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Merge branch 'main' into 77-cartesian-controllers

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This commit is contained in:
Ilya Uraev 2024-01-13 01:49:08 +03:00
commit 2755209c66
144 changed files with 100976 additions and 4303 deletions
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2
rbs_simulation/launch/get_urdf.launch.py
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@ -20,7 +20,7 @@ def generate_launch_description():
"prefix": "",
"sim_mujoco": "true",
"simulation_controllers": str(initial_joint_controllers_file_path),
"with_gripper": "false"
"with_gripper": "true"
})
robot_desc = doc.toprettyxml(indent=' ')

38
rbs_simulation/launch/simulation.launch.py
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@ -34,8 +34,9 @@ def generate_launch_description():
env_manager_cond = LaunchConfiguration("env_manager")
gazebo_gui = LaunchConfiguration("gazebo_gui")
# FIXME: To args when we'll have different files
# TODO: Use global variable to find world file in robossembler_db
world_config_file = PathJoinSubstitution(
[FindPackageShare("rbs_simulation"), "worlds", "mir.sdf"]
[FindPackageShare("rbs_simulation"), "worlds", "asm2.sdf"]
)
# Gazebo nodes
@ -63,16 +64,45 @@ def generate_launch_description():
'-topic', '/robot_description'],
output='screen',
condition=IfCondition(sim_gazebo))
env_manager = Node(package="env_manager",
executable="env_manager_node",
executable="run_env_manager",
condition=IfCondition(env_manager_cond)
)
# Bridge
rgbd_bridge_out = Node(
package='ros_gz_bridge',
executable='parameter_bridge',
arguments=[
'/outer_rgbd_camera/image@sensor_msgs/msg/Image@gz.msgs.Image',
'/outer_rgbd_camera/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo',
'/outer_rgbd_camera/depth_image@sensor_msgs/msg/Image@gz.msgs.Image',
'/outer_rgbd_camera/points@sensor_msgs/msg/PointCloud2@gz.msgs.PointCloudPacked'
],
output='screen',
condition=IfCondition(sim_gazebo)
)
rgbd_bridge_in = Node(
package='ros_gz_bridge',
executable='parameter_bridge',
arguments=[
'/inner_rgbd_camera/image@sensor_msgs/msg/Image@gz.msgs.Image',
'/inner_rgbd_camera/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo',
'/inner_rgbd_camera/depth_image@sensor_msgs/msg/Image@gz.msgs.Image',
'/inner_rgbd_camera/points@sensor_msgs/msg/PointCloud2@gz.msgs.PointCloudPacked'
],
output='screen',
)
nodes_to_start = [
gazebo,
gazebo_server,
gazebo_spawn_robot,
env_manager
env_manager,
rgbd_bridge_out,
rgbd_bridge_in
]
return LaunchDescription(declared_arguments + nodes_to_start)

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rbs_simulation/models/fork/meshes/collision/fork.stl Normal file
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rbs_simulation/models/fork/meshes/visual/fork.dae Normal file
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14
rbs_simulation/models/fork/model.config Normal file
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@ -0,0 +1,14 @@
<?xml version="1.0"?>
<model>
<name>fork</name>
<sdf version="1.9">model.sdf</sdf>
<author>
<name>bill-finger</name>
<email>ur.narmak@gmail.com</email>
</author>
<description>
The fork link of rbs_arm
</description>
</model>

58
rbs_simulation/models/fork/model.sdf Normal file
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@ -0,0 +1,58 @@
<?xml version="1.0" ?>
<sdf version="1.9">
<model name="fork">
<pose>0 0 0.015 0 0 0</pose>
<link name="link">
<inertial>
<inertia>
<ixx>0.00004167</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>0.00004167</iyy>
<iyz>0.0</iyz>
<izz>0.00004167</izz>
</inertia>
<mass>0.1</mass>
</inertial>
<!-- <gravity>0</gravity> -->
<collision name="collision">
<geometry>
<mesh>
<uri>meshes/collision/fork.stl</uri>
</mesh>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode>
<slip>
0.3
</slip>
</ode>
</torsional>
<ode>
<mu>0.2</mu>
<mu2>0.2</mu2>
</ode>
</friction>
</surface>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>meshes/visual/fork.dae</uri>
</mesh>
</geometry>
<!-- <material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material> -->
</visual>
</link>
</model>
</sdf>

