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  • gsaurel/talos-data
  • stack-of-tasks/talos-data
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urdf/arm/arm.transmission.xacro
View file @ dc636c94
......@@ -10,13 +10,14 @@
-->
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="talos_arm_simple_transmission" params="name side number reduction" >
<xacro:macro name="talos_arm_simple_transmission" params="name side number reduction offset_value" >
<transmission name="${name}_${side}_${number}_trans">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="${name}_${side}_${number}_motor" >
<mechanicalReduction>${reduction}</mechanicalReduction>
</actuator>
<joint name="${name}_${side}_${number}_joint">
<offset>${offset_value}</offset>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
......
urdf/arm/arm.urdf.xacro → urdf/arm/arm_v1.urdf.xacro
View file @ dc636c94
......@@ -11,9 +11,9 @@
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<!--File includes-->
<xacro:include filename="$(find talos_description)/urdf/deg_to_rad.xacro" />
<xacro:include filename="$(find talos_description)/urdf/arm/wrist.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/arm/arm.transmission.xacro" />
<xacro:include filename="$(find talos_data)/urdf/deg_to_rad.xacro" />
<xacro:include filename="$(find talos_data)/urdf/arm/wrist.urdf.xacro" />
<xacro:include filename="$(find talos_data)/urdf/arm/arm.transmission.xacro" />
<!--Constant parameters-->
<xacro:property name="arm_friction" value="1.0" />
......@@ -22,10 +22,10 @@
<xacro:property name="arm_2_max_vel" value="3.66" />
<xacro:property name="arm_3_max_vel" value="4.58" />
<xacro:property name="arm_4_max_vel" value="4.58" />
<xacro:property name="arm_1_max_effort" value="44.64" />
<xacro:property name="arm_2_max_effort" value="22.32" />
<xacro:property name="arm_3_max_effort" value="17.86" />
<xacro:property name="arm_4_max_effort" value="17.86" />
<xacro:property name="arm_1_max_effort" value="100.0" />
<xacro:property name="arm_2_max_effort" value="100.0" />
<xacro:property name="arm_3_max_effort" value="70.0" />
<xacro:property name="arm_4_max_effort" value="70.0" />
<xacro:property name="arm_eps" value="0.02" />
......@@ -35,7 +35,6 @@
<!-- SHOULDER -->
<!--************************-->
<link name="${name}_${side}_1_link">
<!-- TODO: Missing reflects of inertias -->
<inertial>
<origin xyz="-0.01346 ${reflect*0.09130} 0.04812" rpy="0.00000 0.00000 0.00000"/>
<!-- <mass value="1.52896"/> -->
......@@ -48,14 +47,14 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<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>
<material name="DarkGrey" />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<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 ${reflect} 1"/>
</geometry>
</collision>
</link>
......@@ -63,7 +62,7 @@
<joint name="${name}_${side}_1_joint" type="revolute">
<parent link="${parent}" />
<child link="${name}_${side}_1_link" />
<origin xyz="0.00000 ${0.15750*reflect} 0.23200"
<origin xyz="0.00000 ${0.15750*reflect} 0.23200"
rpy="${0.0 * deg_to_rad} ${0.0 * deg_to_rad} ${0.0 * deg_to_rad}"/>
<axis xyz="0 0 1" />
<limit lower="${(-60.0 - 30.0*reflect)* deg_to_rad}" upper="${(60.0 - 30.0*reflect)* deg_to_rad}" effort="${arm_1_max_effort}" velocity="${arm_1_max_vel}" />
......@@ -87,14 +86,14 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<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>
<material name="DarkGrey" />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<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 ${reflect} 1"/>
</geometry>
</collision>
</link>
......@@ -102,10 +101,10 @@
<joint name="${name}_${side}_2_joint" type="revolute">
<parent link="${name}_${side}_1_link" />
<child link="${name}_${side}_2_link" />
<origin xyz="0.00493 ${0.13650*reflect} 0.04673"
<origin xyz="0.00493 ${0.13650*reflect} 0.04673"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="1 0 0" />
<limit lower="${(-82.50000 + 82.5*reflect)* deg_to_rad}" upper="${(82.50000 + 82.5000*reflect)* deg_to_rad}" effort="${arm_2_max_effort}" velocity="${arm_2_max_vel}" />
<limit lower="${(-82.0000 + 82.5000*reflect)* deg_to_rad}" upper="${(82.50000 + 82.0000*reflect)* deg_to_rad}" effort="${arm_2_max_effort}" velocity="${arm_2_max_vel}" />
<dynamics friction="${arm_friction}" damping="${arm_damping}"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
......@@ -127,14 +126,14 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<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>
<material name="DarkGrey" />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<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 ${reflect} 1"/>
</geometry>
</collision>
</link>
......@@ -142,10 +141,10 @@
<joint name="${name}_${side}_3_joint" type="revolute">
<parent link="${name}_${side}_2_link" />
<child link="${name}_${side}_3_link" />
<origin xyz="0.00000 0.00000 0.00000"
<origin xyz="0.00000 0.00000 0.00000"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="0 0 1" />
<limit lower="${-140.0 * deg_to_rad}" upper="${140.0 * deg_to_rad}" effort="${arm_3_max_effort}" velocity="${arm_3_max_vel}" />
<limit lower="${-139.0 * deg_to_rad}" upper="${139.0 * deg_to_rad}" effort="${arm_3_max_effort}" velocity="${arm_3_max_vel}" />
<dynamics friction="${arm_friction}" damping="${arm_damping}"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
......@@ -170,14 +169,14 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<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>
<material name="DarkGrey" />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<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 ${reflect} 1"/>
</geometry>
</collision>
</link>
......@@ -185,10 +184,10 @@
<joint name="${name}_${side}_4_joint" type="revolute">
<parent link="${name}_${side}_3_link" />
<child link="${name}_${side}_4_link" />
<origin xyz="0.02000 0.00000 -0.27300"
<origin xyz="0.02000 0.00000 -0.27300"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="0 1 0" />
<limit lower="${-135.0 * deg_to_rad}" upper="${0.0 * deg_to_rad}" effort="${arm_4_max_effort}" velocity="${arm_4_max_vel}" />
<limit lower="${-128.0 * deg_to_rad}" upper="${0.2 * deg_to_rad}" effort="${arm_4_max_effort}" velocity="${arm_4_max_vel}" />
<dynamics friction="${arm_friction}" damping="${arm_damping}"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
......@@ -237,10 +236,7 @@
<xacro:talos_wrist name="arm" parent="${name}_${side}_4_link" side="${side}" reflect="${reflect}" />
<!-- extensions -->
<xacro:talos_arm_simple_transmission name="${name}" side="${side}" number="1" reduction="1.0" />
<xacro:talos_arm_simple_transmission name="${name}" side="${side}" number="2" reduction="1.0" />
<xacro:talos_arm_simple_transmission name="${name}" side="${side}" number="3" reduction="1.0" />
<xacro:talos_arm_simple_transmission name="${name}" side="${side}" number="4" reduction="1.0" />
<xacro:include filename="$(find talos_data)/urdf/arm/${side}_arm.transmissions.urdf.xacro" />
</xacro:macro>
......
urdf/arm/arm_v2.urdf.xacro 0 → 100644
View file @ dc636c94
<?xml version="1.0"?>
<!--
Copyright (c) 2016, PAL Robotics, S.L.
