Commit 92005272 authored by Carlos Mastalli's avatar Carlos Mastalli
Browse files

[cleanup] Organize the code in order to have the same shape for both humanoids

parent bcafca06
...@@ -49,6 +49,14 @@ ...@@ -49,6 +49,14 @@
<joint name="torso_roll" /> <joint name="torso_roll" />
<joint name="torso_yaw" /> <joint name="torso_yaw" />
</group> </group>
<group name="all">
<group name="l_arm" />
<group name="r_arm" />
<group name="l_leg" />
<group name="r_leg" />
<group name="head" />
<group name="torso" />
</group>
<group name="all_legs"> <group name="all_legs">
<group name="l_leg" /> <group name="l_leg" />
<group name="r_leg" /> <group name="r_leg" />
...@@ -57,12 +65,17 @@ ...@@ -57,12 +65,17 @@
<group name="l_arm" /> <group name="l_arm" />
<group name="r_arm" /> <group name="r_arm" />
</group> </group>
<group name="all"> <group name="all_arms_torso">
<group name="l_arm" /> <group name="l_arm" />
<group name="r_arm" /> <group name="r_arm" />
<group name="l_leg" /> <group name="torso" />
<group name="r_leg" /> </group>
<group name="head" /> <group name="r_arm_torso">
<group name="r_arm" />
<group name="torso" />
</group>
<group name="l_arm_torso">
<group name="l_arm" />
<group name="torso" /> <group name="torso" />
</group> </group>
......
<?xml version="1.0" ?> <?xml version="1.0" ?>
<!--This does not replace URDF, and is not an extension of URDF.
This is a format for representing semantic information about the robot structure.
A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
-->
<robot name="talos"> <robot name="talos">
<!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
<!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included--> <group name="r_leg">
<!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included--> <joint name="leg_right_1_joint" />
<!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group--> <joint name="leg_right_2_joint" />
<!--SUBGROUPS: Groups can also be formed by referencing to already defined group names--> <joint name="leg_right_3_joint" />
<joint name="leg_right_4_joint" />
<joint name="leg_right_5_joint" />
<joint name="leg_right_6_joint" />
<joint name="leg_right_sole_fix_joint" />
<chain base_link="base_link" tip_link="right_sole_link" />
</group>
<group name="l_leg">
<joint name="leg_left_1_joint" />
<joint name="leg_left_2_joint" />
<joint name="leg_left_3_joint" />
<joint name="leg_left_4_joint" />
<joint name="leg_left_5_joint" />
<joint name="leg_left_6_joint" />
<joint name="leg_left_sole_fix_joint" />
<chain base_link="base_link" tip_link="left_sole_link" />
</group>
<group name="r_arm"> <group name="r_arm">
<joint name="arm_right_1_joint" /> <joint name="arm_right_1_joint" />
<joint name="arm_right_2_joint" /> <joint name="arm_right_2_joint" />
...@@ -21,31 +33,6 @@ ...@@ -21,31 +33,6 @@
<joint name="wrist_right_tool_joint" /> <joint name="wrist_right_tool_joint" />
<chain base_link="torso_2_link" tip_link="wrist_right_ft_tool_link" /> <chain base_link="torso_2_link" tip_link="wrist_right_ft_tool_link" />
</group> </group>
<!-- <group name="gripper_right">
<link name="gripper_right_base_link" />
<link name="gripper_right_inner_double_link" />
<link name="gripper_right_fingertip_1_link" />
<link name="gripper_right_fingertip_2_link" />
<link name="gripper_right_inner_single_link" />
<link name="gripper_right_fingertip_3_link" />
<link name="gripper_right_motor_double_link" />
<link name="gripper_right_motor_single_link" />
<joint name="gripper_right_joint" />
<chain base_link="wrist_right_ft_tool_link" tip_link="gripper_right_base_link" />
</group>
<group name="gripper_left">
<link name="gripper_left_base_link" />
<link name="gripper_left_inner_double_link" />
<link name="gripper_left_fingertip_1_link" />
<link name="gripper_left_fingertip_2_link" />
<link name="gripper_left_inner_single_link" />
<link name="gripper_left_fingertip_3_link" />
<link name="gripper_left_motor_double_link" />
<link name="gripper_left_motor_single_link" />
<joint name="gripper_left_joint" />
<chain base_link="wrist_left_ft_tool_link" tip_link="gripper_left_base_link" />
</group>
-->
<group name="l_arm"> <group name="l_arm">
<joint name="arm_left_1_joint" /> <joint name="arm_left_1_joint" />
<joint name="arm_left_2_joint" /> <joint name="arm_left_2_joint" />
...@@ -58,61 +45,46 @@ ...@@ -58,61 +45,46 @@
<joint name="wrist_left_tool_joint" /> <joint name="wrist_left_tool_joint" />
<chain base_link="torso_2_link" tip_link="wrist_left_ft_tool_link" /> <chain base_link="torso_2_link" tip_link="wrist_left_ft_tool_link" />
</group> </group>
<group name="head">
<joint name="head_1_joint" />
<joint name="head_2_joint" />
</group>
<group name="torso"> <group name="torso">
<joint name="torso_1_joint" /> <joint name="torso_1_joint" />
<joint name="torso_2_joint" /> <joint name="torso_2_joint" />
<chain base_link="base_link" tip_link="torso_2_link" /> <chain base_link="base_link" tip_link="torso_2_link" />
</group> </group>
<group name="both_arms_torso"> <group name="all">
<group name="left_arm" /> <group name="l_arm" />
