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Commit 1da5010f authored by Sergi Hernandez's avatar Sergi Hernandez
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Added the walk ready action for fast motions. 

Changed the simulation parameters (max joint speed and torque) to improve the simulation. (They do not coincide with the real robot).
Reduced the minimum simulation step to improve the simulation.
Added a gazebo file for the bioloid_ceabot robot.
parent 77e43ac4
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bioloid_control/config/bioloid_cm510_control.yaml
+ 40
− 40
View file @ 1da5010f
......@@ -44,141 +44,141 @@ bioloid:
i: 0.0
proxy:
lambda: 3.0
vel_limit: 6.0
effort_limit: 1.5
vel_limit: 12.0
effort_limit: 2.5
j_high_arm_l:
p: 8.0
d: 0.0
i: 0.0
proxy:
lambda: 3.0
vel_limit: 6.0
effort_limit: 1.5
vel_limit: 12.0
effort_limit: 2.5
j_low_arm_l:
p: 8.0
d: 0.0
i: 0.0
proxy:
lambda: 3.0
vel_limit: 6.0
effort_limit: 1.5
vel_limit: 12.0
effort_limit: 2.5
j_shoulder_r:
p: 8.0
d: 0.0
i: 0.0
proxy:
lambda: 3.0
vel_limit: 6.0
effort_limit: 1.5
vel_limit: 12.0
effort_limit: 2.5
j_high_arm_r:
p: 8.0
d: 0.0
i: 0.0
proxy:
lambda: 3.0
vel_limit: 6.0
effort_limit: 1.5
vel_limit: 12.0
effort_limit: 2.5
j_low_arm_r:
p: 8.0
d: 0.0
i: 0.0
proxy:
lambda: 3.0
vel_limit: 6.0
effort_limit: 1.5
vel_limit: 12.0
effort_limit: 2.5
j_pelvis_yaw_l:
p: 8.0
d: 0.0
i: 0.0
proxy:
lambda: 3.0
vel_limit: 6.0
effort_limit: 1.5
vel_limit: 12.0
effort_limit: 2.5
j_pelvis_roll_l:
p: 8.0
d: 0.0
i: 0.0
proxy:
lambda: 3.0
vel_limit: 6.0
effort_limit: 1.5
vel_limit: 12.0
effort_limit: 2.5
j_pelvis_pitch_l:
p: 8.0
d: 0.0
i: 0.0
proxy:
lambda: 3.0
vel_limit: 6.0
effort_limit: 1.5
vel_limit: 12.0
effort_limit: 2.5
j_knee_l:
p: 8.0
d: 0.0
i: 0.0
proxy:
lambda: 3.0
vel_limit: 6.0
effort_limit: 1.5
vel_limit: 12.0
effort_limit: 2.5
j_ankle_pitch_l:
p: 8.0
p: 4.0
d: 0.0
i: 0.0
proxy:
lambda: 3.0
vel_limit: 6.0
effort_limit: 1.5
vel_limit: 12.0
effort_limit: 2.5
j_ankle_roll_l:
p: 8.0
p: 4.0
d: 0.0
i: 0.0
proxy:
lambda: 3.0
vel_limit: 6.0
effort_limit: 1.5
vel_limit: 12.0
effort_limit: 2.5
j_pelvis_yaw_r:
p: 8.0
d: 0.0
i: 0.0
proxy:
lambda: 3.0
vel_limit: 6.0
effort_limit: 1.5
vel_limit: 12.0
effort_limit: 2.5
j_pelvis_roll_r:
p: 8.0
d: 0.0
i: 0.0
proxy:
lambda: 3.0
vel_limit: 6.0
effort_limit: 1.5
vel_limit: 12.0
effort_limit: 2.5
j_pelvis_pitch_r:
p: 8.0
d: 0.0
i: 0.0
proxy:
lambda: 3.0
vel_limit: 6.0
effort_limit: 1.5
vel_limit: 12.0
effort_limit: 2.5
j_knee_r:
p: 8.0
d: 0.0
i: 0.0
proxy:
lambda: 3.0
vel_limit: 6.0
effort_limit: 1.5
vel_limit: 12.0
effort_limit: 2.5
j_ankle_pitch_r:
p: 8.0
p: 4.0
d: 0.0
i: 0.0
proxy:
lambda: 3.0
vel_limit: 6.0
effort_limit: 1.5
vel_limit: 12.0
effort_limit: 2.5
j_ankle_roll_r:
p: 8.0
p: 4.0
d: 0.0
i: 0.0
proxy:
lambda: 3.0
vel_limit: 6.0
effort_limit: 1.5
vel_limit: 12.0
effort_limit: 2.5
bioloid_controller_cm510/include/bioloid_controller_cm510_impl.h
+ 1
− 1
View file @ 1da5010f
......@@ -343,7 +343,7 @@ namespace bioloid_controller_cm510
for (unsigned int i = 0; i < this->joints_.size(); ++i)
{
target_angles[i] = ((((manager_servos[i].current_value+balance_offsets[i]-manager_servos[i].center_value)*300.0/1023.0)*3.14159)/180.0);
const double command = pids_[i]->computeCommand(target_angles[i]-real_angles[i],period);
const double command = this->pids_[i]->computeCommand(target_angles[i]-real_angles[i],period);
this->joints_[i].setCommand(command);
}
}
......