All rights reserved.
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
-->
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<!--File includes-->
<xacro:include filename="$(find talos_data)/urdf/deg_to_rad.xacro" />
<xacro:include filename="$(find talos_data)/urdf/arm/wrist.urdf.xacro" />
<xacro:include filename="$(find talos_data)/urdf/arm/arm.transmission.xacro" />
<!--Constant parameters-->
<xacro:property name="arm_friction" value="1.0" />
<xacro:property name="arm_damping" value="1.0" />
<xacro:property name="arm_1_max_vel" value="2.7" />
<xacro:property name="arm_2_max_vel" value="3.66" />
<xacro:property name="arm_3_max_vel" value="4.58" />
<xacro:property name="arm_4_max_vel" value="4.58" />
<xacro:property name="arm_1_max_effort" value="100.0" />
<xacro:property name="arm_2_max_effort" value="100.0" />
<xacro:property name="arm_3_max_effort" value="70.0" />
<xacro:property name="arm_4_max_effort" value="70.0" />
<xacro:property name="arm_eps" value="0.02" />
<xacro:macro name="talos_arm" params="name parent side reflect">
<!--************************-->
<!-- SHOULDER -->
<!--************************-->
<link name="${name}_${side}_1_link">
<xacro:call macro="${name}_${side}_1_link_inertial" />
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_data/meshes/arm/arm_1.STL" scale="1 ${reflect} 1"/>
</geometry>
<material name="DarkGrey" />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_data/meshes/arm/arm_1_collision.STL" scale="1 ${reflect} 1"/>
</geometry>
</collision>
</link>
<joint name="${name}_${side}_1_joint" type="revolute">
<parent link="${parent}" />
<child link="${name}_${side}_1_link" />
<origin xyz="0.00000 ${0.15750*reflect} 0.23200"
rpy="${0.0 * deg_to_rad} ${0.0 * deg_to_rad} ${0.0 * deg_to_rad}"/>
<axis xyz="0 0 1" />
<!-- v1 TALOS has 1st arm left joint (-90,30) and right joint (-30,90) -->
<!-- v2 TALOS has 1st arm left joint (-90,50) and right joint (-50,90) -->
<limit lower="${(-67.5 - 22.5*reflect)* deg_to_rad}" upper="${(67.5 - 22.5*reflect)* deg_to_rad}" effort="${arm_1_max_effort}" velocity="${arm_1_max_vel}" />
<dynamics friction="${arm_friction}" damping="${arm_damping}"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
soft_lower_limit="${-90.00000 * deg_to_rad + arm_eps}"
soft_upper_limit="${30.00000 * deg_to_rad - arm_eps}" /> -->
</joint>
<link name="${name}_${side}_2_link">
<xacro:call macro="${name}_${side}_2_link_inertial" />
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_data/meshes/arm/arm_2.STL" scale="1 ${reflect} 1"/>
</geometry>
<material name="DarkGrey" />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_data/meshes/arm/arm_2_collision.STL" scale="1 ${reflect} 1"/>
</geometry>
</collision>
</link>
<joint name="${name}_${side}_2_joint" type="revolute">
<parent link="${name}_${side}_1_link" />
<child link="${name}_${side}_2_link" />
<origin xyz="0.00493 ${0.13650*reflect} 0.04673"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="1 0 0" />
<limit lower="${(-82.0000 + 82.5000*reflect)* deg_to_rad}" upper="${(82.50000*reflect + 82.0000)* deg_to_rad}" effort="${arm_2_max_effort}" velocity="${arm_2_max_vel}" />
<dynamics friction="${arm_friction}" damping="${arm_damping}"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
soft_lower_limit="${0.00000 * deg_to_rad + arm_eps}"
soft_upper_limit="${165.00000 * deg_to_rad - arm_eps}" /> -->
</joint>
<link name="${name}_${side}_3_link">
<xacro:call macro="${name}_${side}_3_link_inertial" />
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_data/meshes/arm/arm_3.STL" scale="1 ${reflect} 1"/>
</geometry>
<material name="DarkGrey" />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_data/meshes/arm/arm_3_collision.STL" scale="1 ${reflect} 1"/>
</geometry>
</collision>
</link>
<joint name="${name}_${side}_3_joint" type="revolute">
<parent link="${name}_${side}_2_link" />
<child link="${name}_${side}_3_link" />
<origin xyz="0.00000 0.00000 0.00000"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="0 0 1" />
<limit lower="${-139.0 * deg_to_rad}" upper="${139.0 * deg_to_rad}" effort="${arm_3_max_effort}" velocity="${arm_3_max_vel}" />
<dynamics friction="${arm_friction}" damping="${arm_damping}"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
soft_lower_limit="${-140.0 * deg_to_rad + arm_eps}"
soft_upper_limit="${140.0 * deg_to_rad - arm_eps}" /> -->
</joint>
<!--************************-->
<!-- ELBOW -->
<!--************************-->
<link name="${name}_${side}_4_link">
<xacro:call macro="${name}_${side}_4_link_inertial" />
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_data/meshes/arm/arm_4.STL" scale="1 ${reflect} 1"/>
</geometry>
<material name="DarkGrey" />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_data/meshes/arm/arm_4_collision.STL" scale="1 ${reflect} 1"/>
</geometry>
</collision>
</link>
<joint name="${name}_${side}_4_joint" type="revolute">
<parent link="${name}_${side}_3_link" />
<child link="${name}_${side}_4_link" />
<origin xyz="0.02000 0.00000 -0.27300"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="0 1 0" />
<limit lower="${-128.0 * deg_to_rad}" upper="${0.2 * deg_to_rad}" effort="${arm_4_max_effort}" velocity="${arm_4_max_vel}" />
<dynamics friction="${arm_friction}" damping="${arm_damping}"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
soft_lower_limit="${-135.0 * deg_to_rad + arm_eps}"
soft_upper_limit="${0.0 * deg_to_rad - arm_eps}" /> -->
</joint>
<gazebo reference="${name}_${side}_1_link">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="${name}_${side}_2_link">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="${name}_${side}_3_link">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="${name}_${side}_4_link">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="${name}_${side}_1_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo reference="${name}_${side}_2_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo reference="${name}_${side}_3_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo reference="${name}_${side}_4_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!--************************-->
<!-- WRIST -->
<!--************************-->
<xacro:talos_wrist name="arm" parent="${name}_${side}_4_link" side="${side}" reflect="${reflect}" />
<!-- extensions -->
<xacro:include filename="$(find talos_data)/urdf/arm/${side}_arm.transmissions.urdf.xacro" />
</xacro:macro>
</robot>
urdf/arm/left_arm.transmissions.urdf.xacro 0 → 100644
View file @ dc636c94
<?xml version="1.0"?>
<!--
Copyright (c) 2018, PAL Robotics, S.L.
All rights reserved.
