Add two arm urdf
This commit is contained in:
Thomason Zhou
parent
102f1edc98
commit
1cdb995dce
22
openarm_two_arms/openarm_two_arms/CMakeLists.txt
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22
openarm_two_arms/openarm_two_arms/CMakeLists.txt
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cmake_minimum_required(VERSION 3.8)
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project(openarm_two_arms)
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find_package(ament_cmake REQUIRED)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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# the following line skips the linter which checks for copyrights
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# comment the line when a copyright and license is added to all source files
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set(ament_cmake_copyright_FOUND TRUE)
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# the following line skips cpplint (only works in a git repo)
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# comment the line when this package is in a git repo and when
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# a copyright and license is added to all source files
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set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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install(DIRECTORY launch meshes rviz urdf worlds
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DESTINATION share/${PROJECT_NAME}
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)
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ament_package()
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from pathlib import Path
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import launch
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from launch.substitutions import Command
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from launch.substitutions import LaunchConfiguration
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from launch.actions import DeclareLaunchArgument
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import launch_ros
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from launch_ros.parameter_descriptions import ParameterValue
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def generate_launch_description():
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pkg_share = Path(launch_ros.substitutions.FindPackageShare(package='openarm_two_arms').find('openarm_two_arms'))
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default_model_path = pkg_share / 'urdf/openarm_two_arms_wrapper.urdf.xacro'
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use_sim_time = LaunchConfiguration('use_sim_time')
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use_sim_time_launch_arg = DeclareLaunchArgument('use_sim_time', default_value='true')
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robot_state_publisher_node = launch_ros.actions.Node(
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package='robot_state_publisher',
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executable='robot_state_publisher',
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parameters=[
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{
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# ParameterValue is required to avoid being interpreted as YAML.
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'robot_description': ParameterValue(Command(['xacro ', LaunchConfiguration('model')]), value_type=str),
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'use_sim_time': use_sim_time,
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},
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],
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)
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return launch.LaunchDescription([
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launch.actions.DeclareLaunchArgument(
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name='model',
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default_value=str(default_model_path),
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description="Absolute path to the robot's URDF file",
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),
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use_sim_time_launch_arg,
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robot_state_publisher_node,
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])
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84
openarm_two_arms/openarm_two_arms/launch/display.launch.py
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openarm_two_arms/openarm_two_arms/launch/display.launch.py
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from pathlib import Path
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import launch
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from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
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import launch_ros
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from launch_ros.substitutions import FindPackageShare
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from launch.actions import IncludeLaunchDescription
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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def generate_launch_description():
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pkg_share = Path(launch_ros.substitutions.FindPackageShare(package='openarm_two_arms').find('openarm_two_arms'))
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default_model_path = pkg_share / 'urdf/openarm_two_arms_wrapper.urdf.xacro'
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default_rviz_config_path = pkg_share / 'rviz/robot_description.rviz'
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use_sim_time = LaunchConfiguration('use_sim_time')
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robot_state_publisher_node = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([
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PathJoinSubstitution([
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FindPackageShare('openarm_two_arms'),
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'launch',
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'description.launch.py',
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]),
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]),
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launch_arguments=dict(use_sim_time=use_sim_time).items(),
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)
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joint_state_publisher_node = launch_ros.actions.Node(
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package='joint_state_publisher',
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executable='joint_state_publisher',
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name='joint_state_publisher',
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condition=launch.conditions.UnlessCondition(LaunchConfiguration('gui')),
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parameters=[{
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'use_sim_time': use_sim_time,
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}],
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)
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joint_state_publisher_gui_node = launch_ros.actions.Node(
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package='joint_state_publisher_gui',
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executable='joint_state_publisher_gui',
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name='joint_state_publisher_gui',
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condition=launch.conditions.IfCondition(LaunchConfiguration('gui')),
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parameters=[{
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'use_sim_time': use_sim_time,
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}],
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)
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rviz_node = launch_ros.actions.Node(
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package='rviz2',
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executable='rviz2',
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name='rviz2',
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output='screen',
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arguments=['-d', LaunchConfiguration('rvizconfig')],
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parameters=[{
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'use_sim_time': use_sim_time,
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}],
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)
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return launch.LaunchDescription([
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launch.actions.DeclareLaunchArgument(
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name='use_sim_time',
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default_value='false',
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description='Flag to enable usage of simulation time',
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),
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launch.actions.DeclareLaunchArgument(
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name='gui',
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default_value='True',
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description='Flag to enable joint_state_publisher_gui',
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),
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launch.actions.DeclareLaunchArgument(
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name='model',
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default_value=str(default_model_path),
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description='Absolute path to robot urdf file',
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),
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launch.actions.DeclareLaunchArgument(
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name='rvizconfig',
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default_value=str(default_rviz_config_path),
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description='Absolute path to rviz config file',
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),
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joint_state_publisher_node,
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joint_state_publisher_gui_node,
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robot_state_publisher_node,
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rviz_node,
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])
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128
openarm_two_arms/openarm_two_arms/launch/gazebo.launch.py
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128
openarm_two_arms/openarm_two_arms/launch/gazebo.launch.py
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import os
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import re
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import subprocess
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.actions import IncludeLaunchDescription
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from launch.conditions import IfCondition
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from launch.conditions import UnlessCondition
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration
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from launch.substitutions import PathJoinSubstitution
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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def generate_launch_description():
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resources_package = 'openarm_two_arms'
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# Make path to resources dir without last package_name fragment.
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path_to_share_dir_clipped = ''.join(get_package_share_directory(resources_package).rsplit('/' + resources_package, 1))
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# Gazebo hint for resources.
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os.environ['GZ_SIM_RESOURCE_PATH'] = path_to_share_dir_clipped
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# Ensure `SDF_PATH` is populated since `sdformat_urdf` uses this rather
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# than `GZ_SIM_RESOURCE_PATH` to locate resources.
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if "GZ_SIM_RESOURCE_PATH" in os.environ:
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gz_sim_resource_path = os.environ["GZ_SIM_RESOURCE_PATH"]
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if "SDF_PATH" in os.environ:
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sdf_path = os.environ["SDF_PATH"]
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os.environ["SDF_PATH"] = sdf_path + ":" + gz_sim_resource_path
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else:
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os.environ["SDF_PATH"] = gz_sim_resource_path
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use_custom_world = LaunchConfiguration('use_custom_world')
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use_custom_world_launch_arg = DeclareLaunchArgument('use_custom_world', default_value='true')
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gazebo_world = LaunchConfiguration('gazebo_world')
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gazebo_world_launch_arg = DeclareLaunchArgument('gazebo_world', default_value='empty.sdf')
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# prepare custom world
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world = os.getenv('GZ_SIM_WORLD', 'empty')
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fly_world_path = resources_package + '/worlds/' + world + '.sdf'
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gz_version = subprocess.getoutput("gz sim --versions")
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gz_version_major = re.search(r'^\d{1}', gz_version).group()
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launch_arguments=dict(gz_args = '-r ' + str(fly_world_path) + ' --verbose ', gz_version = gz_version_major).items()
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# Gazebo Sim.
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# by default the custom world is used, otherwise the gazebo world is used, which can be changed with the argument
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pkg_ros_gz_sim = get_package_share_directory('ros_gz_sim')
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gazebo = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(pkg_ros_gz_sim, 'launch', 'gz_sim.launch.py'),
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),
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launch_arguments=launch_arguments if use_custom_world else dict(gz_args='-r ' + gazebo_world + ' --verbose').items(),
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)
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# Spawn
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spawn = Node(
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package='ros_gz_sim',
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executable='create',
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arguments=[
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'-name', 'openarm_two_arms',
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'-x', '1.2',
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'-z', '2.3',
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'-Y', '3.4',
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'-topic', '/robot_description',
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],
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output='screen',
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)
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use_sim_time = LaunchConfiguration('use_sim_time')
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use_sim_time_launch_arg = DeclareLaunchArgument('use_sim_time', default_value='true')
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use_rviz = LaunchConfiguration('use_rviz')
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use_rviz_arg = DeclareLaunchArgument("use_rviz", default_value='true')
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robot_state_publisher = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([
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PathJoinSubstitution([
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FindPackageShare(resources_package),
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'launch',
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'description.launch.py',
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]),
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]),
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condition=UnlessCondition(use_rviz), # rviz launch includes rsp.
