Deleted rbs_simulation package
This commit is contained in:
parent
38b991ef5a
commit
c7315a02a4
75 changed files with 0 additions and 5972 deletions
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@ -1,33 +0,0 @@
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cmake_minimum_required(VERSION 3.8)
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project(rbs_simulation)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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# find dependencies
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find_package(ament_cmake REQUIRED)
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# uncomment the following section in order to fill in
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# further dependencies manually.
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# find_package(<dependency> REQUIRED)
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install(
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DIRECTORY launch worlds mujoco_model
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DESTINATION share/${PROJECT_NAME}
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)
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add_subdirectory(models)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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# the following line skips the linter which checks for copyrights
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# comment the line when a copyright and license is added to all source files
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set(ament_cmake_copyright_FOUND TRUE)
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# the following line skips cpplint (only works in a git repo)
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# comment the line when this package is in a git repo and when
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# a copyright and license is added to all source files
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set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_package()
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@ -1,127 +0,0 @@
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import os
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from launch_ros.actions import Node
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
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from launch_ros.substitutions import FindPackageShare
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from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
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from launch.conditions import IfCondition, UnlessCondition
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from ament_index_python.packages import get_package_share_directory
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def generate_launch_description():
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declared_arguments = []
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declared_arguments.append(
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DeclareLaunchArgument("sim_gazebo",
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default_value="false",
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description="Gazebo Simulation")
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)
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declared_arguments.append(
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DeclareLaunchArgument("rbs_robot_type",
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description="Type of robot by name",
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choices=["rbs_arm" ,"ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e"],
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default_value="rbs_arm",)
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)
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declared_arguments.append(
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DeclareLaunchArgument("gazebo_gui",
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default_value="true",
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description="Launch gazebo_gui?")
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)
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declared_arguments.append(
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DeclareLaunchArgument("debugger",
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default_value="false",
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description="launch Gazebo with debugger?")
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)
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declared_arguments.append(
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DeclareLaunchArgument("vision_bridge",
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default_value="false",
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description="Create bridge for rgbd cameras")
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)
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sim_gazebo = LaunchConfiguration("sim_gazebo")
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rbs_robot_type = LaunchConfiguration("rbs_robot_type")
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gazebo_gui = LaunchConfiguration("gazebo_gui")
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debugger = LaunchConfiguration("debugger")
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vision_bridge = LaunchConfiguration("vision_bridge")
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# FIXME: To args when we'll have different files
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# TODO: Use global variable to find world file in robossembler_db
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world_config_file = PathJoinSubstitution(
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[FindPackageShare("rbs_simulation"), "worlds", "asm2.sdf"]
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)
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# Gazebo nodes
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gazebo_server = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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[os.path.join(get_package_share_directory('ros_gz_sim'),
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'launch', 'gz_sim.launch.py')]),
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launch_arguments={
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'gz_args': [' -r ',world_config_file, " -s"],
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"debugger": debugger,
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}.items(),
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condition=UnlessCondition(gazebo_gui))
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gazebo = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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[os.path.join(get_package_share_directory('ros_gz_sim'),
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'launch', 'gz_sim.launch.py')]),
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launch_arguments={
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'gz_args': [' -r ',world_config_file],
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"debugger": debugger,
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}.items(),
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condition=IfCondition(gazebo_gui))
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# Spawn robot
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gazebo_spawn_robot = Node(
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package='ros_gz_sim',
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executable='create',
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arguments=[
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'-name', rbs_robot_type,
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'-x', '0.0',
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'-z', '0.0',
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'-y', '0.0',
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'-topic', '/robot_description'],
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output='screen',
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condition=IfCondition(sim_gazebo))
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# Bridge
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rgbd_bridge_out = Node(
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package='ros_gz_bridge',
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executable='parameter_bridge',
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arguments=[
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'/outer_rgbd_camera/image@sensor_msgs/msg/Image@gz.msgs.Image',
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'/outer_rgbd_camera/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo',
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'/outer_rgbd_camera/depth_image@sensor_msgs/msg/Image@gz.msgs.Image',
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'/outer_rgbd_camera/points@sensor_msgs/msg/PointCloud2@gz.msgs.PointCloudPacked'
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],
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output='screen',
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condition=IfCondition(sim_gazebo) and IfCondition(vision_bridge))
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rgbd_bridge_in = Node(
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package='ros_gz_bridge',
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executable='parameter_bridge',
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arguments=[
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'/inner_rgbd_camera/image@sensor_msgs/msg/Image@gz.msgs.Image',
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'/inner_rgbd_camera/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo',
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'/inner_rgbd_camera/depth_image@sensor_msgs/msg/Image@gz.msgs.Image',
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'/inner_rgbd_camera/points@sensor_msgs/msg/PointCloud2@gz.msgs.PointCloudPacked'
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],
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output='screen',
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condition=IfCondition(sim_gazebo) and IfCondition(vision_bridge))
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clock_bridge = Node(
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package='ros_gz_bridge',
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executable='parameter_bridge',
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arguments=['/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock'],
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output='screen',
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condition=IfCondition(sim_gazebo))
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nodes_to_start = [
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gazebo,
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gazebo_server,
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gazebo_spawn_robot,
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rgbd_bridge_out,
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rgbd_bridge_in,
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clock_bridge,
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]
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return LaunchDescription(declared_arguments + nodes_to_start)
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@ -1,93 +0,0 @@
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import os
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from launch_ros.actions import Node
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
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from launch_ros.substitutions import FindPackageShare
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from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
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from launch.conditions import IfCondition, UnlessCondition
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from ament_index_python.packages import get_package_share_directory
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def generate_launch_description():
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declared_arguments = []
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declared_arguments.append(
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DeclareLaunchArgument("sim_gazebo",
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default_value="false",
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description="Gazebo Simulation")
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)
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declared_arguments.append(
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DeclareLaunchArgument("gazebo_gui",
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default_value="false",
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description="Launch gazebo_gui?")
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)
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declared_arguments.append(
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DeclareLaunchArgument("debugger",
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default_value="false",
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description="launch Gazebo with debugger?")
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)
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declared_arguments.append(
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DeclareLaunchArgument("rgbd_camera",
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default_value="true",
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description="Camera are used?")
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)
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sim_gazebo = LaunchConfiguration("sim_gazebo")
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gazebo_gui = LaunchConfiguration("gazebo_gui")
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debugger = LaunchConfiguration("debugger")
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rgbd_camera = LaunchConfiguration("rgbd_camera")
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gazebo_world_filename = LaunchConfiguration("gazebo_world_filename")
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world_config_file = PathJoinSubstitution(
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[FindPackageShare("rbs_simulation"), "worlds", gazebo_world_filename]
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)
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gazebo_server = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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[os.path.join(get_package_share_directory('ros_gz_sim'),
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'launch', 'gz_sim.launch.py')]),
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launch_arguments={
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'gz_args': [' -s ', '-r ', world_config_file],
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"debugger": debugger,
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}.items(),
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condition=UnlessCondition(gazebo_gui))
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gazebo = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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[os.path.join(get_package_share_directory('ros_gz_sim'),
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'launch', 'gz_sim.launch.py')]),
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launch_arguments={
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'gz_args': [' -r ', world_config_file],
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"debugger": debugger,
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}.items(),
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condition=IfCondition(gazebo_gui))
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rgbd_sensor_bridge = Node(
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package="ros_gz_bridge",
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executable="parameter_bridge",
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arguments=[
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'/rgbd_camera/image@sensor_msgs/msg/Image@gz.msgs.Image',
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'/rgbd_camera/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo',
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'/rgbd_camera/depth_image@sensor_msgs/msg/Image@gz.msgs.Image',
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'/rgbd_camera/points@sensor_msgs/msg/PointCloud2@gz.msgs.PointCloudPacked'
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],
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output='screen',
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condition=IfCondition(rgbd_camera)
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)
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clock_bridge = Node(
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package='ros_gz_bridge',
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executable='parameter_bridge',
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arguments=[
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'/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock'
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],
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output='screen',
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condition=IfCondition(sim_gazebo))
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nodes_to_start = [
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gazebo,
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gazebo_server,
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clock_bridge,
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rgbd_sensor_bridge,
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]
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return LaunchDescription(declared_arguments + nodes_to_start)
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@ -1,76 +0,0 @@
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from launch_ros.actions import Node
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, OpaqueFunction
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from launch.substitutions import LaunchConfiguration
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from launch.conditions import IfCondition
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def launch_setup(context, *args, **kwargs):
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sim_gazebo = LaunchConfiguration("sim_gazebo")
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rbs_robot_name= LaunchConfiguration("rbs_robot_name")
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namespace = LaunchConfiguration("namespace")
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x_pos = LaunchConfiguration("x_pos")
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y_pos = LaunchConfiguration("y_pos")
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z_pos = LaunchConfiguration("z_pos")
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# Convert LaunchConfiguration to string values
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namespace = namespace.perform(context)
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# Spawn robot
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# TODO: add full pose support include rotation
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gazebo_spawn_robot = Node(
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package='ros_gz_sim',
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executable='create',
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arguments=[
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'-name', rbs_robot_name,
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'-x', x_pos.perform(context),
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'-y', y_pos.perform(context),
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'-z', z_pos.perform(context),
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'-topic', namespace + '/robot_description'],
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output='screen',
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condition=IfCondition(sim_gazebo))
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nodes_to_start = [
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gazebo_spawn_robot,
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]
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return nodes_to_start
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def generate_launch_description():
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declared_arguments = []
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declared_arguments.append(
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DeclareLaunchArgument("sim_gazebo",
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default_value="false",
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description="Gazebo Simulation")
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)
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declared_arguments.append(
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DeclareLaunchArgument("rbs_robot_type",
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description="Type of robot by name",
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choices=["rbs_arm" ,"ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e"],
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default_value="rbs_arm",)
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)
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declared_arguments.append(
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DeclareLaunchArgument("gazebo_gui",
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default_value="true",
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description="Launch gazebo_gui?")
