diff --git a/bioloid_control/config/bioloid_cm510_control.yaml b/bioloid_control/config/bioloid_cm510_control.yaml
index f744acff4f9aefcddfe9354491ded15717dd6374..bc3cf29bd95286ce0e58d202727bdf8138280e21 100644
--- a/bioloid_control/config/bioloid_cm510_control.yaml
+++ b/bioloid_control/config/bioloid_cm510_control.yaml
@@ -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
diff --git a/bioloid_controller_cm510/include/bioloid_controller_cm510_impl.h b/bioloid_controller_cm510/include/bioloid_controller_cm510_impl.h
index b05c28d438890529d22f7afe1101152c60f3b162..1d0f8fabadf8ae9065afdc422548f3b936e83d6a 100644
--- a/bioloid_controller_cm510/include/bioloid_controller_cm510_impl.h
+++ b/bioloid_controller_cm510/include/bioloid_controller_cm510_impl.h
@@ -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);
}
}
diff --git a/bioloid_controller_cm510/motions/ceabot_motions.mtn b/bioloid_controller_cm510/motions/ceabot_motions.mtn
index 707e37e0af2414ff8889fae3b0afbed2a7ce4562..645cf62d174dd5789b465e9122f5c6574202a7ee 100755
--- a/bioloid_controller_cm510/motions/ceabot_motions.mtn
+++ b/bioloid_controller_cm510/motions/ceabot_motions.mtn
@@ -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
diff --git a/bioloid_description/urdf/bioloid.gazebo b/bioloid_description/urdf/bioloid.gazebo
index 3acde0ee955fe68ba39b4d4520c1464f69562a06..634f329f7f37380ca1eaa7bb15cbcb17e6499cdd 100644
--- a/bioloid_description/urdf/bioloid.gazebo
+++ b/bioloid_description/urdf/bioloid.gazebo
@@ -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>
diff --git a/bioloid_description/urdf/bioloid.xacro b/bioloid_description/urdf/bioloid.xacro
index fab09ee176446ea0cc6c6d6c7f0e234f02626770..1b580fef6db09a03f1376687233bc11ecc1bc0bc 100755
--- a/bioloid_description/urdf/bioloid.xacro
+++ b/bioloid_description/urdf/bioloid.xacro
@@ -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>
diff --git a/bioloid_description/urdf/bioloid_ceabot.gazebo b/bioloid_description/urdf/bioloid_ceabot.gazebo
new file mode 100644
index 0000000000000000000000000000000000000000..7d6440b6183081a58cf229b8bfb0d9307c7df53a
--- /dev/null
+++ b/bioloid_description/urdf/bioloid_ceabot.gazebo
@@ -0,0 +1,49 @@
+<?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>
diff --git a/bioloid_description/urdf/bioloid_ceabot.xacro b/bioloid_description/urdf/bioloid_ceabot.xacro
index 481ce094d546ca352b0c19b93ab6e40e83b127a0..a8a845f7ca5f355164094502a0aac3d6dcc56083 100755
--- a/bioloid_description/urdf/bioloid_ceabot.xacro
+++ b/bioloid_description/urdf/bioloid_ceabot.xacro
@@ -1,6 +1,7 @@
<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>
diff --git a/bioloid_gazebo/worlds/bioloid.world b/bioloid_gazebo/worlds/bioloid.world
index bd46b0434537e97b2fa1df6c5d2574ff07955350..4c285a608f4d349029cc5f1e0e29bfb559c1e6c8 100644
--- a/bioloid_gazebo/worlds/bioloid.world
+++ b/bioloid_gazebo/worlds/bioloid.world
@@ -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>