bioloid_controller_cm510/motions/ceabot_motions.mtn
+ 4
− 3
View file @ 1da5010f
......@@ -238,9 +238,10 @@ compliance=5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5
play_param=0 0 1 1.0 32
page_end
page_begin
name=
compliance=5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5
play_param=0 0 1 1.0 32
name=Fst_Ready
compliance=5 7 7 5 5 5 5 5 5 5 5 5 5 5 5 6 6 6 6 5 5 5 5 5 5 5
play_param=0 0 1 1.0 5
step=512 235 788 279 744 462 561 358 666 507 516 301 722 170 853 687 336 507 516 512 512 512 512 512 512 512 0.000 1.000
page_end
page_begin
name=Walk_Ready
......
bioloid_description/urdf/bioloid.gazebo
+ 173
− 23
View file @ 1da5010f
......@@ -82,207 +82,357 @@
<gazebo reference="base_link">
<gravity>true</gravity>
<self_collide>false</self_collide>
<selfCollide>false</selfCollide>
<maxContacts>10</maxContacts>
<dampingFactor>0.2</dampingFactor>
<maxVel>0.0</maxVel>
<minDepth>0.0</minDepth>
<mu1>0.200000</mu1>
<mu2>0.200000</mu2>
<kp>0.0</kp>
<kd>0.0</kd>
</gazebo>
<gazebo reference="left_shoulder">
<gravity>true</gravity>
<self_collide>false</self_collide>
<selfCollide>false</selfCollide>
<maxContacts>10</maxContacts>
<dampingFactor>0.2</dampingFactor>
<maxVel>0.0</maxVel>
<minDepth>0.0</minDepth>
<mu1>0.200000</mu1>
<mu2>0.200000</mu2>
<kp>0.0</kp>
<kd>0.0</kd>
</gazebo>
<gazebo reference="left_arm_high">
<gravity>true</gravity>
<self_collide>false</self_collide>
<selfCollide>false</selfCollide>
<maxContacts>10</maxContacts>
<dampingFactor>0.2</dampingFactor>
<maxVel>0.0</maxVel>
<minDepth>0.0</minDepth>
<mu1>0.200000</mu1>
<mu2>0.200000</mu2>
<kp>0.0</kp>
<kd>0.0</kd>
</gazebo>
<gazebo reference="left_arm_low">
<gravity>true</gravity>
<self_collide>false</self_collide>
<selfCollide>false</selfCollide>
<maxContacts>10</maxContacts>
<dampingFactor>0.2</dampingFactor>
<maxVel>0.0</maxVel>
<minDepth>0.0</minDepth>
<mu1>0.200000</mu1>
<mu2>0.200000</mu2>
<kp>0.0</kp>
<kd>0.0</kd>
</gazebo>
<gazebo reference="right_shoulder">
<gravity>true</gravity>
<self_collide>false</self_collide>
<selfCollide>false</selfCollide>
<maxContacts>10</maxContacts>
<dampingFactor>0.2</dampingFactor>
<maxVel>0.0</maxVel>
<minDepth>0.0</minDepth>
<mu1>0.200000</mu1>
<mu2>0.200000</mu2>
<kp>0.0</kp>
<kd>0.0</kd>
</gazebo>
<gazebo reference="right_arm_high">
<gravity>true</gravity>
<self_collide>false</self_collide>
<selfCollide>false</selfCollide>
<maxContacts>10</maxContacts>
<dampingFactor>0.2</dampingFactor>
<maxVel>0.0</maxVel>
<minDepth>0.0</minDepth>
<mu1>0.200000</mu1>
<mu2>0.200000</mu2>
<kp>0.0</kp>
<kd>0.0</kd>
</gazebo>
<gazebo reference="right_arm_low">
<gravity>true</gravity>
<self_collide>false</self_collide>
<selfCollide>false</selfCollide>
<maxContacts>10</maxContacts>
<dampingFactor>0.2</dampingFactor>
<maxVel>0.0</maxVel>
<minDepth>0.0</minDepth>
<mu1>0.200000</mu1>
<mu2>0.200000</mu2>
<kp>0.0</kp>
<kd>0.0</kd>
</gazebo>
<gazebo reference="left_leg_pelvis_yaw">
<gravity>true</gravity>
