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  • gsaurel/talos-data
  • stack-of-tasks/talos-data
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launch/talos_bringup.launch 0 → 100644
View file @ dc636c94
<?xml version="1.0" encoding="UTF-8"?>
<launch>
<!-- Load default controllers -->
<include file="$(find talos_controller_configuration)/launch/bringup_controllers.launch" />
<!-- Robot state publisher -->
<node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher">
<param name="publish_frequency" type="double" value="100.0" />
<param name="tf_prefix" type="string" value="" />
</node>
</launch>
launch/talos_gazebo.launch 0 → 100644
View file @ dc636c94
<?xml version="1.0" encoding="UTF-8"?>
<launch>
<arg name="start_half_sitting" default="true"/>
<arg name="world" default="empty"/> <!-- empty, small_office, ... (see ../worlds) -->
<arg name="gzpose" default="-x 0.0 -y 0.0 -z 1.16 -R 0.0 -P 0.0 -Y 0.0" unless="$(arg start_half_sitting)"/>
<arg name="gui" default="true"/>
<arg name="debug" default="false"/>
<arg name="recording" default="false"/>
<arg name="extra_gazebo_args" default=""/>
<arg name="load_model" default="true"/> <!-- AS: should probably be false by default -->
<arg name="robot" default="full_v2"/> <!-- full, lower_body, foot -->
<arg name="foot_collision" default="thinbox"/>
<arg name="enable_leg_passive" default="false"/>
<arg name="enable_fixed_robot" default="false"/>
<arg name="default_configuration_type" default="zeros"/>
<env name="GAZEBO_MODEL_PATH" value="$(find talos_gazebo)/models:$(optenv GAZEBO_MODEL_PATH)"/>
<arg name="left_leg_pose" default="-J leg_left_1_joint 0.0 -J leg_left_2_joint 0.0 -J leg_left_3_joint -0.411354 -J leg_left_4_joint 0.859395 -J leg_left_5_joint -0.448041 -J leg_left_6_joint -0.001708"/>
<arg name="right_leg_pose" default="-J leg_right_1_joint 0.0 -J leg_right_2_joint 0.0 -J leg_right_3_joint -0.411354 -J leg_right_4_joint 0.859395 -J leg_right_5_joint -0.448041 -J leg_right_6_joint -0.001708"/>
<arg name="left_arm_pose" default="-J arm_left_1_joint 0.25847 -J arm_left_2_joint 0.173046 -J arm_left_3_joint -0.0002 -J arm_left_4_joint -0.525366 -J arm_left_5_joint 0.0 -J arm_left_6_joint 0.0 -J arm_left_7_joint 0.1"/>
<arg name="right_arm_pose" default="-J arm_right_1_joint -0.25847 -J arm_right_2_joint -0.173046 -J arm_left_3_joint 0.0002 -J arm_right_4_joint -0.525366 -J arm_right_5_joint 0.0 -J arm_right_6_joint 0.0 -J arm_right_7_joint 0.1"/>
<arg name="torso_pose" default="-J torso_1_joint 0.0 -J torso_2_joint 0.006761"/>
<arg name="gzpose" default="-x 0.0 -y 0.0 -z 1.00 -R 0.0 -P 0.0 -Y 0.0 $(arg left_leg_pose) $(arg right_leg_pose) $(arg left_arm_pose) $(arg right_arm_pose) $(arg torso_pose) -u" if="$(arg start_half_sitting)"/>
<!-- start up world -->
<include file="$(find pal_gazebo_worlds)/launch/pal_gazebo.launch">
<arg name="world" value="$(arg world)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="recording" value="$(arg recording)"/>
<arg name="extra_gazebo_args" value="$(arg extra_gazebo_args)"/>
</include>
<group if="$(arg load_model)">
<include file="$(find talos_data)/robots/upload.launch" >
<arg name="robot" value="$(arg robot)"/>
<arg name="foot_collision" default="$(arg foot_collision)"/>
<arg name="enable_leg_passive" default="$(arg enable_leg_passive)"/>
<arg name="enable_fixed_robot" default="$(arg enable_fixed_robot)"/>
<arg name="default_configuration_type" default="$(arg default_configuration_type)"/>
</include>
</group>
<!-- spawn robot in simulation -->
