collisions link1="head_2_link" link2="leg_right_5_link" reason="Never" />
<disable_collisions link1="head_2_link" link2="leg_right_6_link" reason="Never" />
<disable_collisions link1="head_2_link" link2="rgbd_link" reason="Adjacent" />
<disable_collisions link1="head_2_link" link2="torso_1_link" reason="Never" />
<disable_collisions link1="head_2_link" link2="torso_2_link" reason="Never" />
<disable_collisions link1="imu_link" link2="leg_left_1_link" reason="Never" />
<disable_collisions link1="imu_link" link2="leg_left_2_link" reason="Never" />
<disable_collisions link1="imu_link" link2="leg_left_3_link" reason="Never" />
<disable_collisions link1="imu_link" link2="leg_left_4_link" reason="Never" />
<disable_collisions link1="imu_link" link2="leg_left_5_link" reason="Never" />
<disable_collisions link1="imu_link" link2="leg_left_6_link" reason="Never" />
<disable_collisions link1="imu_link" link2="leg_right_1_link" reason="Never" />
<disable_collisions link1="imu_link" link2="leg_right_2_link" reason="Never" />
<disable_collisions link1="imu_link" link2="leg_right_3_link" reason="Never" />
<disable_collisions link1="imu_link" link2="leg_right_4_link" reason="Never" />
<disable_collisions link1="imu_link" link2="leg_right_5_link" reason="Never" />
<disable_collisions link1="imu_link" link2="leg_right_6_link" reason="Never" />
<disable_collisions link1="imu_link" link2="rgbd_link" reason="Never" />
<disable_collisions link1="imu_link" link2="torso_1_link" reason="Never" />
<disable_collisions link1="imu_link" link2="torso_2_link" reason="Adjacent" />
<disable_collisions link1="leg_left_1_link" link2="leg_left_2_link" reason="Adjacent" />
<disable_collisions link1="leg_left_1_link" link2="leg_left_3_link" reason="Default" />
<disable_collisions link1="leg_left_1_link" link2="leg_left_4_link" reason="Never" />
<disable_collisions link1="leg_left_1_link" link2="leg_left_5_link" reason="Never" />
<disable_collisions link1="leg_left_1_link" link2="rgbd_link" reason="Never" />
<disable_collisions link1="leg_left_1_link" link2="torso_1_link" reason="Never" />
<disable_collisions link1="leg_left_1_link" link2="torso_2_link" reason="Never" />
<disable_collisions link1="leg_left_2_link" link2="leg_left_3_link" reason="Adjacent" />
<disable_collisions link1="leg_left_2_link" link2="leg_left_4_link" reason="Never" />
<disable_collisions link1="leg_left_2_link" link2="leg_left_5_link" reason="Never" />
<disable_collisions link1="leg_left_2_link" link2="rgbd_link" reason="Never" />
<disable_collisions link1="leg_left_2_link" link2="torso_1_link" reason="Never" />
<disable_collisions link1="leg_left_2_link" link2="torso_2_link" reason="Never" />
<disable_collisions link1="leg_left_3_link" link2="leg_left_4_link" reason="Adjacent" />
<disable_collisions link1="leg_left_3_link" link2="leg_left_5_link" reason="Never" />
<disable_collisions link1="leg_left_3_link" link2="rgbd_link" reason="Never" />
<disable_collisions link1="leg_left_3_link" link2="torso_1_link" reason="Never" />
<disable_collisions link1="leg_left_3_link" link2="torso_2_link" reason="Never" />
<disable_collisions link1="leg_left_4_link" link2="leg_left_5_link" reason="Adjacent" />
<disable_collisions link1="leg_left_4_link" link2="leg_left_6_link" reason="Never" />
<disable_collisions link1="leg_left_4_link" link2="rgbd_link" reason="Never" />
<disable_collisions link1="leg_left_4_link" link2="torso_1_link" reason="Never" />
<disable_collisions link1="leg_left_4_link" link2="torso_2_link" reason="Never" />
<disable_collisions link1="leg_left_5_link" link2="leg_left_6_link" reason="Adjacent" />
<disable_collisions link1="leg_left_5_link" link2="rgbd_link" reason="Never" />
<disable_collisions link1="leg_left_5_link" link2="torso_1_link" reason="Never" />
<disable_collisions link1="leg_left_5_link" link2="torso_2_link" reason="Never" />
<disable_collisions link1="leg_left_6_link" link2="rgbd_link" reason="Never" />
<disable_collisions link1="leg_left_6_link" link2="torso_1_link" reason="Never" />
<disable_collisions link1="leg_left_6_link" link2="torso_2_link" reason="Never" />
<disable_collisions link1="leg_right_1_link" link2="leg_right_2_link" reason="Adjacent" />
<disable_collisions link1="leg_right_1_link" link2="leg_right_3_link" reason="Default" />
<disable_collisions link1="leg_right_1_link" link2="leg_right_4_link" reason="Never" />
<disable_collisions link1="leg_right_1_link" link2="leg_right_5_link" reason="Never" />
<disable_collisions link1="leg_right_1_link" link2="rgbd_link" reason="Never" />
<disable_collisions link1="leg_right_1_link" link2="torso_1_link" reason="Never" />
<disable_collisions link1="leg_right_1_link" link2="torso_2_link" reason="Never" />
<disable_collisions link1="leg_right_2_link" link2="leg_right_3_link" reason="Adjacent" />
<disable_collisions link1="leg_right_2_link" link2="leg_right_4_link" reason="Never" />
<disable_collisions link1="leg_right_2_link" link2="leg_right_5_link" reason="Never" />
<disable_collisions link1="leg_right_2_link" link2="rgbd_link" reason="Never" />
<disable_collisions link1="leg_right_2_link" link2="torso_1_link" reason="Never" />
<disable_collisions link1="leg_right_2_link" link2="torso_2_link" reason="Never" />
<disable_collisions link1="leg_right_3_link" link2="leg_right_4_link" reason="Adjacent" />
<disable_collisions link1="leg_right_3_link" link2="leg_right_5_link" reason="Never" />
<disable_collisions link1="leg_right_3_link" link2="rgbd_link" reason="Never" />
<disable_collisions link1="leg_right_3_link" link2="torso_1_link" reason="Never" />
<disable_collisions link1="leg_right_3_link" link2="torso_2_link" reason="Never" />
<disable_collisions link1="leg_right_4_link" link2="leg_right_5_link" reason="Adjacent" />
<disable_collisions link1="leg_right_4_link" link2="leg_right_6_link" reason="Never" />
<disable_collisions link1="leg_right_4_link" link2="rgbd_link" reason="Never" />
<disable_collisions link1="leg_right_4_link" link2="torso_1_link" reason="Never" />
