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  • gsaurel/talos-data
  • stack-of-tasks/talos-data
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with 200 additions and 7 deletions
talos_description/gazebo/gazebo.urdf.xacro → gazebo/gazebo.urdf.xacro
View file @ dc636c94
......@@ -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>
talos_bringup/launch/talos_bringup.launch → launch/talos_bringup.launch
View file @ dc636c94
<launch>
<arg name="robot" default="full"/>
<?xml version="1.0" encoding="UTF-8"?>
<launch>
<!-- Load default controllers -->
<include file="$(find talos_controller_configuration)/launch/bringup_controllers.launch" />
......@@ -9,21 +9,5 @@
<param name="publish_frequency" type="double" value="100.0" />
<param name="tf_prefix" type="string" value="" />
</node>
<!-- Robot model -->
<include file="$(find talos_description)/robots/upload_talos.launch" >
<arg name="robot" value="$(arg robot)"/>
</include>
<!-- Twist mux -->
<include file="$(find talos_bringup)/launch/twist_mux.launch" />
<!-- Joystick controller -->
<include file="$(find talos_bringup)/launch/joystick_teleop.launch" />
<include file="$(find talos_moveit_config)/launch/move_group.launch" />
<!-- Pre-recorded motions executor -->
<include file="$(find talos_bringup)/launch/play_motion.launch" />
</launch>
launch/talos_gazebo.launch 0 → 100644
View file @ dc636c94
<?xml version="1.0" encoding="UTF-8"?>
<launch>
<arg name="start_half_sitting" default="true"/>
<arg name="world" default="empty"/> <!-- empty, small_office, ... (see ../worlds) -->
<arg name="gzpose" default="-x 0.0 -y 0.0 -z 1.16 -R 0.0 -P 0.0 -Y 0.0" unless="$(arg start_half_sitting)"/>
<arg name="gui" default="true"/>
<arg name="debug" default="false"/>
<arg name="recording" default="false"/>
<arg name="extra_gazebo_args" default=""/>
<arg name="load_model" default="true"/> <!-- AS: should probably be false by default -->
<arg name="robot" default="full_v2"/> <!-- full, lower_body, foot -->
<arg name="foot_collision" default="thinbox"/>
<arg name="enable_leg_passive" default="false"/>
<arg name="enable_fixed_robot" default="false"/>
<arg name="default_configuration_type" default="zeros"/>
<env name="GAZEBO_MODEL_PATH" value="$(find talos_gazebo)/models:$(optenv GAZEBO_MODEL_PATH)"/>
<arg name="left_leg_pose" default="-J leg_left_1_joint 0.0 -J leg_left_2_joint 0.0 -J leg_left_3_joint -0.411354 -J leg_left_4_joint 0.859395 -J leg_left_5_joint -0.448041 -J leg_left_6_joint -0.001708"/>
<arg name="right_leg_pose" default="-J leg_right_1_joint 0.0 -J leg_right_2_joint 0.0 -J leg_right_3_joint -0.411354 -J leg_right_4_joint 0.859395 -J leg_right_5_joint -0.448041 -J leg_right_6_joint -0.001708"/>
<arg name="left_arm_pose" default="-J arm_left_1_joint 0.25847 -J arm_left_2_joint 0.173046 -J arm_left_3_joint -0.0002 -J arm_left_4_joint -0.525366 -J arm_left_5_joint 0.0 -J arm_left_6_joint 0.0 -J arm_left_7_joint 0.1"/>
<arg name="right_arm_pose" default="-J arm_right_1_joint -0.25847 -J arm_right_2_joint -0.173046 -J arm_left_3_joint 0.0002 -J arm_right_4_joint -0.525366 -J arm_right_5_joint 0.0 -J arm_right_6_joint 0.0 -J arm_right_7_joint 0.1"/>
<arg name="torso_pose" default="-J torso_1_joint 0.0 -J torso_2_joint 0.006761"/>
<arg name="gzpose" default="-x 0.0 -y 0.0 -z 1.00 -R 0.0 -P 0.0 -Y 0.0 $(arg left_leg_pose) $(arg right_leg_pose) $(arg left_arm_pose) $(arg right_arm_pose) $(arg torso_pose) -u" if="$(arg start_half_sitting)"/>
<!-- start up world -->
<include file="$(find pal_gazebo_worlds)/launch/pal_gazebo.launch">
<arg name="world" value="$(arg world)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="recording" value="$(arg recording)"/>
