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MVP with Tensorboard

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IDONTSUDO 2024-12-01 16:12:08 +00:00 • committed by Igor Brylev
parent 5b9b51ad59
commit a0d089d5bb
549 changed files with 39977 additions and 31449 deletions
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<?xml version="1.0" encoding="UTF-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/urdf/rbs_arm_modular.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="rbs_arm">
<link name="world" />
<joint name="base_link_joint" type="fixed">
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0" />
<parent link="world" />
<child link="base_link" />
</joint>
<link name="base_link">
<collision name="base_link_collision">
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
<geometry>
<mesh
filename="file:///home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/meshes/collision/start_link.stl"
scale="1.00000 1.00000 1.00000" />
</geometry>
</collision>
<inertial>
<inertia ixx="0.00503302470272442" ixy="0.000343817346410954"
ixz="-4.74990755448368E-06" iyy="0.00337962410057753" iyz="-2.3099255620051E-05"
izz="0.00405858207282473" />
<origin rpy="0.00000 0.00000 0.00000"
xyz="-0.000297002857922682 0.0964721185617698 -0.000361033370053684" />
<mass value="1.88031044620482" />
</inertial>
<visual name="base_link_visual">
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
<geometry>
<mesh
filename="/start_link.dae"
scale="1.00000 1.00000 1.00000" />
</geometry>
</visual>
</link>
<gazebo reference="base_link">
<visual>
<material>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.6 0.6 0.6 1</specular>
<ambient>1.0 1.0 1.0</ambient>
<lighting>true</lighting>
<emissive>0 0 0 1</emissive>
<pbr>
<metal>
<albedo_map>
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/base_link_d.png</albedo_map>
<normal_map>
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/base_link_n.png</normal_map>
<ambient_occlusion_map>
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/base_link_ao.png</ambient_occlusion_map>
<roughness_map>
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/base_link_r.png</roughness_map>
</metal>
</pbr>
</material>
</visual>
</gazebo>
<joint name="fork0_link_joint" type="revolute">
<limit effort="78" lower="-6.14159" upper="6.14159" velocity="0.52" />
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00000 0.17833" />
<parent link="base_link" />
<child link="fork0_link" />
<axis xyz="0 0 1" />
</joint>
<link name="fork0_link">
<collision name="fork0_link_collision">
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 -0.00000 0.00000" />
<geometry>
<mesh
filename="file:///home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/meshes/collision/fork_link.stl"
scale="1.00000 1.00000 1.00000" />
</geometry>
</collision>
<inertial>
<inertia ixx="0.00367804533572758" ixy="1.04277925521833E-05" ixz="-0.00149971410403071"
iyy="0.00415208849477534" iyz="-0.00122" izz="0.00329" />
<origin rpy="0.00000 0.00000 0.00000"
xyz="0.0472051139085306 0.00208890925682996 0.0557265410642575" />
<mass value="1.12472202892859" />
</inertial>
<visual name="fork0_link_visual">
<origin rpy="0.00000 -0.00000 -0.00000" xyz="0.00000 -0.00000 0.00000" />
<geometry>
<mesh
filename="/fork_link.dae"
scale="1.00000 1.00000 1.00000" />
</geometry>
</visual>
</link>
<ros2_control name="fork0_link_joint_hardware_interface" type="actuator">
<hardware>
<plugin>ign_ros2_control/IgnitionSystem</plugin>
</hardware>
<joint name="fork0_link_joint">
<command_interface name="position">
<!-- <param name="min">-1</param> -->
<!-- <param name="max">1</param> -->
</command_interface>
<command_interface name="velocity">
<!-- <param name="min">-1</param> -->
<!-- <param name="max">1</param> -->
</command_interface>
<!-- WARN When this active a robot falls down -->
<!-- <command_interface name="effort"/> -->
<!-- <param name="p">${p}</param> -->
<!-- <param name="d">${d}</param> -->
<!-- <command_interface name="effort"/> -->
<state_interface name="position" />
<state_interface name="velocity" />
<state_interface name="effort" />
</joint>
</ros2_control>
<gazebo reference="fork0_link">
<visual>
