diff --git a/bioloid_apps/launch/walk_client_sim.launch b/bioloid_apps/launch/walk_client_sim.launch
index e1f1c926222478070cd2413afa7cfa6c3493f221..4ff9f764118095f7c9ca6d6d2d191235138e7461 100644
--- a/bioloid_apps/launch/walk_client_sim.launch
+++ b/bioloid_apps/launch/walk_client_sim.launch
@@ -12,6 +12,23 @@
type="walk_client"
output="screen"
ns="/bioloid">
+ <param name="Y_SWAP_AMPLITUDE" value="0.025"/>
+ <param name="Z_SWAP_AMPLITUDE" value="0.005"/>
+ <param name="ARM_SWING_GAIN" value="1.5"/>
+ <param name="PELVIS_OFFSET" value="0.052"/>
+ <param name="HIP_PITCH_OFFSET" value="0.174"/>
+ <param name="X_OFFSET" value="-0.025"/>
+ <param name="Y_OFFSET" value="0.0075"/>
+ <param name="Z_OFFSET" value="0.035"/>
+ <param name="A_OFFSET" value="0.0"/>
+ <param name="P_OFFSET" value="0.0"/>
+ <param name="R_OFFSET" value="0.0"/>
+ <param name="PERIOD_TIME" value="0.6"/>
+ <param name="DSP_RATIO" value="0.1"/>
+ <param name="STEP_FB_RATIO" value="0.3"/>
+ <param name="FOOT_HEIGHT" value="0.04"/>
+ <param name="MAX_VEL" value="0.01"/>
+ <param name="MAX_ROT_VEL" value="0.01"/>
<remap from="/bioloid/walk_client/cmd_vel"
to="/bioloid/robot/cmd_vel"/>
<remap from="/bioloid/walk_client/set_walk_params"
diff --git a/bioloid_description/config/bioloid_base.rviz b/bioloid_description/config/bioloid_base.rviz
index 863a1ca797386d9a2df41814e499a76f317dbca9..5c658b0fb36c2723a6229d43b8528e5a887b9e01 100644
--- a/bioloid_description/config/bioloid_base.rviz
+++ b/bioloid_description/config/bioloid_base.rviz
@@ -7,6 +7,7 @@ Panels:
- /Global Options1
- /Status1
- /RobotModel1
+ - /TF1
Splitter Ratio: 0.5
Tree Height: 775
- Class: rviz/Selection
@@ -52,114 +53,93 @@ Visualization Manager:
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
- Enabled: true
+ Enabled: false
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
- base_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- left_arm_high:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- left_arm_low:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- left_leg_ankle_pitch:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- left_leg_ankle_roll:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- left_leg_knee:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- left_leg_pelvis_pitch:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- left_leg_pelvis_roll:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- left_leg_pelvis_yaw:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- left_shoulder:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- right_arm_high:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- right_arm_low:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- right_leg_ankle_pitch:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- right_leg_ankle_roll:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- right_leg_knee:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- right_leg_pelvis_pitch:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- right_leg_pelvis_roll:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- right_leg_pelvis_yaw:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- right_shoulder:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: /bioloid
Update Interval: 0
- Value: true
+ Value: false
Visual Enabled: true
+ - Class: rviz/TF
+ Enabled: true
+ Frame Timeout: 15
+ Frames:
+ All Enabled: true
+ bioloid/base_link:
+ Value: true
+ bioloid/left_arm_high:
+ Value: true
+ bioloid/left_arm_low:
+ Value: true
+ bioloid/left_leg_ankle_pitch:
+ Value: true
+ bioloid/left_leg_ankle_roll:
+ Value: true
+ bioloid/left_leg_knee:
+ Value: true
+ bioloid/left_leg_pelvis_pitch:
+ Value: true
+ bioloid/left_leg_pelvis_roll:
+ Value: true
+ bioloid/left_leg_pelvis_yaw:
+ Value: true
+ bioloid/left_shoulder:
+ Value: true
+ bioloid/right_arm_high:
+ Value: true
+ bioloid/right_arm_low:
+ Value: true
+ bioloid/right_leg_ankle_pitch:
+ Value: true
+ bioloid/right_leg_ankle_roll:
+ Value: true
+ bioloid/right_leg_knee:
+ Value: true
+ bioloid/right_leg_pelvis_pitch:
+ Value: true
+ bioloid/right_leg_pelvis_roll:
+ Value: true
+ bioloid/right_leg_pelvis_yaw:
+ Value: true
+ bioloid/right_shoulder:
+ Value: true
+ Marker Scale: 0.1
+ Name: TF
+ Show Arrows: true
+ Show Axes: true
+ Show Names: true
+ Tree:
+ bioloid/base_link:
+ bioloid/left_leg_pelvis_yaw:
+ bioloid/left_leg_pelvis_roll:
+ bioloid/left_leg_pelvis_pitch:
+ bioloid/left_leg_knee:
+ bioloid/left_leg_ankle_pitch:
+ bioloid/left_leg_ankle_roll:
+ {}
+ bioloid/left_shoulder:
+ bioloid/left_arm_high:
+ bioloid/left_arm_low:
+ {}
+ bioloid/right_leg_pelvis_yaw:
+ bioloid/right_leg_pelvis_roll:
+ bioloid/right_leg_pelvis_pitch:
+ bioloid/right_leg_knee:
+ bioloid/right_leg_ankle_pitch:
+ bioloid/right_leg_ankle_roll:
+ {}
+ bioloid/right_shoulder:
+ bioloid/right_arm_high:
+ bioloid/right_arm_low:
+ {}
+ Update Interval: 0
+ Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
@@ -191,15 +171,15 @@ Visualization Manager:
Swap Stereo Eyes: false
Value: false
Focal Point:
- X: 0.101358
- Y: -0.119063
- Z: 0.0267737
+ X: 0.13275
+ Y: -0.145069
+ Z: 0.0303013
Name: Current View
Near Clip Distance: 0.01
- Pitch: 1.4098
+ Pitch: 0.314798
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
- Yaw: 3.45859
+ Yaw: 4.55859
Saved: ~
Window Geometry:
Displays:
@@ -217,5 +197,5 @@ Window Geometry:
Views:
collapsed: false
Width: 1855
- X: 58
+ X: 65
Y: 24
diff --git a/bioloid_description/urdf/bioloid_low_res.xacro b/bioloid_description/urdf/bioloid_low_res.xacro
index 0493a6a558e4cc11c9f9acb88f4302b5dc17b70a..561d2470ae24e7d95c002f44310b857ed480e2de 100755
--- a/bioloid_description/urdf/bioloid_low_res.xacro
+++ b/bioloid_description/urdf/bioloid_low_res.xacro
@@ -426,7 +426,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://bioloid_description/meshes/bounding_boxes/left_leg_ankle_roll.stl" />
+ <mesh filename="package://bioloid_description/meshes/bounding_boxes/left_leg_ankle_roll_bb.stl" />
</geometry>
<material name="Grey">
<color rgba="0.79 0.82 0.93 1.0"/>