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YoheiKakiuchiYoheiKakiuchi
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Merge pull request start-jsk#136 from YoheiKakiuchi/update_staro_gazebo
Update staro gazebo
2 parents cee6dc6 + 43684fc commit beb2062

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‎hrpsys_gazebo_tutorials/config/L_ROBOTIQ.yaml

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hrpsys_gazebo_configuration:
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publish_joint_state:
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topic: /joint_states
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step: 25
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## velocity feedback for joint control, use parameter gains/joint_name/p_v
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# use_velocity_feedback: true
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## synchronized hrpsys and gazebo
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# use_synchronized_command: false
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# name of robot (using for namespace)
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robotname: L_ROBOTIQ
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# joint_id (order) conversion from gazebo to hrpsys, joint_id_list[gazebo_id] := hrpsys_id
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joint_id_list: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11]
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# joints list used in gazebo, sizeof(joint_id_list) == sizeof(joints)
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joints:
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- L_finger_1_joint_1
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- L_finger_1_joint_2
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- L_finger_1_joint_3
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- L_finger_2_joint_1
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- L_finger_2_joint_2
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- L_finger_2_joint_3
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- L_finger_middle_joint_1
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- L_finger_middle_joint_2
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- L_finger_middle_joint_3
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- L_palm_finger_1_joint
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- L_palm_finger_2_joint
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- L_palm_finger_middle_joint
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## jointid:
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gains:
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L_finger_1_joint_1 : {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
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L_finger_1_joint_2 : {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
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L_finger_1_joint_3 : {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
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L_finger_2_joint_1 : {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
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L_finger_2_joint_2 : {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
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L_finger_2_joint_3 : {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
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L_finger_middle_joint_1 : {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
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L_finger_middle_joint_2 : {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
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L_finger_middle_joint_3 : {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
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L_palm_finger_1_joint : {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
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L_palm_finger_2_joint : {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
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L_palm_finger_middle_joint : {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}

‎hrpsys_gazebo_tutorials/config/R_ROBOTIQ.yaml

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hrpsys_gazebo_configuration:
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publish_joint_state:
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topic: /joint_states
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step: 25
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## velocity feedback for joint control, use parameter gains/joint_name/p_v
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# use_velocity_feedback: true
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## synchronized hrpsys and gazebo
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# use_synchronized_command: false
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# name of robot (using for namespace)
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robotname: R_ROBOTIQ
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# joint_id (order) conversion from gazebo to hrpsys, joint_id_list[gazebo_id] := hrpsys_id
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joint_id_list: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11]
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# joints list used in gazebo, sizeof(joint_id_list) == sizeof(joints)
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joints:
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- R_finger_1_joint_1
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- R_finger_1_joint_2
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- R_finger_1_joint_3
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- R_finger_2_joint_1
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- R_finger_2_joint_2
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- R_finger_2_joint_3
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- R_finger_middle_joint_1
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- R_finger_middle_joint_2
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- R_finger_middle_joint_3
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- R_palm_finger_1_joint
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- R_palm_finger_2_joint
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- R_palm_finger_middle_joint
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## jointid:
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gains:
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R_finger_1_joint_1 : {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
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R_finger_1_joint_2 : {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
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R_finger_1_joint_3 : {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
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R_finger_2_joint_1 : {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
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R_finger_2_joint_2 : {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
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R_finger_2_joint_3 : {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
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R_finger_middle_joint_1 : {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
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R_finger_middle_joint_2 : {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
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R_finger_middle_joint_3 : {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
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R_palm_finger_1_joint : {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
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R_palm_finger_2_joint : {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}
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R_palm_finger_middle_joint : {p: 10.0, d: 0.01, i: 0.0, i_clamp: 0.0, p_v: 10.0}

