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.git-blame-ignore-revs 0 → 100644
View file @ dc636c94
# format (Guilhem Saurel, 2022-12-29)
44929876e0874118281e26395fe899b5f9f4bd75
.gitignore
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_build*
*.user
*~
.gitlab-ci.yml 0 → 100644
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include: https://rainboard.laas.fr/project/talos-data/.gitlab-ci.yml
.gitmodules 0 → 100644
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[submodule "cmake"]
path = cmake
url = https://github.com/jrl-umi3218/jrl-cmakemodules.git
.pre-commit-config.yaml 0 → 100644
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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
CHANGELOG.rst deleted 100644 → 0
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Changelog for package talos_description
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
0.0.13 (2016-11-15)
-------------------
0.0.12 (2016-11-15)
-------------------
* Cleaninng and renaming v2 to default
* Update hip z link meshes
* Contributors: Luca
0.0.11 (2016-11-12)
-------------------
* Fix imu tf and frame
* Contributors: Luca
0.0.10 (2016-11-12 12:48)
-------------------------
* Update changelog
* Contributors: Victor Lopez
0.0.9 (2016-11-12 11:14)
------------------------
* Add changelog
* Contributors: Luca
0.0.8 (2016-11-11)
------------------
* Add changelog
* Removed xacro if
* Added motions, and ft sensor signs fixed
* Contributors: Luca
0.0.7 (2016-11-10 18:45)
------------------------
* Updated changelog
* Contributors: Hilario Tome
0.0.6 (2016-11-10 18:16)
------------------------
* Updated changelog
* Contributors: Hilario Tome
0.0.5 (2016-11-10 12:06)
------------------------
* Updated changelog
* Fix frame for wrist ft sensors
* Contributors: Hilario Tome, Luca
0.0.4 (2016-11-09)
------------------
* Updated changelog
* Merge branch 'dubnium-devel' of gitlab:robots/talos_robot into dubnium-devel
* Head talos finally working hardware, added wrists ft to pal hardware
* MoveIt and play_motion config files
* Fixed head differential
* Changed gazebo feedback to base_link
* Fix right wrist and gripper rotations
* Invert torso joints order. Check base_link
* Contributors: Hilario Tome, Luca
0.0.3 (2016-10-31)
------------------
* Updated changelog
* Added default 0 noise to simulated imu
* Temporaly fixed arm dynamics
* Changed head differential, default controllers stopped
* Succesfull walking in talos, added talos teleop
* Contributors: Hilario Tome
0.0.2 (2016-10-13)
------------------
* Updated changelog
* Added sub models to debug gazebo and added implicit tag simulation to 1.0
* Contributors: Hilario Tome
0.0.1 (2016-10-12)
------------------
* Created intial changelog
* Clean up
* Added missing foot mesh and changed default topic for state estimator
* Removing joint state publication of virtual joints
* Fix gripper movement in simulation.
Add colors to model
* Change gripper motor joint to just side_gripper_joint
* Fix gripper controller and add controller launchers for follow joint trajectory controllers
* Fix warning of inconsistent namespace redefinitions for xmlns:xacro:
* Updating to new gripper
* Using new gripper
* Add new gripper model
* Finished renaming
* Finished renaming
* Fixing
* Renamed tor to talos
* Contributors: Hilario Tome, Sam Pfeiffer
CMakeLists.txt
View file @ dc636c94
cmake_minimum_required(VERSION 2.8.3)
project(talos_description)
cmake_minimum_required(VERSION 3.1)
find_package(catkin REQUIRED)
# 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}")
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES talos_description
# CATKIN_DEPENDS other_catkin_pkg
# DEPENDS system_lib
)
# Project configuration
set(PROJECT_USE_CMAKE_EXPORT TRUE)
foreach(dir config gazebo meshes robots urdf srdf)
install(DIRECTORY ${dir}/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
# JRL-cmakemodule setup
include(cmake/base.cmake)
# Project definition
compute_project_args(PROJECT_ARGS LANGUAGES CXX C)
project(${PROJECT_NAME} ${PROJECT_ARGS})
# Main Library
add_library(${PROJECT_NAME} INTERFACE)
install(
TARGETS ${PROJECT_NAME}
EXPORT ${TARGETS_EXPORT_NAME}
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})")
LICENSE 0 → 100644
View file @ dc636c94
GNU LESSER GENERAL PUBLIC LICENSE
Version 3, 29 June 2007
Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
Everyone is permitted to copy and distribute verbatim copies
of this license document, but changing it is not allowed.