<material>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.6 0.6 0.6 1</specular>
<ambient>1.0 1.0 1.0</ambient>
<lighting>true</lighting>
<emissive>0 0 0 1</emissive>
<pbr>
<metal>
<albedo_map>
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/fork_d.png</albedo_map>
<normal_map>
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/fork_n.png</normal_map>
<ambient_occlusion_map>
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/fork_ao.png</ambient_occlusion_map>
<roughness_map>
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/fork_r.png</roughness_map>
</metal>
</pbr>
</material>
</visual>
</gazebo>
<joint name="main0_link_joint" type="revolute">
<limit effort="78" lower="-1.5708" upper="3.14159" velocity="0.52" />
<origin rpy="-0.00000 0.00000 0.00000" xyz="0.10000 0.00000 0.09400" />
<parent link="fork0_link" />
<child link="main0_link" />
<axis xyz="0 1 0" />
</joint>
<link name="main0_link">
<collision name="main0_link_collision">
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
<geometry>
<mesh
filename="file:///home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/meshes/collision/main_link.stl"
scale="1.00000 1.00000 1.00000" />
</geometry>
</collision>
<inertial>
<inertia ixx="0.00315699373090845" ixy="2.84713820858537E-05"
ixz="-7.01601261191721E-05" iyy="0.00343729241263707" iyz="-0.000101485203138902"
izz="0.00125534890134052" />
<origin rpy="0.00000 0.00000 0.00000"
xyz="0.00186712264682627 -0.000412152188777604 0.0516389446895805" />
<mass value="1.58688811563124" />
</inertial>
<visual name="main0_link_visual">
<origin rpy="0.00000 -0.00000 -0.00000" xyz="0.00000 0.00000 0.00000" />
<geometry>
<mesh
filename="/main_link.dae"
scale="1.00000 1.00000 1.00000" />
</geometry>
</visual>
</link>
<ros2_control name="main0_link_joint_hardware_interface" type="actuator">
<hardware>
<plugin>ign_ros2_control/IgnitionSystem</plugin>
</hardware>
<joint name="main0_link_joint">
<command_interface name="position">
<!-- <param name="min">-1</param> -->
<!-- <param name="max">1</param> -->
</command_interface>
<command_interface name="velocity">
<!-- <param name="min">-1</param> -->
<!-- <param name="max">1</param> -->
</command_interface>
<!-- WARN When this active a robot falls down -->
<!-- <command_interface name="effort"/> -->
<!-- <param name="p">${p}</param> -->
<!-- <param name="d">${d}</param> -->
<!-- <command_interface name="effort"/> -->
<state_interface name="position" />
<state_interface name="velocity" />
<state_interface name="effort" />
</joint>
</ros2_control>
<gazebo reference="main0_link">
<visual>
<material>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.6 0.6 0.6 1</specular>
<ambient>1.0 1.0 1.0</ambient>
<lighting>true</lighting>
<emissive>0 0 0 1</emissive>
<pbr>
<metal>
<albedo_map>
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/main_link_d.png</albedo_map>
<normal_map>
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/main_link_n.png</normal_map>
<ambient_occlusion_map>
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/main_link_ao.png</ambient_occlusion_map>
<roughness_map>
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/main_link_r.png</roughness_map>
</metal>
</pbr>
</material>
</visual>
</gazebo>
<joint name="fork1_link_joint" type="revolute">
<limit effort="78" lower="-6.14159" upper="6.14159" velocity="0.52" />
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00000 0.13300" />
<parent link="main0_link" />
<child link="fork1_link" />
<axis xyz="0 0 1" />
</joint>
<link name="fork1_link">
<collision name="fork1_link_collision">
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 -0.00000 0.00000" />
<geometry>
<mesh
filename="file:///home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/meshes/collision/fork_link.stl"
scale="1.00000 1.00000 1.00000" />
</geometry>
</collision>
<inertial>
<inertia ixx="0.00367804533572758" ixy="1.04277925521833E-05" ixz="-0.00149971410403071"
iyy="0.00415208849477534" iyz="-0.00122" izz="0.00329" />
<origin rpy="0.00000 0.00000 0.00000"
xyz="0.0472051139085306 0.00208890925682996 0.0557265410642575" />
<mass value="1.12472202892859" />
</inertial>
<visual name="fork1_link_visual">
<origin rpy="0.00000 -0.00000 -0.00000" xyz="0.00000 -0.00000 0.00000" />
