diff --git a/darwin_apps/launch/darwin_cpp.launch b/darwin_apps/launch/darwin_cpp.launch
index b250cc9a5d04562de6653f830e87ff7ac55825b1..0c37f2b2fda11eaa7cf276eb3a568c75fce9027a 100644
--- a/darwin_apps/launch/darwin_cpp.launch
+++ b/darwin_apps/launch/darwin_cpp.launch
@@ -7,8 +7,8 @@
<arg name="robot" value="$(arg robot)" />
</include>
-<!-- <include file="$(find bioloid_description)/launch/obstacles_env.launch">
+ <include file="$(find bioloid_description)/launch/obstacles_env.launch">
<arg name="environment" value="$(arg environment)" />
- </include>-->
+ </include>
</launch>
diff --git a/darwin_control/config/darwin_cpp.yaml b/darwin_control/config/darwin_cpp.yaml
index b4138f2f2bbceda461da6f43b762d9b1bb4ae1a2..5fa9c84ac877f8028fcb2f91ad850d4a2b7df8b8 100644
--- a/darwin_control/config/darwin_cpp.yaml
+++ b/darwin_control/config/darwin_cpp.yaml
@@ -7,9 +7,7 @@ darwin:
darwin_controller_cpp:
left_sensor_foot_present: true
right_sensor_foot_present: true
- serial_device: '/dev/ttyUSB1'
- baudrate: 115200
- slave_address: 2
+ serial_device: '/dev/pts/19'
type: effort_controllers/DarwinControllerCPP
joints:
- j_shoulder_pitch_r
diff --git a/darwin_description/config/darwin_rviz.rviz b/darwin_description/config/darwin_rviz.rviz
index c2de727a23005d4968bc263e22fffcab493450d8..ff2c2c5984f93e264ece48cec0a5bc7bcdab428a 100644
--- a/darwin_description/config/darwin_rviz.rviz
+++ b/darwin_description/config/darwin_rviz.rviz
@@ -9,7 +9,7 @@ Panels:
- /TF1/Frames1
- /TF1/Tree1
- /Environment1
- Splitter Ratio: 0.744966
+ Splitter Ratio: 0.744965971
Tree Height: 655
- Class: rviz/Selection
Name: Selection
@@ -19,7 +19,7 @@ Panels:
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
- Splitter Ratio: 0.588679
+ Splitter Ratio: 0.588679016
- Class: rviz/Views
Expanded:
- /Current View1
@@ -39,7 +39,7 @@ Visualization Manager:
Color: 160; 160; 164
Enabled: true
Line Style:
- Line Width: 0.03
+ Line Width: 0.0299999993
Value: Lines
Name: Grid
Normal Cell Count: 0
@@ -104,6 +104,46 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
+ left_down_left_front_ir_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_down_left_middle_ir_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_down_left_rear_ir_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_down_right_front_ir_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_down_right_middle_ir_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_down_right_rear_ir_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_front_left_ir_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_front_right_ir_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
left_leg_ankle_pitch:
Alpha: 1
Show Axes: false
@@ -154,6 +194,46 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
+ right_down_left_front_ir_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_down_left_middle_ir_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_down_left_rear_ir_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_down_right_front_ir_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_down_right_middle_ir_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_down_right_rear_ir_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_front_left_ir_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_front_right_ir_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