<arg name="extra_gazebo_args" value="$(arg extra_gazebo_args)"/>
</include>
<group if="$(arg load_model)">
<include file="$(find talos_data)/robots/upload.launch" >
<arg name="robot" value="$(arg robot)"/>
<arg name="foot_collision" default="$(arg foot_collision)"/>
<arg name="enable_leg_passive" default="$(arg enable_leg_passive)"/>
<arg name="enable_fixed_robot" default="$(arg enable_fixed_robot)"/>
<arg name="default_configuration_type" default="$(arg default_configuration_type)"/>
</include>
</group>
<!-- spawn robot in simulation -->
<include file="$(find talos_gazebo)/launch/talos_spawn.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="gzpose" value="$(arg gzpose)"/>
</include>
<!-- default controllers -->
<!-- <include file="$(find talos_controller_configuration)/launch/talos_default_controllers.launch"/> -->
<include file="$(find talos_bringup)/launch/talos_bringup.launch" />
</launch>
launch/talos_gazebo_alone.launch 0 → 100644
View file @ dc636c94
<?xml version="1.0" encoding="UTF-8"?>
<launch>
<arg name="start_half_sitting" default="true"/>
<arg name="world" default="empty"/> <!-- empty, small_office, ... (see ../worlds) -->
<arg name="gzpose" default="-x 0.0 -y 0.0 -z 1.16 -R 0.0 -P 0.0 -Y 0.0" unless="$(arg start_half_sitting)"/>
<arg name="gui" default="true"/>
<arg name="debug" default="false"/>
<arg name="recording" default="false"/>
<arg name="extra_gazebo_args" default=""/>
<arg name="load_model" default="true"/> <!-- AS: should probably be false by default -->
<arg name="robot" default="full_v2"/> <!-- full, lower_body, foot -->
<arg name="foot_collision" default="thinbox"/>
<arg name="enable_leg_passive" default="false"/>
<arg name="enable_fixed_robot" default="false"/>
<arg name="default_configuration_type" default="zeros"/>
<env name="GAZEBO_MODEL_PATH" value="$(find talos_gazebo)/models:$(optenv GAZEBO_MODEL_PATH)"/>
<!-- start up world -->
<include file="$(find pal_gazebo_worlds)/launch/pal_gazebo.launch">
<arg name="world" value="$(arg world)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="recording" value="$(arg recording)"/>
<arg name="extra_gazebo_args" value="$(arg extra_gazebo_args)"/>
</include>
<group if="$(arg load_model)">
<include file="$(find talos_data)/robots/upload.launch" >
<arg name="robot" value="$(arg robot)"/>
<arg name="foot_collision" default="$(arg foot_collision)"/>
<arg name="enable_leg_passive" default="$(arg enable_leg_passive)"/>
<arg name="enable_fixed_robot" default="$(arg enable_fixed_robot)"/>
<arg name="default_configuration_type" default="$(arg default_configuration_type)"/>
</include>
</group>
</launch>
launch/talos_gazebo_spawn_hs.launch 0 → 100644
View file @ dc636c94
<?xml version="1.0" encoding="UTF-8"?>
<launch>
<arg name="left_leg_pose" default="-J leg_left_1_joint 0.0 -J leg_left_2_joint 0.0 -J leg_left_3_joint -0.411354 -J leg_left_4_joint 0.859395 -J leg_left_5_joint -0.448041 -J leg_left_6_joint -0.001708"/>
<arg name="right_leg_pose" default="-J leg_right_1_joint 0.0 -J leg_right_2_joint 0.0 -J leg_right_3_joint -0.411354 -J leg_right_4_joint 0.859395 -J leg_right_5_joint -0.448041 -J leg_right_6_joint -0.001708"/>
<arg name="left_arm_pose" default="-J arm_left_1_joint 0.25847 -J arm_left_2_joint 0.173046 -J arm_left_3_joint -0.0002 -J arm_left_4_joint -0.525366 -J arm_left_5_joint 0.0 -J arm_left_6_joint 0.0 -J arm_left_7_joint 0.1"/>
<arg name="right_arm_pose" default="-J arm_right_1_joint -0.25847 -J arm_right_2_joint -0.173046 -J arm_left_3_joint 0.0002 -J arm_right_4_joint -0.525366 -J arm_right_5_joint 0.0 -J arm_right_6_joint 0.0 -J arm_right_7_joint 0.1"/>
<arg name="torso_pose" default="-J torso_1_joint 0.0 -J torso_2_joint 0.006761"/>
