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[on #250 of start-jsk/rtmros_gazebo][hrpsys_gazebo_tutorials] enable samplerobot and hrp2 on kinetic and melodic #568

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merged 6 commits into from
May 15, 2020
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[on #250 of start-jsk/rtmros_gazebo][hrpsys_gazebo_tutorials] enable samplerobot and hrp2 on kinetic and melodic #568

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8d06756
[hrpsys_gazebo_tutorials] enable hrp2 demos
Naoki-Hiraoka Apr 12, 2020
a750042
add _indigo.yaml, _indigo.launch
Naoki-Hiraoka Apr 14, 2020
1670f61
enable samplerobot gazebo simulation
Naoki-Hiraoka Apr 16, 2020
503432f
[hrpsys_gazebo_tutorials] fix README.md for samplerobot(indigo)
Naoki-Hiraoka May 12, 2020
cf9ba0b
[hrpsys_g
Naoki-Hiraoka May 12, 2020
1b51bcb
fix typo of README
Naoki-Hiraoka May 12, 2020
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6 changes: 4 additions & 2 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -16,7 +16,8 @@ If you use closed models, you have to compile `hrpsys_ros_bridge_tutorials` afte
Open Terminal and run gazebo

```
roslaunch hrpsys_gazebo_tutorials gazebo_samplerobot_no_controllers.launch
roslaunch hrpsys_gazebo_tutorials gazebo_samplerobot_no_controllers.launch #kinetic or melodic
roslaunch hrpsys_gazebo_tutorials gazebo_hrp2jsknt_no_controllers_indigo.launch #indigo
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```
Launch another terminal and start hrpsys-base
```
Expand All @@ -38,7 +39,8 @@ roseus samplerobot-interface.l
Open Terminal and run gazebo

```
roslaunch hrpsys_gazebo_tutorials gazebo_hrp2jsknt_no_controllers.launch
roslaunch hrpsys_gazebo_tutorials gazebo_hrp2jsknt_no_controllers.launch #kinetic or melodic
roslaunch hrpsys_gazebo_tutorials gazebo_hrp2jsknt_no_controllers_indigo.launch #indigo
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```
Launch another terminal and start hrpsys-base
```
Expand Down
68 changes: 34 additions & 34 deletions hrpsys_gazebo_tutorials/config/HRP2JSK.yaml
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
hrpsys_gazebo_configuration:
### velocity feedback for joint control, use parameter gains/joint_name/p_v
use_velocity_feedback: true
use_velocity_feedback: false
use_joint_effort: true
iob_rate: 250
### loose synchronization default true
Expand Down Expand Up @@ -47,38 +47,38 @@ hrpsys_gazebo_configuration:
- LARM_JOINT6
- LARM_JOINT7
gains:
CHEST_JOINT0: {p: 3000.0, d: 8.0, i: 0.0, i_clamp: 0.0, p_v: 350.0}
CHEST_JOINT1: {p: 1000.0, d: 4.0, i: 0.0, i_clamp: 0.0, p_v: 350.0}
HEAD_JOINT0: {p: 150.0, d: 0.5, i: 0.0, i_clamp: 0.0, p_v: 350.0}
HEAD_JOINT1: {p: 700.0, d: 1.5, i: 0.0, i_clamp: 0.0, p_v: 350.0}
LARM_JOINT0: {p: 2000.0, d: 4.0, i: 0.0, i_clamp: 0.0, p_v: 350.0}
LARM_JOINT1: {p: 1000.0, d: 2.0, i: 0.0, i_clamp: 0.0, p_v: 350.0}
LARM_JOINT2: {p: 200.0, d: 0.4, i: 0.0, i_clamp: 0.0, p_v: 350.0}
LARM_JOINT3: {p: 1500.0, d: 3.0, i: 0.0, i_clamp: 0.0, p_v: 350.0}
LARM_JOINT4: {p: 200.0, d: 0.4, i: 0.0, i_clamp: 0.0, p_v: 350.0}
LARM_JOINT5: {p: 400.0, d: 0.8, i: 0.0, i_clamp: 0.0, p_v: 350.0}
LARM_JOINT6: {p: 400.0, d: 0.8, i: 0.0, i_clamp: 0.0, p_v: 350.0}
LARM_JOINT7: {p: 20.0, d: 0.02, i: 0.0, i_clamp: 0.0, p_v: 350.0}
RARM_JOINT0: {p: 2000.0, d: 4.0, i: 0.0, i_clamp: 0.0, p_v: 350.0}
RARM_JOINT1: {p: 1000.0, d: 2.0, i: 0.0, i_clamp: 0.0, p_v: 350.0}
RARM_JOINT2: {p: 200.0, d: 0.4, i: 0.0, i_clamp: 0.0, p_v: 350.0}
RARM_JOINT3: {p: 1500.0, d: 3.0, i: 0.0, i_clamp: 0.0, p_v: 350.0}
RARM_JOINT4: {p: 200.0, d: 0.4, i: 0.0, i_clamp: 0.0, p_v: 350.0}
RARM_JOINT5: {p: 400.0, d: 0.8, i: 0.0, i_clamp: 0.0, p_v: 350.0}
RARM_JOINT6: {p: 400.0, d: 0.8, i: 0.0, i_clamp: 0.0, p_v: 350.0}
RARM_JOINT7: {p: 20.0, d: 0.02, i: 0.0, i_clamp: 0.0, p_v: 350.0}
LLEG_JOINT0: {p: 1500.0, d: 2.0, i: 0.0, i_clamp: 0.0, p_v: 350.0} # CRTOCH-Y