<geometry>
<mesh
filename="/fork_link.dae"
scale="1.00000 1.00000 1.00000" />
</geometry>
</visual>
</link>
<ros2_control name="fork1_link_joint_hardware_interface" type="actuator">
<hardware>
<plugin>ign_ros2_control/IgnitionSystem</plugin>
</hardware>
<joint name="fork1_link_joint">
<command_interface name="position">
<!-- <param name="min">-1</param> -->
<!-- <param name="max">1</param> -->
</command_interface>
<command_interface name="velocity">
<!-- <param name="min">-1</param> -->
<!-- <param name="max">1</param> -->
</command_interface>
<!-- WARN When this active a robot falls down -->
<!-- <command_interface name="effort"/> -->
<!-- <param name="p">${p}</param> -->
<!-- <param name="d">${d}</param> -->
<!-- <command_interface name="effort"/> -->
<state_interface name="position" />
<state_interface name="velocity" />
<state_interface name="effort" />
</joint>
</ros2_control>
<gazebo reference="fork1_link">
<visual>
<material>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.6 0.6 0.6 1</specular>
<ambient>1.0 1.0 1.0</ambient>
<lighting>true</lighting>
<emissive>0 0 0 1</emissive>
<pbr>
<metal>
<albedo_map>
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/fork_d.png</albedo_map>
<normal_map>
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/fork_n.png</normal_map>
<ambient_occlusion_map>
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/fork_ao.png</ambient_occlusion_map>
<roughness_map>
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/fork_r.png</roughness_map>
</metal>
</pbr>
</material>
</visual>
</gazebo>
<joint name="main1_link_joint" type="revolute">
<limit effort="78" lower="-1.5708" upper="3.14159" velocity="0.52" />
<origin rpy="-0.00000 0.00000 0.00000" xyz="0.10000 0.00000 0.09400" />
<parent link="fork1_link" />
<child link="main1_link" />
<axis xyz="0 1 0" />
</joint>
<link name="main1_link">
<collision name="main1_link_collision">
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
<geometry>
<mesh
filename="file:///home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/meshes/collision/main_link.stl"
scale="1.00000 1.00000 1.00000" />
</geometry>
</collision>
<inertial>
<inertia ixx="0.00315699373090845" ixy="2.84713820858537E-05"
ixz="-7.01601261191721E-05" iyy="0.00343729241263707" iyz="-0.000101485203138902"
izz="0.00125534890134052" />
<origin rpy="0.00000 0.00000 0.00000"
xyz="0.00186712264682627 -0.000412152188777604 0.0516389446895805" />
<mass value="1.58688811563124" />
</inertial>
<visual name="main1_link_visual">
<origin rpy="0.00000 -0.00000 -0.00000" xyz="0.00000 0.00000 0.00000" />
<geometry>
<mesh
filename="/main_link.dae"
scale="1.00000 1.00000 1.00000" />
</geometry>
</visual>
</link>
<ros2_control name="main1_link_joint_hardware_interface" type="actuator">
<hardware>
<plugin>ign_ros2_control/IgnitionSystem</plugin>
</hardware>
<joint name="main1_link_joint">
<command_interface name="position">
<!-- <param name="min">-1</param> -->
<!-- <param name="max">1</param> -->
</command_interface>
<command_interface name="velocity">
<!-- <param name="min">-1</param> -->
<!-- <param name="max">1</param> -->
</command_interface>
<!-- WARN When this active a robot falls down -->
<!-- <command_interface name="effort"/> -->
<!-- <param name="p">${p}</param> -->
<!-- <param name="d">${d}</param> -->
<!-- <command_interface name="effort"/> -->
<state_interface name="position" />
<state_interface name="velocity" />
<state_interface name="effort" />
</joint>
</ros2_control>
<gazebo reference="main1_link">
<visual>
<material>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.6 0.6 0.6 1</specular>
<ambient>1.0 1.0 1.0</ambient>
<lighting>true</lighting>
<emissive>0 0 0 1</emissive>
<pbr>
<metal>
<albedo_map>
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/main_link_d.png</albedo_map>
<normal_map>
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/main_link_n.png</normal_map>
<ambient_occlusion_map>
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/main_link_ao.png</ambient_occlusion_map>
<roughness_map>
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/main_link_r.png</roughness_map>
</metal>
</pbr>
</material>
</visual>
</gazebo>
<joint name="fork2_link_joint" type="revolute">
<limit effort="78" lower="-6.14159" upper="6.14159" velocity="0.52" />
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00000 0.13300" />
<parent link="main1_link" />
<child link="fork2_link" />
<axis xyz="0 0 1" />
</joint>
<link name="fork2_link">
<collision name="fork2_link_collision">
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 -0.00000 0.00000" />
<geometry>
<mesh
filename="file:///home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/meshes/collision/fork_link.stl"
scale="1.00000 1.00000 1.00000" />
</geometry>
</collision>
<inertial>
<inertia ixx="0.00367804533572758" ixy="1.04277925521833E-05" ixz="-0.00149971410403071"
iyy="0.00415208849477534" iyz="-0.00122" izz="0.00329" />
<origin rpy="0.00000 0.00000 0.00000"
xyz="0.0472051139085306 0.00208890925682996 0.0557265410642575" />
<mass value="1.12472202892859" />
</inertial>
<visual name="fork2_link_visual">
<origin rpy="0.00000 -0.00000 -0.00000" xyz="0.00000 -0.00000 0.00000" />
<geometry>
<mesh
filename="/fork_link.dae"
scale="1.00000 1.00000 1.00000" />
</geometry>
</visual>
</link>
<ros2_control name="fork2_link_joint_hardware_interface" type="actuator">
<hardware>
<plugin>ign_ros2_control/IgnitionSystem</plugin>
</hardware>
<joint name="fork2_link_joint">
<command_interface name="position">
<!-- <param name="min">-1</param> -->
<!-- <param name="max">1</param> -->
</command_interface>
<command_interface name="velocity">
<!-- <param name="min">-1</param> -->
<!-- <param name="max">1</param> -->
</command_interface>
<!-- WARN When this active a robot falls down -->
<!-- <command_interface name="effort"/> -->
<!-- <param name="p">${p}</param> -->
<!-- <param name="d">${d}</param> -->
<!-- <command_interface name="effort"/> -->
<state_interface name="position" />
<state_interface name="velocity" />
<state_interface name="effort" />
</joint>
</ros2_control>
<gazebo reference="fork2_link">
<visual>
<material>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.6 0.6 0.6 1</specular>
<ambient>1.0 1.0 1.0</ambient>
<lighting>true</lighting>
<emissive>0 0 0 1</emissive>
<pbr>
<metal>
<albedo_map>
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/fork_d.png</albedo_map>
<normal_map>
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/fork_n.png</normal_map>
<ambient_occlusion_map>
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/fork_ao.png</ambient_occlusion_map>
<roughness_map>
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/fork_r.png</roughness_map>
</metal>
</pbr>
</material>
</visual>
</gazebo>
<joint name="ee_link_joint" type="revolute">
<limit effort="78" lower="-1.5708" upper="3.14159" velocity="0.52" />
<origin rpy="0.00000 0.00000 0.00000" xyz="0.10000 0.00000 0.09473" />
<parent link="fork2_link" />
<child link="ee_link" />
<axis xyz="0 1 0" />
</joint>
<joint name="tool0_joint" type="fixed">
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00000 0.11000" />
<parent link="ee_link" />
<child link="tool0" />
</joint>
<link name="tool0" />
<link name="ee_link">
<collision name="ee_link_collision">
<origin rpy="-0.00000 0.00000 -0.00000" xyz="0.00000 -0.00000 0.00000" />
<geometry>
<mesh
filename="file:///home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/meshes/collision/ee_link.stl"
scale="1.00000 1.00000 1.00000" />
</geometry>
</collision>
<inertial>
<inertia ixx="0.00147695259043549" ixy="-2.66894744420299E-05"
ixz="-4.40871314563273E-05" iyy="0.00135500487881796" iyz="-3.19001462979333E-05"
izz="0.00087582892706912" />
<origin rpy="0.00000 0.00000 0.00000"
xyz="-9.7531539777207E-06 -0.000888494418875867 0.0342332199538358" />
<mass value="1.88031044620482" />
</inertial>
<visual name="ee_link_visual">
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 -0.00000 0.00000" />
<geometry>
<mesh
filename="/ee_link.dae"
scale="1.00000 1.00000 1.00000" />
</geometry>
</visual>
</link>
<ros2_control name="ee_link_joint_hardware_interface" type="actuator">
<hardware>
<plugin>ign_ros2_control/IgnitionSystem</plugin>
</hardware>
<joint name="ee_link_joint">
<command_interface name="position">
<!-- <param name="min">-1</param> -->
<!-- <param name="max">1</param> -->
</command_interface>
<command_interface name="velocity">