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)
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declared_arguments.append(
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DeclareLaunchArgument("namespace",
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default_value="",
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description="namespace for spawn a robot")
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)
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declared_arguments.append(
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DeclareLaunchArgument("x_pos",
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default_value="0.0",
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description="robot's position along X")
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)
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declared_arguments.append(
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DeclareLaunchArgument("y_pos",
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default_value="0.0",
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description="robot's position along Y")
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)
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declared_arguments.append(
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DeclareLaunchArgument("z_pos",
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default_value="0.0",
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description="robot's position along Z")
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)
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return LaunchDescription(declared_arguments + [OpaqueFunction(function=launch_setup)])
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@ -1,21 +0,0 @@
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macro(list_subdirectories retval curdir return_relative)
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file(GLOB sub-dir RELATIVE ${curdir} *)
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set(list_of_dirs "")
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foreach(dir ${sub-dir})
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if(IS_DIRECTORY ${curdir}/${dir})
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if (${return_relative})
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set(list_of_dirs ${list_of_dirs} ${dir})
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else()
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set(list_of_dirs ${list_of_dirs} ${curdir}/${dir})
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endif()
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endif()
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endforeach()
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set(${retval} ${list_of_dirs})
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endmacro()
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list_subdirectories(SUBDIR ${CMAKE_CURRENT_LIST_DIR} TRUE)
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install(
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DIRECTORY ${SUBDIR}
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DESTINATION share/${PROJECT_NAME}
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)
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@ -1,40 +0,0 @@
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{
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"label": "box1",
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"type": "component",
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"include": [],
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"features": {
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"grasp-poses": {
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"Gripper_for_Part__Feature057": {
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"placement": {
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"position": {
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"x": 0.0,
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"y": 0.0,
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"z": 0.149
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},
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"orientation": {
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"x": 0.0,
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"y": 1.0,
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"z": 0.0,
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"w": 0.0
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}
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},
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"distance": 0.015
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}
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},
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"placements": {
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"placement": {
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"position": {
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"x": 0.0,
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"y": 0.0,
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"z": 0.0
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},
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"orientation": {
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"x": 0.0,
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"y": 0.0,
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"z": 0.0,
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"w": 0.0
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}
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}
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}
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}
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}
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@ -1,14 +0,0 @@
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<?xml version="1.0"?>
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<model>
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<name>box1</name>
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<sdf version="1.0">model.sdf</sdf>
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<author>
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<name>Splinter1984</name>
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<email>rom.andrianov1984@gmail.com</email>
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</author>
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<description>
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A box1.
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</description>
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</model>
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@ -1,58 +0,0 @@
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<?xml version="1.0" ?>
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<sdf version="1.4">
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<model name="box1">
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<pose>0 0 0.015 0 0 0</pose>
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<link name="link">
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<inertial>
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<inertia>
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<ixx>0.00004167</ixx>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyy>0.00004167</iyy>
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<iyz>0.0</iyz>
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<izz>0.00004167</izz>
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</inertia>
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<mass>0.1</mass>
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</inertial>
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<!-- <gravity>0</gravity> -->
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<collision name="collision">
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<geometry>
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<box>
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<size>0.05 0.05 0.05</size>
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</box>
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</geometry>
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<surface>
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<contact>
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<ode/>
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</contact>
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<bounce/>
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<friction>
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<torsional>
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<ode>
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<slip>
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0.3
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</slip>
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</ode>
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</torsional>
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<ode>
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<mu>0.2</mu>
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<mu2>0.2</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="visual">
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<geometry>
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<box>
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<size>0.05 0.05 0.05</size>
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</box>
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</geometry>
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<!-- <material>
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<ambient>0.8 0.8 0.8 1</ambient>
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<diffuse>0.8 0.8 0.8 1</diffuse>
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<specular>0.8 0.8 0.8 1</specular>
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</material> -->
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</visual>
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</link>
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</model>
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</sdf>
|
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@ -1,40 +0,0 @@
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{
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"label": "box12",
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"type": "assembly",
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"include": ["box1", "box2"],
|
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"features": {
|
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"grasp-poses": {
|
||||
"Gripper_for_Part__Feature059": {
|
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"placement": {
|
||||
"position": {
|
||||
"x": 0.0,
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"y": 0.0,
|
||||
"z": 0.129
|
||||
},
|
||||
"orientation": {
|
||||
"x": 0.0,
|
||||
"y": 1.0,
|
||||
"z": 0.0,
|
||||
"w": 0.0
|
||||
}
|
||||
},
|
||||
"distance": 0.015
|
||||
}
|
||||
},
|
||||
"placements": {
|
||||
"placement": {
|
||||
"position": {
|
||||
"x": 0.0,
|
||||
"y": 0.0,
|
||||
"z": 0.0
|
||||
},
|
||||
"orientation": {
|
||||
"x": 0.0,
|
||||
"y": 0.0,
|
||||
"z": 0.0,
|
||||
"w": 0.0
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
|
@ -1,14 +0,0 @@
|
|||
<?xml version="1.0"?>
|
||||
<model>
|
||||
<name>box12</name>
|
||||
<sdf version="1.0">model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Splinter1984</name>
|
||||
<email>rom.andrianov1984@gmail.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
A box12.
|
||||
</description>
|
||||
</model>
|
|
@ -1,19 +0,0 @@
|
|||
<?xml version="1.0" ?>
|
||||
<sdf version="1.4">
|
||||
<model name="box12">
|
||||
<pose>0 0 0.015 0 0 0</pose>
|
||||
<link name="box1">
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<gravity>0</gravity>
|
||||
</link>
|
||||
<link name="box2">
|
||||
<pose>0 0 0.03 0 0 0</pose>
|
||||
<gravity>0</gravity>
|
||||
</link>
|
||||
<joint name="joint" type="fixed">
|
||||
<parent>box1</parent>
|
||||
<child>box2</child>
|
||||
<pose>0.0 0.0 0.06 0.0 0.0 0.0</pose>
|
||||
</joint>
|
||||
</model>
|
||||
</sdf>
|
|
@ -1,40 +0,0 @@
|
|||
{
|
||||
"label": "box2",
|
||||
"type": "component",
|
||||
"include": [],
|
||||
"features": {
|
||||
"grasp-poses": {
|
||||
"Gripper_for_Part__Feature058": {
|
||||
"placement": {
|
||||
"position": {
|
||||
"x": 0.0,
|
||||
"y": 0.0,
|
||||
"z": 0.129
|
||||
},
|
||||
"orientation": {
|
||||
"x": 0.0,
|
||||
"y": 1.0,
|
||||
"z": 0.0,
|
||||
"w": 0.0
|
||||
}
|
||||
},
|
||||
"distance": 0.015
|
||||
}
|
||||
},
|
||||
"placements": {
|
||||
"placement": {
|
||||
"position": {
|
||||
"x": 0.0,
|
||||
"y": 0.0,
|
||||
"z": 0.0
|
||||
},
|
||||
"orientation": {
|
||||
"x": 0.0,
|
||||
"y": 0.0,
|
||||
"z": 0.0,
|
||||
"w": 0.0
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
|
@ -1,14 +0,0 @@
|
|||
<?xml version="1.0"?>
|
||||
<model>
|
||||
<name>box2</name>
|
||||
<sdf version="1.0">model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Splinter1984</name>
|
||||
<email>rom.andrianov1984@gmail.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
A box2.
|
||||
</description>
|
||||
</model>
|
|
@ -1,29 +0,0 @@
|
|||
<?xml version="1.0" ?>
|
||||
<sdf version="1.4">
|
||||
<model name="box2">
|
||||
<pose>0 0 0.015 0 0 0</pose>
|
||||
<link name="link">
|
||||
<gravity>0</gravity>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.03 0.03 0.03</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.03 0.03 0.03</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>0.1 0.75 0 5</ambient>
|
||||
<diffuse>0.9 0.7 0 1</diffuse>
|
||||
<specular>0.4 0.4 0.4 64</specular>
|
||||
<emissive>0.2 0 0.2 2</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
Binary file not shown.