right_leg_ankle_pitch:
Alpha: 1
Show Axes: false
@@ -200,38 +280,6 @@ Visualization Manager:
Frame Timeout: 15
Frames:
All Enabled: true
- E1:
- Value: true
- E1L:
- Value: true
- E1R:
- Value: true
- N1:
- Value: true
- N1L:
- Value: true
- N1R:
- Value: true
- N1_cam:
- Value: true
- N1_det:
- Value: true
- S1:
- Value: true
- S1L:
- Value: true
- S1R:
- Value: true
- W1:
- Value: true
- W1L:
- Value: true
- W1R:
- Value: true
- W1_cam:
- Value: true
- W1_det:
- Value: true
darwin/base_footprint:
Value: true
darwin/base_link:
@@ -252,6 +300,22 @@ Visualization Manager:
Value: true
darwin/left_arm_low:
Value: true
+ darwin/left_down_left_front_ir_link:
+ Value: true
+ darwin/left_down_left_middle_ir_link:
+ Value: true
+ darwin/left_down_left_rear_ir_link:
+ Value: true
+ darwin/left_down_right_front_ir_link:
+ Value: true
+ darwin/left_down_right_middle_ir_link:
+ Value: true
+ darwin/left_down_right_rear_ir_link:
+ Value: true
+ darwin/left_front_left_ir_link:
+ Value: true
+ darwin/left_front_right_ir_link:
+ Value: true
darwin/left_leg_ankle_pitch:
Value: true
darwin/left_leg_ankle_roll:
@@ -274,6 +338,22 @@ Visualization Manager:
Value: true
darwin/right_arm_low:
Value: true
+ darwin/right_down_left_front_ir_link:
+ Value: true
+ darwin/right_down_left_middle_ir_link:
+ Value: true
+ darwin/right_down_left_rear_ir_link:
+ Value: true
+ darwin/right_down_right_front_ir_link:
+ Value: true
+ darwin/right_down_right_middle_ir_link:
+ Value: true
+ darwin/right_down_right_rear_ir_link:
+ Value: true
+ darwin/right_front_left_ir_link:
+ Value: true
+ darwin/right_front_right_ir_link:
+ Value: true
darwin/right_leg_ankle_pitch:
Value: true
darwin/right_leg_ankle_roll:
@@ -288,100 +368,78 @@ Visualization Manager:
Value: true
darwin/right_shoulder:
Value: true
- obstacle_base_fence_link:
- Value: true
- obstacle_base_link:
- Value: true
- station_connector_link:
- Value: true
- station_far_qr_link:
- Value: true
- station_near_qr_link:
- Value: true
- station_support_link:
- Value: true
- Marker Scale: 0.2
+ Marker Scale: 0.200000003
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
- darwin/base_link:
- darwin/darwin_accel:
- {}
- darwin/darwin_gyro:
- {}
- darwin/darwin_imu_link:
- {}
- darwin/left_leg_pelvis_yaw:
- darwin/left_leg_pelvis_roll:
- darwin/left_leg_pelvis_pitch:
- darwin/left_leg_knee:
- darwin/left_leg_ankle_pitch:
- darwin/left_leg_ankle_roll:
- {}
- darwin/left_shoulder:
- darwin/left_arm_high:
- darwin/left_arm_low:
- {}
- darwin/neck:
- darwin/head:
- darwin/darwin_cam_link:
- darwin/darwin_cam_optical_link:
- N1_cam:
- {}
- N1_det:
- {}
- W1_cam:
- {}
- W1_det:
- {}
- darwin/right_leg_pelvis_yaw:
- darwin/right_leg_pelvis_roll:
- darwin/right_leg_pelvis_pitch:
- darwin/right_leg_knee:
- darwin/right_leg_ankle_pitch:
- darwin/right_leg_ankle_roll:
- {}
- darwin/right_shoulder:
- darwin/right_arm_high:
- darwin/right_arm_low:
- {}
darwin/odom:
darwin/base_footprint:
- {}
- obstacle_base_link:
- obstacle_base_fence_link:
- {}
- station_support_link:
- station_connector_link:
- {}
- station_far_qr_link:
- E1:
+ darwin/base_link:
+ darwin/darwin_accel:
{}
- N1:
+ darwin/darwin_gyro:
{}
- S1:
- {}
- W1:
- {}
- station_near_qr_link:
- E1L:
- {}
- E1R:
- {}
- N1L:
- {}
- N1R:
- {}
- S1L:
- {}
- S1R:
- {}
- W1L:
- {}
- W1R:
+ darwin/darwin_imu_link:
{}
+ darwin/left_leg_pelvis_yaw:
+ darwin/left_leg_pelvis_roll:
+ darwin/left_leg_pelvis_pitch:
+ darwin/left_leg_knee:
+ darwin/left_leg_ankle_pitch:
+ darwin/left_leg_ankle_roll:
+ darwin/left_down_left_front_ir_link:
+ {}
+ darwin/left_down_left_middle_ir_link:
+ {}
+ darwin/left_down_left_rear_ir_link:
+ {}
+ darwin/left_down_right_front_ir_link:
+ {}
+ darwin/left_down_right_middle_ir_link:
+ {}
+ darwin/left_down_right_rear_ir_link:
+ {}
+ darwin/left_front_left_ir_link:
+ {}
+ darwin/left_front_right_ir_link:
+ {}
+ darwin/left_shoulder:
+ darwin/left_arm_high:
+ darwin/left_arm_low:
+ {}
+ darwin/neck:
+ darwin/head:
+ darwin/darwin_cam_link:
+ darwin/darwin_cam_optical_link:
+ {}
+ darwin/right_leg_pelvis_yaw:
+ darwin/right_leg_pelvis_roll:
+ darwin/right_leg_pelvis_pitch:
+ darwin/right_leg_knee:
+ darwin/right_leg_ankle_pitch:
+ darwin/right_leg_ankle_roll:
+ darwin/right_down_left_front_ir_link:
+ {}
+ darwin/right_down_left_middle_ir_link:
+ {}
+ darwin/right_down_left_rear_ir_link:
+ {}
+ darwin/right_down_right_front_ir_link:
+ {}
+ darwin/right_down_right_middle_ir_link:
+ {}
+ darwin/right_down_right_rear_ir_link:
+ {}
+ darwin/right_front_left_ir_link:
+ {}
+ darwin/right_front_right_ir_link:
+ {}
+ darwin/right_shoulder:
+ darwin/right_arm_high:
+ darwin/right_arm_low:
+ {}
Update Interval: 0
Value: true
- Alpha: 1
@@ -390,100 +448,10 @@ Visualization Manager:
Enabled: true
Links:
All Links Enabled: true
- E1:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- E1L:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- E1R:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
- N1:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- N1L:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- N1R:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- S1:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- S1L:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- S1R:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- W1:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- W1L:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- W1R:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- obstacle_base_fence_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- obstacle_base_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- station_connector_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- station_far_qr_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- station_near_qr_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- station_support_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
Name: Environment
Robot Description: /charge_env/robot_description
TF Prefix: ""
@@ -493,7 +461,8 @@ Visualization Manager:
Enabled: true
Global Options:
Background Color: 48; 48; 48
- Fixed Frame: obstacle_base_link
+ Default Light: true
+ Fixed Frame: darwin/base_footprint
Frame Rate: 30
Name: root
Tools:
@@ -514,22 +483,25 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
- Distance: 4.15359
+ Distance: 2.83055544
Enable Stereo Rendering:
- Stereo Eye Separation: 0.06
+ Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
- X: 0.6497
- Y: 0.53254
- Z: 0.117795
+ X: 0.174162328
+ Y: -0.0848779902
+ Z: -0.0313329101
+ Focal Shape Fixed Size: true
+ Focal Shape Size: 0.0500000007
+ Invert Z Axis: false
Name: Current View
- Near Clip Distance: 0.01
- Pitch: 1.0202
+ Near Clip Distance: 0.00999999978
+ Pitch: 0.130199939
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
- Yaw: 2.80226
+ Yaw: 3.13725877
Saved: ~
Window Geometry:
Displays:
@@ -537,7 +509,7 @@ Window Geometry:
Height: 936
Hide Left Dock: false
Hide Right Dock: false
- QMainWindow State: 000000ff00000000fd0000000400000000000001ce0000031efc0200000007fb0000001200530065006c0065006300740069006f006e00000000280000009b0000006400fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000031e000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000031efc0200000004fb0000001e0054006f006f006c002000500072006f007000650072007400690065007301000000280000006e0000006400fffffffb0000000a00560069006500770073010000009c000002aa000000b000fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073010000031b000000a30000000000000000fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004bf0000003efc0100000002fb0000000800540069006d00650100000000000004bf000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000001d60000031e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ QMainWindow State: 000000ff00000000fd0000000400000000000001ce0000031efc0200000007fb0000001200530065006c0065006300740069006f006e00000000280000009b0000006100fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000031e000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000031efc0200000004fb0000001e0054006f006f006c002000500072006f007000650072007400690065007301000000280000006e0000006100fffffffb0000000a00560069006500770073010000009c000002aa000000ad00fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073010000031b000000a30000000000000000fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004bf0000003efc0100000002fb0000000800540069006d00650100000000000004bf0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000001d60000031e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
@@ -547,5 +519,5 @@ Window Geometry:
Views:
collapsed: false
Width: 1215
- X: 55
- Y: 14
+ X: 65
+ Y: 24
diff --git a/darwin_description/urdf/charge/charge_station.xacro b/darwin_description/urdf/charge/charge_station.xacro
index 556db6a9eeb6d39dcdc0a208d3acb964e599baf8..ad70631fa19527f244102e228c68e087816beb63 100644
--- a/darwin_description/urdf/charge/charge_station.xacro
+++ b/darwin_description/urdf/charge/charge_station.xacro
@@ -172,8 +172,6 @@
<minDepth>0.0</minDepth>
<mu1>0.200000</mu1>
<mu2>0.200000</mu2>
- <kp>0.0</kp>
- <kd>0.0</kd>
</gazebo>
<gazebo reference="${name}_far_qr_link">
@@ -185,8 +183,6 @@
<minDepth>0.0</minDepth>
<mu1>0.200000</mu1>
<mu2>0.200000</mu2>
- <kp>0.0</kp>
- <kd>0.0</kd>
</gazebo>
<gazebo reference="${name}_connector_link">
@@ -198,8 +194,6 @@
<minDepth>0.0</minDepth>
<mu1>0.200000</mu1>
<mu2>0.200000</mu2>
- <kp>0.0</kp>
- <kd>0.0</kd>
</gazebo>
<gazebo reference="${name}_near_qr_link">
@@ -211,8 +205,6 @@
<minDepth>0.0</minDepth>
<mu1>0.200000</mu1>
<mu2>0.200000</mu2>
- <kp>0.0</kp>
- <kd>0.0</kd>