<include file="$(find talos_gazebo)/launch/talos_spawn.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="gzpose" value="$(arg gzpose)"/>
</include>
<!-- default controllers -->
<!-- <include file="$(find talos_controller_configuration)/launch/talos_default_controllers.launch"/> -->
<include file="$(find talos_bringup)/launch/talos_bringup.launch" />
</launch>
launch/talos_gazebo_alone.launch 0 → 100644
View file @ dc636c94
<?xml version="1.0" encoding="UTF-8"?>
<launch>
<arg name="start_half_sitting" default="true"/>
<arg name="world" default="empty"/> <!-- empty, small_office, ... (see ../worlds) -->
<arg name="gzpose" default="-x 0.0 -y 0.0 -z 1.16 -R 0.0 -P 0.0 -Y 0.0" unless="$(arg start_half_sitting)"/>
<arg name="gui" default="true"/>
<arg name="debug" default="false"/>
<arg name="recording" default="false"/>
<arg name="extra_gazebo_args" default=""/>
<arg name="load_model" default="true"/> <!-- AS: should probably be false by default -->
<arg name="robot" default="full_v2"/> <!-- full, lower_body, foot -->
<arg name="foot_collision" default="thinbox"/>
<arg name="enable_leg_passive" default="false"/>
<arg name="enable_fixed_robot" default="false"/>
<arg name="default_configuration_type" default="zeros"/>
<env name="GAZEBO_MODEL_PATH" value="$(find talos_gazebo)/models:$(optenv GAZEBO_MODEL_PATH)"/>
<!-- start up world -->
<include file="$(find pal_gazebo_worlds)/launch/pal_gazebo.launch">
<arg name="world" value="$(arg world)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="recording" value="$(arg recording)"/>
<arg name="extra_gazebo_args" value="$(arg extra_gazebo_args)"/>
</include>
<group if="$(arg load_model)">
<include file="$(find talos_data)/robots/upload.launch" >
<arg name="robot" value="$(arg robot)"/>
<arg name="foot_collision" default="$(arg foot_collision)"/>
<arg name="enable_leg_passive" default="$(arg enable_leg_passive)"/>
<arg name="enable_fixed_robot" default="$(arg enable_fixed_robot)"/>
<arg name="default_configuration_type" default="$(arg default_configuration_type)"/>
</include>
</group>
</launch>
launch/talos_gazebo_spawn_hs.launch 0 → 100644
View file @ dc636c94
<?xml version="1.0" encoding="UTF-8"?>
<launch>
<arg name="left_leg_pose" default="-J leg_left_1_joint 0.0 -J leg_left_2_joint 0.0 -J leg_left_3_joint -0.411354 -J leg_left_4_joint 0.859395 -J leg_left_5_joint -0.448041 -J leg_left_6_joint -0.001708"/>
<arg name="right_leg_pose" default="-J leg_right_1_joint 0.0 -J leg_right_2_joint 0.0 -J leg_right_3_joint -0.411354 -J leg_right_4_joint 0.859395 -J leg_right_5_joint -0.448041 -J leg_right_6_joint -0.001708"/>
<arg name="left_arm_pose" default="-J arm_left_1_joint 0.25847 -J arm_left_2_joint 0.173046 -J arm_left_3_joint -0.0002 -J arm_left_4_joint -0.525366 -J arm_left_5_joint 0.0 -J arm_left_6_joint 0.0 -J arm_left_7_joint 0.1"/>
<arg name="right_arm_pose" default="-J arm_right_1_joint -0.25847 -J arm_right_2_joint -0.173046 -J arm_left_3_joint 0.0002 -J arm_right_4_joint -0.525366 -J arm_right_5_joint 0.0 -J arm_right_6_joint 0.0 -J arm_right_7_joint 0.1"/>
<arg name="torso_pose" default="-J torso_1_joint 0.0 -J torso_2_joint 0.006761"/>
<arg name="gzpose" default="-x 0.0 -y 0.0 -z 1.02 -R 0.0 -P 0.0 -Y 0.0 $(arg left_leg_pose) $(arg right_leg_pose) $(arg left_arm_pose) $(arg right_arm_pose) $(arg torso_pose) " />
<arg name="robot" default="full_v2"/> <!-- full, lower_body, foot -->
<include file="$(find talos_data)/launch/talos_spawn.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="gzpose" value="$(arg gzpose)"/>
</include>
</launch>
launch/talos_gazebo_spawn_hs_wide.launch 0 → 100644