File diff suppressed because one or more lines are too long
|
@ -1,14 +0,0 @@
|
|||
<?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>
|
|
@ -1,58 +0,0 @@
|
|||
<?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>
|
|
@ -1,16 +0,0 @@
|
|||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>rack</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.6">model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>brothermechanic</name>
|
||||
<email>brothermechanic@gmail.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
rack
|
||||
</description>
|
||||
</model>
|
|
@ -1,25 +0,0 @@
|
|||
<?xml version="1.0" ?>
|
||||
<sdf version="1.6">
|
||||
<model name="rack">
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<static>true</static>
|
||||
<link name="body">
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1.0 1.0 1.0</scale>
|
||||
<uri>model://rack/model/rack.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1.0 1.0 1.0</scale>
|
||||
<uri>model://rack/model/rack.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
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|
@ -1,35 +0,0 @@
|
|||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="rack">
|
||||
<xacro:macro name="rack" params="*origin parent">
|
||||
<link name="rack_body">
|
||||
<static>true</static>
|
||||
<inertial>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
<mass value="0.0"/>
|
||||
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://rbs_simulation/rack/model/rack.dae" scale="0.35 0.35 0.35"/>
|
||||
</geometry>
|
||||
<material name="asd">
|
||||
<color rgba="1.0 0.0 0.0 1.0"/>
|
||||
<texture filename="package://rbs_simulation/rack/model/Metal.jpg"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://rbs_simulation/rack/model/rack.stl" scale="0.35 0.35 0.35"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="rack_base_joint" type="fixed">
|
||||
<parent link="${parent}" />
|
||||
<child link="rack_body" />
|
||||
<xacro:insert_block name="origin" />
|
||||
</joint>
|
||||
</xacro:macro>
|
||||
</robot>
|
|
@ -1,16 +0,0 @@
|
|||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>table</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.6">table.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>brothermechanic</name>
|
||||
<email>brothermechanic@gmail.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
table
|
||||
</description>
|
||||
</model>
|
|
@ -1,25 +0,0 @@
|
|||
<?xml version="1.0" ?>
|
||||
<sdf version="1.6">
|
||||
<model name="table">
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<static>true</static>
|
||||
<link name="body">
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1.0 1.0 1.0</scale>
|
||||
<uri>model://table/model/table.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1.0 1.0 1.0</scale>
|
||||
<uri>model://table/model/table.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
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Binary file not shown.
Before Width: | Height: | Size: 878 KiB |
|
@ -1,37 +0,0 @@
|
|||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="table">
|
||||
<xacro:macro name="table" params="*origin parent">
|
||||
<link name="table_body">
|
||||
<static>true</static>
|
||||
<inertial>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
<mass value="0.0"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
<geometry>
|
||||
<!-- <mesh filename="package://rbs_simulation/table/model/table.dae" scale="1 1 1"/> -->
|
||||
<box size="0.8 0.8 0.4"/>
|
||||
</geometry>
|
||||
<material name="asd">
|
||||
<color rgba="1.0 1.0 0.0 1.0"/>
|
||||
<!-- <texture filename="package://rbs_simulation/table/model/Metal.jpg"/> -->
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
|
||||
<geometry>
|
||||
<!-- <mesh filename="package://rbs_simulation/table/model/table.stl" scale="1 1 1"/> -->
|
||||
<box size="0.8 0.8 0.4"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="table_base_joint" type="fixed">
|
||||
<parent link="${parent}" />
|
||||
<child link="table_body" />
|
||||
<xacro:insert_block name="origin" />
|
||||
</joint>
|
||||
</xacro:macro>
|
||||
</robot>
|
|
@ -1,517 +0,0 @@
|
|||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from /home/bill-finger/rasms_ws/install/ur_description/share/ur_description/urdf/ur.urdf.xacro | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<robot name="ur">
|
||||
<!--
|
||||
Base UR robot series xacro macro.
|
||||
|
||||
NOTE this is NOT a URDF. It cannot directly be loaded by consumers
|
||||
expecting a flattened '.urdf' file. See the top-level '.xacro' for that
|
||||
(but note that .xacro must still be processed by the xacro command).
|
||||
|
||||
This file models the base kinematic chain of a UR robot, which then gets
|
||||
parameterised by various configuration files to convert it into a UR3(e),
|
||||
UR5(e), UR10(e) or UR16e.
|
||||
|
||||
NOTE the default kinematic parameters (i.e., link lengths, frame locations,
|
||||
offsets, etc) do not correspond to any particular robot. They are defaults
|
||||
only. There WILL be non-zero offsets between the Forward Kinematics results
|
||||
in TF (i.e., robot_state_publisher) and the values reported by the Teach
|
||||
Pendant.
|
||||
|
||||
For accurate (and robot-specific) transforms, the 'kinematics_parameters_file'
|
||||
parameter MUST point to a .yaml file containing the appropriate values for
|
||||
the targeted robot.
|
||||
|
||||
If using the UniversalRobots/Universal_Robots_ROS_Driver, follow the steps
|
||||
described in the readme of that repository to extract the kinematic
|
||||
calibration from the controller and generate the required .yaml file.
|
||||
|
||||
Main author of the migration to yaml configs Ludovic Delval.
|
||||
|
||||
Contributors to previous versions (in no particular order)
|
||||
|
||||
- Denis Stogl
|
||||
- Lovro Ivanov
|
||||
- Felix Messmer
|
||||
- Kelsey Hawkins
|
||||
- Wim Meeussen
|
||||
- Shaun Edwards
|
||||
- Nadia Hammoudeh Garcia
|
||||
- Dave Hershberger
|
||||
- G. vd. Hoorn
|
||||
- Philip Long
|
||||
- Dave Coleman
|
||||
- Miguel Prada
|
||||
- Mathias Luedtke
|
||||
- Marcel Schnirring
|
||||
- Felix von Drigalski
|
||||
- Felix Exner
|
||||
- Jimmy Da Silva
|
||||
- Ajit Krisshna N L
|
||||
- Muhammad Asif Rana
|
||||
-->
|
||||
<!--
|
||||
NOTE the macro defined in this file is NOT part of the public API of this
|
||||
package. Users CANNOT rely on this file being available, or stored in
|
||||
this location. Nor can they rely on the existence of the macro.
