Commit d1329b92 authored by Rohan Budhiraja's avatar Rohan Budhiraja
Browse files

Copy proyan@gitlab:talos_robot/talos_description to ostasse@redmine:pyrene-talos/talos-data

*make talos_description into current package. remove other sub-packages
*Contains srdf file with feet specificities, halfSitting and disabled collision pairs
*Contains urdf file for loading simpler "collision" geometry in visual models.
parent 7c9648d1
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Changelog for package talos_bringup
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
0.0.13 (2016-11-15)
-------------------
* Add missing dependency. Walking params and fixed talos motion
* Contributors: Luca
0.0.12 (2016-11-15)
-------------------
* Button from joystick for play_motion
* 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
* Fix close left gripper motion typo
* Contributors: Luca, Victor Lopez
0.0.9 (2016-11-12 11:14)
------------------------
* Add changelog
* Contributors: Luca
0.0.8 (2016-11-11)
------------------
* Add changelog
* 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
* Moved the files from talos walking to talos controller configuration
* Contributors: Hilario Tome
0.0.5 (2016-11-10 12:06)
------------------------
* Updated changelog
* Moved talos hardware out of bringup
* motions for talos, tested on robot
* Contributors: Hilario Tome, Luca
0.0.4 (2016-11-09)
------------------
* Updated changelog
* Head talos finally working hardware, added wrists ft to pal hardware
* MoveIt and play_motion config files
* modified talos bringu
* Modify motions for Talos
* Updated twist mux and add talos.launch
* Not working approach planner
* Modified bringup
* Contributors: Hilario Tome, Hillario Tome, Luca
0.0.3 (2016-10-31)
------------------
* Updated changelog
* Changed head differential, default controllers stopped
* Succesfull walking in talos, added talos teleop
* Added missing depends and completed bringup
* Contributors: Hilario Tome
0.0.2 (2016-10-13)
------------------
* Updated changelog
* Contributors: Hilario Tome
0.0.1 (2016-10-12)
------------------
* Created intial changelog
* Fixing
* Renamed tor to talos
* Contributors: Hilario Tome
cmake_minimum_required(VERSION 2.8.3)
project(talos_bringup)
find_package(catkin REQUIRED)
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES talos_bringup
# CATKIN_DEPENDS other_catkin_pkg
# DEPENDS system_lib
)
foreach(dir config launch)
install(DIRECTORY ${dir}/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
endforeach(dir)
approach_planner:
planning_groups: # Sorted by order of preference
- left_arm
- right_arm
- torso
- both_arms_torso
exclude_from_planning_joints:
- head_1_joint
- head_2_joint
- gripper_right_joint
- gripper_left_joint
joint_tolerance: 0.01
skip_planning_approach_vel: 0.5
skip_planning_approach_min_dur: 0.5
teleop:
walk:
type: topic
message_type: geometry_msgs/Twist
topic_name: cmd_vel
deadman_buttons: [4]
axis_mappings:
-
axis: 1
target: linear.x
scale: 0.25
-
axis: 0
target: angular.z
scale: 0.25
-
axis: 2
target: linear.y
scale: 0.15
joy_priority:
type: action
action_name: joy_priority_action
buttons: [0]
# undocumented poses, with 'back' button
home:
type: action
action_name: play_motion
action_goal:
motion_name: home
buttons: [8, 1]
hands_walk:
type: action
action_name: play_motion
action_goal:
motion_name: walk_pose
buttons: [8, 2]
# documented motions, with right upper button and right trigger
# see SDE4 documentation
wave:
type: action
action_name: play_motion
action_goal:
motion_name: wave
buttons: [5, 1]
bow:
type: action
action_name: play_motion
action_goal:
motion_name: bow
buttons: [5, 0]
open_arms:
type: action
action_name: play_motion
action_goal:
motion_name: wave_both_arms
buttons: [5, 3]
shake_hand:
type: action
action_name: play_motion
action_goal:
motion_name: lift_weights
buttons: [5, 2]
actuators:
raw_data:
position_port: act_position
velocity_port: act_velocity