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launch_arguments=dict(use_sim_time=use_sim_time).items(),
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)
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rviz = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([
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PathJoinSubstitution([
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FindPackageShare(resources_package),
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'launch',
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'display.launch.py',
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]),
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]),
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condition=IfCondition(use_rviz),
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launch_arguments=dict(use_sim_time=use_sim_time).items(),
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)
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gz_bridge = Node(
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package='ros_gz_bridge',
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executable='parameter_bridge',
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arguments=['/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock'],
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output='screen',
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parameters=[{
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'use_sim_time': use_sim_time,
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}],
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)
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return LaunchDescription([
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use_sim_time_launch_arg,
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use_rviz_arg,
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use_custom_world_launch_arg,
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gazebo_world_launch_arg,
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robot_state_publisher,
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rviz,
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gazebo,
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spawn,
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gz_bridge,
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])
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21
openarm_two_arms/openarm_two_arms/package.xml
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21
openarm_two_arms/openarm_two_arms/package.xml
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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>openarm_two_arms</name>
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<version>0.0.0</version>
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<description>TODO: Package description</description>
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<maintainer email="TODO@todo.com">TODO</maintainer>
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<license>TODO: License declaration</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<depend>joint_state_publisher_gui</depend>
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<depend>ros_gz</depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>
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Panels:
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- Class: rviz_common/Displays
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Name: Displays
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- Class: rviz_common/Views
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Name: Views
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Visualization Manager:
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Class: ""
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Displays:
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- Class: rviz_default_plugins/Grid
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Name: Grid
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Value: true
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Alpha: 0.5
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- Class: rviz_default_plugins/RobotModel
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Description Source: Topic
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Description Topic:
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Value: /robot_description
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Enabled: true
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Name: RobotModel
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Alpha: 1
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Value: true
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- Class: rviz_default_plugins/TF
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Name: TF
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Value: true
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Enabled: false
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Global Options:
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Fixed Frame: l_pedestal_02_urdf_v002
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Frame Rate: 30
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Name: root
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Tools:
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- Class: rviz_default_plugins/MoveCamera
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Value: true
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Views:
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Current:
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Class: rviz_default_plugins/Orbit
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Distance: 5.0
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Name: Current View
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Pitch: 0.33
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Value: Orbit (rviz)
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Yaw: 5.5
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Window Geometry:
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Height: 800
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Width: 1200
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583
openarm_two_arms/openarm_two_arms/urdf/openarm_two_arms.urdf
Normal file
583
openarm_two_arms/openarm_two_arms/urdf/openarm_two_arms.urdf
Normal file
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<?xml version="1.0" ?>
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<robot name="openarm_two_arms">
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<!--Generated by RobotCAD, a ROS Workbench for FreeCAD (https://github.com/drfenixion/freecad.robotcad)-->
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<link name="l_pedestal_02_urdf_v002">
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<visual>
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<!--pedestal_cad/Part__Feature.-->
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<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
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<geometry>
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<mesh filename="package://openarm_two_arms/meshes/full_upper_pedestal_02_urdfv1_o8iqfl.dae"/>
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</geometry>
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</visual>
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<collision>
|
||||||
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|
<visual>
|
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|
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|
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|
<origin rpy="1.5707963267948963 0 0" xyz="0.0 0.0987 -0.02975"/>
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|
<geometry>
|
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|
<mesh filename="package://openarm_two_arms/meshes/full_upper_j3v005_2vn1gz.dae"/>
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
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|