|
||||
-->
|
||||
|
||||
<mujoco>
|
||||
<compiler
|
||||
meshdir="meshes"
|
||||
balanceinertia="true"
|
||||
discardvisual="false" />
|
||||
</mujoco>
|
||||
|
||||
<link name="box1_place"/>
|
||||
<joint name="box1_place_joint" type="fixed">
|
||||
<parent link="world"/>
|
||||
<child link="box1_place"/>
|
||||
<origin rpy="-3.1415927 0.0 0.0" xyz="-0.45 -0.055 0.46"/>
|
||||
</joint>
|
||||
<link name="box2_place"/>
|
||||
<joint name="box2_place_joint" type="fixed">
|
||||
<parent link="world"/>
|
||||
<child link="box2_place"/>
|
||||
<origin rpy="-3.1415927 0.0 0.0" xyz="-0.45 0.0 0.46"/>
|
||||
</joint>
|
||||
<link name="box3_place"/>
|
||||
<joint name="box3_place_joint" type="fixed">
|
||||
<parent link="world"/>
|
||||
<child link="box3_place"/>
|
||||
<origin rpy="-3.1415927 0.0 0.0" xyz="-0.45 0.055 0.46"/>
|
||||
</joint>
|
||||
<link name="box4_place"/>
|
||||
<joint name="box4_place_joint" type="fixed">
|
||||
<parent link="world"/>
|
||||
<child link="box4_place"/>
|
||||
<origin rpy="-3.1415927 0.0 0.0" xyz="-0.45 0.0275 0.49"/>
|
||||
</joint>
|
||||
<link name="box5_place"/>
|
||||
<joint name="box5_place_joint" type="fixed">
|
||||
<parent link="world"/>
|
||||
<child link="box5_place"/>
|
||||
<origin rpy="-3.1415927 0.0 0.0" xyz="-0.45 -0.0275 0.49"/>
|
||||
</joint>
|
||||
<link name="box6_place"/>
|
||||
<joint name="box6_place_joint" type="fixed">
|
||||
<parent link="world"/>
|
||||
<child link="box6_place"/>
|
||||
<origin rpy="-3.1415927 0.0 0.0" xyz="-0.45 0 0.56"/>
|
||||
</joint>
|
||||
<!-- create link fixed to the "world" -->
|
||||
<link name="world"/>
|
||||
<ros2_control name="ur" type="system">
|
||||
<hardware>
|
||||
<plugin>ign_ros2_control/IgnitionSystem</plugin>
|
||||
</hardware>
|
||||
<joint name="shoulder_pan_joint">
|
||||
<command_interface name="position">
|
||||
<param name="min">{-2*pi}</param>
|
||||
<param name="max">{2*pi}</param>
|
||||
</command_interface>
|
||||
<command_interface name="velocity">
|
||||
<param name="min">-3.15</param>
|
||||
<param name="max">3.15</param>
|
||||
</command_interface>
|
||||
<state_interface name="position">
|
||||
<!-- initial position for the FakeSystem and simulation -->
|
||||
<param name="initial_value">0.0</param>
|
||||
</state_interface>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
<joint name="shoulder_lift_joint">
|
||||
<command_interface name="position">
|
||||
<param name="min">{-2*pi}</param>
|
||||
<param name="max">{2*pi}</param>
|
||||
</command_interface>
|
||||
<command_interface name="velocity">
|
||||
<param name="min">-3.15</param>
|
||||
<param name="max">3.15</param>
|
||||
</command_interface>
|
||||
<state_interface name="position">
|
||||
<!-- initial position for the FakeSystem and simulation -->
|
||||
<param name="initial_value">0.0</param>
|
||||
</state_interface>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
<joint name="elbow_joint">
|
||||
<command_interface name="position">
|
||||
<param name="min">{-pi}</param>
|
||||
<param name="max">{pi}</param>
|
||||
</command_interface>
|
||||
<command_interface name="velocity">
|
||||
<param name="min">-3.15</param>
|
||||
<param name="max">3.15</param>
|
||||
</command_interface>
|
||||
<state_interface name="position">
|
||||
<!-- initial position for the FakeSystem and simulation -->
|
||||
<param name="initial_value">0.0</param>
|
||||
</state_interface>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
<joint name="wrist_1_joint">
|
||||
<command_interface name="position">
|
||||
<param name="min">{-2*pi}</param>
|
||||
<param name="max">{2*pi}</param>
|
||||
</command_interface>
|
||||
<command_interface name="velocity">
|
||||
<param name="min">-3.2</param>
|
||||
<param name="max">3.2</param>
|
||||
</command_interface>
|
||||
<state_interface name="position">
|
||||
<!-- initial position for the FakeSystem and simulation -->
|
||||
<param name="initial_value">0.0</param>
|
||||
</state_interface>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
<joint name="wrist_2_joint">
|
||||
<command_interface name="position">
|
||||
<param name="min">{-2*pi}</param>
|
||||
<param name="max">{2*pi}</param>
|
||||
</command_interface>
|
||||
<command_interface name="velocity">
|
||||
<param name="min">-3.2</param>
|
||||
<param name="max">3.2</param>
|
||||
</command_interface>
|
||||
<state_interface name="position">
|
||||
<!-- initial position for the FakeSystem and simulation -->
|
||||
<param name="initial_value">0.0</param>
|
||||
</state_interface>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
<joint name="wrist_3_joint">
|
||||
<command_interface name="position">
|
||||
<param name="min">{-2*pi}</param>
|
||||
<param name="max">{2*pi}</param>
|
||||
</command_interface>
|
||||
<command_interface name="velocity">
|
||||
<param name="min">-3.2</param>
|
||||
<param name="max">3.2</param>
|
||||
</command_interface>
|
||||
<state_interface name="position">
|
||||
<!-- initial position for the FakeSystem and simulation -->
|
||||
<param name="initial_value">0.0</param>
|
||||
</state_interface>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
</ros2_control>
|
||||
<!-- Add URDF transmission elements (for ros_control) -->
|
||||
<!--<xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}" />-->
|
||||
<!-- Placeholder for ros2_control transmission which don't yet exist -->
|
||||
<!-- links - main serial chain -->
|
||||
<link name="base_link"/>
|
||||
<link name="base_link_inertia">
|
||||
<visual>
|
||||
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file:///home/bill-finger/rasms_ws/install/ur_description/share/ur_description/meshes/ur5e/visual/base.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file:///home/bill-finger/rasms_ws/install/ur_description/share/ur_description/meshes/ur5e/collision/base.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="4.0"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0.0072"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="shoulder_link">
|
||||
<visual>
|
||||
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file:///home/bill-finger/rasms_ws/install/ur_description/share/ur_description/meshes/ur5e/visual/shoulder.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file:///home/bill-finger/rasms_ws/install/ur_description/share/ur_description/meshes/ur5e/collision/shoulder.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="3.7"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="0.010267495893" ixy="0.0" ixz="0.0" iyy="0.010267495893" iyz="0.0" izz="0.00666"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="upper_arm_link">
|
||||
<visual>
|
||||
<origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.138"/>
|
||||
<geometry>
|
||||
<mesh filename="file:///home/bill-finger/rasms_ws/install/ur_description/share/ur_description/meshes/ur5e/visual/upperarm.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.138"/>
|
||||
<geometry>
|
||||
<mesh filename="file:///home/bill-finger/rasms_ws/install/ur_description/share/ur_description/meshes/ur5e/collision/upperarm.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="8.393"/>
|
||||
<origin rpy="0 1.5707963267948966 0" xyz="-0.2125 0.0 0.138"/>
|
||||
<inertia ixx="0.1338857818623325" ixy="0.0" ixz="0.0" iyy="0.1338857818623325" iyz="0.0" izz="0.0151074"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="forearm_link">
|
||||
<visual>
|
||||
<origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.007"/>
|
||||
<geometry>
|
||||
<mesh filename="file:///home/bill-finger/rasms_ws/install/ur_description/share/ur_description/meshes/ur5e/visual/forearm.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.007"/>
|
||||
<geometry>
|
||||
<mesh filename="file:///home/bill-finger/rasms_ws/install/ur_description/share/ur_description/meshes/ur5e/collision/forearm.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="2.275"/>
|
||||
<origin rpy="0 1.5707963267948966 0" xyz="-0.1961 0.0 0.007"/>
|
||||
<inertia ixx="0.031209355099586295" ixy="0.0" ixz="0.0" iyy="0.031209355099586295" iyz="0.0" izz="0.004095"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="wrist_1_link">
|
||||
<visual>
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.127"/>
|
||||
<geometry>
|
||||
<mesh filename="file:///home/bill-finger/rasms_ws/install/ur_description/share/ur_description/meshes/ur5e/visual/wrist1.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.127"/>
|
||||
<geometry>
|
||||
<mesh filename="file:///home/bill-finger/rasms_ws/install/ur_description/share/ur_description/meshes/ur5e/collision/wrist1.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="1.219"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="0.0025598989760400002" ixy="0.0" ixz="0.0" iyy="0.0025598989760400002" iyz="0.0" izz="0.0021942"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="wrist_2_link">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.0997"/>
|
||||
<geometry>
|
||||
<mesh filename="file:///home/bill-finger/rasms_ws/install/ur_description/share/ur_description/meshes/ur5e/visual/wrist2.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.0997"/>
|
||||
<geometry>
|
||||
<mesh filename="file:///home/bill-finger/rasms_ws/install/ur_description/share/ur_description/meshes/ur5e/collision/wrist2.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="1.219"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="0.0025598989760400002" ixy="0.0" ixz="0.0" iyy="0.0025598989760400002" iyz="0.0" izz="0.0021942"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="wrist_3_link">
|
||||
<visual>
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.0989"/>
|
||||
<geometry>
|
||||
<mesh filename="file:///home/bill-finger/rasms_ws/install/ur_description/share/ur_description/meshes/ur5e/visual/wrist3.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.0989"/>
|
||||
<geometry>
|
||||
<mesh filename="file:///home/bill-finger/rasms_ws/install/ur_description/share/ur_description/meshes/ur5e/collision/wrist3.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1879"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 -0.0229"/>
|
||||
<inertia ixx="9.890410052167731e-05" ixy="0.0" ixz="0.0" iyy="9.890410052167731e-05" iyz="0.0" izz="0.0001321171875"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<!-- base_joint fixes base_link to the environment -->
|
||||
<joint name="base_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<parent link="world"/>
|
||||
<child link="base_link"/>
|
||||
</joint>
|
||||
<!-- joints - main serial chain -->
|
||||
<joint name="base_link-base_link_inertia" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<child link="base_link_inertia"/>
|
||||
<!-- 'base_link' is REP-103 aligned (so X+ forward), while the internal
|
||||
frames of the robot/controller have X+ pointing backwards.