<!-- <param name="min">-1</param> -->
<!-- <param name="max">1</param> -->
</command_interface>
<!-- WARN When this active a robot falls down -->
<!-- <command_interface name="effort"/> -->
<!-- <param name="p">${p}</param> -->
<!-- <param name="d">${d}</param> -->
<!-- <command_interface name="effort"/> -->
<state_interface name="position" />
<state_interface name="velocity" />
<state_interface name="effort" />
</joint>
</ros2_control>
<gazebo reference="ee_link">
<visual>
<material>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.6 0.6 0.6 1</specular>
<ambient>1.0 1.0 1.0</ambient>
<lighting>true</lighting>
<emissive>0 0 0 1</emissive>
<pbr>
<metal>
<albedo_map>
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/ee_link_d.png</albedo_map>
<normal_map>
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/ee_link_n.png</normal_map>
<ambient_occlusion_map>
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/ee_link_ao.png</ambient_occlusion_map>
<roughness_map>
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/ee_link_r.png</roughness_map>
</metal>
</pbr>
</material>
</visual>
</gazebo>
<!-- END robot description -->
<ros2_control name="rbs_gripper_gazebo" type="system">
<!-- Plugins -->
<hardware>
<plugin>ign_ros2_control/IgnitionSystem</plugin>
</hardware>
<!-- Joint interfaces -->
<joint name="rbs_gripper_rot_base_joint">
<state_interface name="position">
<param name="initial_value">0.000</param>
</state_interface>
<command_interface name="position" />
<command_interface name="velocity" />
<!-- <command_interface name="effort"/> -->
<state_interface name="velocity" />
<state_interface name="effort" />
</joint>
<joint name="rbs_gripper_r_finger_joint">
<state_interface name="position">
<param name="initial_value">0.004</param>
</state_interface>
<command_interface name="position" />
<command_interface name="velocity" />
<!-- <command_interface name="effort"/> -->
<state_interface name="velocity" />
<state_interface name="effort" />
</joint>
<joint name="rbs_gripper_l_finger_joint">
<param name="mimic">rbs_gripper_r_finger_joint</param>
<param name="multiplier">1</param>
</joint>
</ros2_control>
<transmission name="rbs_gripper_rot_base_joint_transmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="rbs_gripper_rot_base_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="rbs_gripper_rot_base_joint_actuator">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<joint name="rbs_gripper_gripper_base_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0" />
<parent link="tool0" />
<child link="rbs_gripper_gripper_base_link" />
</joint>
<link name="rbs_gripper_gripper_base_link">
<inertial>
<origin rpy="0 0 0" xyz="0.000364704367134063 0.0336387482840125 0.0593891203954369" />
<mass value="1.13983632906086" />
<inertia ixx="0.00107738806534129" ixy="-1.09841172461737E-05"
ixz="2.62750043451545E-06" iyy="0.000717388573992299" iyz="-2.95426438182787E-05"
izz="0.00115777179755934" />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh
filename="/base.dae" />
</geometry>
<material name="rbs_gripper_material">
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh
filename="/base.stl" />
</geometry>
</collision>
</link>
<link name="rbs_gripper_rot_base_link">
<inertial>
<origin rpy="0 0 0" xyz="6.79110135283868E-11 -3.80956832067611E-10 0.00775394473595793" />
<mass value="0.161003401535982" />
<inertia ixx="0.00011089089949771" ixy="5.01335040610636E-06" ixz="1.74608448389267E-14"
iyy="0.000105515893695012" iyz="-2.03282362854432E-14" izz="0.000206912001661452" />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh
filename="/rotor.dae" />
</geometry>
<material name="rbs_gripper_material">
<color rgba="0.250980392156863 0.250980392156863 0.250980392156863 1" />
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh
filename="/rotor.stl" />
</geometry>
</collision>
</link>
<joint name="rbs_gripper_rot_base_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0.10861" />
<parent link="rbs_gripper_gripper_base_link" />
<child link="rbs_gripper_rot_base_link" />
<axis xyz="0 0 1" />
<limit effort="78" lower="-3.14159" upper="3.14159" velocity="0.52" />
</joint>
<link name="rbs_gripper_l_finger_link">
<inertial>