This version of the GNU Lesser General Public License incorporates
the terms and conditions of version 3 of the GNU General Public
License, supplemented by the additional permissions listed below.
0. Additional Definitions.
As used herein, "this License" refers to version 3 of the GNU Lesser
General Public License, and the "GNU GPL" refers to version 3 of the GNU
General Public License.
"The Library" refers to a covered work governed by this License,
other than an Application or a Combined Work as defined below.
An "Application" is any work that makes use of an interface provided
by the Library, but which is not otherwise based on the Library.
Defining a subclass of a class defined by the Library is deemed a mode
of using an interface provided by the Library.
A "Combined Work" is a work produced by combining or linking an
Application with the Library. The particular version of the Library
with which the Combined Work was made is also called the "Linked
Version".
The "Minimal Corresponding Source" for a Combined Work means the
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based on the Application, and not on the Linked Version.
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object code and/or source code for the Application, including any data
and utility programs needed for reproducing the Combined Work from the
Application, but excluding the System Libraries of the Combined Work.
1. Exception to Section 3 of the GNU GPL.
You may convey a covered work under sections 3 and 4 of this License
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2. Conveying Modified Versions.
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6. Revised Versions of the GNU Lesser General Public License.
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NEWS 0 → 100644
View file @ dc636c94
-*- outline -*-
* Add model of pyrene with lidar. Generated using xacro files in pal_robotics
repository.
New in v2.0.0
README.md 0 → 100644
View file @ dc636c94
# 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
This repository is dedicated to use the TALOS robot with the stack-of-tasks.
Specific data were generated to account to some specific problems when generating/planning motion
with the SoT.
For instance in order to avoid using xacro (with ROS) plain URDF were recorded.
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:
```
roslaunch talos_data talos_gazebo.launch enable_fixed_robot:=true
```
## Straight robot
To start the robot straight (i.e. not in half-sitting) you can use:
```
roslaunch talos_data talos_gazebo.launch starting_half_sitting:=false
```
## Flexibilities
To start the flexibilities:
```
roslaunch talos_data talos_gazebo.launch enable_leg_passive:=true
```
You should see in the robot model two new links:
```
leg_left_1_link_passive
leg_right_1_link_passive
```
and two new joints
```
leg_left_1_joint_passive
leg_right_1_joint_passive
```
They are updated by the plugin in the src directory:
```
src/SpringPlugin.cc
```
This plugin is specified in the file:
```
urdf/leg/leg.urdf.xacro
```
by the following lines
```
<gazebo>
<plugin filename="libSpringPlugin.so" name="spring_leg_${prefix}_1_joint_passive">
<joint_spring>leg_${prefix}_1_joint_passive</joint_spring>
<kp>970.0</kp>
<kd>0.0</kd>
</plugin>
</gazebo>
```
You can create new joints by expanding the robot kinematic tree
and adding the same lines in the xacro files.
The spring constants are modified by the associated fields
*kp* and *kd*.
The name of the joint to which this apply is specified by the field
*joint_spring*.
The plugin is generating a torque based on the actuator state using:
$$\tau = - kp q - kd \dot{q}$$ where $q$ is the actuator position and $\dot{q}$
is the actuator velocity.
This might be changed in the future to cope with a different equilibrium point.
Finally to have the state of the joint in the topic */joint_states* you need to add the following lines:
```
<transmission name="leg_${prefix}_1_passive_trans">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="leg_${prefix}_1_motor" >
<mechanicalReduction>1.0</mechanicalReduction>
</actuator>
<joint name="leg_${prefix}_1_joint_passive">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
</transmission>
```
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.
