Compare revisions

Guilhem Saurel · Guilhem Saurel · Guilhem Saurel · Olivier Stasse · Olivier Stasse · Florent Lamiraux
--- a/.git-blame-ignore-revs
+++ b/.git-blame-ignore-revs
+# format (Guilhem Saurel, 2022-12-29)
+44929876e0874118281e26395fe899b5f9f4bd75
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
-include: http://rainboard.laas.fr/project/talos_data/.gitlab-ci.yml
+include: https://rainboard.laas.fr/project/talos-data/.gitlab-ci.yml
--- a/.gitmodules
+++ b/.gitmodules
 [submodule "cmake"]
 	path = cmake
-	url = git://github.com/jrl-umi3218/jrl-cmakemodules.git
+	url = https://github.com/jrl-umi3218/jrl-cmakemodules.git
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
+ci:
+    autoupdate_branch: 'devel'
+repos:
+-   repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v15.0.6
+    hooks:
+    -   id: clang-format
+        args: [--style=Google]
+-   repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.4.0
+    hooks:
+    -   id: check-added-large-files
+    -   id: check-ast
+    -   id: check-executables-have-shebangs
+    -   id: check-json
+    -   id: check-merge-conflict
+    -   id: check-symlinks
+    -   id: check-toml
+    -   id: check-yaml
+    -   id: debug-statements
+    -   id: destroyed-symlinks
+    -   id: detect-private-key
+    -   id: end-of-file-fixer
+    -   id: fix-byte-order-marker
+    -   id: mixed-line-ending
+    -   id: trailing-whitespace
+-   repo: https://github.com/psf/black
+    rev: 22.12.0
+    hooks:
+    -   id: black
+-   repo: https://github.com/PyCQA/flake8
+    rev: 6.0.0
+    hooks:
+    -   id: flake8
+-   repo: https://github.com/cheshirekow/cmake-format-precommit
+    rev: v0.6.13
+    hooks:
+    - id: cmake-format
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
-CMAKE_MINIMUM_REQUIRED(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.1)

-SET(PROJECT_ORG pyrene-dev)
-SET(PROJECT_NAME talos_data)
-SET(PROJECT_DESCRIPTION "Talos urdf model, srdf model and other data")
-SET(PROJECT_URL "https://gepgitlab.laas.fr/${PROJECT_ORG}/${PROJECT_NAME}")
+# Project properties
+set(PROJECT_ORG stack-of-tasks)
+set(PROJECT_NAME talos_data)
+set(PROJECT_DESCRIPTION "Talos urdf model, srdf model and other data")
+set(PROJECT_URL "https://github.com/${PROJECT_ORG}/${PROJECT_NAME}")

-SET(PROJECT_USE_CMAKE_EXPORT TRUE)
-SET(CXX_DISABLE_WERROR True)
-SET(CMAKE_CXX_STANDARD 11)
+# Project configuration
+set(PROJECT_USE_CMAKE_EXPORT TRUE)

-#include(cmake/ros.cmake)
-INCLUDE(cmake/base.cmake)
+# JRL-cmakemodule setup
+include(cmake/base.cmake)

-# Specify the project.
-COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX)
-PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})
+# Project definition
+compute_project_args(PROJECT_ARGS LANGUAGES CXX C)
+project(${PROJECT_NAME} ${PROJECT_ARGS})