<disable_collisions link1="leg_right_4_link" link2="torso_2_link" reason="Never" />
<disable_collisions link1="leg_right_5_link" link2="leg_right_6_link" reason="Adjacent" />
<disable_collisions link1="leg_right_5_link" link2="rgbd_link" reason="Never" />
<disable_collisions link1="leg_right_5_link" link2="torso_1_link" reason="Never" />
<disable_collisions link1="leg_right_5_link" link2="torso_2_link" reason="Never" />
<disable_collisions link1="leg_right_6_link" link2="rgbd_link" reason="Never" />
<disable_collisions link1="leg_right_6_link" link2="torso_1_link" reason="Never" />
<disable_collisions link1="leg_right_6_link" link2="torso_2_link" reason="Never" />
<disable_collisions link1="rgbd_link" link2="torso_1_link" reason="Never" />
<disable_collisions link1="rgbd_link" link2="torso_2_link" reason="Never" />
<disable_collisions link1="torso_1_link" link2="torso_2_link" reason="Adjacent" />
<disable_collisions link1="wrist_left_ft_link" link2="wrist_left_ft_tool_link" reason="Adjacent" />
<disable_collisions link1="wrist_right_ft_link" link2="wrist_right_ft_tool_link" reason="Adjacent" />
<gripper name="left_gripper" clearance="0.07">
<position> 0 0 -0.13 0.707106 0 0.707106 0</position>
<link name="gripper_left_base_link" />
<joint name="gripper_left_joint" />
<torque_constant value="48e-3" unit="N.m/A"/>
</gripper>
<gripper name="right_gripper" clearance="0.07">
<position> 0 0 -0.13 0 -0.707106 0 0.707106 </position>
<link name="gripper_right_base_link" />
<joint name="gripper_right_joint" />
<torque_constant value="48e-3" unit="N.m/A"/>
</gripper>
</robot>
urdf/arm/arm_v1.urdf.xacro
View file @ dc636c94
...@@ -11,9 +11,9 @@ ...@@ -11,9 +11,9 @@
<robot xmlns:xacro="http://ros.org/wiki/xacro"> <robot xmlns:xacro="http://ros.org/wiki/xacro">
<!--File includes--> <!--File includes-->
<xacro:include filename="$(find talos_description)/urdf/deg_to_rad.xacro" /> <xacro:include filename="$(find talos_data)/urdf/deg_to_rad.xacro" />
<xacro:include filename="$(find talos_description)/urdf/arm/wrist.urdf.xacro" /> <xacro:include filename="$(find talos_data)/urdf/arm/wrist.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/arm/arm.transmission.xacro" /> <xacro:include filename="$(find talos_data)/urdf/arm/arm.transmission.xacro" />
<!--Constant parameters--> <!--Constant parameters-->
<xacro:property name="arm_friction" value="1.0" /> <xacro:property name="arm_friction" value="1.0" />
...@@ -47,14 +47,14 @@ ...@@ -47,14 +47,14 @@
<visual> <visual>
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<geometry> <geometry>
<mesh filename="package://talos_description/meshes/arm/arm_1.STL" scale="1 ${reflect} 1"/> <mesh filename="package://talos_data/meshes/arm/arm_1.STL" scale="1 ${reflect} 1"/>
</geometry> </geometry>
<material name="DarkGrey" /> <material name="DarkGrey" />
</visual> </visual>
<collision> <collision>
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<geometry> <geometry>
<mesh filename="package://talos_description/meshes/arm/arm_1_collision.STL" scale="1 ${reflect} 1"/> <mesh filename="package://talos_data/meshes/arm/arm_1_collision.STL" scale="1 ${reflect} 1"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
...@@ -86,14 +86,14 @@ ...@@ -86,14 +86,14 @@
<visual> <visual>
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<geometry> <geometry>
<mesh filename="package://talos_description/meshes/arm/arm_2.STL" scale="1 ${reflect} 1"/> <mesh filename="package://talos_data/meshes/arm/arm_2.STL" scale="1 ${reflect} 1"/>
</geometry> </geometry>
<material name="DarkGrey" /> <material name="DarkGrey" />
</visual> </visual>
<collision> <collision>
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<geometry> <geometry>
<mesh filename="package://talos_description/meshes/arm/arm_2_collision.STL" scale="1 ${reflect} 1"/> <mesh filename="package://talos_data/meshes/arm/arm_2_collision.STL" scale="1 ${reflect} 1"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
...@@ -126,14 +126,14 @@ ...@@ -126,14 +126,14 @@
<visual> <visual>
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<geometry> <geometry>
<mesh filename="package://talos_description/meshes/arm/arm_3.STL" scale="1 ${reflect} 1"/> <mesh filename="package://talos_data/meshes/arm/arm_3.STL" scale="1 ${reflect} 1"/>
</geometry> </geometry>
<material name="DarkGrey" /> <material name="DarkGrey" />
</visual> </visual>
<collision> <collision>
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<geometry> <geometry>
<mesh filename="package://talos_description/meshes/arm/arm_3_collision.STL" scale="1 ${reflect} 1"/> <mesh filename="package://talos_data/meshes/arm/arm_3_collision.STL" scale="1 ${reflect} 1"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
...@@ -169,14 +169,14 @@ ...@@ -169,14 +169,14 @@
<visual> <visual>
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<geometry> <geometry>
<mesh filename="package://talos_description/meshes/arm/arm_4.STL" scale="1 ${reflect} 1"/> <mesh filename="package://talos_data/meshes/arm/arm_4.STL" scale="1 ${reflect} 1"/>
</geometry> </geometry>
<material name="DarkGrey" /> <material name="DarkGrey" />
</visual> </visual>
<collision> <collision>
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<geometry> <geometry>
<mesh filename="package://talos_description/meshes/arm/arm_4_collision.STL" scale="1 ${reflect} 1"/> <mesh filename="package://talos_data/meshes/arm/arm_4_collision.STL" scale="1 ${reflect} 1"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
...@@ -236,7 +236,7 @@ ...@@ -236,7 +236,7 @@
<xacro:talos_wrist name="arm" parent="${name}_${side}_4_link" side="${side}" reflect="${reflect}" /> <xacro:talos_wrist name="arm" parent="${name}_${side}_4_link" side="${side}" reflect="${reflect}" />
<!-- extensions --> <!-- extensions -->
<xacro:include filename="$(find talos_description)/urdf/arm/${side}_arm.transmissions.urdf.xacro" /> <xacro:include filename="$(find talos_data)/urdf/arm/${side}_arm.transmissions.urdf.xacro" />
</xacro:macro> </xacro:macro>
......