<self_collide>false</self_collide>
<selfCollide>false</selfCollide>
<maxContacts>10</maxContacts>
<dampingFactor>0.2</dampingFactor>
<maxVel>0.0</maxVel>
<minDepth>0.0</minDepth>
<mu1>0.200000</mu1>
<mu2>0.200000</mu2>
<kp>0.0</kp>
<kd>0.0</kd>
</gazebo>
<gazebo reference="left_leg_pelvis_roll">
<gravity>true</gravity>
<self_collide>false</self_collide>
<selfCollide>false</selfCollide>
<maxContacts>10</maxContacts>
<dampingFactor>0.2</dampingFactor>
<maxVel>0.0</maxVel>
<minDepth>0.0</minDepth>
<mu1>0.200000</mu1>
<mu2>0.200000</mu2>
<kp>0.0</kp>
<kd>0.0</kd>
</gazebo>
<gazebo reference="left_leg_pelvis_pitch">
<gravity>true</gravity>
<self_collide>false</self_collide>
<selfCollide>false</selfCollide>
<maxContacts>10</maxContacts>
<dampingFactor>0.2</dampingFactor>
<maxVel>0.0</maxVel>
<minDepth>0.0</minDepth>
<mu1>0.200000</mu1>
<mu2>0.200000</mu2>
<kp>0.0</kp>
<kd>0.0</kd>
</gazebo>
<gazebo reference="left_leg_knee">
<gravity>true</gravity>
<self_collide>false</self_collide>
<selfCollide>false</selfCollide>
<maxContacts>10</maxContacts>
<dampingFactor>0.2</dampingFactor>
<maxVel>0.0</maxVel>
<minDepth>0.0</minDepth>
<mu1>0.200000</mu1>
<mu2>0.200000</mu2>
<kp>0.0</kp>
<kd>0.0</kd>
</gazebo>
<gazebo reference="left_leg_ankle_pitch">
<gravity>true</gravity>
<self_collide>false</self_collide>
<selfCollide>false</selfCollide>
<maxContacts>10</maxContacts>
<dampingFactor>0.2</dampingFactor>
<maxVel>0.0</maxVel>
<minDepth>0.0</minDepth>
<mu1>0.200000</mu1>
<mu2>0.200000</mu2>
<kp>0.0</kp>
<kd>0.0</kd>
</gazebo>
<gazebo reference="left_leg_ankle_roll">
<gravity>true</gravity>
<self_collide>false</self_collide>
<mu1>1.00000</mu1>
<mu2>1.00000</mu2>
<selfCollide>false</selfCollide>
<maxContacts>10</maxContacts>
<dampingFactor>0.2</dampingFactor>
<maxVel>0.0</maxVel>
<minDepth>0.0</minDepth>
<mu1>100.0</mu1>
<mu2>100.0</mu2>
<kp>0.0</kp>
<kd>0.0</kd>
</gazebo>
<gazebo reference="right_leg_pelvis_yaw">
<gravity>true</gravity>
<self_collide>false</self_collide>
<selfCollide>false</selfCollide>
<maxContacts>10</maxContacts>
<dampingFactor>0.2</dampingFactor>
<maxVel>0.0</maxVel>
<minDepth>0.0</minDepth>
<mu1>0.200000</mu1>
<mu2>0.200000</mu2>
<kp>0.0</kp>
<kd>0.0</kd>
</gazebo>
<gazebo reference="right_leg_pelvis_roll">
<gravity>true</gravity>
<self_collide>false</self_collide>
<selfCollide>false</selfCollide>
<maxContacts>10</maxContacts>
<dampingFactor>0.2</dampingFactor>
<maxVel>0.0</maxVel>
<minDepth>0.0</minDepth>
<mu1>0.200000</mu1>
<mu2>0.200000</mu2>
<kp>0.0</kp>
<kd>0.0</kd>
</gazebo>
<gazebo reference="right_leg_pelvis_pitch">
<gravity>true</gravity>
<self_collide>false</self_collide>
<selfCollide>false</selfCollide>
<maxContacts>10</maxContacts>
<dampingFactor>0.2</dampingFactor>
<maxVel>0.0</maxVel>
<minDepth>0.0</minDepth>
<mu1>0.200000</mu1>
<mu2>0.200000</mu2>
<kp>0.0</kp>
<kd>0.0</kd>
</gazebo>
<gazebo reference="right_leg_knee">
<gravity>true</gravity>
<self_collide>false</self_collide>
