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enable samplerobot gazebo simulation
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,127 @@ | ||
| 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: 200 | ||
| ### 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: SampleRobot | ||
| ### 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] | ||
| ### joints : list used in gazebo, sizeof(joint_id_list) == sizeof(joints) | ||
| joints: | ||
| - RLEG_HIP_R | ||
| - RLEG_HIP_P | ||
| - RLEG_HIP_Y | ||
| - RLEG_KNEE | ||
| - RLEG_ANKLE_P | ||
| - RLEG_ANKLE_R | ||
| - RARM_SHOULDER_P | ||
| - RARM_SHOULDER_R | ||
| - RARM_SHOULDER_Y | ||
| - RARM_ELBOW | ||
| - RARM_WRIST_Y | ||
| - RARM_WRIST_P | ||
| - RARM_WRIST_R | ||
| - LLEG_HIP_R | ||
| - LLEG_HIP_P | ||
| - LLEG_HIP_Y | ||
| - LLEG_KNEE | ||
| - LLEG_ANKLE_P | ||
| - LLEG_ANKLE_R | ||
| - LARM_SHOULDER_P | ||
| - LARM_SHOULDER_R | ||
| - LARM_SHOULDER_Y | ||
| - LARM_ELBOW | ||
| - LARM_WRIST_Y | ||
| - LARM_WRIST_P | ||
| - LARM_WRIST_R | ||
| - WAIST_P | ||
| - WAIST_R | ||
| - CHEST | ||
| ## comment for joint index | ||
| # 0 - RLEG_HIP_R | ||
| # 1 - RLEG_HIP_P | ||
| # 2 - RLEG_HIP_Y | ||
| # 3 - RLEG_KNEE | ||
| # 4 - RLEG_ANKLE_P | ||
| # 5 - RLEG_ANKLE_R | ||
| # 6 - RARM_SHOULDER_P | ||
| # 7 - RARM_SHOULDER_R | ||
| # 8 - RARM_SHOULDER_Y | ||
| # 9 - RARM_ELBOW | ||
| # 10 - RARM_WRIST_Y | ||
| # 11 - RARM_WRIST_P | ||
| # 12 - RARM_WRIST_R | ||
| # 13 - LLEG_HIP_R | ||
| # 14 - LLEG_HIP_P | ||
| # 15 - LLEG_HIP_Y | ||
| # 16 - LLEG_KNEE | ||
| # 17 - LLEG_ANKLE_P | ||
| # 18 - LLEG_ANKLE_R | ||
| # 19 - LARM_SHOULDER_P | ||
| # 20 - LARM_SHOULDER_R | ||
| # 21 - LARM_SHOULDER_Y | ||
| # 22 - LARM_ELBOW | ||
| # 23 - LARM_WRIST_Y | ||
| # 24 - LARM_WRIST_P | ||
| # 25 - LARM_WRIST_R | ||
| # 26 - WAIST_P | ||
| # 27 - WAIST_R | ||
| # 28 - CHEST | ||
| ## joint gain settings | ||
| gains: | ||
| LLEG_HIP_R: {p: 12000.0, d: 4.0, i: 0.0, vp: 6.0, i_clamp: 0.0, p_v: 250.0} | ||
| LLEG_HIP_P: {p: 24000.0, d: 6.0, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0} | ||
| LLEG_HIP_Y: {p: 4000.0, d: 4.0, i: 0.0, vp: 1.0, i_clamp: 0.0, p_v: 250.0} | ||
| LLEG_KNEE: {p: 36000.0, d: 6.0, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0} | ||
| LLEG_ANKLE_P: {p: 18000.0, d: 3.0, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0} | ||
| LLEG_ANKLE_R: {p: 6000.0, d: 2.0, i: 0.0, vp: 4.0, i_clamp: 0.0, p_v: 250.0} | ||
| RLEG_HIP_R: {p: 12000.0, d: 4.0, i: 0.0, vp: 6.0, i_clamp: 0.0, p_v: 250.0} | ||
| RLEG_HIP_P: {p: 24000.0, d: 6.0, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0} | ||
| RLEG_HIP_Y: {p: 4000.0, d: 4.0, i: 0.0, vp: 1.0, i_clamp: 0.0, p_v: 250.0} | ||
| RLEG_KNEE: {p: 36000.0, d: 6.0, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0} | ||
| RLEG_ANKLE_P: {p: 18000.0, d: 3.0, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0} | ||
| RLEG_ANKLE_R: {p: 6000.0, d: 2.0, i: 0.0, vp: 4.0, i_clamp: 0.0, p_v: 250.0} | ||
| WAIST_P: {p: 8000.0, d: 4.0, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0} | ||
| WAIST_R: {p: 8000.0, d: 4.0, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0} | ||
| CHEST: {p: 6000.0, d: 2.0, i: 0.0, vp: 20.0, i_clamp: 0.0, p_v: 250.0} | ||
| LARM_SHOULDER_P: {p: 1200.0, d: 1.0, i: 0.0, vp: 0.0, i_clamp: 0.0, p_v: 160.0} | ||
| LARM_SHOULDER_R: {p: 500.0, d: 0.5, i: 0.0, vp: 0.0, i_clamp: 0.0, p_v: 120.0} | ||
| LARM_SHOULDER_Y: {p: 200.0, d: 0.3, i: 0.0, vp: 0.0, i_clamp: 0.0, p_v: 100.0} | ||
| LARM_ELBOW: {p: 1000.0, d: 1.4, i: 0.0, vp: 0.0, i_clamp: 0.0, p_v: 160.0} | ||
| LARM_WRIST_Y: {p: 200.0, d: 0.1, i: 0.0, vp: 0.0, i_clamp: 0.0, p_v: 100.0} | ||
| LARM_WRIST_P: {p: 300.0, d: 0.2, i: 0.0, vp: 0.0, i_clamp: 0.0, p_v: 100.0} | ||