View file @ dc636c94
<?xml version="1.0" encoding="UTF-8"?>
<launch>
<arg name="left_leg_pose" default="-J leg_left_1_joint -0.001 -J leg_left_2_joint 0.062 -J leg_left_3_joint -0.4096 -J leg_left_4_joint 0.8568 -J leg_left_5_joint -0.4472 -J leg_left_6_joint -0.0600"/>
<arg name="right_leg_pose" default="-J leg_right_1_joint 0.002 -J leg_right_2_joint -0.0603 -J leg_right_3_joint -0.4094 -J leg_right_4_joint 0.8563 -J leg_right_5_joint -0.4469 -J leg_right_6_joint 0.0560"/>
<arg name="left_arm_pose" default="-J arm_left_1_joint 0.25847 -J arm_left_2_joint 0.173046 -J arm_left_3_joint -0.0002 -J arm_left_4_joint -0.525366 -J arm_left_5_joint 0.0 -J arm_left_6_joint 0.0 -J arm_left_7_joint 0.1"/>
<arg name="right_arm_pose" default="-J arm_right_1_joint -0.25847 -J arm_right_2_joint -0.173046 -J arm_left_3_joint 0.0002 -J arm_right_4_joint -0.525366 -J arm_right_5_joint 0.0 -J arm_right_6_joint 0.0 -J arm_right_7_joint 0.1"/>
<arg name="torso_pose" default="-J torso_1_joint 0.0 -J torso_2_joint 0.006761"/>
<arg name="gzpose" default="-x 0.0 -y 0.0 -z 1.02 -R 0.0 -P 0.0 -Y 0.0 $(arg left_leg_pose) $(arg right_leg_pose) $(arg left_arm_pose) $(arg right_arm_pose) $(arg torso_pose) -u" />
<arg name="robot" default="full_v2"/> <!-- full, lower_body, foot -->
<include file="$(find talos_gazebo)/launch/talos_spawn.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="gzpose" value="$(arg gzpose)"/>
</include>
</launch>
launch/talos_spawn.launch 0 → 100644
View file @ dc636c94
<?xml version="1.0" encoding="UTF-8"?>
<launch>
<arg name="robot" default="full_v2"/>
<arg name="gzpose" default="-x 0 -y 0 -z 1.0 -R 0.0 -P 0.0 -Y 0.0"/>
<!-- PAL Hardware gazebo config -->
<include file="$(find talos_controller_configuration)/launch/selective_rosparam_loader.launch">
<arg name="robot" value="$(arg robot)" />
<arg name="prefix" value="$(find talos_hardware_gazebo)/config/sensors/" />
</include>
<!-- PID gains -->
<rosparam command="load" file="$(find talos_data)/config/pids_stiff.yaml"/>
<!-- Spawn robot in Gazebo -->
<node pkg="gazebo_ros" type="spawn_model" name="spawn_model"
args="-urdf -param robot_description $(arg gzpose) -model talos" />
<node ns="/rgbd/rgb/high_res" pkg="image_proc" type="image_proc" name="image_proc_high_res"/>
<node ns="/rgbd/rgb" pkg="image_proc" type="image_proc" name="image_proc"/>
</launch>
launch/talos_spawn_stiff.launch 0 → 100644
View file @ dc636c94
<?xml version="1.0" encoding="UTF-8"?>
<launch>
<arg name="robot" default="full_v2"/>
<arg name="gzpose" default="-x 0 -y 0 -z 1.0 -R 0.0 -P 0.0 -Y 0.0"/>
<!-- PAL Hardware gazebo config -->
<include file="$(find talos_controller_configuration)/launch/selective_rosparam_loader.launch">
<arg name="robot" value="$(arg robot)" />
<arg name="prefix" value="$(find talos_hardware_gazebo)/config/sensors/" />
</include>
<!-- PID gains -->
<rosparam command="load" file="$(find talos_data)/config/pids_stiff.yaml"/>
<!-- Spawn robot in Gazebo -->
<node pkg="gazebo_ros" type="spawn_model" name="spawn_model"
args="-urdf -param robot_description $(arg gzpose) -model talos" />
<node ns="/rgbd/rgb/high_res" pkg="image_proc" type="image_proc" name="image_proc_high_res"/>
<node ns="/rgbd/rgb" pkg="image_proc" type="image_proc" name="image_proc"/>
</launch>
meshes/head/head_2_lidar.stl 0 → 100644
View file @ dc636c94
File added
meshes/head/head_2_lidar_collision.stl 0 → 100644
View file @ dc636c94
File added
meshes/sensors/ouster/os1_64.dae 0 → 100644
View file @ dc636c94
Source diff could not be displayed: it is too large. Options to address this: view the blob.
