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>

package.xml

 <?xml version="1.0"?>
 <package format="2">
   <name>talos_data</name>
-  <version>1.0.4</version>
+  <version>2.1.0</version>
   <description>The talos_data package</description>
 
-  <maintainer email="olivier.stasse@laas.fr">Olivier Stasse</maintainer>
+  <maintainer email="guilhem.saurel@laas.fr">Guilhem Saurel</maintainer>
 
   <license>LGPL-3.0</license>
 

robots/talos_full_v2.urdf.xacro

@@ -30,8 +30,8 @@
   <xacro:property name="var_enable_leg_passive" value="$(arg enable_leg_passive)"/>
   <xacro:if value="${var_enable_leg_passive != 'true'}">
     <xacro:include filename="$(find talos_data)/urdf/leg/leg.urdf.xacro" />
-  </xacro:if> 
-  
+  </xacro:if>
+
   <xacro:include filename="$(find talos_data)/urdf/leg/foot_collision_$(arg foot_collision).urdf.xacro" />
   <xacro:include filename="$(find talos_description_inertial)/urdf/inertial.xacro" />
 

robots/talos_left_arm.urdf

@@ -836,4 +836,3 @@
     <color rgba="1.0 0.5 0.0 1.0"/>
   </material>
 </robot>
-

robots/talos_reduced.urdf

@@ -2190,8 +2190,8 @@
         <geometry>
           <mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
         </geometry>
-      </collision> 
-      
+      </collision>
+
       -->
     <collision>
       <origin rpy="0 0 0" xyz="0 0 -0.1"/>
@@ -2516,8 +2516,8 @@
         <geometry>
           <mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
         </geometry>
-      </collision> 
-      
+      </collision>
+
       -->
     <collision>
       <origin rpy="0 0 0" xyz="0 0 -0.1"/>
@@ -2783,4 +2783,3 @@
     <color rgba="1.0 0.5 0.0 1.0"/>
   </material>
 </robot>
-

robots/upload.launch

@@ -10,6 +10,7 @@
   <!-- 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
@@ -18,7 +19,8 @@
                 '$(find talos_data)/robots/talos_$(arg robot).urdf.xacro'
                 foot_collision:=$(arg foot_collision)
                 enable_crane:=$(arg enable_crane)
-                enable_leg_passive:=$(arg enable_leg_passive)"
+                enable_leg_passive:=$(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" />

src/SpringPlugin.cc

-/*
- * Copyright 2011 Nate Koenig & Andrew Howard
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
-*/
-
-#include "gazebo/physics/physics.hh"
-#include "SpringPlugin.hh"
-#include <ros/ros.h>
-
-using namespace gazebo;
-
-GZ_REGISTER_MODEL_PLUGIN(SpringPlugin)
-
-/////////////////////////////////////////////////
-SpringPlugin::SpringPlugin()
-{
-}
-
-/////////////////////////////////////////////////
-void SpringPlugin::Load(physics::ModelPtr lmodel,
-                           sdf::ElementPtr lsdf)
-{
-  this->model = lmodel;
-
-  // hardcoded params for this test
-  if (!lsdf->HasElement("joint_spring"))
-    ROS_ERROR_NAMED("SpringPlugin","No field joint_spring for SpringPlugin");
-  else
-    this->jointExplicitName = lsdf->Get<std::string>("joint_spring");
-
-  this->kpExplicit = lsdf->Get<double>("kp");
-
-  this->kdExplicit = lsdf->Get<double>("kd");
-
-  ROS_INFO_NAMED("SpringPlugin",
-                 "Loading joint : %s kp: %f kd: %f",
-                 this->jointExplicitName.c_str(),
-                 this->kpExplicit,
-                 this->kdExplicit);
-}
-
-/////////////////////////////////////////////////
-void SpringPlugin::Init()
-{
-  this->jointExplicit = this->model->GetJoint(this->jointExplicitName);
-
-  /*  this->jointImplicit->SetStiffnessDamping(0, this->kpImplicit,
-      this->kdImplicit); */
-
-  this->updateConnection = event::Events::ConnectWorldUpdateBegin(
-          boost::bind(&SpringPlugin::ExplicitUpdate, this));
-}
-
- 
-
-/////////////////////////////////////////////////
-void SpringPlugin::ExplicitUpdate()
-{
-  common::Time currTime = this->model->GetWorld()->GetSimTime();
-  common::Time stepTime = currTime - this->prevUpdateTime;
-  this->prevUpdateTime = currTime;
-
-  double pos = this->jointExplicit->GetAngle(0).Radian();
-  double vel = this->jointExplicit->GetVelocity(0);
-  double force = -this->kpExplicit * pos
-                 -this->kdExplicit * vel;
-  this->jointExplicit->SetForce(0, force);
-}
-