urdf/arm/arm_v2.urdf.xacro
View file @ dc636c94
...@@ -11,9 +11,9 @@ ...@@ -11,9 +11,9 @@
<robot xmlns:xacro="http://ros.org/wiki/xacro"> <robot xmlns:xacro="http://ros.org/wiki/xacro">
<!--File includes--> <!--File includes-->
<xacro:include filename="$(find talos_description)/urdf/deg_to_rad.xacro" /> <xacro:include filename="$(find talos_data)/urdf/deg_to_rad.xacro" />
<xacro:include filename="$(find talos_description)/urdf/arm/wrist.urdf.xacro" /> <xacro:include filename="$(find talos_data)/urdf/arm/wrist.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/arm/arm.transmission.xacro" /> <xacro:include filename="$(find talos_data)/urdf/arm/arm.transmission.xacro" />
<!--Constant parameters--> <!--Constant parameters-->
<xacro:property name="arm_friction" value="1.0" /> <xacro:property name="arm_friction" value="1.0" />
...@@ -40,7 +40,7 @@ ...@@ -40,7 +40,7 @@
<visual> <visual>
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<geometry> <geometry>
<mesh filename="package://talos_description/meshes/arm/arm_1.STL" scale="1 ${reflect} 1"/> <mesh filename="package://talos_data/meshes/arm/arm_1.STL" scale="1 ${reflect} 1"/>
</geometry> </geometry>
<material name="DarkGrey" /> <material name="DarkGrey" />
</visual> </visual>
...@@ -48,7 +48,7 @@ ...@@ -48,7 +48,7 @@
<collision> <collision>
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<geometry> <geometry>
<mesh filename="package://talos_description/meshes/arm/arm_1_collision.STL" scale="1 ${reflect} 1"/> <mesh filename="package://talos_data/meshes/arm/arm_1_collision.STL" scale="1 ${reflect} 1"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
...@@ -77,7 +77,7 @@ ...@@ -77,7 +77,7 @@
<visual> <visual>
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<geometry> <geometry>
<mesh filename="package://talos_description/meshes/arm/arm_2.STL" scale="1 ${reflect} 1"/> <mesh filename="package://talos_data/meshes/arm/arm_2.STL" scale="1 ${reflect} 1"/>
</geometry> </geometry>
<material name="DarkGrey" /> <material name="DarkGrey" />
</visual> </visual>
...@@ -85,7 +85,7 @@ ...@@ -85,7 +85,7 @@
<collision> <collision>
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<geometry> <geometry>
<mesh filename="package://talos_description/meshes/arm/arm_2_collision.STL" scale="1 ${reflect} 1"/> <mesh filename="package://talos_data/meshes/arm/arm_2_collision.STL" scale="1 ${reflect} 1"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
...@@ -112,7 +112,7 @@ ...@@ -112,7 +112,7 @@
<visual> <visual>
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<geometry> <geometry>
<mesh filename="package://talos_description/meshes/arm/arm_3.STL" scale="1 ${reflect} 1"/> <mesh filename="package://talos_data/meshes/arm/arm_3.STL" scale="1 ${reflect} 1"/>
</geometry> </geometry>
<material name="DarkGrey" /> <material name="DarkGrey" />
</visual> </visual>
...@@ -120,7 +120,7 @@ ...@@ -120,7 +120,7 @@
<collision> <collision>
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<geometry> <geometry>
<mesh filename="package://talos_description/meshes/arm/arm_3_collision.STL" scale="1 ${reflect} 1"/> <mesh filename="package://talos_data/meshes/arm/arm_3_collision.STL" scale="1 ${reflect} 1"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
...@@ -149,7 +149,7 @@ ...@@ -149,7 +149,7 @@
<visual> <visual>
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<geometry> <geometry>
<mesh filename="package://talos_description/meshes/arm/arm_4.STL" scale="1 ${reflect} 1"/> <mesh filename="package://talos_data/meshes/arm/arm_4.STL" scale="1 ${reflect} 1"/>
</geometry> </geometry>
<material name="DarkGrey" /> <material name="DarkGrey" />
</visual> </visual>
...@@ -157,7 +157,7 @@ ...@@ -157,7 +157,7 @@
<collision> <collision>
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<geometry> <geometry>
<mesh filename="package://talos_description/meshes/arm/arm_4_collision.STL" scale="1 ${reflect} 1"/> <mesh filename="package://talos_data/meshes/arm/arm_4_collision.STL" scale="1 ${reflect} 1"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
...@@ -217,7 +217,7 @@ ...@@ -217,7 +217,7 @@
<xacro:talos_wrist name="arm" parent="${name}_${side}_4_link" side="${side}" reflect="${reflect}" /> <xacro:talos_wrist name="arm" parent="${name}_${side}_4_link" side="${side}" reflect="${reflect}" />
<!-- extensions --> <!-- extensions -->
<xacro:include filename="$(find talos_description)/urdf/arm/${side}_arm.transmissions.urdf.xacro" /> <xacro:include filename="$(find talos_data)/urdf/arm/${side}_arm.transmissions.urdf.xacro" />
</xacro:macro> </xacro:macro>
......
urdf/arm/left_arm.transmissions.urdf.xacro
View file @ dc636c94
...@@ -11,7 +11,7 @@ ...@@ -11,7 +11,7 @@
<robot xmlns:xacro="http://ros.org/wiki/xacro"> <robot xmlns:xacro="http://ros.org/wiki/xacro">
<!--File includes--> <!--File includes-->
<xacro:include filename="$(find talos_description)/urdf/arm/arm.transmission.xacro" /> <xacro:include filename="$(find talos_data)/urdf/arm/arm.transmission.xacro" />
<xacro:include filename="$(find talos_description_calibration)/urdf/calibration/calibration_constants.urdf.xacro" /> <xacro:include filename="$(find talos_description_calibration)/urdf/calibration/calibration_constants.urdf.xacro" />
<!-- extensions --> <!-- extensions -->
......
urdf/arm/left_wrist.transmissions.urdf.xacro
View file @ dc636c94
...@@ -11,7 +11,7 @@ ...@@ -11,7 +11,7 @@
<robot xmlns:xacro="http://ros.org/wiki/xacro"> <robot xmlns:xacro="http://ros.org/wiki/xacro">
<!--File includes--> <!--File includes-->
<xacro:include filename="$(find talos_description)/urdf/arm/wrist.transmission.xacro" /> <xacro:include filename="$(find talos_data)/urdf/arm/wrist.transmission.xacro" />
<xacro:include filename="$(find talos_description_calibration)/urdf/calibration/calibration_constants.urdf.xacro" /> <xacro:include filename="$(find talos_description_calibration)/urdf/calibration/calibration_constants.urdf.xacro" />
<!-- extensions --> <!-- extensions -->
......
urdf/arm/right_arm.transmissions.urdf.xacro
View file @ dc636c94
...@@ -11,7 +11,7 @@ ...@@ -11,7 +11,7 @@
<robot xmlns:xacro="http://ros.org/wiki/xacro"> <robot xmlns:xacro="http://ros.org/wiki/xacro">
<!--File includes--> <!--File includes-->
<xacro:include filename="$(find talos_description)/urdf/arm/arm.transmission.xacro" /> <xacro:include filename="$(find talos_data)/urdf/arm/arm.transmission.xacro" />
<xacro:include filename="$(find talos_description_calibration)/urdf/calibration/calibration_constants.urdf.xacro" /> <xacro:include filename="$(find talos_description_calibration)/urdf/calibration/calibration_constants.urdf.xacro" />
<!-- extensions --> <!-- extensions -->
......
