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  • gsaurel/talos-data
  • stack-of-tasks/talos-data
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package.xml
View file @ dc636c94
<?xml version="1.0"?>
<package>
<package format="2">
<name>talos_data</name>
<version>0.0.14</version>
<version>2.1.0</version>
<description>The talos_data package</description>
<maintainer email="ostasse@laas.fr">Olivier Stasse</maintainer>
<maintainer email="guilhem.saurel@laas.fr">Guilhem Saurel</maintainer>
<license>Proprietary</license>
<license>LGPL-3.0</license>
<buildtool_depend>catkin</buildtool_depend>
<exec_depend>talos_description_calibration</exec_depend>
<exec_depend>talos_description_inertial</exec_depend>
<test_depend>rostest</test_depend>
<test_depend>urdf_test</test_depend>
<export>
</export>
</package>
robots/talos_arm.urdf.xacro deleted 100644 → 0
View file @ 1a586e09
<?xml version="1.0"?>
<!--
Copyright (c) 2016, PAL Robotics, S.L.
All rights reserved.
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
-->
<robot name="talos" xmlns:xacro="http://ros.org/wiki/xacro"
xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
<xacro:include filename="$(find talos_description)/urdf/arm/arm.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/gripper/gripper.urdf.xacro" />
<link name="talos_2_link">
<inertial>
<origin xyz="-0.04551 -0.00053 0.16386" rpy="0.00000 0.00000 0.00000"/>
<mass value="17.55011"/>
<inertia ixx="0.37376900000" ixy="0.00063900000" ixz="0.01219600000"
iyy="0.24790200000" iyz="0.00000700000"
izz="0.28140400000"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_description/meshes/talos/talos_2.STL" scale="1 1 1"/>
</geometry>
<material name="LightGrey" />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_description/meshes/talos/talos_2_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
<xacro:talos_arm name="arm" parent="talos_2_link" side="left" reflect="1"/>
<xacro:talos_arm name="arm" parent="talos_2_link" side="right" reflect="-1"/>
<xacro:talos_gripper name="left_gripper" parent="arm_left_7_link"/>
<xacro:talos_gripper name="right_gripper" parent="arm_right_7_link"/>
<!-- Generic simulatalos_gazebo plugins -->
<xacro:include filename="$(find talos_description)/gazebo/gazebo.urdf.xacro" />
<!-- Materials for visualization -->
<xacro:include filename="$(find talos_description)/urdf/materials.urdf.xacro" />
</robot>
robots/talos_full.urdf.xacro
View file @ dc636c94
......@@ -13,12 +13,12 @@
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
<xacro:include filename="$(find talos_description)/urdf/torso/torso.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/head/head.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/arm/arm.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/sensors/ftsensor.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/gripper/gripper.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/leg/leg.urdf.xacro" />
<xacro:include filename="$(find talos_data)/urdf/torso/torso.urdf.xacro" />
<xacro:include filename="$(find talos_data)/urdf/head/head.urdf.xacro" />
<xacro:include filename="$(find talos_data)/urdf/arm/arm.urdf.xacro" />
<xacro:include filename="$(find talos_data)/urdf/sensors/ftsensor.urdf.xacro" />
<xacro:include filename="$(find talos_data)/urdf/gripper/gripper.urdf.xacro" />
<xacro:include filename="$(find talos_data)/urdf/leg/leg.urdf.xacro" />
<xacro:talos_torso name="torso" />
......@@ -37,8 +37,8 @@
<xacro:talos_leg prefix="right" reflect="-1" />
<!-- Generic simulatalos_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 -->
<xacro:include filename="$(find talos_description)/urdf/materials.urdf.xacro" />
<xacro:include filename="$(find talos_data)/urdf/materials.urdf.xacro" />
</robot>