<selfCollide>false</selfCollide>
<maxContacts>10</maxContacts>
<dampingFactor>0.2</dampingFactor>
<maxVel>0.0</maxVel>
<minDepth>0.0</minDepth>
<mu1>0.200000</mu1>
<mu2>0.200000</mu2>
<kp>0.0</kp>
<kd>0.0</kd>
</gazebo>
<gazebo reference="right_leg_ankle_pitch">
<gravity>true</gravity>
<self_collide>false</self_collide>
<selfCollide>false</selfCollide>
<maxContacts>10</maxContacts>
<dampingFactor>0.2</dampingFactor>
<maxVel>0.0</maxVel>
<minDepth>0.0</minDepth>
<mu1>0.200000</mu1>
<mu2>0.200000</mu2>
<kp>0.0</kp>
<kd>0.0</kd>
</gazebo>
<gazebo reference="right_leg_ankle_roll">
<gravity>true</gravity>
<self_collide>false</self_collide>
<mu1>1.00000</mu1>
<mu2>1.00000</mu2>
<selfCollide>false</selfCollide>
<maxContacts>10</maxContacts>
<dampingFactor>0.2</dampingFactor>
<maxVel>0.0</maxVel>
<minDepth>0.0</minDepth>
<mu1>100.0</mu1>
<mu2>100.0</mu2>
<kp>0.0</kp>
<kd>0.0</kd>
</gazebo>
<gazebo reference="j_shoulder_l">
<implicitSpringDamper>true</implicitSpringDamper>
<stopCfm>0.0</stopCfm>
<stopErp>0.0</stopErp>
</gazebo>
<gazebo reference="j_high_arm_l">
<implicitSpringDamper>true</implicitSpringDamper>
<stopCfm>0.0</stopCfm>
<stopErp>0.0</stopErp>
</gazebo>
<gazebo reference="j_low_arm_l">
<implicitSpringDamper>true</implicitSpringDamper>
<stopCfm>0.0</stopCfm>
<stopErp>0.0</stopErp>
</gazebo>
<gazebo reference="j_shoulder_r">
<implicitSpringDamper>true</implicitSpringDamper>
<stopCfm>0.0</stopCfm>
<stopErp>0.0</stopErp>
</gazebo>
<gazebo reference="j_high_arm_r">
<implicitSpringDamper>true</implicitSpringDamper>
<stopCfm>0.0</stopCfm>
<stopErp>0.0</stopErp>
</gazebo>
<gazebo reference="j_low_arm_r">
<implicitSpringDamper>true</implicitSpringDamper>
<stopCfm>0.0</stopCfm>
<stopErp>0.0</stopErp>
</gazebo>
<gazebo reference="j_pelvis_yaw_l">
<implicitSpringDamper>true</implicitSpringDamper>
<stopCfm>0.0</stopCfm>
<stopErp>0.0</stopErp>
</gazebo>
<gazebo reference="j_pelvis_roll_l">
<implicitSpringDamper>true</implicitSpringDamper>
<stopCfm>0.0</stopCfm>
<stopErp>0.0</stopErp>
</gazebo>
<gazebo reference="j_pelvis_pitch_l">
<implicitSpringDamper>true</implicitSpringDamper>
<stopCfm>0.0</stopCfm>
<stopErp>0.0</stopErp>
</gazebo>
<gazebo reference="j_knee_l">
<implicitSpringDamper>true</implicitSpringDamper>
<stopCfm>0.0</stopCfm>
<stopErp>0.0</stopErp>
</gazebo>
<gazebo reference="j_ankle_pitch_l">
<implicitSpringDamper>true</implicitSpringDamper>
<stopCfm>0.0</stopCfm>
<stopErp>0.0</stopErp>
</gazebo>
<gazebo reference="j_ankle_roll_l">
<implicitSpringDamper>true</implicitSpringDamper>
<stopCfm>0.0</stopCfm>
<stopErp>0.0</stopErp>
</gazebo>
<gazebo reference="j_pelvis_yaw_r">
<implicitSpringDamper>true</implicitSpringDamper>
<stopCfm>0.0</stopCfm>
<stopErp>0.0</stopErp>
</gazebo>
<gazebo reference="j_pelvis_roll_r">
<implicitSpringDamper>true</implicitSpringDamper>
<stopCfm>0.0</stopCfm>
<stopErp>0.0</stopErp>
</gazebo>
<gazebo reference="j_pelvis_pitch_r">
<implicitSpringDamper>true</implicitSpringDamper>
