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NewRobotModuleYAML.in.yaml
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# Location of data files, all path in the YAML file are
# interpreted relative to this path unless they are absolute paths
path: "@JVRC_DESCRIPTION_PATH@"
name: NewRobotModuleYAML
urdf_path: urdf/jvrc1.urdf
# Force sensors attached to this robot
forceSensors:
- name: LeftFootForceSensor
parentBody: L_ANKLE_P_S
X_p_f:
rotation: [0, 0, 0]
translation: [0, 0, 0]
- name: RightFootForceSensor
parentBody: R_ANKLE_P_S
X_p_f: # either rotation or translation is actually optional here
translation: [0, 0, 0]
- name: LeftHandForceSensor
parentBody: L_WRIST_Y_S
X_p_f:
translation: [0, 0, 0]
- name: RightHandForceSensor
parentBody: R_WRIST_Y_S
X_p_f:
translation: [0, 0, 0]
# Body sensors attached to this robot
bodySensors:
- name: Accelerometer
parentBody: PELVIS_S
X_b_s:
translation: [-0.0325, 0.0, 0.1095]
- name: FloatingBase
parentBody: PELVIS_S
X_b_s:
translation: [0, 0, 0]
# List of collision objects
convexHulls:
l_ankle: # Collision name
- L_ANKLE_P_S # parent body
- convex/jvrc1/L_ANKLE_P_S-ch.txt # collision file
r_ankle: [R_ANKLE_P_S, convex/jvrc1/R_ANKLE_P_S-ch.txt]
WAIST_R_S: [WAIST_R_S, convex/jvrc1/WAIST_R_S-ch.txt]
L_SHOULDER_Y_S: [L_SHOULDER_Y_S, convex/jvrc1/L_SHOULDER_Y_S-ch.txt]
R_SHOULDER_Y_S: [R_SHOULDER_Y_S, convex/jvrc1/R_SHOULDER_Y_S-ch.txt]
# List of transformations that should be applied to the convex
# object in their parent's body coordinates system
collisionTransforms:
l_ankle:
translation: [0, 0, 0.05]
# If not specified for a convex then this is identity
# Set of self-collisions
minimalSelfCollisions:
- body1: WAIST_R_S # Name of a convex object
body2: L_SHOULDER_Y_S
iDist: 0.05
sDist: 0.01
damping: 0.0
- body1: WAIST_R_S # Name of a convex object
body2: R_SHOULDER_Y_S
iDist: 0.05
sDist: 0.01
damping: 0.0
- body1: l_ankle
body2: r_ankle
iDist: 0.05
sDist: 0.01
damping: 0.0
# Default orientation (quaternion) and position of the floating
# base
default_attitude: [1., 0., 0., 0., 0., 0., 0.8275]
# Default joint configuration (in radian/meter), if a joint is
# actuated and absent then the default configuration is 0 or the
# middle point of the joints limit range
stance:
L_ANKLE_P: [-0.33]
L_ANKLE_R: [-0.02]
L_ELBOW_P: [-0.52]
L_HIP_P: [-0.38]
L_HIP_R: [0.02]
L_KNEE: [0.72]
L_SHOULDER_P: [-0.052]
L_SHOULDER_R: [0.17]
L_SHOULDER_Y: [0.0]
R_ANKLE_P: [-0.33]
R_ANKLE_R: [-0.01]
R_ELBOW_P: [-0.52]
R_HIP_P: [-0.38]
R_HIP_R: [-0.01]
R_KNEE: [0.72]
R_SHOULDER_P: [-0.052]
R_SHOULDER_R: [-0.17]
WAIST_P: [0.13]