|
||||
Use the joint between 'base_link' and 'base_link_inertia' (a dummy
|
||||
link/frame) to introduce the necessary rotation over Z (of pi rad).
|
||||
-->
|
||||
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||
</joint>
|
||||
<joint name="shoulder_pan_joint" type="revolute">
|
||||
<parent link="base_link_inertia"/>
|
||||
<child link="shoulder_link"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.1625"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="150.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
|
||||
<safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
<joint name="shoulder_lift_joint" type="revolute">
|
||||
<parent link="shoulder_link"/>
|
||||
<child link="upper_arm_link"/>
|
||||
<origin rpy="1.570796327 1.570796327 0" xyz="0 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="150.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="3.141592653589793"/>
|
||||
<safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-1.4207963267948966" soft_upper_limit="1.4207963267948966"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
<joint name="elbow_joint" type="revolute">
|
||||
<parent link="upper_arm_link"/>
|
||||
<child link="forearm_link"/>
|
||||
<origin rpy="0 0 0" xyz="-0.425 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="150.0" lower="-2.7576202181510405" upper="2.7576202181510405" velocity="3.141592653589793"/>
|
||||
<safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-2.6076202181510406" soft_upper_limit="2.6076202181510406"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
<joint name="wrist_1_joint" type="revolute">
|
||||
<parent link="forearm_link"/>
|
||||
<child link="wrist_1_link"/>
|
||||
<origin rpy="0 0 -1.570796327" xyz="-0.3922 0 0.1333"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="28.0" lower="-2.2689280275926285" upper="2.2689280275926285" velocity="3.141592653589793"/>
|
||||
<safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-2.1189280275926285" soft_upper_limit="2.1189280275926285"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
<joint name="wrist_2_joint" type="revolute">
|
||||
<parent link="wrist_1_link"/>
|
||||
<child link="wrist_2_link"/>
|
||||
<origin rpy="1.570796327 0 0" xyz="0 -0.0997 -2.044881182297852e-11"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="28.0" lower="-2.530727415391778" upper="2.530727415391778" velocity="3.141592653589793"/>
|
||||
<safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-2.380727415391778" soft_upper_limit="2.380727415391778"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
<joint name="wrist_3_joint" type="revolute">
|
||||
<parent link="wrist_2_link"/>
|
||||
<child link="wrist_3_link"/>
|
||||
<origin rpy="1.570796326589793 3.141592653589793 3.141592653589793" xyz="0 0.0996 -2.042830148012698e-11"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
|
||||
<safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
</joint>
|
||||
<link name="ft_frame"/>
|
||||
<joint name="wrist_3_link-ft_frame" type="fixed">
|
||||
<parent link="wrist_3_link"/>
|
||||
<child link="ft_frame"/>
|
||||
<origin rpy="3.141592653589793 0 0" xyz="0 0 0"/>
|
||||
</joint>
|
||||
<!-- ROS-Industrial 'base' frame - base_link to UR 'Base' Coordinates transform -->
|
||||
<link name="base"/>
|
||||
<joint name="base_link-base_fixed_joint" type="fixed">
|
||||
<!-- Note the rotation over Z of pi radians - as base_link is REP-103
|
||||
aligned (i.e., has X+ forward, Y+ left and Z+ up), this is needed
|
||||
to correctly align 'base' with the 'Base' coordinate system of
|
||||
the UR controller.
|
||||
-->
|
||||
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="base"/>
|
||||
</joint>
|
||||
<!-- ROS-Industrial 'flange' frame - attachment point for EEF models -->
|
||||
<link name="flange"/>
|
||||
<joint name="wrist_3-flange" type="fixed">
|
||||
<parent link="wrist_3_link"/>
|
||||
<child link="flange"/>
|
||||
<origin rpy="0 -1.5707963267948966 -1.5707963267948966" xyz="0 0 0"/>
|
||||
</joint>
|
||||
<!-- ROS-Industrial 'tool0' frame - all-zeros tool frame -->
|
||||
<link name="tool0"/>
|
||||
<joint name="flange-tool0" type="fixed">
|
||||
<!-- default toolframe - X+ left, Y+ up, Z+ front -->
|
||||
<origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0 0 0"/>
|
||||
<parent link="flange"/>
|
||||
<child link="tool0"/>
|
||||
</joint>
|
||||
<!-- <xacro:plane parent="world">
|
||||
<origin xyz="0 0 -0.001" rpy="0 0 0"/>
|
||||
</xacro:plane>
|
||||
<xacro:rack parent="world">
|
||||
<origin xyz="0.0 0.7 0.0" rpy="0.0 0.0 0.0"/>
|
||||
</xacro:rack>
|
||||
|
||||
<xacro:table parent="world">
|
||||
<origin xyz="-0.75 0.0 0.2" rpy="0.0 0.0 0.0"/>
|
||||
</xacro:table> -->
|
||||
<link name="rgbd_camera">
|
||||
<inertial>
|
||||
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
|
||||
<mass value="0.1"/>
|
||||
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
|
||||
</inertial>
|
||||
<visual name="">
|
||||
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
|
||||
<geometry>
|
||||
<box size="0.01 0.01 0.01"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.0 0.0 0.0 1.0"/>
|
||||
<texture filename=""/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
|
||||
<geometry>
|
||||
<box size="0.01 0.01 0.01"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<gazebo reference="rgbd_camera">
|
||||
<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>
|
||||
</gazebo>
|
||||
<joint name="plane_base_joint" type="fixed">
|
||||
<parent link="tool0"/>
|
||||
<child link="rgbd_camera"/>
|
||||
<origin rpy="1.57 -1.57 0" xyz="0 -0.05 0.07"/>
|
||||
</joint>
|
||||
<gazebo reference="world">
|
||||
</gazebo>
|
||||
<gazebo>
|
||||
<plugin filename="libign_ros2_control-system.so" name="ign_ros2_control::IgnitionROS2ControlPlugin">
|
||||
<parameters>/home/bill-finger/rasms_ws/install/ur_moveit_config/share/ur_moveit_config/config/ur_controllers.yaml</parameters>
|
||||
<controller_manager_node_name>controller_manager</controller_manager_node_name>
|
||||
</plugin>
|
||||
</gazebo>
|
||||
</robot>
|
|
@ -1,69 +0,0 @@
|
|||
<mujoco model="ur">
|
||||
<compiler angle="radian" meshdir="meshes/"/>
|
||||
<default/>
|
||||
<asset>
|
||||
<texture type="skybox" builtin="gradient" rgb1="0.9 0.9 0.9" rgb2="0.5 0.5 0.5" width="512" height="512"/>
|
||||
<texture name="texplane" type="2d" builtin="checker" rgb1=".25 .25 .25" rgb2=".3 .3 .3" width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
|
||||
<material name="matplane" reflectance="0.2" texture="texplane" texrepeat="1 1" texuniform="true"/>
|
||||
<mesh name="base" file="base.stl"/>
|
||||
<mesh name="shoulder" file="shoulder.stl"/>
|
||||
<mesh name="upperarm" file="upperarm.stl"/>
|
||||
<mesh name="forearm" file="forearm.stl"/>
|
||||
<mesh name="wrist1" file="wrist1.stl"/>
|
||||
<mesh name="wrist2" file="wrist2.stl"/>
|
||||
<mesh name="wrist3" file="wrist3.stl"/>
|
||||
</asset>
|
||||
<worldbody>
|
||||
<light directional="true" diffuse=".8 .8 .8" specular=".2 .2 .2" pos="0 0 5" dir="0 0 -1" castshadow="false"/>
|
||||
<geom name="floor" pos="0 0 -0.0" size="0 0 1" type="plane" material="matplane"/>
|
||||
<geom quat="-1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" mesh="base"/>
|
||||
<geom quat="-1 0 0 0" type="mesh" mesh="base"/>
|
||||
<body name="shoulder_link" pos="0 0 0.1625" quat="0 0 0 1" >
|
||||
<inertial pos="0 0 0" mass="3.7" diaginertia="0.0102675 0.0102675 0.00666"/>
|
||||
<joint name="shoulder_pan_joint" pos="0 0 0" axis="0 0 1" limited="true" range="-6.28319 6.28319"/>
|
||||
<geom quat="0 0 0 1" type="mesh" contype="0" conaffinity="0" group="1" density="0" mesh="shoulder"/>
|
||||
<geom quat="0 0 0 1" type="mesh" mesh="shoulder"/>
|
||||
<body name="upper_arm_link" pos="0 0 0" quat="0.5 0.5 0.5 -0.5" >
|
||||
<inertial pos="-0.2125 0 0.138" quat="0.707107 0 0.707107 0" mass="8.393" diaginertia="0.133886 0.133886 0.0151074"/>
|
||||
<joint name="shoulder_lift_joint" pos="0 0 0" axis="0 0 1" limited="true" range="-1.5708 1.5708"/>
|
||||
<geom pos="0 0 0.138" quat="0.5 0.5 -0.5 -0.5" type="mesh" contype="0" conaffinity="0" group="1" density="0" mesh="upperarm"/>
|
||||
<geom pos="0 0 0.138" quat="0.5 0.5 -0.5 -0.5" type="mesh" mesh="upperarm"/>
|
||||
<body name="forearm_link" pos="-0.425 0 0" >
|
||||
<inertial pos="-0.1961 0 0.007" quat="0.707107 0 0.707107 0" mass="2.275" diaginertia="0.0312094 0.0312094 0.004095"/>
|
||||
<joint name="elbow_joint" pos="0 0 0" axis="0 0 1" limited="true" range="-2.75762 2.75762"/>
|
||||
<geom pos="0 0 0.007" quat="0.5 0.5 -0.5 -0.5" type="mesh" contype="0" conaffinity="0" group="1" density="0" mesh="forearm"/>
|
||||
<geom pos="0 0 0.007" quat="0.5 0.5 -0.5 -0.5" type="mesh" mesh="forearm"/>
|
||||
<body name="wrist_1_link" pos="-0.3922 0 0.1333" quat="0.707107 0 0 -0.707107" >
|
||||
<inertial pos="0 0 0" mass="1.219" diaginertia="0.0025599 0.0025599 0.0021942"/>
|
||||
<joint name="wrist_1_joint" pos="0 0 0" axis="0 0 1" limited="true" range="-2.26893 2.26893"/>
|
||||
<geom pos="0 0 -0.127" quat="0.707107 0.707107 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" mesh="wrist1"/>
|
||||
<geom pos="0 0 -0.127" quat="0.707107 0.707107 0 0" type="mesh" mesh="wrist1"/>
|
||||
<body name="wrist_2_link" pos="0 -0.0997 -2.04488e-11" quat="0.707107 0.707107 0 0" >
|
||||
<inertial pos="0 0 0" mass="1.219" diaginertia="0.0025599 0.0025599 0.0021942"/>
|
||||
<joint name="wrist_2_joint" pos="0 0 0" axis="0 0 1" limited="true" range="-2.53073 2.53073"/>
|
||||
<geom pos="0 0 -0.0997" type="mesh" contype="0" conaffinity="0" group="1" density="0" mesh="wrist2"/>
|
||||
<geom pos="0 0 -0.0997" type="mesh" mesh="wrist2"/>
|
||||
<body name="wrist_3_link" pos="0 0.0996 -2.04283e-11" quat="0.707107 -0.707107 0 0" >
|
||||
<inertial pos="0 -0.0173671 0.00936815" quat="0.683945 0.179497 -0.179497 0.683945" mass="0.2879" diaginertia="0.000833069 0.000825338 0.000124386"/>
|
||||
<joint name="wrist_3_joint" pos="0 0 0" axis="0 0 1" limited="true" range="-6.28319 6.28319"/>
|
||||
<geom pos="0 0 -0.0989" quat="0.707107 0.707107 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" mesh="wrist3"/>
|
||||
<geom pos="0 0 -0.0989" quat="0.707107 0.707107 0 0" type="mesh" mesh="wrist3"/>
|
||||
<geom size="0.005 0.005 0.005" pos="0 -0.05 0.07" quat="0.500398 0.5 -0.5 0.499602" type="box" contype="0" conaffinity="0" group="1" density="0" rgba="0 0 0 1"/>
|
||||
<geom size="0.005 0.005 0.005" pos="0 -0.05 0.07" quat="0.500398 0.5 -0.5 0.499602" type="box" rgba="0 0 0 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
|
||||
<actuator>
|
||||
<motor name="shoulder_pan_joint" gear="1" joint="shoulder_pan_joint"/>
|
||||
<motor name="shoulder_lift_joint" gear="1" joint="shoulder_lift_joint"/>
|
||||
<motor name="elbow_joint" gear="1" joint="elbow_joint"/>
|
||||
<motor name="wrist_1_joint" gear="1" joint="wrist_1_joint"/>
|
||||
<motor name="wrist_2_joint" gear="1" joint="wrist_2_joint"/>
|
||||
<motor name="wrist_3_joint" gear="1" joint="wrist_3_joint"/>
|
||||
</actuator>
|
||||
</mujoco>
|
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|
@ -1,24 +0,0 @@
|
|||
<?xml version="1.0"?>
|
||||
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
|
||||
<package format="3">
|
||||
<name>rbs_simulation</name>
|
||||
<version>0.0.0</version>
|
||||
<description>TODO: Package description</description>
|
||||
<maintainer email="ur.narmak@gmail.com">root</maintainer>
|
||||
<license>TODO: License declaration</license>
|
||||
|
||||
<buildtool_depend>ament_cmake</buildtool_depend>
|
||||
|
||||
<depend>rclcpp</depend>
|
||||
<depend>tf2</depend>
|
||||
<depend>tf2_ros</depend>
|
||||
<depend>std_msgs</depend>
|
||||
<depend>geometry_msgs</depend>
|
||||
|
||||
<test_depend>ament_lint_auto</test_depend>
|
||||
<test_depend>ament_lint_common</test_depend>
|
||||
|
||||
<export>
|
||||
<build_type>ament_cmake</build_type>
|
||||
</export>
|
||||
</package>
|
|
@ -1,122 +0,0 @@
|
|||
<?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>
|
||||
<dart>
|
||||
<collision_detector>bullet</collision_detector>
|
||||
<solver>
|
||||
<solver_type>pgs</solver_type>
|
||||
</solver>
|
||||
</dart>
|
||||
</physics>
|
||||
<plugin name='ignition::gazebo::systems::Physics' filename='ignition-gazebo-physics-system'>
|
||||
<engine>
|
||||
<filename>ignition-physics-dartsim-plugin</filename>
|
||||
</engine>
|
||||
</plugin>
|
||||
<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 filename="ignition-gazebo-forcetorque-system" name="ignition::gazebo::systems::ForceTorque"/>
|
||||
<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> -->
|
||||
<!-- <include> -->
|
||||
<!-- <name>bishop</name> -->
|
||||
<!-- <uri>model://box1</uri> -->
|
||||
<!-- <pose>0.45 0.0 0 0 0 0</pose> -->
|
||||
<!-- </include> -->
|
||||
</world>
|
||||
</sdf>
|
|
@ -1,119 +0,0 @@
|
|||
<sdf version='1.9'>
|
||||
<world name='empty'>
|
||||
<physics name='1ms' type='ignored'>
|
||||
<max_step_size>0.001</max_step_size>
|
||||
<real_time_factor>1</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'/>
|
||||
<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>true</shadows>
|
||||
</scene>
|
||||
<model name='ground_plane'>
|
||||
<static>true</static>
|
||||
<link name='link'>
|
||||
<collision name='collision'>
|
||||
<geometry>
|
||||
<plane>
|
||||
<normal>0 0 1</normal>
|
||||
<size>100 100</size>
|
||||
</plane>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
<bounce/>
|
||||
<contact/>
|
||||
</surface>
|
||||
</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>
|
||||
<pose>0 0 0 0 -0 0</pose>
|
||||
<inertial>
|
||||
<pose>0 0 0 0 -0 0</pose>
|
||||
<mass>1</mass>
|
||||
<inertia>
|
||||
<ixx>1</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>1</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>1</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<enable_wind>false</enable_wind>
|
||||
</link>
|
||||
<pose>0 0 0 0 -0 0</pose>
|
||||
<self_collide>false</self_collide>
|
||||
</model>
|
||||
<include>
|
||||
<uri>model://box1</uri>
|
||||
<name>box1</name>
|
||||
<pose>0.3 0.4 0 0 0 0</pose>
|
||||
</include>
|
||||
<include>
|
||||
<uri>model://box1</uri>
|
||||
<name>box2</name>
|
||||
<pose>0.2 0.4 0 0 0 0</pose>
|
||||
</include>
|
||||
<include>
|
||||
<uri>model://box1</uri>
|
||||
<name>box3</name>
|
||||
<pose>0.1 0.4 0 0 0 0</pose>
|
||||
</include>
|
||||
<include>
|
||||
<uri>model://box1</uri>
|
||||
<name>box4</name>
|
||||
<pose>0 0.4 0 0 0 0</pose>
|
||||
</include>
|
||||
<include>
|
||||
<uri>model://box1</uri>
|
||||
<name>box5</name>
|
||||
<pose>-0.1 0.4 0 0 0 0</pose>
|
||||
</include>
|
||||
<include>
|
||||
<uri>model://box1</uri>
|
||||
<name>box6</name>
|
||||
<pose>-0.2 0.4 0 0 0 0</pose>
|
||||
</include>
|
||||
<light name='sun' type='directional'>
|
||||
<pose>0 0 10 0 -0 0</pose>
|
||||
<cast_shadows>true</cast_shadows>
|
||||
<intensity>1</intensity>
|
||||
<direction>-0.5 0.1 -0.9</direction>
|
||||
<diffuse>0.8 0.8 0.8 1</diffuse>
|
||||
<specular>0.2 0.2 0.2 1</specular>
|
||||
<attenuation>
|
||||
<range>1000</range>
|
||||
<linear>0.01</linear>
|
||||
<constant>0.90000000000000002</constant>
|
||||
<quadratic>0.001</quadratic>
|
||||
</attenuation>
|
||||
<spot>
|
||||
<inner_angle>0</inner_angle>
|
||||
<outer_angle>0</outer_angle>
|
||||
<falloff>0</falloff>
|
||||
</spot>
|
||||
</light>
|
||||
</world>
|
||||
</sdf>
|
|
@ -1,139 +0,0 @@
|
|||
<?xml version="1.0"?>
|
||||
<sdf version='1.9'>
|
||||
<world name='mir'>
|
||||
<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>
|
||||
<plugin name='ignition::gazebo::systems::ForceTorque' filename='ignition-gazebo-forcetorque-system'/>
|
||||
<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>
|
||||
<uri>model://box1</uri>
|
||||
<name>box1</name>
|
||||
<pose>0.25 0.65 0.025 0 0 0</pose>
|
||||
</include>
|
||||
<include>
|
||||
<uri>model://box1</uri>
|
||||
<name>box2</name>
|
||||
<pose>0 0.65 0.025 0 0 0</pose>
|
||||
</include>
|
||||
<include>
|
||||
<uri>model://box1</uri>
|
||||
<name>box3</name>
|
||||
<pose>-0.25 0.65 0.025 0 0 0</pose>
|
||||
</include>
|
||||
<include>
|
||||
<uri>model://box1</uri>
|
||||
<name>box4</name>
|
||||
<pose>0.25 0.75 0.025 0 0 0</pose>
|
||||
</include>
|
||||
<include>
|
||||
<uri>model://box1</uri>
|
||||
<name>box5</name>
|
||||
<pose>0 0.75 0.025 0 0 0</pose>
|
||||
</include>
|
||||
<include>
|
||||
<uri>model://box1</uri>
|
||||
<name>box6</name>
|
||||
<pose>-0.25 0.75 0.025 0 0 0</pose>
|
||||
</include>
|
||||
<!-- <include>
|
||||
<uri>model://fork</uri>
|
||||
<name>fork_gt</name>
|
||||
<pose>1.5 0.3 0.25 0 0 0</pose>
|
||||
</include>
|
||||
<!-->
|
||||
<uri>model://king</uri>
|
||||
<name>king1</name>
|
||||
<pose>1.5 0.2 0.25 0 0 0</pose>
|
||||
</-->
|
||||
</world>
|
||||
</sdf>
|
|
@ -1,493 +0,0 @@
|
|||
<sdf version='1.9'>
|
||||
<world name='empty'>
|
||||
<physics name='1ms' type='ignored'>
|
||||
<max_step_size>0.001</max_step_size>
|
||||
<real_time_factor>1</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'/>
|
||||
<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>true</shadows>
|
||||
</scene>
|
||||
<model name='ground_plane'>
|
||||
<static>true</static>
|
||||
<link name='link'>
|
||||
<collision name='collision'>
|
||||
<geometry>
|
||||
<plane>
|
||||
<normal>0 0 1</normal>
|
||||
<size>100 100</size>
|
||||
</plane>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
<bounce/>
|
||||
<contact/>
|
||||
</surface>
|
||||
</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>
|
||||
<pose>0 0 0 0 -0 0</pose>
|
||||
<inertial>
|
||||
<pose>0 0 0 0 -0 0</pose>
|
||||
<mass>1</mass>
|
||||
<inertia>
|
||||
<ixx>1</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>1</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>1</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<enable_wind>false</enable_wind>
|
||||
</link>
|
||||
<pose>0 0 0 0 -0 0</pose>
|
||||
<self_collide>false</self_collide>
|
||||
</model>
|
||||
<model name='ur5e'>
|
||||
<joint name='base_joint' type='fixed'>
|
||||
<pose>0 0 0 0 -0 0</pose>
|
||||
<parent>world</parent>
|
||||
<child>base_link</child>
|
||||
</joint>
|
||||
<link name='base_link'>
|
||||
<pose>0 0 0 0 -0 0</pose>
|
||||
<inertial>
|
||||
<pose>0 0 0 0 -0 0</pose>
|
||||
<mass>4</mass>
|
||||
<inertia>
|
||||
<ixx>0.0044333300000000001</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.0044333300000000001</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.0071999999999999998</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='base_link_inertia_collision'>
|
||||
<pose>0 0 0 0 0 -2.449293598294706e-16</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>file:///home/bill-finger/rasms_ws/install/share/ur_description/meshes/ur5e/collision/base.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='base_link_inertia_visual'>
|
||||
<pose>0 0 0 0 0 -2.449293598294706e-16</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>file:///home/bill-finger/rasms_ws/install/share/ur_description/meshes/ur5e/visual/base.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<enable_wind>false</enable_wind>
|
||||
</link>
|
||||
<joint name='shoulder_pan_joint' type='revolute'>
|
||||
<pose>0 0 0 0 -0 0</pose>
|
||||
<parent>base_link</parent>
|
||||
<child>shoulder_link</child>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-6.2831900000000003</lower>
|
||||
<upper>6.2831900000000003</upper>
|
||||
<effort>150</effort>
|
||||
<velocity>3.1415899999999999</velocity>
|
||||
<stiffness>100000000</stiffness>
|
||||
<dissipation>1</dissipation>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='shoulder_link'>
|
||||
<pose>0 0 0.1625 0 -0 -3.14159</pose>
|
||||
<inertial>
|
||||
<pose>0 0 0 0 -0 0</pose>
|
||||
<mass>3.7000000000000002</mass>
|
||||
<inertia>
|
||||
<ixx>0.010267500000000001</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.010267500000000001</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.0066600000000000001</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='shoulder_link_collision'>
|
||||
<pose>0 0 0 0 0 3.141592653589793</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>file:///home/bill-finger/rasms_ws/install/share/ur_description/meshes/ur5e/collision/shoulder.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='shoulder_link_visual'>
|
||||
<pose>0 0 0 0 0 3.141592653589793</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>file:///home/bill-finger/rasms_ws/install/share/ur_description/meshes/ur5e/visual/shoulder.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<enable_wind>false</enable_wind>
|
||||
</link>
|
||||
<joint name='shoulder_lift_joint' type='revolute'>
|
||||
<pose>-0 0 0 0 -0 0</pose>
|
||||
<parent>shoulder_link</parent>
|
||||
<child>upper_arm_link</child>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-6.2831900000000003</lower>
|
||||
<upper>6.2831900000000003</upper>
|
||||
<effort>150</effort>
|
||||
<velocity>3.1415899999999999</velocity>
|
||||
<stiffness>100000000</stiffness>
|
||||
<dissipation>1</dissipation>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='upper_arm_link'>
|
||||
<pose>0 -0 0.1625 1.5708 1.57 -3.14159</pose>
|
||||
<inertial>
|
||||
<pose>-0.2125 0 0.138 0 1.5708 0</pose>
|
||||
<mass>8.3930000000000007</mass>
|
||||
<inertia>
|
||||
<ixx>0.13388600000000001</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.13388600000000001</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.0151074</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='upper_arm_link_collision'>
|
||||
<pose>0 0 0.138 1.570796326794896 0 -1.570796326794896</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>file:///home/bill-finger/rasms_ws/install/share/ur_description/meshes/ur5e/collision/upperarm.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='upper_arm_link_visual'>
|
||||
<pose>0 0 0.138 1.570796326794896 0 -1.570796326794896</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>file:///home/bill-finger/rasms_ws/install/share/ur_description/meshes/ur5e/visual/upperarm.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<enable_wind>false</enable_wind>
|
||||
</link>
|
||||
<joint name='elbow_joint' type='revolute'>
|
||||
<pose>0 -0 0 0 -0 0</pose>
|
||||
<parent>upper_arm_link</parent>
|
||||
<child>forearm_link</child>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-3.1415899999999999</lower>
|
||||
<upper>3.1415899999999999</upper>
|
||||
<effort>150</effort>
|
||||
<velocity>3.1415899999999999</velocity>
|
||||
<stiffness>100000000</stiffness>
|
||||
<dissipation>1</dissipation>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='forearm_link'>
|