effort_port: act_current
mode_port: act_control_mode
position_cmd_port: ref_position
effort_cmd_port: ref_current
mode_cmd_port: ref_control_mode
absolute_encoder_position_port: act_abs_position
torque_sensor_port: act_torque
temperature_sensor_port: act_temperature
e_stop:
raw_data:
e_stop_port: emergency_stop_state
force_torque:
left_ankle_ft:
frame: leg_left_6_link
transformation:
force: [x,-y,-z]
torque: [x,-y,-z]
raw_data:
force_port: force_ankle_left
torque_port: torque_ankle_left
right_ankle_ft:
frame: leg_right_6_link
transformation:
force: [x,-y,-z]
torque: [x,-y,-z]
raw_data:
force_port: force_ankle_right
torque_port: torque_ankle_right
left_wrist_ft:
frame: wrist_left_ft_link
transformation:
force: [x, y, -z]
torque: [x, y, -z]
raw_data:
force_port: force_wrist_left
torque_port: torque_wrist_left
right_wrist_ft:
frame: wrist_right_ft_link
transformation:
force: [x, y, -z]
torque: [x, y, -z]
raw_data:
force_port: force_wrist_right
torque_port: torque_wrist_right
imu:
base_imu:
frame: imu_link
raw_data:
orientation_port: orientation_base
linear_acceleration_port: linear_acceleration_base
angular_velocity_port: angular_velocity_base
#ros_control_component:
# ignore_read_errors: true
play_motion:
controllers: [right_arm_controller, left_arm_controller, left_leg_controller, right_leg_controller,
head_controller, torso_controller, gripper_left_controller, gripper_right_controller]
motions:
hands_front:
joints: [torso_1_joint, torso_2_joint, arm_right_1_joint, arm_right_2_joint, arm_right_3_joint, arm_right_4_joint, arm_right_5_joint, arm_right_6_joint, arm_right_7_joint,
arm_left_1_joint, arm_left_2_joint, arm_left_3_joint, arm_left_4_joint, arm_left_5_joint, arm_left_6_joint, arm_left_7_joint]
points:
- positions: [0.0, 0.0, 0.0, -0.252, 0.285, -1.591, -1.57, 0.0, 0.0, 0.0, 0.252, -0.285, -1.591, 1.57, 0.0, 0.0]
time_from_start: 0.0
hands_up:
joints: [torso_1_joint, torso_2_joint,
arm_right_1_joint, arm_right_2_joint, arm_right_3_joint,
arm_right_4_joint, arm_right_5_joint, arm_right_6_joint, arm_right_7_joint,
arm_left_1_joint, arm_left_2_joint, arm_left_3_joint,
arm_left_4_joint, arm_left_5_joint, arm_left_6_joint, arm_left_7_joint]
points:
- positions: [0.0, 0.0, -0.0, -1.57, -1.57, -1.57, 0.0, -0.0, 0.0, 0.0, 1.57, 1.57, -1.57, 0.0, 0.0, 0.0]
time_from_start: 0.0
home: # NOTE: arm_*_2_joint is nonzero!
joints: [torso_1_joint, torso_2_joint, head_1_joint, head_2_joint, arm_left_1_joint,
arm_left_2_joint, arm_left_3_joint, arm_left_4_joint, arm_left_5_joint, arm_left_6_joint,
arm_left_7_joint, arm_right_1_joint, arm_right_2_joint, arm_right_3_joint,
arm_right_4_joint, arm_right_5_joint, arm_right_6_joint, arm_right_7_joint,
gripper_left_joint, gripper_right_joint]
points:
- positions: [0.0, 0.0, 0.0, 0.0, 0.0, 0.25, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, -0.25, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
time_from_start: 0.0
meta:
name: Home
usage: posture
description: Both arms down and completely stretched.
home_legs:
joints: [leg_left_1_joint, leg_left_2_joint, leg_left_3_joint, leg_left_4_joint,
leg_left_5_joint, leg_left_6_joint,
leg_right_1_joint, leg_right_2_joint, leg_right_3_joint,leg_right_4_joint,
leg_right_5_joint, leg_right_6_joint]
points:
- positions: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
time_from_start: 0.0
walk_pose:
joints: [torso_1_joint, torso_2_joint, head_1_joint, head_2_joint, arm_left_1_joint,
arm_left_2_joint, arm_left_3_joint, arm_left_4_joint, arm_left_5_joint, arm_left_6_joint,
arm_left_7_joint, arm_right_1_joint, arm_right_2_joint, arm_right_3_joint,
arm_right_4_joint, arm_right_5_joint, arm_right_6_joint, arm_right_7_joint,
gripper_left_joint, gripper_right_joint]
points:
- positions: [0.0, 0.06, 0.0, 0.0, 0.31, 0.32, -0.3, -0.80, 0.0, 0.0, 0.0,
-0.31, -0.32, 0.3, -0.80, 0.0, 0.0, 0.0, 0.0, 0.0]
time_from_start: 0.0
meta:
name: Home
usage: posture
description: Both arms down and completely stretched.