</gazebo>
</xacro:macro>
diff --git a/darwin_description/urdf/darwin.gazebo b/darwin_description/urdf/darwin.gazebo
index d714feeee582f2a9c9154f7e2dad1cd11af34ff8..bdcb8b7cf106bff7862a080debeed23cedf62657 100644
--- a/darwin_description/urdf/darwin.gazebo
+++ b/darwin_description/urdf/darwin.gazebo
@@ -81,8 +81,6 @@
<minDepth>0.0</minDepth>
<mu1>0.200000</mu1>
<mu2>0.200000</mu2>
- <kp>0.0</kp>
- <kd>0.0</kd>
</gazebo>
<gazebo reference="neck">
@@ -94,8 +92,6 @@
<minDepth>0.0</minDepth>
<mu1>0.200000</mu1>
<mu2>0.200000</mu2>
- <kp>0.0</kp>
- <kd>0.0</kd>
</gazebo>
<gazebo reference="head">
@@ -107,8 +103,6 @@
<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">
@@ -120,8 +114,6 @@
<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">
@@ -133,8 +125,6 @@
<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">
@@ -146,8 +136,6 @@
<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">
@@ -159,8 +147,6 @@
<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">
@@ -172,8 +158,6 @@
<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">
@@ -185,8 +169,6 @@
<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">
@@ -198,8 +180,6 @@
<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">
@@ -211,8 +191,6 @@
<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">
@@ -224,8 +202,6 @@
<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">
@@ -237,8 +213,6 @@
<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">
@@ -250,8 +224,6 @@
<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">
@@ -263,8 +235,6 @@
<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">
@@ -276,8 +246,6 @@
<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">
@@ -289,8 +257,6 @@
<minDepth>0.0</minDepth>
<mu1>0.200000</mu1>
<mu2>0.200000</mu2>
- <kp>0.0</kp>
- <kd>0.0</kd>
</gazebo>
<gazebo reference="j_tilt">
diff --git a/darwin_description/urdf/gripper.gazebo b/darwin_description/urdf/gripper.gazebo
index 56857fcda98762e5465a76a3a65e35fc60f644eb..b935a753ab4c18e766e87c3c327df6090a142be9 100644
--- a/darwin_description/urdf/gripper.gazebo
+++ b/darwin_description/urdf/gripper.gazebo
@@ -16,8 +16,6 @@
<minDepth>0.0</minDepth>
<mu1>0.200000</mu1>
<mu2>0.200000</mu2>
- <kp>0.0</kp>
- <kd>0.0</kd>
</gazebo>
<gazebo reference="j_elbow_${name}">
@@ -39,8 +37,6 @@
<minDepth>0.0</minDepth>
<mu1>0.200000</mu1>
<mu2>0.200000</mu2>
- <kp>0.0</kp>
- <kd>0.0</kd>
</gazebo>
<gazebo reference="j_wrist_${name}">
@@ -62,8 +58,6 @@
<minDepth>0.0</minDepth>
<mu1>0.200000</mu1>
<mu2>0.200000</mu2>
- <kp>0.0</kp>
- <kd>0.0</kd>
</gazebo>
<gazebo reference="j_finger1_seg1_${name}">
@@ -85,8 +79,6 @@
<minDepth>0.0</minDepth>
<mu1>0.200000</mu1>
<mu2>0.200000</mu2>
- <kp>0.0</kp>
- <kd>0.0</kd>
</gazebo>
<gazebo reference="j_finger1_seg2_${name}">
@@ -108,8 +100,6 @@
<minDepth>0.0</minDepth>
<mu1>0.200000</mu1>
<mu2>0.200000</mu2>
- <kp>0.0</kp>
- <kd>0.0</kd>
</gazebo>
<gazebo reference="j_finger1_seg3_${name}">
@@ -131,8 +121,6 @@
<minDepth>0.0</minDepth>
<mu1>0.200000</mu1>
<mu2>0.200000</mu2>
- <kp>0.0</kp>
- <kd>0.0</kd>
</gazebo>
<gazebo reference="j_finger2_seg1_${name}">
@@ -154,8 +142,6 @@
<minDepth>0.0</minDepth>
<mu1>0.200000</mu1>
<mu2>0.200000</mu2>
- <kp>0.0</kp>
- <kd>0.0</kd>
</gazebo>
<gazebo reference="j_finger2_seg2_${name}">
@@ -177,8 +163,6 @@
<minDepth>0.0</minDepth>
<mu1>0.200000</mu1>
<mu2>0.200000</mu2>
- <kp>0.0</kp>
- <kd>0.0</kd>
</gazebo>
<gazebo reference="${name}_finger3_seg1">
@@ -194,8 +178,6 @@
<minDepth>0.0</minDepth>
<mu1>0.200000</mu1>
<mu2>0.200000</mu2>
- <kp>0.0</kp>
- <kd>0.0</kd>
</gazebo>
<gazebo reference="j_finger3_seg1_${name}">
@@ -217,8 +199,6 @@
<minDepth>0.0</minDepth>
<mu1>0.200000</mu1>
<mu2>0.200000</mu2>
- <kp>0.0</kp>
- <kd>0.0</kd>
</gazebo>
<gazebo reference="j_finger3_seg2_${name}">
@@ -240,8 +220,6 @@
<minDepth>0.0</minDepth>
<mu1>0.200000</mu1>
<mu2>0.200000</mu2>
- <kp>0.0</kp>
- <kd>0.0</kd>
</gazebo>
</xacro:macro>
diff --git a/darwin_description/urdf/gripper_sc.gazebo b/darwin_description/urdf/gripper_sc.gazebo
index d188a0cf1489dbbd8b0ab62bdbe6c0ed5c74c1fd..c6b54d23aaf68936b070a2628585ceefe938fa37 100644
--- a/darwin_description/urdf/gripper_sc.gazebo
+++ b/darwin_description/urdf/gripper_sc.gazebo
@@ -16,8 +16,6 @@
<minDepth>0.0</minDepth>
<mu1>0.200000</mu1>
<mu2>0.200000</mu2>
- <kp>0.0</kp>
- <kd>0.0</kd>
</gazebo>
<gazebo reference="j_elbow_${name}">
@@ -39,8 +37,6 @@
<minDepth>0.0</minDepth>
<mu1>0.200000</mu1>
<mu2>0.200000</mu2>
- <kp>0.0</kp>
- <kd>0.0</kd>
</gazebo>
<gazebo reference="j_gripper_bot_${name}">
@@ -62,8 +58,6 @@
<minDepth>0.0</minDepth>
<mu1>0.200000</mu1>
<mu2>0.200000</mu2>
- <kp>0.0</kp>
- <kd>0.0</kd>
</gazebo>
<gazebo reference="j_gripper_top_${name}">
diff --git a/darwin_description/urdf/left_foot.gazebo b/darwin_description/urdf/left_foot.gazebo
index dc76eb4086c32748612f736571bb2f7ceabfe212..f0be2f7e447f76422e28e11ce2702cd0b680cd4f 100644
--- a/darwin_description/urdf/left_foot.gazebo
+++ b/darwin_description/urdf/left_foot.gazebo
@@ -13,8 +13,6 @@
<minDepth>0.0</minDepth>
<mu1>1.000000</mu1>
<mu2>1.000000</mu2>
- <kp>0.0</kp>
- <kd>0.0</kd>
</gazebo>
<gazebo reference="j_ankle_roll_l">
diff --git a/darwin_description/urdf/left_hand.gazebo b/darwin_description/urdf/left_hand.gazebo
index 60cbc0171ade682806ab968cc7b9fd799f7478b3..bd86a71218430dcd94b7a79338f8e1e26a571d58 100644
--- a/darwin_description/urdf/left_hand.gazebo
+++ b/darwin_description/urdf/left_hand.gazebo
@@ -15,8 +15,6 @@
<minDepth>0.0</minDepth>
<mu1>0.200000</mu1>
<mu2>0.200000</mu2>
- <kp>0.0</kp>
- <kd>0.0</kd>
</gazebo>
<gazebo reference="j_elbow_l">
diff --git a/darwin_description/urdf/right_foot.gazebo b/darwin_description/urdf/right_foot.gazebo
index 8b477296013d3ed2ac4a9ee94f73f14e8c0fc5e3..3682735ec532dbe0c10f51a28c1902a2356d0a6e 100644
--- a/darwin_description/urdf/right_foot.gazebo
+++ b/darwin_description/urdf/right_foot.gazebo
@@ -13,8 +13,6 @@
<minDepth>0.0</minDepth>
<mu1>1.00000</mu1>
<mu2>1.00000</mu2>
- <kp>0.0</kp>
- <kd>0.0</kd>
</gazebo>
<gazebo reference="j_ankle_roll_r">
diff --git a/darwin_description/urdf/right_hand.gazebo b/darwin_description/urdf/right_hand.gazebo
index fc48d17c96643cb89295a06b967627e07fc36655..55df05a9462bca7bc3ffbd1f99f9431e55b707f2 100644
--- a/darwin_description/urdf/right_hand.gazebo
+++ b/darwin_description/urdf/right_hand.gazebo
@@ -15,8 +15,6 @@
<minDepth>0.0</minDepth>
<mu1>0.200000</mu1>
<mu2>0.200000</mu2>
- <kp>0.0</kp>
- <kd>0.0</kd>
</gazebo>
<gazebo reference="j_elbow_r">