<!--bound_obj__left_link3__col_J3_v003__BoundBox/col_J3_v003__BoundBox.-->
|
||||||
|
<origin rpy="1.5707963267948961 0 0" xyz="0.0164466 -0.00044972 -0.02975"/>
|
||||||
|
<geometry>
|
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|
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|
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|
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|
||||||
|
<inertial>
|
||||||
|
<mass value="0.42038984024444975"/>
|
||||||
|
<origin rpy="1.5707963267948961 0 0" xyz="0.00686697 0.0 -0.0282662"/>
|
||||||
|
<inertia ixx="0.00020276573635381913" ixy="5.353124426981602e-06" ixz="-1.2309719752249493e-06" iyy="0.0002972732820435537" iyz="-4.96881827890621e-07" izz="0.00032917425408263227"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<link name="l_J4_v003">
|
||||||
|
<visual>
|
||||||
|
<!--J4 v003/Part__Feature021.-->
|
||||||
|
<origin rpy="0 -1.5620381439005744 0" xyz="0.0986962 0.0 -0.0621144"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="package://openarm_two_arms/meshes/full_upper_j4v2_tzaxwp.dae"/>
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<!--bound_obj__left_link4__col_J4_v2__BoundBox/col_J4_v2__BoundBox.-->
|
||||||
|
<origin rpy="0 -1.5620381439005742 0" xyz="-0.000261608 0.0125645 0.132604"/>
|
||||||
|
<geometry>
|
||||||
|
<box size="0.27584679830769426 0.08211367789676165 0.07185639591248483"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<mass value="0.8196402299327217"/>
|
||||||
|
<origin rpy="0 -1.5620381439005742 0" xyz="0.000770085 0.00195314 0.132431"/>
|
||||||
|
<inertia ixx="0.0004386639666889925" ixy="-6.080385269207883e-05" ixz="-7.68782221495183e-06" iyy="0.009210551548719602" iyz="-2.7878027653992583e-06" izz="0.00917471125137894"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<link name="l_J5_v004">
|
||||||
|
<visual>
|
||||||
|
<!--J5 v004/Part__Feature022.-->
|
||||||
|
<origin rpy="0 0.008758182894352118 0" xyz="-0.303864 0.0 -0.0689415"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="package://openarm_two_arms/meshes/full_upper_j5v005_didwyo.dae"/>
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<!--bound_obj__left_link5__col_J5_v003__BoundBox/col_J5_v003__BoundBox.-->
|
||||||
|
<origin rpy="0 0.008758182894352025 0" xyz="0.0539601 0.00265291 0.02931"/>
|
||||||
|
<geometry>
|
||||||
|
<box size="0.1676296341613413 0.06430555048399128 0.08257859967140607"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<mass value="0.40867482543516"/>
|
||||||
|
<origin rpy="0 0.008758182894352111 0" xyz="0.0831878 0.00261036 0.0290107"/>
|
||||||
|
<inertia ixx="0.0003150152720598943" ixy="9.43251788631792e-06" ixz="-3.2155516327367085e-05" iyy="0.0012216556466064033" iyz="-1.3129824233752054e-06" izz="0.0010745148965932514"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<link name="l_J6_Left_v004">
|
||||||
|
<visual>
|
||||||
|
<!--J6_Left v004/Part__Feature023.-->
|
||||||
|
<origin rpy="1.013924674457276 -1.5542266826921816 0" xyz="0.0485412 0.0860404 -0.437784"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="package://openarm_two_arms/meshes/full_upper_j6_leftv005_f8km11.dae"/>
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<!--bound_obj__left_link6__col_J6_Left_v003__BoundBox/col_J6_Left_v003__BoundBox.-->
|
||||||
|
<origin rpy="1.0139246744572885 -1.5542266826921818 0" xyz="0.00260793 0.0031292 0.0652641"/>
|
||||||
|
<geometry>
|
||||||
|
<box size="0.1311435300470597 0.059534783253118076 0.08817198167731641"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<mass value="0.34433331594607314"/>
|
||||||
|
<origin rpy="1.0139246744572885 -1.5542266826921818 0" xyz="0.00885434 0.0135457 0.0439"/>
|
||||||
|
<inertia ixx="0.00019315823092440877" ixy="5.759960919860601e-07" ixz="3.928258332297235e-05" iyy="0.0003489300226703872" iyz="5.3866492677574926e-06" izz="0.00028834862800848534"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<link name="l_J7_Left_v004">
|
||||||
|
<visual>
|
||||||
|
<!--J7_Left v004/Part__Feature024.-->
|
||||||
|
<origin rpy="0 0.008758182894514984 0" xyz="-0.558839 -0.00358671 -0.0632962"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="package://openarm_two_arms/meshes/full_upper_j7_leftv005_8ohvh2.dae"/>
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<!--bound_obj__left_link7__col_J7_Left_v003__BoundBox/col_J7_Left_v003__BoundBox.-->
|
||||||
|
<origin rpy="0 0.008758182894515429 0" xyz="0.000300274 0.00228799 0.0340015"/>
|
||||||
|
<geometry>
|
||||||
|
<box size="0.05859778949354245 0.04469786051400639 0.08267618289454949"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<mass value="0.2782996911629702"/>
|
||||||
|
<origin rpy="0 0.008758182894515356 0" xyz="-8.771e-05 0.00414153 0.035427"/>
|
||||||
|
<inertia ixx="0.0001043910985422628" ixy="-4.0026347675757406e-07" ixz="1.0837675080533579e-07" iyy="0.00012327455405278424" iyz="-8.765964772332956e-08" izz="9.221516114206396e-05"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<link name="l_J8_v003">
|
||||||
|
<visual>
|
||||||
|
<!--J8 v003/Part__Feature025.-->
|
||||||
|
<origin rpy="1.570978323892347 0.02077671332575817 0" xyz="-0.557906 0.103687 0.0234745"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="package://openarm_two_arms/meshes/full_upper_j8v004_upij9o.dae"/>
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<!--bound_obj__left_link8__col_J8_v002__BoundBox/col_J8_v002__BoundBox.-->
|
||||||
|
<origin rpy="1.570978323892347 0.02077671332575817 0" xyz="0.0427524 -0.001079 0.0109925"/>
|
||||||
|
<geometry>
|
||||||
|
<box size="0.1302624002952524 0.052571684700854236 0.1601213740691585"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<mass value="0.3126145274380216"/>
|
||||||
|
<origin rpy="1.570978323892347 0.020776713325758166 0" xyz="0.0607568 -0.000722767 0.00876618"/>
|
||||||
|
<inertia ixx="0.00023572179169416507" ixy="-7.789320420216956e-05" ixz="-2.111587909476847e-06" iyy="0.0005055124180887915" iyz="-1.5449610531695725e-06" izz="0.0003736712654123388"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<link name="l_right_jaw_v004">
|
||||||
|
<visual>
|
||||||
|
<!--right_jaw v004/Part__Feature027.-->
|
||||||
|
<origin rpy="3.141592653589774 0.008758182895214187 0" xyz="-0.662074 0.00352188 0.18819"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="package://openarm_two_arms/meshes/full_upper_right_jawv003_5v80f0.dae"/>
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<!--bound_obj__left_right_jaw__col_right_jaw_v002_col_obj/col_right_jaw_v002_col_obj.-->
|
||||||
|
<origin rpy="3.141592653589774 0.00875818289521427 0" xyz="-0.662074 0.00352188 0.18819"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="package://openarm_two_arms/meshes/full_upper_col_right_jaw_v002_col_obj_ln0sqy.dae"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<mass value="0.042981665301134495"/>
|
||||||
|
<origin rpy="3.141592653589774 0.008758182895214186 0" xyz="0.0189546 -0.00337688 0.0156207"/>
|
||||||
|
<inertia ixx="1.1399290012366144e-05" ixy="2.1100277903741056e-06" ixz="3.6731039885335394e-06" iyy="2.38634020443188e-05" iyz="-3.5503706410916235e-07" izz="3.0396785775073194e-05"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<link name="l_left_jaw_v004">
|
||||||
|
<visual>
|
||||||
|
<!--left_jaw v004/Part__Feature026.-->
|
||||||
|
<origin rpy="3.141592653589789 0.00875818289443215 0" xyz="-0.664789 0.00352188 0.0332134"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="package://openarm_two_arms/meshes/full_upper_left_jawv003_9ggcxr.dae"/>
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<!--bound_obj__left_left_jaw__col_left_jaw_v002_col_obj/col_left_jaw_v002_col_obj.-->
|
||||||
|
<origin rpy="3.141592653589789 0.008758182894432077 0" xyz="-0.664789 0.00352188 0.0332134"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="package://openarm_two_arms/meshes/full_upper_col_left_jaw_v002_col_obj_he8av6.dae"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<mass value="0.04297897856394934"/>
|
||||||
|
<origin rpy="3.141592653589789 0.008758182894432148 0" xyz="0.0184958 0.00151751 -0.0162764"/>
|
||||||
|