interact:
joints: [torso_1_joint, torso_2_joint, head_1_joint, head_2_joint, arm_left_1_joint,
arm_left_2_joint, arm_left_3_joint, arm_left_4_joint, arm_left_5_joint, arm_left_6_joint,
arm_left_7_joint, arm_right_1_joint, arm_right_2_joint, arm_right_3_joint,
arm_right_4_joint, arm_right_5_joint, arm_right_6_joint, arm_right_7_joint,
gripper_left_joint, gripper_right_joint]
points:
- positions: [0.0, 0.0, 0.0, 0.0, -0.2, 0.25, -0.1, -0.6109, 0.0, 0.0, 0.0, 0.2,
-0.25, 0.1, -0.6109, 0.0, 0.0, 0.0, 0.0, 0.0]
time_from_start: 0.0
meta:
name: Interact
usage: posture
description: Same posture as in Hands Down.
small_squat:
joints: [leg_left_4_joint, leg_right_3_joint, leg_right_5_joint, leg_left_5_joint,
leg_right_4_joint, leg_left_3_joint]
points:
- positions: [1.0, -0.5, -0.5, -0.5, 1.0, -0.5]
time_from_start: 0.0
squat:
joints: [head_1_joint, head_2_joint, torso_1_joint, torso_2_joint,
arm_right_1_joint, arm_right_2_joint, arm_right_3_joint, arm_right_4_joint,
arm_right_5_joint, arm_right_6_joint, arm_right_7_joint,
arm_left_1_joint, arm_left_2_joint, arm_left_3_joint, arm_left_4_joint,
arm_left_5_joint, arm_left_6_joint, arm_left_7_joint,
leg_right_1_joint, leg_right_2_joint, leg_right_3_joint,
leg_right_4_joint, leg_right_5_joint, leg_right_6_joint,
leg_left_1_joint, leg_left_2_joint, leg_left_3_joint,
leg_left_4_joint, leg_left_5_joint, leg_left_6_joint]
points:
- positions: [0.0,0.0, 0.0, -0.15,
-0.21, -0.60, 0.637, -1.598, -0.3, 0.00, 0.0,
0.21, 0.60, -0.637, -1.598, 0.3, 0.0, 0.0,
0.0, 0.0, -1.3, 2.4, -1.2, 0.0,
0.0, 0.0, -1.3, 2.4, -1.2, 0.0]
time_from_start: 0.0
wave:
joints: [torso_1_joint, torso_2_joint, arm_right_1_joint, arm_right_2_joint, arm_right_3_joint, arm_right_4_joint, arm_right_5_joint, arm_right_6_joint, arm_right_7_joint, arm_left_1_joint, arm_left_2_joint, arm_left_3_joint, arm_left_4_joint, arm_left_5_joint, arm_left_6_joint, arm_left_7_joint, gripper_right_joint, gripper_left_joint]
points:
- positions: [0.0, 0.0, 0.0, -0.25, -0.0, 0.0, 0.0, 0.00, -0.0, -0.0, 0.25, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0]
time_from_start: 0.0
- positions: [0.0, -0.001, -0.314, -1.175, -0.927, -2.214, -0.0, 0.002, -0.001, -0.0, 0.15, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0]
time_from_start: 3.0
- positions: [0.0, -0.001, -0.314, -1.174, -0.927, -1.741, -0.0, 0.002, 0.001, 0.0, 0.15, 0.0, 0.0, -0.0, -0.0, -0.0, -0.7, 0.0]
time_from_start: 4.0
- positions: [0.0, -0.001, -0.314, -1.175, -0.927, -2.214, -0.0, 0.002, -0.001, -0.0, 0.15, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0]
time_from_start: 5.0
- positions: [0.0, 0.0, 0.0, -0.25, -0.0, 0.0, 0.0, 0.0, -0.0, -0.0, 0.25, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0]
