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Merge pull request #568 from Naoki-Hiraoka/enable-hrp2-gazebo-demo
[on #250 of start-jsk/rtmros_gazebo][hrpsys_gazebo_tutorials] enable samplerobot and hrp2 on kinetic and melodic
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,125 @@ | ||
| hrpsys_gazebo_configuration: | ||
| ### velocity feedback for joint control, use parameter gains/joint_name/p_v | ||
| use_velocity_feedback: true | ||
| use_joint_effort: true | ||
| iob_rate: 250 | ||
| ### loose synchronization default true | ||
| # use_loose_synchronized: false | ||
| ### synchronized hrpsys and gazebo | ||
| # use_synchronized_command: false | ||
| # iob_substeps: 5 | ||
| ### name of robot (using for namespace) | ||
| robotname: HRP2JSKNTS | ||
| ### joint_id (order) conversion from gazebo to hrpsys, joint_id_list[gazebo_id] := hrpsys_id | ||
| joint_id_list: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45] | ||
| ### joints : list used in gazebo, sizeof(joint_id_list) == sizeof(joints) | ||
| joints: | ||
| - RLEG_JOINT0 | ||
| - RLEG_JOINT1 | ||
| - RLEG_JOINT2 | ||
| - RLEG_JOINT3 | ||
| - RLEG_JOINT4 | ||
| - RLEG_JOINT5 | ||
| - RLEG_JOINT6 | ||
| - LLEG_JOINT0 | ||
| - LLEG_JOINT1 | ||
| - LLEG_JOINT2 | ||
| - LLEG_JOINT3 | ||
| - LLEG_JOINT4 | ||
| - LLEG_JOINT5 | ||
| - LLEG_JOINT6 | ||
| - CHEST_JOINT0 | ||
| - CHEST_JOINT1 | ||
| - HEAD_JOINT0 | ||
| - HEAD_JOINT1 | ||
| - RARM_JOINT0 | ||
| - RARM_JOINT1 | ||
| - RARM_JOINT2 | ||
| - RARM_JOINT3 | ||
| - RARM_JOINT4 | ||
| - RARM_JOINT5 | ||
| - RARM_JOINT6 | ||
| - RARM_JOINT7 | ||
| - LARM_JOINT0 | ||
| - LARM_JOINT1 | ||
| - LARM_JOINT2 | ||
| - LARM_JOINT3 | ||
| - LARM_JOINT4 | ||
| - LARM_JOINT5 | ||
| - LARM_JOINT6 | ||
| - LARM_JOINT7 | ||
| - L_THUMBCM_Y | ||
| - L_THUMBCM_P | ||
| - L_INDEXMP_R | ||
| - L_INDEXMP_P | ||
| - L_INDEXPIP_R | ||
| - L_MIDDLEPIP_R | ||
| - R_THUMBCM_Y | ||
| - R_THUMBCM_P | ||
| - R_INDEXMP_R | ||
| - R_INDEXMP_P | ||
| - R_INDEXPIP_R | ||
| - R_MIDDLEPIP_R | ||
| ## jointid: | ||
| gains: | ||
| CHEST_JOINT0: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 250.0} | ||
| CHEST_JOINT1: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 250.0} | ||
| HEAD_JOINT0: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0} | ||
| HEAD_JOINT1: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0} | ||
| LARM_JOINT0: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0} | ||
| LARM_JOINT1: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0} | ||
| LARM_JOINT2: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0} | ||
| LARM_JOINT3: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0} | ||
| LARM_JOINT4: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0} | ||
| LARM_JOINT5: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0} | ||
| LARM_JOINT6: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0} | ||
| RARM_JOINT0: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0} | ||
| RARM_JOINT1: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0} | ||
| RARM_JOINT2: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0} | ||
| RARM_JOINT3: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0} | ||
| RARM_JOINT4: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0} | ||
| RARM_JOINT5: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0} | ||
| RARM_JOINT6: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0} | ||
| LLEG_JOINT0: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 250.0} # CRTOCH-Y | ||
| LLEG_JOINT1: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0} # CRTOCH-R | ||
| LLEG_JOINT2: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 325.0} # CRTOCH-P | ||
| LLEG_JOINT3: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 450.0} # KNEE-P | ||
| LLEG_JOINT4: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0} # ANKLE-P | ||
| LLEG_JOINT5: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0} # ANKLE-R | ||
| LLEG_JOINT6: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 250.0} # TOE-R | ||
| RLEG_JOINT0: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 250.0} | ||
| RLEG_JOINT1: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0} | ||
| RLEG_JOINT2: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 325.0} | ||
| RLEG_JOINT3: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 450.0} | ||
| RLEG_JOINT4: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0} | ||
| RLEG_JOINT5: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0} | ||
| RLEG_JOINT6: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 250.0} | ||
| L_INDEXMP_R: {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0} | ||
| L_INDEXMP_P: {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0} | ||
| L_INDEXPIP_R: {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0} | ||
| L_MIDDLEPIP_R: {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0} | ||
| L_THUMBCM_Y: {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0} | ||
| L_THUMBCM_P: {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0} | ||
| R_INDEXMP_R: {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0} | ||
| R_INDEXMP_P: {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0} | ||
| R_INDEXPIP_R: {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0} | ||
| R_MIDDLEPIP_R: {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0} | ||
| R_THUMBCM_Y: {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0} | ||
| R_THUMBCM_P: {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0} | ||
|
|
||
| force_torque_sensors: | ||
| - rfsensor | ||
| - lfsensor | ||
| - rhsensor | ||
| - lhsensor | ||
| force_torque_sensors_config: | ||
| ## TODO: add translation and rotation | ||
| lfsensor: {joint_name: 'LLEG_JOINT5', frame_id: 'LLEG_LINK5', translation: [0, 0, -0.105], rotation: [1, 0, 0, 0]} | ||
| rfsensor: {joint_name: 'RLEG_JOINT5', frame_id: 'RLEG_LINK5', translation: [0, 0, -0.105], rotation: [1, 0, 0, 0]} | ||
| lhsensor: {joint_name: 'LARM_JOINT6', frame_id: 'LARM_LINK6', translation: [0, 0, -0.0775], rotation: [1, 0, 0, 0]} | ||
| rhsensor: {joint_name: 'RARM_JOINT6', frame_id: 'RARM_LINK6', translation: [0, 0, -0.0775], rotation: [1, 0, 0, 0]} | ||
| imu_sensors: | ||
| - imu_sensor0 | ||
| imu_sensors_config: | ||
| ## TODO: add translation and rotation | ||
| imu_sensor0: {ros_name: 'waist_imu', link_name: 'CHEST_LINK1', frame_id: 'CHEST_LINK1'} |
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