<inertia ixx="1.195285836430737e-05" ixy="-2.8053920115195855e-06" ixz="-3.983934744055433e-06" iyy="2.3656009736974273e-05" iyz="-4.864815166189635e-07" izz="3.047484533653199e-05"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="right_fix1" type="fixed">
|
||||||
|
<parent link="l_pedestal_02_urdf_v002"/>
|
||||||
|
<child link="l_J1_v002"/>
|
||||||
|
<origin rpy="3.0144791747751833 -1.5707963267948324 0.12689401604101067" xyz="0.09 0.0 0.893"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="right_rev1" type="revolute">
|
||||||
|
<parent link="l_J1_v002"/>
|
||||||
|
<child link="l_J2_v002"/>
|
||||||
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.05325"/>
|
||||||
|
<axis xyz="0 0 1"/>
|
||||||
|
<limit effort="0.0" lower="-2.0943951023931953" upper="2.0943951023931953" velocity="0.0"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="right_rev2" type="revolute">
|
||||||
|
<parent link="l_J2_v002"/>
|
||||||
|
<child link="l_J3_v003"/>
|
||||||
|
<origin rpy="-1.5707963267948968 0 0" xyz="0.0 -0.02975 0.04475"/>
|
||||||
|
<axis xyz="0 0 1"/>
|
||||||
|
<limit effort="0.0" lower="0.0" upper="3.141592653589793" velocity="0.0"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="right_rev3" type="revolute">
|
||||||
|
<parent link="l_J3_v003"/>
|
||||||
|
<child link="l_J4_v002"/>
|
||||||
|
<origin rpy="-1.5707963267949054 0 -1.562038143900564" xyz="-0.0612477 -0.000536432 0.02975"/>
|
||||||
|
<axis xyz="0 0 1"/>
|
||||||
|
<limit effort="0.0" lower="-3.6651914291880923" upper="0.5235987755982988" velocity="0.0"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="right_rev4" type="revolute">
|
||||||
|
<parent link="l_J4_v002"/>
|
||||||
|
<child link="l_J5_v003"/>
|
||||||
|
<origin rpy="-0.20701608758495998 -1.5707963267948566 -2.937419385117548" xyz="0.0297547 0.0 -0.24175"/>
|
||||||
|
<axis xyz="0 0 1"/>
|
||||||
|
<limit effort="0.0" lower="-0.3490658503988659" upper="2.792526803190927" velocity="0.0"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="right_rev5" type="revolute">
|
||||||
|
<parent link="l_J5_v003"/>
|
||||||
|
<child link="l_J6_right_wrist"/>
|
||||||
|
<origin rpy="1.5707963267948473 -0.5569332500492129 1.556730325338251" xyz="-0.133937 0.00188408 -0.0297547"/>
|
||||||
|
<axis xyz="0 0 1"/>
|
||||||
|
<limit effort="0.0" lower="-2.0943951023931953" upper="2.0943951023931953" velocity="0.0"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="right_rev6" type="revolute">
|
||||||
|
<parent link="l_J6_right_wrist"/>
|
||||||
|
<child link="l_J7_v002"/>
|
||||||
|
<origin rpy="-1.5707963268024898 -1.5567303253382425 -0.5569332500461536" xyz="-0.0187648 -0.0301352 -0.12105"/>
|
||||||
|
<axis xyz="0 0 1"/>
|
||||||
|
<limit effort="0.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="0.0"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="right_rev7" type="revolute">
|
||||||
|
<parent link="l_J7_v002"/>
|
||||||
|
<child link="l_J8_v002"/>
|
||||||
|
<origin rpy="-1.5707963267950005 -0.00875904933536772 -0.014066001454933467" xyz="-0.000217313 -0.0154485 0.0355"/>
|
||||||
|
<axis xyz="0 0 1"/>
|
||||||
|
<limit effort="0.0" lower="-0.9599310885968813" upper="0.9599310885968813" velocity="0.0"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="right_left_pris1" type="prismatic">
|
||||||
|
<parent link="l_J8_v002"/>
|
||||||
|
<child link="l_left_jaw_v002"/>
|
||||||
|
<origin rpy="1.570796326795101 -0.014066001454929162 0.00875904933542146" xyz="-0.1071 0.0768568 0.0132053"/>
|
||||||
|
<axis xyz="0 0 1"/>
|
||||||
|
<limit effort="0.0" lower="0.0" upper="0.045" velocity="0.0"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="right_right_pris2" type="prismatic">
|
||||||
|
<parent link="l_J8_v002"/>
|
||||||
|
<child link="l_right_jaw_v002"/>
|
||||||
|
<origin rpy="1.570796326794883 -0.014066001454927403 0.008759049336290027" xyz="-0.10571 -0.0781373 0.0132053"/>
|
||||||
|
<axis xyz="0 0 1"/>
|
||||||
|
<limit effort="0.0" lower="0.0" upper="0.045" velocity="0.0"/>
|
||||||
|
<mimic joint="right_left_pris1" multiplier="-1.0" offset="0.0"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="left_fix1" type="fixed">
|
||||||
|
<parent link="l_pedestal_02_urdf_v002"/>
|
||||||
|
<child link="l_base_link001"/>
|
||||||
|
<origin rpy="3.0186531925068127 -1.5707963267948268 0.12293946108298068" xyz="-0.09 0.0 0.893"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="left_rev1" type="revolute">
|
||||||
|
<parent link="l_base_link001"/>
|
||||||
|
<child link="l_J2_v003"/>
|
||||||
|
<origin rpy="-3.1415926535897922 0 -3.1415926535897927" xyz="0.0 0.0 -0.05325"/>
|
||||||
|
<axis xyz="0 0 1"/>
|
||||||
|
<limit effort="0.0" lower="-2.0943951023931953" upper="2.0943951023931953" velocity="0.0"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="left_rev2" type="revolute">
|
||||||
|
<parent link="l_J2_v003"/>
|
||||||
|
<child link="l_J3_v004"/>
|
||||||
|
<origin rpy="-1.570796326794897 0 0" xyz="0.0 0.02975 0.04475"/>
|
||||||
|
<axis xyz="0 0 1"/>
|
||||||
|
<limit effort="0.0" lower="-3.141592653589793" upper="0.0" velocity="0.0"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="left_rev3" type="revolute">
|
||||||
|
<parent link="l_J3_v004"/>
|
||||||
|
<child link="l_J4_v003"/>
|
||||||
|
<origin rpy="1.5707963267949063 0 1.5620381439005797" xyz="0.0612477 -0.000536432 -0.02975"/>
|
||||||
|
<axis xyz="0 0 1"/>
|
||||||
|
<limit effort="0.0" lower="-3.6651914291880923" upper="0.5235987755982988" velocity="0.0"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="left_rev4" type="revolute">
|
||||||
|
<parent link="l_J4_v003"/>
|
||||||
|
<child link="l_J5_v004"/>
|
||||||
|
<origin rpy="-3.0383286058327292 -1.5707963267948855 3.038328605832587" xyz="0.0297547 0.0 0.24175"/>
|
||||||
|
<axis xyz="0 0 1"/>
|
||||||
|
<limit effort="0.0" lower="-2.792526803190927" upper="0.3490658503988659" velocity="0.0"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="left_rev5" type="revolute">
|
||||||
|
<parent link="l_J5_v004"/>
|
||||||
|
<child link="l_J6_Left_v004"/>
|
||||||
|
<origin rpy="-1.5707963267949232 0.55693325005308 -1.5567303253382712" xyz="0.133937 0.00188408 0.0297547"/>
|
||||||
|
<axis xyz="0 0 1"/>
|
||||||
|
<limit effort="0.0" lower="-2.0943951023931953" upper="2.0943951023931953" velocity="0.0"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="left_rev6" type="revolute">
|
||||||
|
<parent link="l_J6_Left_v004"/>
|
||||||
|
<child link="l_J7_Left_v004"/>
|
||||||
|
<origin rpy="1.5707963267870033 -1.5567303253382319 -0.5569332500457352" xyz="0.0187648 0.0301352 0.12105"/>
|
||||||
|
<axis xyz="0 0 1"/>
|
||||||
|
<limit effort="0.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="0.0"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="left_rev7" type="revolute">
|
||||||
|
<parent link="l_J7_Left_v004"/>
|
||||||
|
<child link="l_J8_v003"/>
|
||||||
|
<origin rpy="-1.5707963267949518 0.008760073613296379 0.020777510312798276" xyz="0.000320989 -0.0154467 0.0355"/>
|
||||||
|
<axis xyz="0 0 1"/>
|
||||||
|
<limit effort="0.0" lower="-0.9599310885968813" upper="0.9599310885968813" velocity="0.0"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="left_left_pris1" type="prismatic">
|
||||||
|
<parent link="l_J8_v003"/>
|
||||||
|
<child link="l_left_jaw_v004"/>
|
||||||
|
<origin rpy="1.5707963267947693 0.020777510312786344 -0.008760073612368274" xyz="0.10571 -0.0786733 0.0132053"/>
|
||||||
|
<axis xyz="0 0 1"/>
|
||||||
|
<limit effort="0.0" lower="-0.045" upper="0.0" velocity="0.0"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="left_right_pris2" type="prismatic">
|
||||||
|
<parent link="l_J8_v003"/>
|
||||||
|
<child link="l_right_jaw_v004"/>
|
||||||
|
<origin rpy="1.5707963267948966 0.020777510312787576 -0.008760073613237863" xyz="0.1071 0.0763207 0.0132053"/>
|
||||||
|
<axis xyz="0 0 1"/>
|
||||||
|
<limit effort="0.0" lower="0.0" upper="0.045" velocity="0.0"/>
|
||||||
|
<mimic joint="left_left_pris1" multiplier="-1.0" offset="0.0"/>
|
||||||
|
</joint>
|
||||||
|
</robot>
|
||||||
@ -0,0 +1,5 @@
|
|||||||
|
<?xml version="1.0"?>
|
||||||
|
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||||
|
|
||||||
|
|
||||||
|
</robot>
|
||||||