robots/talos_full_no_grippers.urdf.xacro
View file @ dc636c94
......@@ -13,14 +13,24 @@
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
<xacro:include filename="$(find talos_description)/urdf/torso/torso.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/head/head.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/arm/arm.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/sensors/ftsensor.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/leg/leg.urdf.xacro" />
<xacro:if value="$(arg enable_crane)">
<xacro:include filename="$(find talos_data)/urdf/crane/crane.urdf.xacro" />
</xacro:if>
<xacro:include filename="$(find talos_data)/urdf/torso/torso.urdf.xacro" />
<xacro:include filename="$(find talos_data)/urdf/head/head.urdf.xacro" />
<xacro:include filename="$(find talos_data)/urdf/arm/arm_v2.urdf.xacro" />
<xacro:include filename="$(find talos_data)/urdf/sensors/ftsensor.urdf.xacro" />
<xacro:include filename="$(find talos_data)/urdf/leg/leg.urdf.xacro" />
<xacro:include filename="$(find talos_data)/urdf/leg/foot_collision_$(arg foot_collision).urdf.xacro" />
<xacro:include filename="$(find talos_description_inertial)/urdf/inertial.xacro" />
<xacro:talos_torso name="torso" />
<xacro:if value="$(arg enable_crane)">
<xacro:crane parent="torso_2_link"/>
</xacro:if>
<xacro:talos_head name="head" parent="torso_2_link"/>
<xacro:talos_arm name="arm" parent="torso_2_link" side="left" reflect="1"/>
......@@ -32,9 +42,9 @@
<xacro:talos_leg prefix="left" reflect="1" />
<xacro:talos_leg prefix="right" reflect="-1" />
<!-- Generic simulatalos_gazebo plugins -->
<xacro:include filename="$(find talos_description)/gazebo/gazebo.urdf.xacro" />
<!-- Generic simulator_gazebo plugins -->
<xacro:include filename="$(find talos_data)/gazebo/gazebo.urdf.xacro" />
<!-- Materials for visualization -->
<xacro:include filename="$(find talos_description)/urdf/materials.urdf.xacro" />
<xacro:include filename="$(find talos_data)/urdf/materials.urdf.xacro" />
</robot>
robots/talos_full_no_lower_arm.urdf.xacro → robots/talos_full_v1.urdf.xacro
View file @ dc636c94
......@@ -13,27 +13,43 @@
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
<xacro:include filename="$(find talos_description)/urdf/torso/torso.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/head/head.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/arm/arm.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/sensors/ftsensor.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/gripper/gripper.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/leg/leg.urdf.xacro" />
<xacro:if value="$(arg enable_crane)">
<xacro:include filename="$(find talos_data)/urdf/crane/crane.urdf.xacro" />
</xacro:if>
<xacro:include filename="$(find talos_data)/urdf/torso/torso.urdf.xacro" />
<xacro:include filename="$(find talos_data)/urdf/head/head.urdf.xacro" />
<!--arm_v1 loadded because of the different joint range for 1st DoF-->
<xacro:include filename="$(find talos_data)/urdf/arm/arm_v1.urdf.xacro" />
<xacro:include filename="$(find talos_data)/urdf/sensors/ftsensor.urdf.xacro" />
<xacro:include filename="$(find talos_data)/urdf/gripper/gripper.urdf.xacro" />
<xacro:include filename="$(find talos_data)/urdf/leg/leg.urdf.xacro" />
<xacro:include filename="$(find talos_data)/urdf/leg/foot_collision_$(arg foot_collision).urdf.xacro" />
<xacro:include filename="$(find talos_description_inertial)/urdf/inertial.xacro" />
<xacro:talos_torso name="torso" />
<xacro:if value="$(arg enable_crane)">
<xacro:crane parent="torso_2_link"/>
</xacro:if>
<xacro:talos_head name="head" parent="torso_2_link"/>
<xacro:talos_arm name="arm" parent="torso_2_link" side="left" reflect="1"/>
<xacro:talos_arm name="arm" parent="torso_2_link" side="right" reflect="-1"/>
