feat: add table and initial position params
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c82466ed4a
commit
a10ded747a
3 changed files with 130 additions and 13 deletions
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@ -11,6 +11,7 @@
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<xacro:include filename="$(find dh_ag95_description)/urdf/dh_ag95_macro.urdf.xacro" />
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<xacro:include filename="$(find dh_ag145_description)/urdf/dh_ag145_macro.urdf.xacro" />
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<xacro:include filename="$(find aubo_description)/urdf/sensors.xacro" />
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<xacro:include filename="$(find simple_gz_gripper)/urdf/simple_gripper_macro.xacro"/>
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<xacro:property name="hardware" value="$(arg hardware)"/>
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<xacro:property name="robot_ip" value="$(arg robot_ip)"/>
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@ -242,11 +243,12 @@
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
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</joint>
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<!-- <xacro:if value="${with_gripper=='true'}"> -->
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<xacro:dh_ag145_gripper prefix="" parent="wrist3_Link">
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
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</xacro:dh_ag145_gripper>
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<!-- </xacro:if> -->
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<!-- <xacro:dh_ag145_gripper prefix="" parent="wrist3_Link"> -->
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<!-- <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" /> -->
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<!-- </xacro:dh_ag145_gripper> -->
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<xacro:simple_parallel_gripper prefix="" parent="wrist3_Link">
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 1.57" />
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</xacro:simple_parallel_gripper>
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<xacro:rgbd parent="wrist3_Link" tf_prefix="">
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@ -4,7 +4,7 @@
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<ros2_control name="aubo_hardware_interface" type="system">
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<hardware>
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<xacro:if value="${hardware=='gazebo'}">
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<plugin>gz_ros2_control/GazeboSimSystem</plugin>
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<plugin>gz_ros2_control/GazeboSimSystem</plugin>
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</xacro:if>
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<xacro:if value="${hardware=='mock'}">
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<plugin>mock_components/GenericSystem</plugin>
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@ -19,7 +19,9 @@
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<command_interface name="position" />
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<command_interface name="velocity" />
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<state_interface name="position" />
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<state_interface name="position">
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<param name="initial_value">0.0</param>
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</state_interface>
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<state_interface name="velocity" />
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</joint>
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@ -28,7 +30,14 @@
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<command_interface name="position" />
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<command_interface name="velocity" />
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<state_interface name="position" />
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<xacro:if value="${hardware=='gazebo'}">
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<state_interface name="position">
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<param name="initial_value">0.5</param>
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</state_interface>
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</xacro:if>
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<xacro:if value="${hardware=='real' or hardware=='mock'}">
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<state_interface name="position" />
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</xacro:if>
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<state_interface name="velocity" />
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</joint>
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@ -37,7 +46,14 @@
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<command_interface name="position" />
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<command_interface name="velocity" />
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<state_interface name="position" />
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<xacro:if value="${hardware=='gazebo'}">
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<state_interface name="position">
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<param name="initial_value">1.75</param>
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</state_interface>
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</xacro:if>
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<xacro:if value="${hardware=='real' or hardware=='mock'}">
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<state_interface name="position" />
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</xacro:if>
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<state_interface name="velocity" />
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</joint>
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@ -45,7 +61,14 @@
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<command_interface name="position" />
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<command_interface name="velocity" />
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<state_interface name="position" />
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<xacro:if value="${hardware=='gazebo'}">
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<state_interface name="position">
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<param name="initial_value">0.0</param>
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</state_interface>
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</xacro:if>
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<xacro:if value="${hardware=='real' or hardware=='mock'}">
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<state_interface name="position" />
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</xacro:if>
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<state_interface name="velocity" />
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</joint>
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@ -53,7 +76,14 @@
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<command_interface name="position" />
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<command_interface name="velocity" />
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<state_interface name="position" />
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<xacro:if value="${hardware=='gazebo'}">
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<state_interface name="position">
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<param name="initial_value">1.57</param>
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</state_interface>
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</xacro:if>
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<xacro:if value="${hardware=='real' or hardware=='mock'}">
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<state_interface name="position" />
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</xacro:if>
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<state_interface name="velocity" />
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</joint>
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@ -61,7 +91,14 @@
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<command_interface name="position" />
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<command_interface name="velocity" />
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<state_interface name="position" />
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<xacro:if value="${hardware=='gazebo'}">
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<state_interface name="position">
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<param name="initial_value">0.0</param>
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</state_interface>
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</xacro:if>
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<xacro:if value="${hardware=='real' or hardware=='mock'}">
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<state_interface name="position" />
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</xacro:if>
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<state_interface name="velocity" />
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</joint>
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@ -1,4 +1,4 @@
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<?xml version="1.0" ?>
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<?xml version="1.0"?>
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<sdf version="1.6">
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<world name="aubo-world">
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<physics name="1ms" type="dart">
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@ -66,5 +66,83 @@
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</link>
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</model>
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<model name="table">
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<static>true</static>
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<pose>0.5 0 0.1 0 0 0</pose>
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<link name="cylinder_link">
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<inertial auto="true" />
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<collision name="table_collision">
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<geometry>
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<box>
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<size>0.3 0.3 0.2</size>
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</box>
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</geometry>
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</collision>
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<visual name="table_visual">
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<geometry>
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<box>
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<size>0.3 0.3 0.2</size>
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</box>
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</geometry>
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<material>
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<ambient>0.6 0.3 0.3 1</ambient>
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<diffuse>0.6 0.3 0.3 1</diffuse>
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</material>
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</visual>
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</link>
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</model>
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<model name="simple_cylinder">
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<pose>0.5 0 0.252 0 0 0</pose>
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<link name="cylinder_link">
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<inertial>
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<mass>0.05</mass>
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<pose>0 0 0 0 0 0</pose>
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<inertia>
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<ixx>3.2083e-05</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>3.2083e-05</iyy>
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<iyz>0</iyz>
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<izz>1.0e-05</izz>
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</inertia>
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</inertial>
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<collision name="cylinder_collision">
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<geometry>
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<cylinder>
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<radius>0.03</radius>
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<length>0.1</length>
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</cylinder>
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</geometry>
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<surface>
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<contact>
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<ode>
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<min_depth>0.001</min_depth>
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<max_vel>0.01</max_vel>
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</ode>
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</contact>
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<friction>
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<ode>
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<mu>10.0</mu>
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<mu2>10.0</mu2>
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</ode>
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</friction>
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</surface>
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</collision>
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<visual name="cylinder_visual">
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<geometry>
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<cylinder>
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<radius>0.03</radius>
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<length>0.1</length>
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</cylinder>
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</geometry>
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<material>
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<ambient>0.3 0.3 0.6 1</ambient>
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<diffuse>0.3 0.3 0.6 1</diffuse>
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</material>
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</visual>
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</link>
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</model>
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</world>
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</sdf>
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