package.xml
View file @ dc636c94
<?xml version="1.0"?> <?xml version="1.0"?>
<package format="2"> <package format="2">
<name>talos_data</name> <name>talos_data</name>
<version>1.0.4</version> <version>2.1.0</version>
<description>The talos_description package</description> <description>The talos_data package</description>
<maintainer email="hilario.tome@pal-robotics.com">Hilario Tomé</maintainer> <maintainer email="guilhem.saurel@laas.fr">Guilhem Saurel</maintainer>
<license>Proprietary</license> <license>LGPL-3.0</license>
<buildtool_depend>catkin</buildtool_depend> <buildtool_depend>catkin</buildtool_depend>
......
robots/talos_full_no_grippers.urdf.xacro
View file @ dc636c94
...@@ -14,15 +14,15 @@ ...@@ -14,15 +14,15 @@
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"> xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
<xacro:if value="$(arg enable_crane)"> <xacro:if value="$(arg enable_crane)">
<xacro:include filename="$(find talos_description)/urdf/crane/crane.urdf.xacro" /> <xacro:include filename="$(find talos_data)/urdf/crane/crane.urdf.xacro" />
</xacro:if> </xacro:if>
<xacro:include filename="$(find talos_description)/urdf/torso/torso.urdf.xacro" /> <xacro:include filename="$(find talos_data)/urdf/torso/torso.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/head/head.urdf.xacro" /> <xacro:include filename="$(find talos_data)/urdf/head/head.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/arm/arm_v2.urdf.xacro" /> <xacro:include filename="$(find talos_data)/urdf/arm/arm_v2.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/sensors/ftsensor.urdf.xacro" /> <xacro:include filename="$(find talos_data)/urdf/sensors/ftsensor.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/leg/leg.urdf.xacro" /> <xacro:include filename="$(find talos_data)/urdf/leg/leg.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/leg/foot_collision_$(arg foot_collision).urdf.xacro" /> <xacro:include filename="$(find talos_data)/urdf/leg/foot_collision_$(arg foot_collision).urdf.xacro" />
<xacro:include filename="$(find talos_description_inertial)/urdf/inertial.xacro" /> <xacro:include filename="$(find talos_description_inertial)/urdf/inertial.xacro" />
<xacro:talos_torso name="torso" /> <xacro:talos_torso name="torso" />
...@@ -43,8 +43,8 @@ ...@@ -43,8 +43,8 @@
<xacro:talos_leg prefix="right" reflect="-1" /> <xacro:talos_leg prefix="right" reflect="-1" />
<!-- Generic simulator_gazebo plugins --> <!-- Generic simulator_gazebo plugins -->
<xacro:include filename="$(find talos_description)/gazebo/gazebo.urdf.xacro" /> <xacro:include filename="$(find talos_data)/gazebo/gazebo.urdf.xacro" />
<!-- Materials for visualization --> <!-- Materials for visualization -->
<xacro:include filename="$(find talos_description)/urdf/materials.urdf.xacro" /> <xacro:include filename="$(find talos_data)/urdf/materials.urdf.xacro" />
</robot> </robot>
robots/talos_full_v1.urdf.xacro
View file @ dc636c94
...@@ -14,17 +14,17 @@ ...@@ -14,17 +14,17 @@
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"> xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
<xacro:if value="$(arg enable_crane)"> <xacro:if value="$(arg enable_crane)">
<xacro:include filename="$(find talos_description)/urdf/crane/crane.urdf.xacro" /> <xacro:include filename="$(find talos_data)/urdf/crane/crane.urdf.xacro" />
</xacro:if> </xacro:if>
<xacro:include filename="$(find talos_description)/urdf/torso/torso.urdf.xacro" /> <xacro:include filename="$(find talos_data)/urdf/torso/torso.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/head/head.urdf.xacro" /> <xacro:include filename="$(find talos_data)/urdf/head/head.urdf.xacro" />
<!--arm_v1 loadded because of the different joint range for 1st DoF--> <!--arm_v1 loadded because of the different joint range for 1st DoF-->