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
-->
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<!--File includes-->
<xacro:include filename="$(find talos_data)/urdf/arm/arm.transmission.xacro" />
<xacro:include filename="$(find talos_description_calibration)/urdf/calibration/calibration_constants.urdf.xacro" />
<!-- extensions -->
<xacro:talos_arm_simple_transmission name="${name}" side="left" number="1" reduction="1.0" offset_value="${arm_left_1_joint_offset}" />
<xacro:talos_arm_simple_transmission name="${name}" side="left" number="2" reduction="1.0" offset_value="${arm_left_2_joint_offset}" />
<xacro:talos_arm_simple_transmission name="${name}" side="left" number="3" reduction="1.0" offset_value="${arm_left_3_joint_offset}" />
<xacro:talos_arm_simple_transmission name="${name}" side="left" number="4" reduction="1.0" offset_value="${arm_left_4_joint_offset}" />
</robot>
urdf/arm/left_wrist.transmissions.urdf.xacro 0 → 100644
View file @ dc636c94
<?xml version="1.0"?>
<!--
Copyright (c) 2018, PAL Robotics, S.L.
All rights reserved.
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
-->
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<!--File includes-->
<xacro:include filename="$(find talos_data)/urdf/arm/wrist.transmission.xacro" />
<xacro:include filename="$(find talos_description_calibration)/urdf/calibration/calibration_constants.urdf.xacro" />
<!-- extensions -->
<xacro:talos_wrist_simple_transmission name="${name}" side="${side}" number="5" reduction="1.0"
offset_value="${arm_left_5_joint_offset}"/>
<xacro:talos_wrist_differential_transmission name="${name}" side="${side}" number_1="6" number_2="7"
act_reduction_1="-1.0" act_reduction_2="1.0"
jnt_reduction_1="-1.0" jnt_reduction_2="-1.0"
offset_value_1="${arm_left_6_joint_offset}"
offset_value_2="${arm_left_7_joint_offset}"/>
</robot>
urdf/arm/right_arm.transmissions.urdf.xacro 0 → 100644
View file @ dc636c94
<?xml version="1.0"?>
<!--
Copyright (c) 2018, PAL Robotics, S.L.
All rights reserved.
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
-->
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<!--File includes-->
<xacro:include filename="$(find talos_data)/urdf/arm/arm.transmission.xacro" />
<xacro:include filename="$(find talos_description_calibration)/urdf/calibration/calibration_constants.urdf.xacro" />
<!-- extensions -->
<xacro:talos_arm_simple_transmission name="${name}" side="right" number="1" reduction="1.0" offset_value="${arm_right_1_joint_offset}" />
<xacro:talos_arm_simple_transmission name="${name}" side="right" number="2" reduction="1.0" offset_value="${arm_right_2_joint_offset}" />
<xacro:talos_arm_simple_transmission name="${name}" side="right" number="3" reduction="1.0" offset_value="${arm_right_3_joint_offset}" />
<xacro:talos_arm_simple_transmission name="${name}" side="right" number="4" reduction="1.0" offset_value="${arm_right_4_joint_offset}" />
</robot>
urdf/arm/right_wrist.transmissions.urdf.xacro 0 → 100644
View file @ dc636c94
<?xml version="1.0"?>
<!--
Copyright (c) 2018, PAL Robotics, S.L.
All rights reserved.
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
-->
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<!--File includes-->
<xacro:include filename="$(find talos_data)/urdf/arm/wrist.transmission.xacro" />
<xacro:include filename="$(find talos_description_calibration)/urdf/calibration/calibration_constants.urdf.xacro" />
<!-- extensions -->
<xacro:talos_wrist_simple_transmission name="${name}" side="${side}" number="5" reduction="1.0"
offset_value="${arm_right_5_joint_offset}"/>
<xacro:talos_wrist_differential_transmission name="${name}" side="${side}" number_1="6" number_2="7"
act_reduction_1="-1.0" act_reduction_2="1.0"
jnt_reduction_1="-1.0" jnt_reduction_2="-1.0"
offset_value_1="${arm_right_6_joint_offset}"
offset_value_2="${arm_right_7_joint_offset}"/>
</robot>
urdf/arm/wrist.transmission.xacro
View file @ dc636c94
......@@ -10,13 +10,14 @@
-->
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="talos_wrist_simple_transmission" params="name side number reduction" >
<xacro:macro name="talos_wrist_simple_transmission" params="name side number reduction offset_value" >
<transmission name="${name}_${side}_${number}_trans">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="${name}_${side}_${number}_motor" >
<mechanicalReduction>${reduction}</mechanicalReduction>
</actuator>
<joint name="${name}_${side}_${number}_joint">
<offset>${offset_value}</offset>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
......@@ -24,7 +25,7 @@
</xacro:macro>
<xacro:macro name="talos_wrist_differential_transmission"
params="name side number_1 number_2 act_reduction_1 act_reduction_2 jnt_reduction_1 jnt_reduction_2" >
params="name side number_1 number_2 act_reduction_1 act_reduction_2 jnt_reduction_1 jnt_reduction_2 offset_value_1 offset_value_2" >
<transmission name="wrist_${side}_trans">
<type>transmission_interface/DifferentialTransmission</type>
<actuator name="${name}_${side}_${number_1}_motor">
......@@ -37,14 +38,14 @@
</actuator>
<joint name="${name}_${side}_${number_1}_joint">
<role>joint1</role>
<offset>0.0</offset>
<offset>${offset_value_1}</offset>
<mechanicalReduction>${jnt_reduction_1}</mechanicalReduction>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<joint name="${name}_${side}_${number_2}_joint">
<role>joint2</role>
<offset>0.0</offset>
<offset>${offset_value_2}</offset>
<mechanicalReduction>${jnt_reduction_2}</mechanicalReduction>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
......