-find_package(catkin REQUIRED COMPONENTS
-  roscpp)
-
-catkin_package(
-  #  INCLUDE_DIRS include
-  #  LIBRARIES talos_description
-  #  CATKIN_DEPENDS roscpp
-  #  DEPENDS system_lib
-  )
-
-# Find xml_reflection
-ADD_PROJECT_DEPENDENCY(urdfdom REQUIRED)
-ADD_PROJECT_DEPENDENCY(gazebo REQUIRED)
-ADD_COMPILE_DEPENDENCY(roscpp)
-
-ADD_LIBRARY(${PROJECT_NAME}
-  SHARED
-  src/SpringPlugin.cc
-  )
-
-TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} PRIVATE ${GAZEBO_INCLUDE_DIRS})
-TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} PRIVATE ${catkin_INCLUDE_DIRS})
-
-INSTALL(TARGETS
-  ${PROJECT_NAME}
+# Main Library
+add_library(${PROJECT_NAME} INTERFACE)
+install(
+  TARGETS ${PROJECT_NAME}
  EXPORT ${TARGETS_EXPORT_NAME}
-  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  )
-
-FOREACH(dir config gazebo meshes robots urdf srdf launch)
-  INSTALL(DIRECTORY ${dir}/
-    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
-ENDFOREACH(dir)
+  DESTINATION lib)
+
+foreach(
+  dir
+  config
+  gazebo
+  meshes
+  robots
+  urdf
+  srdf
+  launch)
+  install(DIRECTORY ${dir} DESTINATION share/${PROJECT_NAME})
+endforeach(dir)
+
+install(FILES package.xml DESTINATION share/${PROJECT_NAME})
+set(PACKAGE_EXTRA_MACROS "set(TALOS_DATA_PREFIX ${CMAKE_INSTALL_PREFIX})")
--- a/NEWS
+++ b/NEWS
+                                                                -*- outline -*-
+* Add model of pyrene with lidar. Generated using xacro files in pal_robotics
+  repository.
+
+New in v2.0.0
--- a/README.md
+++ b/README.md
-Talos_data
-==========
+# Talos_data
+
+[![Pipeline status](https://gitlab.laas.fr/stack-of-tasks/talos_data/badges/master/pipeline.svg)](https://gitlab.laas.fr/stack-of-tasks/talos_data/commits/master)
+[![Coverage report](https://gitlab.laas.fr/stack-of-tasks/talos_data/badges/master/coverage.svg?job=doc-coverage)](https://gepettoweb.laas.fr/doc/stack-of-tasks/talos_data/master/coverage/)
+[![Code style: black](https://img.shields.io/badge/code%20style-black-000000.svg)](https://github.com/psf/black)
+[![pre-commit.ci status](https://results.pre-commit.ci/badge/github/stack-of-tasks/talos_data/master.svg)](https://results.pre-commit.ci/latest/github/stack-of-tasks/talos_data)

 ## Introduction

@@ -15,6 +19,9 @@ Some dummy data were added (rotor inertia) to help the dynamic regularization.
 For initial and data validated by PAL-Robotics please see the http://github.com/pal-robotics/talos_robot
 repository.