<stopCfm>0.0</stopCfm>
<stopErp>0.0</stopErp>
</gazebo>
<gazebo reference="j_knee_r">
<implicitSpringDamper>true</implicitSpringDamper>
<stopCfm>0.0</stopCfm>
<stopErp>0.0</stopErp>
</gazebo>
<gazebo reference="j_ankle_pitch_r">
<implicitSpringDamper>true</implicitSpringDamper>
<stopCfm>0.0</stopCfm>
<stopErp>0.0</stopErp>
</gazebo>
<gazebo reference="j_ankle_roll_r">
<implicitSpringDamper>true</implicitSpringDamper>
<stopCfm>0.0</stopCfm>
<stopErp>0.0</stopErp>
</gazebo>
<gazebo>
......
bioloid_description/urdf/bioloid.xacro
+ 18
− 18
View file @ 1da5010f
......@@ -444,7 +444,7 @@
<child link="right_shoulder"/>
<origin xyz="-0.07188 0.0 0" rpy="-1.5707 0 0" />
<axis xyz="-1 0 0" />
<limit effort="1.5" velocity="6.0" lower="-3.14" upper="3.14" />
<limit effort="2.5" velocity="12.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.2"/>
</joint>
......@@ -464,7 +464,7 @@
<child link="right_arm_high"/>
<origin xyz="0 -0.0145 0.0" rpy="0 0 -1.5707" />
<axis xyz="0 0 -1" />
<limit effort="1.5" velocity="6.0" lower="-3.14" upper="3.14" />
<limit effort="2.5" velocity="12.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.2"/>
</joint>
......@@ -484,7 +484,7 @@
<child link="right_arm_low"/>
<origin xyz="0.0 -0.0675 0.0" rpy="0 0 0" />
<axis xyz="0 0 -1" />
<limit effort="1.5" velocity="6.0" lower="-3.14" upper="3.14" />
<limit effort="2.5" velocity="12.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.2"/>
</joint>
......@@ -504,7 +504,7 @@
<child link="left_shoulder"/>
<origin xyz="0.07188 0.0 0" rpy="-1.5707 0 0" />
<axis xyz="1 0 0" />
<limit effort="1.5" velocity="6.0" lower="-3.14" upper="3.14" />
<limit effort="2.5" velocity="12.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.2"/>
</joint>
......@@ -524,7 +524,7 @@
<child link="left_arm_high"/>
<origin xyz="0 -0.0145 0.0" rpy="0 0 1.5707" />
<axis xyz="0 0 -1" />
<limit effort="1.5" velocity="6.0" lower="-3.14" upper="3.14" />
<limit effort="2.5" velocity="12.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.2"/>
</joint>
......@@ -544,7 +544,7 @@
<child link="left_arm_low"/>
<origin xyz="0.0 -0.0675 0.0" rpy="0 0 0" />
<axis xyz="0 0 -1" />
<limit effort="1.5" velocity="6.0" lower="-3.14" upper="3.14" />
<limit effort="2.5" velocity="12.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.2"/>
</joint>
......@@ -564,7 +564,7 @@
<child link="right_leg_pelvis_yaw"/>
<origin xyz="-0.0385 -0.12037 0.0" rpy="0 -0.7854 0" />
<axis xyz="0 -1 0" />
<limit effort="1.5" velocity="6.0" lower="-3.14" upper="3.14" />
<limit effort="2.5" velocity="12.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.2"/>
</joint>
......@@ -584,7 +584,7 @@
<child link="right_leg_pelvis_roll"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<axis xyz="0 0 1" />
<limit effort="1.5" velocity="6.0" lower="-3.14" upper="3.14" />
<limit effort="2.5" velocity="12.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.2"/>
</joint>
......@@ -604,7 +604,7 @@