urdf/arm/right_wrist.transmissions.urdf.xacro
View file @ dc636c94
...@@ -11,7 +11,7 @@ ...@@ -11,7 +11,7 @@
<robot xmlns:xacro="http://ros.org/wiki/xacro"> <robot xmlns:xacro="http://ros.org/wiki/xacro">
<!--File includes--> <!--File includes-->
<xacro:include filename="$(find talos_description)/urdf/arm/wrist.transmission.xacro" /> <xacro:include filename="$(find talos_data)/urdf/arm/wrist.transmission.xacro" />
<xacro:include filename="$(find talos_description_calibration)/urdf/calibration/calibration_constants.urdf.xacro" /> <xacro:include filename="$(find talos_description_calibration)/urdf/calibration/calibration_constants.urdf.xacro" />
<!-- extensions --> <!-- extensions -->
......
urdf/arm/wrist.urdf.xacro
View file @ dc636c94
...@@ -11,8 +11,8 @@ ...@@ -11,8 +11,8 @@
<robot xmlns:xacro="http://ros.org/wiki/xacro"> <robot xmlns:xacro="http://ros.org/wiki/xacro">
<!--File includes--> <!--File includes-->
<xacro:include filename="$(find talos_description)/urdf/deg_to_rad.xacro" /> <xacro:include filename="$(find talos_data)/urdf/deg_to_rad.xacro" />
<xacro:include filename="$(find talos_description)/urdf/arm/wrist.transmission.xacro" /> <xacro:include filename="$(find talos_data)/urdf/arm/wrist.transmission.xacro" />
<!--Constant parameters--> <!--Constant parameters-->
<xacro:property name="wrist_friction" value="1.0" /> <xacro:property name="wrist_friction" value="1.0" />
...@@ -37,7 +37,7 @@ ...@@ -37,7 +37,7 @@
<visual> <visual>
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<geometry> <geometry>
<mesh filename="package://talos_description/meshes/arm/arm_5.STL" scale="1 ${reflect} 1"/> <mesh filename="package://talos_data/meshes/arm/arm_5.STL" scale="1 ${reflect} 1"/>
</geometry> </geometry>
<material name="LightGrey" /> <material name="LightGrey" />
</visual> </visual>
...@@ -45,7 +45,7 @@ ...@@ -45,7 +45,7 @@
<collision> <collision>
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<geometry> <geometry>
<mesh filename="package://talos_description/meshes/arm/arm_5_collision.STL" scale="1 ${reflect} 1"/> <mesh filename="package://talos_data/meshes/arm/arm_5_collision.STL" scale="1 ${reflect} 1"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
...@@ -71,7 +71,7 @@ ...@@ -71,7 +71,7 @@
<visual> <visual>
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<geometry> <geometry>
<mesh filename="package://talos_description/meshes/arm/arm_6.STL" scale="1 ${reflect} 1"/> <mesh filename="package://talos_data/meshes/arm/arm_6.STL" scale="1 ${reflect} 1"/>
</geometry> </geometry>
<material name="LightGrey" /> <material name="LightGrey" />
</visual> </visual>
...@@ -79,7 +79,7 @@ ...@@ -79,7 +79,7 @@
<collision> <collision>
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<geometry> <geometry>
<mesh filename="package://talos_description/meshes/arm/arm_6_collision.STL" scale="1 ${reflect} 1"/> <mesh filename="package://talos_data/meshes/arm/arm_6_collision.STL" scale="1 ${reflect} 1"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
...@@ -105,7 +105,7 @@ ...@@ -105,7 +105,7 @@
<visual> <visual>
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<geometry> <geometry>
<mesh filename="package://talos_description/meshes/arm/arm_7.STL" scale="1 ${reflect} 1"/> <mesh filename="package://talos_data/meshes/arm/arm_7.STL" scale="1 ${reflect} 1"/>
</geometry> </geometry>
<material name="DarkGrey" /> <material name="DarkGrey" />
</visual> </visual>
...@@ -113,7 +113,7 @@ ...@@ -113,7 +113,7 @@
<collision> <collision>
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<geometry> <geometry>
<mesh filename="package://talos_description/meshes/arm/arm_7_collision.STL" scale="1 ${reflect} 1"/> <mesh filename="package://talos_data/meshes/arm/arm_7_collision.STL" scale="1 ${reflect} 1"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
...@@ -160,7 +160,7 @@ ...@@ -160,7 +160,7 @@
</gazebo> </gazebo>
<!-- extensions --> <!-- extensions -->
<xacro:include filename="$(find talos_description)/urdf/arm/${side}_wrist.transmissions.urdf.xacro" /> <xacro:include filename="$(find talos_data)/urdf/arm/${side}_wrist.transmissions.urdf.xacro" />
</xacro:macro> </xacro:macro>
</robot> </robot>
urdf/crane/crane.urdf.xacro
View file @ dc636c94
...@@ -11,7 +11,7 @@ ...@@ -11,7 +11,7 @@
<robot xmlns:xacro="http://ros.org/wiki/xacro"> <robot xmlns:xacro="http://ros.org/wiki/xacro">
<!--File includes--> <!--File includes-->
<xacro:include filename="$(find talos_description)/urdf/deg_to_rad.xacro" /> <xacro:include filename="$(find talos_data)/urdf/deg_to_rad.xacro" />
<xacro:macro name="crane" params="parent"> <xacro:macro name="crane" params="parent">
......
