Commit bcafca06 authored by Carlos Mastalli's avatar Carlos Mastalli
Browse files

[hyq] Defined properly the end-effector frame for feet + added end_effector tag

parent 950fb143
<?xml version="1.0" ?>
<robot name="hyq">
<group name="lf">
<!-- left front leg -->
<group name="lf_leg">
<joint name="lf_haa_joint" />
<joint name="lf_hfe_joint" />
<joint name="lf_kfe_joint" />
<chain base_link="trunk" tip_link="lf_foot_joint" />
<chain base_link="trunk" tip_link="lf_foot" />
</group>
<group name="rf">
<!-- right front leg -->
<group name="rf_leg">
<joint name="rf_haa_joint" />
<joint name="rf_hfe_joint" />
<joint name="rf_kfe_joint" />
<chain base_link="trunk" tip_link="rf_foot_joint" />
<chain base_link="trunk" tip_link="rf_foot" />
</group>
<group name="lh">
<!-- left hind leg -->
<group name="lh_leg">
<joint name="lh_haa_joint" />
<joint name="lh_hfe_joint" />
<joint name="lh_kfe_joint" />
<chain base_link="trunk" tip_link="lh_foot_joint" />
<chain base_link="trunk" tip_link="lh_foot" />
</group>
<group name="rh">
<!-- right hind leg -->
<group name="rh_leg">
<joint name="rh_haa_joint" />
<joint name="rh_hfe_joint" />
<joint name="rh_kfe_joint" />
<chain base_link="trunk" tip_link="lh_foot_joint" />
<chain base_link="trunk" tip_link="lh_foot" />
</group>
<group name="all_legs">
<group name="lf" />
......@@ -31,36 +35,37 @@
<group name="lh" />
<group name="rh" />
</group>
<group name="right_legs">
<group name="r_legs">
<group name="rf" />
<group name="rh" />
</group>
<group name="left_legs">
<group name="l_legs">
<group name="lf" />
<group name="lh" />
</group>
<group name="front_legs">
<group name="f_legs">
<group name="lf" />
<group name="rf" />
</group>
<group name="hind_legs">
<group name="h_legs">
<group name="lh" />
<group name="rh" />
</group>
<group name="ldiag_legs">
<group name="ld_legs">
<group name="lf" />
<group name="rh" />
</group>
<group name="rdiag_legs">
<group name="rd_legs">
<group name="rf" />
<group name="lh" />
</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" />
<end_effector name="lf_foot" parent_link="lf_foot" group="lf_leg" />
<end_effector name="rf_foot" parent_link="rf_foot" group="rf_leg" />
<end_effector name="lh_foot" parent_link="lh_foot" group="lh_leg" />
<end_effector name="rh_foot" parent_link="rh_foot" group="rh_leg" />
<group_state name="half_sitting" group="all">
<group_state name="half_sitting" group="all_legs">
<joint name="root_joint" value="0. 0. 0.5775 0. 0. 0. 1." />
<joint name="lf_haa_joint" value="-0.2" />
<joint name="lf_hfe_joint" value="0.75" />
......@@ -76,7 +81,7 @@
<joint name="rh_kfe_joint" value="1.5" />
</group_state>
<group_state name="standing" group="all">
<group_state name="standing" group="all_legs">
<joint name="root_joint" value="0. 0. 0.5775 0. 0. 0. 1." />
<joint name="lf_haa_joint" value="0." />
<joint name="lf_hfe_joint" value="0.75" />
......
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