<xacro:include filename="$(find talos_description)/urdf/arm/arm_v1.urdf.xacro" /> <xacro:include filename="$(find talos_data)/urdf/arm/arm_v1.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/sensors/ftsensor.urdf.xacro" /> <xacro:include filename="$(find talos_data)/urdf/sensors/ftsensor.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/gripper/gripper.urdf.xacro" /> <xacro:include filename="$(find talos_data)/urdf/gripper/gripper.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/leg/leg.urdf.xacro" /> <xacro:include filename="$(find talos_data)/urdf/leg/leg.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/leg/foot_collision_$(arg foot_collision).urdf.xacro" /> <xacro:include filename="$(find talos_data)/urdf/leg/foot_collision_$(arg foot_collision).urdf.xacro" />
<xacro:include filename="$(find talos_description_inertial)/urdf/inertial.xacro" /> <xacro:include filename="$(find talos_description_inertial)/urdf/inertial.xacro" />
<xacro:talos_torso name="torso" /> <xacro:talos_torso name="torso" />
...@@ -48,8 +48,8 @@ ...@@ -48,8 +48,8 @@
<xacro:talos_leg prefix="right" reflect="-1" /> <xacro:talos_leg prefix="right" reflect="-1" />
<!-- Generic simulator_gazebo plugins --> <!-- Generic simulator_gazebo plugins -->
<xacro:include filename="$(find talos_description)/gazebo/gazebo.urdf.xacro" /> <xacro:include filename="$(find talos_data)/gazebo/gazebo.urdf.xacro" />
<!-- Materials for visualization --> <!-- Materials for visualization -->
<xacro:include filename="$(find talos_description)/urdf/materials.urdf.xacro" /> <xacro:include filename="$(find talos_data)/urdf/materials.urdf.xacro" />
</robot> </robot>
robots/talos_full_v2.urdf.xacro
View file @ dc636c94
...@@ -14,17 +14,25 @@ ...@@ -14,17 +14,25 @@
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"> xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
<xacro:if value="$(arg enable_crane)"> <xacro:if value="$(arg enable_crane)">
<xacro:include filename="$(find talos_description)/urdf/crane/crane.urdf.xacro" /> <xacro:include filename="$(find talos_data)/urdf/crane/crane.urdf.xacro" />
</xacro:if> </xacro:if>
<xacro:include filename="$(find talos_description)/urdf/torso/torso.urdf.xacro" /> <xacro:include filename="$(find talos_data)/urdf/torso/torso.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/head/head.urdf.xacro" /> <xacro:include filename="$(find talos_data)/urdf/head/head.urdf.xacro" />
<!--arm_v1 loadded because of the different joint range for 1st DoF--> <!--arm_v1 loadded because of the different joint range for 1st DoF-->
<xacro:include filename="$(find talos_description)/urdf/arm/arm_v2.urdf.xacro" /> <xacro:include filename="$(find talos_data)/urdf/arm/arm_v2.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/sensors/ftsensor.urdf.xacro" /> <xacro:include filename="$(find talos_data)/urdf/sensors/ftsensor.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/gripper/gripper.urdf.xacro" /> <xacro:include filename="$(find talos_data)/urdf/gripper/gripper.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/leg/leg.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/leg/foot_collision_$(arg foot_collision).urdf.xacro" /> <xacro:if value="$(arg enable_leg_passive)">
<xacro:include filename="$(find talos_data)/urdf/leg/leg_passive.urdf.xacro" />
</xacro:if>
<xacro:property name="var_enable_leg_passive" value="$(arg enable_leg_passive)"/>
<xacro:if value="${var_enable_leg_passive != 'true'}">
<xacro:include filename="$(find talos_data)/urdf/leg/leg.urdf.xacro" />
</xacro:if>
<xacro:include filename="$(find talos_data)/urdf/leg/foot_collision_$(arg foot_collision).urdf.xacro" />
<xacro:include filename="$(find talos_description_inertial)/urdf/inertial.xacro" /> <xacro:include filename="$(find talos_description_inertial)/urdf/inertial.xacro" />