<group name="right_arm" /> <group name="r_arm" />
<group name="torso" /> <group name="l_leg" />
</group> <group name="r_leg" />
<group name="right_arm_torso"> <group name="head" />
<group name="right_arm" />
<group name="torso" /> <group name="torso" />
</group> </group>
<group name="left_arm_torso"> <group name="all_legs">
<group name="left_arm" /> <group name="l_leg" />
<group name="torso" /> <group name="r_leg" />
</group> </group>
<group name="r_leg"> <group name="all_arms">
<joint name="leg_right_1_joint" /> <group name="l_arm" />
<joint name="leg_right_2_joint" /> <group name="r_arm" />
<joint name="leg_right_3_joint" />
<joint name="leg_right_4_joint" />
<joint name="leg_right_5_joint" />
<joint name="leg_right_6_joint" />
<joint name="leg_right_sole_fix_joint" />
<chain base_link="base_link" tip_link="right_sole_link" />
</group> </group>
<group name="l_leg"> <group name="all_arms_torso">
<joint name="leg_left_1_joint" /> <group name="l_arm" />
<joint name="leg_left_2_joint" /> <group name="r_arm" />
<joint name="leg_left_3_joint" /> <group name="torso" />
<joint name="leg_left_4_joint" />
<joint name="leg_left_5_joint" />
<joint name="leg_left_6_joint" />
<joint name="leg_left_sole_fix_joint" />
<chain base_link="base_link" tip_link="left_sole_link" />
</group> </group>
<group name="head"> <group name="r_arm_torso">
<joint name="head_1_joint" /> <group name="r_arm" />
<joint name="head_2_joint" /> <group name="torso" />
</group> </group>
<group name="all"> <group name="l_arm_torso">
<group name="l_arm" /> <group name="l_arm" />
<group name="r_arm" />
<group name="l_leg" />
<group name="r_leg" />
<group name="head" />
<group name="torso" /> <group name="torso" />
</group> </group>
<!--END EFFECTOR: Purpose: Represent information about an end effector.-->
<end_effector name="right_eef" parent_link="wrist_right_ft_tool_link" group="gripper_right" parent_group="right_arm" />
<end_effector name="left_eef" parent_link="wrist_left_ft_tool_link" group="gripper_left" parent_group="left_arm" />
<!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated-->
<passive_joint name="gripper_left_motor_single_joint" /> <passive_joint name="gripper_left_motor_single_joint" />
<passive_joint name="gripper_left_inner_double_joint" /> <passive_joint name="gripper_left_inner_double_joint" />
<passive_joint name="gripper_left_fingertip_1_joint" /> <passive_joint name="gripper_left_fingertip_1_joint" />
...@@ -125,9 +97,7 @@ ...@@ -125,9 +97,7 @@
<passive_joint name="gripper_right_inner_single_joint" /> <passive_joint name="gripper_right_inner_single_joint" />
<passive_joint name="gripper_right_fingertip_3_joint" /> <passive_joint name="gripper_right_fingertip_3_joint" />
<passive_joint name="gripper_right_motor_single_joint" /> <passive_joint name="gripper_right_motor_single_joint" />
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
<!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
<group_state name="half_sitting" group="all"> <group_state name="half_sitting" group="all">
<joint name="root_joint" value="0. 0. 1.01927 0. 0. 0. 1." /> <joint name="root_joint" value="0. 0. 1.01927 0. 0. 0. 1." />
<joint name="arm_left_1_joint" value="0.25847" /> <joint name="arm_left_1_joint" value="0.25847" />
...@@ -162,7 +132,6 @@ ...@@ -162,7 +132,6 @@
<joint name="torso_2_joint" value="0.006761" /> <joint name="torso_2_joint" value="0.006761" />
</group_state> </group_state>
<rotor_params> <rotor_params>
<joint name="arm_left_1_joint" mass="1e-5" gear_ratio="100." /> <joint name="arm_left_1_joint" mass="1e-5" gear_ratio="100." />
<joint name="arm_left_2_joint" mass="1e-5" gear_ratio="100." /> <joint name="arm_left_2_joint" mass="1e-5" gear_ratio="100." />
...@@ -197,28 +166,24 @@ ...@@ -197,28 +166,24 @@
</rotor_params> </rotor_params>
<!-- <!--
Talos Specificities. Talos Specificities.
foot height = y axis foot height = y axis
foot width = x axis foot width = x axis
foot depth = z axis foot depth = z axis
--> -->
<specificities> <specificities>
<feet> <feet>
<right> <right>
<size height="0.122" width="0.205" depth="0.107" /> <size height="0.122" width="0.205" depth="0.107" />
<anklePosition x="0.0" y="0.0" z="0.107" /> <anklePosition x="0.0" y="0.0" z="0.107" />
</right> </right>
<left> <left>
<size height="0.122" width="0.205" depth="0.107" /> <size height="0.122" width="0.205" depth="0.107" />
<anklePosition x="0.0" y="0.0" z="0.107" /> <anklePosition x="0.0" y="0.0" z="0.107" />
</left> </left>
</feet> </feet>
</specificities> </specificities>
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links.
TALOS disabled collisions generated by Moveit! using the moveit_setup_assistant. Kindly see http://docs.ros.org/hydro/api/moveit_setup_assistant/html/doc/tutorial.html for details. -->
<disable_collisions link1="arm_left_1_link" link2="arm_left_2_link" reason="Adjacent" /> <disable_collisions link1="arm_left_1_link" link2="arm_left_2_link" reason="Adjacent" />
......
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