urdf/arm/wrist.urdf.xacro
View file @ dc636c94
......@@ -11,8 +11,8 @@
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<!--File includes-->
<xacro:include filename="$(find talos_description)/urdf/deg_to_rad.xacro" />
<xacro:include filename="$(find talos_description)/urdf/arm/wrist.transmission.xacro" />
<xacro:include filename="$(find talos_data)/urdf/deg_to_rad.xacro" />
<xacro:include filename="$(find talos_data)/urdf/arm/wrist.transmission.xacro" />
<!--Constant parameters-->
<xacro:property name="wrist_friction" value="1.0" />
......@@ -20,9 +20,9 @@
<xacro:property name="wrist_1_max_vel" value="1.95" />
<xacro:property name="wrist_2_max_vel" value="1.76" />
<xacro:property name="wrist_3_max_vel" value="1.76" />
<xacro:property name="wrist_1_max_effort" value="3" />
<xacro:property name="wrist_2_max_effort" value="6.6" />
<xacro:property name="wrist_3_max_effort" value="6.6" />
<xacro:property name="wrist_1_max_effort" value="20.0" />
<xacro:property name="wrist_2_max_effort" value="8.0" />
<xacro:property name="wrist_3_max_effort" value="8.0" />
<xacro:property name="wrist_eps" value="0.02" />
......@@ -32,26 +32,20 @@
<!-- WRIST -->
<!--************************-->
<link name="${name}_${side}_5_link">
<inertial>
<origin xyz="-0.00006 0.00326 0.07963" rpy="0.00000 0.00000 0.00000"/>
<!-- <mass value="1.87792"/> -->
<mass value="1.77792"/>
<inertia ixx="0.00349500000" ixy="-0.00001300000" ixz="-0.00001000000"
iyy="0.00436800000" iyz="0.00009700000"
izz="0.00228300000"/>
</inertial>
<xacro:call macro="${name}_${side}_5_link_inertial" />
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<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>
<material name="LightGrey" />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<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 ${reflect} 1"/>
</geometry>
</collision>
</link>
......@@ -59,10 +53,10 @@
<joint name="${name}_${side}_5_joint" type="revolute">
<parent link="${parent}" />
<child link="${name}_${side}_5_link" />
<origin xyz="-0.02000 0.00000 -0.26430"
<origin xyz="-0.02000 0.00000 -0.26430"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="0 0 1" />
<limit lower="${-145.0 * deg_to_rad}" upper="${145.0 * deg_to_rad}" effort="${wrist_1_max_effort}" velocity="${wrist_1_max_vel}" />
<limit lower="${-144.0 * deg_to_rad}" upper="${144.0 * deg_to_rad}" effort="${wrist_1_max_effort}" velocity="${wrist_1_max_vel}" />
<dynamics friction="${wrist_friction}" damping="${wrist_damping}"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
......@@ -72,26 +66,20 @@
</joint>
<link name="${name}_${side}_6_link">
<inertial>
<origin xyz="0.00002 -0.00197 -0.00059" rpy="0.00000 0.00000 0.00000"/>
<!-- <mass value="0.40931"/> -->
<mass value="0.30931"/>
<inertia ixx="0.00010700000" ixy="0.00000000000" ixz="0.00000000000"
iyy="0.00014100000" iyz="-0.00000000000"
izz="0.00015400000"/>
</inertial>
<xacro:call macro="${name}_${side}_6_link_inertial" />
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<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>
<material name="LightGrey" />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<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 ${reflect} 1"/>
</geometry>
</collision>
</link>
......@@ -99,10 +87,10 @@
<joint name="${name}_${side}_6_joint" type="revolute">
<parent link="${name}_${side}_5_link" />
<child link="${name}_${side}_6_link" />
<origin xyz="0.00000 0.00000 0.00000"
<origin xyz="0.00000 0.00000 0.00000"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="1 0 0" />
<limit lower="${-80.0 * deg_to_rad}" upper="${80.0 * deg_to_rad}" effort="${wrist_2_max_effort}" velocity="${wrist_2_max_vel}" />
<limit lower="${-78.5 * deg_to_rad}" upper="${78.5 * deg_to_rad}" effort="${wrist_2_max_effort}" velocity="${wrist_2_max_vel}" />
<dynamics friction="${wrist_friction}" damping="${wrist_damping}"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
......@@ -112,29 +100,12 @@
</joint>
<link name="${name}_${side}_7_link">
<!-- WRONG VALUES
<inertial>
<origin xyz="-0.00089 0.00365 -0.07824" rpy="0.00000 0.00000 0.00000"/>
<mass value="1.02604"/>
<inertia ixx="0.00151400000" ixy="0.00000600000" ixz="0.00006600000"
iyy="0.00146400000" iyz="0.00001200000"
izz="0.00090300000"/>
</inertial>
-->
<inertial>
<origin xyz="0.007525 0.001378 -0.024630" rpy="0.00000 0.00000 0.00000"/>
<mass value="0.308441"/>
<inertia ixx="0.000309" ixy="0.000002" ixz="-0.000002"
iyy="0.000219" iyz="0.000012"
izz="0.000176"/>
</inertial>
<xacro:call macro="${name}_${side}_7_link_inertial" />
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<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>
<material name="DarkGrey" />
</visual>
......@@ -142,7 +113,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<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 ${reflect} 1"/>
</geometry>
</collision>
</link>
......@@ -150,10 +121,10 @@
<joint name="${name}_${side}_7_joint" type="revolute">
<parent link="${name}_${side}_6_link" />
<child link="${name}_${side}_7_link" />
<origin xyz="0.0 0.0 0.0"
<origin xyz="0.0 0.0 0.0"
rpy="${0.0 * deg_to_rad} ${0.0 * deg_to_rad} ${0.0 * deg_to_rad}"/>
<axis xyz="0 1 0" />
<limit lower="${-40.0 * deg_to_rad}" upper="${40.0 * deg_to_rad}" effort="${wrist_3_max_effort}" velocity="${wrist_3_max_vel}"/>
<limit lower="${-39.0 * deg_to_rad}" upper="${39.0 * deg_to_rad}" effort="${wrist_3_max_effort}" velocity="${wrist_3_max_vel}"/>
<dynamics friction="${wrist_friction}" damping="${wrist_damping}"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
......@@ -189,11 +160,7 @@
</gazebo>
<!-- extensions -->
<xacro:talos_wrist_simple_transmission name="${name}" side="${side}" number="5" reduction="1.0" />
<xacro:talos_wrist_differential_transmission name="${name}" side="${side}" number_1="6" number_2="7"
act_reduction_1="-1.0" act_reduction_2="1.0"
jnt_reduction_1="-1.0" jnt_reduction_2="${-reflect}" />
<xacro:include filename="$(find talos_data)/urdf/arm/${side}_wrist.transmissions.urdf.xacro" />
</xacro:macro>
</robot>
urdf/crane/crane.urdf.xacro 0 → 100644
View file @ dc636c94
<?xml version="1.0"?>
<!--
Copyright (c) 2016, PAL Robotics, S.L.
All rights reserved.
