diff --git a/rasms_description/CMakeLists.txt b/rasms_description/CMakeLists.txt deleted file mode 100644 index 657d36e..0000000 --- a/rasms_description/CMakeLists.txt +++ /dev/null @@ -1,30 +0,0 @@ -cmake_minimum_required(VERSION 3.5) -project(rasms_description) - -# Default to C99 -if(NOT CMAKE_C_STANDARD) - set(CMAKE_C_STANDARD 99) -endif() - -# Default to C++14 -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) -endif() - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -# find dependencies -find_package(ament_cmake REQUIRED) -# uncomment the following section in order to fill in -# further dependencies manually. -# find_package( REQUIRED) - -# Install launch files. - -install(DIRECTORY urdf DESTINATION share/${PROJECT_NAME}) -install(DIRECTORY meshes DESTINATION share/${PROJECT_NAME}) -install(DIRECTORY config DESTINATION share/${PROJECT_NAME}) -ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME}.dsv") -ament_package() diff --git a/rasms_description/config/joint_names_roboarm.yaml b/rasms_description/config/joint_names_roboarm.yaml deleted file mode 100755 index 90e9262..0000000 --- a/rasms_description/config/joint_names_roboarm.yaml +++ /dev/null @@ -1 +0,0 @@ -controller_joint_names: ['', 'Joint1', 'Joint3', 'Joint4', 'Joint5', 'Joint6', 'Joint7', ] diff --git a/rasms_description/meshes/base.stl b/rasms_description/meshes/base.stl deleted file mode 100644 index 78533f1..0000000 Binary files a/rasms_description/meshes/base.stl and /dev/null differ diff --git a/rasms_description/meshes/link1.stl b/rasms_description/meshes/link1.stl deleted file mode 100644 index 01ba62c..0000000 Binary files a/rasms_description/meshes/link1.stl and /dev/null differ diff --git a/rasms_description/meshes/link2.stl b/rasms_description/meshes/link2.stl deleted file mode 100644 index b804e0e..0000000 Binary files a/rasms_description/meshes/link2.stl and /dev/null differ diff --git a/rasms_description/meshes/link3.stl b/rasms_description/meshes/link3.stl deleted file mode 100644 index 53016f6..0000000 Binary files a/rasms_description/meshes/link3.stl and /dev/null differ diff --git a/rasms_description/meshes/link4.stl b/rasms_description/meshes/link4.stl deleted file mode 100644 index cbc6d44..0000000 Binary files a/rasms_description/meshes/link4.stl and /dev/null differ diff --git a/rasms_description/meshes/link5.stl b/rasms_description/meshes/link5.stl deleted file mode 100644 index 352d2b1..0000000 Binary files a/rasms_description/meshes/link5.stl and /dev/null differ diff --git a/rasms_description/meshes/link6.stl b/rasms_description/meshes/link6.stl deleted file mode 100644 index 195c5f6..0000000 Binary files a/rasms_description/meshes/link6.stl and /dev/null differ diff --git a/rasms_description/rasms_description.dsv b/rasms_description/rasms_description.dsv deleted file mode 100644 index cd4ca90..0000000 --- a/rasms_description/rasms_description.dsv +++ /dev/null @@ -1 +0,0 @@ -prepend-non-duplicate;GAZEBO_MODEL_PATH;share \ No newline at end of file diff --git a/rasms_description/urdf/rasms.gazebo.xacro b/rasms_description/urdf/rasms.gazebo.xacro deleted file mode 100644 index d65f7d5..0000000 --- a/rasms_description/urdf/rasms.gazebo.xacro +++ /dev/null @@ -1,71 +0,0 @@ - - - - - - - - - - gazebo_ros2_control/GazeboSystem - $(find rasms_moveit_config)/config/rasms_controllers.yml - - - - - - 0.2 - 0.2 - Gazebo/White - gravity_disable - - - - - 0.2 - 0.2 - Gazebo/White - gravity_disable - - - - - 0.2 - 0.2 - Gazebo/White - gravity_disable - - - - - 0.2 - 0.2 - Gazebo/White - gravity_disable - - - - - 0.2 - 0.2 - Gazebo/White - gravity_disable - - - - - 0.2 - 0.2 - Gazebo/White - gravity_disable - - - - - 0.2 - 0.2 - Gazebo/White - gravity_disable - - - \ No newline at end of file diff --git a/rasms_description/urdf/rasms_description.urdf b/rasms_description/urdf/rasms_description.urdf deleted file mode 100644 index 520771b..0000000 --- a/rasms_description/urdf/rasms_description.urdf +++ /dev/null @@ -1,395 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/rasms_description/urdf/rasms_description.urdf.xacro b/rasms_description/urdf/rasms_description.urdf.xacro deleted file mode 100755 index c0cff4a..0000000 --- a/rasms_description/urdf/rasms_description.urdf.xacro +++ /dev/null @@ -1,409 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/rasmt_support/CMakeLists.txt b/rasmt_support/CMakeLists.txt new file mode 100644 index 0000000..5cf06a7 --- /dev/null +++ b/rasmt_support/CMakeLists.txt @@ -0,0 +1,39 @@ +cmake_minimum_required(VERSION 3.5) +project(rasmt_support) + +# Default to C99 +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 99) +endif() + +# Default to C++14 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 14) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +find_package(urdf REQUIRED) +find_package(xacro REQUIRED) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # uncomment the line when a copyright and license is not present in all source files + #set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # uncomment the line when this package is not in a git repo + #set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +install(DIRECTORY urdf DESTINATION share/${PROJECT_NAME}) +install(DIRECTORY meshes DESTINATION share/${PROJECT_NAME}) +install(DIRECTORY config DESTINATION share/${PROJECT_NAME}) +install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}) + +ament_package() diff --git a/rasms_description/config/rasms.rviz b/rasmt_support/config/rasmt.rviz similarity index 71% rename from rasms_description/config/rasms.rviz rename to rasmt_support/config/rasmt.rviz index c81b4b7..6a51841 100644 --- a/rasms_description/config/rasms.rviz +++ b/rasmt_support/config/rasmt.rviz @@ -42,70 +42,29 @@ Visualization Manager: Plane Cell Count: 10 Reference Frame: Value: true - - Class: moveit_rviz_plugin/PlanningScene + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_description Enabled: true - Move Group Namespace: "" - Name: PlanningScene - Planning Scene Topic: /monitored_planning_scene - Robot Description: robot_description - Scene Geometry: - Scene Alpha: 0.8999999761581421 - Scene Color: 50; 230; 50 - Scene Display Time: 0.009999999776482582 - Show Scene Geometry: true - Voxel Coloring: Z-Axis - Voxel Rendering: Occupied Voxels - Scene Robot: - Attached Body Color: 150; 50; 150 - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: Links in Alphabetic Order - base: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link3: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link4: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link5: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - link6: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - world: - Alpha: 1 - Show Axes: false - Show Trail: false - Robot Alpha: 1 - Show Robot Collision: false - Show Robot Visual: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: "" + Name: RobotModel + TF Prefix: "" + Update Interval: 0 Value: true + Visual Enabled: true Enabled: true Global Options: Background Color: 48; 48; 48 @@ -164,10 +123,10 @@ Visualization Manager: Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.7903980612754822 + Pitch: 0.680398166179657 Target Frame: Value: Orbit (rviz) - Yaw: 5.348577976226807 + Yaw: 5.493580341339111 Saved: ~ Window Geometry: Displays: diff --git a/rasmt_support/config/rasmt_hand_controllers.yaml b/rasmt_support/config/rasmt_hand_controllers.yaml new file mode 100644 index 0000000..f080e27 --- /dev/null +++ b/rasmt_support/config/rasmt_hand_controllers.yaml @@ -0,0 +1,21 @@ +controller_manager: + ros__parameters: + update_rate: 1000 # Hz + + joint_state_broadcaster: + type: joint_state_broadcaster/JointStateBroadcaster + + hand_position_trajectory_controller: + type: joint_trajectory_controller/JointTrajectoryController + +hand_position_trajectory_controller: + ros__parameters: + joints: + - rasmt_Slide_1 + - rasmt_Slide_2 + command_interfaces: + - position + state_interfaces: + - position + state_publish_rate: 50.0 + action_monitor_rate: 20.0 \ No newline at end of file diff --git a/rasmt_support/config/rasmt_single_controllers.yaml b/rasmt_support/config/rasmt_single_controllers.yaml new file mode 100644 index 0000000..6067f36 --- /dev/null +++ b/rasmt_support/config/rasmt_single_controllers.yaml @@ -0,0 +1,25 @@ +controller_manager: + ros__parameters: + update_rate: 1000 # Hz + + joint_state_broadcaster: + type: joint_state_broadcaster/JointStateBroadcaster + + position_trajectory_controller: + type: joint_trajectory_controller/JointTrajectoryController + +position_trajectory_controller: + ros__parameters: + joints: + - rasmt_Rot_Z_1 + - rasmt_Rot_Y_1 + - rasmt_Rot_Z_2 + - rasmt_Rot_Y_2 + - rasmt_Rot_Z_3 + - rasmt_Rot_Y_4 + command_interfaces: + - position + state_interfaces: + - position + state_publish_rate: 50.0 + action_monitor_rate: 20.0 \ No newline at end of file diff --git a/rasmt_support/launch/gazebo.launch.py b/rasmt_support/launch/gazebo.launch.py new file mode 100644 index 0000000..e394dcc --- /dev/null +++ b/rasmt_support/launch/gazebo.launch.py @@ -0,0 +1,54 @@ +from launch.launch_description import LaunchDescription +from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument +from launch.substitutions import PathJoinSubstitution, LaunchConfiguration, FindExecutable, Command +from launch_ros.substitutions import FindPackageShare +from launch_ros.actions import Node +from launch.launch_description_sources import PythonLaunchDescriptionSource +import xacro +import os +from ament_index_python import get_package_share_directory + + +def generate_launch_description(): + + # Launch Gazebo + gazebo = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + PathJoinSubstitution([ + FindPackageShare("gazebo_ros"), + "launch", + "gazebo.launch.py" + ]) + ) + ) + xacro_file = os.path.join(get_package_share_directory("rasmt_support"),"urdf/","rasmt.xacro") + # get error if xacro file if missing + assert os.path.exists(xacro_file), "The xacro file of rasmt.xacro doesnt exist"+str(xacro_file) + + sdf_file = os.path.join(get_package_share_directory("rasmt_support"),"urdf/","cube5x.sdf") + + + spawn_entity = Node( + package="gazebo_ros", + executable="spawn_entity.py", + arguments=[ + "-file", xacro_file, + "-entity", "rasmt" + ], + output="screen" + ) + cube_spawn = Node( + package="gazebo_ros", + executable="spawn_entity.py", + arguments=[ + "-file", sdf_file, + "-entity", "cube_station" + ] + ) + + return LaunchDescription( + [ + gazebo, + spawn_entity, + #cube_spawn + ]) \ No newline at end of file diff --git a/rasmt_support/launch/rviz.launch.py b/rasmt_support/launch/rviz.launch.py new file mode 100644 index 0000000..6f874bd --- /dev/null +++ b/rasmt_support/launch/rviz.launch.py @@ -0,0 +1,77 @@ +from multiprocessing import context +from webbrowser import get +from launch.actions.declare_launch_argument import DeclareLaunchArgument +from launch.launch_description import LaunchDescription +#from launch.substitutions.launch_configuration import LaunchConfiguration +from launch_ros.actions import Node +import xacro +import os +from ament_index_python import get_package_share_directory + +def generate_launch_description(): + + launch_args = [] + launch_args.append( + DeclareLaunchArgument( + name="grip", + default_value="true", + description="On or OFF gripper for launch" + ) + ) + launch_args.append( + DeclareLaunchArgument( + name="sim", + default_value="true", + description="On or OFF simulation" + ) + ) + launch_args.append( + DeclareLaunchArgument( + name="robot_name", + default_value="rasmt", + description="Robot name" + ) + ) + + # For convert LaunchConfiguration to string + # grip = LaunchConfiguration("grip").perform(context) + + # get xacro file path + xacro_file = os.path.join(get_package_share_directory("rasmt_support"),"urdf/","rasmt.xacro") + # get error if xacro file if missing + assert os.path.exists(xacro_file), "The xacro file of neptun_description doesnt exist"+str(xacro_file) + # parse xacro file from file with arguments + robot_description = xacro.process_file(xacro_file, mappings={'grip':"true",'sim':"false",'robot_name':"rasmt"}) + # convert file to xml format + robot_description_content = robot_description.toxml() + + rviz_config_file = os.path.join(get_package_share_directory("rasmt_support"),"config/","rasmt.rviz") + rviz = Node( + package="rviz2", + executable="rviz2", + parameters=[{'robot_description': robot_description_content}], + arguments=[ + '-d', rviz_config_file + ] + ) + robot_state_publisher = Node( + package="robot_state_publisher", + executable="robot_state_publisher", + output="screen", + parameters=[{'robot_description': robot_description_content}] + ) + joint_state_publisher =Node( + package="joint_state_publisher_gui", + executable="joint_state_publisher_gui", + output="log", + arguments=["--ros-args"], + ) + + launch_nodes = [] + launch_nodes.append(rviz) + launch_nodes.append(robot_state_publisher) + launch_nodes.append(joint_state_publisher) + #launch_nodes.add_action(launch_args) + + + return LaunchDescription(launch_nodes) \ No newline at end of file diff --git a/rasmt_support/meshes/collision/Base_Link.STL b/rasmt_support/meshes/collision/Base_Link.STL new file mode 100644 index 0000000..916cdba Binary files /dev/null and b/rasmt_support/meshes/collision/Base_Link.STL differ diff --git a/rasmt_support/meshes/collision/Dock_Link.STL b/rasmt_support/meshes/collision/Dock_Link.STL new file mode 100644 index 0000000..3f39d98 Binary files /dev/null and b/rasmt_support/meshes/collision/Dock_Link.STL differ diff --git a/rasmt_support/meshes/collision/Fork_1.STL b/rasmt_support/meshes/collision/Fork_1.STL new file mode 100644 index 0000000..e55a4ce Binary files /dev/null and b/rasmt_support/meshes/collision/Fork_1.STL differ diff --git a/rasmt_support/meshes/collision/Fork_2.STL b/rasmt_support/meshes/collision/Fork_2.STL new file mode 100644 index 0000000..3535f86 Binary files /dev/null and b/rasmt_support/meshes/collision/Fork_2.STL differ diff --git a/rasmt_support/meshes/collision/Fork_3.STL b/rasmt_support/meshes/collision/Fork_3.STL new file mode 100644 index 0000000..1f4df96 Binary files /dev/null and b/rasmt_support/meshes/collision/Fork_3.STL differ diff --git a/rasmt_support/meshes/collision/Grip_Body.STL b/rasmt_support/meshes/collision/Grip_Body.STL new file mode 100644 index 0000000..02acf19 Binary files /dev/null and b/rasmt_support/meshes/collision/Grip_Body.STL differ diff --git a/rasmt_support/meshes/collision/Grip_L.STL b/rasmt_support/meshes/collision/Grip_L.STL new file mode 100644 index 0000000..0b5be87 Binary files /dev/null and b/rasmt_support/meshes/collision/Grip_L.STL differ diff --git a/rasmt_support/meshes/collision/Grip_R.STL b/rasmt_support/meshes/collision/Grip_R.STL new file mode 100644 index 0000000..790fd35 Binary files /dev/null and b/rasmt_support/meshes/collision/Grip_R.STL differ diff --git a/rasmt_support/meshes/collision/Link_1.STL b/rasmt_support/meshes/collision/Link_1.STL new file mode 100644 index 0000000..414eb2d Binary files /dev/null and b/rasmt_support/meshes/collision/Link_1.STL differ diff --git a/rasmt_support/meshes/collision/Link_2.STL b/rasmt_support/meshes/collision/Link_2.STL new file mode 100644 index 0000000..b984ffe Binary files /dev/null and b/rasmt_support/meshes/collision/Link_2.STL differ diff --git a/rasmt_support/meshes/collision/cube5x.STL b/rasmt_support/meshes/collision/cube5x.STL new file mode 100644 index 0000000..e1e54cc Binary files /dev/null and b/rasmt_support/meshes/collision/cube5x.STL differ diff --git a/rasms_description/package.xml b/rasmt_support/package.xml similarity index 63% rename from rasms_description/package.xml rename to rasmt_support/package.xml