<xacro:ft_sensor name="wrist" parent="arm_right_7_link" side="right" reflect="1" />
<xacro:ft_sensor name="wrist" parent="arm_left_7_link" side="left" reflect="-1" />
<xacro:talos_gripper name="gripper_left" parent="wrist_left_ft_tool_link" reflect="1" />
<xacro:talos_gripper name="gripper_right" parent="wrist_right_ft_tool_link" reflect="-1" />
<xacro:talos_leg prefix="left" reflect="1" />
<xacro:talos_leg prefix="right" reflect="-1" />
<!-- Generic simulatalos_gazebo plugins -->
<xacro:include filename="$(find talos_description)/gazebo/gazebo.urdf.xacro" />
<!-- Generic simulator_gazebo plugins -->
<xacro:include filename="$(find talos_data)/gazebo/gazebo.urdf.xacro" />
<!-- Materials for visualization -->
<xacro:include filename="$(find talos_description)/urdf/materials.urdf.xacro" />
<xacro:include filename="$(find talos_data)/urdf/materials.urdf.xacro" />
</robot>
robots/talos_full_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 name="talos" xmlns:xacro="http://ros.org/wiki/xacro"
xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
<xacro:if value="$(arg enable_crane)">
<xacro:include filename="$(find talos_data)/urdf/crane/crane.urdf.xacro" />
</xacro:if>
<xacro:include filename="$(find talos_data)/urdf/torso/torso.urdf.xacro" />
<xacro:include filename="$(find talos_data)/urdf/head/head.urdf.xacro" />
<!--arm_v1 loadded because of the different joint range for 1st DoF-->
<xacro:include filename="$(find talos_data)/urdf/arm/arm_v2.urdf.xacro" />
<xacro:include filename="$(find talos_data)/urdf/sensors/ftsensor.urdf.xacro" />
<xacro:include filename="$(find talos_data)/urdf/gripper/gripper.urdf.xacro" />
<xacro:if value="$(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="$(find talos_description_inertial)/urdf/inertial.xacro" />
<xacro:talos_torso name="torso" />
<xacro:if value="$(arg enable_crane)">
<xacro:crane parent="torso_2_link"/>
</xacro:if>
<xacro:talos_head name="head" parent="torso_2_link"/>
<xacro:talos_arm name="arm" parent="torso_2_link" side="left" reflect="1"/>
<xacro:talos_arm name="arm" parent="torso_2_link" side="right" reflect="-1"/>
<xacro:ft_sensor name="wrist" parent="arm_right_7_link" side="right" reflect="1" />
<xacro:ft_sensor name="wrist" parent="arm_left_7_link" side="left" reflect="-1" />
<xacro:talos_gripper name="gripper_left" parent="wrist_left_ft_tool_link" reflect="1" />
<xacro:talos_gripper name="gripper_right" parent="wrist_right_ft_tool_link" reflect="-1" />
<xacro:talos_leg prefix="left" reflect="1" />
<xacro:talos_leg prefix="right" reflect="-1" />
<!-- Generic simulator_gazebo plugins -->
<xacro:include filename="$(find talos_data)/gazebo/gazebo.urdf.xacro" />
<!-- Materials for visualization -->
<xacro:include filename="$(find talos_data)/urdf/materials.urdf.xacro" />
</robot>
robots/talos_gripper.urdf.xacro deleted 100644 → 0
View file @ 1a586e09
<?xml version="1.0"?>
<!--
Copyright (c) 2016, PAL Robotics, S.L.
All rights reserved.
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
-->
<robot name="talos" xmlns:xacro="http://ros.org/wiki/xacro"
xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
<xacro:include filename="$(find talos_description)/urdf/gripper/gripper.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/torso/torso.urdf.xacro" />
<xacro:talos_torso name="torso" />
<xacro:talos_gripper name="gripper" parent="torso_2_link"/>
<!-- Generic simulatalos_gazebo plugins -->
<xacro:include filename="$(find talos_description)/gazebo/gazebo.urdf.xacro" />
<!-- Materials for visualization -->
<xacro:include filename="$(find talos_description)/urdf/materials.urdf.xacro" />
</robot>
robots/talos_head.urdf.xacro deleted 100644 → 0
View file @ 1a586e09
<?xml version="1.0"?>
<!--
Copyright (c) 2016, PAL Robotics, S.L.
All rights reserved.