@ -0,0 +1,5 @@
|
|||||||
|
<?xml version="1.0" encoding="utf-8"?>
|
||||||
|
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="openarm_two_arms">
|
||||||
|
<xacro:include filename="openarm_two_arms.urdf"/>
|
||||||
|
<xacro:include filename="openarm_two_arms_sensors.urdf.xacro"/>
|
||||||
|
</robot>
|
||||||
428
openarm_two_arms/openarm_two_arms/worlds/cars_and_trees.sdf
Normal file
428
openarm_two_arms/openarm_two_arms/worlds/cars_and_trees.sdf
Normal file
@ -0,0 +1,428 @@
|
|||||||
|
<?xml version="1.0" ?>
|
||||||
|
<sdf version="1.6">
|
||||||
|
<world name="shapes">
|
||||||
|
<physics type="ode">
|
||||||
|
<max_step_size>0.004</max_step_size>
|
||||||
|
<real_time_factor>1.0</real_time_factor>
|
||||||
|
<real_time_update_rate>250</real_time_update_rate>
|
||||||
|
</physics>
|
||||||
|
<plugin
|
||||||
|
filename="gz-sim-physics-system"
|
||||||
|
name="gz::sim::systems::Physics">
|
||||||
|
</plugin>
|
||||||
|
<plugin
|
||||||
|
filename="gz-sim-user-commands-system"
|
||||||
|
name="gz::sim::systems::UserCommands">
|
||||||
|
</plugin>
|
||||||
|
<plugin
|
||||||
|
filename="gz-sim-scene-broadcaster-system"
|
||||||
|
name="gz::sim::systems::SceneBroadcaster">
|
||||||
|
</plugin>
|
||||||
|
<plugin
|
||||||
|
filename="gz-sim-sensors-system"
|
||||||
|
name="gz::sim::systems::Sensors">
|
||||||
|
<!-- <render_engine>ogre</render_engine> -->
|
||||||
|
<render_engine>ogre2</render_engine>
|
||||||
|
<!-- <render_engine>optix</render_engine> -->
|
||||||
|
</plugin>
|
||||||
|
<plugin
|
||||||
|
filename="gz-sim-contact-system"
|
||||||
|
name="gz::sim::systems::Contact">
|
||||||
|
</plugin>
|
||||||
|
|
||||||
|
<gui fullscreen="0">
|
||||||
|
|
||||||
|
<!-- 3D scene -->
|
||||||
|
<plugin filename="MinimalScene" name="3D View">
|
||||||
|
<gz-gui>
|
||||||
|
<title>3D View</title>
|
||||||
|
<property type="bool" key="showTitleBar">false</property>
|
||||||
|
<property type="string" key="state">docked</property>
|
||||||
|
</gz-gui>
|
||||||
|
|
||||||
|
<engine>ogre2</engine>
|
||||||
|
<scene>scene</scene>
|
||||||
|
<ambient_light>0.4 0.4 0.4</ambient_light>
|
||||||
|
<background_color>0.8 0.8 0.8</background_color>
|
||||||
|
<camera_pose>-6 0 6 0 0.5 0</camera_pose>
|
||||||
|
</plugin>
|
||||||
|
|
||||||
|
<!-- Plugins that add functionality to the scene -->
|
||||||
|
<plugin filename="EntityContextMenuPlugin" name="Entity context menu">
|
||||||
|
<gz-gui>
|
||||||
|
<property key="state" type="string">floating</property>
|
||||||
|
<property key="width" type="double">5</property>
|
||||||
|
<property key="height" type="double">5</property>
|
||||||
|
<property key="showTitleBar" type="bool">false</property>
|
||||||
|
</gz-gui>
|
||||||
|
</plugin>
|
||||||
|
<plugin filename="GzSceneManager" name="Scene Manager">
|
||||||
|
<gz-gui>
|
||||||
|
<property key="resizable" type="bool">false</property>
|
||||||
|
<property key="width" type="double">5</property>
|
||||||
|
<property key="height" type="double">5</property>
|
||||||
|
<property key="state" type="string">floating</property>
|
||||||
|
<property key="showTitleBar" type="bool">false</property>
|
||||||
|
</gz-gui>
|
||||||
|
</plugin>
|
||||||
|
<plugin filename="InteractiveViewControl" name="Interactive view control">
|
||||||
|
<gz-gui>
|
||||||
|
<property key="resizable" type="bool">false</property>
|
||||||
|
<property key="width" type="double">5</property>
|
||||||
|
<property key="height" type="double">5</property>
|
||||||
|
<property key="state" type="string">floating</property>
|
||||||
|
<property key="showTitleBar" type="bool">false</property>
|
||||||
|
</gz-gui>
|
||||||
|
</plugin>
|
||||||
|
<plugin filename="CameraTracking" name="Camera Tracking">
|
||||||
|
<gz-gui>
|
||||||
|
<property key="resizable" type="bool">false</property>
|
||||||
|
<property key="width" type="double">5</property>
|
||||||
|
<property key="height" type="double">5</property>
|
||||||
|
<property key="state" type="string">floating</property>
|
||||||
|
<property key="showTitleBar" type="bool">false</property>
|
||||||
|
</gz-gui>
|
||||||
|
</plugin>
|
||||||
|
<plugin filename="MarkerManager" name="Marker manager">
|
||||||
|
<gz-gui>
|
||||||
|
<property key="resizable" type="bool">false</property>
|
||||||
|
<property key="width" type="double">5</property>
|
||||||
|
<property key="height" type="double">5</property>
|
||||||
|
<property key="state" type="string">floating</property>
|
||||||
|
<property key="showTitleBar" type="bool">false</property>
|
||||||
|
</gz-gui>
|
||||||
|
</plugin>
|
||||||
|
<plugin filename="SelectEntities" name="Select Entities">
|
||||||
|
<gz-gui>
|
||||||
|
<anchors target="Select entities">
|
||||||
|
<line own="right" target="right"/>
|
||||||
|
<line own="top" target="top"/>
|
||||||
|
</anchors>
|
||||||
|
<property key="resizable" type="bool">false</property>
|
||||||
|
<property key="width" type="double">5</property>
|
||||||
|
<property key="height" type="double">5</property>
|
||||||
|
<property key="state" type="string">floating</property>
|
||||||
|
<property key="showTitleBar" type="bool">false</property>
|
||||||
|
</gz-gui>
|
||||||
|
</plugin>
|
||||||
|
<plugin filename="VisualizationCapabilities" name="Visualization Capabilities">
|
||||||
|
<gz-gui>
|
||||||
|
<property key="resizable" type="bool">false</property>
|
||||||
|
<property key="width" type="double">5</property>
|
||||||
|
<property key="height" type="double">5</property>
|
||||||
|
<property key="state" type="string">floating</property>
|
||||||
|
<property key="showTitleBar" type="bool">false</property>
|
||||||
|
</gz-gui>
|
||||||
|
</plugin>
|
||||||
|
|
||||||
|
<plugin filename="Spawn" name="Spawn Entities">
|
||||||
|
<gz-gui>
|
||||||
|
<anchors target="Select entities">
|
||||||
|
<line own="right" target="right"/>
|
||||||
|
<line own="top" target="top"/>
|
||||||
|
</anchors>
|
||||||
|
<property key="resizable" type="bool">false</property>
|
||||||
|
<property key="width" type="double">5</property>
|
||||||
|
<property key="height" type="double">5</property>
|
||||||
|
<property key="state" type="string">floating</property>
|
||||||
|
<property key="showTitleBar" type="bool">false</property>
|
||||||
|
</gz-gui>
|
||||||
|
</plugin>
|
||||||
|
|
||||||
|
<!-- World control -->
|
||||||
|
<plugin filename="WorldControl" name="World control">
|
||||||
|
<gz-gui>
|
||||||
|
<title>World control</title>
|
||||||
|
<property type="bool" key="showTitleBar">false</property>
|
||||||
|
<property type="bool" key="resizable">false</property>
|
||||||
|
<property type="double" key="height">72</property>
|
||||||
|
<property type="double" key="z">1</property>
|
||||||
|
|
||||||
|
<property type="string" key="state">floating</property>
|
||||||
|
<anchors target="3D View">
|
||||||
|
<line own="left" target="left"/>
|
||||||
|
<line own="bottom" target="bottom"/>
|
||||||
|
</anchors>
|
||||||
|
</gz-gui>
|
||||||
|
|
||||||
|
<play_pause>true</play_pause>
|
||||||
|
<step>true</step>
|
||||||
|
<start_paused>true</start_paused>
|
||||||
|
<use_event>true</use_event>
|
||||||
|
|
||||||
|
</plugin>
|
||||||
|
|
||||||
|
<!-- World statistics -->
|
||||||
|
<plugin filename="WorldStats" name="World stats">
|
||||||
|
<gz-gui>
|
||||||
|
<title>World stats</title>
|
||||||
|
<property type="bool" key="showTitleBar">false</property>
|
||||||
|
<property type="bool" key="resizable">false</property>
|
||||||
|
<property type="double" key="height">110</property>
|
||||||
|
<property type="double" key="width">290</property>
|
||||||
|
<property type="double" key="z">1</property>
|
||||||
|
|
||||||
|
<property type="string" key="state">floating</property>
|
||||||
|
<anchors target="3D View">
|
||||||
|
<line own="right" target="right"/>
|
||||||
|
<line own="bottom" target="bottom"/>
|
||||||
|
</anchors>
|
||||||
|
</gz-gui>
|
||||||
|
|
||||||
|
<sim_time>true</sim_time>
|
||||||
|
<real_time>true</real_time>
|
||||||
|
<real_time_factor>true</real_time_factor>
|
||||||
|
<iterations>true</iterations>
|
||||||
|
</plugin>
|
||||||
|
|
||||||
|
<!-- Insert simple shapes -->
|
||||||
|
<plugin filename="Shapes" name="Shapes">
|
||||||
|
<gz-gui>
|
||||||
|