<origin rpy="0 0 0" xyz="0.00399878118534129 0.0187296413885176 -0.0777776233934166" />
<mass value="0.0601996441483964" />
<inertia ixx="4.18533281165612E-05" ixy="-7.11657995951147E-06"
ixz="1.81029223490065E-05" iyy="7.89886367868258E-05" iyz="1.20542845942065E-05"
izz="5.16740841307935E-05" />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh
filename="/finger.dae" />
</geometry>
<material name="rbs_gripper_material">
<color rgba="0.752941176470588 0 0 1" />
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh
filename="/finger.stl" />
</geometry>
</collision>
</link>
<joint name="rbs_gripper_l_finger_joint" type="prismatic">
<origin rpy="0 0 1.5708" xyz="0 0 0.1071" />
<parent link="rbs_gripper_rot_base_link" />
<child link="rbs_gripper_l_finger_link" />
<axis xyz="-1 0 0" />
<limit effort="10" lower="0" upper="0.064" velocity="0.53" />
<mimic joint="rbs_gripper_r_finger_joint" multiplier="1" />
</joint>
<link name="rbs_gripper_r_finger_link">
<inertial>
<origin rpy="0 0 0" xyz="0.0039988 -0.077778 -0.01873" />
<mass value="0.0602" />
<inertia ixx="4.1853E-05" ixy="1.8103E-05" ixz="7.1166E-06" iyy="5.1674E-05"
iyz="-1.2054E-05" izz="7.8989E-05" />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh
filename="/finger.dae" />
</geometry>
<material name="rbs_gripper_material">
<color rgba="0.75294 0 0 1" />
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh
filename="/finger.stl" />
</geometry>
</collision>
</link>
<joint name="rbs_gripper_r_finger_joint" type="prismatic">
<origin rpy="0 0 -1.5708" xyz="0 0 0.1071" />
<parent link="rbs_gripper_rot_base_link" />
<child link="rbs_gripper_r_finger_link" />
<axis xyz="-1 0 0" />
<limit effort="10" lower="0" upper="0.064" velocity="0.53" />
</joint>
<link name="gripper_grasp_point" />
<joint name="rbs_gripper_gripper_tool0_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.09139" />
<parent link="rbs_gripper_rot_base_link" />
<child link="gripper_grasp_point" />
</joint>
<gazebo reference="rbs_gripper_rot_base_link">
<self_collide>1</self_collide>
<!-- <soft_contact> -->
<!-- <dart> -->
<!-- <bone_attachment>100</bone_attachment> -->
<!-- <stiffness>100</stiffness> -->
<!-- <damping>10</damping> -->
<!-- <flesh_mass_fraction>0.050000000000000003</flesh_mass_fraction> -->
<!-- </dart> -->
<!-- </soft_contact> -->
</gazebo>
<gazebo reference="rbs_gripper_l_finger_link">
<self_collide>1</self_collide>
<!-- <soft_contact> -->
<!-- <dart> -->
<!-- <bone_attachment>100</bone_attachment> -->
<!-- <stiffness>100</stiffness> -->
<!-- <damping>10</damping> -->
<!-- <flesh_mass_fraction>0.050000000000000003</flesh_mass_fraction> -->
<!-- </dart> -->
<!-- </soft_contact> -->
</gazebo>
<gazebo reference="rbs_gripper_r_finger_link">
<self_collide>1</self_collide>
<!-- <soft_contact> -->
<!-- <dart> -->
<!-- <bone_attachment>100</bone_attachment> -->
<!-- <stiffness>100</stiffness> -->
<!-- <damping>10</damping> -->
<!-- <flesh_mass_fraction>0.050000000000000003</flesh_mass_fraction> -->
<!-- </dart> -->
<!-- </soft_contact> -->
</gazebo>
<ros2_control name="fts_sensor" type="sensor">
<hardware>
<plugin>ign_ros2_control/IgnitionFts</plugin>
</hardware>
<sensor name="fts_sensor">
<state_interface name="force.x" />
<state_interface name="force.y" />
<state_interface name="force.z" />
<state_interface name="torque.x" />
<state_interface name="torque.y" />
<state_interface name="torque.z" />
</sensor>
</ros2_control>
<gazebo reference="tool0_joint">
<preserveFixedJoint>true</preserveFixedJoint>
<sensor name="fts_sensor" type="force_torque">
<always_on>true</always_on>
<update_rate>50</update_rate>
<visualize>true</visualize>
<topic>ft_data</topic>
<force_torque>
<frame>sensor</frame>
<measure_direction>child_to_parent</measure_direction>
</force_torque>
</sensor>
</gazebo>
<gazebo>
<plugin filename="libign_ros2_control-system.so"
name="ign_ros2_control::IgnitionROS2ControlPlugin">
<parameters>
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/config/rbs_arm0_controllers.yaml</parameters>
<ros>
<namespace>/arm0</namespace>
</ros>
</plugin>
</gazebo>
</robot>

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web_p/robot_builder/start_link.dae Normal file
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