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
-->
<robot name="talos" xmlns:xacro="http://ros.org/wiki/xacro"
xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
<xacro:include filename="$(find talos_description)/urdf/head/head.urdf.xacro" />
<link name="talos_2_link">
<inertial>
<origin xyz="-0.04551 -0.00053 0.16386" rpy="0.00000 0.00000 0.00000"/>
<mass value="17.55011"/>
<inertia ixx="0.37376900000" ixy="0.00063900000" ixz="0.01219600000"
iyy="0.24790200000" iyz="0.00000700000"
izz="0.28140400000"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_description/meshes/talos/talos_2.STL" scale="1 1 1"/>
</geometry>
<material name="LightGrey" />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_description/meshes/talos/talos_2_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
<xacro:talos_head name="head" parent="talos_2_link"/>
<!-- Generic simulatalos_gazebo plugins -->
<xacro:include filename="$(find talos_description)/gazebo/gazebo.urdf.xacro" />
<!-- Materials for visualization -->
<xacro:include filename="$(find talos_description)/urdf/materials.urdf.xacro" />
</robot>
robots/talos_left_arm.urdf 0 → 100644
View file @ dc636c94
This diff is collapsed.
robots/talos_lower_body.urdf.xacro
View file @ dc636c94
<?xml version="1.0"?>
<!--
Copyright (c) 2014, PAL Robotics, S.L.
Copyright (c) 2016, PAL Robotics, S.L.
All rights reserved.
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
......@@ -13,7 +13,14 @@
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
<xacro:include filename="$(find talos_description)/urdf/leg/leg.urdf.xacro" />
<xacro:include filename="$(find talos_data)/urdf/sensors/ftsensor.urdf.xacro" />
<xacro:include filename="$(find talos_data)/urdf/leg/leg.urdf.xacro" />
<xacro:include filename="$(find talos_data)/urdf/leg/foot_collision_$(arg foot_collision).urdf.xacro" />
<xacro:include filename="$(find talos_description_inertial)/urdf/inertial.xacro" />
<!--************************-->
<!-- BASE_LINK -->
<!--************************-->
<link name="base_link">
<inertial>
<origin xyz="-0.08222 0.00838 -0.07261" rpy="0.00000 0.00000 0.00000"/>
......@@ -24,28 +31,28 @@
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_description/meshes/talos/base_link.STL" scale="1 1 1"/>
<mesh filename="package://talos_data/meshes/torso/base_link.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey" />
<material name="LightGrey" />
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_description/meshes/talos/base_link_collision.STL" scale="1 1 1"/>
<mesh filename="package://talos_data/meshes/torso/base_link_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</collision>
</link>
<xacro:talos_leg prefix="left" reflect="1" />
<xacro:talos_leg prefix="right" reflect="-1" />
<!-- Generic simulatalos_gazebo plugins -->
<xacro:include filename="$(find talos_description)/gazebo/gazebo.urdf.xacro" />
<xacro:talos_leg prefix="left" reflect="1" />
<xacro:talos_leg prefix="right" reflect="-1" />
<!-- Generic simulator_gazebo plugins -->
<xacro:include filename="$(find talos_data)/gazebo/gazebo.urdf.xacro" />
<!-- Materials for visualization -->
<xacro:include filename="$(find talos_description)/urdf/materials.urdf.xacro" />
<xacro:include filename="$(find talos_data)/urdf/materials.urdf.xacro" />
</robot>
robots/talos_reduced.urdf
View file @ dc636c94
This diff is collapsed.