<property key="resizable" type="bool">false</property>
|
||||||
|
<property key="x" type="double">0</property>
|
||||||
|
<property key="y" type="double">0</property>
|
||||||
|
<property key="width" type="double">250</property>
|
||||||
|
<property key="height" type="double">50</property>
|
||||||
|
<property key="state" type="string">floating</property>
|
||||||
|
<property key="showTitleBar" type="bool">false</property>
|
||||||
|
<property key="cardBackground" type="string">#666666</property>
|
||||||
|
</gz-gui>
|
||||||
|
</plugin>
|
||||||
|
|
||||||
|
<!-- Insert lights -->
|
||||||
|
<plugin filename="Lights" name="Lights">
|
||||||
|
<gz-gui>
|
||||||
|
<property key="resizable" type="bool">false</property>
|
||||||
|
<property key="x" type="double">250</property>
|
||||||
|
<property key="y" type="double">0</property>
|
||||||
|
<property key="width" type="double">150</property>
|
||||||
|
<property key="height" type="double">50</property>
|
||||||
|
<property key="state" type="string">floating</property>
|
||||||
|
<property key="showTitleBar" type="bool">false</property>
|
||||||
|
<property key="cardBackground" type="string">#666666</property>
|
||||||
|
</gz-gui>
|
||||||
|
</plugin>
|
||||||
|
|
||||||
|
<!-- Translate / rotate -->
|
||||||
|
<plugin filename="TransformControl" name="Transform control">
|
||||||
|
<gz-gui>
|
||||||
|
<property key="resizable" type="bool">false</property>
|
||||||
|
<property key="x" type="double">0</property>
|
||||||
|
<property key="y" type="double">50</property>
|
||||||
|
<property key="width" type="double">250</property>
|
||||||
|
<property key="height" type="double">50</property>
|
||||||
|
<property key="state" type="string">floating</property>
|
||||||
|
<property key="showTitleBar" type="bool">false</property>
|
||||||
|
<property key="cardBackground" type="string">#777777</property>
|
||||||
|
</gz-gui>
|
||||||
|
</plugin>
|
||||||
|
|
||||||
|
<!-- Inspector -->
|
||||||
|
<plugin filename="ComponentInspector" name="Component inspector">
|
||||||
|
<gz-gui>
|
||||||
|
<property type="string" key="state">docked_collapsed</property>
|
||||||
|
</gz-gui>
|
||||||
|
</plugin>
|
||||||
|
|
||||||
|
<!-- Entity tree -->
|
||||||
|
<plugin filename="EntityTree" name="Entity tree">
|
||||||
|
<gz-gui>
|
||||||
|
<property type="string" key="state">docked_collapsed</property>
|
||||||
|
</gz-gui>
|
||||||
|
</plugin>
|
||||||
|
|
||||||
|
<!-- View angle -->
|
||||||
|
<plugin filename="ViewAngle" name="View angle">
|
||||||
|
<gz-gui>
|
||||||
|
<property type="string" key="state">docked_collapsed</property>
|
||||||
|
</gz-gui>
|
||||||
|
</plugin>
|
||||||
|
|
||||||
|
<!-- Image Display Plugins for visualization -->
|
||||||
|
<plugin filename="ImageDisplay" name="Image Display">
|
||||||
|
<gz-gui>
|
||||||
|
</gz-gui>
|
||||||
|
<topic>camera</topic>
|
||||||
|
</plugin>
|
||||||
|
|
||||||
|
<plugin name='Grid config' filename='GridConfig'>
|
||||||
|
<gz-gui>
|
||||||
|
<property type="string" key="state">docked_collapsed</property>
|
||||||
|
</gz-gui>
|
||||||
|
<insert>
|
||||||
|
<!-- total size = length * cell count-->
|
||||||
|
<horizontal_cell_count>50</horizontal_cell_count>
|
||||||
|
|
||||||
|
<!-- 0 actually means one plane-->
|
||||||
|
<vertical_cell_count>0</vertical_cell_count>
|
||||||
|
|
||||||
|
<!--5m cells-->
|
||||||
|
<cell_length>2.0</cell_length>
|
||||||
|
|
||||||
|
<pose>0 0 0 0 0 0</pose>
|
||||||
|
<color>1 1 1 0.7</color>
|
||||||
|
</insert>
|
||||||
|
</plugin>
|
||||||
|
</gui>
|
||||||
|
|
||||||
|
<light type="directional" name="sun">
|
||||||
|
<cast_shadows>true</cast_shadows>
|
||||||
|
<pose>0 0 10 0 0 0</pose>
|
||||||
|
<diffuse>0.8 0.8 0.8 1</diffuse>
|
||||||
|
<specular>0.2 0.2 0.2 1</specular>
|
||||||
|
<attenuation>
|
||||||
|
<range>1000</range>
|
||||||
|
<constant>0.9</constant>
|
||||||
|
<linear>0.01</linear>
|
||||||
|
<quadratic>0.001</quadratic>
|
||||||
|
</attenuation>
|
||||||
|
<direction>-0.5 0.1 -0.9</direction>
|
||||||
|
</light>
|
||||||
|
|
||||||
|
<scene>
|
||||||
|
<grid>false</grid>
|
||||||
|
<ambient>0.4 0.4 0.4 1</ambient>
|
||||||
|
<!-- <background>0.7 0.7 0.7 1</background> -->
|
||||||
|
<background>0.8 0.8 0.8</background>
|
||||||
|
<shadows>true</shadows>
|
||||||
|
</scene>
|
||||||
|
|
||||||
|
<model name="ground_plane">
|
||||||
|
<static>true</static>
|
||||||
|
<link name="link">
|
||||||
|
<collision name="collision">
|
||||||
|
<geometry>
|
||||||
|
<plane>
|
||||||
|
<normal>0 0 1</normal>
|
||||||
|
<size>100 100</size>
|
||||||
|
</plane>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<visual name="visual">
|
||||||
|
<geometry>
|
||||||
|
<plane>
|
||||||
|
<normal>0 0 1</normal>
|
||||||
|
<size>100 100</size>
|
||||||
|
</plane>
|
||||||
|
</geometry>
|
||||||
|
<material>
|
||||||
|
<ambient>0.8 0.8 0.8 1</ambient>
|
||||||
|
<diffuse>0.8 0.8 0.8 1</diffuse>
|
||||||
|
<specular>0.8 0.8 0.8 1</specular>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
</link>
|
||||||
|
</model>
|
||||||
|
|
||||||
|
<!-- Cars, all of them have label 40 -->
|
||||||
|
<include>
|
||||||
|
<name>Car1</name>
|
||||||
|
<pose>-2 -2 0 0 0 0</pose>
|
||||||
|
<uri>
|
||||||
|
https://fuel.gazebosim.org/1.0/OpenRobotics/models/Hatchback blue
|
||||||
|
</uri>
|
||||||
|
<plugin filename="gz-sim-label-system" name="gz::sim::systems::Label">
|
||||||
|
<label>40</label>
|
||||||
|
</plugin>
|
||||||
|
</include>
|
||||||
|
|
||||||
|
<include>
|
||||||
|
<name>Car2</name>
|
||||||
|
<pose>-3 -5 0 0 0 0</pose>
|
||||||
|
<uri>
|
||||||
|
https://fuel.gazebosim.org/1.0/OpenRobotics/models/Pickup
|
||||||
|
</uri>
|
||||||
|
<plugin filename="gz-sim-label-system" name="gz::sim::systems::Label">
|
||||||
|
<label>40</label>
|
||||||
|
</plugin>
|
||||||
|
</include>
|
||||||
|
|
||||||
|
<include>
|
||||||
|
<name>Car3</name>
|
||||||
|
<pose>-4 3 0 0 0 -1.57</pose>
|
||||||
|
<uri>
|
||||||
|
https://fuel.gazebosim.org/1.0/OpenRobotics/models/SUV
|
||||||
|
</uri>
|
||||||
|
<plugin filename="gz-sim-label-system" name="gz::sim::systems::Label">
|
||||||
|
<label>40</label>
|
||||||
|
</plugin>
|
||||||
|
</include>
|
||||||
|
|
||||||
|
<!-- Tree, all of them have label 30 -->
|
||||||
|
<include>
|
||||||
|
<name>tree1</name>
|
||||||
|
<pose>-2 5 0 0 0 0</pose>
|
||||||
|
<uri>
|
||||||
|
https://fuel.gazebosim.org/1.0/OpenRobotics/models/Pine Tree
|
||||||
|
</uri>
|
||||||
|
<plugin filename="gz-sim-label-system" name="gz::sim::systems::Label">
|
||||||
|
<label>30</label>
|
||||||
|
</plugin>
|
||||||
|
</include>
|
||||||
|
|
||||||
|
<include>
|
||||||
|
<name>tree2</name>
|
||||||
|
<pose>-7 2 0 0 0 0</pose>
|
||||||
|
<uri>
|
||||||
|
https://fuel.gazebosim.org/1.0/OpenRobotics/models/Pine Tree
|
||||||
|
</uri>
|
||||||
|
<plugin filename="gz-sim-label-system" name="gz::sim::systems::Label">
|
||||||
|
<label>30</label>
|
||||||
|
</plugin>
|
||||||
|
</include>
|
||||||
|
|
||||||
|
<include>
|
||||||
|
<name>tree3</name>
|
||||||
|
<pose>-7 -4 0 0 0 0</pose>
|
||||||
|
<uri>
|
||||||
|
https://fuel.gazebosim.org/1.0/OpenRobotics/models/Pine Tree
|
||||||
|
</uri>
|
||||||
|
<plugin filename="gz-sim-label-system" name="gz::sim::systems::Label">
|
||||||
|
<label>30</label>
|
||||||
|
</plugin>
|
||||||
|
</include>
|
||||||
|
|
||||||
|
<!-- Home, we didn't annotate (label) it, so it will be considered as background -->
|
||||||
|
<include>
|
||||||
|
<name>home</name>
|
||||||
|
<pose>-15 0 0 0 0 1.57</pose>
|
||||||
|
<uri>
|
||||||
|
https://fuel.gazebosim.org/1.0/OpenRobotics/models/Collapsed House
|
||||||
|
</uri>
|
||||||
|
</include>
|
||||||
|
|
||||||
|
<!-- Cones, all with label 20-->
|
||||||
|
<include>
|
||||||
|
<name>cone1</name>
|
||||||
|
<pose>0 1 0 0 0 1.570796</pose>
|
||||||
|
<uri>
|
||||||
|
https://fuel.gazebosim.org/1.0/OpenRobotics/models/Construction Cone
|
||||||
|
</uri>
|
||||||
|
<plugin filename="gz-sim-label-system" name="gz::sim::systems::Label">
|
||||||
|
<label>20</label>
|
||||||
|
</plugin>
|
||||||
|
</include>
|
||||||
|
|
||||||
|
<include>
|
||||||
|
<name>cone2</name>
|
||||||
|
<pose>0 4 0 0 0 1.570796</pose>
|
||||||
|
<uri>
|
||||||
|