||||
<pose>0.000338 0 0.5875 1.5708 1.57 -3.14159</pose>
|
||||
<inertial>
|
||||
<pose>-0.1961 0 0.007 0 1.5708 0</pose>
|
||||
<mass>2.2749999999999999</mass>
|
||||
<inertia>
|
||||
<ixx>0.031209400000000002</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.031209400000000002</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.0040949999999999997</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='forearm_link_collision'>
|
||||
<pose>0 0 0.007 1.570796326794896 0 -1.570796326794896</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>file:///home/bill-finger/rasms_ws/install/share/ur_description/meshes/ur5e/collision/forearm.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='forearm_link_visual'>
|
||||
<pose>0 0 0.007 1.570796326794896 0 -1.570796326794896</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>file:///home/bill-finger/rasms_ws/install/share/ur_description/meshes/ur5e/visual/forearm.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<enable_wind>false</enable_wind>
|
||||
</link>
|
||||
<joint name='wrist_1_joint' type='revolute'>
|
||||
<pose>0 0 0 0 -0 0</pose>
|
||||
<parent>forearm_link</parent>
|
||||
<child>wrist_1_link</child>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-6.2831900000000003</lower>
|
||||
<upper>6.2831900000000003</upper>
|
||||
<effort>28</effort>
|
||||
<velocity>3.1415899999999999</velocity>
|
||||
<stiffness>100000000</stiffness>
|
||||
<dissipation>1</dissipation>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='wrist_1_link'>
|
||||
<pose>0.000651 0.1333 0.9797 -1.5708 0.001593 -0</pose>
|
||||
<inertial>
|
||||
<pose>0 0 0 0 -0 0</pose>
|
||||
<mass>1.2190000000000001</mass>
|
||||
<inertia>
|
||||
<ixx>0.0025598999999999999</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.0025598999999999999</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.0021941999999999999</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='wrist_1_link_collision'>
|
||||
<pose>0 0 -0.127 1.570796326794896 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>file:///home/bill-finger/rasms_ws/install/share/ur_description/meshes/ur5e/collision/wrist1.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='wrist_1_link_visual'>
|
||||
<pose>0 0 -0.127 1.570796326794896 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>file:///home/bill-finger/rasms_ws/install/share/ur_description/meshes/ur5e/visual/wrist1.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<enable_wind>false</enable_wind>
|
||||
</link>
|
||||
<joint name='wrist_2_joint' type='revolute'>
|
||||
<pose>0 0 0 0 0 -0</pose>
|
||||
<parent>wrist_1_link</parent>
|
||||
<child>wrist_2_link</child>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-6.2831900000000003</lower>
|
||||
<upper>6.2831900000000003</upper>
|
||||
<effort>28</effort>
|
||||
<velocity>3.1415899999999999</velocity>
|
||||
<stiffness>100000000</stiffness>
|
||||
<dissipation>1</dissipation>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='wrist_2_link'>
|
||||
<pose>0.00081 0.1333 1.0794 -0 0.001593 -0</pose>
|
||||
<inertial>
|
||||
<pose>0 0 0 0 -0 0</pose>
|
||||
<mass>1.2190000000000001</mass>
|
||||
<inertia>
|
||||
<ixx>0.0025598999999999999</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.0025598999999999999</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.0021941999999999999</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='wrist_2_link_collision'>
|
||||
<pose>0 0 -0.0997 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>file:///home/bill-finger/rasms_ws/install/share/ur_description/meshes/ur5e/collision/wrist2.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='wrist_2_link_visual'>
|
||||
<pose>0 0 -0.0997 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>file:///home/bill-finger/rasms_ws/install/share/ur_description/meshes/ur5e/visual/wrist2.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<enable_wind>false</enable_wind>
|
||||
</link>
|
||||
<joint name='wrist_3_joint' type='revolute'>
|
||||
<pose>0 -0 -0 0 -0 0</pose>
|
||||
<parent>wrist_2_link</parent>
|
||||
<child>wrist_3_link</child>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-6.2831900000000003</lower>
|
||||
<upper>6.2831900000000003</upper>
|
||||
<effort>28</effort>
|
||||
<velocity>3.1415899999999999</velocity>
|
||||
<stiffness>100000000</stiffness>
|
||||
<dissipation>1</dissipation>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='wrist_3_link'>
|
||||
<pose>0.00081 0.2329 1.0794 -1.5708 0.001593 -0</pose>
|
||||
<inertial>
|
||||
<pose>0 0 -0.0229 0 -0 0</pose>
|
||||
<mass>0.18790000000000001</mass>
|
||||
<inertia>
|
||||
<ixx>9.8904099999999994e-05</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>9.8904099999999994e-05</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.00013211700000000001</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='wrist_3_link_collision'>
|
||||
<pose>0 0 -0.0989 1.570796326794896 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>file:///home/bill-finger/rasms_ws/install/share/ur_description/meshes/ur5e/collision/wrist3.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='wrist_3_link_visual'>
|
||||
<pose>0 0 -0.0989 1.570796326794896 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>file:///home/bill-finger/rasms_ws/install/share/ur_description/meshes/ur5e/visual/wrist3.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<enable_wind>false</enable_wind>
|
||||
</link>
|
||||
<plugin name='ign_ros2_control::IgnitionROS2ControlPlugin' filename='libign_ros2_control-system.so'>
|
||||
<parameters>/home/bill-finger/rasms_ws/install/share/ur_moveit_config/config/ur_controllers.yaml</parameters>
|
||||
<controller_manager_node_name>controller_manager</controller_manager_node_name>
|
||||
</plugin>
|
||||
<frame name='base_link-base_fixed_joint' attached_to='base_link'>
|
||||
<pose>0 0 0 0 -0 3.14159</pose>
|
||||
</frame>
|
||||
<frame name='base' attached_to='base_link-base_fixed_joint'/>
|
||||
<frame name='base_link-base_link_inertia' attached_to='base_link'>
|
||||
<pose>0 0 0 0 -0 3.14159</pose>
|
||||
</frame>
|
||||
<frame name='base_link_inertia' attached_to='base_link-base_link_inertia'/>
|
||||
<frame name='flange-tool0' attached_to='flange'>
|
||||
<pose>0 0 0 1.5708 -0 1.5708</pose>
|
||||
</frame>
|
||||
<frame name='tool0' attached_to='flange-tool0'/>
|
||||
<frame name='wrist_3-flange' attached_to='wrist_3_link'>
|
||||
<pose>0 0 0 -1.5708 -1.5708 0</pose>
|
||||
</frame>
|
||||
<frame name='flange' attached_to='wrist_3-flange'/>
|
||||
<frame name='wrist_3_link-ft_frame' attached_to='wrist_3_link'>
|
||||
<pose>0 0 0 3.14159 -0 0</pose>
|
||||
</frame>
|
||||
<frame name='ft_frame' attached_to='wrist_3_link-ft_frame'/>
|
||||
<pose>0 0 0 0 -0 0</pose>
|
||||
<static>false</static>
|
||||
<self_collide>false</self_collide>
|
||||
</model>
|
||||
<light name='sun' type='directional'>
|
||||
<pose>0 0 10 0 -0 0</pose>
|
||||
<cast_shadows>true</cast_shadows>
|
||||
<intensity>1</intensity>
|
||||
<direction>-0.5 0.1 -0.9</direction>
|
||||
<diffuse>0.8 0.8 0.8 1</diffuse>
|
||||
<specular>0.2 0.2 0.2 1</specular>
|
||||
<attenuation>
|
||||
<range>1000</range>
|
||||
<linear>0.01</linear>
|
||||
<constant>0.90000000000000002</constant>
|
||||
<quadratic>0.001</quadratic>
|
||||
</attenuation>
|
||||
<spot>
|
||||
<inner_angle>0</inner_angle>
|
||||
<outer_angle>0</outer_angle>
|
||||
<falloff>0</falloff>
|
||||
</spot>
|
||||
</light>
|
||||
</world>
|
||||
</sdf>
|
Loading…
Add table
Add a link
Reference in a new issue