LLEG_JOINT1: {p: 2000.0, d: 4.0, i: 0.0, i_clamp: 0.0, vp: 4.0, p_v: 350.0} # CRTOCH-R
LLEG_JOINT2: {p: 3800.0, d: 15.0, i: 0.0, i_clamp: 0.0, vp: 4.0, p_v: 350.0} # CRTOCH-P
LLEG_JOINT3: {p: 3400.0, d: 12.5, i: 0.0, i_clamp: 0.0, vp: 2.0, p_v: 350.0} # KNEE-P
LLEG_JOINT4: {p: 2800.0, d: 10.0, i: 0.0, i_clamp: 0.0, vp: 2.0, p_v: 350.0} # ANKLE-P
LLEG_JOINT5: {p: 2000.0, d: 4.0, i: 0.0, i_clamp: 0.0, vp: 2.0, p_v: 350.0} # ANKLE-R
RLEG_JOINT0: {p: 1500.0, d: 2.0, i: 0.0, i_clamp: 0.0, p_v: 350.0}
RLEG_JOINT1: {p: 2000.0, d: 4.0, i: 0.0, i_clamp: 0.0, vp: 4.0, p_v: 350.0}
RLEG_JOINT2: {p: 3800.0, d: 15.0, i: 0.0, i_clamp: 0.0, vp: 4.0, p_v: 350.0}
RLEG_JOINT3: {p: 3400.0, d: 12.5, i: 0.0, i_clamp: 0.0, vp: 2.0, p_v: 350.0}
RLEG_JOINT4: {p: 2800.0, d: 10.0, i: 0.0, i_clamp: 0.0, vp: 2.0, p_v: 350.0}
RLEG_JOINT5: {p: 2000.0, d: 2.0, i: 0.0, i_clamp: 0.0, vp: 2.0, p_v: 350.0}
CHEST_JOINT0: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
CHEST_JOINT1: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
HEAD_JOINT0: {p: 400.0, d: 0.040, i: 0.0, i_clamp: 0.0, p_v: 350.0}
HEAD_JOINT1: {p: 400.0, d: 0.040, i: 0.0, i_clamp: 0.0, p_v: 350.0}
LARM_JOINT0: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
LARM_JOINT1: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
LARM_JOINT2: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
LARM_JOINT3: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
LARM_JOINT4: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
LARM_JOINT5: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
LARM_JOINT6: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
LARM_JOINT7: {p: 20.0, d: 0.020, i: 0.0, i_clamp: 0.0, p_v: 350.0}
RARM_JOINT0: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
RARM_JOINT1: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
RARM_JOINT2: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
RARM_JOINT3: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
RARM_JOINT4: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
RARM_JOINT5: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
RARM_JOINT6: {p: 700.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
RARM_JOINT7: {p: 20.0, d: 0.020, i: 0.0, i_clamp: 0.0, p_v: 350.0}
LLEG_JOINT0: {p: 1000.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0} # CRTOCH-Y
LLEG_JOINT1: {p: 1000.0, d: 0.075, i: 0.0, i_clamp: 0.0, vp: 0.0, p_v: 350.0} # CRTOCH-R
LLEG_JOINT2: {p: 1000.0, d: 0.075, i: 0.0, i_clamp: 0.0, vp: 0.0, p_v: 350.0} # CRTOCH-P
LLEG_JOINT3: {p: 1000.0, d: 0.075, i: 0.0, i_clamp: 0.0, vp: 0.0, p_v: 350.0} # KNEE-P
LLEG_JOINT4: {p: 1000.0, d: 0.075, i: 0.0, i_clamp: 0.0, vp: 0.0, p_v: 350.0} # ANKLE-P
LLEG_JOINT5: {p: 1000.0, d: 0.075, i: 0.0, i_clamp: 0.0, vp: 0.0, p_v: 350.0} # ANKLE-R
RLEG_JOINT0: {p: 1000.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
RLEG_JOINT1: {p: 1000.0, d: 0.075, i: 0.0, i_clamp: 0.0, vp: 0.0, p_v: 350.0}
RLEG_JOINT2: {p: 1000.0, d: 0.075, i: 0.0, i_clamp: 0.0, vp: 0.0, p_v: 350.0}
RLEG_JOINT3: {p: 1000.0, d: 0.075, i: 0.0, i_clamp: 0.0, vp: 0.0, p_v: 350.0}
RLEG_JOINT4: {p: 1000.0, d: 0.075, i: 0.0, i_clamp: 0.0, vp: 0.0, p_v: 350.0}
RLEG_JOINT5: {p: 1000.0, d: 0.075, i: 0.0, i_clamp: 0.0, vp: 0.0, p_v: 350.0}

force_torque_sensors:
- rfsensor
Expand All @@ -94,5 +94,5 @@ hrpsys_gazebo_configuration:
imu_sensors:
- imu_sensor0
imu_sensors_config:
## TODO: add translation and rotation
## pose of IMU sensor should be written in URDF
imu_sensor0: {ros_name: 'waist_imu', link_name: 'CHEST_LINK1', frame_id: 'CHEST_LINK1'}
32 changes: 16 additions & 16 deletions hrpsys_gazebo_tutorials/config/HRP2JSKNT.yaml
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@@ -1,6 +1,6 @@
hrpsys_gazebo_configuration:
### velocity feedback for joint control, use parameter gains/joint_name/p_v
use_velocity_feedback: true
use_velocity_feedback: false
use_joint_effort: true