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
-->
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<!--File includes-->
<xacro:include filename="$(find talos_data)/urdf/deg_to_rad.xacro" />
<xacro:macro name="crane" params="parent">
<link name="crane_link">
<inertial>
<origin xyz="0.0 0.0 0.25" rpy="0.0 0.0 0.0"/>
<mass value="0.0"/>
<!-- [ m(3r^2 + h^2)/12 m(3r^2 + h^2)/12 mr^2/2] -->
<inertia ixx="0.0" ixy="0.0" ixz="0.0"
iyy="0.0" iyz="0.0"
izz="0.0"/>
</inertial>
<visual>
<origin xyz="0 0 0.25" rpy="0 0 0" />
<geometry>
<cylinder length="0.5" radius="0.3"/>
</geometry>
<material name="CraneMaterial" rgba="0.3 0.3 0.3 0.1"/>
</visual>
<collision>
<origin xyz="0 0 0.25" rpy="0 0 0" />
<geometry>
<cylinder length="0.5" radius="0.3"/>
</geometry>
<material name="CraneMaterial"/>
</collision>
</link>
<joint name="crane_joint" type="fixed">
<parent link="${parent}" />
<child link="crane_link" />
<origin xyz="0.003 0.0 0.4" rpy="0.0 0.0 0.0"/>
<limit lower="0.0" upper="0.0" effort="0.0" velocity="0.0" />
<dynamics friction="0.0" damping="0.0"/>
</joint>
</xacro:macro>
<material name="CraneMaterial">
<color rgba="0.2 0.2 0.2 0.5"/>
</material>
</robot>
urdf/gripper/gripper.gazebo.xacro
View file @ dc636c94
......@@ -18,14 +18,14 @@
<mimicJoint>${name}_inner_double_joint</mimicJoint>
<multiplier>1.0</multiplier>
<offset>0.0</offset>
<!-- <hasPID/> -->
<hasPID/>
</plugin>
<plugin name="mimic_${name}_fingertip_1_joint" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
<joint>${name}_joint</joint>
<mimicJoint>${name}_fingertip_1_joint</mimicJoint>
<multiplier>-1.0</multiplier>
<offset>0.0</offset>
<!-- <hasPID/> -->
<hasPID/>
</plugin>
<plugin name="mimic_${name}_fingertip_2_joint" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
......@@ -33,15 +33,15 @@
<mimicJoint>${name}_fingertip_2_joint</mimicJoint>
<multiplier>-1.0</multiplier>
<offset>0.0</offset>
<!-- <hasPID/> -->
<hasPID/>
</plugin>
<plugin name="mimic_${name}_inner_single_joint" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
<joint>${name}_joint</joint>
<mimicJoint>${name}_inner_single_joint</mimicJoint>
<multiplier>-1.0</multiplier>
<offset>0.0</offset>
<!-- <hasPID/> -->
<hasPID/>
</plugin>
<plugin name="mimic_${name}_motor_single_joint" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
......@@ -49,14 +49,14 @@
<mimicJoint>${name}_motor_single_joint</mimicJoint>
<multiplier>-1.0</multiplier>
<offset>0.0</offset>
<!-- <hasPID/> -->
<hasPID/>
</plugin>
<plugin name="mimic_${name}_fingertip_3_joint" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
<joint>${name}_joint</joint>
<mimicJoint>${name}_fingertip_3_joint</mimicJoint>
<multiplier>-1.0</multiplier>
<offset>0.0</offset>
<!-- <hasPID/> -->
<hasPID/>
</plugin>
</gazebo>
......@@ -134,7 +134,7 @@
<gazebo reference="${name}_motor_single_link">
<material>Gazebo/Orange</material>
</gazebo>
<gazebo reference="${name}_inner_single_link">
<material>Gazebo/Orange</material>
......@@ -150,4 +150,4 @@
</xacro:macro>
</robot>
\ No newline at end of file
</robot>
urdf/gripper/gripper.transmission.xacro
View file @ dc636c94
......@@ -35,4 +35,4 @@
</xacro:macro>
</robot>
\ No newline at end of file
</robot>
urdf/gripper/gripper.urdf.xacro
View file @ dc636c94
......@@ -3,26 +3,20 @@
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<!--File includes-->
<xacro:include filename="$(find talos_description)/urdf/deg_to_rad.xacro" />
<xacro:include filename="$(find talos_description)/urdf/gripper/gripper.transmission.xacro" />
<xacro:include filename="$(find talos_description)/urdf/gripper/gripper.gazebo.xacro" />
<xacro:include filename="$(find talos_data)/urdf/deg_to_rad.xacro" />
<xacro:include filename="$(find talos_data)/urdf/gripper/gripper.transmission.xacro" />
<xacro:include filename="$(find talos_data)/urdf/gripper/gripper.gazebo.xacro" />
<xacro:macro name="talos_gripper" params="name parent reflect">
<link name="${name}_base_link">
<inertial>
<origin xyz="-0.00534 0.00362 -0.02357" rpy="0.00000 0.00000 0.00000"/>
<mass value="0.61585"/>
<inertia ixx="0.00047200000" ixy="-0.00000800000" ixz="0.00003500000"
iyy="0.00052100000" iyz="0.00000000000"
izz="0.00069000000"/>
</inertial>
<link name="${name}_base_link">
<xacro:call macro="${name}_base_link_inertial" />
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_description/meshes/gripper/base_link.STL" scale="1 1 1"/>
<mesh filename="package://talos_data/meshes/gripper/base_link.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
......@@ -30,7 +24,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_description/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
<mesh filename="package://talos_data/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
......@@ -38,27 +32,19 @@
<joint name="${name}_base_link_joint" type="fixed">
<parent link="${parent}"/>
<child link="${name}_base_link"/>
<origin xyz="0.00000 0.00000 -0.02875"
<origin xyz="0.00000 0.00000 -0.02875"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="0 0 0" />
</joint>
<link name="${name}_motor_double_link">
<inertial>
<origin xyz="0.02270 0.01781 -0.00977" rpy="0.00000 0.00000 0.00000"/>
<mass value="0.16889"/>
<!-- In order for Gazebo not to explode we needed to add these 0.001 values to the diagonal,
also the tool pal_dynamics InertiaMassVisualization gave NaN on the computation of the inertia box -->
<inertia ixx="${0.00015900000 + 0.001}" ixy="-0.00007000000" ixz="0.00003800000"
iyy="${0.00022100000 + 0.001}" iyz="-0.00005300000"
izz="${0.00026800000 + 0.001}"/>
</inertial>
<xacro:call macro="${name}_motor_double_link_inertial" />
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<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>
<material name="Orange"/>
</visual>
......@@ -66,35 +52,29 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<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>
</collision>
</link>
<joint name="${name}_joint" type="revolute">
<joint name="${name}_joint" type="revolute">
<parent link="${name}_base_link"/>
<child link="${name}_motor_double_link"/>
<origin xyz="0.0 0.02025 -0.03"
<origin xyz="0.0 0.02025 -0.03"
rpy="${0.0 * deg_to_rad} ${0.0 * deg_to_rad} ${0.0 * deg_to_rad}"/>
<axis xyz="1 0 0" />
<limit lower="${-60.0 * deg_to_rad}" upper="${0.0 * deg_to_rad}" effort="1.0" velocity="1.0" />
<limit lower="${-55.0 * deg_to_rad}" upper="${0.0 * deg_to_rad}" effort="1.0" velocity="1.0" />
<dynamics friction="1.0" damping="1.0"/>
</joint>
<link name="${name}_inner_double_link">
<inertial>
<origin xyz="-0.00056 0.03358 -0.01741" rpy="0.00000 0.00000 0.00000"/>
<mass value="0.11922"/>
<inertia ixx="0.00009100000" ixy="0.00000100000" ixz="-0.00000100000"
iyy="0.00015600000" iyz="-0.00003200000"
izz="0.00012600000"/>
</inertial>
<xacro:call macro="${name}_inner_double_link_inertial" />
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_description/meshes/gripper/inner_double.STL" scale="1 1 1"/>
<mesh filename="package://talos_data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
</geometry>
<material name="Orange"/>
</visual>
......@@ -102,7 +82,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_description/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
<mesh filename="package://talos_data/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
......@@ -110,29 +90,22 @@
<joint name="${name}_inner_double_joint" type="revolute">
<parent link="${name}_base_link"/>
<child link="${name}_inner_double_link"/>
<origin xyz="0.00000 0.00525 -0.05598"
<origin xyz="0.00000 0.00525 -0.05598"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="1 0 0" />
<limit lower="${-60.0 * deg_to_rad}" upper="${0.0 * deg_to_rad}" effort="100.0" velocity="1.0" />