index d002a92..08bd341 100644 --- a/rasms_description/package.xml +++ b/rasmt_support/package.xml @@ -1,18 +1,16 @@ - rasms_description + rasmt_support 0.0.0 TODO: Package description - bill-finger + bill-finger TODO: License declaration ament_cmake - xacro - joint_state_publisher_gui - robot_state_publisher - rviz2 + urdf + xacro ament_lint_auto ament_lint_common @@ -20,4 +18,4 @@ ament_cmake - + \ No newline at end of file diff --git a/rasmt_support/urdf/cube5x.sdf b/rasmt_support/urdf/cube5x.sdf new file mode 100644 index 0000000..4517829 --- /dev/null +++ b/rasmt_support/urdf/cube5x.sdf @@ -0,0 +1,38 @@ + + + + 1 + + + 0.004475 0 0.577443 0 0 0 + 229.703 + + 0.861062 + 2.44052e-16 + -7.22504e-17 + 0.861062 + 3.40174e-17 + 1.16487 + + + + 0 0 0 0 0 1.5707 + + + 1 1 1 + model://neptun_description/meshes/cube5x.STL + + + + + 0 0 0 0 0 1.5707 + + + 1 1 1 + model://neptun_description/meshes/cube5x.STL + + + + + + diff --git a/rasmt_support/urdf/rasmt.xacro b/rasmt_support/urdf/rasmt.xacro new file mode 100644 index 0000000..433aaaa --- /dev/null +++ b/rasmt_support/urdf/rasmt.xacro @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + + diff --git a/rasms_description/urdf/rasms.control.xacro b/rasmt_support/urdf/robot/rasmt_single_control.xacro similarity index 75% rename from rasms_description/urdf/rasms.control.xacro rename to rasmt_support/urdf/robot/rasmt_single_control.xacro index 23ad49f..31813c3 100644 --- a/rasms_description/urdf/rasms.control.xacro +++ b/rasmt_support/urdf/robot/rasmt_single_control.xacro @@ -1,13 +1,22 @@ - + - - - gazebo_ros2_control/GazeboSystem - - - + + + + + gazebo_ros2_control/GazeboSystem + + + + + + fake_components/GenericSystem + + + + -1 @@ -17,7 +26,8 @@ - + + -1 1 @@ -26,7 +36,8 @@ - + + -1 1 @@ -35,7 +46,8 @@ - + + -1 1 @@ -44,7 +56,8 @@ - + + -1 1 @@ -53,7 +66,8 @@ - + + -1 1 @@ -62,6 +76,7 @@ + \ No newline at end of file diff --git a/rasmt_support/urdf/robot/rasmt_single_gazebo.xacro b/rasmt_support/urdf/robot/rasmt_single_gazebo.xacro new file mode 100644 index 0000000..904692c --- /dev/null +++ b/rasmt_support/urdf/robot/rasmt_single_gazebo.xacro @@ -0,0 +1,63 @@ + + + + + + + + + $(find rasmt_support)/config/rasmt_single_controllers.yaml + /${prefix} + + + + + + 0.2 + 0.2 + true + + + + + 0.2 + 0.2 + true + + + + + 0.2 + 0.2 + true + + + + + 0.2 + 0.2 + true + + + + + 0.2 + 0.2 + true + + + + + 0.2 + 0.2 + true + + + + + 0.2 + 0.2 + true + + + \ No newline at end of file diff --git a/rasmt_support/urdf/robot/rasmt_single_macro.xacro b/rasmt_support/urdf/robot/rasmt_single_macro.xacro new file mode 100644 index 0000000..7a3c77f --- /dev/null +++ b/rasmt_support/urdf/robot/rasmt_single_macro.xacro @@ -0,0 +1,405 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/rasmt_support/urdf/tools/rasmt_hand_control.xacro b/rasmt_support/urdf/tools/rasmt_hand_control.xacro new file mode 100644 index 0000000..ed24de4 --- /dev/null +++ b/rasmt_support/urdf/tools/rasmt_hand_control.xacro @@ -0,0 +1,42 @@ + + + + + + + + + gazebo_ros2_control/GazeboSystem + + + + + + fake_components/GenericSystem + + + + + + + -1 + 1 + + + + + + + + + -1 + 1 + + + + + + + + + \ No newline at end of file diff --git a/rasmt_support/urdf/tools/rasmt_hand_gazebo.xacro b/rasmt_support/urdf/tools/rasmt_hand_gazebo.xacro new file mode 100644 index 0000000..81c5537 --- /dev/null +++ b/rasmt_support/urdf/tools/rasmt_hand_gazebo.xacro @@ -0,0 +1,36 @@ + + + + + + + + + $(find rasmt_support)/config/rasmt_hand_controllers.yaml + /${prefix} + + + + + + 0.2 + 0.2 + true + + + + + 0.2 + 0.2 + true + + + + + 0.2 + 0.2 + true + + + + \ No newline at end of file diff --git a/rasmt_support/urdf/tools/rasmt_hand_macro.xacro b/rasmt_support/urdf/tools/rasmt_hand_macro.xacro new file mode 100644 index 0000000..c7d52bd --- /dev/null +++ b/rasmt_support/urdf/tools/rasmt_hand_macro.xacro @@ -0,0 +1,189 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +