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hrp2jsknts.yaml
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hrp2jsknts.yaml
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##
## - collada_joint_name : euslisp_joint_name (start with :)
##
rleg:
- RLEG_JOINT0 : rleg-crotch-y
- RLEG_JOINT1 : rleg-crotch-r
- RLEG_JOINT2 : rleg-crotch-p
- RLEG_JOINT3 : rleg-knee-p
- RLEG_JOINT4 : rleg-ankle-p
- RLEG_JOINT5 : rleg-ankle-r
- RLEG_JOINT6 : rleg-toe-p
lleg:
- LLEG_JOINT0 : lleg-crotch-y
- LLEG_JOINT1 : lleg-crotch-r
- LLEG_JOINT2 : lleg-crotch-p
- LLEG_JOINT3 : lleg-knee-p
- LLEG_JOINT4 : lleg-ankle-p
- LLEG_JOINT5 : lleg-ankle-r
- LLEG_JOINT6 : lleg-toe-p
torso:
- CHEST_JOINT0 : torso-waist-y
- CHEST_JOINT1 : torso-waist-p
head:
- HEAD_JOINT0 : head-neck-y
- HEAD_JOINT1 : head-neck-p
rarm:
- RARM_JOINT0 : rarm-shoulder-p
- RARM_JOINT1 : rarm-shoulder-r
- RARM_JOINT2 : rarm-shoulder-y
- RARM_JOINT3 : rarm-elbow-p
- RARM_JOINT4 : rarm-wrist-y
- RARM_JOINT5 : rarm-wrist-r
- RARM_JOINT6 : rarm-wrist-p
- RARM_JOINT7 : rarm-thumb-r
larm:
- LARM_JOINT0 : larm-shoulder-p
- LARM_JOINT1 : larm-shoulder-r
- LARM_JOINT2 : larm-shoulder-y
- LARM_JOINT3 : larm-elbow-p
- LARM_JOINT4 : larm-wrist-y
- LARM_JOINT5 : larm-wrist-r
- LARM_JOINT6 : larm-wrist-p
- LARM_JOINT7 : larm-thumb-r
##
## end-coords
##
rleg-end-coords:
# Original foot
# translate : [-0.079411, -0.01, -0.031]
# Karasawa sole plate [3mm]
translate : [-0.079411, -0.01, -0.034]
lleg-end-coords:
# Original foot
# translate : [-0.079411, 0.01, -0.031]
# Karasawa sole plate [3mm]
translate : [-0.079411, 0.01, -0.034]
torso-end-coords:
translate : [-0.032, 0.0, -1.0557]
head-end-coords:
translate : [0.079, 0.0, 0.1335]
rotate : [0.0, 1.0, 0.0, 99.9999]
rarm-end-coords:
translate : [-0.0042, 0.0392, -0.1245]
rotate : [0.0, 1.0, 0.0, 90.0]
parent : RARM_LINK6
larm-end-coords:
translate : [-0.0042, -0.0392, -0.1245]
rotate : [0.0, 1.0, 0.0, 90.0]
parent : LARM_LINK6
sensors:
- sensor_name: lfsensor
parent_link: LLEG_LINK5
translate: '0 0 -0.105'
sensor_type: 'base_force6d'
- sensor_name: rfsensor
parent_link: RLEG_LINK5
translate: '0 0 -0.105'
sensor_type: 'base_force6d'
- sensor_name: lhsensor
parent_link: LARM_LINK6
translate: '0 0 -0.077'
sensor_type: 'base_force6d'
- sensor_name: rhsensor
parent_link: RARM_LINK6
translate: '0 0 -0.077'
sensor_type: 'base_force6d'
# - sensor_name: CARMINE
# parent_link: HEAD_LINK1
# translate: '0.093 0.017 0.131'
# rotate: '-0.606685 0.62878 -0.486384 126.205'
# sensor_type: 'camera'
# - sensor_name: camera_link
# parent_link: CARMINE
# translate: '-0.045 0.0 0.0'
# rotate: '0.577311 -0.577311 0.577429 120.013'
# sensor_type: 'camera'
- sensor_name: camera_link
parent_link: HEAD_LINK1
translate: '0.053 0.052 0.119'
rotate: '0.029745 0.997072 -0.070452 17.6947'
sensor_type: 'camera'
- sensor_name: camera_rgb_frame
parent_link: camera_link
translate: '0 -0.045 0'
sensor_type: 'camera'
- sensor_name: camera_rgb_optical_frame
parent_link: camera_rgb_frame
translate: '0 0 0'
rotate: '-0.577311 0.577429 -0.577311 120.013'
sensor_type: 'camera'
- sensor_name: camera_depth_frame
parent_link: camera_link
translate: '0 -0.02 0'
sensor_type: 'camera'
- sensor_name: camera_depth_optical_frame
parent_link: camera_depth_frame
tranlsate: '0 0 0'
rotate: '-0.577311 0.577429 -0.577311 120.013'
sensor_type: 'camera'
- sensor_name: LARM_cb_jig
parent_link: LARM_LINK6
translate: '0 0.2 -0.2'
rotate: '0.0 0.0 1.0 90'
sensor_type: 'camera'
- sensor_name: RARM_cb_jig
parent_link: RARM_LINK6
translate: '0 -0.2 -0.2'
rotate: '0.0 0.0 1.0 90'
sensor_type: 'camera'
- sensor_name: fisheye
parent_link: CHEST_LINK1
translate: '0.13 0.0 0.21'
rotate: '0.92269 -0.000735 0.385543 179.965'
sensor_type: 'camera'
##
## reset-pose
##
angle-vector:
reset-pose : [0.0, 0, -26, 50, -24, 0, 0,
0.0, 0, -26, 50, -24, 0, 0,
0.0, 0.0,
0.0, 0.0,
10.0, -10.0, 0.0, -25.0, 0.0, 0.0, -10.0, 15.0,
10.0, 10.0, 0.0, -25.0, 0.0, 0.0, -10.0, -15.0]
reset-manip-pose : [0.0, 0.0, -26.0, 50.0, -24.0, 0.0, 0.0,
0.0, 0.0, -26.0, 50.0, -24.0, 0.0, 0.0,
0.0, 0.0,
0.0, 40.0,
50.0, -30.0, -10.0, -120.0, -25.0, -5.0, -20.0, 60.0,
50.0, 30.0, 10.0, -120.0, 25.0, 5.0, -20.0, -60.0]
# for gazebo simulation
replace_xmls:
- match_rule:
tag: mass
attribute_name: value
attribute_value: '0'
replaced_xml: '<mass value="1e-03" />'
- match_rule:
tag: inertia
attribute_name: ixx
attribute_value: '0'
replaced_xml: '<inertia ixx="1e-02" ixy="0" ixz="0" iyy="1e-02" iyz="0" izz="1e-02"/>'
- match_rule:
tag: gazebo
attribute_name: reference
attribute_value: LLEG_LINK5
replaced_xml: '<gazebo reference="LLEG_LINK5">\n <kp>1400000.0</kp>\n <kd>280.0</kd>\n <mu1>1.5</mu1>\n <mu2>1.5</mu2>\n <fdir1>1 0 0</fdir1>\n <maxVel>10.0</maxVel>\n <minDepth>0.00</minDepth>\n </gazebo>'
- match_rule:
tag: gazebo
attribute_name: reference
attribute_value: RLEG_LINK5
replaced_xml: '<gazebo reference="RLEG_LINK5">\n <kp>1400000.0</kp>\n <kd>280.0</kd>\n <mu1>1.5</mu1>\n <mu2>1.5</mu2>\n <fdir1>1 0 0</fdir1>\n <maxVel>10.0</maxVel>\n <minDepth>0.00</minDepth>\n </gazebo>'
- match_rule:
tag: gazebo
attribute_name: reference
attribute_value: LLEG_LINK6
replaced_xml: '<gazebo reference="LLEG_LINK6">\n <kp>1400000.0</kp>\n <kd>280.0</kd>\n <mu1>1.5</mu1>\n <mu2>1.5</mu2>\n <fdir1>1 0 0</fdir1>\n <maxVel>10.0</maxVel>\n <minDepth>0.00</minDepth>\n </gazebo>'
- match_rule:
tag: gazebo
attribute_name: reference
attribute_value: RLEG_LINK6
replaced_xml: '<gazebo reference="RLEG_LINK6">\n <kp>1400000.0</kp>\n <kd>280.0</kd>\n <mu1>1.5</mu1>\n <mu2>1.5</mu2>\n <fdir1>1 0 0</fdir1>\n <maxVel>10.0</maxVel>\n <minDepth>0.00</minDepth>\n </gazebo>'
- match_rule:
tag: limit
attribute_name: velocity
attribute_value: 0.5
replaced_attribute_value: 10.0
- match_rule:
tag: limit
attribute_name: effort
attribute_value: 100
replaced_attribute_value: 1000
- match_rule:
tag: dynamics
attribute_name: friction
attribute_value: 0
replaced_attribute_value: 1
- match_rule:
tag: dynamics
attribute_name: damping
attribute_value: 0.2
replaced_attribute_value: 1
# for hands
- match_rule:
tag: inertia
parent_depth: 2
parent_attribute_name: name
parent_attribute_value: L_INDEXMP_R_LINK
replaced_xml: '<inertia ixx="1e-02" ixy="0" ixz="0" iyy="1e-02" iyz="0" izz="1e-02"/>'
- match_rule:
tag: inertia
parent_depth: 2
parent_attribute_name: name
parent_attribute_value: L_INDEXMP_P_LINK
replaced_xml: '<inertia ixx="1e-02" ixy="0" ixz="0" iyy="1e-02" iyz="0" izz="1e-02"/>'
- match_rule:
tag: inertia
parent_depth: 2
parent_attribute_name: name
parent_attribute_value: L_INDEXPIP_R_LINK
replaced_xml: '<inertia ixx="1e-02" ixy="0" ixz="0" iyy="1e-02" iyz="0" izz="1e-02"/>'
- match_rule:
tag: inertia
parent_depth: 2
parent_attribute_name: name
parent_attribute_value: L_MIDDLEPIP_R_LINK
replaced_xml: '<inertia ixx="1e-02" ixy="0" ixz="0" iyy="1e-02" iyz="0" izz="1e-02"/>'
- match_rule:
tag: inertia
parent_depth: 2
parent_attribute_name: name
parent_attribute_value: L_THUMBCM_Y_LINK
replaced_xml: '<inertia ixx="1e-02" ixy="0" ixz="0" iyy="1e-02" iyz="0" izz="1e-02"/>'
- match_rule:
tag: inertia
parent_depth: 2
parent_attribute_name: name
parent_attribute_value: L_THUMBCM_P_LINK
replaced_xml: '<inertia ixx="1e-02" ixy="0" ixz="0" iyy="1e-02" iyz="0" izz="1e-02"/>'
- match_rule:
tag: gazebo
attribute_name: reference
attribute_value: L_INDEXMP_R_LINK
replaced_xml: '<gazebo reference="L_INDEXMP_R_LINK">\n <kp>140.0</kp>\n <kd>2800.0</kd>\n <mu1>1.5</mu1>\n <mu2>1.5</mu2>\n <fdir1>1 0 0</fdir1>\n <maxVel>10.0</maxVel>\n <minDepth>0.00</minDepth>\n </gazebo>'
- match_rule:
tag: gazebo
attribute_name: reference
attribute_value: L_INDEXMP_P_LINK
replaced_xml: '<gazebo reference="L_INDEXMP_P_LINK">\n <kp>140.0</kp>\n <kd>2800.0</kd>\n <mu1>1.5</mu1>\n <mu2>1.5</mu2>\n <fdir1>1 0 0</fdir1>\n <maxVel>10.0</maxVel>\n <minDepth>0.00</minDepth>\n </gazebo>'
- match_rule:
tag: gazebo
attribute_name: reference
attribute_value: L_INDEXPIP_R_LINK
replaced_xml: '<gazebo reference="L_INDEXPIP_R_LINK">\n <kp>140.0</kp>\n <kd>2800.0</kd>\n <mu1>1.5</mu1>\n <mu2>1.5</mu2>\n <fdir1>1 0 0</fdir1>\n <maxVel>10.0</maxVel>\n <minDepth>0.00</minDepth>\n </gazebo>'
- match_rule:
tag: gazebo
attribute_name: reference
attribute_value: L_MIDDLEPIP_R_LINK
replaced_xml: '<gazebo reference="L_MIDDLEPIP_R_LINK">\n <kp>140.0</kp>\n <kd>2800.0</kd>\n <mu1>1.5</mu1>\n <mu2>1.5</mu2>\n <fdir1>1 0 0</fdir1>\n <maxVel>10.0</maxVel>\n <minDepth>0.00</minDepth>\n </gazebo>'
- match_rule:
tag: gazebo
attribute_name: reference
attribute_value: L_THUMBCM_Y_LINK
replaced_xml: '<gazebo reference="L_THUMBCM_Y_LINK">\n <kp>140.0</kp>\n <kd>2800.0</kd>\n <mu1>1.5</mu1>\n <mu2>1.5</mu2>\n <fdir1>1 0 0</fdir1>\n <maxVel>10.0</maxVel>\n <minDepth>0.00</minDepth>\n </gazebo>'
- match_rule:
tag: gazebo
attribute_name: reference
attribute_value: L_THUMBCM_P_LINK
replaced_xml: '<gazebo reference="L_THUMBCM_P_LINK">\n <kp>140.0</kp>\n <kd>2800.0</kd>\n <mu1>1.5</mu1>\n <mu2>1.5</mu2>\n <fdir1>1 0 0</fdir1>\n <maxVel>10.0</maxVel>\n <minDepth>0.00</minDepth>\n </gazebo>'