urdf/gripper/gripper.transmission.xacro
View file @ dc636c94
...@@ -35,4 +35,4 @@ ...@@ -35,4 +35,4 @@
</xacro:macro> </xacro:macro>
</robot> </robot>
\ No newline at end of file
urdf/gripper/gripper.urdf.xacro
View file @ dc636c94
...@@ -3,9 +3,9 @@ ...@@ -3,9 +3,9 @@
<robot xmlns:xacro="http://ros.org/wiki/xacro"> <robot xmlns:xacro="http://ros.org/wiki/xacro">
<!--File includes--> <!--File includes-->
<xacro:include filename="$(find talos_description)/urdf/deg_to_rad.xacro" /> <xacro:include filename="$(find talos_data)/urdf/deg_to_rad.xacro" />
<xacro:include filename="$(find talos_description)/urdf/gripper/gripper.transmission.xacro" /> <xacro:include filename="$(find talos_data)/urdf/gripper/gripper.transmission.xacro" />
<xacro:include filename="$(find talos_description)/urdf/gripper/gripper.gazebo.xacro" /> <xacro:include filename="$(find talos_data)/urdf/gripper/gripper.gazebo.xacro" />
<xacro:macro name="talos_gripper" params="name parent reflect"> <xacro:macro name="talos_gripper" params="name parent reflect">
...@@ -16,7 +16,7 @@ ...@@ -16,7 +16,7 @@
<visual> <visual>
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<geometry> <geometry>
<mesh filename="package://talos_description/meshes/gripper/base_link.STL" scale="1 1 1"/> <mesh filename="package://talos_data/meshes/gripper/base_link.STL" scale="1 1 1"/>
</geometry> </geometry>
<material name="DarkGrey"/> <material name="DarkGrey"/>
</visual> </visual>
...@@ -24,7 +24,7 @@ ...@@ -24,7 +24,7 @@
<collision> <collision>
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<geometry> <geometry>
<mesh filename="package://talos_description/meshes/gripper/base_link_collision.STL" scale="1 1 1"/> <mesh filename="package://talos_data/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
...@@ -44,7 +44,7 @@ ...@@ -44,7 +44,7 @@
<visual> <visual>
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<geometry> <geometry>
<mesh filename="package://talos_description/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/> <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
</geometry> </geometry>
<material name="Orange"/> <material name="Orange"/>
</visual> </visual>
...@@ -52,7 +52,7 @@ ...@@ -52,7 +52,7 @@
<collision> <collision>
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<geometry> <geometry>
<mesh filename="package://talos_description/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/> <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
...@@ -74,7 +74,7 @@ ...@@ -74,7 +74,7 @@
<visual> <visual>
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<geometry> <geometry>
<mesh filename="package://talos_description/meshes/gripper/inner_double.STL" scale="1 1 1"/> <mesh filename="package://talos_data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
</geometry> </geometry>
<material name="Orange"/> <material name="Orange"/>
</visual> </visual>
...@@ -82,7 +82,7 @@ ...@@ -82,7 +82,7 @@
<collision> <collision>
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<geometry> <geometry>
<mesh filename="package://talos_description/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/> <mesh filename="package://talos_data/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
...@@ -105,7 +105,7 @@ ...@@ -105,7 +105,7 @@
<visual> <visual>
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<geometry> <geometry>
<mesh filename="package://talos_description/meshes/gripper/fingertip.STL" scale="1 1 1"/> <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
</geometry> </geometry>
<material name="DarkGrey"/> <material name="DarkGrey"/>
</visual> </visual>
...@@ -113,7 +113,7 @@ ...@@ -113,7 +113,7 @@
<collision> <collision>
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<geometry> <geometry>
<mesh filename="package://talos_description/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/> <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
...@@ -136,7 +136,7 @@ ...@@ -136,7 +136,7 @@
<visual> <visual>
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<geometry> <geometry>
<mesh filename="package://talos_description/meshes/gripper/fingertip.STL" scale="1 1 1"/> <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
</geometry> </geometry>
<material name="DarkGrey"/> <material name="DarkGrey"/>
</visual> </visual>
...@@ -144,7 +144,7 @@ ...@@ -144,7 +144,7 @@
<collision> <collision>
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<geometry> <geometry>
<mesh filename="package://talos_description/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/> <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
...@@ -166,7 +166,7 @@ ...@@ -166,7 +166,7 @@
<visual> <visual>
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<geometry> <geometry>
<mesh filename="package://talos_description/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/> <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
</geometry> </geometry>
<material name="Orange"/> <material name="Orange"/>
</visual> </visual>
...@@ -174,7 +174,7 @@ ...@@ -174,7 +174,7 @@
<collision> <collision>
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<geometry> <geometry>
<mesh filename="package://talos_description/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/> <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
...@@ -197,7 +197,7 @@ ...@@ -197,7 +197,7 @@
<visual> <visual>
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<geometry> <geometry>
<mesh filename="package://talos_description/meshes/gripper/inner_single.STL" scale="1 1 1"/> <mesh filename="package://talos_data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
</geometry> </geometry>
<material name="Orange"/> <material name="Orange"/>
</visual> </visual>
...@@ -205,7 +205,7 @@ ...@@ -205,7 +205,7 @@
<collision> <collision>
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<geometry> <geometry>
<mesh filename="package://talos_description/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/> <mesh filename="package://talos_data/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
...@@ -227,7 +227,7 @@ ...@@ -227,7 +227,7 @@
<visual> <visual>
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<geometry> <geometry>
<mesh filename="package://talos_description/meshes/gripper/fingertip.STL" scale="1 1 1"/> <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
</geometry> </geometry>
<material name="DarkGrey"/> <material name="DarkGrey"/>
</visual> </visual>
...@@ -235,7 +235,7 @@ ...@@ -235,7 +235,7 @@
<collision> <collision>
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<geometry> <geometry>
<mesh filename="package://talos_description/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/> <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
......
urdf/head/head.urdf.xacro
View file @ dc636c94
...@@ -11,9 +11,9 @@ ...@@ -11,9 +11,9 @@
<robot xmlns:xacro="http://ros.org/wiki/xacro"> <robot xmlns:xacro="http://ros.org/wiki/xacro">
<!--File includes--> <!--File includes-->
<xacro:include filename="$(find talos_description)/urdf/deg_to_rad.xacro" /> <xacro:include filename="$(find talos_data)/urdf/deg_to_rad.xacro" />
<xacro:include filename="$(find talos_description)/urdf/head/head.transmission.xacro" /> <xacro:include filename="$(find talos_data)/urdf/head/head.transmission.xacro" />
<xacro:include filename="$(find talos_description)/urdf/sensors/orbbec_astra_pro.urdf.xacro" /> <xacro:include filename="$(find talos_data)/urdf/sensors/orbbec_astra_pro.urdf.xacro" />
<xacro:include filename="$(find talos_description_calibration)/urdf/calibration/calibration_constants.urdf.xacro" /> <xacro:include filename="$(find talos_description_calibration)/urdf/calibration/calibration_constants.urdf.xacro" />
<!--Constant parameters--> <!--Constant parameters-->
...@@ -32,7 +32,7 @@ ...@@ -32,7 +32,7 @@
<visual> <visual>
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<geometry> <geometry>
<mesh filename="package://talos_description/meshes/head/head_1.stl" scale="1 1 1"/> <mesh filename="package://talos_data/meshes/head/head_1.stl" scale="1 1 1"/>
</geometry> </geometry>
<material name="DarkGrey" /> <material name="DarkGrey" />
</visual> </visual>
...@@ -40,7 +40,7 @@ ...@@ -40,7 +40,7 @@
<collision> <collision>
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<geometry> <geometry>
<mesh filename="package://talos_description/meshes/head/head_1_collision.stl" scale="1 1 1"/> <mesh filename="package://talos_data/meshes/head/head_1_collision.stl" scale="1 1 1"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
...@@ -86,7 +86,7 @@ ...@@ -86,7 +86,7 @@
<visual> <visual>
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<geometry> <geometry>
<mesh filename="package://talos_description/meshes/head/head_2.stl" scale="1 1 1"/> <mesh filename="package://talos_data/meshes/head/head_2.stl" scale="1 1 1"/>
</geometry> </geometry>
<material name="LightGrey" /> <material name="LightGrey" />
</visual> </visual>
...@@ -94,7 +94,7 @@ ...@@ -94,7 +94,7 @@
<collision> <collision>
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<geometry> <geometry>
<mesh filename="package://talos_description/meshes/head/head_2_collision.stl" scale="1 1 1"/> <mesh filename="package://talos_data/meshes/head/head_2_collision.stl" scale="1 1 1"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
......