+If you have problem in starting the robot in a specific position you should look at the
+[python section](#python)
+
 ## Fixed joint
 To start the robot in the air you can use:
 ```
@@ -95,9 +102,10 @@ Finally to have the state of the joint in the topic */joint_states* you need to

 This is telling to ros_control that the passive joint has Position and Effort interfaces.

+## Python for launching nodes

-
-
-
-
-
+In the directory scripts you can start a complete simulation by doing:
+```
+./start_talos_gazebo.py
+```
+In this specific case it will start the robot with a wide base.
--- a/cmake @ d3185885
+++ b/cmake @ d3185885
-Subproject commit 349e9bcac4a3006b61d5eff2956d3cf2f3595dce
+Subproject commit d3185885a294ad2d1fd7c65f758675b7f376d3b5
--- a/config/joint_limits.yaml
+++ b/config/joint_limits.yaml
@@ -58,4 +58,3 @@ joint_limits:
    max_velocity: *max_arm_vel

  # Hands and legs keep the default values from URDF
-
--- a/config/pids_spring.yaml
+++ b/config/pids_spring.yaml
+gains:
+  leg_left_1_joint:  &leg_1_gains {p:  5000, d: 20, i:  5, i_clamp:   7, torque_clamp: 60}
+  leg_left_2_joint:  &leg_2_gains {p:  5000, d: 20, i:  5, i_clamp:   14, torque_clamp: 160}
+  leg_left_3_joint:  &leg_3_gains {p:  5000, d: 20, i:  5, i_clamp:   14, torque_clamp: 160}
+  leg_left_4_joint:  &leg_4_gains {p:  5000, d: 20, i:  5, i_clamp:   25, torque_clamp: 300}
+  leg_left_5_joint:  &leg_5_gains {p:  5000, d: 20, i:  5, i_clamp:   14, torque_clamp: 160}
+  leg_left_6_joint:  &leg_6_gains {p:  5000, d: 20, i:  5, i_clamp:   9, torque_clamp: 100}
+  leg_right_1_joint: *leg_1_gains
+  leg_right_2_joint: *leg_2_gains
+  leg_right_3_joint: *leg_3_gains
+  leg_right_4_joint: *leg_4_gains
+  leg_right_5_joint: *leg_5_gains
+  leg_right_6_joint: *leg_6_gains
+
+
+  head_1_joint:                   {p: 300,  d: 0.1, i: 1, i_clamp: 5, torque_clamp: 8}
+  head_2_joint:                   {p: 300,  d: 0.1, i: 1, i_clamp: 1.5, torque_clamp: 8}
+
+  torso_1_joint:                  {p: 10000, d: 10, i: 1, i_clamp: 10, torque_clamp: 100}
+  torso_2_joint:                  {p: 10000, d: 10, i: 1, i_clamp: 10, torque_clamp: 100}
+
+  arm_right_1_joint: &arm_1_gains {p: 10000, d: 0, i: 0,  i_clamp: 14, torque_clamp: 150}
+  arm_right_2_joint: &arm_2_gains {p: 10000, d: 0, i: 0,  i_clamp: 14, torque_clamp: 150}
+  arm_right_3_joint: &arm_3_gains {p: 5000, d: 0, i: 0,  i_clamp: 9, torque_clamp: 100}
+  arm_right_4_joint: &arm_4_gains {p: 10000, d: 0, i: 0,  i_clamp: 9, torque_clamp: 100}
+  arm_right_5_joint: &arm_5_gains {p: 3000,  d: 0, i: 0, i_clamp: 5, torque_clamp: 50}
+  arm_right_6_joint: &arm_6_gains {p: 3000,  d: 0, i: 0, i_clamp: 3, torque_clamp: 30}
+  arm_right_7_joint: &arm_7_gains {p: 3000,  d: 0, i: 0, i_clamp: 3, torque_clamp: 30}
+  arm_left_1_joint:  *arm_1_gains
+  arm_left_2_joint:  *arm_2_gains
+  arm_left_3_joint:  *arm_3_gains
+  arm_left_4_joint:  *arm_4_gains
+  arm_left_5_joint:  *arm_5_gains
+  arm_left_6_joint:  *arm_6_gains
+  arm_left_7_joint:  *arm_7_gains
+
+  gripper_left_joint:  {p: 1000, d: 0, i: 0, i_clamp: 10, torque_clamp: 100}
+  gripper_right_joint: {p: 1000, d: 0, i: 0, i_clamp: 10, torque_clamp: 100}
+
+  #https://answers.ros.org/question/283537/how-to-do-mimic-joints-that-work-in-gazebo/
+  gripperleft_inner_double_joint: &gripper_gains {p: 20, d: 0.0, i: 0.0, i_clamp: 0.2, antiwindup: false}