107
rbs_simulation/worlds/asm2.sdf Normal file
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@ -0,0 +1,107 @@
<?xml version="1.0"?>
<sdf version='1.9'>
<world name='asm2'>
<physics name='1ms' type='ignored'>
<max_step_size>0.001</max_step_size>
<real_time_factor>1.0</real_time_factor>
<real_time_update_rate>1000</real_time_update_rate>
</physics>
<plugin name='ignition::gazebo::systems::Physics' filename='ignition-gazebo-physics-system'/>
<plugin name='ignition::gazebo::systems::UserCommands' filename='ignition-gazebo-user-commands-system'/>
<plugin name='ignition::gazebo::systems::SceneBroadcaster' filename='ignition-gazebo-scene-broadcaster-system'/>
<plugin name='ignition::gazebo::systems::Contact' filename='ignition-gazebo-contact-system'/>
<plugin name="ignition::gazebo::systems::Sensors" filename="ignition-gazebo-sensors-system">
<render_engine>ogre2</render_engine>
</plugin>
<gravity>0 0 -9.8</gravity>
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
<atmosphere type='adiabatic'/>
<scene>
<ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>false</shadows>
</scene>
<gui fullscreen="0">
<plugin filename="GzScene3D" name="3D View">
<ignition-gui>
<title>3D View</title>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</ignition-gui>
<engine>ogre2</engine>
<scene>scene</scene>
<ambient_light>1.0 1.0 1.0</ambient_light>
<background_color>0.4 0.6 1.0</background_color>
<camera_pose>3.3 2.8 2.8 0 0.5 -2.4</camera_pose>
</plugin>
<plugin filename="WorldStats" name="World stats">
<ignition-gui>
<title>World stats</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">110</property>
<property type="double" key="width">290</property>
<property type="double" key="z">1</property>
<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="right" target="right"/>
<line own="bottom" target="bottom"/>
</anchors>
</ignition-gui>
<sim_time>true</sim_time>
<real_time>true</real_time>
<real_time_factor>true</real_time_factor>
<iterations>true</iterations>
</plugin>
</gui>
<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>
<model name='ground'>
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
</plane>
</geometry>
</collision>
<visual name="visual">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
</link>
</model>
<!-- Manipulating objects -->
<include>
<name>board</name>
<uri>model://board</uri>
<pose>0.45 0.0 0.0 0.0 0.0 0.0</pose>
</include>
<include>
<name>bishop</name>
<uri>model://bishop</uri>
<pose>0.35 0.0 0.0 0.0 0.0 0.0</pose>
</include>
</world>
</sdf>