<child link="right_leg_pelvis_pitch"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<axis xyz="1 0 0" />
<limit effort="1.5" velocity="6.0" lower="-3.14" upper="3.14" />
<limit effort="2.5" velocity="12.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.2"/>
</joint>
......@@ -624,7 +624,7 @@
<child link="right_leg_knee"/>
<origin xyz="0 -0.075 -0.01488" rpy="0 0 0" />
<axis xyz="-1 0 0" />
<limit effort="1.5" velocity="6.0" lower="-3.14" upper="3.14" />
<limit effort="2.5" velocity="12.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.2"/>
</joint>
......@@ -644,7 +644,7 @@
<child link="right_leg_ankle_pitch"/>
<origin xyz="0 -0.075 0.01488" rpy="0 0 0" />
<axis xyz="-1 0 0" />
<limit effort="1.5" velocity="6.0" lower="-3.14" upper="3.14" />
<limit effort="2.5" velocity="12.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.2"/>
</joint>
......@@ -664,7 +664,7 @@
<child link="right_leg_ankle_roll"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<axis xyz="0 0 -1" />
<limit effort="1.5" velocity="6.0" lower="-3.14" upper="3.14" />
<limit effort="2.5" velocity="12.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.2"/>
</joint>
......@@ -684,7 +684,7 @@
<child link="left_leg_pelvis_yaw"/>
<origin xyz="0.0385 -0.12037 0.0" rpy="0 0.7853 0" />
<axis xyz="0 -1 0" />
<limit effort="1.5" velocity="6.0" lower="-3.14" upper="3.14" />
<limit effort="2.5" velocity="12.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.2"/>
</joint>
......@@ -704,7 +704,7 @@
<child link="left_leg_pelvis_roll"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<axis xyz="0 0 1" />
<limit effort="1.5" velocity="6.0" lower="-3.14" upper="3.14" />
<limit effort="2.5" velocity="12.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.2"/>
</joint>
......@@ -724,7 +724,7 @@
<child link="left_leg_pelvis_pitch"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<axis xyz="-1 0 0" />
<limit effort="1.5" velocity="6.0" lower="-3.14" upper="3.14" />
<limit effort="2.5" velocity="12.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.2"/>
</joint>
......@@ -744,7 +744,7 @@
<child link="left_leg_knee"/>
<origin xyz="0 -0.075 -0.01488" rpy="0 0 0" />
<axis xyz="1 0 0" />
<limit effort="1.5" velocity="6.0" lower="-3.14" upper="3.14" />
<limit effort="2.5" velocity="12.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.2"/>
</joint>
......@@ -764,7 +764,7 @@
<child link="left_leg_ankle_pitch"/>
<origin xyz="0 -0.075 0.01488" rpy="0 0 0" />
<axis xyz="1 0 0" />
<limit effort="1.5" velocity="6.0" lower="-3.14" upper="3.14" />
<limit effort="2.5" velocity="12.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.2"/>
</joint>
......@@ -784,7 +784,7 @@
<child link="left_leg_ankle_roll"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<axis xyz="0 0 -1" />
<limit effort="1.5" velocity="6.0" lower="-3.14" upper="3.14" />
<limit effort="2.5" velocity="12.0" lower="-3.14" upper="3.14" />
<dynamics damping="0.2"/>
</joint>
......