src/SpringPlugin.hh

-/*
- * Copyright (C) 2012 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
-*/
-#ifndef __GAZEBO_SPRING_TEST_PLUGIN_HH__
-#define __GAZEBO_SPRING_TEST_PLUGIN_HH__
-
-#include <string>
-
-#include "gazebo/common/Plugin.hh"
-#include "gazebo/physics/physics.hh"
-#include "gazebo/util/system.hh"
-
-namespace gazebo
-{
-  class GAZEBO_VISIBLE SpringPlugin : public ModelPlugin
-  {
-    public: SpringPlugin();
-    public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
-    public: virtual void Init();
-
-    private: void ExplicitUpdate();
-
-    private: event::ConnectionPtr updateConnection;
-
-    private: physics::ModelPtr model;
-
-    private: common::Time prevUpdateTime;
-
-    private: physics::JointPtr jointExplicit;
-    private: std::string jointExplicitName;
-
-    /// \brief simulate spring/damper with ExplicitUpdate function
-    private: double kpExplicit;
-
-    /// \brief simulate spring/damper with ExplicitUpdate function
-    private: double kdExplicit;
-
-  };
-}
-#endif

srdf/pyrene.srdf

+talos.srdf
\ No newline at end of file

srdf/talos.srdf

@@ -162,7 +162,7 @@
         <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." />
@@ -195,7 +195,7 @@
         <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.
@@ -682,17 +682,17 @@ TALOS disabled collisions generated by Moveit! using the moveit_setup_assistant.
     <disable_collisions link1="wrist_right_ft_link" link2="wrist_right_ft_tool_link" reason="Adjacent" />
 
 
-    <gripper name="left_gripper" clearance="0.03">
+    <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="0.03">
+    <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> 
+    </gripper>
 </robot>

urdf/gripper/gripper.transmission.xacro

@@ -35,4 +35,4 @@
   </xacro:macro>
 
 
-</robot>
\ No newline at end of file
+</robot>

urdf/leg/leg.transmission.xacro

@@ -23,4 +23,3 @@
     </transmission>
   </xacro:macro>
 </robot>
-

urdf/leg/leg_passive.urdf.xacro

@@ -57,7 +57,7 @@
       <child link="leg_${prefix}_1_link_passive"/>
       <origin xyz="0.0 0.0 0.0"
               rpy="0.00000 0.00000 0.00000"/>
-      <axis xyz="0 1 0" />
+      <axis xyz="1 0 0" />
       <limit lower="${(-180.0)*deg_to_rad}" upper="${(180.0)*deg_to_rad}" effort="100" velocity="3.87" />
       <dynamics friction="970.0" damping="0.0"/>
     </joint>

urdf/pyrene.urdf

+talos_full_v2_with_lidar.urdf
\ No newline at end of file

urdf/sensors/calibration.xacro

@@ -27,5 +27,3 @@
   <xacro:property name="cal_head_mount_xtion_yaw"   value="0.0" />
 
 </robot>
-
-

urdf/talos_full.urdf

@@ -2188,8 +2188,8 @@
         <geometry>
           <mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
         </geometry>
-      </collision> 
-      
+      </collision>
+
       -->
     <collision>
       <origin rpy="0 0 0" xyz="0 0 -0.1"/>
@@ -2514,8 +2514,8 @@
         <geometry>
           <mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
         </geometry>
-      </collision> 
-      
+      </collision>
+
       -->
     <collision>
       <origin rpy="0 0 0" xyz="0 0 -0.1"/>