time_from_start: 8.0
lift_weights:
joints: [head_1_joint, head_2_joint, torso_1_joint, torso_2_joint, arm_right_1_joint, arm_right_2_joint, arm_right_3_joint, arm_right_4_joint, arm_right_5_joint, arm_right_6_joint, arm_right_7_joint, arm_left_1_joint, arm_left_2_joint, arm_left_3_joint, arm_left_4_joint, arm_left_5_joint, arm_left_6_joint, arm_left_7_joint, gripper_right_joint, gripper_left_joint]
points:
- positions: [-0.0, -0.0, 0.0, 0.002, -0.0, -0.252, 0.286, -1.588, -1.57, -0.003, 0.001, -0.0, 0.252, -0.286, -1.588, 1.57, 0.003, 0.001, -0.7, -0.7]
time_from_start: 0.0
- positions: [-0.0, -0.0, 0.0, 0.001, -0.0, -0.252, 0.286, -1.588, -1.57, -0.003, 0.001, 0.0, 0.249, 0.097, -2.307, 1.57, 0.002, 0.001, -0.7, -0.7]
time_from_start: 2.0
- positions: [-0.0, -0.0, 0.0, 0.002, -0.0, -0.252, 0.286, -1.588, -1.57, -0.003, 0.001, -0.0, 0.252, -0.286, -1.588, 1.57, 0.003, 0.001, -0.7, -0.7]
time_from_start: 4.0
- positions: [-0.0, 0.0, -0.0, 0.001, 0.0, -0.249, -0.042, -2.306, -1.57, -0.003, 0.001, 0.0, 0.252, -0.286, -1.588, 1.57, 0.003, 0.001, -0.7, -0.7]
time_from_start: 6.0
- positions: [-0.0, -0.0, 0.0, 0.002, -0.0, -0.252, 0.286, -1.588, -1.57, -0.003, 0.001, -0.0, 0.252, -0.286, -1.588, 1.57, 0.003, 0.001, -0.7, -0.7]
time_from_start: 8.0
- positions: [0.0, 0.0, 0.0, 0.0, 0.0, -0.25, -0.0, 0.0, 0.0, 0.0, -0.0, -0.0, 0.25, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, 0.0]
time_from_start: 10.0
close_right_gripper:
joints: [gripper_right_joint]
points:
- positions: [-0.7]
time_from_start: 0.0
open_right_gripper:
joints: [gripper_right_joint]
points:
- positions: [0.0]
time_from_start: 0.0
close_left_gripper:
joints: [gripper_left_joint]
points:
- positions: [-0.7]
time_from_start: 0.0
open_left_gripper:
joints: [gripper_left_joint]
points:
- positions: [0.0]
time_from_start: 0.0
wave_left:
joints: [torso_1_joint, torso_2_joint, arm_right_1_joint, arm_right_2_joint, arm_right_3_joint, arm_right_4_joint, arm_right_5_joint, arm_right_6_joint, arm_right_7_joint, arm_left_1_joint, arm_left_2_joint, arm_left_3_joint, arm_left_4_joint, arm_left_5_joint, arm_left_6_joint, arm_left_7_joint, gripper_right_joint, gripper_left_joint]
points:
- positions: [-0.0, -0.001, 0.0, -0.15, 0.0, -0.2, -0.0, -0.0, -0.0, 0.0, 0.148, -0.0, -0.2, 0.0, 0.001, -0.0, 0.0, 0.0]
time_from_start: 0.0
- positions: [0.0, -0.001, -0.0, -0.15, 0.0, -0.2, -0.0, -0.0, -0.0, 0.314, 1.175, 0.927, -2.214, -0.0, 0.002, -0.001, 0.0, 0.0]
time_from_start: 3.0
- positions: [0.0, -0.001, 0.0, -0.15, 0.0, -0.2, -0.0, -0.0, -0.0, 0.314, 1.174, 0.927, -1.741, -0.0, 0.002, 0.001, 0.0, -0.7]
time_from_start: 4.0
- positions: [0.0, -0.001, -0.0, -0.15, 0.0, -0.2, -0.0, -0.0, -0.0, 0.314, 1.175, 0.927, -2.214, -0.0, 0.002, -0.001, 0.0, 0.0]