iob_rate: 250
### loose synchronization default true
Expand Down Expand Up @@ -80,20 +80,20 @@ hrpsys_gazebo_configuration:
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}
LLEG_JOINT0: {p: 1000.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 250.0} # CRTOCH-Y
LLEG_JOINT1: {p: 1000.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0} # CRTOCH-R
LLEG_JOINT2: {p: 1000.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 325.0} # CRTOCH-P
LLEG_JOINT3: {p: 1000.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 450.0} # KNEE-P
LLEG_JOINT4: {p: 1000.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0} # ANKLE-P
LLEG_JOINT5: {p: 1000.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0} # ANKLE-R
LLEG_JOINT6: {p: 120.0, d: 0.013, i: 0.0, i_clamp: 0.0, p_v: 250.0} # TOE-R
RLEG_JOINT0: {p: 1000.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 250.0}
RLEG_JOINT1: {p: 1000.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
RLEG_JOINT2: {p: 1000.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 325.0}
RLEG_JOINT3: {p: 1000.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 450.0}
RLEG_JOINT4: {p: 1000.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
RLEG_JOINT5: {p: 1000.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
RLEG_JOINT6: {p: 120.0, d: 0.013, 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}
Expand Down Expand Up @@ -121,5 +121,5 @@ hrpsys_gazebo_configuration:
imu_sensors:
- imu_sensor0
imu_sensors_config:
## TODO: add translation and rotation
## pose of IMU sensor should be written in URDF
imu_sensor0: {ros_name: 'waist_imu', link_name: 'CHEST_LINK1', frame_id: 'CHEST_LINK1'}
32 changes: 16 additions & 16 deletions hrpsys_gazebo_tutorials/config/HRP2JSKNTS.yaml
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
hrpsys_gazebo_configuration:
### velocity feedback for joint control, use parameter gains/joint_name/p_v
use_velocity_feedback: true
use_velocity_feedback: false
use_joint_effort: true
iob_rate: 250
### loose synchronization default true
Expand Down Expand Up @@ -79,21 +79,21 @@ hrpsys_gazebo_configuration:
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
RARM_JOINT6: {p: 120.0, d: 0.013, i: 0.0, i_clamp: 0.0, p_v: 150.0}
LLEG_JOINT0: {p: 1000.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 250.0} # CRTOCH-Y
LLEG_JOINT1: {p: 1000.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0} # CRTOCH-R
LLEG_JOINT2: {p: 1000.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 325.0} # CRTOCH-P
LLEG_JOINT3: {p: 1000.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 450.0} # KNEE-P
LLEG_JOINT4: {p: 1000.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0} # ANKLE-P
LLEG_JOINT5: {p: 1000.0, 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}
RLEG_JOINT0: {p: 1000.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 250.0}
RLEG_JOINT1: {p: 1000.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
RLEG_JOINT2: {p: 1000.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 325.0}
RLEG_JOINT3: {p: 1000.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 450.0}
RLEG_JOINT4: {p: 1000.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
RLEG_JOINT5: {p: 1000.0, d: 0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0}
RLEG_JOINT6: {p: 120.0, d: 0.013, 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}
Expand Down Expand Up @@ -121,5 +121,5 @@ hrpsys_gazebo_configuration:
imu_sensors:
- imu_sensor0
imu_sensors_config:
## TODO: add translation and rotation
## pose of IMU sensor should be written in URDF
imu_sensor0: {ros_name: 'waist_imu', link_name: 'CHEST_LINK1', frame_id: 'CHEST_LINK1'}
125 changes: 125 additions & 0 deletions hrpsys_gazebo_tutorials/config/HRP2JSKNTS_indigo.yaml
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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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