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Device visualization (#67)
* Update README and MQTTClient for installation instructions and code improvements * feat: 支持local_config启动 add: 增加对crt path的说明，为传入config.py的相对路径 move: web component * add: registry description * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * feat: node_info_update srv fix: OTDeck cant create * close #12 feat: slave node registry * feat: show machine name fix: host node registry not uploaded * feat: add hplc registry * feat: add hplc registry * fix: hplc status typo * fix: devices/ * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * fix: device.class possible null * fix: HPLC additions with online service * fix: slave mode spin not working * fix: slave mode spin not working * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * feat: 多ProtocolNode 允许子设备ID相同 feat: 上报发现的ActionClient feat: Host重启动，通过discover机制要求slaveNode重新注册，实现信息及时上报 * feat: 支持env设置config * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * Device visualization (#14) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: missing hostname in devices_names fix: upload_file for model file * fix: missing paho-mqtt package bump version to 0.9.0 * fix startup add ResourceCreateFromOuter.action * fix type hint * update actions * update actions * host node add_resource_from_outer fix cmake list * pass device config to device class * add: bind_parent_ids to resource create action fix: message convert string * fix: host node should not be re_discovered * feat: resource tracker support dict * feat: add more necessary params * feat: fix boolean null in registry action data * feat: add outer resource * 编写mesh添加action * feat: append resource * add action * feat: vis 2d for plr * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate * Device visualization (#22) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * 编写mesh添加action * add action * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: multi channel * fix: aspirate * fix: aspirate * fix: aspirate * fix: aspirate * 提交 * fix: jobadd * fix: jobadd * fix: msg converter * tijiao * add resource creat easy action * identify debug msg * mq client id * 提取lh的joint发布 * unify liquid_handler definition * 修改物料跟随与物料添加逻辑 修改物料跟随与物料添加逻辑 将joint_publisher类移出lh的backends，但仍需要对lh的backends进行一些改写 * Revert "修改物料跟随与物料添加逻辑" This reverts commit498c997ad7. * Reapply "修改物料跟随与物料添加逻辑" This reverts commit3a60d2ae81. * Revert "Merge remote-tracking branch 'upstream/dev' into device_visualization" This reverts commitfa727220af, reversing changes made to498c997ad7. * 修改物料放下时的方法，如果选择 修改物料放下时的方法， 如果选择drop_trash，则删除物料显示 如果选择drop，则让其解除连接 * unilab添加moveit启动 1,整合所有moveit节点到一个move_group中，并整合所有的controller依次激活 2,添加pymoveit2的节点，使用json可直接启动 3,修改机械臂规划方式，添加约束，让冗余关节不会进行过多移动 * 修改物体attach时，多次赋值当前时间导致卡顿问题， * Revert "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit56d45b94f5. * Reapply "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit07d9db20c3. * 添加缺少物料："plate_well_G12", * add * fix tip resource data * liquid states * change to debug level * Revert "change to debug level" This reverts commit5d9953c3e5. * Reapply "change to debug level" This reverts commit2487bb6ffc. * fix tip resource data * add full device * add moveit yaml * 修复moveit 增加post_init阶段，给予ros_node反向 * remove necessary node * fix moveit action client * remove necessary imports * Update moveit_interface.py * fix handler_key uppercase * json add liquids * fix setup * add * change to "sources" and "targets" for lh * bump version * remove parent's parent link * change arm's name * change name * fix ik error * 修改moveit_interface，并在mqtt上报时发送一个时间戳 * 添加机械臂和移液站 * 添加 * 添加硬件 * update * 添加 --------- Co-authored-by: Harvey Que <Q-Query@outlook.com> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: Junhan Chang <changjh@pku.edu.cn>
This commit is contained in:
q434343
GitHub
13598
test/experiments/prcxi_9320_visual.json
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13598
test/experiments/prcxi_9320_visual.json
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@@ -1,32 +1,48 @@
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{
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{
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"nodes": [
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"nodes": [
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{
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{
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"id": "benyao",
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"id": "arm_slider",
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"name": "benyao",
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"name": "arm_slider",
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"children": [
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"children": [],
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],
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"parent": null,
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"parent": null,
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"type": "device",
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"type": "device",
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"class": "moveit.arm_slider",
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"class": "moveit.arm_slider",
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"position": {
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"position": {
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"x": 0,
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"x": -500,
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"y": 0,
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"y": 1000,
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"z": 0
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"z": -100
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},
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},
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"config": {
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"config": {
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"moveit_type": "arm_slider",
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"moveit_type": "arm_slider",
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"joint_poses": {
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"joint_poses": {
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"arm": {
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"arm": {
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"home": [0.0, 0.2, 0.0, 0.0, 0.0],
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"hotel_1": [
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"pick": [1.2, 0.0, 0.0, 0.0, 0.0]
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1.05,
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0.568,
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-1.0821,
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0.0,
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1.0821
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],
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"home": [
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0.865,
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0.09,
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0.8727,
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0.0,
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-0.8727
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]
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}
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}
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},
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},
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"device_config": {
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"rotation": {
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}
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"x": 0,
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"y": 0,
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"z": -1.5708,
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"type": "Rotation"
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},
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"device_config": {}
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},
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},
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"data": {
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"data": {}
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}
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}
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}
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],
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],
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"links": [
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"links": [
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@@ -166,7 +166,7 @@ class MQTTClient:
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status = {"data": device_status.get(device_id, {}), "device_id": device_id, "timestamp": time.time()}
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status = {"data": device_status.get(device_id, {}), "device_id": device_id, "timestamp": time.time()}
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address = f"labs/{MQConfig.lab_id}/devices/"
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address = f"labs/{MQConfig.lab_id}/devices/"
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self.client.publish(address, json.dumps(status), qos=2)
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self.client.publish(address, json.dumps(status), qos=2)
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logger.debug(f"Device status published: address: {address}, {status}")
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logger.info(f"Device {device_id} status published: address: {address}, {status}")
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def publish_job_status(self, feedback_data: dict, job_id: str, status: str, return_info: Optional[str] = None):
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def publish_job_status(self, feedback_data: dict, job_id: str, status: str, return_info: Optional[str] = None):
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if self.mqtt_disable:
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if self.mqtt_disable:
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@@ -1,9 +0,0 @@
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# Default initial positions for full_dev's ros2_control fake system
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initial_positions:
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arm_base_joint: 0
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arm_link_1_joint: 0
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arm_link_2_joint: 0
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arm_link_3_joint: 0
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gripper_base_joint: 0
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gripper_right_joint: 0.03
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@@ -1,40 +0,0 @@
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# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
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# For beginners, we downscale velocity and acceleration limits.
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# You can always specify higher scaling factors (<= 1.0) in your motion requests. # Increase the values below to 1.0 to always move at maximum speed.
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default_velocity_scaling_factor: 0.1
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default_acceleration_scaling_factor: 0.1
