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simulation.launch
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<launch>
<arg name="debug" default="false"/>
<!-- Load the environment -->
<!--group ns="gazebo">
<node name="spawn_table" pkg="gazebo_ros" type="spawn_model"
args="-file $(find gerard_bauzil)/urdf/rolling_table.urdf -urdf
-x 0.5 -y 0. -z 0. -Y 0.
-model table" />
<node pkg="tf" type="static_transform_publisher"
name="odom_to_world"
args="0 0 0 0 0 0 1 world odom 100" />
</group -->
<include file="$(find talos_gazebo)/launch/talos_gazebo.launch" >
<!-- Gazebo args:
-u: paused
-->
<arg name="debug" value="$(arg debug)"/>
<arg name="extra_gazebo_args" value="-u"/>
<!---x -0.6340 -y -0.2027 -z 1.05 -R -0.034 -P 0.027 -Y 0.125-->
<!---x -0.6 -y -0.2 -z 1.0192720229567027-->
<arg name="gzpose" value="
-x 0. -y -0. -z 1.0199316910041052
-R -0.02265708 -P 0.06454163 -Y 0.
-J arm_left_1_joint 0.25847
-J arm_left_2_joint 0.173046
-J arm_left_3_joint -0.0002
-J arm_left_4_joint -0.525366
-J arm_left_5_joint 0.0
-J arm_left_6_joint 0.0
-J arm_left_7_joint 0.1
-J arm_right_1_joint -0.25847
-J arm_right_2_joint -0.173046
-J arm_right_3_joint 0.0002
-J arm_right_4_joint -0.525366
-J arm_right_5_joint 0.0
-J arm_right_6_joint 0.0
-J arm_right_7_joint 0.1
-J gripper_left_fingertip_1_joint 0.0
-J gripper_left_fingertip_2_joint 0.0
-J gripper_left_fingertip_3_joint 0.0
-J gripper_left_inner_double_joint 0.0
-J gripper_left_inner_single_joint 0.0
-J gripper_left_joint 0.0
-J gripper_left_motor_single_joint 0.0
-J gripper_right_fingertip_1_joint 0.0
-J gripper_right_fingertip_2_joint 0.0
-J gripper_right_fingertip_3_joint 0.0
-J gripper_right_inner_double_joint 0.0
-J gripper_right_inner_single_joint 0.0
-J gripper_right_joint 0.0
-J gripper_right_motor_single_joint 0.0
-J head_1_joint 0.0
-J head_2_joint 0.0
-J leg_left_1_joint 0.0
-J leg_left_2_joint 0.0
-J leg_left_3_joint -0.411354
-J leg_left_4_joint 0.859395
-J leg_left_5_joint -0.448041
-J leg_left_6_joint -0.001708
-J leg_right_1_joint 0.0
-J leg_right_2_joint 0.0
-J leg_right_3_joint -0.411354
-J leg_right_4_joint 0.859395
-J leg_right_5_joint -0.448041
-J leg_right_6_joint -0.001708
-J torso_1_joint 0.0
-J torso_2_joint 0.006761
"/>
<!---0.017683184544140064, 0.012418080940971276, 0.06250270795619342, 0.997810857702132,-->
</include>
</launch>