urdf/leg/foot_collision_default.urdf.xacro
View file @ dc636c94
...@@ -5,7 +5,7 @@ ...@@ -5,7 +5,7 @@
<collision> <collision>
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<geometry> <geometry>
<mesh filename="package://talos_description/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/> <mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
</geometry> </geometry>
</collision> </collision>
</xacro:macro> </xacro:macro>
......
urdf/leg/leg.transmission.xacro
View file @ dc636c94
...@@ -23,4 +23,3 @@ ...@@ -23,4 +23,3 @@
</transmission> </transmission>
</xacro:macro> </xacro:macro>
</robot> </robot>
urdf/leg/leg.urdf.xacro
View file @ dc636c94
...@@ -2,7 +2,7 @@ ...@@ -2,7 +2,7 @@
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="talos"> <robot xmlns:xacro="http://ros.org/wiki/xacro" name="talos">
<xacro:include filename="$(find talos_description)/urdf/leg/leg.transmission.xacro" /> <xacro:include filename="$(find talos_data)/urdf/leg/leg.transmission.xacro" />
<xacro:property name="deg_to_rad" value="0.01745329251994329577" /> <xacro:property name="deg_to_rad" value="0.01745329251994329577" />
<xacro:property name="eps_radians" value="0.008" /> <!-- 0.45deg --> <xacro:property name="eps_radians" value="0.008" /> <!-- 0.45deg -->
...@@ -21,7 +21,7 @@ ...@@ -21,7 +21,7 @@
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="package://talos_description/meshes/v2/hip_z_lo_res.stl" scale="1 ${reflect*1} 1"/> <mesh filename="package://talos_data/meshes/v2/hip_z_lo_res.stl" scale="1 ${reflect*1} 1"/>
</geometry> </geometry>
<material name="DarkGrey" /> <material name="DarkGrey" />
</visual> </visual>
...@@ -29,7 +29,7 @@ ...@@ -29,7 +29,7 @@
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="package://talos_description/meshes/v2/hip_z_collision.stl" scale="1 ${reflect*1} 1"/> <mesh filename="package://talos_data/meshes/v2/hip_z_collision.stl" scale="1 ${reflect*1} 1"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
...@@ -53,7 +53,7 @@ ...@@ -53,7 +53,7 @@
<visual> <visual>
<origin xyz="0 0 0.0" rpy="0 0 0" /> <origin xyz="0 0 0.0" rpy="0 0 0" />
<geometry> <geometry>
<mesh filename="package://talos_description/meshes/v2/hip_x_lo_res.stl" scale="1 ${reflect*1} 1"/> <mesh filename="package://talos_data/meshes/v2/hip_x_lo_res.stl" scale="1 ${reflect*1} 1"/>
</geometry> </geometry>
<material name="DarkGrey" /> <material name="DarkGrey" />
</visual> </visual>
...@@ -61,7 +61,7 @@ ...@@ -61,7 +61,7 @@
<collision> <collision>
<origin xyz="0 0 0.0" rpy="0 0 0" /> <origin xyz="0 0 0.0" rpy="0 0 0" />
<geometry> <geometry>
<mesh filename="package://talos_description/meshes/v2/hip_x_collision.stl" scale="1 ${reflect*1} 1"/> <mesh filename="package://talos_data/meshes/v2/hip_x_collision.stl" scale="1 ${reflect*1} 1"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
...@@ -84,7 +84,7 @@ ...@@ -84,7 +84,7 @@
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="package://talos_description/meshes/v2/hip_y_lo_res.stl" scale="1 ${reflect*1} 1"/> <mesh filename="package://talos_data/meshes/v2/hip_y_lo_res.stl" scale="1 ${reflect*1} 1"/>
</geometry> </geometry>
<material name="DarkGrey" /> <material name="DarkGrey" />
</visual> </visual>
...@@ -92,7 +92,7 @@ ...@@ -92,7 +92,7 @@
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="package://talos_description/meshes/v2/hip_y_collision.stl" scale="1 ${reflect*1} 1"/> <mesh filename="package://talos_data/meshes/v2/hip_y_collision.stl" scale="1 ${reflect*1} 1"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
...@@ -115,7 +115,7 @@ ...@@ -115,7 +115,7 @@
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="package://talos_description/meshes/v2/knee_lo_res.stl" scale="1 ${reflect*1} 1"/> <mesh filename="package://talos_data/meshes/v2/knee_lo_res.stl" scale="1 ${reflect*1} 1"/>
</geometry> </geometry>
<material name="DarkGrey" /> <material name="DarkGrey" />
</visual> </visual>
...@@ -123,7 +123,7 @@ ...@@ -123,7 +123,7 @@
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="package://talos_description/meshes/v2/knee_collision.stl" scale="1 ${reflect*1} 1"/> <mesh filename="package://talos_data/meshes/v2/knee_collision.stl" scale="1 ${reflect*1} 1"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
...@@ -148,7 +148,7 @@ ...@@ -148,7 +148,7 @@
<visual> <visual>
<origin xyz="0 0 0.0" rpy="0 0 0" /> <origin xyz="0 0 0.0" rpy="0 0 0" />
<geometry> <geometry>
<mesh filename="package://talos_description/meshes/v2/ankle_Y_lo_res.stl" scale="1 ${reflect*1} 1"/> <mesh filename="package://talos_data/meshes/v2/ankle_Y_lo_res.stl" scale="1 ${reflect*1} 1"/>
</geometry> </geometry>
<material name="Grey" /> <material name="Grey" />
</visual> </visual>
...@@ -156,7 +156,7 @@ ...@@ -156,7 +156,7 @@
<collision> <collision>
<origin xyz="0 0 0.0" rpy="0 0 0" /> <origin xyz="0 0 0.0" rpy="0 0 0" />
<geometry> <geometry>
<mesh filename="package://talos_description/meshes/v2/ankle_Y_collision.stl" scale="1 ${reflect*1} 1"/> <mesh filename="package://talos_data/meshes/v2/ankle_Y_collision.stl" scale="1 ${reflect*1} 1"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
...@@ -179,7 +179,7 @@ ...@@ -179,7 +179,7 @@
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<mesh filename="package://talos_description/meshes/v2/ankle_X_lo_res.stl" scale="1 ${reflect*1} 1"/> <mesh filename="package://talos_data/meshes/v2/ankle_X_lo_res.stl" scale="1 ${reflect*1} 1"/>
</geometry> </geometry>
<material name="Grey" /> <material name="Grey" />
</visual> </visual>
......