bioloid_description/urdf/bioloid_ceabot.gazebo 0 → 100644
+ 49
− 0
View file @ 1da5010f
<?xml version="1.0"?>
<robot>
<gazebo>
<static>0</static>
</gazebo>
<gazebo reference="battery_pack">
<material>Gazebo/Grey</material>
</gazebo>
<gazebo reference="controller">
<material>Gazebo/Grey</material>
</gazebo>
<gazebo reference="battery_pack">
<gravity>true</gravity>
<selfCollide>false</selfCollide>
<maxContacts>10</maxContacts>
<dampingFactor>0.2</dampingFactor>
<maxVel>0.0</maxVel>
<minDepth>0.001</minDepth>
<mu1>0.200000</mu1>
<mu2>0.200000</mu2>
<kp>1.0</kp>
<kd>0.0</kd>
</gazebo>
<gazebo reference="controller">
<gravity>true</gravity>
<selfCollide>false</selfCollide>
<maxContacts>10</maxContacts>
<dampingFactor>0.2</dampingFactor>
<maxVel>0.0</maxVel>
<minDepth>0.001</minDepth>
<mu1>0.200000</mu1>
<mu2>0.200000</mu2>
<kp>1.0</kp>
<kd>0.0</kd>
</gazebo>
<gazebo reference="j_battery">
<implicitSpringDamper>true</implicitSpringDamper>
</gazebo>
<gazebo reference="j_controller">
<implicitSpringDamper>true</implicitSpringDamper>
</gazebo>
</robot>
bioloid_description/urdf/bioloid_ceabot.xacro
+ 2
− 1
View file @ 1da5010f
<robot name="bioloid" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find bioloid_description)/urdf/bioloid.xacro" />
<xacro:include filename="$(find bioloid_description)/urdf/bioloid_ceabot.gazebo" />
<xacro:include filename="$(find bioloid_description)/urdf/sensors/sharp_ir.xacro" />
<xacro:include filename="$(find bioloid_description)/urdf/sensors/feet_ir.xacro" />
......@@ -13,7 +14,7 @@
<xacro:sharp_ir name="IR3" parent="base_link" update_rate="20" fov="0.05" min_range="0.1" max_range="0.8">
<origin xyz="0 0.05 0.035" rpy="-1.5707 -1.5707 0" />
</xacro:sharp_ir>
<xacro:feet_ir left_parent="left_leg_ankle_roll" right_parent="right_leg_ankle_roll" update_rate="20" range="0.01"/>
<!-- <xacro:feet_ir left_parent="left_leg_ankle_roll" right_parent="right_leg_ankle_roll" update_rate="20" range="0.01"/>-->
<link name="battery_pack">
<collision>
......
bioloid_gazebo/worlds/bioloid.world
+ 2
− 2
View file @ 1da5010f
......@@ -2,14 +2,14 @@
<sdf version="1.4">
<world name="default">
<physics type="ode">
<real_time_factor>1</real_time_factor>
<real_time_factor>1.0</real_time_factor>
<real_time_update_rate>1000</real_time_update_rate>
<max_step_size>0.001</max_step_size>
<gravity>0 0 -9.8</gravity>
<ode>
<solver>
<type>quick</type>
<min_step_size>0.001</min_step_size>
<min_step_size>0.0001</min_step_size>
<iters>100</iters>
</solver>
</ode>
......
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