https://fuel.gazebosim.org/1.0/OpenRobotics/models/Construction Cone
|
||||||
|
</uri>
|
||||||
|
<plugin filename="gz-sim-label-system" name="gz::sim::systems::Label">
|
||||||
|
<label>20</label>
|
||||||
|
</plugin>
|
||||||
|
</include>
|
||||||
|
|
||||||
|
<include>
|
||||||
|
<name>cone3</name>
|
||||||
|
<pose>2 -2 0 0 0.0 1.57</pose>
|
||||||
|
<uri>
|
||||||
|
https://fuel.gazebosim.org/1.0/OpenRobotics/models/Construction Cone
|
||||||
|
</uri>
|
||||||
|
<plugin filename="gz-sim-label-system" name="gz::sim::systems::Label">
|
||||||
|
<label>20</label>
|
||||||
|
</plugin>
|
||||||
|
</include>
|
||||||
|
</world>
|
||||||
|
</sdf>
|
||||||
317
openarm_two_arms/openarm_two_arms/worlds/empty.sdf
Normal file
317
openarm_two_arms/openarm_two_arms/worlds/empty.sdf
Normal file
@ -0,0 +1,317 @@
|
|||||||
|
<?xml version="1.0" ?>
|
||||||
|
<sdf version="1.6">
|
||||||
|
<world name="empty">
|
||||||
|
<physics type="ode">
|
||||||
|
<max_step_size>0.004</max_step_size>
|
||||||
|
<real_time_factor>1.0</real_time_factor>
|
||||||
|
<real_time_update_rate>250</real_time_update_rate>
|
||||||
|
</physics>
|
||||||
|
<plugin
|
||||||
|
filename="gz-sim-physics-system"
|
||||||
|
name="gz::sim::systems::Physics">
|
||||||
|
</plugin>
|
||||||
|
<plugin
|
||||||
|
filename="gz-sim-user-commands-system"
|
||||||
|
name="gz::sim::systems::UserCommands">
|
||||||
|
</plugin>
|
||||||
|
<plugin
|
||||||
|
filename="gz-sim-scene-broadcaster-system"
|
||||||
|
name="gz::sim::systems::SceneBroadcaster">
|
||||||
|
</plugin>
|
||||||
|
<plugin
|
||||||
|
filename="gz-sim-sensors-system"
|
||||||
|
name="gz::sim::systems::Sensors">
|
||||||
|
<!-- <render_engine>ogre</render_engine> -->
|
||||||
|
<render_engine>ogre2</render_engine>
|
||||||
|
<!-- <render_engine>optix</render_engine> -->
|
||||||
|
</plugin>
|
||||||
|
<plugin
|
||||||
|
filename="gz-sim-contact-system"
|
||||||
|
name="gz::sim::systems::Contact">
|
||||||
|
</plugin>
|
||||||
|
|
||||||
|
<gui fullscreen="0">
|
||||||
|
|
||||||
|
<!-- 3D scene -->
|
||||||
|
<plugin filename="MinimalScene" name="3D View">
|
||||||
|
<gz-gui>
|
||||||
|
<title>3D View</title>
|
||||||
|
<property type="bool" key="showTitleBar">false</property>
|
||||||
|
<property type="string" key="state">docked</property>
|
||||||
|
</gz-gui>
|
||||||
|
|
||||||
|
<engine>ogre2</engine>
|
||||||
|
<scene>scene</scene>
|
||||||
|
<ambient_light>0.4 0.4 0.4</ambient_light>
|
||||||
|
<background_color>0.8 0.8 0.8</background_color>
|
||||||
|
<camera_pose>-6 0 6 0 0.5 0</camera_pose>
|
||||||
|
</plugin>
|
||||||
|
|
||||||
|
<!-- Plugins that add functionality to the scene -->
|
||||||
|
<plugin filename="EntityContextMenuPlugin" name="Entity context menu">
|
||||||
|
<gz-gui>
|
||||||
|
<property key="state" type="string">floating</property>
|
||||||
|
<property key="width" type="double">5</property>
|
||||||
|
<property key="height" type="double">5</property>
|
||||||
|
<property key="showTitleBar" type="bool">false</property>
|
||||||
|
</gz-gui>
|
||||||
|
</plugin>
|
||||||
|
<plugin filename="GzSceneManager" name="Scene Manager">
|
||||||
|
<gz-gui>
|
||||||
|
<property key="resizable" type="bool">false</property>
|
||||||
|
<property key="width" type="double">5</property>
|
||||||
|
<property key="height" type="double">5</property>
|
||||||
|
<property key="state" type="string">floating</property>
|
||||||
|
<property key="showTitleBar" type="bool">false</property>
|
||||||
|
</gz-gui>
|
||||||
|
</plugin>
|
||||||
|
<plugin filename="InteractiveViewControl" name="Interactive view control">
|
||||||
|
<gz-gui>
|
||||||
|
<property key="resizable" type="bool">false</property>
|
||||||
|
<property key="width" type="double">5</property>
|
||||||
|
<property key="height" type="double">5</property>
|
||||||
|
<property key="state" type="string">floating</property>
|
||||||
|
<property key="showTitleBar" type="bool">false</property>
|
||||||
|
</gz-gui>
|
||||||
|
</plugin>
|
||||||
|
<plugin filename="CameraTracking" name="Camera Tracking">
|
||||||
|
<gz-gui>
|
||||||
|
<property key="resizable" type="bool">false</property>
|
||||||
|
<property key="width" type="double">5</property>
|
||||||
|
<property key="height" type="double">5</property>
|
||||||
|
<property key="state" type="string">floating</property>
|
||||||
|
<property key="showTitleBar" type="bool">false</property>
|
||||||
|
</gz-gui>
|
||||||
|
</plugin>
|
||||||
|
<plugin filename="MarkerManager" name="Marker manager">
|
||||||
|
<gz-gui>
|
||||||
|
<property key="resizable" type="bool">false</property>
|
||||||
|
<property key="width" type="double">5</property>
|
||||||
|
<property key="height" type="double">5</property>
|
||||||
|
<property key="state" type="string">floating</property>
|
||||||
|
<property key="showTitleBar" type="bool">false</property>
|
||||||
|
</gz-gui>
|
||||||
|
</plugin>
|
||||||
|
<plugin filename="SelectEntities" name="Select Entities">
|
||||||
|
<gz-gui>
|
||||||
|
<anchors target="Select entities">
|
||||||
|
<line own="right" target="right"/>
|
||||||
|
<line own="top" target="top"/>
|
||||||
|
</anchors>
|
||||||
|
<property key="resizable" type="bool">false</property>
|
||||||
|
<property key="width" type="double">5</property>
|
||||||
|
<property key="height" type="double">5</property>
|
||||||
|
<property key="state" type="string">floating</property>
|
||||||
|
<property key="showTitleBar" type="bool">false</property>
|
||||||
|
</gz-gui>
|
||||||
|
</plugin>
|
||||||
|
<plugin filename="VisualizationCapabilities" name="Visualization Capabilities">
|
||||||
|
<gz-gui>
|
||||||
|
<property key="resizable" type="bool">false</property>
|
||||||
|
<property key="width" type="double">5</property>
|
||||||
|
<property key="height" type="double">5</property>
|
||||||
|
<property key="state" type="string">floating</property>
|
||||||
|
<property key="showTitleBar" type="bool">false</property>
|
||||||
|
</gz-gui>
|
||||||
|
</plugin>
|
||||||
|
|
||||||
|
<plugin filename="Spawn" name="Spawn Entities">
|
||||||
|
<gz-gui>
|
||||||
|
<anchors target="Select entities">
|
||||||
|
<line own="right" target="right"/>
|
||||||
|
<line own="top" target="top"/>
|
||||||
|
</anchors>
|
||||||
|
<property key="resizable" type="bool">false</property>
|
||||||
|
<property key="width" type="double">5</property>
|
||||||
|
<property key="height" type="double">5</property>
|
||||||
|
<property key="state" type="string">floating</property>
|
||||||
|
<property key="showTitleBar" type="bool">false</property>
|
||||||
|
</gz-gui>
|
||||||
|
</plugin>
|
||||||
|
|
||||||
|
<!-- World control -->
|
||||||
|
<plugin filename="WorldControl" name="World control">
|
||||||
|
<gz-gui>
|
||||||
|
<title>World control</title>
|
||||||
|
<property type="bool" key="showTitleBar">false</property>
|
||||||
|
<property type="bool" key="resizable">false</property>
|
||||||
|
<property type="double" key="height">72</property>
|
||||||
|
<property type="double" key="z">1</property>
|
||||||
|
|
||||||
|
<property type="string" key="state">floating</property>
|
||||||
|
<anchors target="3D View">
|
||||||
|
<line own="left" target="left"/>
|
||||||
|
<line own="bottom" target="bottom"/>
|
||||||
|
</anchors>
|
||||||
|
</gz-gui>
|
||||||
|
|
||||||
|
<play_pause>true</play_pause>
|
||||||
|
<step>true</step>
|
||||||
|
<start_paused>true</start_paused>
|
||||||
|
<use_event>true</use_event>
|
||||||
|
|
||||||
|
</plugin>
|
||||||
|
|
||||||
|
<!-- World statistics -->
|
||||||
|
<plugin filename="WorldStats" name="World stats">
|
||||||
|
<gz-gui>
|
||||||
|
<title>World stats</title>
|
||||||
|
<property type="bool" key="showTitleBar">false</property>
|
||||||
|
<property type="bool" key="resizable">false</property>
|
||||||
|
<property type="double" key="height">110</property>
|
||||||
|
<property type="double" key="width">290</property>
|
||||||
|
<property type="double" key="z">1</property>
|
||||||
|
|
||||||
|
<property type="string" key="state">floating</property>
|
||||||
|
<anchors target="3D View">
|
||||||
|
<line own="right" target="right"/>
|
||||||
|
<line own="bottom" target="bottom"/>
|
||||||
|
</anchors>
|
||||||
|
</gz-gui>
|
||||||
|
|
||||||