time_from_start: 5.0
- positions: [-0.0, -0.001, -0.0, -0.15, 0.0, -0.2, -0.0, -0.0, -0.0, 0.0, 0.148, -0.0, -0.2, 0.0, 0.001, -0.0, 0.0, 0.0]
time_from_start: 8.0
wave_both_arms:
joints: [torso_1_joint, torso_2_joint, arm_right_1_joint, arm_right_2_joint, arm_right_3_joint, arm_right_4_joint, arm_right_5_joint, arm_right_6_joint, arm_right_7_joint, arm_left_1_joint, arm_left_2_joint, arm_left_3_joint, arm_left_4_joint, arm_left_5_joint, arm_left_6_joint, arm_left_7_joint, gripper_right_joint, gripper_left_joint]
points:
- positions: [-0.0, -0.001, 0.0, -0.15, 0.0, -0.2, -0.0, -0.0, -0.0, 0.0, 0.148, -0.0, -0.2, 0.0, 0.001, -0.0, 0.0, 0.0]
time_from_start: 0.0
- positions: [0.0, -0.001, -0.314, -1.175, -0.927, -2.214, 0.0, 0.0, 0.0, 0.314, 1.175, 0.927, -2.214, -0.0, 0.002, -0.001, 0.0, 0.0]
time_from_start: 3.0
- positions: [0.0, -0.001, -0.314, -1.174, -0.927, -1.741, 0.0, 0.0, 0.0, 0.314, 1.174, 0.927, -1.741, -0.0, 0.002, 0.001, -0.7, -0.7]
time_from_start: 4.0
- positions: [0.0, -0.001, -0.314, -1.175, -0.927, -2.214, 0.0, 0.0, 0.0, 0.314, 1.175, 0.927, -2.214, -0.0, 0.002, -0.001, 0.0, 0.0]
time_from_start: 5.0
- positions: [-0.0, -0.001, 0.0, -0.15, -0.0, -0.2, 0.0, 0.0, 0.0, 0.0, 0.148, -0.0, -0.2, 0.0, 0.001, -0.0, 0.0, 0.0]
time_from_start: 8.0
test_arm_right:
joints: [torso_1_joint, torso_2_joint, arm_right_1_joint, arm_right_2_joint, arm_right_3_joint, arm_right_4_joint, arm_right_5_joint, arm_right_6_joint, arm_right_7_joint, arm_left_1_joint, arm_left_2_joint, arm_left_3_joint, arm_left_4_joint, arm_left_5_joint, arm_left_6_joint, arm_left_7_joint, gripper_right_joint, gripper_left_joint]
points:
- positions: [0.0, 0.0, 0.0, -0.15, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.15, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
time_from_start: 0.0
- positions: [-0.0, -0.002, -0.464, -0.343, -0.0, -0.0, -0.0, 0.001, -0.0, -0.0, 0.148, 0.0, -0.0, 0.0, -0.001, 0.0, 0.001, -0.0]
time_from_start: 4.0
- positions: [-0.0, 0.001, 1.508, -0.343, -0.0, -0.0, -0.0, 0.001, -0.0, -0.0, 0.148, 0.0, -0.001, 0.0, -0.001, 0.0, -0.0, 0.001]
time_from_start: 7.0
- positions: [-0.0, 0.001, 1.508, -0.343, 2.238, -0.002, 0.0, -0.001, -0.001, -0.0, 0.148, 0.0, -0.001, 0.0, -0.001, 0.0, -0.0, -0.0]
time_from_start: 10.0
- positions: [-0.0, 0.001, 1.508, -0.343, -2.339, 0.0, 0.0, -0.001, 0.001, -0.0, 0.148, 0.0, -0.001, 0.0, -0.001, -0.0, -0.001, -0.0]
time_from_start: 14.0
- positions: [-0.0, 0.001, 1.508, -0.343, -2.347, -2.305, -0.0, -0.001, 0.002, -0.0, 0.148, 0.0, -0.001, 0.0, -0.001, -0.0, -0.0, -0.0]
time_from_start: 17.0
- positions: [-0.0, -0.001, 0.482, -2.728, 1.247, -1.842, 0.0, -0.001, -0.003, 0.0, 0.148, 0.0, -0.0, 0.0, -0.001, 0.0, -0.0, -0.0]