+  gripper_left_fingertip_1_joint: *gripper_gains
+  gripper_left_fingertip_2_joint: *gripper_gains
+  gripper_left_motor_single_joint: *gripper_gains
+  gripper_left_fingertip_3_joint: *gripper_gains
+  gripper_left_inner_single_joint: *gripper_gains
+  gripper_left_inner_double_joint: *gripper_gains
+
+  gripper_right_inner_double_joint: *gripper_gains
+  gripper_right_fingertip_1_joint: *gripper_gains
+  gripper_right_fingertip_2_joint: *gripper_gains
+  gripper_right_motor_single_joint: *gripper_gains
+  gripper_right_fingertip_3_joint: *gripper_gains
+  gripper_right_inner_single_joint: *gripper_gains
--- a/config/pids_stiff.yaml
+++ b/config/pids_stiff.yaml
+gains:
+  leg_left_1_joint:  &leg_1_gains {p:  20000, d: 40, i:  5, i_clamp:   9000, torque_clamp: 6600}
+  leg_left_2_joint:  &leg_2_gains {p:  20000, d: 40, i:  5, i_clamp:   9400, torque_clamp: 6600}
+  leg_left_3_joint:  &leg_3_gains {p:  20000, d: 40, i:  5, i_clamp:   9400, torque_clamp: 6600}
+  leg_left_4_joint:  &leg_4_gains {p:  20000, d: 40, i:  5, i_clamp:   9500, torque_clamp: 6000}
+  leg_left_5_joint:  &leg_5_gains {p:  20000, d: 40, i:  5, i_clamp:   9400, torque_clamp: 6600}
+  leg_left_6_joint:  &leg_6_gains {p:  20000, d: 40, i:  5, i_clamp:   9000, torque_clamp: 6000}
+  leg_right_1_joint: *leg_1_gains
+  leg_right_2_joint: *leg_2_gains
+  leg_right_3_joint: *leg_3_gains
+  leg_right_4_joint: *leg_4_gains
+  leg_right_5_joint: *leg_5_gains
+  leg_right_6_joint: *leg_6_gains
+
+
+  head_1_joint:                   {p: 300,  d: 0.1, i: 1, i_clamp: 5, torque_clamp: 8}
+  head_2_joint:                   {p: 300,  d: 0.1, i: 1, i_clamp: 1.5, torque_clamp: 8}
+
+  torso_1_joint:                  {p: 10000, d: 10, i: 1, i_clamp: 10, torque_clamp: 100}
+  torso_2_joint:                  {p: 10000, d: 10, i: 1, i_clamp: 10, torque_clamp: 100}
+
+  arm_right_1_joint: &arm_1_gains {p: 10000, d: 0, i: 0,  i_clamp: 14, torque_clamp: 150}
+  arm_right_2_joint: &arm_2_gains {p: 10000, d: 0, i: 0,  i_clamp: 14, torque_clamp: 150}
+  arm_right_3_joint: &arm_3_gains {p: 5000, d: 0, i: 0,  i_clamp: 9, torque_clamp: 100}
+  arm_right_4_joint: &arm_4_gains {p: 10000, d: 0, i: 0,  i_clamp: 9, torque_clamp: 100}
+  arm_right_5_joint: &arm_5_gains {p: 3000,  d: 0, i: 0, i_clamp: 5, torque_clamp: 50}
+  arm_right_6_joint: &arm_6_gains {p: 3000,  d: 0, i: 0, i_clamp: 3, torque_clamp: 30}
+  arm_right_7_joint: &arm_7_gains {p: 3000,  d: 0, i: 0, i_clamp: 3, torque_clamp: 30}
+  arm_left_1_joint:  *arm_1_gains
+  arm_left_2_joint:  *arm_2_gains
+  arm_left_3_joint:  *arm_3_gains
+  arm_left_4_joint:  *arm_4_gains
+  arm_left_5_joint:  *arm_5_gains
+  arm_left_6_joint:  *arm_6_gains
+  arm_left_7_joint:  *arm_7_gains
+
+  gripper_left_joint:  {p: 1000, d: 0, i: 0, i_clamp: 10, torque_clamp: 100}
+  gripper_right_joint: {p: 1000, d: 0, i: 0, i_clamp: 10, torque_clamp: 100}
+
+  #https://answers.ros.org/question/283537/how-to-do-mimic-joints-that-work-in-gazebo/
+  gripperleft_inner_double_joint: &gripper_gains {p: 20, d: 0.0, i: 0.0, i_clamp: 0.2, antiwindup: false}
+  gripper_left_fingertip_1_joint: *gripper_gains
+  gripper_left_fingertip_2_joint: *gripper_gains
+  gripper_left_motor_single_joint: *gripper_gains
+  gripper_left_fingertip_3_joint: *gripper_gains
+  gripper_left_inner_single_joint: *gripper_gains
+  gripper_left_inner_double_joint: *gripper_gains