cmake @ d3185885
Subproject commit d3185885a294ad2d1fd7c65f758675b7f376d3b5
config/collision_parameters.yaml 0 → 100644
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config/default_configuration_half_sitting.yaml 0 → 100644
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zeros:
torso_1_joint: 0.0
torso_2_joint: 0.006761
head_1_joint: 0.0
head_2_joint: 0.0
arm_left_1_joint: 0.25847
arm_left_2_joint: 0.173046
arm_left_3_joint: 0.0002
arm_left_4_joint: -0.525366
arm_left_5_joint: 0.0
arm_left_6_joint: 0.0
arm_left_7_joint: 0.1
arm_right_1_joint: -0.25847
arm_right_2_joint: -0.173046
arm_right_3_joint: -0.0002
arm_right_4_joint: -0.525366
arm_right_5_joint: 0.0
arm_right_6_joint: 0.0
arm_right_7_joint: 0.1
gripper_left_joint: 0.0
gripper_left_inner_double_joint: 0.0
gripper_left_fingertip_1_joint: 0.0
gripper_left_fingertip_2_joint: 0.0
gripper_left_motor_single_joint: 0.0
gripper_left_inner_single_joint: 0.0
gripper_left_fingertip_3_joint: 0.0
gripper_right_joint: 0.0
gripper_right_inner_double_joint: 0.0
gripper_right_fingertip_1_joint: 0.0
gripper_right_fingertip_2_joint: 0.0
gripper_right_motor_single_joint: 0.0
gripper_right_inner_single_joint: 0.0
gripper_right_fingertip_3_joint: 0.0
leg_left_1_joint: 0.0
leg_left_2_joint: 0.0
leg_left_3_joint: -0.411354
leg_left_4_joint: 0.859395
leg_left_5_joint: -0.448041
leg_left_6_joint: -0.001708
leg_right_1_joint: 0.0
leg_right_2_joint: 0.0
leg_right_3_joint: -0.411354
leg_right_4_joint: 0.859395
leg_right_5_joint: -0.448041
leg_right_6_joint: -0.001708
default_floating_base_pose:
orientation:
x: 0.
y: 0.
z: 0.
w: 1.
position: [0., 0., 1.0]
config/default_configuration_hanging.yaml 0 → 100644
View file @ dc636c94
zeros:
torso_1_joint: 0.0
torso_2_joint: 0.0
head_1_joint: 0.0
head_2_joint: 0.0
arm_left_1_joint: 0.0
arm_left_2_joint: 0.6
arm_left_3_joint: 0.0
arm_left_4_joint: -0.2
arm_left_5_joint: 0.0
arm_left_6_joint: 0.0
arm_left_7_joint: 0.0
arm_right_1_joint: 0.0
arm_right_2_joint: -0.6
arm_right_3_joint: 0.0
arm_right_4_joint: -0.2
arm_right_5_joint: 0.0
arm_right_6_joint: 0.0
arm_right_7_joint: 0.0
# gripper_left_joint: -0.2
gripper_left_joint: 0.0
gripper_left_inner_double_joint: 0.0
gripper_left_fingertip_1_joint: 0.0
gripper_left_fingertip_2_joint: 0.0
gripper_left_motor_single_joint: 0.0
gripper_left_inner_single_joint: 0.0
gripper_left_fingertip_3_joint: 0.0
# gripper_right_joint: -0.2
gripper_right_joint: 0.0
gripper_right_inner_double_joint: 0.0
gripper_right_fingertip_1_joint: 0.0
gripper_right_fingertip_2_joint: 0.0
gripper_right_motor_single_joint: 0.0
gripper_right_inner_single_joint: 0.0
gripper_right_fingertip_3_joint: 0.0
leg_left_1_joint: 0.0
leg_left_2_joint: 0.2
leg_left_3_joint: 0.0
leg_left_4_joint: 0.2
leg_left_5_joint: 0.0
leg_left_6_joint: 0.0
leg_right_1_joint: 0.0
leg_right_2_joint: -0.2
leg_right_3_joint: 0.0
leg_right_4_joint: 0.2
leg_right_5_joint: 0.0
leg_right_6_joint: 0.0
default_floating_base_pose:
orientation:
x: 0.
y: 0.
z: 0.
w: 1.