<xacro:talos_torso name="torso" /> <xacro:talos_torso name="torso" />
...@@ -48,8 +56,8 @@ ...@@ -48,8 +56,8 @@
<xacro:talos_leg prefix="right" reflect="-1" /> <xacro:talos_leg prefix="right" reflect="-1" />
<!-- Generic simulator_gazebo plugins --> <!-- Generic simulator_gazebo plugins -->
<xacro:include filename="$(find talos_description)/gazebo/gazebo.urdf.xacro" /> <xacro:include filename="$(find talos_data)/gazebo/gazebo.urdf.xacro" />
<!-- Materials for visualization --> <!-- Materials for visualization -->
<xacro:include filename="$(find talos_description)/urdf/materials.urdf.xacro" /> <xacro:include filename="$(find talos_data)/urdf/materials.urdf.xacro" />
</robot> </robot>
robots/talos_left_arm.urdf 0 → 100644
View file @ dc636c94
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robots/talos_lower_body.urdf.xacro
View file @ dc636c94
...@@ -13,9 +13,9 @@ ...@@ -13,9 +13,9 @@
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"> xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
<xacro:include filename="$(find talos_description)/urdf/sensors/ftsensor.urdf.xacro" /> <xacro:include filename="$(find talos_data)/urdf/sensors/ftsensor.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/leg/leg.urdf.xacro" /> <xacro:include filename="$(find talos_data)/urdf/leg/leg.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/leg/foot_collision_$(arg foot_collision).urdf.xacro" /> <xacro:include filename="$(find talos_data)/urdf/leg/foot_collision_$(arg foot_collision).urdf.xacro" />
<xacro:include filename="$(find talos_description_inertial)/urdf/inertial.xacro" /> <xacro:include filename="$(find talos_description_inertial)/urdf/inertial.xacro" />
<!--************************--> <!--************************-->
...@@ -33,7 +33,7 @@ ...@@ -33,7 +33,7 @@
<visual> <visual>
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<geometry> <geometry>
<mesh filename="package://talos_description/meshes/torso/base_link.STL" scale="1 1 1"/> <mesh filename="package://talos_data/meshes/torso/base_link.STL" scale="1 1 1"/>
</geometry> </geometry>
<material name="LightGrey" /> <material name="LightGrey" />
</visual> </visual>
...@@ -41,7 +41,7 @@ ...@@ -41,7 +41,7 @@
<collision> <collision>
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<geometry> <geometry>
<mesh filename="package://talos_description/meshes/torso/base_link_collision.STL" scale="1 1 1"/> <mesh filename="package://talos_data/meshes/torso/base_link_collision.STL" scale="1 1 1"/>
</geometry> </geometry>
</collision> </collision>
</link> </link>
...@@ -51,8 +51,8 @@ ...@@ -51,8 +51,8 @@
<xacro:talos_leg prefix="right" reflect="-1" /> <xacro:talos_leg prefix="right" reflect="-1" />
<!-- Generic simulator_gazebo plugins --> <!-- Generic simulator_gazebo plugins -->
<xacro:include filename="$(find talos_description)/gazebo/gazebo.urdf.xacro" /> <xacro:include filename="$(find talos_data)/gazebo/gazebo.urdf.xacro" />
<!-- Materials for visualization --> <!-- Materials for visualization -->
<xacro:include filename="$(find talos_description)/urdf/materials.urdf.xacro" /> <xacro:include filename="$(find talos_data)/urdf/materials.urdf.xacro" />
</robot> </robot>
robots/talos_reduced.urdf
View file @ dc636c94
...@@ -2190,8 +2190,8 @@ ...@@ -2190,8 +2190,8 @@
<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"/>
...@@ -2516,8 +2516,8 @@ ...@@ -2516,8 +2516,8 @@
<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"/>
...@@ -2783,4 +2783,3 @@ ...@@ -2783,4 +2783,3 @@
<color rgba="1.0 0.5 0.0 1.0"/> <color rgba="1.0 0.5 0.0 1.0"/>
</material> </material>
</robot> </robot>
robots/upload.launch
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robots/upload_talos.launch
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srdf/pyrene.srdf 0 → 120000
View file @ dc636c94
talos.srdf
\ No newline at end of file