- match_rule:
tag: inertia
parent_depth: 2
parent_attribute_name: name
parent_attribute_value: R_INDEXMP_R_LINK
replaced_xml: '<inertia ixx="1e-02" ixy="0" ixz="0" iyy="1e-02" iyz="0" izz="1e-02"/>'
- match_rule:
tag: inertia
parent_depth: 2
parent_attribute_name: name
parent_attribute_value: R_INDEXMP_P_LINK
replaced_xml: '<inertia ixx="1e-02" ixy="0" ixz="0" iyy="1e-02" iyz="0" izz="1e-02"/>'
- match_rule:
tag: inertia
parent_depth: 2
parent_attribute_name: name
parent_attribute_value: R_INDEXPIP_R_LINK
replaced_xml: '<inertia ixx="1e-02" ixy="0" ixz="0" iyy="1e-02" iyz="0" izz="1e-02"/>'
- match_rule:
tag: inertia
parent_depth: 2
parent_attribute_name: name
parent_attribute_value: R_MIDDLEPIP_R_LINK
replaced_xml: '<inertia ixx="1e-02" ixy="0" ixz="0" iyy="1e-02" iyz="0" izz="1e-02"/>'
- match_rule:
tag: inertia
parent_depth: 2
parent_attribute_name: name
parent_attribute_value: R_THUMBCM_Y_LINK
replaced_xml: '<inertia ixx="1e-02" ixy="0" ixz="0" iyy="1e-02" iyz="0" izz="1e-02"/>'
- match_rule:
tag: inertia
parent_depth: 2
parent_attribute_name: name
parent_attribute_value: R_THUMBCM_P_LINK
replaced_xml: '<inertia ixx="1e-02" ixy="0" ixz="0" iyy="1e-02" iyz="0" izz="1e-02"/>'
- match_rule:
tag: gazebo
attribute_name: reference
attribute_value: R_INDEXMP_R_LINK
replaced_xml: '<gazebo reference="R_INDEXMP_R_LINK">\n <kp>140.0</kp>\n <kd>2800.0</kd>\n <mu1>1.5</mu1>\n <mu2>1.5</mu2>\n <fdir1>1 0 0</fdir1>\n <maxVel>10.0</maxVel>\n <minDepth>0.00</minDepth>\n </gazebo>'
- match_rule:
tag: gazebo
attribute_name: reference
attribute_value: R_INDEXMP_P_LINK
replaced_xml: '<gazebo reference="R_INDEXMP_P_LINK">\n <kp>140.0</kp>\n <kd>2800.0</kd>\n <mu1>1.5</mu1>\n <mu2>1.5</mu2>\n <fdir1>1 0 0</fdir1>\n <maxVel>10.0</maxVel>\n <minDepth>0.00</minDepth>\n </gazebo>'
- match_rule:
tag: gazebo
attribute_name: reference
attribute_value: R_INDEXPIP_R_LINK
replaced_xml: '<gazebo reference="R_INDEXPIP_R_LINK">\n <kp>140.0</kp>\n <kd>2800.0</kd>\n <mu1>1.5</mu1>\n <mu2>1.5</mu2>\n <fdir1>1 0 0</fdir1>\n <maxVel>10.0</maxVel>\n <minDepth>0.00</minDepth>\n </gazebo>'
- match_rule:
tag: gazebo
attribute_name: reference
attribute_value: R_MIDDLEPIP_R_LINK
replaced_xml: '<gazebo reference="R_MIDDLEPIP_R_LINK">\n <kp>140.0</kp>\n <kd>2800.0</kd>\n <mu1>1.5</mu1>\n <mu2>1.5</mu2>\n <fdir1>1 0 0</fdir1>\n <maxVel>10.0</maxVel>\n <minDepth>0.00</minDepth>\n </gazebo>'
- match_rule:
tag: gazebo
attribute_name: reference
attribute_value: R_THUMBCM_Y_LINK
replaced_xml: '<gazebo reference="R_THUMBCM_Y_LINK">\n <kp>140.0</kp>\n <kd>2800.0</kd>\n <mu1>1.5</mu1>\n <mu2>1.5</mu2>\n <fdir1>1 0 0</fdir1>\n <maxVel>10.0</maxVel>\n <minDepth>0.00</minDepth>\n </gazebo>'
- match_rule:
tag: gazebo
attribute_name: reference
attribute_value: R_THUMBCM_P_LINK
replaced_xml: '<gazebo reference="R_THUMBCM_P_LINK">\n <kp>140.0</kp>\n <kd>2800.0</kd>\n <mu1>1.5</mu1>\n <mu2>1.5</mu2>\n <fdir1>1 0 0</fdir1>\n <maxVel>10.0</maxVel>\n <minDepth>0.00</minDepth>\n </gazebo>'