+
+  gripper_right_inner_double_joint: *gripper_gains
+  gripper_right_fingertip_1_joint: *gripper_gains
+  gripper_right_fingertip_2_joint: *gripper_gains
+  gripper_right_motor_single_joint: *gripper_gains
+  gripper_right_fingertip_3_joint: *gripper_gains
+  gripper_right_inner_single_joint: *gripper_gains
--- a/config/talos_plotjuggler.xml
+++ b/config/talos_plotjuggler.xml
@@ -1326,4 +1326,3 @@
 </Plugins>
 <previouslyLoadedDatafile filename="/home/user/2018-09-23-18-06-22.bag"/>
 </root>
-
--- a/gazebo/gazebo.urdf.xacro
+++ b/gazebo/gazebo.urdf.xacro
@@ -23,7 +23,7 @@
      <topicName>wrench</topicName>
    </plugin>
  </gazebo>
-  
+

  <gazebo reference="imu_link">
    <!-- this is expected to be reparented to pelvis with appropriate offset
@@ -52,7 +52,7 @@
               the biases are fixed additive offsets.  We choose
               bias means and stddevs to produce biases close to the provided
               data. -->
-               
+
          <!--
          <rate>
            <mean>0.0</mean>
@@ -67,8 +67,8 @@
            <bias_stddev>0.001</bias_stddev>
          </accel>
          -->
-          
-          
+
+
          <rate>
            <mean>0.0</mean>
            <stddev>0.0</stddev>
@@ -81,8 +81,8 @@
            <bias_mean>0.0</bias_mean>
            <bias_stddev>0.000</bias_stddev>
          </accel>
-          
-          
+
+
        </noise>
      </imu>
    </sensor>
@@ -92,4 +92,3 @@
  <!-- <xacro:property name="M_PI" value="3.1415926535897931" /> -->

 </robot>
-
--- a/launch/talos_bringup.launch
+++ b/launch/talos_bringup.launch
+<?xml version="1.0" encoding="UTF-8"?>
+
+<launch>
+  <!-- Load default controllers -->
+  <include file="$(find talos_controller_configuration)/launch/bringup_controllers.launch" />
+
+  <!-- Robot state publisher -->
+  <node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher">
+    <param name="publish_frequency" type="double" value="100.0" />
+    <param name="tf_prefix" type="string" value="" />
+  </node>
+
+</launch>
--- a/launch/talos_gazebo_alone.launch
+++ b/launch/talos_gazebo_alone.launch
+<?xml version="1.0" encoding="UTF-8"?>
+
+<launch>
+  <arg name="start_half_sitting" default="true"/>
+  <arg name="world"  default="empty"/>  <!-- empty, small_office, ... (see ../worlds) -->
+  <arg name="gzpose" default="-x 0.0 -y 0.0 -z 1.16 -R 0.0 -P 0.0 -Y 0.0" unless="$(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>
--- a/launch/talos_gazebo_spawn_hs.launch
+++ b/launch/talos_gazebo_spawn_hs.launch
+<?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>
--- a/launch/talos_gazebo_spawn_hs_wide.launch
+++ b/launch/talos_gazebo_spawn_hs_wide.launch
+<?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>
--- a/launch/talos_spawn.launch
+++ b/launch/talos_spawn.launch
@@ -12,7 +12,7 @@


  <!-- PID gains -->
-  <rosparam command="load" file="$(find talos_hardware_gazebo)/config/pids.yaml"/>
+  <rosparam command="load" file="$(find talos_data)/config/pids_stiff.yaml"/>

  <!-- Spawn robot in Gazebo -->
  <node pkg="gazebo_ros" type="spawn_model" name="spawn_model"

--- a/launch/talos_spawn_stiff.launch
+++ b/launch/talos_spawn_stiff.launch
+<?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>
--- a/meshes/head/head_2_lidar.stl
+++ b/meshes/head/head_2_lidar.stl
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