<mimic joint="${name}_joint" multiplier="${1.0}" offset="0.0" />
</joint>
</joint>
<link name="${name}_fingertip_1_link">
<inertial>
<origin xyz="0.00000 0.00460 -0.00254" rpy="0.00000 0.00000 0.00000"/>
<mass value="0.02630"/>
<inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000"
iyy="0.00000900000" iyz="0.00000100000"
izz="0.00000200000"/>
</inertial>
<xacro:call macro="${name}_fingertip_1_link_inertial" />
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_description/meshes/gripper/fingertip.STL" scale="1 1 1"/>
<mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
......@@ -140,7 +113,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_description/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
<mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
......@@ -149,27 +122,21 @@
<joint name="${name}_fingertip_1_joint" type="revolute">
<parent link="${name}_inner_double_link"/>
<child link="${name}_fingertip_1_link"/>
<origin xyz="0.03200 0.04589 -0.06553"
<origin xyz="0.03200 0.04589 -0.06553"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="1 0 0" />
<limit lower="${0.0 * deg_to_rad}" upper="${60.0 * deg_to_rad}" effort="100.0" velocity="1.0" />
<mimic joint="${name}_joint" multiplier="${-1.0}" offset="0.0" />
</joint>
</joint>
<link name="${name}_fingertip_2_link">
<inertial>
<origin xyz="0.00000 0.00460 -0.00254" rpy="0.00000 0.00000 0.00000"/>
<mass value="0.02630"/>
<inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000"
iyy="0.00000900000" iyz="0.00000100000"
izz="0.00000200000"/>
</inertial>
<xacro:call macro="${name}_fingertip_2_link_inertial" />
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_description/meshes/gripper/fingertip.STL" scale="1 1 1"/>
<mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
......@@ -177,7 +144,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_description/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
<mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
......@@ -185,27 +152,21 @@
<joint name="${name}_fingertip_2_joint" type="revolute">
<parent link="${name}_inner_double_link"/>
<child link="${name}_fingertip_2_link"/>
<origin xyz="-0.03200 0.04589 -0.06553"
<origin xyz="-0.03200 0.04589 -0.06553"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="1 0 0" />
<limit lower="${0.0 * deg_to_rad}" upper="${60.0 * deg_to_rad}" effort="100.0" velocity="1.0" />
<mimic joint="${name}_joint" multiplier="${-1.0}" offset="0.0" />
</joint>
</joint>
<link name="${name}_motor_single_link">
<inertial>
<origin xyz="0.02589 -0.01284 -0.00640" rpy="0.00000 0.00000 0.00000"/>
<mass value="0.14765"/>
<inertia ixx="0.00011500000" ixy="0.00005200000" ixz="0.00002500000"
iyy="0.00015300000" iyz="0.00003400000"
izz="0.00019000000"/>
</inertial>
<xacro:call macro="${name}_motor_single_link_inertial" />
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_description/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
<mesh filename="package://talos_data/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
</geometry>
<material name="Orange"/>
</visual>
......@@ -213,7 +174,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_description/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
<mesh filename="package://talos_data/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
......@@ -221,28 +182,22 @@
<joint name="${name}_motor_single_joint" type="revolute">
<parent link="${name}_base_link"/>
<child link="${name}_motor_single_link"/>
<origin xyz="0.00000 -0.02025 -0.03000"
<origin xyz="0.00000 -0.02025 -0.03000"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="1 0 0" />
<limit lower="${0.0 * deg_to_rad}" upper="${60.0 * deg_to_rad}" effort="100.0" velocity="1.0" />
<mimic joint="${name}_joint" multiplier="${-1.0}" offset="0.0" />
</joint>
</joint>
<link name="${name}_inner_single_link">
<inertial>
<origin xyz="0.00000 -0.03253 -0.01883" rpy="0.00000 0.00000 0.00000"/>
<mass value="0.05356"/>
<inertia ixx="0.00004700000" ixy="-0.00000000000" ixz="-0.00000000000"
iyy="0.00003500000" iyz="0.00001700000"
izz="0.00002400000"/>
</inertial>
<xacro:call macro="${name}_inner_single_link_inertial" />
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_description/meshes/gripper/inner_single.STL" scale="1 1 1"/>
<mesh filename="package://talos_data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
</geometry>
<material name="Orange"/>
</visual>
......@@ -250,7 +205,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_description/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
<mesh filename="package://talos_data/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
......@@ -258,28 +213,21 @@
<joint name="${name}_inner_single_joint" type="revolute">
<parent link="${name}_base_link"/>
<child link="${name}_inner_single_link"/>
<origin xyz="0.00000 -0.00525 -0.05598"
<origin xyz="0.00000 -0.00525 -0.05598"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="1 0 0" />
<limit lower="${0.0 * deg_to_rad}" upper="${60.0 * deg_to_rad}" effort="100.0" velocity="1.0" />
<mimic joint="${name}_joint" multiplier="${-1.0}" offset="0.0" />
</joint>
</joint>
<link name="${name}_fingertip_3_link">
<inertial>
<origin xyz="0.00000 0.00460 -0.00254" rpy="0.00000 0.00000 0.00000"/>
<mass value="0.02630"/>
<inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000"
iyy="0.00000900000" iyz="0.00000100000"
izz="0.00000200000"/>
</inertial>
<xacro:call macro="${name}_fingertip_3_link_inertial" />
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_description/meshes/gripper/fingertip.STL" scale="1 1 1"/>
<mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
......@@ -287,7 +235,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_description/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
<mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
......@@ -295,13 +243,13 @@
<joint name="${name}_fingertip_3_joint" type="revolute">
<parent link="${name}_inner_single_link"/>
<child link="${name}_fingertip_3_link"/>
<origin xyz="0.00000 -0.04589 -0.06553"
<origin xyz="0.00000 -0.04589 -0.06553"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${180.00000 * deg_to_rad}"/>
<axis xyz="1 0 0" />
<limit lower="${0.0 * deg_to_rad}" upper="${60.0 * deg_to_rad}" effort="100.0" velocity="1.0" />
<mimic joint="${name}_joint" multiplier="${-1.0}" offset="0.0" />
</joint>
</joint>
<xacro:virtual_joints name="${name}" />
......@@ -315,6 +263,6 @@
<xacro:gripper_virtual_transmission name="${name}_motor_single" reduction="1.0"/>
<xacro:gripper_virtual_transmission name="${name}_fingertip_3" reduction="1.0"/> -->
</xacro:macro>
</xacro:macro>
</robot>
urdf/head/head.transmission.xacro
View file @ dc636c94
......@@ -11,7 +11,7 @@
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="talos_head_differential_transmission"
params="name number1 number2 act_reduction1 act_reduction2 jnt_reduction1 jnt_reduction2" >
params="name number1 number2 act_reduction1 act_reduction2 jnt_reduction1 jnt_reduction2 offset_value_1 offset_value_2" >
<transmission name="talos_trans">
<type>transmission_interface/HalfDifferentialTransmission</type>
<actuator name="${name}_${number1}_motor">
......@@ -24,14 +24,14 @@
</actuator>
<joint name="${name}_${number1}_joint">
<role>joint1</role>
<offset>0.0</offset>
<offset>${offset_value_1}</offset>
<mechanicalReduction>${jnt_reduction1}</mechanicalReduction>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<joint name="${name}_${number2}_joint">
<role>joint2</role>
<offset>0.0</offset>
<offset>${offset_value_2}</offset>
<mechanicalReduction>${jnt_reduction2}</mechanicalReduction>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
......
urdf/head/head.urdf.xacro
View file @ dc636c94
......@@ -11,9 +11,10 @@
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<!--File includes-->
<xacro:include filename="$(find talos_description)/urdf/deg_to_rad.xacro" />
<xacro:include filename="$(find talos_description)/urdf/head/head.transmission.xacro" />
<xacro:include filename="$(find talos_description)/urdf/sensors/orbbec_astra_pro.urdf.xacro" />
<xacro:include filename="$(find talos_data)/urdf/deg_to_rad.xacro" />
<xacro:include filename="$(find talos_data)/urdf/head/head.transmission.xacro" />
<xacro:include filename="$(find talos_data)/urdf/sensors/orbbec_astra_pro.urdf.xacro" />
<xacro:include filename="$(find talos_description_calibration)/urdf/calibration/calibration_constants.urdf.xacro" />
<!--Constant parameters-->
<xacro:property name="head_friction" value="1.0" />
......@@ -26,18 +27,12 @@
<!--************************-->
<xacro:macro name="talos_head_1" params="name parent">
<link name="${name}_link">
<inertial>
<origin xyz="0.00120 0.00145 0.02165" rpy="0.00000 0.00000 0.00000"/>
<mass value="0.65988"/>
<inertia ixx="0.00122100000" ixy="-0.00000400000" ixz="0.00007000000"
iyy="0.00092400000" iyz="-0.00004100000"
izz="0.00103300000"/>
</inertial>
<xacro:call macro="${name}_link_inertial" />
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_description/meshes/head/head_1.stl" scale="1 1 1"/>
<mesh filename="package://talos_data/meshes/head/head_1.stl" scale="1 1 1"/>
</geometry>
<material name="DarkGrey" />
</visual>
......@@ -45,7 +40,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_description/meshes/head/head_1_collision.stl" scale="1 1 1"/>
<mesh filename="package://talos_data/meshes/head/head_1_collision.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
......@@ -53,10 +48,10 @@
<joint name="${name}_joint" type="revolute">
<parent link="${parent}"/>
<child link="${name}_link"/>
<origin xyz="0.00000 0.00000 0.31600"
<origin xyz="0.02000 0.00000 0.32100"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="0 1 0" />
<limit lower="${-15.00000 * deg_to_rad}" upper="${45.00000 * deg_to_rad}" effort="8.0" velocity="1.0" />
<limit lower="${-12.00000 * deg_to_rad}" upper="${45.00000 * deg_to_rad}" effort="8.0" velocity="1.0" />
<dynamics damping="${head_damping}" friction="${head_friction}"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
......@@ -79,25 +74,19 @@
</xacro:macro>
<!--************************-->
<!-- HEAD_2 (PAN) -->
<!--************************-->
<xacro:macro name="talos_head_2" params="name parent">
<link name="${name}_link">
<inertial>
<origin xyz="-0.01036 -0.00037 0.13778" rpy="0.00000 0.00000 0.00000"/>
<mass value="1.40353"/>
<inertia ixx="0.00722500000" ixy="-0.00002500000" ixz="0.00032900000"
iyy="0.00687300000" iyz="0.00004400000"
izz="0.00437300000"/>
</inertial>
<xacro:call macro="${name}_link_inertial" />
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_description/meshes/head/head_2.stl" scale="1 1 1"/>
<mesh filename="package://talos_data/meshes/head/head_2.stl" scale="1 1 1"/>
</geometry>
<material name="LightGrey" />
</visual>
......@@ -105,7 +94,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_description/meshes/head/head_2_collision.stl" scale="1 1 1"/>
<mesh filename="package://talos_data/meshes/head/head_2_collision.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
......@@ -113,7 +102,7 @@
<joint name="${name}_joint" type="revolute">
<parent link="${parent}"/>
<child link="${name}_link"/>
<origin xyz="0.00000 0.00000 0.00000"
<origin xyz="0.00000 0.00000 0.00000"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="0 0 1" />
<limit lower="${-75.00000 * deg_to_rad}" upper="${75.00000 * deg_to_rad}" effort="4.0" velocity="1.0" />
......@@ -144,15 +133,16 @@
<xacro:macro name="talos_head" params="name parent">
<xacro:talos_head_1 name="${name}_1" parent="${parent}" />
<xacro:talos_head_2 name="${name}_2" parent="${name}_1_link"/>
<xacro:xtion_pro_live name="rgbd" parent="${name}_2">
<xacro:orbbec_astra_pro name="rgbd" parent="${name}_2">
<!-- Pose of sensor frame wrt to base -->
<origin xyz="0.066 0.0 0.1982" rpy="0 0 0"/>
<origin xyz="${camera_position_x} ${camera_position_y} ${camera_position_z}" rpy="${camera_orientation_r} ${camera_orientation_p} ${camera_orientation_y}" />
<!-- Pose of optical frame wrt to sensor -->
<origin xyz="0 0 0" rpy="${-90 * deg_to_rad} 0 ${-90 * deg_to_rad}"/>
</xacro:xtion_pro_live>
</xacro:orbbec_astra_pro>
<xacro:talos_head_differential_transmission name="${name}" number1="1" number2="2"
act_reduction1="1.0" act_reduction2="1.0"
jnt_reduction1="1.0" jnt_reduction2="2.0" />
jnt_reduction1="1.0" jnt_reduction2="2.0"
offset_value_1="${head_1_joint_offset}" offset_value_2="${head_2_joint_offset}"/>
</xacro:macro>
</robot>
urdf/leg/foot_collision_default.urdf.xacro 0 → 100644
View file @ dc636c94
<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="talos">
<xacro:macro name="talos_foot_collision">
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
</geometry>
</collision>
</xacro:macro>
</robot>
urdf/leg/foot_collision_tallbox.urdf.xacro 0 → 100644
View file @ dc636c94
<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="talos">
<xacro:macro name="talos_foot_collision">
<collision>
<origin xyz="0 0 -0.035" rpy="0 0 0" />
<geometry>
<box size="0.21 0.13 0.15"/>
</geometry>
</collision>
</xacro:macro>
</robot>
urdf/leg/foot_collision_thinbox.urdf.xacro 0 → 100644
View file @ dc636c94
<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="talos">
<xacro:macro name="talos_foot_collision">
<collision>
<origin xyz="0 0 -0.1" rpy="0 0 0" />
<geometry>
<box size="0.21 0.13 0.02"/>
</geometry>
</collision>
</xacro:macro>
</robot>
urdf/leg/leg.transmission.xacro
View file @ dc636c94
......@@ -23,4 +23,3 @@
</transmission>
</xacro:macro>
</robot>
urdf/leg/leg.urdf.xacro
View file @ dc636c94
......@@ -2,7 +2,7 @@
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="talos">
<xacro:include filename="$(find talos_description)/urdf/leg/leg.transmission.xacro" />
<xacro:include filename="$(find talos_data)/urdf/leg/leg.transmission.xacro" />
<xacro:property name="deg_to_rad" value="0.01745329251994329577" />
<xacro:property name="eps_radians" value="0.008" /> <!-- 0.45deg -->
......@@ -16,18 +16,12 @@
<!-- Joint hip_z (mesh link) : child link hip_x -> parent link base_link -->
<link name="leg_${prefix}_1_link">
<inertial>
<origin xyz="0.02320 -0.00009 0.04949" rpy="0.00000 0.00000 0.00000"/>
<mass value="1.88569"/>
<inertia ixx="0.00384800000" ixy="0.00003200000" ixz="-0.00082600000"
iyy="0.00599400000" iyz="0.00007800000"
izz="0.00322200000"/>
</inertial>
<xacro:call macro="leg_${prefix}_1_link_inertial" />
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<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>
<material name="DarkGrey" />
</visual>
......@@ -35,15 +29,15 @@
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<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 ${reflect*1} 1"/>
</geometry>
</collision>
</collision>
</link>
<joint name="leg_${prefix}_1_joint" type="revolute">
<parent link="base_link"/>
<child link="leg_${prefix}_1_link"/>
<origin xyz="-0.02 ${reflect*0.08500} -0.27105"
<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="${(55.0 + 35.0*reflect)*deg_to_rad}" effort="100" velocity="3.87" />
......@@ -54,26 +48,20 @@
<!-- Joint hip_x (mesh link) : child link hip_y -> parent link hip_z -->
<link name="leg_${prefix}_2_link">
<inertial>
<origin xyz="0.01583 -0.00021 0.00619" rpy="0.00000 0.00000 0.00000"/>
<mass value="2.37607"/>
<inertia ixx="0.00342100000" ixy="-0.00011300000" ixz="-0.00022500000"
iyy="0.00402400000" iyz="-0.00003100000"
izz="0.00416400000"/>
</inertial>
<xacro:call macro="leg_${prefix}_2_link_inertial" />
<visual>
<origin xyz="0 0 0.0" rpy="0 0 0" />
<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>
<material name="DarkGrey" />
</visual>
<collision>
<origin xyz="0 0 0.0" rpy="0 0 0" />
<origin xyz="0 0 0.0" rpy="0 0 0" />
<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 ${reflect*1} 1"/>
</geometry>
</collision>
</link>
......@@ -81,7 +69,7 @@
<joint name="leg_${prefix}_2_joint" type="revolute">
<parent link="leg_${prefix}_1_link"/>
<child link="leg_${prefix}_2_link"/>
<origin xyz="0.00000 0.00000 0.00000"
<origin xyz="0.00000 0.00000 0.00000"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="1 0 0" />
<limit lower="-0.5236" upper="0.5236" effort="160" velocity="5.8" />
......@@ -91,18 +79,12 @@
<!-- Joint hip_y (mesh link) : child link knee -> parent link hip_x -->
<link name="leg_${prefix}_3_link">
<inertial>
<origin xyz="0.00658 ${reflect*0.06563} -0.17278" rpy="0.00000 0.00000 0.00000"/>
<mass value="6.82734"/>
<inertia ixx="0.12390600000" ixy="${reflect*-0.00041200000}" ixz="-0.00205900000"
iyy="0.10844700000" iyz="${reflect*0.01672500000}"
izz="0.02781200000"/>
</inertial>
<xacro:call macro="leg_${prefix}_3_link_inertial" />
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<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>
<material name="DarkGrey" />
</visual>
......@@ -110,15 +92,15 @@
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<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 ${reflect*1} 1"/>
</geometry>
</collision>
</collision>
</link>
<joint name="leg_${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"
<origin xyz="0.00000 0.00000 0.00000"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="0 1 0" />
<limit lower="-2.095" upper="0.7" effort="160" velocity="5.8" />
......@@ -128,18 +110,12 @@
<!-- Joint knee (mesh link) : child link ankle_y -> parent link hip_y -->
<link name="leg_${prefix}_4_link">
<inertial>
<origin xyz="0.01520 ${reflect*0.02331} -0.12063" rpy="0.00000 0.00000 0.00000"/>
<mass value="3.63668"/>
<inertia ixx="0.03531500000" ixy="${reflect*0.00002900000}" ixz="-0.00016600000"
iyy="0.02933600000" iyz="${reflect*-0.00130500000}"
izz="0.01174000000"/>
</inertial>
<xacro:call macro="leg_${prefix}_4_link_inertial" />
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<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>
<material name="DarkGrey" />
</visual>
......@@ -147,17 +123,17 @@
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<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 ${reflect*1} 1"/>
</geometry>
</collision>
</collision>
</link>
<joint name="leg_${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} ${0.00000 * deg_to_rad}"/>
<origin xyz="0.00000 0.00000 -0.38000"
rpy="${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="${leg_damping}"/>
......@@ -166,113 +142,82 @@
<!-- Joint ankle_y (mesh link) : child link ankle_x -> parent link knee -->
<link name="leg_${prefix}_5_link">
<inertial>
<origin xyz="-0.01106 ${reflect*0.04708} 0.05271" rpy="0.00000 0.00000 0.00000"/>
<mass value="1.24433"/>
<inertia ixx="0.01148700000" ixy="${reflect*-0.00068600000}" ixz="-0.00052600000"
iyy="0.00952600000" iyz="${reflect*0.00263300000}"
izz="0.00390800000"/>
</inertial>
<!-- XXX AS: this link has moving lever and inertial parameters should slightly vary depending on configuration. XXX -->
<xacro:call macro="leg_${prefix}_5_link_inertial" />
<visual>
<origin xyz="0 0 0.0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_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>
<material name="Grey" />
</visual>
<collision>
<origin xyz="0 0 0.0" rpy="0 0 0" />
<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 ${reflect*1} 1"/>
</geometry>
</collision>
</collision>
</link>
<joint name="leg_${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"
<origin xyz="0.00000 0.00000 -0.32500"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="0 1 0" />
<limit lower="-1.309" upper="0.768" effort="160" velocity="5.8" />
<limit lower="-1.27" upper="0.68" effort="160" velocity="5.8" />
<dynamics friction="${leg_friction}" damping="${leg_damping}"/>
</joint>
<!-- Joint ankle_x (mesh link) : child link None -> parent link ankle_y -->
<link name="leg_${prefix}_6_link">
<inertial>
<origin xyz="-0.02087 -0.00019 -0.06059" rpy="0.00000 0.00000 0.00000"/>
<mass value="1.59457"/>
<inertia ixx="0.00383800000" ixy="0.00001600000" ixz="-0.00104100000"
iyy="0.00657200000" iyz="-0.00001700000"
izz="0.00504400000"/>
</inertial>
<xacro:call macro="leg_${prefix}_6_link_inertial" />
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<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>
<material name="Grey" />
</visual>
<!--
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_description/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
</geometry>
</collision>
-->
<collision>
<origin xyz="0 0 -0.1" rpy="0 0 0" />
<geometry>
<box size="0.21 0.13 0.02"/>
</geometry>
</collision>
<xacro:talos_foot_collision />
</link>
<joint name="leg_${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"
<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">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
<mass value="0.01" />
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
</inertial>
</link>
<joint name="leg_${prefix}_sole_fix_joint" type="fixed">
<xacro:call macro="${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="${leg_damping}"/>
</joint>
</joint>
<xacro:talos_leg_simple_transmission side="${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>
......@@ -293,7 +238,7 @@
<mu1>0.9</mu1>
<mu2>0.9</mu2>
</gazebo>
<!-- contact model for foot surface -->
<gazebo reference="leg_${prefix}_6_link">
<kp>1000000.0</kp>
......@@ -345,6 +290,6 @@
<material>Gazebo/White</material>
</gazebo>
</xacro:macro>
</xacro:macro>
</robot>