256
rbs_simulation/worlds/mir.sdf
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@ -55,29 +55,6 @@
<real_time_factor>true</real_time_factor>
<iterations>true</iterations>
</plugin>
<!-- <plugin filename="ImageDisplay" name="Image Display 3">
<ignition-gui>
<title>RGBD: image</title>
<property key="state" type="string">floating</property>
<property type="double" key="width">350</property>
<property type="double" key="height">315</property>
<property type="double" key="y">320</property>
</ignition-gui>
<topic>rgbd_camera/image</topic>
<topic_picker>false</topic_picker>
</plugin>
<plugin filename="ImageDisplay" name="Image Display 3">
<ignition-gui>
<title>RGBD: depth</title>
<property key="state" type="string">floating</property>
<property type="double" key="width">350</property>
<property type="double" key="height">315</property>
<property type="double" key="x">500</property>
<property type="double" key="y">320</property>
</ignition-gui>
<topic>rgbd_camera/depth_image</topic>
<topic_picker>false</topic_picker>
</plugin> -->
</gui>
<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
@ -117,247 +94,46 @@
</visual>
</link>
</model>
<model name='rack'>
<pose>0 0.7 0 0 0 0</pose>
<static>1</static>
<link name='body'>
<visual name='visual'>
<geometry>
<mesh>
<scale>0.35 0.35 0.35</scale>
<uri>model://rack/model/rack.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='collision'>
<geometry>
<mesh>
<scale>0.35 0.35 0.35</scale>
<uri>model://rack/model/rack.stl</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
</model>
<model name='table'>
<pose>-0.75 0 0.2 0 0 0</pose>
<static>1</static>
<link name='telo'>
<visual name='visual'>
<geometry>
<!-- <mesh>
<scale>1 1 1</scale>
<uri>model://table/model/table.dae</uri>
</mesh> -->
<box>
<size>0.8 0.8 0.4</size>
</box>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
<collision name='collision'>
<geometry>
<!-- <mesh>
<scale>1 1 1</scale>
<uri>model://table/model/table.stl</uri>
</mesh> -->
<box>
<size>0.8 0.8 0.4</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
</model>
<!-- Manipulating objects -->
<include>
<uri>model://box1</uri>
<name>box1</name>
<pose>0.25 0.65 0.6515 0 0 0</pose>
<pose>0.25 0.65 0.025 0 0 0</pose>
</include>
<include>
<uri>model://box1</uri>
<name>box2</name>
<pose>0 0.65 0.6515 0 0 0</pose>
<pose>0 0.65 0.025 0 0 0</pose>
</include>
<include>
<uri>model://box1</uri>
<name>box3</name>
<pose>-0.25 0.65 0.6515 0 0 0</pose>
<pose>-0.25 0.65 0.025 0 0 0</pose>
</include>
<include>
<uri>model://box1</uri>
<name>box4</name>
<pose>0.25 0.65 0.3015 0 0 0</pose>
<pose>0.25 0.75 0.025 0 0 0</pose>
</include>
<include>
<uri>model://box1</uri>
<name>box5</name>
<pose>0 0.65 0.3015 0 0 0</pose>
<pose>0 0.75 0.025 0 0 0</pose>
</include>
<include>
<uri>model://box1</uri>
<name>box6</name>
<pose>-0.25 0.65 0.3015 0 0 0</pose>
</include>
<pose>-0.25 0.75 0.025 0 0 0</pose>
</include>
<!-- <include>
<uri>model://box1</uri>
<name>pyramid1</name>
<pose>-0.9000 -0.05 0.5250 0 0 0</pose>
<uri>model://fork</uri>
<name>fork_gt</name>
<pose>1.5 0.3 0.25 0 0 0</pose>
</include>
<include>
<uri>model://box1</uri>
<name>pyramid2</name>
<pose>-0.9000 0.0 0.5250 0 0 0</pose>
</include>
<include>
<uri>model://box1</uri>
<name>pyramid3</name>
<pose>-0.9000 0.05 0.5250 0 0 0</pose>
</include>
<include>
<uri>model://box1</uri>
<name>pyramid4</name>
<pose>-0.9 -0.0243 0.5750 0 -0 0</pose>
</include>
<include>
<uri>model://box1</uri>
<name>pyramid5</name>
<pose>-0.9 0.0260 0.5750 0 -0 0</pose>
</include>
<include>
<uri>model://box1</uri>
<name>pyramid6</name>
<pose>-0.9 0 0.6250 0 0 0</pose>
</include> -->
<!-- <model name="camera">
<static>1</static>
<pose>-2.0 -0.55 1.44 0 0.44 0.44</pose>
<link name="link">
<pose>0.05 0.05 0.05 0 0 0</pose>
<inertial>
<mass>0.1</mass>
<inertia>
<ixx>0.000166667</ixx>
<iyy>0.000166667</iyy>
<izz>0.000166667</izz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</visual>
<sensor name="camera" type="camera">
<camera>
<horizontal_fov>1.047</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>true</visualize>
<topic>camera</topic>
</sensor>
</link>
</model> -->
<!-- <model name="rgbd_camera">
<static>1</static>
<pose>0 0.3 0.7 0 0.0 1.57</pose>
<link name="link">
<pose>0.0 0.0 0.0 0 0 0</pose>
<inertial>
<mass>0.1</mass>
<inertia>
<ixx>0.000166667</ixx>
<iyy>0.000166667</iyy>
<izz>0.000166667</izz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</visual>
<sensor name="rgbd_camera" type="rgbd_camera">
<camera>
<horizontal_fov>1.047</horizontal_fov>
<image>
<width>320</width>
<height>240</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>true</visualize>
<topic>rgbd_camera</topic>
<enable_metrics>true</enable_metrics>
</sensor>
</link>
</model> -->
<!-->
<uri>model://king</uri>
<name>king1</name>
<pose>1.5 0.2 0.25 0 0 0</pose>
</-->
</world>
</sdf>