diff --git a/centauro_config/hal/centauro_gz.yaml b/centauro_config/hal/centauro_gz.yaml index 8be0022..3d156a3 100644 --- a/centauro_config/hal/centauro_gz.yaml +++ b/centauro_config/hal/centauro_gz.yaml @@ -16,3 +16,7 @@ xbotcore_devices: names: [] thread: rt_main type: link_state_sensor + + ft_gz: + names: [] + thread: rt_main diff --git a/centauro_mujoco/CMakeLists.txt b/centauro_mujoco/CMakeLists.txt new file mode 100644 index 0000000..5efeeb2 --- /dev/null +++ b/centauro_mujoco/CMakeLists.txt @@ -0,0 +1,14 @@ +cmake_minimum_required(VERSION 3.0) +project(centauro_mujoco) + +find_package(catkin REQUIRED) + +catkin_package() + +# install(DIRECTORY launch +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +# install(DIRECTORY worlds +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) diff --git a/centauro_mujoco/config/centauro.yaml b/centauro_mujoco/config/centauro.yaml new file mode 100644 index 0000000..237902c --- /dev/null +++ b/centauro_mujoco/config/centauro.yaml @@ -0,0 +1,65 @@ +motor_pd: + j_arm*_1: [500, 10] + j_arm*_2: [500, 10] + j_arm*_3: [500, 10] + j_arm*_4: [500, 10] + j_arm*_5: [100, 5] + j_arm*_6: [100, 5] + j_arm*_7: [100, 5] + hip_yaw_*: [3000, 30] + hip_pitch_*: [3000, 30] + knee_pitch_*: [3000, 30] + ankle_pitch_*: [1000, 10] + ankle_yaw_*: [300, 10] + neck_pitch: [10, 1] + neck_yaw: [10, 1] + torso_yaw: [1000, 30] + j_wheel_*: [0, 30] + +motor_vel: + j_wheel_*: [1] + neck_velodyne: [1] + +q_init: + hip_yaw_1: -0.746874 + hip_pitch_1: -1.25409 + knee_pitch_1: -1.55576 + ankle_pitch_1: -0.301666 + ankle_yaw_1: 0.746874 + j_wheel_1: 0.0 + hip_yaw_2: 0.746874 + hip_pitch_2: 1.25409 + knee_pitch_2: 1.55576 + ankle_pitch_2: 0.301666 + ankle_yaw_2: -0.746874 + j_wheel_2: 0.0 + j_arm1_1: 0.520149 + j_arm1_2: 0.320865 + j_arm1_3: 0.274669 + j_arm1_4: -2.23604 + j_arm1_5: 0.0500815 + j_arm1_6: -0.781461 + j_arm1_7: -0.0567608 + neck_yaw: 0.0 + neck_pitch: 0.2 + hip_yaw_3: 0.746874 + hip_pitch_3: 1.25409 + knee_pitch_3: 1.55576 + ankle_pitch_3: 0.301667 + ankle_yaw_3: -0.746874 + j_wheel_3: 0.0 + hip_yaw_4: -0.746874 + hip_pitch_4: -1.25409 + knee_pitch_4: -1.55576 + ankle_pitch_4: -0.301667 + ankle_yaw_4: 0.746874 + j_wheel_4: 0.0 + j_arm2_1: 0.520149 + j_arm2_2: -0.320865 + j_arm2_3: -0.274669 + j_arm2_4: -2.23604 + j_arm2_5: -0.0500815 + j_arm2_6: -0.781461 + j_arm2_7: 0.0567608 + torso_yaw: 0.0 + neck_velodyne: 0.0 \ No newline at end of file diff --git a/centauro_mujoco/config/options.xml b/centauro_mujoco/config/options.xml new file mode 100644 index 0000000..8cde592 --- /dev/null +++ b/centauro_mujoco/config/options.xml @@ -0,0 +1,15 @@ + + + \ No newline at end of file diff --git a/centauro_mujoco/config/sites.xml b/centauro_mujoco/config/sites.xml new file mode 100644 index 0000000..9f362fe --- /dev/null +++ b/centauro_mujoco/config/sites.xml @@ -0,0 +1,5 @@ + + + + + \ No newline at end of file diff --git a/centauro_mujoco/config/world.xml b/centauro_mujoco/config/world.xml new file mode 100644 index 0000000..b30bb75 --- /dev/null +++ b/centauro_mujoco/config/world.xml @@ -0,0 +1,13 @@ + + + + + + + + + + + + + \ No newline at end of file diff --git a/centauro_mujoco/launch/centauro_world.launch b/centauro_mujoco/launch/centauro_world.launch new file mode 100644 index 0000000..bfb280e --- /dev/null +++ b/centauro_mujoco/launch/centauro_world.launch @@ -0,0 +1,13 @@ + + + + + + + + + + + + diff --git a/centauro_mujoco/package.xml b/centauro_mujoco/package.xml new file mode 100644 index 0000000..40f065f --- /dev/null +++ b/centauro_mujoco/package.xml @@ -0,0 +1,16 @@ + + + centauro_mujoco + 0.0.0 + The centauro_mujoco package + + enrico + + TODO + + catkin + + + + + diff --git a/centauro_mujoco/src/centauro_mujoco.py b/centauro_mujoco/src/centauro_mujoco.py new file mode 100755 index 0000000..2b07778 --- /dev/null +++ b/centauro_mujoco/src/centauro_mujoco.py @@ -0,0 +1,160 @@ +#!/usr/bin/env python3 + +from ast import arg +import subprocess +import os +import shutil +import argparse +import rospkg +from lxml import etree +from copy import deepcopy +import sys +import rospy + +rospy.init_node('mujoco_sim') + +descr = """ +A wrapper aroung mujoco_simulator that assembles a set of separate files +that describe the simulation into a sigle XML file that mujoco can understand. +These files are: + - the robot urdf + - a simulation option file (e.g. step size, disabled collisions, ...) + - a world description (e.g. a ground plane, lights, ...) + - a configuration file for the decentralized controllers (e.g., default gains) +""" +parser = argparse.ArgumentParser(description=descr) +parser.add_argument('--urdf', help='The path to the robot urdf file') +parser.add_argument('--simopt', help='The path to an XML file containing simulator options') +parser.add_argument('--world', help='The path to an XML file containing the world description') +parser.add_argument('--ctrlcfg', help='The path to a YAML file containing decentralized control configuration') +parser.add_argument('--sites', help='The path to an XML file containing additional sites for the model') +parser.add_argument('--name', help='Unique robot name') +args, _ = parser.parse_known_args() + +# handle to rospack system +rospack = rospkg.RosPack() + +# utils +def remove_comments(XML): + tree = etree.fromstring(XML) + etree.strip_tags(tree, etree.Comment) + robot = tree.xpath('/robot')[0] + mujoco = etree.Element("mujoco") + compiler = etree.Element("compiler") + compiler.attrib['fusestatic'] = 'false' + mujoco.append(compiler) + robot.append(mujoco) + return etree.tostring(tree) + + +def treeMerge(a, b): + + def inner(aparent, bparent): + print(f'processing {aparent.tag} vs {bparent.tag}') + for bchild in bparent: + print(f'..processing {bchild.tag}') + achild = aparent.xpath('./' + bchild.tag) + if achild and bchild.getchildren(): + inner(achild[0], bchild) + else: + aparent.append(bchild) + + + res = deepcopy(a) + inner(res, b) + return res + + +# useful paths +urdf_path = args.urdf +mj_xml_dir = f'/tmp/{args.name}_mujoco' +mj_urdf_path = os.path.join(mj_xml_dir, f'{args.name}.urdf') +mj_xml_path = os.path.join(mj_xml_dir, f'{args.name}.xml') +mj_xml_path_orig = os.path.join(mj_xml_dir, f'{args.name}.orig.xml') + +# create directory +shutil.rmtree(mj_xml_dir, ignore_errors=True) +os.makedirs(mj_xml_dir, exist_ok=True) + +# pre-process urdf to +# 1) turn package:// directives into absolute paths +# 2) create a different symlink for each mesh to circumvent mjc's bug +with open(urdf_path, 'r') as file: + urdf = file.read() + +seq_id = 0 +urdf = remove_comments(urdf.encode()).decode() +urdf_processed = str() +last_pos = 0 +pos = urdf.find('filename="') +while pos != -1: + uri_start = pos + len('filename="') + uri_end = urdf.find('"', uri_start) + uri = urdf[uri_start:uri_end] + + if uri.startswith('package://'): + pkg_start = len('package://') + pkg_end = uri.find('/', pkg_start) + pkg_name = uri[pkg_start:pkg_end] + uri = rospack.get_path(pkg_name) + uri[pkg_end:] + + filename = os.path.basename(uri) + dst_file = os.path.join(mj_xml_dir, str(seq_id) + '_' + filename) + seq_id += 1 + if not os.path.exists(dst_file): + try: + os.remove(dst_file) + except: pass + + os.symlink(uri, dst_file) + + urdf_processed = urdf_processed + urdf[last_pos:uri_start] + dst_file + last_pos = uri_end + pos = urdf.find('filename="', uri_end) + +urdf_processed = urdf_processed + urdf[last_pos:] + +# write pre-processed urdf +open(mj_urdf_path, 'w').write(urdf_processed) + +# produce mujoco's xml +cmd = f'mujoco_compile {mj_urdf_path} {mj_xml_path_orig}' +subprocess.run(cmd.split()) + +# add options and world +with open(mj_xml_path_orig, 'r') as file: + mj_xml = file.read() + mj_xml_tree = etree.fromstring(mj_xml) + +with open(args.simopt, 'r') as file: + mj_opt = file.read() + mj_opt_tree = etree.fromstring(mj_opt) + +with open(args.world, 'r') as file: + mj_world = file.read() + mj_world_tree = etree.fromstring(mj_world) + +with open(args.sites, 'r') as file: + mj_sites = file.read() + mj_sites_tree = etree.fromstring(mj_sites) + + +mj_xml_tree.remove(mj_xml_tree.xpath('./compiler')[0]) +mj_xml_tree.remove(mj_xml_tree.xpath('./size')[0]) + +xml_merged = treeMerge(mj_xml_tree, mj_opt_tree) +xml_merged = treeMerge(xml_merged, mj_world_tree) + +# add sites +site_bodies = mj_sites_tree.xpath('./body') +for sb in site_bodies: + sname = sb.get('name') + body = xml_merged.findall(f".//body[@name='{sname}']")[0] + site = etree.Element('site') + site.attrib['name'] = sb.xpath('./site')[0].get('name') + body.append(site) + +open(mj_xml_path, 'w').write(etree.tostring(xml_merged, pretty_print=True).decode()) +subprocess.run(['mujoco_simulator', mj_xml_path, args.ctrlcfg]) + +print('bye') \ No newline at end of file diff --git a/centauro_srdf/srdf/centauro.srdf b/centauro_srdf/srdf/centauro.srdf index 6545edf..e4f8c7e 100644 --- a/centauro_srdf/srdf/centauro.srdf +++ b/centauro_srdf/srdf/centauro.srdf @@ -28,10 +28,10 @@ - + - + @@ -78,14 +78,12 @@ - - @@ -127,6 +125,7 @@ + @@ -156,6 +155,7 @@ + @@ -173,7 +173,6 @@ - @@ -182,7 +181,7 @@ - + @@ -191,6 +190,7 @@ + @@ -200,6 +200,7 @@ + @@ -230,7 +231,7 @@ - + @@ -255,7 +256,7 @@ - + @@ -269,12 +270,12 @@ + - @@ -282,12 +283,10 @@ - - + - @@ -297,15 +296,13 @@ - - - - + + @@ -327,7 +324,6 @@ - @@ -337,22 +333,21 @@ + - - + - @@ -360,11 +355,8 @@ - - - - + diff --git a/centauro_srdf/srdf/centauro.srdf.xacro b/centauro_srdf/srdf/centauro.srdf.xacro index d5c800c..4940c94 100644 --- a/centauro_srdf/srdf/centauro.srdf.xacro +++ b/centauro_srdf/srdf/centauro.srdf.xacro @@ -31,16 +31,23 @@ + + + + + + + - + - + @@ -117,14 +124,12 @@ - - diff --git a/centauro_srdf/srdf/centauro_capsule.srdf b/centauro_srdf/srdf/centauro_capsule.srdf index 1def7ea..47d661a 100644 --- a/centauro_srdf/srdf/centauro_capsule.srdf +++ b/centauro_srdf/srdf/centauro_capsule.srdf @@ -28,10 +28,10 @@ - + - + @@ -78,14 +78,12 @@ - - @@ -160,9 +158,11 @@ + + @@ -185,6 +185,7 @@ + @@ -220,6 +221,7 @@ + @@ -244,6 +246,7 @@ + @@ -264,7 +267,6 @@ - @@ -275,7 +277,6 @@ - @@ -284,15 +285,13 @@ - - - - - + + + @@ -313,6 +312,7 @@ + @@ -322,6 +322,7 @@ + @@ -329,7 +330,6 @@ - @@ -338,18 +338,14 @@ - - - - - - + + diff --git a/centauro_srdf/srdf/centauro_virtual_frame.srdf b/centauro_srdf/srdf/centauro_virtual_frame.srdf index c280b04..05257b6 100644 --- a/centauro_srdf/srdf/centauro_virtual_frame.srdf +++ b/centauro_srdf/srdf/centauro_virtual_frame.srdf @@ -1,6 +1,6 @@ - + - + diff --git a/centauro_urdf/launch/centauro_slider.launch b/centauro_urdf/launch/centauro_slider.launch index 9d69c94..ea93477 100644 --- a/centauro_urdf/launch/centauro_slider.launch +++ b/centauro_urdf/launch/centauro_slider.launch @@ -4,13 +4,12 @@ - + - - + diff --git a/centauro_urdf/meshes/simple/wrist_pitch_right.stl b/centauro_urdf/meshes/simple/wrist_pitch_right.stl new file mode 100644 index 0000000..ba9952f Binary files /dev/null and b/centauro_urdf/meshes/simple/wrist_pitch_right.stl differ diff --git a/centauro_urdf/meshes/v2/ankle-pitch.stl b/centauro_urdf/meshes/v2/ankle-pitch.stl index a29388b..21c988f 100644 Binary files a/centauro_urdf/meshes/v2/ankle-pitch.stl and b/centauro_urdf/meshes/v2/ankle-pitch.stl differ diff --git a/centauro_urdf/meshes/v2/hip-yaw.stl b/centauro_urdf/meshes/v2/hip-yaw.stl index 01fdb5e..09fe910 100644 Binary files a/centauro_urdf/meshes/v2/hip-yaw.stl and b/centauro_urdf/meshes/v2/hip-yaw.stl differ diff --git a/centauro_urdf/meshes/v2/knee.stl b/centauro_urdf/meshes/v2/knee.stl index 098ca6f..d11eac8 100644 Binary files a/centauro_urdf/meshes/v2/knee.stl and b/centauro_urdf/meshes/v2/knee.stl differ diff --git a/centauro_urdf/meshes/wrist_pitch_right.stl b/centauro_urdf/meshes/wrist_pitch_right.stl new file mode 100644 index 0000000..56214d4 Binary files /dev/null and b/centauro_urdf/meshes/wrist_pitch_right.stl differ diff --git a/centauro_urdf/urdf/centauro.urdf b/centauro_urdf/urdf/centauro.urdf index 1481044..94a6a26 100644 --- a/centauro_urdf/urdf/centauro.urdf +++ b/centauro_urdf/urdf/centauro.urdf @@ -1,6 +1,6 @@ - + @@ -207,37 +207,39 @@ - + - + - - - - - - - - - - - - - - - - - - - - + @@ -295,44 +297,44 @@ - - - - - - - + - - - - - - - + - - - - - - - + - - + @@ -452,37 +454,39 @@ - + - + - - - - - - - - - - - - - - - - - - - - + @@ -540,44 +544,44 @@ - - - - - - - + - - - - - - - + - - - - - - - + - - + @@ -600,9 +604,9 @@ - + - + @@ -642,9 +646,9 @@ - + - + @@ -967,7 +971,7 @@ true 300 D435_head_camera/accel/sample - + D435_head_camera/accel/sample D435_head_camera_link 300 @@ -983,7 +987,7 @@ true 300 D435_head_camera/gyro/sample - + D435_head_camera/gyro/sample D435_head_camera_link 300 @@ -996,7 +1000,7 @@ - + D435_head_camera 30 @@ -1333,7 +1337,7 @@ true 300 D435i_camera/accel/sample - + D435i_camera/accel/sample D435i_camera_link 300 @@ -1349,7 +1353,7 @@ true 300 D435i_camera/gyro/sample - + D435i_camera/gyro/sample D435i_camera_link 300 @@ -1362,7 +1366,7 @@ - + D435i_camera 30 diff --git a/centauro_urdf/urdf/centauro.urdf.xacro b/centauro_urdf/urdf/centauro.urdf.xacro index 0faf608..708a8dd 100644 --- a/centauro_urdf/urdf/centauro.urdf.xacro +++ b/centauro_urdf/urdf/centauro.urdf.xacro @@ -32,3 +32,4 @@ + diff --git a/centauro_urdf/urdf/centauro.xml b/centauro_urdf/urdf/centauro.xml new file mode 100644 index 0000000..d7c3a7e --- /dev/null +++ b/centauro_urdf/urdf/centauro.xml @@ -0,0 +1,327 @@ + + + + + + + + + + diff --git a/centauro_urdf/urdf/centauro_capsule.urdf b/centauro_urdf/urdf/centauro_capsule.urdf index 8a6ee0f..f3b6a73 100644 --- a/centauro_urdf/urdf/centauro_capsule.urdf +++ b/centauro_urdf/urdf/centauro_capsule.urdf @@ -230,19 +230,19 @@ - + - + - + - + @@ -257,57 +257,25 @@ - + - + - + - + - + - + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + @@ -353,27 +321,6 @@ - - - - - - - - - - - - - - - - - - - - - @@ -514,19 +461,19 @@ - + - + - + - + @@ -541,57 +488,25 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + - - + - + - + - + - + - + @@ -637,27 +552,6 @@ - - - - - - - - - - - - - - - - - - - - - @@ -692,8 +586,8 @@ - - + + @@ -745,8 +639,8 @@ - - + + @@ -1084,7 +978,7 @@ true 300 D435_head_camera/accel/sample - + D435_head_camera/accel/sample D435_head_camera_link 300 @@ -1100,7 +994,7 @@ true 300 D435_head_camera/gyro/sample - + D435_head_camera/gyro/sample D435_head_camera_link 300 @@ -1113,7 +1007,7 @@ - + D435_head_camera 30 color/image_raw @@ -1441,7 +1335,7 @@ true 300 D435i_camera/accel/sample - + D435i_camera/accel/sample D435i_camera_link 300 @@ -1457,7 +1351,7 @@ true 300 D435i_camera/gyro/sample - + D435i_camera/gyro/sample D435i_camera_link 300 @@ -1470,7 +1364,7 @@ - + D435i_camera 30 color/image_raw @@ -1765,19 +1659,19 @@ - + - + - + @@ -1797,19 +1691,19 @@ - + - + - + - + @@ -2003,19 +1897,19 @@ - + - + - + @@ -2035,19 +1929,19 @@ - + - + - + - + @@ -2066,19 +1960,19 @@ - + - + - + - + @@ -2241,19 +2135,19 @@ - + - + - + @@ -2273,19 +2167,19 @@ - + - + - + - + @@ -2479,19 +2373,19 @@ - + - + - + @@ -2511,19 +2405,19 @@ - + - + - + - + @@ -2542,19 +2436,19 @@ - + - + - + - + diff --git a/centauro_urdf/urdf/centauro_mjc_test.urdf b/centauro_urdf/urdf/centauro_mjc_test.urdf new file mode 100644 index 0000000..490a46f --- /dev/null +++ b/centauro_urdf/urdf/centauro_mjc_test.urdf @@ -0,0 +1,2365 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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T265_camera/gyro/sample + T265_camera_pose_frame + 200 + 0.1 + 0 0 0 + 0 0 0 + T265_camera_gyro_optical_frame + false + + + + + + + true + 262 + T265_camera_pose_frame + T265/T265_camera/odom/sample + 0.01 + world + 0.0 0.0 0.25 + 0.0 0.0 0.0 + + diff --git a/centauro_urdf/urdf/config/centauro.urdf.xacro b/centauro_urdf/urdf/config/centauro.urdf.xacro index ce8cae0..0b7f620 100644 --- a/centauro_urdf/urdf/config/centauro.urdf.xacro +++ b/centauro_urdf/urdf/config/centauro.urdf.xacro @@ -10,10 +10,12 @@ + + - - + + @@ -25,6 +27,7 @@ + diff --git a/centauro_urdf/urdf/config/centauro_virtual_frame.urdf.xacro b/centauro_urdf/urdf/config/centauro_virtual_frame.urdf.xacro index 5b0ea66..0d04f49 100644 --- a/centauro_urdf/urdf/config/centauro_virtual_frame.urdf.xacro +++ b/centauro_urdf/urdf/config/centauro_virtual_frame.urdf.xacro @@ -21,9 +21,9 @@ - - - - + + + + diff --git a/centauro_urdf/urdf/gazebo/centauro.gazebo.xacro b/centauro_urdf/urdf/gazebo/centauro.gazebo.xacro index 17d3b8a..a413e91 100644 --- a/centauro_urdf/urdf/gazebo/centauro.gazebo.xacro +++ b/centauro_urdf/urdf/gazebo/centauro.gazebo.xacro @@ -35,7 +35,6 @@ - Gazebo/Residential @@ -71,7 +70,6 @@ - Gazebo/Residential @@ -107,7 +105,6 @@ - Gazebo/Residential @@ -143,7 +140,6 @@ - Gazebo/Residential @@ -177,8 +173,7 @@ - - + 1 true @@ -282,6 +277,77 @@ + + + + + + + + + 1.0 + 1.0 + + + 1.0 + 1.0 + + + + + 2100000 + 1 + 100 + + + 0.007 + 0.25 + 1000000 + 5 + + + + + + + + + + + + + 1.0 + 1.0 + + + 1.0 + 1.0 + + + + + 2100000 + 1 + 100 + + + 0.007 + 0.25 + 1000000 + 5 + + + + + 1 diff --git a/centauro_urdf/urdf/gazebo/force_torque.gazebo.xacro b/centauro_urdf/urdf/gazebo/force_torque.gazebo.xacro new file mode 100644 index 0000000..6b22ea8 --- /dev/null +++ b/centauro_urdf/urdf/gazebo/force_torque.gazebo.xacro @@ -0,0 +1,38 @@ + + + + + + + + + sensor + child_to_parent + + true + true + 200 + + + + + + + + sensor + child_to_parent + + true + true + 200 + + + + + + + + diff --git a/centauro_urdf/urdf/parts/arms.urdf.xacro b/centauro_urdf/urdf/parts/arms.urdf.xacro index 2eeabec..7c2a653 100644 --- a/centauro_urdf/urdf/parts/arms.urdf.xacro +++ b/centauro_urdf/urdf/parts/arms.urdf.xacro @@ -16,12 +16,12 @@ - - + + - - + + diff --git a/centauro_urdf/urdf/parts/arms_reference_frames.urdf.xacro b/centauro_urdf/urdf/parts/arms_reference_frames.urdf.xacro new file mode 100644 index 0000000..f570b6d --- /dev/null +++ b/centauro_urdf/urdf/parts/arms_reference_frames.urdf.xacro @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + + + + diff --git a/centauro_urdf/urdf/parts/centauro_arm.urdf.xacro b/centauro_urdf/urdf/parts/centauro_arm.urdf.xacro index f25976e..0a8897c 100644 --- a/centauro_urdf/urdf/parts/centauro_arm.urdf.xacro +++ b/centauro_urdf/urdf/parts/centauro_arm.urdf.xacro @@ -141,20 +141,20 @@ - + - + - + @@ -241,13 +241,13 @@ - + @@ -255,21 +255,21 @@ - + - + - +