This repository cointains the necesary files for working with TEO in the ArmarX enviroment.
TEO files are located in /teo, the main file is TEOSimox.xml.
Names used correspond to those documented here.
TEO: All robot joints.
TrunkChain: Upper body joints.
HeadChain: Head joints.
RightArmChain: Right arm joints.
LeftArmChain: Left arm joints.
RightLegChain: Right leg joints.
LeftLegChain: Left leg joints.
RightHandChain: Right hand joints
LeftHandChain: Left hand joints
They have been added and can be found in /teo/xmlfiles/collisionModels. It is a expanded 3D model over the normal of each plane. They were made with convexdecomposition from OpenRave. In order to give precision to the hands, they have a padding of 0. After they were converted to .stl using this.
For grasping capabilities one EndEffector for each hand was added: RightHandEEF and LeftHandEEF
The robot model has the masses, centers of mass and inertias of each part.
Created by Alvaro Martinez for his bachelor thesis (100317213[at]alumnos.uc3m.es, amrobled[at]ing.uc3m.es), 2017