position: [0., 0., 1.2]
config/default_configuration_locomotion.yaml 0 → 100644
View file @ dc636c94
zeros:
torso_1_joint: 0.0
torso_2_joint: 0.0
head_1_joint: 0.0
head_2_joint: 0.0
arm_left_1_joint: 0.3
arm_left_2_joint: 0.4
arm_left_3_joint: -0.5
arm_left_4_joint: -1.5
arm_left_5_joint: 0.0
arm_left_6_joint: 0.0
arm_left_7_joint: 0.0
arm_right_1_joint: -0.3
arm_right_2_joint: -0.4
arm_right_3_joint: 0.5
arm_right_4_joint: -1.5
arm_right_5_joint: 0.0
arm_right_6_joint: 0.0
arm_right_7_joint: 0.0
gripper_left_joint: -0.4
gripper_left_inner_double_joint: 0.0
gripper_left_fingertip_1_joint: 0.0
gripper_left_fingertip_2_joint: 0.0
gripper_left_motor_single_joint: 0.0
gripper_left_inner_single_joint: 0.0
gripper_left_fingertip_3_joint: 0.0
gripper_right_joint: -0.4
gripper_right_inner_double_joint: 0.0
gripper_right_fingertip_1_joint: 0.0
gripper_right_fingertip_2_joint: 0.0
gripper_right_motor_single_joint: 0.0
gripper_right_inner_single_joint: 0.0
gripper_right_fingertip_3_joint: 0.0
leg_left_1_joint: 0.0
leg_left_2_joint: 0.0
leg_left_3_joint: -0.4
leg_left_4_joint: 0.8
leg_left_5_joint: -0.4
leg_left_6_joint: 0.0
leg_right_1_joint: 0.0
leg_right_2_joint: 0.0
leg_right_3_joint: -0.4
leg_right_4_joint: 0.8
leg_right_5_joint: -0.4
leg_right_6_joint: 0.0
default_floating_base_pose:
orientation:
x: 0.
y: 0.
z: 0.
w: 1.
position: [0., 0., 1.03]
config/default_configuration_zeros.yaml 0 → 100644
View file @ dc636c94
zeros:
torso_1_joint: 0.0
torso_2_joint: 0.0
head_1_joint: 0.0
head_2_joint: 0.0
arm_left_1_joint: 0.0
arm_left_2_joint: 0.0
arm_left_3_joint: 0.0
arm_left_4_joint: 0.0
arm_left_5_joint: 0.0
arm_left_6_joint: 0.0
arm_left_7_joint: 0.0
arm_right_1_joint: 0.0
arm_right_2_joint: 0.0
arm_right_3_joint: 0.0
arm_right_4_joint: 0.0
arm_right_5_joint: 0.0
arm_right_6_joint: 0.0
arm_right_7_joint: 0.0
gripper_left_joint: 0.0
gripper_left_inner_double_joint: 0.0
gripper_left_fingertip_1_joint: 0.0
gripper_left_fingertip_2_joint: 0.0
gripper_left_motor_single_joint: 0.0
gripper_left_inner_single_joint: 0.0
gripper_left_fingertip_3_joint: 0.0
gripper_right_joint: 0.0
gripper_right_inner_double_joint: 0.0
gripper_right_fingertip_1_joint: 0.0
gripper_right_fingertip_2_joint: 0.0
gripper_right_motor_single_joint: 0.0
gripper_right_inner_single_joint: 0.0
gripper_right_fingertip_3_joint: 0.0
leg_left_1_joint: 0.0
leg_left_2_joint: 0.0
leg_left_3_joint: 0.0
leg_left_4_joint: 0.0
leg_left_5_joint: 0.0
leg_left_6_joint: 0.0
leg_right_1_joint: 0.0
leg_right_2_joint: 0.0
leg_right_3_joint: 0.0
leg_right_4_joint: 0.0
leg_right_5_joint: 0.0
leg_right_6_joint: 0.0
default_floating_base_pose:
orientation:
x: 0.
y: 0.
z: 0.
w: 1.
position: [0., 0., 1.2]
config/joint_limits.yaml
View file @ dc636c94
......@@ -58,4 +58,3 @@ joint_limits:
max_velocity: *max_arm_vel
# Hands and legs keep the default values from URDF
config/pids_spring.yaml 0 → 100644
View file @ dc636c94
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
config/pids_stiff.yaml 0 → 100644
View file @ dc636c94
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
config/rviz.rviz 0 → 100644
View file @ dc636c94
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