robots/talos_small.urdf.xacro
View file @ dc636c94
......@@ -13,12 +13,12 @@
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
<xacro:include filename="$(find talos_description)/urdf/torso/torso.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/head/head.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/arm/arm.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/sensors/ftsensor.urdf.xacro" />
<!-- <xacro:include filename="$(find talos_description)/urdf/gripper/gripper.urdf.xacro" /> -->
<xacro:include filename="$(find talos_description)/urdf/leg/leg.urdf.xacro" />
<xacro:include filename="$(find talos_data)/urdf/torso/torso.urdf.xacro" />
<xacro:include filename="$(find talos_data)/urdf/head/head.urdf.xacro" />
<xacro:include filename="$(find talos_data)/urdf/arm/arm.urdf.xacro" />
<xacro:include filename="$(find talos_data)/urdf/sensors/ftsensor.urdf.xacro" />
<!-- <xacro:include filename="$(find talos_data)/urdf/gripper/gripper.urdf.xacro" /> -->
<xacro:include filename="$(find talos_data)/urdf/leg/leg.urdf.xacro" />
<xacro:talos_torso name="torso" />
......@@ -38,8 +38,8 @@
<xacro:talos_leg prefix="right" reflect="-1" />
<!-- Generic simulatalos_gazebo plugins -->
<xacro:include filename="$(find talos_description)/gazebo/gazebo.urdf.xacro" />
<xacro:include filename="$(find talos_data)/gazebo/gazebo.urdf.xacro" />
<!-- Materials for visualization -->
<xacro:include filename="$(find talos_description)/urdf/materials.urdf.xacro" />
<xacro:include filename="$(find talos_data)/urdf/materials.urdf.xacro" />
</robot>
robots/upload.launch 0 → 100644
View file @ dc636c94
<?xml version="1.0" encoding="UTF-8"?>
<launch>
<!-- arg could be v1 (Pyerene) or v2 (IJS/PAL) -->
<arg name="robot" default="full_v2"/>
<arg name="foot_collision" default="default"/> <!-- default / thinbox / tallbox -->
<arg name="enable_crane" default="false"/> <!-- crude adhoc approximation of the crane for collision avoidance -->
<arg name="parameter_name" default="robot_description"/>
<!-- TODO AS: zeros should not be the default (self-colliding), but it is currently required for tests -->
<arg name="default_configuration_type" default="zeros"/>
<arg name="enable_leg_passive" default="true"/>
<arg name="enable_fixed_robot" default="true"/>
<!-- Robot description -->
<param
name="$(arg parameter_name)"
command=" $(find xacro)/xacro --inorder
'$(find talos_data)/robots/talos_$(arg robot).urdf.xacro'
foot_collision:=$(arg foot_collision)
enable_crane:=$(arg enable_crane)
enable_leg_passive:=$(arg enable_leg_passive)
enable_fixed_robot:=$(arg enable_fixed_robot)"
/>
<rosparam command="load" file="$(find talos_data)/config/default_configuration_$(arg default_configuration_type).yaml" />
<rosparam command="load" file="$(find talos_data)/config/collision_parameters.yaml" />
</launch>
robots/upload_arm.launch deleted 100644 → 0
View file @ 1a586e09
<launch>
<!-- Robot description -->
<param name="robot_description" command="$(find xacro)/xacro.py '$(find talos_description)/robots/talos_arm.urdf.xacro'" />
</launch>
robots/upload_gripper.launch deleted 100644 → 0
View file @ 1a586e09
<launch>
<!-- Robot description -->
<param name="robot_description" command="$(find xacro)/xacro.py '$(find talos_description)/robots/talos_gripper.urdf.xacro'" />
</launch>
robots/upload_head.launch deleted 100644 → 0
View file @ 1a586e09
<launch>
<!-- Robot description -->
<param name="robot_description" command="$(find xacro)/xacro.py '$(find talos_description)/robots/talos_head.urdf.xacro'" />
</launch>
robots/upload_legs.launch deleted 100644 → 0
View file @ 1a586e09
<launch>
<!-- Robot description -->
<param name="robot_description" command="$(find xacro)/xacro.py '$(find talos_description)/robots/talos_lower_body.urdf.xacro'" />
</launch>
robots/upload_talos.launch
View file @ dc636c94
<launch>
<arg name="robot" default="full"/>
<!-- Robot description -->
<param name="robot_description" command="$(find xacro)/xacro.py '$(find talos_description)/robots/talos_$(arg robot).urdf.xacro'" />
<launch deprecated="Please use 'upload.lauch' instead.">
<arg name="robot" default="full_v1"/>
<arg name="foot_collision" default="default"/>
<arg name="enable_crane" default="false"/>
<include file="$(find talos_data)/robots/upload.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="foot_collision" value="$(arg foot_collision)"/>
<arg name="enable_crane" value="$(arg enable_crane)"/>
</include>
</launch>
srdf/pyrene.srdf 0 → 120000
View file @ dc636c94
talos.srdf
\ No newline at end of file
srdf/talos.srdf
View file @ dc636c94
......@@ -129,6 +129,7 @@
<!--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" />
......@@ -161,6 +162,41 @@
<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
......@@ -644,4 +680,19 @@ TALOS disabled collisions generated by Moveit! using the moveit_setup_assistant.
<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>