time_from_start: 21.0
- positions: [-0.0, 0.001, 0.482, -0.286, -0.437, -1.835, -0.0, 0.001, 0.003, -0.0, 0.148, 0.0, -0.001, 0.0, -0.001, 0.0, -0.0, -0.0]
time_from_start: 23.0
- positions: [-0.0, 0.001, 0.482, -0.285, -0.439, -1.835, -2.382, 1.313, -0.653, -0.0, 0.148, 0.0, -0.001, 0.0, -0.001, 0.0, 0.0, 0.0]
time_from_start: 26.0
- positions: [-0.0, 0.001, 0.482, -0.286, -0.439, -1.836, 2.422, -1.303, 0.646, -0.0, 0.148, 0.0, -0.001, 0.0, -0.001, 0.0, 0.0, -0.0]
time_from_start: 29.0
- positions: [0.0, 0.0, 0.0, -0.15, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.15, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
time_from_start: 33.0
test_arm_left:
joints: [torso_1_joint, torso_2_joint, arm_right_1_joint, arm_right_2_joint, arm_right_3_joint, arm_right_4_joint, arm_right_5_joint, arm_right_6_joint, arm_right_7_joint, arm_left_1_joint, arm_left_2_joint, arm_left_3_joint, arm_left_4_joint, arm_left_5_joint, arm_left_6_joint, arm_left_7_joint, gripper_right_joint, gripper_left_joint]
points:
- positions: [0.0, 0.0, 0.0, -0.15, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.15, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
time_from_start: 0.0
- positions: [-0.0, -0.002, 0.0, -0.15, 0.0, 0.0, 0.0, 0.0, 0.0, 0.464, 0.343, -0.0, -0.0, -0.0, 0.001, -0.0, 0.001, -0.0]
time_from_start: 4.0
- positions: [-0.0, 0.001, 0.0, -0.15, 0.0, 0.0, 0.0, 0.0, 0.0, -1.508, 0.343, -0.0, -0.0, -0.0, 0.001, -0.0, -0.0, 0.001]
time_from_start: 7.0
- positions: [-0.0, 0.001, 0.0, -0.15, 0.0, 0.0, 0.0, 0.0, 0.0, -1.508, 0.343, -2.238, -0.002, 0.0, -0.001, -0.001, -0.0, -0.0]
time_from_start: 10.0
- positions: [-0.0, 0.001, 0.0, -0.15, 0.0, 0.0, 0.0, 0.0, 0.0, -1.508, 0.343, 2.339, 0.0, 0.0, -0.001, 0.001, -0.001, -0.0]
time_from_start: 14.0
- positions: [-0.0, 0.001, 0.0, -0.15, 0.0, 0.0, 0.0, 0.0, 0.0, -1.508, 0.343, 2.347, -2.305, -0.0, -0.001, 0.002, -0.0, -0.0]
time_from_start: 17.0
- positions: [-0.0, -0.001, 0.0, -0.15, 0.0, 0.0, 0.0, 0.0, 0.0, -0.482, 2.728, -1.247, -1.842, 0.0, -0.001, -0.003, -0.0, -0.0]
time_from_start: 21.0
- positions: [-0.0, 0.001, 0.0, -0.15, 0.0, 0.0, 0.0, 0.0, 0.0, -0.482, 0.286, 0.437, -1.835, -0.0, 0.001, 0.003, -0.0, -0.0]
time_from_start: 23.0
- positions: [-0.0, 0.001, 0.0, -0.15, 0.0, 0.0, 0.0, 0.0, 0.0, -0.482, 0.285, 0.439, -1.835, 2.382, -1.313, -0.653, 0.0, 0.0]
time_from_start: 26.0
- positions: [-0.0, 0.001, 0.0, -0.15, 0.0, 0.0, 0.0, 0.0, 0.0, -0.482, 0.286, 0.439, -1.836, -2.422, 1.303, 0.646, 0.0, -0.0]
time_from_start: 29.0
- positions: [0.0, 0.0, 0.0, -0.15, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.15, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
time_from_start: 33.0
test_head:
joints: [head_1_joint, head_2_joint]
points:
- positions: [-0.0, 0.0]
time_from_start: 0.0
- positions: [-0.24, 0.0]
time_from_start: 2.0
- positions: [0.77, 0.0]
time_from_start: 4.0
- positions: [-0.0, -1.20]
time_from_start: 6.0
- positions: [-0.0, 1.20]
time_from_start: 10.0
- positions: [-0.0, 0.0]
time_from_start: 12.0
bow:
joints: [torso_1_joint, torso_2_joint, head_1_joint, head_2_joint, arm_left_1_joint,
arm_left_2_joint, arm_left_3_joint, arm_left_4_joint, arm_left_5_joint, arm_left_6_joint,
arm_left_7_joint, arm_right_1_joint, arm_right_2_joint, arm_right_3_joint,
arm_right_4_joint, arm_right_5_joint, arm_right_6_joint, arm_right_7_joint]
points:
- positions: [0.0, 0.0, 0.0, 0.0, 0.1, 0.25, -0.2, -0.6109, 0.0, 0.0, 0.0,
-0.1, -0.25, 0.2, -0.6109, 0.0, 0.0, 0.0]
time_from_start: 0.0
- positions: [0.0, 0.4, 0.3, 0.0, 0.25, 0.15, -0.0, -0.6109, 0.0, 0.0, 0.0,
-0.25, -0.15, 0.0, -0.6109, 0.0, 0.0, 0.0]
time_from_start: 1.5
- positions: [0.0, 0.4, 0.3, 0.0, 0.25, 0.15, -0.0, -0.6109, 0.0, 0.0, 0.0,
-0.25, -0.15, 0.0, -0.6109, 0.0, 0.0, 0.0]
time_from_start: 2.0
- positions: [0.0, 0.0, 0.0, 0.0, 0.1, 0.25, -0.2, -0.6109, 0.0, 0.0, 0.0,
-0.1, -0.25, 0.2, -0.6109, 0.0, 0.0, 0.0]
time_from_start: 3.25
meta:
name: Bow
usage: greet
description: Makes a short reverence with both arms back.
center_head:
joints: [head_1_joint, head_2_joint]
points:
- positions: [0.0, 0.0]
time_from_start: 0.0
meta:
name: Center Head
usage: posture
description: Moves only head to a centered posture.
look_around:
joints: [torso_1_joint, torso_2_joint, head_1_joint, head_2_joint, arm_left_1_joint,
arm_left_2_joint, arm_left_3_joint, arm_left_4_joint, arm_left_5_joint, arm_left_6_joint,
arm_left_7_joint, arm_right_1_joint, arm_right_2_joint, arm_right_3_joint,
arm_right_4_joint, arm_right_5_joint, arm_right_6_joint, arm_right_7_joint]
points:
- positions: [0.0, 0.0, 0.0, 0.0, 0.1, 0.35, -0.2, -1.4109, 0.0, 0.0, 0.0,
-0.1, -0.35, 0.2, -1.4109, 0.0, 0.0, 0.0]
time_from_start: 0.0
- positions: [0.0, 0.2, -0.2, 0.0, 0.25, 0.35, -0.0, -1.4109, 0.0, 0.0, 0.0,
-0.25, -0.35, 0.0, -1.4109, 0.0, 0.0, 0.0]
time_from_start: 1.5
- positions: [0.7, 0.2, -0.2, 0.0, 0.15, 0.35, -0.0, -1.2109, 0.0, 0.0, 0.0,
-0.35, -0.35, 0.0, -1.6109, 0.0, 0.0, 0.0]
time_from_start: 3.5
- positions: [0.0, 0.2, 0.2, 0.0, 0.2, 0.35, -0.0, -1.0109, 0.0, 0.0, 0.0,
-0.2, -0.35, 0.0, -1.0109, 0.0, 0.0, 0.0]
time_from_start: 5.0
- positions: [-0.7, 0.2, -0.2, 0.0, 0.35, 0.35, 0.0, -1.6109, 0.0, 0.0, 0.0,
-0.15, -0.35, 0.0, -1.2109, 0.0, 0.0, 0.0]
time_from_start: 6.5
- positions: [0.0, 0.0, 0.0, 0.0, 0.1, 0.25, -0.2, -0.6109, 0.0, 0.0, 0.0,
-0.1, -0.25, 0.2, -0.6109, 0.0, 0.0, 0.0]
time_from_start: 8.5
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