urdf/leg/leg_passive.urdf.xacro 0 → 100644
View file @ dc636c94
<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="talos">
<xacro:include filename="$(find talos_data)/urdf/leg/leg.transmission.xacro" />
<xacro:property name="deg_to_rad" value="0.01745329251994329577" />
<xacro:property name="eps_radians" value="0.008" /> <!-- 0.45deg -->
<xacro:property name="eps_meters" value="0.005" />
<xacro:property name="leg_reduction" value="1.0" />
<xacro:property name="leg_friction" value="0.0" />
<xacro:property name="leg_damping" value="0.0" />
<xacro:macro name="talos_leg" params="prefix reflect">
<!-- Joint hip_z (mesh link) : child link hip_x -> parent link base_link -->
<link name="leg_${prefix}_1_link">
<xacro:call macro="leg_${prefix}_1_link_inertial" />
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_data/meshes/v2/hip_z_lo_res.stl" scale="1 ${reflect*1} 1"/>
</geometry>
<material name="DarkGrey" />
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_data/meshes/v2/hip_z_collision.stl" scale="1 ${reflect*1} 1"/>
</geometry>
</collision>
</link>
<joint name="leg_${prefix}_1_joint" type="revolute">
<parent link="base_link"/>
<child link="leg_${prefix}_1_link"/>
<origin xyz="-0.02 ${reflect*0.08500} -0.27105"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="0 0 1" />
<limit lower="${(-55.0 + 35.0*reflect)*deg_to_rad}" upper="${(55.0 + 35.0*reflect)*deg_to_rad}" effort="100" velocity="3.87" />
<dynamics friction="${leg_friction}" damping="${leg_damping}"/>
</joint>
<link name="leg_${prefix}_1_link_passive">
<inertial>
<mass value="0.001"/>
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
</inertial>
</link>
<joint name="leg_${prefix}_1_joint_passive" type="revolute">
<parent link="leg_${prefix}_1_link"/>
<child link="leg_${prefix}_1_link_passive"/>
<origin xyz="0.0 0.0 0.0"
rpy="0.00000 0.00000 0.00000"/>
<axis xyz="1 0 0" />
<limit lower="${(-180.0)*deg_to_rad}" upper="${(180.0)*deg_to_rad}" effort="100" velocity="3.87" />
<dynamics friction="970.0" damping="0.0"/>
</joint>
<gazebo>
<plugin filename="libSpringPlugin.so" name="spring_leg_${prefix}_1_joint_passive">
<joint_spring>leg_${prefix}_1_joint_passive</joint_spring>
<kp>970.0</kp>
<kd>0.0</kd>
</plugin>
</gazebo>
<transmission name="leg_${prefix}_1_passive_trans">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="leg_${prefix}_1_motor" >
<mechanicalReduction>1.0</mechanicalReduction>
</actuator>
<joint name="leg_${prefix}_1_joint_passive">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
</transmission>
<!-- Joint hip_x (mesh link) : child link hip_y -> parent link hip_z -->
<!-- <link name="leg_${prefix}_2_link_passive"> -->
<!-- <inertial> -->
<!-- <mass value="0.001"/> -->
<!-- <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" /> -->
<!-- <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/> -->
<!-- </inertial> -->
<!-- </link> -->
<!-- <joint name="leg_${prefix}_2_joint_passive" type="revolute"> -->
<!-- <parent link="leg_${prefix}_1_link_passive"/> -->
<!-- <child link="leg_${prefix}_2_link_passive"/> -->
<!-- <origin xyz="0.0 0.0 0.0" -->
<!-- rpy="0.00000 0.00000 0.00000"/> -->
<!-- <axis xyz="0 1 0" /> -->
<!-- <limit lower="${(-180.0)*deg_to_rad}" upper="${(180.0)*deg_to_rad}" effort="100" velocity="3.87" /> -->
<!-- <dynamics friction="970.0" damping="0.0"/> -->
<!-- </joint> -->
<!-- Joint hip_x (mesh link) : child link hip_y -> parent link hip_z -->
<link name="leg_${prefix}_2_link">
<xacro:call macro="leg_${prefix}_2_link_inertial" />
<visual>
<origin xyz="0 0 0.0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_data/meshes/v2/hip_x_lo_res.stl" scale="1 ${reflect*1} 1"/>
</geometry>
<material name="DarkGrey" />
</visual>
<collision>
<origin xyz="0 0 0.0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_data/meshes/v2/hip_x_collision.stl" scale="1 ${reflect*1} 1"/>
</geometry>
</collision>
</link>
<joint name="leg_${prefix}_2_joint" type="revolute">
<parent link="leg_${prefix}_1_link_passive"/>
<child link="leg_${prefix}_2_link"/>
<origin xyz="0.00000 0.00000 0.00000"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="1 0 0" />
<limit lower="-0.5236" upper="0.5236" effort="160" velocity="5.8" />
<dynamics friction="${leg_friction}" damping="${leg_damping}"/>
</joint>
<!-- Joint hip_y (mesh link) : child link knee -> parent link hip_x -->
<link name="leg_${prefix}_3_link">
<xacro:call macro="leg_${prefix}_3_link_inertial" />
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_data/meshes/v2/hip_y_lo_res.stl" scale="1 ${reflect*1} 1"/>
</geometry>
<material name="DarkGrey" />
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_data/meshes/v2/hip_y_collision.stl" scale="1 ${reflect*1} 1"/>
</geometry>
</collision>
</link>
<joint name="leg_${prefix}_3_joint" type="revolute">
<parent link="leg_${prefix}_2_link"/>
<child link="leg_${prefix}_3_link"/>
<origin xyz="0.00000 0.00000 0.00000"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="0 1 0" />
<limit lower="-2.095" upper="0.7" effort="160" velocity="5.8" />
<dynamics friction="${leg_friction}" damping="${leg_damping}"/>
</joint>
<!-- Joint knee (mesh link) : child link ankle_y -> parent link hip_y -->
<link name="leg_${prefix}_4_link">
<xacro:call macro="leg_${prefix}_4_link_inertial" />
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_data/meshes/v2/knee_lo_res.stl" scale="1 ${reflect*1} 1"/>
</geometry>
<material name="DarkGrey" />
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_data/meshes/v2/knee_collision.stl" scale="1 ${reflect*1} 1"/>
</geometry>
</collision>
</link>
<joint name="leg_${prefix}_4_joint" type="revolute">
<parent link="leg_${prefix}_3_link"/>
<child link="leg_${prefix}_4_link"/>
<origin xyz="0.00000 0.00000 -0.38000"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="0 1 0" />
<limit lower="0" upper="2.618" effort="300" velocity="7" />
<dynamics friction="${leg_friction}" damping="${leg_damping}"/>
</joint>
<!-- Joint ankle_y (mesh link) : child link ankle_x -> parent link knee -->
<link name="leg_${prefix}_5_link">
<!-- XXX AS: this link has moving lever and inertial parameters should slightly vary depending on configuration. XXX -->
<xacro:call macro="leg_${prefix}_5_link_inertial" />
<visual>
<origin xyz="0 0 0.0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_data/meshes/v2/ankle_Y_lo_res.stl" scale="1 ${reflect*1} 1"/>