‎hrpsys_gazebo_tutorials/launch/gazebo_staro_no_controllers.launch

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<arg name="WORLD" default="$(find hrpsys_gazebo_general)/worlds/empty_add_cfm.world"/>
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<arg name="PAUSED" default="false"/>
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<arg name="SYNCHRONIZED" default="false" />
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<arg name="USE_HAND" default="true" />
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<arg if="$(arg USE_HAND)"
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name="USE_MODEL" value="$(find hrpsys_gazebo_tutorials)/robot_models/STARO/STARO_with_hand.urdf.xacro" />
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<rosparam if="$(arg USE_HAND)"
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command="load"
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file="$(find hrpsys_gazebo_tutorials)/config/L_ROBOTIQ.yaml" ns="L_ROBOTIQ" />
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<rosparam if="$(arg USE_HAND)"
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command="load"
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file="$(find hrpsys_gazebo_tutorials)/config/R_ROBOTIQ.yaml" ns="R_ROBOTIQ" />
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<arg unless="$(arg USE_HAND)"
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name="USE_MODEL" value="$(find hrpsys_gazebo_tutorials)/robot_models/STARO/STARO.urdf.xacro" />
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<include file="$(find hrpsys_gazebo_general)/launch/gazebo_robot_no_controllers.launch">
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<arg name="ROBOT_TYPE" value="STARO" />
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<arg name="WORLD" value="$(arg WORLD)" />
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<arg name="HRPSYS_GAZEBO_CONFIG" default="$(find hrpsys_gazebo_tutorials)/config/STARO.yaml" />
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<arg name="ROBOT_MODEL" default="$(find hrpsys_gazebo_tutorials)/robot_models/STARO/STARO.urdf.xacro" />
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<arg name="ROBOT_MODEL" value="$(arg USE_MODEL)" />
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<arg name="PAUSED" value="$(arg PAUSED)"/>
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<arg name="SYNCHRONIZED" value="$(arg SYNCHRONIZED)" />

‎hrpsys_gazebo_tutorials/robot_models/ROBOTIQ/ROBOTIQ.urdf.xacro

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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="ROBOTIQ" >
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<xacro:include filename="$(find robotiq_hand_description)/urdf/robotiq_hand.urdf.xacro" />
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<xacro:macro name="robotiq_hand_for_gazebo" params="prefix parent *origin" >
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<xacro:robotiq_hand prefix="${prefix}" parent="${parent}" reflect="-1">
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<insert_block name="origin"/>
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</xacro:robotiq_hand>
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<!-- add IOB plugin -->
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<gazebo>
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<plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin" >
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<robotname>${prefix}ROBOTIQ</robotname>
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<controller>hrpsys_gazebo_configuration</controller>
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</plugin>
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</gazebo>
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</xacro:macro>
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</robot>

‎hrpsys_gazebo_tutorials/robot_models/STARO/STARO.urdf.xacro

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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="STARO" >
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<xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/STARO/STARO.urdf" />
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<xacro:include filename="$(find multisense_sl_description)/urdf/multisense_sl_v4.urdf" />
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<!-- add IOB plugin -->
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<gazebo>
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<plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin" >

‎hrpsys_gazebo_tutorials/robot_models/STARO/STARO_with_hand.urdf.xacro

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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="STARO" >
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<xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/STARO/STARO.urdf" />
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<xacro:include filename="$(find multisense_sl_description)/urdf/multisense_sl_v4.urdf" />
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<xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/ROBOTIQ/ROBOTIQ.urdf.xacro" />
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<joint name="staro_to_multisense" type="fixed">
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<parent link="HEAD_LINK1" />
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<child link="head" />
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<origin xyz="0.075 0 0.15" rpy="0 0 0"/>
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</joint>
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<xacro:robotiq_hand_for_gazebo prefix="L_" parent="LARM_LINK7">
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<origin xyz="-0.027224 0.149 -0.027224" rpy="-1.5707963268 -0.7853981634 3.1415926536" />
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</xacro:robotiq_hand_for_gazebo>
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<xacro:robotiq_hand_for_gazebo prefix="R_" parent="RARM_LINK7">
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<origin xyz="-0.027224 -0.149 -0.027224" rpy="-1.5707963268 -0.7853981634 3.1415926536" />
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</xacro:robotiq_hand_for_gazebo>
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<!-- add IOB plugin -->
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<gazebo>
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<plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin" >
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<robotname>STARO</robotname>
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<controller>hrpsys_gazebo_configuration</controller>
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</plugin>
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</gazebo>
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<!-- add imu sensor -->
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<gazebo reference="CHEST_LINK1" >
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<sensor name="waist_imu" type="imu">
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<always_on>1</always_on>
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<update_rate>1000.0</update_rate>
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<imu>
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<noise>
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<type>gaussian</type>
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<rate>
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<mean>0.0</mean>
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<stddev>2e-4</stddev>
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<bias_mean>0.0000075</bias_mean>
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<bias_stddev>0.0000008</bias_stddev>
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</rate>
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<accel>
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<mean>0.0</mean>
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<stddev>1.7e-2</stddev>
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<bias_mean>0.1</bias_mean>
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<bias_stddev>0.001</bias_stddev>
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</accel>
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</noise>
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</imu>
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</sensor>
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</gazebo>
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</robot>

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