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# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
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# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
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joint_limits:
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arm_base_joint:
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has_velocity_limits: true
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max_velocity: 0
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has_acceleration_limits: false
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max_acceleration: 0
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arm_link_1_joint:
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has_velocity_limits: true
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max_velocity: 0
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has_acceleration_limits: false
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max_acceleration: 0
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arm_link_2_joint:
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has_velocity_limits: true
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max_velocity: 0
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has_acceleration_limits: false
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max_acceleration: 0
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arm_link_3_joint:
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has_velocity_limits: true
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max_velocity: 0
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has_acceleration_limits: false
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max_acceleration: 0
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gripper_base_joint:
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has_velocity_limits: true
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max_velocity: 0
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has_acceleration_limits: false
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max_acceleration: 0
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gripper_right_joint:
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has_velocity_limits: true
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max_velocity: 0
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has_acceleration_limits: false
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max_acceleration: 0
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@@ -1,4 +0,0 @@
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arm:
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kinematics_solver: lma_kinematics_plugin/LMAKinematicsPlugin
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kinematics_solver_search_resolution: 0.0050000000000000001
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kinematics_solver_timeout: 0.0050000000000000001
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@@ -1,56 +0,0 @@
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:macro name="benyao_arm_ros2_control" params="device_name mesh_path">
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<xacro:property name="initial_positions" value="${load_yaml(mesh_path + '/devices/benyao_arm/config/initial_positions.yaml')['initial_positions']}"/>
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<ros2_control name="${device_name}benyao_arm" type="system">
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<hardware>
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<!-- By default, set up controllers for simulation. This won't work on real hardware -->
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<plugin>mock_components/GenericSystem</plugin>
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</hardware>
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<joint name="${device_name}arm_base_joint">
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<command_interface name="position"/>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['arm_base_joint']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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</joint>
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<joint name="${device_name}arm_link_1_joint">
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<command_interface name="position"/>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['arm_link_1_joint']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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</joint>
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<joint name="${device_name}arm_link_2_joint">
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<command_interface name="position"/>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['arm_link_2_joint']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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</joint>
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<joint name="${device_name}arm_link_3_joint">
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<command_interface name="position"/>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['arm_link_3_joint']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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</joint>
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<joint name="${device_name}gripper_base_joint">
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<command_interface name="position"/>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['gripper_base_joint']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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</joint>
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<joint name="${device_name}gripper_right_joint">
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<command_interface name="position"/>
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<state_interface name="position">
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<param name="initial_value">${initial_positions['gripper_right_joint']}</param>
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</state_interface>
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<state_interface name="velocity"/>
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</joint>
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</ros2_control>
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</xacro:macro>
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</robot>
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@@ -1,46 +0,0 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<!--This does not replace URDF, and is not an extension of URDF.
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This is a format for representing semantic information about the robot structure.
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A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
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-->
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<robot xmlns:xacro="http://ros.org/wiki/xacro">
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<xacro:macro name="benyao_arm_srdf" params="device_name">
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<!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
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<!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
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<!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
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<!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
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<!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
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<group name="${device_name}arm">
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<chain base_link="${device_name}arm_slideway" tip_link="${device_name}gripper_base"/>
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</group>
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<group name="${device_name}arm_gripper">
|
|
||||||
<joint name="${device_name}gripper_right_joint"/>
|
|
||||||
</group>
|
|
||||||
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
|
|
||||||
<disable_collisions link1="${device_name}arm_base" link2="${device_name}arm_link_2" reason="Adjacent"/>
|
|
||||||
<disable_collisions link1="${device_name}arm_base" link2="${device_name}arm_link_1" reason="Adjacent"/>
|
|
||||||
<disable_collisions link1="${device_name}arm_base" link2="${device_name}arm_link_3" reason="Never"/>
|
|
||||||
<disable_collisions link1="${device_name}arm_base" link2="${device_name}arm_slideway" reason="Adjacent"/>
|
|
||||||
<disable_collisions link1="${device_name}arm_link_1" link2="${device_name}arm_link_2" reason="Adjacent"/>
|
|
||||||
<disable_collisions link1="${device_name}arm_link_1" link2="${device_name}arm_link_3" reason="Never"/>
|
|
||||||
<disable_collisions link1="${device_name}arm_link_1" link2="${device_name}arm_slideway" reason="Never"/>
|
|
||||||
<disable_collisions link1="${device_name}arm_link_1" link2="${device_name}gripper_base" reason="Never"/>
|
|
||||||
<disable_collisions link1="${device_name}arm_link_1" link2="${device_name}gripper_left" reason="Never"/>
|
|
||||||
<disable_collisions link1="${device_name}arm_link_1" link2="${device_name}gripper_right" reason="Never"/>
|
|
||||||
<disable_collisions link1="${device_name}arm_link_2" link2="${device_name}arm_link_3" reason="Adjacent"/>
|
|
||||||
<disable_collisions link1="${device_name}arm_link_2" link2="${device_name}arm_slideway" reason="Never"/>
|
|
||||||
<disable_collisions link1="${device_name}arm_link_2" link2="${device_name}gripper_base" reason="Never"/>
|
|
||||||
<disable_collisions link1="${device_name}arm_link_2" link2="${device_name}gripper_left" reason="Never"/>
|
|
||||||
<disable_collisions link1="${device_name}arm_link_2" link2="${device_name}gripper_right" reason="Never"/>
|
|
||||||
<disable_collisions link1="${device_name}arm_link_3" link2="${device_name}arm_slideway" reason="Never"/>
|
|
||||||
<disable_collisions link1="${device_name}arm_link_3" link2="${device_name}gripper_base" reason="Adjacent"/>
|
|
||||||
<disable_collisions link1="${device_name}arm_link_3" link2="${device_name}gripper_left" reason="Never"/>
|
|
||||||
<disable_collisions link1="${device_name}arm_link_3" link2="${device_name}gripper_right" reason="Never"/>
|
|
||||||
<disable_collisions link1="${device_name}arm_slideway" link2="${device_name}gripper_base" reason="Never"/>
|
|
||||||
<disable_collisions link1="${device_name}arm_slideway" link2="${device_name}gripper_left" reason="Never"/>
|
|
||||||
<disable_collisions link1="${device_name}arm_slideway" link2="${device_name}gripper_right" reason="Never"/>
|
|
||||||
<disable_collisions link1="${device_name}gripper_base" link2="${device_name}gripper_left" reason="Adjacent"/>
|
|
||||||
<disable_collisions link1="${device_name}gripper_base" link2="${device_name}gripper_right" reason="Adjacent"/>
|
|
||||||
<disable_collisions link1="${device_name}gripper_left" link2="${device_name}gripper_right" reason="Never"/>
|
|
||||||
</xacro:macro>
|
|
||||||
</robot>
|
|
||||||
@@ -1,14 +0,0 @@
|
|||||||
{
|
|
||||||
"arm":
|
|
||||||
{
|
|
||||||
"joint_names": [
|
|
||||||
"arm_base_joint",
|
|
||||||
"arm_link_1_joint",
|
|
||||||
"arm_link_2_joint",
|
|
||||||
"arm_link_3_joint",
|
|
||||||
"gripper_base_joint"
|
|
||||||
],
|
|
||||||
"base_link_name": "device_link",
|
|
||||||
"end_effector_name": "gripper_base"
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -1,29 +0,0 @@
|
|||||||
# MoveIt uses this configuration for controller management
|
|
||||||
|
|
||||||
moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager
|
|
||||||
|
|
||||||
moveit_simple_controller_manager:
|
|
||||||
controller_names:
|
|
||||||
- arm_controller
|
|
||||||
- gripper_controller
|
|
||||||
|
|
||||||
arm_controller:
|
|
||||||
type: FollowJointTrajectory
|
|
||||||
action_ns: follow_joint_trajectory
|
|
||||||
default: true
|
|
||||||
joints:
|
|
||||||
- arm_base_joint
|
|
||||||
- arm_link_1_joint
|
|
||||||
- arm_link_2_joint
|
|
||||||
- arm_link_3_joint
|
|
||||||
- gripper_base_joint
|
|
||||||
action_ns: follow_joint_trajectory
|
|
||||||
default: true
|
|
||||||
gripper_controller:
|
|
||||||
type: FollowJointTrajectory
|
|
||||||
action_ns: follow_joint_trajectory
|
|
||||||
default: true
|
|
||||||
joints:
|
|
||||||
- gripper_right_joint
|
|
||||||
action_ns: follow_joint_trajectory
|
|
||||||
default: true
|
|
||||||
@@ -1,2 +0,0 @@
|
|||||||
planner_configs:
|
|
||||||
- ompl_interface/OMPLPlanner
|
|
||||||
@@ -1,6 +0,0 @@
|
|||||||
# Limits for the Pilz planner
|
|
||||||
cartesian_limits:
|
|
||||||
max_trans_vel: 1.0
|
|
||||||
max_trans_acc: 2.25
|
|
||||||
max_trans_dec: -5.0
|
|
||||||
max_rot_vel: 1.57
|
|
||||||
@@ -1,39 +0,0 @@
|
|||||||
# This config file is used by ros2_control
|
|
||||||
controller_manager:
|
|
||||||
ros__parameters:
|
|
||||||
update_rate: 100 # Hz
|
|
||||||
|
|
||||||
arm_controller:
|
|
||||||
type: joint_trajectory_controller/JointTrajectoryController
|
|
||||||
|
|
||||||
|
|
||||||
gripper_controller:
|
|
||||||
type: joint_trajectory_controller/JointTrajectoryController
|
|
||||||
|
|
||||||
|
|
||||||
joint_state_broadcaster:
|
|
||||||
type: joint_state_broadcaster/JointStateBroadcaster
|
|
||||||
|
|
||||||
arm_controller:
|
|
||||||
ros__parameters:
|
|
||||||
joints:
|
|
||||||
- arm_base_joint
|
|
||||||
- arm_link_1_joint
|
|
||||||
- arm_link_2_joint
|
|
||||||
- arm_link_3_joint
|
|
||||||
- gripper_base_joint
|
|
||||||
command_interfaces:
|
|
||||||
- position
|
|
||||||
state_interfaces:
|
|
||||||
- position
|
|
||||||
- velocity
|
|
||||||
|
|
||||||
gripper_controller:
|
|
||||||
ros__parameters:
|
|
||||||
joints:
|
|
||||||
- gripper_right_joint
|
|
||||||
command_interfaces:
|
|
||||||
- position
|
|
||||||
state_interfaces:
|
|
||||||
- position
|
|
||||||
- velocity
|
|
||||||
@@ -1,44 +0,0 @@
|
|||||||
joint_limits:
|
|
||||||
|
|
||||||
arm_base_joint:
|
|
||||||
effort: 50
|
|
||||||
velocity: 1.0
|
|
||||||
lower: 0
|
|
||||||
upper: 1.5
|
|
||||||
|
|
||||||
arm_link_1_joint:
|
|
||||||
effort: 50
|
|
||||||
velocity: 1.0
|
|
||||||
lower: 0
|
|
||||||
upper: 0.6
|
|
||||||
|
|
||||||
arm_link_2_joint:
|
|
||||||
effort: 50
|
|
||||||
velocity: 1.0
|
|
||||||
lower: !degrees -95
|
|
||||||
upper: !degrees 95
|
|
||||||
|
|
||||||
arm_link_3_joint:
|
|
||||||
effort: 50
|
|
||||||
velocity: 1.0
|
|
||||||
lower: !degrees -195
|
|
||||||
upper: !degrees 195
|
|
||||||
|
|
||||||
gripper_base_joint:
|
|
||||||
effort: 50
|
|
||||||
velocity: 1.0
|
|
||||||
lower: !degrees -95
|
|
||||||
upper: !degrees 95
|
|
||||||
|
|
||||||
|
|
||||||
gripper_right_joint:
|
|
||||||
effort: 50
|
|
||||||
velocity: 1.0
|
|
||||||
lower: 0
|
|
||||||
upper: 0.03
|
|
||||||
|
|
||||||
gripper_left_joint:
|
|
||||||
effort: 50
|
|
||||||
velocity: 1.0
|
|
||||||
lower: 0
|
|
||||||
upper: 0.03
|
|
||||||
@@ -1,293 +0,0 @@
|
|||||||
<?xml version="1.0" ?>
|
|
||||||
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="benyao_arm">
|
|
||||||
|
|
||||||
<xacro:macro name="benyao_arm" params="mesh_path:='' parent_link:='' station_name:='' device_name:='' x:=0 y:=0 z:=0 rx:=0 ry:=0 r:=0">
|
|
||||||
<!-- Read .yaml files from disk, load content into properties -->
|
|
||||||
<xacro:property name= "joint_limit_parameters" value="${xacro.load_yaml(mesh_path + '/devices/benyao_arm/joint_limit.yaml')}"/>
|
|
||||||
|
|
||||||
<!-- Extract subsections from yaml dictionaries -->
|
|
||||||
<xacro:property name= "sec_limits" value="${joint_limit_parameters['joint_limits']}"/>
|
|
||||||
|
|
||||||
<joint name="${station_name}${device_name}base_link_joint" type="fixed">
|
|
||||||
<origin xyz="${x} ${y} ${z}" rpy="${rx} ${ry} ${r}" />
|
|
||||||
<parent link="${parent_link}"/>
|
|
||||||
<child link="${station_name}${device_name}device_link"/>
|
|
||||||
<axis xyz="0 0 0"/>
|
|
||||||
</joint>
|
|
||||||
|
|
||||||
<link name="${station_name}${device_name}device_link"/>
|
|
||||||
<joint name="${station_name}${device_name}device_link_joint" type="fixed">
|
|
||||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
||||||
<parent link="${station_name}${device_name}device_link"/>
|
|
||||||
<child link="${station_name}${device_name}arm_slideway"/>
|
|
||||||
<axis xyz="0 0 0"/>
|
|
||||||
</joint>
|
|
||||||
|
|
||||||
<!-- JOINTS LIMIT PARAMETERS -->
|
|
||||||
<xacro:property name="limit_arm_base_joint" value="${sec_limits['arm_base_joint']}" />
|
|
||||||
<xacro:property name="limit_arm_link_1_joint" value="${sec_limits['arm_link_1_joint']}" />
|
|
||||||
<xacro:property name="limit_arm_link_2_joint" value="${sec_limits['arm_link_2_joint']}" />
|
|
||||||
<xacro:property name="limit_arm_link_3_joint" value="${sec_limits['arm_link_3_joint']}" />
|
|
||||||
<xacro:property name="limit_gripper_base_joint" value="${sec_limits['gripper_base_joint']}" />
|
|
||||||
<xacro:property name="limit_gripper_right_joint" value="${sec_limits['gripper_right_joint']}"/>
|
|
||||||
<xacro:property name="limit_gripper_left_joint" value="${sec_limits['gripper_left_joint']}" />
|
|
||||||
<link name="${station_name}${device_name}arm_slideway">
|
|
||||||
<inertial>
|
|
||||||
<origin rpy="0 0 0" xyz="-0.913122246354019 -0.00141851388483838 0.0416079172839272"/>
|
|
||||||
<mass value="13.6578107753627"/>
|
|
||||||
<inertia ixx="0.0507627640890578" ixy="0.0245166532634714" ixz="-0.0112656803168519" iyy="5.2550852314372" iyz="0.000302974193920367" izz="5.26892263696439"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_slideway.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="">
|
|
||||||
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_slideway.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
|
|
||||||
<joint name="${station_name}${device_name}arm_base_joint" type="prismatic">
|
|
||||||
<origin rpy="0 0 0" xyz="0.307 0 0.1225"/>
|
|
||||||
<parent link="${station_name}${device_name}arm_slideway"/>
|
|
||||||
<child link="${station_name}${device_name}arm_base"/>
|
|
||||||
<axis xyz="1 0 0"/>
|
|
||||||
<limit
|
|
||||||
effort="${limit_arm_base_joint['effort']}"
|
|
||||||
lower="${limit_arm_base_joint['lower']}"
|
|
||||||
upper="${limit_arm_base_joint['upper']}"
|
|
||||||
velocity="${limit_arm_base_joint['velocity']}"/>
|
|
||||||
</joint>
|
|
||||||
|
|
||||||
<link name="${station_name}${device_name}arm_base">
|
|
||||||
<inertial>
|
|
||||||
<origin rpy="0 0 0" xyz="1.48458338655733E-06 -0.00831873687136486 0.351728466012153"/>
|
|
||||||
<mass value="16.1341586205194"/>
|
|
||||||
<inertia ixx="0.54871651759045" ixy="7.65476367433116E-07" ixz="2.0515139488158E-07" iyy="0.55113098995396" iyz="-5.13261457726806E-07" izz="0.0619081867727048"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_base.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="">
|
|
||||||
<color rgba="1 1 1 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_base.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
|
|
||||||
<link name="${station_name}${device_name}arm_link_1">
|
|
||||||
<inertial>
|
|
||||||
<origin rpy="0 0 0" xyz="0 -0.0102223856758559 0.0348505130779933"/>
|
|
||||||
<mass value="0.828629227096429"/>
|
|
||||||
<inertia ixx="0.00119703598787112" ixy="-2.46083048832131E-19" ixz="1.43864352731199E-19" iyy="0.00108355785790042" iyz="1.88092240278693E-06" izz="0.00160914803816438"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_1.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="">
|
|
||||||
<color rgba="1 1 1 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_1.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="${station_name}${device_name}arm_link_1_joint" type="prismatic">
|
|
||||||
<origin rpy="0 0 0" xyz="0 0.1249 0.15"/>
|
|
||||||
<parent link="${station_name}${device_name}arm_base"/>
|
|
||||||
<child link="${station_name}${device_name}arm_link_1"/>
|
|
||||||
<axis xyz="0 0 1"/>
|
|
||||||
<limit
|
|
||||||
effort="${limit_arm_link_1_joint['effort']}"
|
|
||||||
lower="${limit_arm_link_1_joint['lower']}"
|
|
||||||
upper="${limit_arm_link_1_joint['upper']}"
|
|
||||||
velocity="${limit_arm_link_1_joint['velocity']}"/>
|
|
||||||
</joint>
|
|
||||||
<link name="${station_name}${device_name}arm_link_2">
|
|
||||||
<inertial>
|
|
||||||
<origin rpy="0 0 0" xyz="-3.33066907387547E-16 0.100000000000003 -0.0325000000000004"/>
|
|
||||||
<mass value="2.04764861029349"/>
|
|
||||||
<inertia ixx="0.0150150059448827" ixy="-1.28113733272213E-17" ixz="6.7561418872754E-19" iyy="0.00262980501315445" iyz="7.44451536320152E-18" izz="0.0162030186138787"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_2.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="">
|
|
||||||
<color rgba="1 1 1 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_2.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="${station_name}${device_name}arm_link_2_joint" type="revolute">
|
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
||||||
<parent link="${station_name}${device_name}arm_link_1"/>
|
|
||||||
<child link="${station_name}${device_name}arm_link_2"/>
|
|
||||||
<axis xyz="0 0 1"/>
|
|
||||||
<limit
|
|
||||||
effort="${limit_arm_link_2_joint['effort']}"
|
|
||||||
lower="${limit_arm_link_2_joint['lower']}"
|
|
||||||
upper="${limit_arm_link_2_joint['upper']}"
|
|
||||||
velocity="${limit_arm_link_2_joint['velocity']}"/>
|
|
||||||
</joint>
|
|
||||||
<link name="${station_name}${device_name}arm_link_3">
|
|
||||||
<inertial>
|
|
||||||
<origin rpy="0 0 0" xyz="4.77395900588817E-15 0.0861257730831348 -0.0227999999999999"/>
|
|
||||||
<mass value="1.19870202871083"/>
|
|
||||||
<inertia ixx="0.00780783223764428" ixy="7.26567379579506E-18" ixz="1.02766851352053E-18" iyy="0.00109642607170081" iyz="-9.73775385060067E-18" izz="0.0084997384510058"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_3.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="">
|
|
||||||
<color rgba="1 1 1 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_3.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="${station_name}${device_name}arm_link_3_joint" type="revolute">
|
|
||||||
<origin rpy="0 0 0" xyz="0 0.2 -0.0647"/>
|
|
||||||
<parent link="${station_name}${device_name}arm_link_2"/>
|
|
||||||
<child link="${station_name}${device_name}arm_link_3"/>
|
|
||||||
<axis xyz="0 0 1"/>
|
|
||||||
<limit
|
|
||||||
effort="${limit_arm_link_3_joint['effort']}"
|
|
||||||
lower="${limit_arm_link_3_joint['lower']}"
|
|
||||||
upper="${limit_arm_link_3_joint['upper']}"
|
|
||||||
velocity="${limit_arm_link_3_joint['velocity']}"/>
|
|
||||||
</joint>
|
|
||||||
<link name="${station_name}${device_name}gripper_base">
|
|
||||||
<inertial>
|
|
||||||
<origin rpy="0 0 0" xyz="-6.05365748571618E-05 0.0373027483464434 -0.0264392017534612"/>
|
|
||||||
<mass value="0.511925198394943"/>
|
|
||||||
<inertia ixx="0.000640463815051467" ixy="1.08132229596356E-06" ixz="7.165124649009E-07" iyy="0.000552164156414554" iyz="9.80000237347941E-06" izz="0.00103553457812823"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_base.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="">
|
|
||||||
<color rgba="1 1 1 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_base.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="${station_name}${device_name}gripper_base_joint" type="revolute">
|
|
||||||
<origin rpy="0 0 0" xyz="0 0.2 -0.045"/>
|
|
||||||
<parent link="${station_name}${device_name}arm_link_3"/>
|
|
||||||
<child link="${station_name}${device_name}gripper_base"/>
|
|
||||||
<axis xyz="0 0 1"/>
|
|
||||||
<limit
|
|
||||||
effort="${limit_gripper_base_joint['effort']}"
|
|
||||||
lower="${limit_gripper_base_joint['lower']}"
|
|
||||||
upper="${limit_gripper_base_joint['upper']}"
|
|
||||||
velocity="${limit_gripper_base_joint['velocity']}"/>
|
|
||||||
</joint>
|
|
||||||
<link name="${station_name}${device_name}gripper_right">
|
|
||||||
<inertial>
|
|
||||||
<origin rpy="0 0 0" xyz="0.0340005471193899 0.0339655085140826 -0.0325252119823062"/>
|
|
||||||
<mass value="0.013337481136229"/>
|
|
||||||
<inertia ixx="2.02427962974094E-05" ixy="1.78442722292145E-06" ixz="-4.36485961300289E-07" iyy="1.4816483393622E-06" iyz="2.60539468115799E-06" izz="1.96629693098755E-05"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_right.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="">
|
|
||||||
<color rgba="1 1 1 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_right.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="${station_name}${device_name}gripper_right_joint" type="prismatic">
|
|
||||||
<origin rpy="0 0 0" xyz="0 0.0942 -0.022277"/>
|
|
||||||
<parent link="${station_name}${device_name}gripper_base"/>
|
|
||||||
<child link="${station_name}${device_name}gripper_right"/>
|
|
||||||
<axis xyz="1 0 0"/>
|
|
||||||
<limit
|
|
||||||
effort="${limit_gripper_right_joint['effort']}"
|
|
||||||
lower="${limit_gripper_right_joint['lower']}"
|
|
||||||
upper="${limit_gripper_right_joint['upper']}"
|
|
||||||
velocity="${limit_gripper_right_joint['velocity']}"/>
|
|
||||||
</joint>
|
|
||||||
<link name="${station_name}${device_name}gripper_left">
|
|
||||||
<inertial>
|
|
||||||
<origin rpy="0 3.1416 0" xyz="-0.0340005471193521 0.0339655081029604 -0.0325252119827364"/>
|
|
||||||
<mass value="0.0133374811362292"/>
|
|
||||||
<inertia ixx="2.02427962974094E-05" ixy="-1.78442720812615E-06" ixz="4.36485961300305E-07" iyy="1.48164833936224E-06" iyz="2.6053946859901E-06" izz="1.96629693098755E-05"/>
|
|
||||||
</inertial>
|
|
||||||
<visual>
|
|
||||||
<origin rpy="0 3.1416 0" xyz="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_left.STL"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="">
|
|
||||||
<color rgba="1 1 1 1"/>
|
|
||||||
</material>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<origin rpy="0 3.1416 0" xyz="0 0 0"/>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_left.STL"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="${station_name}${device_name}gripper_left_joint" type="prismatic">
|
|
||||||
<origin rpy="0 3.1416 0" xyz="0 0.0942 -0.022277"/>
|
|
||||||
<parent link="${station_name}${device_name}gripper_base"/>
|
|
||||||
<child link="${station_name}${device_name}gripper_left"/>
|
|
||||||
<axis xyz="1 0 0"/>
|
|
||||||
<limit
|
|
||||||
effort="${limit_gripper_left_joint['effort']}"
|
|
||||||
lower="${limit_gripper_left_joint['lower']}"
|
|
||||||
upper="${limit_gripper_left_joint['upper']}"
|
|
||||||
velocity="${limit_gripper_left_joint['velocity']}"/>
|
|
||||||
<mimic joint="${station_name}${device_name}gripper_right_joint" multiplier="1" />
|
|
||||||
</joint>
|
|
||||||
|
|
||||||
</xacro:macro>
|
|
||||||
</robot>
|
|
||||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
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Binary file not shown.
@@ -0,0 +1,43 @@
|
|||||||
|
kinematics:
|
||||||
|
shoulder:
|
||||||
|
x: 0
|
||||||
|
y: 0
|
||||||
|
z: 0.1930
|
||||||
|
roll: 0
|
||||||
|
pitch: 0
|
||||||
|
yaw: 0
|
||||||
|
upperarm:
|
||||||
|
x: 0
|
||||||
|
y: 0
|
||||||
|
z: 0
|
||||||
|
roll: 1.570796326589793
|
||||||
|
pitch: 0
|
||||||
|
yaw: 0
|
||||||
|
forearm:
|
||||||
|
x: -0.6150
|
||||||
|
y: 0
|
||||||
|
z: 0
|
||||||
|
roll: 0
|
||||||
|
pitch: 0
|
||||||
|
yaw: 0
|
||||||
|
wrist_1:
|
||||||
|
x: -0.5710
|
||||||
|
y: 0
|
||||||
|
z: 0.1775
|
||||||
|
roll: 0
|
||||||
|
pitch: 0
|
||||||
|
yaw: 0
|
||||||
|
wrist_2:
|
||||||
|
x: 0
|
||||||
|
y: -0.1180
|
||||||
|
z: 0
|
||||||
|
roll: 1.570796326589793
|
||||||
|
pitch: 0
|
||||||
|
yaw: 0
|
||||||
|
wrist_3:
|
||||||
|
x: 0
|
||||||
|
y: 0.1103
|
||||||
|
z: 0
|
||||||
|
roll: -1.570796326589793
|
||||||
|
pitch: 0
|
||||||
|
yaw: 0
|
||||||
@@ -0,0 +1,61 @@
|
|||||||
|
joint_limits:
|
||||||
|
shoulder_pan_joint:
|
||||||
|
# acceleration limits are not publicly available
|
||||||
|
has_acceleration_limits: false
|
||||||
|
has_effort_limits: true
|
||||||
|
has_position_limits: true
|
||||||
|
has_velocity_limits: true
|
||||||
|
max_effort: 330.0
|
||||||
|
max_position: !degrees 360.0
|
||||||
|
max_velocity: !degrees 120.0
|
||||||
|
min_position: !degrees -360.0
|
||||||
|
shoulder_lift_joint:
|
||||||
|
# acceleration limits are not publicly available
|
||||||
|
has_acceleration_limits: false
|
||||||
|
has_effort_limits: true
|
||||||
|
has_position_limits: true
|
||||||
|
has_velocity_limits: true
|
||||||
|
max_effort: 330.0
|
||||||
|
max_position: !degrees 360.0
|
||||||
|
max_velocity: !degrees 120.0
|
||||||
|
min_position: !degrees -360.0
|
||||||
|
elbow_joint:
|
||||||
|
# acceleration limits are not publicly available
|
||||||
|
has_acceleration_limits: false
|
||||||
|
has_effort_limits: true
|
||||||
|
has_position_limits: true
|
||||||
|
has_velocity_limits: true
|
||||||
|
max_effort: 150.0
|
||||||
|
max_position: !degrees 180.0
|
||||||
|
max_velocity: !degrees 180.0
|
||||||
|
min_position: !degrees -180.0
|
||||||
|
wrist_1_joint:
|
||||||
|
# acceleration limits are not publicly available
|
||||||
|
has_acceleration_limits: false
|
||||||
|
has_effort_limits: true
|
||||||
|
has_position_limits: true
|
||||||
|
has_velocity_limits: true
|
||||||
|
max_effort: 56.0
|
||||||
|
max_position: !degrees 360.0
|
||||||
|
max_velocity: !degrees 180.0
|
||||||
|
min_position: !degrees -360.0
|
||||||
|
wrist_2_joint:
|
||||||
|
# acceleration limits are not publicly available
|
||||||
|
has_acceleration_limits: false
|
||||||
|
has_effort_limits: true
|
||||||
|
has_position_limits: true
|
||||||
|
has_velocity_limits: true
|
||||||
|
max_effort: 56.0
|
||||||
|
max_position: !degrees 360.0
|
||||||
|
max_velocity: !degrees 180.0
|
||||||
|
min_position: !degrees -360.0
|
||||||
|
wrist_3_joint:
|
||||||
|
# acceleration limits are not publicly available
|
||||||
|
has_acceleration_limits: false
|
||||||
|
has_effort_limits: true
|
||||||
|
has_position_limits: true
|
||||||
|
has_velocity_limits: true
|
||||||
|
max_effort: 56.0
|
||||||
|
max_position: !degrees 360.0
|
||||||
|
max_velocity: !degrees 180.0
|
||||||
|
min_position: !degrees -360.0
|
||||||
@@ -0,0 +1,99 @@
|
|||||||
|
# Physical parameters
|
||||||
|
|
||||||
|
dh_parameters:
|
||||||
|
d1: 0.1930
|
||||||
|
a2: -0.6150
|
||||||
|
a3: -0.5710
|
||||||
|
d4: 0.1775
|
||||||
|
d5: 0.1180
|
||||||
|
d6: 0.1103
|
||||||
|
|
||||||
|
inertia_parameters:
|
||||||
|
base_mass: 0.94888 # base mass, base inertia, base cog might be incorrect
|
||||||
|
shoulder_mass: 6.83
|
||||||
|
upperarm_mass: 13.037
|
||||||
|
forearm_mass: 4.827
|
||||||
|
wrist_1_mass: 2.315
|
||||||
|
wrist_2_mass: 2.195
|
||||||
|
wrist_3_mass: 0.616
|
||||||
|
|
||||||
|
inertia:
|
||||||
|
base:
|
||||||
|
ixx: 0.0029607
|
||||||
|
ixy: -1.019E-06
|
||||||
|
ixz: 5.2685E-06
|
||||||
|
iyy: 0.0026222
|
||||||
|
iyz: -2.8951E-06
|
||||||
|
izz: 0.0039906
|
||||||
|
shoulder:
|
||||||
|
ixx: 0.039228
|
||||||
|
ixy: -2.8388E-05
|
||||||
|
ixz: 3.9289E-05
|
||||||
|
iyy: 0.025078
|
||||||
|
iyz: -0.00028825
|
||||||
|
izz: 0.037499
|
||||||
|
upperarm:
|
||||||
|
ixx: 0.3734
|
||||||
|
ixy: -5.985E-05
|
||||||
|
ixz: -0.5014
|
||||||
|
iyy: 2.0187
|
||||||
|
iyz: -0.00013287
|
||||||
|
izz: 1.681
|
||||||
|
forearm:
|
||||||
|
ixx: 0.030106
|
||||||
|
ixy: -1.25E-05
|
||||||
|
ixz: -0.076554
|
||||||
|
iyy: 0.76404
|
||||||
|
iyz: 1.326E-06
|
||||||
|
izz: 0.7421
|
||||||
|
wrist_1:
|
||||||
|
ixx: 0.0060891
|
||||||
|
ixy: 1.219E-06
|
||||||
|
ixz: -4.067E-06
|
||||||
|
iyy: 0.0049703
|
||||||
|
iyz: -1.2747E-05
|
||||||
|
izz: 0.0033067
|
||||||
|
wrist_2:
|
||||||
|
ixx: 0.004638045
|
||||||
|
ixy: 1.311E-06
|
||||||
|
ixz: 3.829E-06
|
||||||
|
iyy: 0.003507337
|
||||||
|
iyz: 1.4183E-05
|
||||||
|
izz: 0.003129668
|
||||||
|
wrist_3:
|
||||||
|
ixx: 0.0016942
|
||||||
|
ixy: 1.27E-07
|
||||||
|
ixz: 1.9782E-05
|
||||||
|
iyy: 0.0017123
|
||||||
|
iyz: 7.7E-06
|
||||||
|
izz: 0.0005701
|
||||||
|
|
||||||
|
center_of_mass:
|
||||||
|
base_cog:
|
||||||
|
x: 5.6715E-05
|
||||||
|
y: -0.00010524
|
||||||
|
z: 0.065979
|
||||||
|
shoulder_cog:
|
||||||
|
x: 9.3E-05
|
||||||
|
y: -0.02697
|
||||||
|
z: -0.02115
|
||||||
|
upperarm_cog:
|
||||||
|
x: -0.2304
|
||||||
|
y: -3.9E-05
|
||||||
|
z: 0.16068
|
||||||
|
forearm_cog:
|
||||||
|
x: -0.2998
|
||||||
|
y: 1.3E-05
|
||||||
|
z: 0.06176
|
||||||
|
wrist_1_cog:
|
||||||
|
x: 1.0E-05
|
||||||
|
y: -0.0148
|
||||||
|
z: -0.01682
|
||||||
|
wrist_2_cog:
|
||||||
|
x: -1.3E-05
|
||||||
|
y: 0.015559
|
||||||
|
z: -0.011803
|
||||||
|
wrist_3_cog:
|
||||||
|
x: -0.001704
|
||||||
|
y: -0.000705
|
||||||
|
z: -0.039231
|
||||||
@@ -0,0 +1,92 @@
|
|||||||
|
mesh_files:
|
||||||
|
base:
|
||||||
|
visual:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs612/visual/base.dae
|
||||||
|
material:
|
||||||
|
name: "LightGrey"
|
||||||
|
color: "0.7 0.7 0.7 1.0"
|
||||||
|
collision:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs612/collision/base.stl
|
||||||
|
|
||||||
|
shoulder:
|
||||||
|
visual:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs612/visual/shoulder.dae
|
||||||
|
material:
|
||||||
|
name: "LightGrey"
|
||||||
|
color: "0.7 0.7 0.7 1.0"
|
||||||
|
collision:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs612/collision/shoulder.stl
|
||||||
|
|
||||||
|
upperarm:
|
||||||
|
visual:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs612/visual/upperarm.dae
|
||||||
|
material:
|
||||||
|
name: "LightGrey"
|
||||||
|
color: "0.7 0.7 0.7 1.0"
|
||||||
|
collision:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs612/collision/upperarm.stl
|
||||||
|
mesh_files:
|
||||||
|
|
||||||
|
forearm:
|
||||||
|
visual:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs612/visual/forearm.dae
|
||||||
|
material:
|
||||||
|
name: "LightGrey"
|
||||||
|
color: "0.7 0.7 0.7 1.0"
|
||||||
|
collision:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs612/collision/forearm.stl
|
||||||
|
|
||||||
|
wrist_1:
|
||||||
|
visual:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs612/visual/wrist1.dae
|
||||||
|
material:
|
||||||
|
name: "LightGrey"
|
||||||
|
color: "0.7 0.7 0.7 1.0"
|
||||||
|
collision:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs612/collision/wrist1.stl
|
||||||
|
|
||||||
|
wrist_2:
|
||||||
|
visual:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs612/visual/wrist2.dae
|
||||||
|
material:
|
||||||
|
name: "LightGrey"
|
||||||
|
color: "0.7 0.7 0.7 1.0"
|
||||||
|
collision:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs612/collision/wrist2.stl
|
||||||
|
|
||||||
|
wrist_3:
|
||||||
|
visual:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs612/visual/wrist3.dae
|
||||||
|
material:
|
||||||
|
name: "LightGrey"
|
||||||
|
color: "0.7 0.7 0.7 1.0"
|
||||||
|
collision:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs612/collision/wrist3.stl
|
||||||
@@ -0,0 +1,43 @@
|
|||||||
|
kinematics:
|
||||||
|
shoulder:
|
||||||
|
x: 0
|
||||||
|
y: 0
|
||||||
|
z: 0.1930
|
||||||
|
roll: 0
|
||||||
|
pitch: 0
|
||||||
|
yaw: 0
|
||||||
|
upperarm:
|
||||||
|
x: 0
|
||||||
|
y: 0
|
||||||
|
z: 0
|
||||||
|
roll: 1.570796326589793
|
||||||
|
pitch: 0
|
||||||
|
yaw: 0
|
||||||
|
forearm:
|
||||||
|
x: -0.5520
|
||||||
|
y: 0
|
||||||
|
z: 0
|
||||||
|
roll: 0
|
||||||
|
pitch: 0
|
||||||
|
yaw: 0
|
||||||
|
wrist_1:
|
||||||
|
x: -0.4300
|
||||||
|
y: 0
|
||||||
|
z: 0.1775
|
||||||
|
roll: 0
|
||||||
|
pitch: 0
|
||||||
|
yaw: 0
|
||||||
|
wrist_2:
|
||||||
|
x: 0
|
||||||
|
y: -0.1180
|
||||||
|
z: 0
|
||||||
|
roll: 1.570796326589793
|
||||||
|
pitch: 0
|
||||||
|
yaw: 0
|
||||||
|
wrist_3:
|
||||||
|
x: 0
|
||||||
|
y: 0.1103
|
||||||
|
z: 0
|
||||||
|
roll: -1.570796326589793
|
||||||
|
pitch: 0
|
||||||
|
yaw: 0
|
||||||
@@ -0,0 +1,61 @@
|
|||||||
|
joint_limits:
|
||||||
|
shoulder_pan_joint:
|
||||||
|
# acceleration limits are not publicly available
|
||||||
|
has_acceleration_limits: false
|
||||||
|
has_effort_limits: true
|
||||||
|
has_position_limits: true
|
||||||
|
has_velocity_limits: true
|
||||||
|
max_effort: 330.0
|
||||||
|
max_position: !degrees 360.0
|
||||||
|
max_velocity: !degrees 120.0
|
||||||
|
min_position: !degrees -360.0
|
||||||
|
shoulder_lift_joint:
|
||||||
|
# acceleration limits are not publicly available
|
||||||
|
has_acceleration_limits: false
|
||||||
|
has_effort_limits: true
|
||||||
|
has_position_limits: true
|
||||||
|
has_velocity_limits: true
|
||||||
|
max_effort: 330.0
|
||||||
|
max_position: !degrees 360.0
|
||||||
|
max_velocity: !degrees 120.0
|
||||||
|
min_position: !degrees -360.0
|
||||||
|
elbow_joint:
|
||||||
|
# acceleration limits are not publicly available
|
||||||
|
has_acceleration_limits: false
|
||||||
|
has_effort_limits: true
|
||||||
|
has_position_limits: true
|
||||||
|
has_velocity_limits: true
|
||||||
|
max_effort: 150.0
|
||||||
|
max_position: !degrees 180.0
|
||||||
|
max_velocity: !degrees 180.0
|
||||||
|
min_position: !degrees -180.0
|
||||||
|
wrist_1_joint:
|
||||||
|
# acceleration limits are not publicly available
|
||||||
|
has_acceleration_limits: false
|
||||||
|
has_effort_limits: true
|
||||||
|
has_position_limits: true
|
||||||
|
has_velocity_limits: true
|
||||||
|
max_effort: 56.0
|
||||||
|
max_position: !degrees 360.0
|
||||||
|
max_velocity: !degrees 180.0
|
||||||
|
min_position: !degrees -360.0
|
||||||
|
wrist_2_joint:
|
||||||
|
# acceleration limits are not publicly available
|
||||||
|
has_acceleration_limits: false
|
||||||
|
has_effort_limits: true
|
||||||
|
has_position_limits: true
|
||||||
|
has_velocity_limits: true
|
||||||
|
max_effort: 56.0
|
||||||
|
max_position: !degrees 360.0
|
||||||
|
max_velocity: !degrees 180.0
|
||||||
|
min_position: !degrees -360.0
|
||||||
|
wrist_3_joint:
|
||||||
|
# acceleration limits are not publicly available
|
||||||
|
has_acceleration_limits: false
|
||||||
|
has_effort_limits: true
|
||||||
|
has_position_limits: true
|
||||||
|
has_velocity_limits: true
|
||||||
|
max_effort: 56.0
|
||||||
|
max_position: !degrees 360.0
|
||||||
|
max_velocity: !degrees 180.0
|
||||||
|
min_position: !degrees -360.0
|
||||||
@@ -0,0 +1,99 @@
|
|||||||
|
# Physical parameters
|
||||||
|
|
||||||
|
dh_parameters:
|
||||||
|
d1: 0.1930
|
||||||
|
a2: -0.5520
|
||||||
|
a3: -0.4300
|
||||||
|
d4: 0.1775
|
||||||
|
d5: 0.1180
|
||||||
|
d6: 0.1103
|
||||||
|
|
||||||
|
inertia_parameters:
|
||||||
|
base_mass: 0.94888 # base mass, base inertia, base cog might be incorrect
|
||||||
|
shoulder_mass: 6.83
|
||||||
|
upperarm_mass: 13.00
|
||||||
|
forearm_mass: 4.700
|
||||||
|
wrist_1_mass: 2.315
|
||||||
|
wrist_2_mass: 2.195
|
||||||
|
wrist_3_mass: 0.616
|
||||||
|
|
||||||
|
inertia:
|
||||||
|
base:
|
||||||
|
ixx: 0.0029607
|
||||||
|
ixy: -1.019E-06
|
||||||
|
ixz: 5.2685E-06
|
||||||
|
iyy: 0.0026222
|
||||||
|
iyz: -2.8951E-06
|
||||||
|
izz: 0.0039906
|
||||||
|
shoulder:
|
||||||
|
ixx: 0.039229834
|
||||||
|
ixy: -2.8388E-05
|
||||||
|
ixz: 3.9289E-05
|
||||||
|
iyy: 0.025077817
|
||||||
|
iyz: -0.000288247
|
||||||
|
izz: 0.03749924
|
||||||
|
upperarm:
|
||||||
|
ixx: 0.373432462
|
||||||
|
ixy: -5.5512E-05
|
||||||
|
ixz: -0.451785393
|
||||||
|
iyy: 1.696418762
|
||||||
|
iyz: -0.000133438
|
||||||
|
izz: 1.358657204
|
||||||
|
forearm:
|
||||||
|
ixx: 0.030213183
|
||||||
|
ixy: -8.368E-06
|
||||||
|
ixz: -0.056600087
|
||||||
|
iyy: 0.434775735
|
||||||
|
iyz: 1.585E-06
|
||||||
|
izz: 0.412836422
|
||||||
|
wrist_1:
|
||||||
|
ixx: 0.006091086
|
||||||
|
ixy: 1.256E-06
|
||||||
|
ixz: -4.067E-06
|
||||||
|
iyy: 0.004972529
|
||||||
|
iyz: -1.2709E-05
|
||||||
|
izz: 0.003307235
|
||||||
|
wrist_2:
|
||||||
|
ixx: 0.004639166
|
||||||
|
ixy: 1.311E-06
|
||||||
|
ixz: 3.829E-06
|
||||||
|
iyy: 0.003508643
|
||||||
|
iyz: 1.4183E-05
|
||||||
|
izz: 0.003130199
|
||||||
|
wrist_3:
|
||||||
|
ixx: 0.001695059
|
||||||
|
ixy: 1.27E-07
|
||||||
|
ixz: 1.9782E-05
|
||||||
|
iyy: 0.001713327
|
||||||
|
iyz: 7.7E-06
|
||||||
|
izz: 0.000570629
|
||||||
|
|
||||||
|
center_of_mass:
|
||||||
|
base_cog:
|
||||||
|
x: 5.6715E-05
|
||||||
|
y: -0.00010524
|
||||||
|
z: 0.065979
|
||||||
|
shoulder_cog:
|
||||||
|
x: 9.3E-05
|
||||||
|
y: -0.02697
|
||||||
|
z: -0.02115
|
||||||
|
upperarm_cog:
|
||||||
|
x: -0.2069
|
||||||
|
y: -4.4E-05
|
||||||
|
z: 0.16068
|
||||||
|
forearm_cog:
|
||||||
|
x: -0.2303
|
||||||
|
y: 1.5E-05
|
||||||
|
z: 0.06220
|
||||||
|
wrist_1_cog:
|
||||||
|
x: 1.0E-05
|
||||||
|
y: -0.0148
|
||||||
|
z: -0.01682
|
||||||
|
wrist_2_cog:
|
||||||
|
x: -1.3E-05
|
||||||
|
y: 0.015559
|
||||||
|
z: -0.011803
|
||||||
|
wrist_3_cog:
|
||||||
|
x: -0.001704
|
||||||
|
y: -0.000705
|
||||||
|
z: -0.039231
|
||||||
@@ -0,0 +1,92 @@
|
|||||||
|
mesh_files:
|
||||||
|
base:
|
||||||
|
visual:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs616/visual/base.dae
|
||||||
|
material:
|
||||||
|
name: "LightGrey"
|
||||||
|
color: "0.7 0.7 0.7 1.0"
|
||||||
|
collision:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs616/collision/base.stl
|
||||||
|
|
||||||
|
shoulder:
|
||||||
|
visual:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs616/visual/shoulder.dae
|
||||||
|
material:
|
||||||
|
name: "LightGrey"
|
||||||
|
color: "0.7 0.7 0.7 1.0"
|
||||||
|
collision:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs616/collision/shoulder.stl
|
||||||
|
|
||||||
|
upperarm:
|
||||||
|
visual:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs616/visual/upperarm.dae
|
||||||
|
material:
|
||||||
|
name: "LightGrey"
|
||||||
|
color: "0.7 0.7 0.7 1.0"
|
||||||
|
collision:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs616/collision/upperarm.stl
|
||||||
|
mesh_files:
|
||||||
|
|
||||||
|
forearm:
|
||||||
|
visual:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs616/visual/forearm.dae
|
||||||
|
material:
|
||||||
|
name: "LightGrey"
|
||||||
|
color: "0.7 0.7 0.7 1.0"
|
||||||
|
collision:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs616/collision/forearm.stl
|
||||||
|
|
||||||
|
wrist_1:
|
||||||
|
visual:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs616/visual/wrist1.dae
|
||||||
|
material:
|
||||||
|
name: "LightGrey"
|
||||||
|
color: "0.7 0.7 0.7 1.0"
|
||||||
|
collision:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs616/collision/wrist1.stl
|
||||||
|
|
||||||
|
wrist_2:
|
||||||
|
visual:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs616/visual/wrist2.dae
|
||||||
|
material:
|
||||||
|
name: "LightGrey"
|
||||||
|
color: "0.7 0.7 0.7 1.0"
|
||||||
|
collision:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs616/collision/wrist2.stl
|
||||||
|
|
||||||
|
wrist_3:
|
||||||
|
visual:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs616/visual/wrist3.dae
|
||||||
|
material:
|
||||||
|
name: "LightGrey"
|
||||||
|
color: "0.7 0.7 0.7 1.0"
|
||||||
|
collision:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs616/collision/wrist3.stl
|
||||||
@@ -0,0 +1,43 @@
|
|||||||
|
kinematics:
|
||||||
|
shoulder:
|
||||||
|
x: 0
|
||||||
|
y: 0
|
||||||
|
z: 0.2350
|
||||||
|
roll: 0
|
||||||
|
pitch: 0
|
||||||
|
yaw: 0
|
||||||
|
upperarm:
|
||||||
|
x: 0
|
||||||
|
y: 0
|
||||||
|
z: 0
|
||||||
|
roll: 1.570796326589793
|
||||||
|
pitch: 0
|
||||||
|
yaw: 0
|
||||||
|
forearm:
|
||||||
|
x: -0.9000
|
||||||
|
y: 0
|
||||||
|
z: 0
|
||||||
|
roll: 0
|
||||||
|
pitch: 0
|
||||||
|
yaw: 0
|
||||||
|
wrist_1:
|
||||||
|
x: -0.7720
|
||||||
|
y: 0
|
||||||
|
z: 0.1725
|
||||||
|
roll: 0
|
||||||
|
pitch: 0
|
||||||
|
yaw: 0
|
||||||
|
wrist_2:
|
||||||
|
x: 0
|
||||||
|
y: -0.1280
|
||||||
|
z: 0
|
||||||
|
roll: 1.570796326589793
|
||||||
|
pitch: 0
|
||||||
|
yaw: 0
|
||||||
|
wrist_3:
|
||||||
|
x: 0
|
||||||
|
y: 0.1250
|
||||||
|
z: 0
|
||||||
|
roll: -1.570796326589793
|
||||||
|
pitch: 0
|
||||||
|
yaw: 0
|
||||||
@@ -0,0 +1,61 @@
|
|||||||
|
joint_limits:
|
||||||
|
shoulder_pan_joint:
|
||||||
|
# acceleration limits are not publicly available
|
||||||
|
has_acceleration_limits: false
|
||||||
|
has_effort_limits: true
|
||||||
|
has_position_limits: true
|
||||||
|
has_velocity_limits: true
|
||||||
|
max_effort: 730.0
|
||||||
|
max_position: !degrees 360.0
|
||||||
|
max_velocity: !degrees 120.0
|
||||||
|
min_position: !degrees -360.0
|
||||||
|
shoulder_lift_joint:
|
||||||
|
# acceleration limits are not publicly available
|
||||||
|
has_acceleration_limits: false
|
||||||
|
has_effort_limits: true
|
||||||
|
has_position_limits: true
|
||||||
|
has_velocity_limits: true
|
||||||
|
max_effort: 730.0
|
||||||
|
max_position: !degrees 360.0
|
||||||
|
max_velocity: !degrees 120.0
|
||||||
|
min_position: !degrees -360.0
|
||||||
|
elbow_joint:
|
||||||
|
# acceleration limits are not publicly available
|
||||||
|
has_acceleration_limits: false
|
||||||
|
has_effort_limits: true
|
||||||
|
has_position_limits: true
|
||||||
|
has_velocity_limits: true
|
||||||
|
max_effort: 430.0
|
||||||
|
max_position: !degrees 180.0
|
||||||
|
max_velocity: !degrees 150.0
|
||||||
|
min_position: !degrees -180.0
|
||||||
|
wrist_1_joint:
|
||||||
|
# acceleration limits are not publicly available
|
||||||
|
has_acceleration_limits: false
|
||||||
|
has_effort_limits: true
|
||||||
|
has_position_limits: true
|
||||||
|
has_velocity_limits: true
|
||||||
|
max_effort: 100.0
|
||||||
|
max_position: !degrees 360.0
|
||||||
|
max_velocity: !degrees 210.0
|
||||||
|
min_position: !degrees -360.0
|
||||||
|
wrist_2_joint:
|
||||||
|
# acceleration limits are not publicly available
|
||||||
|
has_acceleration_limits: false
|
||||||
|
has_effort_limits: true
|
||||||
|
has_position_limits: true
|
||||||
|
has_velocity_limits: true
|
||||||
|
max_effort: 100.0
|
||||||
|
max_position: !degrees 360.0
|
||||||
|
max_velocity: !degrees 210.0
|
||||||
|
min_position: !degrees -360.0
|
||||||
|
wrist_3_joint:
|
||||||
|
# acceleration limits are not publicly available
|
||||||
|
has_acceleration_limits: false
|
||||||
|
has_effort_limits: true
|
||||||
|
has_position_limits: true
|
||||||
|
has_velocity_limits: true
|
||||||
|
max_effort: 100.0
|
||||||
|
max_position: !degrees 360.0
|
||||||
|
max_velocity: !degrees 210.0
|
||||||
|
min_position: !degrees -360.0
|
||||||
@@ -0,0 +1,99 @@
|
|||||||
|
# Physical parameters
|
||||||
|
|
||||||
|
dh_parameters:
|
||||||
|
d1: 0.2350
|
||||||
|
a2: -0.9000
|
||||||
|
a3: -0.7720
|
||||||
|
d4: 0.1725
|
||||||
|
d5: 0.1280
|
||||||
|
d6: 0.1250
|
||||||
|
|
||||||
|
inertia_parameters:
|
||||||
|
base_mass: 1.5056 # base mass, base inertia, base cog might be incorrect
|
||||||
|
shoulder_mass: 17.04
|
||||||
|
upperarm_mass: 26.927
|
||||||
|
forearm_mass: 8.386
|
||||||
|
wrist_1_mass: 3.095
|
||||||
|
wrist_2_mass: 3.095
|
||||||
|
wrist_3_mass: 0.879
|
||||||
|
|
||||||
|
inertia:
|
||||||
|
base:
|
||||||
|
ixx: 0.0067829
|
||||||
|
ixy: 2.6762E-07
|
||||||
|
ixz: -2.569E-06
|
||||||
|
iyy: 0.0068523
|
||||||
|
iyz: 9.4263E-05
|
||||||
|
izz: 0.010044
|
||||||
|
shoulder:
|
||||||
|
ixx: 0.130294671
|
||||||
|
ixy: -8.271E-05
|
||||||
|
ixz: 0.000106701
|
||||||
|
iyy: 0.085215288
|
||||||
|
iyz: -0.000663345
|
||||||
|
izz: 0.113859158
|
||||||
|
upperarm:
|
||||||
|
ixx: 1.204318595
|
||||||
|
ixy: -0.000466936
|
||||||
|
ixz: -1.78878432
|
||||||
|
iyy: 8.073725654
|
||||||
|
iyz: -0.000305158
|
||||||
|
izz: 6.980457042
|
||||||
|
forearm:
|
||||||
|
ixx: 0.070042956
|
||||||
|
ixy: 9.0183E-05
|
||||||
|
ixz: -0.165661846
|
||||||
|
iyy: 2.160436707
|
||||||
|
iyz: 1.3854E-05
|
||||||
|
izz: 2.109199584
|
||||||
|
wrist_1:
|
||||||
|
ixx: 0.007958413
|
||||||
|
ixy: -3.024E-06
|
||||||
|
ixz: -5.734E-06
|
||||||
|
iyy: 0.006686348
|
||||||
|
iyz: -1.766E-05
|
||||||
|
izz: 0.004840671
|
||||||
|
wrist_2:
|
||||||
|
ixx: 0.007958413
|
||||||
|
ixy: -3.024E-06
|
||||||
|
ixz: 5.734E-06
|
||||||
|
iyy: 0.006686348
|
||||||
|
iyz: 1.766E-05
|
||||||
|
izz: 0.004840671
|
||||||
|
wrist_3:
|
||||||
|
ixx: 0.004065851
|
||||||
|
ixy: 1.5185E-05
|
||||||
|
ixz: -1.1453E-05
|
||||||
|
iyy: 0.004060372
|
||||||
|
iyz: 4.2152E-05
|
||||||
|
izz: 0.001170392
|
||||||
|
|
||||||
|
center_of_mass:
|
||||||
|
base_cog:
|
||||||
|
x: -2.4009E-05
|
||||||
|
y: 0.0011775
|
||||||
|
z: 0.076293
|
||||||
|
shoulder_cog:
|
||||||
|
x: 9.9E-05
|
||||||
|
y: -0.026311
|
||||||
|
z: -0.026723
|
||||||
|
upperarm_cog:
|
||||||
|
x: -0.323686
|
||||||
|
y: -3.9E-05
|
||||||
|
z: 0.200968
|
||||||
|
forearm_cog:
|
||||||
|
x: -0.376841
|
||||||
|
y: 1.5E-05
|
||||||
|
z: 0.070311
|
||||||
|
wrist_1_cog:
|
||||||
|
x: -3.7E-05
|
||||||
|
y: -0.01051
|
||||||
|
z: -0.014865
|
||||||
|
wrist_2_cog:
|
||||||
|
x: 3.7E-05
|
||||||
|
y: 0.01051
|
||||||
|
z: -0.014865
|
||||||
|
wrist_3_cog:
|
||||||
|
x: 0.000242
|
||||||
|
y: -0.001192
|
||||||
|
z: -0.050422
|
||||||
@@ -0,0 +1,92 @@
|
|||||||
|
mesh_files:
|
||||||
|
base:
|
||||||
|
visual:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs620/visual/base.dae
|
||||||
|
material:
|
||||||
|
name: "LightGrey"
|
||||||
|
color: "0.7 0.7 0.7 1.0"
|
||||||
|
collision:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs620/collision/base.stl
|
||||||
|
|
||||||
|
shoulder:
|
||||||
|
visual:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs620/visual/shoulder.dae
|
||||||
|
material:
|
||||||
|
name: "LightGrey"
|
||||||
|
color: "0.7 0.7 0.7 1.0"
|
||||||
|
collision:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs620/collision/shoulder.stl
|
||||||
|
|
||||||
|
upperarm:
|
||||||
|
visual:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs620/visual/upperarm.dae
|
||||||
|
material:
|
||||||
|
name: "LightGrey"
|
||||||
|
color: "0.7 0.7 0.7 1.0"
|
||||||
|
collision:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs620/collision/upperarm.stl
|
||||||
|
mesh_files:
|
||||||
|
|
||||||
|
forearm:
|
||||||
|
visual:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs620/visual/forearm.dae
|
||||||
|
material:
|
||||||
|
name: "LightGrey"
|
||||||
|
color: "0.7 0.7 0.7 1.0"
|
||||||
|
collision:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs620/collision/forearm.stl
|
||||||
|
|
||||||
|
wrist_1:
|
||||||
|
visual:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs620/visual/wrist1.dae
|
||||||
|
material:
|
||||||
|
name: "LightGrey"
|
||||||
|
color: "0.7 0.7 0.7 1.0"
|
||||||
|
collision:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs620/collision/wrist1.stl
|
||||||
|
|
||||||
|
wrist_2:
|
||||||
|
visual:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs620/visual/wrist2.dae
|
||||||
|
material:
|
||||||
|
name: "LightGrey"
|
||||||
|
color: "0.7 0.7 0.7 1.0"
|
||||||
|
collision:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs620/collision/wrist2.stl
|
||||||
|
|
||||||
|
wrist_3:
|
||||||
|
visual:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs620/visual/wrist3.dae
|
||||||
|
material:
|
||||||
|
name: "LightGrey"
|
||||||
|
color: "0.7 0.7 0.7 1.0"
|
||||||
|
collision:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs620/collision/wrist3.stl
|
||||||
@@ -0,0 +1,43 @@
|
|||||||
|
kinematics:
|
||||||
|
shoulder:
|
||||||
|
x: 0
|
||||||
|
y: 0
|
||||||
|
z: 0.2350
|
||||||
|
roll: 0
|
||||||
|
pitch: 0
|
||||||
|
yaw: 0
|
||||||
|
upperarm:
|
||||||
|
x: 0
|
||||||
|
y: 0
|
||||||
|
z: 0
|
||||||
|
roll: 1.570796326589793
|
||||||
|
pitch: 0
|
||||||
|
yaw: 0
|
||||||
|
forearm:
|
||||||
|
x: -0.7500
|
||||||
|
y: 0
|
||||||
|
z: 0
|
||||||
|
roll: 0
|
||||||
|
pitch: 0
|
||||||
|
yaw: 0
|
||||||
|
wrist_1:
|
||||||
|
x: -0.6220
|
||||||
|
y: 0
|
||||||
|
z: 0.1725
|
||||||
|
roll: 0
|
||||||
|
pitch: 0
|
||||||
|
yaw: 0
|
||||||
|
wrist_2:
|
||||||
|
x: 0
|
||||||
|
y: -0.1280
|
||||||
|
z: 0
|
||||||
|
roll: 1.570796326589793
|
||||||
|
pitch: 0
|
||||||
|
yaw: 0
|
||||||
|
wrist_3:
|
||||||
|
x: 0
|
||||||
|
y: 0.1250
|
||||||
|
z: 0
|
||||||
|
roll: -1.570796326589793
|
||||||
|
pitch: 0
|
||||||
|
yaw: 0
|
||||||
@@ -0,0 +1,61 @@
|
|||||||
|
joint_limits:
|
||||||
|
shoulder_pan_joint:
|
||||||
|
# acceleration limits are not publicly available
|
||||||
|
has_acceleration_limits: false
|
||||||
|
has_effort_limits: true
|
||||||
|
has_position_limits: true
|
||||||
|
has_velocity_limits: true
|
||||||
|
max_effort: 730.0
|
||||||
|
max_position: !degrees 360.0
|
||||||
|
max_velocity: !degrees 120.0
|
||||||
|
min_position: !degrees -360.0
|
||||||
|
shoulder_lift_joint:
|
||||||
|
# acceleration limits are not publicly available
|
||||||
|
has_acceleration_limits: false
|
||||||
|
has_effort_limits: true
|
||||||
|
has_position_limits: true
|
||||||
|
has_velocity_limits: true
|
||||||
|
max_effort: 730.0
|
||||||
|
max_position: !degrees 360.0
|
||||||
|
max_velocity: !degrees 120.0
|
||||||
|
min_position: !degrees -360.0
|
||||||
|
elbow_joint:
|
||||||
|
# acceleration limits are not publicly available
|
||||||
|
has_acceleration_limits: false
|
||||||
|
has_effort_limits: true
|
||||||
|
has_position_limits: true
|
||||||
|
has_velocity_limits: true
|
||||||
|
max_effort: 430.0
|
||||||
|
max_position: !degrees 180.0
|
||||||
|
max_velocity: !degrees 150.0
|
||||||
|
min_position: !degrees -180.0
|
||||||
|
wrist_1_joint:
|
||||||
|
# acceleration limits are not publicly available
|
||||||
|
has_acceleration_limits: false
|
||||||
|
has_effort_limits: true
|
||||||
|
has_position_limits: true
|
||||||
|
has_velocity_limits: true
|
||||||
|
max_effort: 100.0
|
||||||
|
max_position: !degrees 360.0
|
||||||
|
max_velocity: !degrees 210.0
|
||||||
|
min_position: !degrees -360.0
|
||||||
|
wrist_2_joint:
|
||||||
|
# acceleration limits are not publicly available
|
||||||
|
has_acceleration_limits: false
|
||||||
|
has_effort_limits: true
|
||||||
|
has_position_limits: true
|
||||||
|
has_velocity_limits: true
|
||||||
|
max_effort: 100.0
|
||||||
|
max_position: !degrees 360.0
|
||||||
|
max_velocity: !degrees 210.0
|
||||||
|
min_position: !degrees -360.0
|
||||||
|
wrist_3_joint:
|
||||||
|
# acceleration limits are not publicly available
|
||||||
|
has_acceleration_limits: false
|
||||||
|
has_effort_limits: true
|
||||||
|
has_position_limits: true
|
||||||
|
has_velocity_limits: true
|
||||||
|
max_effort: 100.0
|
||||||
|
max_position: !degrees 360.0
|
||||||
|
max_velocity: !degrees 210.0
|
||||||
|
min_position: !degrees -360.0
|
||||||
@@ -0,0 +1,99 @@
|
|||||||
|
# Physical parameters
|
||||||
|
|
||||||
|
dh_parameters:
|
||||||
|
d1: 0.2350
|
||||||
|
a2: -0.7500
|
||||||
|
a3: -0.6220
|
||||||
|
d4: 0.1725
|
||||||
|
d5: 0.1280
|
||||||
|
d6: 0.1250
|
||||||
|
|
||||||
|
inertia_parameters:
|
||||||
|
base_mass: 1.50561968754018 # base mass, base inertia, base cog might be incorrect
|
||||||
|
shoulder_mass: 17.04
|
||||||
|
upperarm_mass: 26.543
|
||||||
|
forearm_mass: 7.816
|
||||||
|
wrist_1_mass: 3.095
|
||||||
|
wrist_2_mass: 3.095
|
||||||
|
wrist_3_mass: 0.879
|
||||||
|
|
||||||
|
inertia:
|
||||||
|
base:
|
||||||
|
ixx: 0.00678289120631133
|
||||||
|
ixy: 2.67618063769984E-07
|
||||||
|
ixz: -2.56895564177072E-06
|
||||||
|
iyy: 0.00685230321535615
|
||||||
|
iyz: 9.42628790478668E-05
|
||||||
|
izz: 0.0100437671447022
|
||||||
|
shoulder:
|
||||||
|
ixx: 0.13029
|
||||||
|
ixy: -8.271E-05
|
||||||
|
ixz: 0.0001067
|
||||||
|
iyy: 0.085215
|
||||||
|
iyz: -0.00066335
|
||||||
|
izz: 0.11386
|
||||||
|
upperarm:
|
||||||
|
ixx: 1.197
|
||||||
|
ixy: -0.00083272
|
||||||
|
ixz: -1.5396
|
||||||
|
iyy: 6.1117
|
||||||
|
iyz: -0.00015496
|
||||||
|
izz: 5.022
|
||||||
|
forearm:
|
||||||
|
ixx: 0.067797
|
||||||
|
ixy: 4.4997E-05
|
||||||
|
ixz: -0.12636
|
||||||
|
iyy: 1.3409
|
||||||
|
iyz: 1.45E-05
|
||||||
|
izz: 1.2908
|
||||||
|
wrist_1:
|
||||||
|
ixx: 0.0079584
|
||||||
|
ixy: -3.024E-06
|
||||||
|
ixz: 5.734E-06
|
||||||
|
iyy: 0.0066863
|
||||||
|
iyz: 1.766E-05
|
||||||
|
izz: 0.0048407
|
||||||
|
wrist_2:
|
||||||
|
ixx: 0.007958413
|
||||||
|
ixy: -3.024E-06
|
||||||
|
ixz: 5.734E-06
|
||||||
|
iyy: 0.006686348
|
||||||
|
iyz: 1.766E-05
|
||||||
|
izz: 0.004840671
|
||||||
|
wrist_3:
|
||||||
|
ixx: 0.004065851
|
||||||
|
ixy: 1.5185E-05
|
||||||
|
ixz: -1.1453E-05
|
||||||
|
iyy: 0.004060372
|
||||||
|
iyz: 4.2152E-05
|
||||||
|
izz: 0.001170392
|
||||||
|
|
||||||
|
center_of_mass:
|
||||||
|
base_cog:
|
||||||
|
x: -2.4008693014781E-05
|
||||||
|
y: 0.00117748953656619
|
||||||
|
z: 0.0762927770474629
|
||||||
|
shoulder_cog:
|
||||||
|
x: 9.9E-05
|
||||||
|
y: -0.026311
|
||||||
|
z: -0.026723
|
||||||
|
upperarm_cog:
|
||||||
|
x: -0.27762
|
||||||
|
y: -1.7E-05
|
||||||
|
z: 0.20184
|
||||||
|
forearm_cog:
|
||||||
|
x: -0.30259
|
||||||
|
y: 2.1E-05
|
||||||
|
z: 0.07237
|
||||||
|
wrist_1_cog:
|
||||||
|
x: -3.7E-05
|
||||||
|
y: -0.01051
|
||||||
|
z: -0.014865
|
||||||
|
wrist_2_cog:
|
||||||
|
x: 3.7E-05
|
||||||
|
y: 0.01051
|
||||||
|
z: -0.014865
|
||||||
|
wrist_3_cog:
|
||||||
|
x: 0.000242
|
||||||
|
y: -0.001192
|
||||||
|
z: -0.050422
|
||||||
@@ -0,0 +1,92 @@
|
|||||||
|
mesh_files:
|
||||||
|
base:
|
||||||
|
visual:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs625/visual/base.dae
|
||||||
|
material:
|
||||||
|
name: "LightGrey"
|
||||||
|
color: "0.7 0.7 0.7 1.0"
|
||||||
|
collision:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs625/collision/base.stl
|
||||||
|
|
||||||
|
shoulder:
|
||||||
|
visual:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs625/visual/shoulder.dae
|
||||||
|
material:
|
||||||
|
name: "LightGrey"
|
||||||
|
color: "0.7 0.7 0.7 1.0"
|
||||||
|
collision:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs625/collision/shoulder.stl
|
||||||
|
|
||||||
|
upperarm:
|
||||||
|
visual:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs625/visual/upperarm.dae
|
||||||
|
material:
|
||||||
|
name: "LightGrey"
|
||||||
|
color: "0.7 0.7 0.7 1.0"
|
||||||
|
collision:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs625/collision/upperarm.stl
|
||||||
|
mesh_files:
|
||||||
|
|
||||||
|
forearm:
|
||||||
|
visual:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs625/visual/forearm.dae
|
||||||
|
material:
|
||||||
|
name: "LightGrey"
|
||||||
|
color: "0.7 0.7 0.7 1.0"
|
||||||
|
collision:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs625/collision/forearm.stl
|
||||||
|
|
||||||
|
wrist_1:
|
||||||
|
visual:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs625/visual/wrist1.dae
|
||||||
|
material:
|
||||||
|
name: "LightGrey"
|
||||||
|
color: "0.7 0.7 0.7 1.0"
|
||||||
|
collision:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs625/collision/wrist1.stl
|
||||||
|
|
||||||
|
wrist_2:
|
||||||
|
visual:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs625/visual/wrist2.dae
|
||||||
|
material:
|
||||||
|
name: "LightGrey"
|
||||||
|
color: "0.7 0.7 0.7 1.0"
|
||||||
|
collision:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs625/collision/wrist2.stl
|
||||||
|
|
||||||
|
wrist_3:
|
||||||
|
visual:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs625/visual/wrist3.dae
|
||||||
|
material:
|
||||||
|
name: "LightGrey"
|
||||||
|
color: "0.7 0.7 0.7 1.0"
|
||||||
|
collision:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs625/collision/wrist3.stl
|
||||||
@@ -0,0 +1,43 @@
|
|||||||
|
kinematics:
|
||||||
|
shoulder:
|
||||||
|
x: 0
|
||||||
|
y: 0
|
||||||
|
z: 0.1530
|
||||||
|
roll: 0
|
||||||
|
pitch: 0
|
||||||
|
yaw: 0
|
||||||
|
upperarm:
|
||||||
|
x: 0
|
||||||
|
y: 0
|
||||||
|
z: 0
|
||||||
|
roll: 1.570796326589793
|
||||||
|
pitch: 0
|
||||||
|
yaw: 0
|
||||||
|
forearm:
|
||||||
|
x: -0.2700
|
||||||
|
y: 0
|
||||||
|
z: 0
|
||||||
|
roll: 0
|
||||||
|
pitch: 0
|
||||||
|
yaw: 0
|
||||||
|
wrist_1:
|
||||||
|
x: -0.2575
|
||||||
|
y: 0
|
||||||
|
z: 0.1445
|
||||||
|
roll: 0
|
||||||
|
pitch: 0
|
||||||
|
yaw: 0
|
||||||
|
wrist_2:
|
||||||
|
x: 0
|
||||||
|
y: -0.0965
|
||||||
|
z: 0
|
||||||
|
roll: 1.570796326589793
|
||||||
|
pitch: 0
|
||||||
|
yaw: 0
|
||||||
|
wrist_3:
|
||||||
|
x: 0
|
||||||
|
y: 0.0920
|
||||||
|
z: 0
|
||||||
|
roll: -1.570796326589793
|
||||||
|
pitch: 0
|
||||||
|
yaw: 0
|
||||||
@@ -0,0 +1,61 @@
|
|||||||
|
joint_limits:
|
||||||
|
shoulder_pan_joint:
|
||||||
|
# acceleration limits are not publicly available
|
||||||
|
has_acceleration_limits: false
|
||||||
|
has_effort_limits: true
|
||||||
|
has_position_limits: true
|
||||||
|
has_velocity_limits: true
|
||||||
|
max_effort: 56.0
|
||||||
|
max_position: !degrees 360.0
|
||||||
|
max_velocity: !degrees 180.0
|
||||||
|
min_position: !degrees -360.0
|
||||||
|
shoulder_lift_joint:
|
||||||
|
# acceleration limits are not publicly available
|
||||||
|
has_acceleration_limits: false
|
||||||
|
has_effort_limits: true
|
||||||
|
has_position_limits: true
|
||||||
|
has_velocity_limits: true
|
||||||
|
max_effort: 56.0
|
||||||
|
max_position: !degrees 360.0
|
||||||
|
max_velocity: !degrees 180.0
|
||||||
|
min_position: !degrees -360.0
|
||||||
|
elbow_joint:
|
||||||
|
# acceleration limits are not publicly available
|
||||||
|
has_acceleration_limits: false
|
||||||
|
has_effort_limits: true
|
||||||
|
has_position_limits: true
|
||||||
|
has_velocity_limits: true
|
||||||
|
max_effort: 28.0
|
||||||
|
max_position: !degrees 180.0
|
||||||
|
max_velocity: !degrees 180.0
|
||||||
|
min_position: !degrees -180.0
|
||||||
|
wrist_1_joint:
|
||||||
|
# acceleration limits are not publicly available
|
||||||
|
has_acceleration_limits: false
|
||||||
|
has_effort_limits: true
|
||||||
|
has_position_limits: true
|
||||||
|
has_velocity_limits: true
|
||||||
|
max_effort: 12.0
|
||||||
|
max_position: !degrees 360.0
|
||||||
|
max_velocity: !degrees 360.0
|
||||||
|
min_position: !degrees -360.0
|
||||||
|
wrist_2_joint:
|
||||||
|
# acceleration limits are not publicly available
|
||||||
|
has_acceleration_limits: false
|
||||||
|
has_effort_limits: true
|
||||||
|
has_position_limits: true
|
||||||
|
has_velocity_limits: true
|
||||||
|
max_effort: 12.0
|
||||||
|
max_position: !degrees 360.0
|
||||||
|
max_velocity: !degrees 360.0
|
||||||
|
min_position: !degrees -360.0
|
||||||
|
wrist_3_joint:
|
||||||
|
# acceleration limits are not publicly available
|
||||||
|
has_acceleration_limits: false
|
||||||
|
has_effort_limits: true
|
||||||
|
has_position_limits: true
|
||||||
|
has_velocity_limits: true
|
||||||
|
max_effort: 12.0
|
||||||
|
max_position: !degrees 360.0
|
||||||
|
max_velocity: !degrees 360.0
|
||||||
|
min_position: !degrees -360.0
|
||||||
@@ -0,0 +1,99 @@
|
|||||||
|
# Physical parameters
|
||||||
|
|
||||||
|
dh_parameters:
|
||||||
|
d1: 0.1530
|
||||||
|
a2: -0.2700
|
||||||
|
a3: -0.2575
|
||||||
|
d4: 0.1445
|
||||||
|
d5: 0.0965
|
||||||
|
d6: 0.0920
|
||||||
|
|
||||||
|
inertia_parameters:
|
||||||
|
base_mass: 0.358193760044688 # base mass, base inertia, base cog might be incorrect
|
||||||
|
shoulder_mass: 3.095
|
||||||
|
upperarm_mass: 5.073
|
||||||
|
forearm_mass: 2.425
|
||||||
|
wrist_1_mass: 1.559
|
||||||
|
wrist_2_mass: 1.447
|
||||||
|
wrist_3_mass: 0.500
|
||||||
|
|
||||||
|
inertia:
|
||||||
|
base:
|
||||||
|
ixx: 0.000549739542527148
|
||||||
|
ixy: 8.03741216179988E-08
|
||||||
|
ixz: -9.14780809458034E-06
|
||||||
|
iyy: 0.000533024165382036
|
||||||
|
iyz: 3.46908903534662E-07
|
||||||
|
izz: 0.000655188839052244
|
||||||
|
shoulder:
|
||||||
|
ixx: 0.007958
|
||||||
|
ixy: 5.734E-06
|
||||||
|
ixz: 3.024E-06
|
||||||
|
iyy: 0.00484
|
||||||
|
iyz: -1.77E-05
|
||||||
|
izz: 0.006686
|
||||||
|
upperarm:
|
||||||
|
ixx: 0.074168
|
||||||
|
ixy: -7.5E-06
|
||||||
|
ixz: -0.065579
|
||||||
|
iyy: 0.21937
|
||||||
|
iyz: -2.19E-05
|
||||||
|
izz: 0.15104
|
||||||
|
forearm:
|
||||||
|
ixx: 0.005082
|
||||||
|
ixy: -2.7E-06
|
||||||
|
ixz: -0.0056236
|
||||||
|
iyy: 0.0924207
|
||||||
|
iyz: -1.726E-06
|
||||||
|
izz: 0.0897559
|
||||||
|
wrist_1:
|
||||||
|
ixx: 0.0045009
|
||||||
|
ixy: 1.96E-06
|
||||||
|
ixz: -2.646E-06
|
||||||
|
iyy: 0.0042164
|
||||||
|
iyz: -3.58E-07
|
||||||
|
izz: 0.0014538
|
||||||
|
wrist_2:
|
||||||
|
ixx: 0.0023787
|
||||||
|
ixy: 1.953E-06
|
||||||
|
ixz: 2.643E-06
|
||||||
|
iyy: 0.0020859
|
||||||
|
iyz: 5.584E-06
|
||||||
|
izz: 0.0013191
|
||||||
|
wrist_3:
|
||||||
|
ixx: 0.001431
|
||||||
|
ixy: -2.32E-07
|
||||||
|
ixz: 7.955E-06
|
||||||
|
iyy: 0.0014299
|
||||||
|
iyz: 1.266E-06
|
||||||
|
izz: 0.0003265
|
||||||
|
|
||||||
|
center_of_mass:
|
||||||
|
base_cog:
|
||||||
|
x: -0.000721181367009438
|
||||||
|
y: 1.78114684963572E-05
|
||||||
|
z: 0.0546249293265112
|
||||||
|
shoulder_cog:
|
||||||
|
x: 3.7E-05
|
||||||
|
y: -0.0149
|
||||||
|
z: -0.0105
|
||||||
|
upperarm_cog:
|
||||||
|
x: -0.11596
|
||||||
|
y: -2.6E-05
|
||||||
|
z: 0.1148
|
||||||
|
forearm_cog:
|
||||||
|
x: -0.1542
|
||||||
|
y: 1.4E-05
|
||||||
|
z: 0.0238
|
||||||
|
wrist_1_cog:
|
||||||
|
x: 1.3E-05
|
||||||
|
y: -0.00479
|
||||||
|
z: -0.02274
|
||||||
|
wrist_2_cog:
|
||||||
|
x: -1.4E-05
|
||||||
|
y: 0.0051
|
||||||
|
z: -0.0127
|
||||||
|
wrist_3_cog:
|
||||||
|
x: -0.000684
|
||||||
|
y: -0.000175
|
||||||
|
z: -0.0423
|
||||||
@@ -0,0 +1,92 @@
|
|||||||
|
mesh_files:
|
||||||
|
base:
|
||||||
|
visual:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs63/visual/base.dae
|
||||||
|
material:
|
||||||
|
name: "LightGrey"
|
||||||
|
color: "0.7 0.7 0.7 1.0"
|
||||||
|
collision:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs63/collision/base.stl
|
||||||
|
|
||||||
|
shoulder:
|
||||||
|
visual:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs63/visual/shoulder.dae
|
||||||
|
material:
|
||||||
|
name: "LightGrey"
|
||||||
|
color: "0.7 0.7 0.7 1.0"
|
||||||
|
collision:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs63/collision/shoulder.stl
|
||||||
|
|
||||||
|
upperarm:
|
||||||
|
visual:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs63/visual/upperarm.dae
|
||||||
|
material:
|
||||||
|
name: "LightGrey"
|
||||||
|
color: "0.7 0.7 0.7 1.0"
|
||||||
|
collision:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs63/collision/upperarm.stl
|
||||||
|
mesh_files:
|
||||||
|
|
||||||
|
forearm:
|
||||||
|
visual:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs63/visual/forearm.dae
|
||||||
|
material:
|
||||||
|
name: "LightGrey"
|
||||||
|
color: "0.7 0.7 0.7 1.0"
|
||||||
|
collision:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs63/collision/forearm.stl
|
||||||
|
|
||||||
|
wrist_1:
|
||||||
|
visual:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs63/visual/wrist1.dae
|
||||||
|
material:
|
||||||
|
name: "LightGrey"
|
||||||
|
color: "0.7 0.7 0.7 1.0"
|
||||||
|
collision:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs63/collision/wrist1.stl
|
||||||
|
|
||||||
|
wrist_2:
|
||||||
|
visual:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs63/visual/wrist2.dae
|
||||||
|
material:
|
||||||
|
name: "LightGrey"
|
||||||
|
color: "0.7 0.7 0.7 1.0"
|
||||||
|
collision:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs63/collision/wrist2.stl
|
||||||
|
|
||||||
|
wrist_3:
|
||||||
|
visual:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs63/visual/wrist3.dae
|
||||||
|
material:
|
||||||
|
name: "LightGrey"
|
||||||
|
color: "0.7 0.7 0.7 1.0"
|
||||||
|
collision:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs63/collision/wrist3.stl
|
||||||
@@ -0,0 +1,43 @@
|
|||||||
|
kinematics:
|
||||||
|
shoulder:
|
||||||
|
x: 0
|
||||||
|
y: 0
|
||||||
|
z: 0.1625
|
||||||
|
roll: 0
|
||||||
|
pitch: 0
|
||||||
|
yaw: -0.16
|
||||||
|
upperarm:
|
||||||
|
x: 0
|
||||||
|
y: 0
|
||||||
|
z: 0
|
||||||
|
roll: 1.570796326589793
|
||||||
|
pitch: 0
|
||||||
|
yaw: 0
|
||||||
|
forearm:
|
||||||
|
x: -0.4270
|
||||||
|
y: 0
|
||||||
|
z: 0
|
||||||
|
roll: 0
|
||||||
|
pitch: 0
|
||||||
|
yaw: 0
|
||||||
|
wrist_1:
|
||||||
|
x: -0.3905
|
||||||
|
y: 0
|
||||||
|
z: 0.1475
|
||||||
|
roll: 0
|
||||||
|
pitch: 0
|
||||||
|
yaw: 0.04
|
||||||
|
wrist_2:
|
||||||
|
x: 0
|
||||||
|
y: -0.0965
|
||||||
|
z: 0
|
||||||
|
roll: 1.570796326589793
|
||||||
|
pitch: 0
|
||||||
|
yaw: 0
|
||||||
|
wrist_3:
|
||||||
|
x: 0
|
||||||
|
y: 0.0920
|
||||||
|
z: 0
|
||||||
|
roll: -1.570796326589793
|
||||||
|
pitch: -0.59
|
||||||
|
yaw: 0
|
||||||
@@ -0,0 +1,61 @@
|
|||||||
|
joint_limits:
|
||||||
|
shoulder_pan_joint:
|
||||||
|
# acceleration limits are not publicly available
|
||||||
|
has_acceleration_limits: false
|
||||||
|
has_effort_limits: true
|
||||||
|
has_position_limits: true
|
||||||
|
has_velocity_limits: true
|
||||||
|
max_effort: 150.0
|
||||||
|
max_position: !degrees 360.0
|
||||||
|
max_velocity: !degrees 180.0
|
||||||
|
min_position: !degrees -360.0
|
||||||
|
shoulder_lift_joint:
|
||||||
|
# acceleration limits are not publicly available
|
||||||
|
has_acceleration_limits: false
|
||||||
|
has_effort_limits: true
|
||||||
|
has_position_limits: true
|
||||||
|
has_velocity_limits: true
|
||||||
|
max_effort: 150.0
|
||||||
|
max_position: !degrees 360.0
|
||||||
|
max_velocity: !degrees 180.0
|
||||||
|
min_position: !degrees -360.0
|
||||||
|
elbow_joint:
|
||||||
|
# acceleration limits are not publicly available
|
||||||
|
has_acceleration_limits: false
|
||||||
|
has_effort_limits: true
|
||||||
|
has_position_limits: true
|
||||||
|
has_velocity_limits: true
|
||||||
|
max_effort: 150.0
|
||||||
|
max_position: !degrees 180.0
|
||||||
|
max_velocity: !degrees 180.0
|
||||||
|
min_position: !degrees -180.0
|
||||||
|
wrist_1_joint:
|
||||||
|
# acceleration limits are not publicly available
|
||||||
|
has_acceleration_limits: false
|
||||||
|
has_effort_limits: true
|
||||||
|
has_position_limits: true
|
||||||
|
has_velocity_limits: true
|
||||||
|
max_effort: 28.0
|
||||||
|
max_position: !degrees 360.0
|
||||||
|
max_velocity: !degrees 180.0
|
||||||
|
min_position: !degrees -360.0
|
||||||
|
wrist_2_joint:
|
||||||
|
# acceleration limits are not publicly available
|
||||||
|
has_acceleration_limits: false
|
||||||
|
has_effort_limits: true
|
||||||
|
has_position_limits: true
|
||||||
|
has_velocity_limits: true
|
||||||
|
max_effort: 28.0
|
||||||
|
max_position: !degrees 360.0
|
||||||
|
max_velocity: !degrees 180.0
|
||||||
|
min_position: !degrees -360.0
|
||||||
|
wrist_3_joint:
|
||||||
|
# acceleration limits are not publicly available
|
||||||
|
has_acceleration_limits: false
|
||||||
|
has_effort_limits: true
|
||||||
|
has_position_limits: true
|
||||||
|
has_velocity_limits: true
|
||||||
|
max_effort: 28.0
|
||||||
|
max_position: !degrees 360.0
|
||||||
|
max_velocity: !degrees 180.0
|
||||||
|
min_position: !degrees -360.0
|
||||||
@@ -0,0 +1,99 @@
|
|||||||
|
# Physical parameters
|
||||||
|
|
||||||
|
dh_parameters:
|
||||||
|
d1: 0.1625
|
||||||
|
a2: -0.4270
|
||||||
|
a3: -0.3905
|
||||||
|
d4: 0.1475
|
||||||
|
d5: 0.0965
|
||||||
|
d6: 0.0920
|
||||||
|
|
||||||
|
inertia_parameters:
|
||||||
|
base_mass: 0.57127 # base mass, base inertia, base cog might be incorrect
|
||||||
|
shoulder_mass: 4.521
|
||||||
|
upperarm_mass: 7.533
|
||||||
|
forearm_mass: 3.009
|
||||||
|
wrist_1_mass: 1.559
|
||||||
|
wrist_2_mass: 1.447
|
||||||
|
wrist_3_mass: 0.500
|
||||||
|
|
||||||
|
inertia:
|
||||||
|
base:
|
||||||
|
ixx: 0.0010759
|
||||||
|
ixy: 7.8337E-08
|
||||||
|
ixz: -1.3213E-05
|
||||||
|
iyy: 0.0010109
|
||||||
|
iyz: 4.5992E-07
|
||||||
|
izz: 0.001408
|
||||||
|
shoulder:
|
||||||
|
ixx: 0.014192
|
||||||
|
ixy: 1.7839E-05
|
||||||
|
ixz: -1.027E-06
|
||||||
|
iyy: 0.0091982
|
||||||
|
iyz: -4.6778E-05
|
||||||
|
izz: 0.012777
|
||||||
|
upperarm:
|
||||||
|
ixx: 0.13719
|
||||||
|
ixy: -7.5676E-05
|
||||||
|
ixz: -0.17551
|
||||||
|
iyy: 0.6614
|
||||||
|
iyz: 7.59E-06
|
||||||
|
izz: 0.53649
|
||||||
|
forearm:
|
||||||
|
ixx: 0.0087604
|
||||||
|
ixy: 1.7762E-05
|
||||||
|
ixz: -0.010765
|
||||||
|
iyy: 0.22281
|
||||||
|
iyz: -4.13E-07
|
||||||
|
izz: 0.2176
|
||||||
|
wrist_1:
|
||||||
|
ixx: 0.0045009
|
||||||
|
ixy: 1.961E-06
|
||||||
|
ixz: -2.646E-06
|
||||||
|
iyy: 0.0042164
|
||||||
|
iyz: -3.58E-07
|
||||||
|
izz: 0.0014539
|
||||||
|
wrist_2:
|
||||||
|
ixx: 0.0023787
|
||||||
|
ixy: 1.953E-06
|
||||||
|
ixz: 2.643E-06
|
||||||
|
iyy: 0.0020859
|
||||||
|
iyz: 5.584E-06
|
||||||
|
izz: 0.0013191
|
||||||
|
wrist_3:
|
||||||
|
ixx: 0.0014314
|
||||||
|
ixy: -2.32E-07
|
||||||
|
ixz: 7.955E-06
|
||||||
|
iyy: 0.0014299
|
||||||
|
iyz: 1.266E-06
|
||||||
|
izz: 0.0003265
|
||||||
|
|
||||||
|
center_of_mass:
|
||||||
|
base_cog:
|
||||||
|
x: -0.00060346
|
||||||
|
y: 1.4311E-05
|
||||||
|
z: 0.060221
|
||||||
|
shoulder_cog:
|
||||||
|
x: 2.2E-05
|
||||||
|
y: -0.016526
|
||||||
|
z: -0.014442
|
||||||
|
upperarm_cog:
|
||||||
|
x: -0.17828
|
||||||
|
y: 4.0E-06
|
||||||
|
z: 0.12803
|
||||||
|
forearm_cog:
|
||||||
|
x: -0.20416
|
||||||
|
y: -7.0E-06
|
||||||
|
z: 0.03064
|
||||||
|
wrist_1_cog:
|
||||||
|
x: 1.3E-05
|
||||||
|
y: -0.00479
|
||||||
|
z: -0.02274
|
||||||
|
wrist_2_cog:
|
||||||
|
x: -1.4E-05
|
||||||
|
y: 0.005107
|
||||||
|
z: -0.012702
|
||||||
|
wrist_3_cog:
|
||||||
|
x: -0.000684
|
||||||
|
y: -0.000175
|
||||||
|
z: -0.04234
|
||||||
@@ -0,0 +1,92 @@
|
|||||||
|
mesh_files:
|
||||||
|
base:
|
||||||
|
visual:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs66/visual/base.dae
|
||||||
|
material:
|
||||||
|
name: "LightGrey"
|
||||||
|
color: "0.7 0.7 0.7 1.0"
|
||||||
|
collision:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs66/collision/base.stl
|
||||||
|
|
||||||
|
shoulder:
|
||||||
|
visual:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs66/visual/shoulder.dae
|
||||||
|
material:
|
||||||
|
name: "LightGrey"
|
||||||
|
color: "0.7 0.7 0.7 1.0"
|
||||||
|
collision:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs66/collision/shoulder.stl
|
||||||
|
|
||||||
|
upperarm:
|
||||||
|
visual:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs66/visual/upperarm.dae
|
||||||
|
material:
|
||||||
|
name: "LightGrey"
|
||||||
|
color: "0.7 0.7 0.7 1.0"
|
||||||
|
collision:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs66/collision/upperarm.stl
|
||||||
|
mesh_files:
|
||||||
|
|
||||||
|
forearm:
|
||||||
|
visual:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs66/visual/forearm.dae
|
||||||
|
material:
|
||||||
|
name: "LightGrey"
|
||||||
|
color: "0.7 0.7 0.7 1.0"
|
||||||
|
collision:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs66/collision/forearm.stl
|
||||||
|
|
||||||
|
wrist_1:
|
||||||
|
visual:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs66/visual/wrist1.dae
|
||||||
|
material:
|
||||||
|
name: "LightGrey"
|
||||||
|
color: "0.7 0.7 0.7 1.0"
|
||||||
|
collision:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs66/collision/wrist1.stl
|
||||||
|
|
||||||
|
wrist_2:
|
||||||
|
visual:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs66/visual/wrist2.dae
|
||||||
|
material:
|
||||||
|
name: "LightGrey"
|
||||||
|
color: "0.7 0.7 0.7 1.0"
|
||||||
|
collision:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs66/collision/wrist2.stl
|
||||||
|
|
||||||
|
wrist_3:
|
||||||
|
visual:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs66/visual/wrist3.dae
|
||||||
|
material:
|
||||||
|
name: "LightGrey"
|
||||||
|
color: "0.7 0.7 0.7 1.0"
|
||||||
|
collision:
|
||||||
|
mesh:
|
||||||
|
package: eli_cs_robot_description
|
||||||
|
path: meshes/cs66/collision/wrist3.stl
|
||||||
@@ -0,0 +1,6 @@
|
|||||||
|
shoulder_pan_joint: 0.0
|
||||||
|
shoulder_lift_joint: -1.57
|
||||||
|
elbow_joint: 0.0
|
||||||
|
wrist_1_joint: -1.57
|
||||||
|
wrist_2_joint: 1.57
|
||||||
|
wrist_3_joint: 0.0
|
||||||
159
unilabos/device_mesh/devices/elite_robot/macro_device.xacro
Normal file
159
unilabos/device_mesh/devices/elite_robot/macro_device.xacro
Normal file
@@ -0,0 +1,159 @@
|
|||||||
|
<?xml version="1.0"?>
|
||||||
|
<robot xmlns:xacro="http://wiki.ros.org/xacro" name="elite_robot">
|
||||||
|
<xacro:macro name="elite_robot" params="mesh_path:='' parent_link:='' station_name:='' device_name:='' cs_type:='cs66' fake_dev:='true' x:=0 y:=0 z:=0 rx:=0 ry:=0 r:=0" >
|
||||||
|
<!-- robot name parameter -->
|
||||||
|
<xacro:arg name="name" default="cs"/>
|
||||||
|
<!-- import main macro -->
|
||||||
|
<xacro:include filename="${mesh_path}/devices/elite_robot/urdf/cs_macro.xacro"/>
|
||||||
|
|
||||||
|
<!-- possible 'cs_type' values: cs63, cs66, cs612, cs616, cs620, cs625 -->
|
||||||
|
<!-- the default value should raise an error in case this was called without defining the type -->
|
||||||
|
<xacro:arg name="cs_type" default="${cs_type}"/>
|
||||||
|
|
||||||
|
<!-- parameters -->
|
||||||
|
<xacro:arg name="tf_prefix" default="${station_name}${device_name}" />
|
||||||
|
<xacro:arg name="joint_limit_params" default="${mesh_path}/devices/elite_robot/config/$(arg cs_type)/joint_limits.yaml"/>
|
||||||
|
<xacro:arg name="kinematics_params" default="${mesh_path}/devices/elite_robot/config/$(arg cs_type)/default_kinematics.yaml"/>
|
||||||
|
<xacro:arg name="physical_params" default="${mesh_path}/devices/elite_robot/config/$(arg cs_type)/physical_parameters.yaml"/>
|
||||||
|
<xacro:arg name="visual_params" default="${mesh_path}/devices/elite_robot/config/$(arg cs_type)/visual_parameters.yaml"/>
|
||||||
|
<xacro:arg name="transmission_hw_interface" default=""/>
|
||||||
|
<xacro:arg name="safety_limits" default="false"/>
|
||||||
|
<xacro:arg name="safety_pos_margin" default="0.15"/>
|
||||||
|
<xacro:arg name="safety_k_position" default="20"/>
|
||||||
|
<!-- ros2_control related parameters -->
|
||||||
|
<xacro:arg name="headless_mode" default="false" />
|
||||||
|
<xacro:arg name="robot_ip" default="0.0.0.0" />
|
||||||
|
<xacro:arg name="script_filename" default=""/>
|
||||||
|
<xacro:arg name="output_recipe_filename" default=""/>
|
||||||
|
<xacro:arg name="input_recipe_filename" default=""/>
|
||||||
|
<xacro:arg name="local_ip" default="0.0.0.0"/>
|
||||||
|
<xacro:arg name="script_command_port" default="50004"/>
|
||||||
|
<xacro:arg name="reverse_port" default="50001"/>
|
||||||
|
<xacro:arg name="script_sender_port" default="50002"/>
|
||||||
|
<xacro:arg name="trajectory_port" default="50003"/>
|
||||||
|
<!-- tool communication related parameters-->
|
||||||
|
<xacro:arg name="use_tool_communication" default="false" />
|
||||||
|
<xacro:arg name="tool_voltage" default="0" />
|
||||||
|
<xacro:arg name="tool_parity" default="0" />
|
||||||
|
<xacro:arg name="tool_baud_rate" default="115200" />
|
||||||
|
<xacro:arg name="tool_stop_bits" default="1" />
|
||||||
|
<xacro:arg name="tool_tcp_port" default="54321" />
|
||||||
|
|
||||||
|
<!-- Simulation parameters -->
|
||||||
|
<xacro:arg name="use_fake_hardware" default="${fake_dev}" />
|
||||||
|
<xacro:arg name="fake_sensor_commands" default="${fake_dev}" />
|
||||||
|
<xacro:arg name="sim_gazebo" default="false" />
|
||||||
|
<xacro:arg name="sim_ignition" default="false" />
|
||||||
|
<xacro:arg name="simulation_controllers" default="" />
|
||||||
|
|
||||||
|
<!-- initial position for simulations (Fake Hardware, Gazebo, Ignition) -->
|
||||||
|
<xacro:arg name="initial_positions_file" default="${mesh_path}/devices/elite_robot/config/initial_positions.yaml"/>
|
||||||
|
|
||||||
|
<!-- convert to property to use substitution in function -->
|
||||||
|
<xacro:property name="initial_positions_file" default="$(arg initial_positions_file)"/>
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
<joint name="${station_name}${device_name}base_link_joint" type="fixed">
|
||||||
|
<origin xyz="${x} ${y} ${z}" rpy="${rx} ${ry} ${r}" />
|
||||||
|
<parent link="${parent_link}"/>
|
||||||
|
<child link="${station_name}${device_name}device_link"/>
|
||||||
|
<axis xyz="0 0 0"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<link name="${station_name}${device_name}device_link"/>
|
||||||
|
|
||||||
|
<!-- arm -->
|
||||||
|
<xacro:cs_robot
|
||||||
|
name="$(arg name)"
|
||||||
|
tf_prefix="$(arg tf_prefix)"
|
||||||
|
parent="${station_name}${device_name}device_link"
|
||||||
|
joint_limits_parameters_file="$(arg joint_limit_params)"
|
||||||
|
kinematics_parameters_file="$(arg kinematics_params)"
|
||||||
|
physical_parameters_file="$(arg physical_params)"
|
||||||
|
visual_parameters_file="$(arg visual_params)"
|
||||||
|
transmission_hw_interface="$(arg transmission_hw_interface)"
|
||||||
|
safety_limits="$(arg safety_limits)"
|
||||||
|
safety_pos_margin="$(arg safety_pos_margin)"
|
||||||
|
safety_k_position="$(arg safety_k_position)"
|
||||||
|
use_fake_hardware="$(arg use_fake_hardware)"
|
||||||
|
fake_sensor_commands="$(arg fake_sensor_commands)"
|
||||||
|
sim_gazebo="$(arg sim_gazebo)"
|
||||||
|
sim_ignition="$(arg sim_ignition)"
|
||||||
|
headless_mode="$(arg headless_mode)"
|
||||||
|
initial_positions="${xacro.load_yaml(initial_positions_file)}"
|
||||||
|
use_tool_communication="$(arg use_tool_communication)"
|
||||||
|
tool_voltage="$(arg tool_voltage)"
|
||||||
|
tool_parity="$(arg tool_parity)"
|
||||||
|
tool_baud_rate="$(arg tool_baud_rate)"
|
||||||
|
tool_stop_bits="$(arg tool_stop_bits)"
|
||||||
|
tool_tcp_port="$(arg tool_tcp_port)"
|
||||||
|
robot_ip="$(arg robot_ip)"
|
||||||
|
script_filename="$(arg script_filename)"
|
||||||
|
output_recipe_filename="$(arg output_recipe_filename)"
|
||||||
|
input_recipe_filename="$(arg input_recipe_filename)"
|
||||||
|
local_ip="$(arg local_ip)"
|
||||||
|
script_command_port="$(arg script_command_port)"
|
||||||
|
reverse_port="$(arg reverse_port)"
|
||||||
|
script_sender_port="$(arg script_sender_port)"
|
||||||
|
trajectory_port="$(arg trajectory_port)"
|
||||||
|
mesh_path="${mesh_path}"
|
||||||
|
>
|
||||||
|
<origin xyz="0 0 0" rpy="0 0 0" /> <!-- position robot in the world -->
|
||||||
|
</xacro:cs_robot>
|
||||||
|
|
||||||
|
<link name="${station_name}${device_name}gripper">
|
||||||
|
<inertial>
|
||||||
|
<origin
|
||||||
|
xyz="-2.76718112539598E-05 0.0255270141715087 0.0270559267296449"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<mass
|
||||||
|
value="0.2571510360664" />
|
||||||
|
<inertia
|
||||||
|
ixx="0.000164806957167171"
|
||||||
|
ixy="1.52519074989277E-08"
|
||||||
|
ixz="9.6332716899636E-08"
|
||||||
|
iyy="8.72759579414916E-05"
|
||||||
|
iyz="-5.40735277087457E-07"
|
||||||
|
izz="0.000196871100878503" />
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin
|
||||||
|
xyz="0 0 0"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh
|
||||||
|
filename="file://${mesh_path}/devices/elite_robot/meshes/gripper.STL" />
|
||||||
|
</geometry>
|
||||||
|
<material
|
||||||
|
name="">
|
||||||
|
<color
|
||||||
|
rgba="0.749019607843137 0.749019607843137 0.749019607843137 1" />
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin
|
||||||
|
xyz="0 0 0"
|
||||||
|
rpy="0 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh
|
||||||
|
filename="file://${mesh_path}/devices/elite_robot/meshes/gripper.STL" />
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
<joint name="${station_name}${device_name}gripper_joint"
|
||||||
|
type="fixed">
|
||||||
|
<origin
|
||||||
|
xyz="0 0 -0.003"
|
||||||
|
rpy="0 0 -1.570796326589793" />
|
||||||
|
<parent
|
||||||
|
link="${station_name}${device_name}tool0" />
|
||||||
|
<child
|
||||||
|
link="${station_name}${device_name}gripper" />
|
||||||
|
<axis
|
||||||
|
xyz="0 0 0" />
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
</xacro:macro>
|
||||||
|
|
||||||
|
</robot>
|
||||||
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Reference in New Issue
Block a user