<arg name="gzpose" default="-x 0.0 -y 0.0 -z 1.02 -R 0.0 -P 0.0 -Y 0.0 $(arg left_leg_pose) $(arg right_leg_pose) $(arg left_arm_pose) $(arg right_arm_pose) $(arg torso_pose) " />
<arg name="robot" default="full_v2"/> <!-- full, lower_body, foot -->
<include file="$(find talos_data)/launch/talos_spawn.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="gzpose" value="$(arg gzpose)"/>
</include>
</launch>
launch/talos_gazebo_spawn_hs_wide.launch 0 → 100644
View file @ dc636c94
<?xml version="1.0" encoding="UTF-8"?>
<launch>
<arg name="left_leg_pose" default="-J leg_left_1_joint -0.001 -J leg_left_2_joint 0.062 -J leg_left_3_joint -0.4096 -J leg_left_4_joint 0.8568 -J leg_left_5_joint -0.4472 -J leg_left_6_joint -0.0600"/>
<arg name="right_leg_pose" default="-J leg_right_1_joint 0.002 -J leg_right_2_joint -0.0603 -J leg_right_3_joint -0.4094 -J leg_right_4_joint 0.8563 -J leg_right_5_joint -0.4469 -J leg_right_6_joint 0.0560"/>
<arg name="left_arm_pose" default="-J arm_left_1_joint 0.25847 -J arm_left_2_joint 0.173046 -J arm_left_3_joint -0.0002 -J arm_left_4_joint -0.525366 -J arm_left_5_joint 0.0 -J arm_left_6_joint 0.0 -J arm_left_7_joint 0.1"/>
<arg name="right_arm_pose" default="-J arm_right_1_joint -0.25847 -J arm_right_2_joint -0.173046 -J arm_left_3_joint 0.0002 -J arm_right_4_joint -0.525366 -J arm_right_5_joint 0.0 -J arm_right_6_joint 0.0 -J arm_right_7_joint 0.1"/>
<arg name="torso_pose" default="-J torso_1_joint 0.0 -J torso_2_joint 0.006761"/>
<arg name="gzpose" default="-x 0.0 -y 0.0 -z 1.02 -R 0.0 -P 0.0 -Y 0.0 $(arg left_leg_pose) $(arg right_leg_pose) $(arg left_arm_pose) $(arg right_arm_pose) $(arg torso_pose) -u" />
<arg name="robot" default="full_v2"/> <!-- full, lower_body, foot -->
<include file="$(find talos_gazebo)/launch/talos_spawn.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="gzpose" value="$(arg gzpose)"/>
</include>
</launch>
launch/talos_spawn.launch 0 → 100644
View file @ dc636c94
<?xml version="1.0" encoding="UTF-8"?>
<launch>
<arg name="robot" default="full_v2"/>
<arg name="gzpose" default="-x 0 -y 0 -z 1.0 -R 0.0 -P 0.0 -Y 0.0"/>
<!-- PAL Hardware gazebo config -->
<include file="$(find talos_controller_configuration)/launch/selective_rosparam_loader.launch">
<arg name="robot" value="$(arg robot)" />
<arg name="prefix" value="$(find talos_hardware_gazebo)/config/sensors/" />
</include>
<!-- PID gains -->
<rosparam command="load" file="$(find talos_data)/config/pids_stiff.yaml"/>
<!-- Spawn robot in Gazebo -->
<node pkg="gazebo_ros" type="spawn_model" name="spawn_model"
args="-urdf -param robot_description $(arg gzpose) -model talos" />
<node ns="/rgbd/rgb/high_res" pkg="image_proc" type="image_proc" name="image_proc_high_res"/>
<node ns="/rgbd/rgb" pkg="image_proc" type="image_proc" name="image_proc"/>
</launch>
launch/talos_spawn_stiff.launch 0 → 100644
View file @ dc636c94
<?xml version="1.0" encoding="UTF-8"?>
<launch>
<arg name="robot" default="full_v2"/>
<arg name="gzpose" default="-x 0 -y 0 -z 1.0 -R 0.0 -P 0.0 -Y 0.0"/>
<!-- PAL Hardware gazebo config -->
<include file="$(find talos_controller_configuration)/launch/selective_rosparam_loader.launch">
<arg name="robot" value="$(arg robot)" />
<arg name="prefix" value="$(find talos_hardware_gazebo)/config/sensors/" />
</include>
<!-- PID gains -->
<rosparam command="load" file="$(find talos_data)/config/pids_stiff.yaml"/>
<!-- Spawn robot in Gazebo -->
<node pkg="gazebo_ros" type="spawn_model" name="spawn_model"
args="-urdf -param robot_description $(arg gzpose) -model talos" />
<node ns="/rgbd/rgb/high_res" pkg="image_proc" type="image_proc" name="image_proc_high_res"/>
<node ns="/rgbd/rgb" pkg="image_proc" type="image_proc" name="image_proc"/>
</launch>