| LARM_WRIST_R: {p: 20.0, d: 0.1, i: 0.0, vp: 0.0, i_clamp: 0.0, p_v: 100.0} | ||
| RARM_SHOULDER_P: {p: 1200.0, d: 1.0, i: 0.0, vp: 0.0, i_clamp: 0.0, p_v: 160.0} | ||
| RARM_SHOULDER_R: {p: 500.0, d: 0.5, i: 0.0, vp: 0.0, i_clamp: 0.0, p_v: 120.0} | ||
| RARM_SHOULDER_Y: {p: 200.0, d: 0.3, i: 0.0, vp: 0.0, i_clamp: 0.0, p_v: 100.0} | ||
| RARM_ELBOW: {p: 1000.0, d: 1.4, i: 0.0, vp: 0.0, i_clamp: 0.0, p_v: 160.0} | ||
| RARM_WRIST_Y: {p: 200.0, d: 0.1, i: 0.0, vp: 0.0, i_clamp: 0.0, p_v: 100.0} | ||
| RARM_WRIST_P: {p: 300.0, d: 0.2, i: 0.0, vp: 0.0, i_clamp: 0.0, p_v: 100.0} | ||
| RARM_WRIST_R: {p: 20.0, d: 0.1, i: 0.0, vp: 0.0, i_clamp: 0.0, p_v: 100.0} | ||
| ## force sensor settings | ||
| ## list of force sensorname | ||
| force_torque_sensors: | ||
| - lfsensor | ||
| - rfsensor | ||
| - lhsensor | ||
| - rhsensor | ||
| ## configuration of force sensor | ||
| ## key of force_torque_sensors_config should be a member of force_torque_sensors | ||
| force_torque_sensors_config: | ||
| lfsensor: {joint_name: 'LLEG_ANKLE_R', frame_id: 'LLEG_LINK6', translation: [0, 0, 0], rotation: [1, 0, 0, 0]} | ||
| rfsensor: {joint_name: 'RLEG_ANKLE_R', frame_id: 'RLEG_LINK6', translation: [0, 0, 0], rotation: [1, 0, 0, 0]} | ||
| lhsensor: {joint_name: 'LARM_WRIST_R', frame_id: 'LARM_LINK7'} | ||
| rhsensor: {joint_name: 'RARM_WRIST_R', frame_id: 'RARM_LINK7'} | ||
| ## IMU sensor settings | ||
| ## configuration of IMU sensor | ||
| ## key of imu_sensors_config should be a member of imu_sensors | ||
| imu_sensors: | ||
| - imu_sensor0 | ||
| imu_sensors_config: | ||
| imu_sensor0: {ros_name: 'sample_imu_sensor', link_name: 'WAIST_LINK0', frame_id: 'WAIST_LINK0'} |
33 changes: 33 additions & 0 deletions
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hrpsys_gazebo_tutorials/launch/gazebo_samplerobot_no_controllers_indigo.launch
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,33 @@ | ||
| <launch> | ||
| <arg name="gzname" default="gazebo"/> | ||
| <arg name="WORLD" default="$(find hrpsys_gazebo_general)/worlds/empty.world"/> | ||
| <arg name="PAUSED" default="false"/> | ||
| <arg name="SYNCHRONIZED" default="false" /> | ||
|
|
||
| <!-- initial robot pose --> | ||
| <arg name="MODEL_TRANSLATE_X" default="0.0" /> | ||
| <arg name="MODEL_TRANSLATE_Y" default="0.0" /> | ||
| <arg name="MODEL_TRANSLATE_Z" default="0.73" /> | ||
| <arg name="MODEL_ROTATE_R" default="0.0" /> | ||
| <arg name="MODEL_ROTATE_P" default="0.0" /> | ||
| <arg name="MODEL_ROTATE_Y" default="0.0" /> | ||
|
|
||
| <include file="$(find hrpsys_gazebo_general)/launch/gazebo_robot_no_controllers.launch"> | ||
| <arg name="ROBOT_TYPE" value="SampleRobot" /> | ||
| <arg name="WORLD" value="$(arg WORLD)" /> | ||
| <arg name="HRPSYS_GAZEBO_CONFIG" default="$(find hrpsys_gazebo_tutorials)/config/SampleRobot_indigo.yaml" /> | ||
| <arg name="ROBOT_MODEL" default="$(find hrpsys_gazebo_tutorials)/robot_models/SampleRobot/SampleRobot.urdf.xacro" /> | ||
|
|
||
| <arg name="PAUSED" value="$(arg PAUSED)"/> | ||
| <arg name="SYNCHRONIZED" value="$(arg SYNCHRONIZED)" /> | ||
| <arg name="USE_INSTANCE_NAME" value="true" /> | ||
| <arg name="gzname" value="$(arg gzname)" /> | ||
|
|
||
| <arg name="MODEL_TRANSLATE_X" value="$(arg MODEL_TRANSLATE_X)" /> | ||
| <arg name="MODEL_TRANSLATE_Y" value="$(arg MODEL_TRANSLATE_Y)" /> | ||
| <arg name="MODEL_TRANSLATE_Z" value="$(arg MODEL_TRANSLATE_Z)" /> | ||
| <arg name="MODEL_ROTATE_R" value="$(arg MODEL_ROTATE_R)" /> | ||
| <arg name="MODEL_ROTATE_P" value="$(arg MODEL_ROTATE_P)" /> | ||
| <arg name="MODEL_ROTATE_Y" value="$(arg MODEL_ROTATE_Y)" /> | ||
| </include> | ||
| </launch> |
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