</geometry>
<material name="Grey" />
</visual>
<collision>
<origin xyz="0 0 0.0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_data/meshes/v2/ankle_Y_collision.stl" scale="1 ${reflect*1} 1"/>
</geometry>
</collision>
</link>
<joint name="leg_${prefix}_5_joint" type="revolute">
<parent link="leg_${prefix}_4_link"/>
<child link="leg_${prefix}_5_link"/>
<origin xyz="0.00000 0.00000 -0.32500"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="0 1 0" />
<limit lower="-1.27" upper="0.68" effort="160" velocity="5.8" />
<dynamics friction="${leg_friction}" damping="${leg_damping}"/>
</joint>
<!-- Joint ankle_x (mesh link) : child link None -> parent link ankle_y -->
<link name="leg_${prefix}_6_link">
<xacro:call macro="leg_${prefix}_6_link_inertial" />
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_data/meshes/v2/ankle_X_lo_res.stl" scale="1 ${reflect*1} 1"/>
</geometry>
<material name="Grey" />
</visual>
<xacro:talos_foot_collision />
</link>
<joint name="leg_${prefix}_6_joint" type="revolute">
<parent link="leg_${prefix}_5_link"/>
<child link="leg_${prefix}_6_link"/>
<origin xyz="0.00000 0.00000 0.00000"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="1 0 0" />
<limit lower="-0.5236" upper="0.5236" effort="100" velocity="4.8" />
<dynamics friction="${leg_friction}" damping="${leg_damping}"/>
</joint>
<!-- from here is copy paste -->
<link name="${prefix}_sole_link">
<xacro:call macro="${prefix}_sole_link_inertial" />
</link>
<joint name="leg_${prefix}_sole_fix_joint" type="fixed">
<parent link="leg_${prefix}_6_link" />
<child link="${prefix}_sole_link" />
<origin xyz="0.00 0.00 -0.107" rpy="0 0 0" />
<axis xyz="1 0 0" />
<dynamics friction="${leg_friction}" damping="${leg_damping}"/>
</joint>
<xacro:talos_leg_simple_transmission side="${prefix}" number="1" reduction="${leg_reduction}" />
<xacro:talos_leg_simple_transmission side="${prefix}" number="2" reduction="${leg_reduction}" />
<xacro:talos_leg_simple_transmission side="${prefix}" number="3" reduction="${leg_reduction}" />
<xacro:talos_leg_simple_transmission side="${prefix}" number="4" reduction="${leg_reduction}" />
<xacro:talos_leg_simple_transmission side="${prefix}" number="5" reduction="${leg_reduction}" />
<xacro:talos_leg_simple_transmission side="${prefix}" number="6" reduction="${leg_reduction}" />
<gazebo reference="leg_${prefix}_1_link">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
</gazebo>
<gazebo reference="leg_${prefix}_2_link">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
</gazebo>
<gazebo reference="leg_${prefix}_3_link">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
</gazebo>
<gazebo reference="leg_${prefix}_4_link">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
</gazebo>
<gazebo reference="leg_${prefix}_5_link">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
</gazebo>
<!-- contact model for foot surface -->
<gazebo reference="leg_${prefix}_6_link">
<kp>1000000.0</kp>
<kd>100.0</kd>
<mu1>1.0</mu1>
<mu2>1.0</mu2>
<fdir1>1 0 0</fdir1>
<maxVel>1.0</maxVel>
<minDepth>0.00</minDepth>
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo reference="leg_${prefix}_1_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo reference="leg_${prefix}_2_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo reference="leg_${prefix}_3_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo reference="leg_${prefix}_4_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo reference="leg_${prefix}_5_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo reference="leg_${prefix}_6_joint">
<implicitSpringDamper>1</implicitSpringDamper>
<provideFeedback>1</provideFeedback>
</gazebo>
<gazebo reference="leg_${prefix}_1_link">
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="leg_${prefix}_2_link">
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="leg_${prefix}_3_link">
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="leg_${prefix}_4_link">
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="leg_${prefix}_5_link">
<material>Gazebo/White</material>
</gazebo>
<gazebo reference="leg_${prefix}_6_link">
<material>Gazebo/White</material>
</gazebo>
</xacro:macro>
</robot>
urdf/pyrene.urdf 0 → 120000
View file @ dc636c94
talos_full_v2_with_lidar.urdf
\ No newline at end of file
urdf/sensors/calibration.xacro
View file @ dc636c94
...@@ -27,5 +27,3 @@ ...@@ -27,5 +27,3 @@
<xacro:property name="cal_head_mount_xtion_yaw" value="0.0" /> <xacro:property name="cal_head_mount_xtion_yaw" value="0.0" />
</robot> </robot>
urdf/sensors/orbbec_astra_pro.urdf.xacro
View file @ dc636c94
...@@ -24,7 +24,7 @@ ...@@ -24,7 +24,7 @@
--> -->
<robot xmlns:xacro="http://ros.org/wiki/xacro"> <robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(find talos_description)/urdf/sensors/orbbec_astra_pro.gazebo.xacro" /> <xacro:include filename="$(find talos_data)/urdf/sensors/orbbec_astra_pro.gazebo.xacro" />
<!-- Macro --> <!-- Macro -->
<xacro:macro name="orbbec_astra_pro" params="name parent *origin *optical_origin"> <xacro:macro name="orbbec_astra_pro" params="name parent *origin *optical_origin">
...@@ -44,7 +44,7 @@ ...@@ -44,7 +44,7 @@
<visual> <visual>
<origin xyz="0 0 0" rpy="0 0 0"/> <origin xyz="0 0 0" rpy="0 0 0"/>
<geometry> <geometry>
<mesh filename="package://talos_description/meshes/sensors/orbbec/orbbec.STL" /> <mesh filename="package://talos_data/meshes/sensors/orbbec/orbbec.STL" />
</geometry> </geometry>
<material name="DarkGrey"> <material name="DarkGrey">
<color rgba="0.5 0.5 0.5 1"/> <color rgba="0.5 0.5 0.5 1"/>
......
urdf/talos_full.urdf
View file @ dc636c94
...@@ -2188,8 +2188,8 @@ ...@@ -2188,8 +2188,8 @@
<geometry> <geometry>
<mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/> <mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
</geometry> </geometry>
</collision> </collision>
--> -->
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0 -0.1"/> <origin rpy="0 0 0" xyz="0 0 -0.1"/>
...@@ -2514,8 +2514,8 @@ ...@@ -2514,8 +2514,8 @@
<geometry> <geometry>
<mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/> <mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
</geometry> </geometry>
</collision> </collision>
--> -->
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0 -0.1"/> <origin rpy="0 0 0" xyz="0 0 -0.1"/>
......