|
<sim_time>true</sim_time>
|
||||||
|
<real_time>true</real_time>
|
||||||
|
<real_time_factor>true</real_time_factor>
|
||||||
|
<iterations>true</iterations>
|
||||||
|
</plugin>
|
||||||
|
|
||||||
|
<!-- Insert simple shapes -->
|
||||||
|
<plugin filename="Shapes" name="Shapes">
|
||||||
|
<gz-gui>
|
||||||
|
<property key="resizable" type="bool">false</property>
|
||||||
|
<property key="x" type="double">0</property>
|
||||||
|
<property key="y" type="double">0</property>
|
||||||
|
<property key="width" type="double">250</property>
|
||||||
|
<property key="height" type="double">50</property>
|
||||||
|
<property key="state" type="string">floating</property>
|
||||||
|
<property key="showTitleBar" type="bool">false</property>
|
||||||
|
<property key="cardBackground" type="string">#666666</property>
|
||||||
|
</gz-gui>
|
||||||
|
</plugin>
|
||||||
|
|
||||||
|
<!-- Insert lights -->
|
||||||
|
<plugin filename="Lights" name="Lights">
|
||||||
|
<gz-gui>
|
||||||
|
<property key="resizable" type="bool">false</property>
|
||||||
|
<property key="x" type="double">250</property>
|
||||||
|
<property key="y" type="double">0</property>
|
||||||
|
<property key="width" type="double">150</property>
|
||||||
|
<property key="height" type="double">50</property>
|
||||||
|
<property key="state" type="string">floating</property>
|
||||||
|
<property key="showTitleBar" type="bool">false</property>
|
||||||
|
<property key="cardBackground" type="string">#666666</property>
|
||||||
|
</gz-gui>
|
||||||
|
</plugin>
|
||||||
|
|
||||||
|
<!-- Translate / rotate -->
|
||||||
|
<plugin filename="TransformControl" name="Transform control">
|
||||||
|
<gz-gui>
|
||||||
|
<property key="resizable" type="bool">false</property>
|
||||||
|
<property key="x" type="double">0</property>
|
||||||
|
<property key="y" type="double">50</property>
|
||||||
|
<property key="width" type="double">250</property>
|
||||||
|
<property key="height" type="double">50</property>
|
||||||
|
<property key="state" type="string">floating</property>
|
||||||
|
<property key="showTitleBar" type="bool">false</property>
|
||||||
|
<property key="cardBackground" type="string">#777777</property>
|
||||||
|
</gz-gui>
|
||||||
|
</plugin>
|
||||||
|
|
||||||
|
<!-- Inspector -->
|
||||||
|
<plugin filename="ComponentInspector" name="Component inspector">
|
||||||
|
<gz-gui>
|
||||||
|
<property type="string" key="state">docked_collapsed</property>
|
||||||
|
</gz-gui>
|
||||||
|
</plugin>
|
||||||
|
|
||||||
|
<!-- Entity tree -->
|
||||||
|
<plugin filename="EntityTree" name="Entity tree">
|
||||||
|
<gz-gui>
|
||||||
|
<property type="string" key="state">docked_collapsed</property>
|
||||||
|
</gz-gui>
|
||||||
|
</plugin>
|
||||||
|
|
||||||
|
<!-- View angle -->
|
||||||
|
<plugin filename="ViewAngle" name="View angle">
|
||||||
|
<gz-gui>
|
||||||
|
<property type="string" key="state">docked_collapsed</property>
|
||||||
|
</gz-gui>
|
||||||
|
</plugin>
|
||||||
|
|
||||||
|
<!-- Image Display Plugins for visualization -->
|
||||||
|
<plugin filename="ImageDisplay" name="Image Display">
|
||||||
|
<gz-gui>
|
||||||
|
</gz-gui>
|
||||||
|
<topic>camera</topic>
|
||||||
|
</plugin>
|
||||||
|
|
||||||
|
<plugin name='Grid config' filename='GridConfig'>
|
||||||
|
<gz-gui>
|
||||||
|
<property type="string" key="state">docked_collapsed</property>
|
||||||
|
</gz-gui>
|
||||||
|
<insert>
|
||||||
|
<!-- total size = length * cell count-->
|
||||||
|
<horizontal_cell_count>50</horizontal_cell_count>
|
||||||
|
|
||||||
|
<!-- 0 actually means one plane-->
|
||||||
|
<vertical_cell_count>0</vertical_cell_count>
|
||||||
|
|
||||||
|
<!--5m cells-->
|
||||||
|
<cell_length>2.0</cell_length>
|
||||||
|
|
||||||
|
<pose>0 0 0 0 0 0</pose>
|
||||||
|
<color>1 1 1 0.7</color>
|
||||||
|
</insert>
|
||||||
|
</plugin>
|
||||||
|
</gui>
|
||||||
|
|
||||||
|
<light type="directional" name="sun">
|
||||||
|
<cast_shadows>true</cast_shadows>
|
||||||
|
<pose>0 0 10 0 0 0</pose>
|
||||||
|
<diffuse>0.8 0.8 0.8 1</diffuse>
|
||||||
|
<specular>0.2 0.2 0.2 1</specular>
|
||||||
|
<attenuation>
|
||||||
|
<range>1000</range>
|
||||||
|
<constant>0.9</constant>
|
||||||
|
<linear>0.01</linear>
|
||||||
|
<quadratic>0.001</quadratic>
|
||||||
|
</attenuation>
|
||||||
|
<direction>-0.5 0.1 -0.9</direction>
|
||||||
|
</light>
|
||||||
|
|
||||||
|
<scene>
|
||||||
|
<grid>false</grid>
|
||||||
|
<ambient>0.4 0.4 0.4 1</ambient>
|
||||||
|
<!-- <background>0.7 0.7 0.7 1</background> -->
|
||||||
|
<background>0.8 0.8 0.8</background>
|
||||||
|
<shadows>true</shadows>
|
||||||
|
</scene>
|
||||||
|
|
||||||
|
<model name="ground_plane">
|
||||||
|
<static>true</static>
|
||||||
|
<link name="link">
|
||||||
|
<collision name="collision">
|
||||||
|
<geometry>
|
||||||
|
<plane>
|
||||||
|
<normal>0 0 1</normal>
|
||||||
|
<size>100 100</size>
|
||||||
|
</plane>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<visual name="visual">
|
||||||
|
<geometry>
|
||||||
|
<plane>
|
||||||
|
<normal>0 0 1</normal>
|
||||||
|
<size>100 100</size>
|
||||||
|
</plane>
|
||||||
|
</geometry>
|
||||||
|
<material>
|
||||||
|
<ambient>0.8 0.8 0.8 1</ambient>
|
||||||
|
<diffuse>0.8 0.8 0.8 1</diffuse>
|
||||||
|
<specular>0.8 0.8 0.8 1</specular>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
</link>
|
||||||
|
</model>
|
||||||
|
</world>
|
||||||
|
</sdf>
|
||||||
@ -0,0 +1,3 @@
|
|||||||
|
controller_manager:
|
||||||
|
ros__parameters:
|
||||||
|
update_rate: 250
|
||||||
174
openarm_two_arms/overcross/robot_meta.xml
Normal file
174
openarm_two_arms/overcross/robot_meta.xml
Normal file
@ -0,0 +1,174 @@
|
|||||||
|
<?xml version="1.0" ?>
|
||||||
|
<robotMeta>
|
||||||
|
<robotName>openarm_two_arms</robotName>
|
||||||
|
<urdfFileName>openarm_two_arms.urdf</urdfFileName>
|
||||||
|
<packageName>openarm_two_arms</packageName>
|
||||||
|
<meshesDir>meshes </meshesDir>
|
||||||
|
<robotType>nonspecific</robotType>
|
||||||
|
<generateCodeForRosVersion>jazzy</generateCodeForRosVersion>
|
||||||
|
<rootLinkName>l_pedestal_02_urdf_v002</rootLinkName>
|
||||||
|
<xacroWrapperFileName>openarm_two_arms_wrapper.urdf.xacro</xacroWrapperFileName>
|
||||||
|
<controllersConfigFileName>openarm_two_arms_controllers.yaml</controllersConfigFileName>
|
||||||
|
<joints>
|
||||||
|
<joint>
|
||||||
|
<name>l_pedestal_02_urdf_v002__to__l_J1_v002</name>
|
||||||
|
<jointSpecific>unset</jointSpecific>
|
||||||
|
<jointRotationDirection>unset</jointRotationDirection>
|
||||||
|
<jointRelTotalCenterOfMass_x>0.08985200228416441</jointRelTotalCenterOfMass_x>
|
||||||
|
<jointRelTotalCenterOfMass_y>0.008374721740674768</jointRelTotalCenterOfMass_y>
|
||||||
|
<jointRelTotalCenterOfMass_z>0.3536408675879255</jointRelTotalCenterOfMass_z>
|
||||||
|
</joint>
|
||||||
|
<joint>
|
||||||
|
<name>l_J1_v002__to__l_J2_v002</name>
|
||||||
|
<jointSpecific>unset</jointSpecific>
|
||||||
|
<jointRotationDirection>unset</jointRotationDirection>
|
||||||
|
<jointRelTotalCenterOfMass_x>0.14310200228416442</jointRelTotalCenterOfMass_x>
|
||||||
|
<jointRelTotalCenterOfMass_y>0.008374721740674426</jointRelTotalCenterOfMass_y>
|
||||||
|
<jointRelTotalCenterOfMass_z>0.3536408675879219</jointRelTotalCenterOfMass_z>
|
||||||
|
</joint>
|
||||||
|
<joint>
|
||||||
|
<name>l_J2_v002__to__l_J3_v003</name>
|
||||||
|
<jointSpecific>unset</jointSpecific>
|
||||||
|
<jointRotationDirection>unset</jointRotationDirection>
|
||||||
|
<jointRelTotalCenterOfMass_x>0.18785200228416438</jointRelTotalCenterOfMass_x>
|
||||||
|
<jointRelTotalCenterOfMass_y>0.03812472174067446</jointRelTotalCenterOfMass_y>
|
||||||
|
<jointRelTotalCenterOfMass_z>0.3536408675879187</jointRelTotalCenterOfMass_z>
|
||||||
|
</joint>
|
||||||
|
<joint>
|
||||||
|
<name>l_J3_v003__to__l_J4_v002</name>
|
||||||
|
<jointSpecific>unset</jointSpecific>
|
||||||
|
<jointRotationDirection>unset</jointRotationDirection>
|
||||||
|
<jointRelTotalCenterOfMass_x>0.1883884341284738</jointRelTotalCenterOfMass_x>
|
||||||
|
<jointRelTotalCenterOfMass_y>0.008374721740673765</jointRelTotalCenterOfMass_y>
|
||||||
|
<jointRelTotalCenterOfMass_z>0.2923932166870344</jointRelTotalCenterOfMass_z>
|
||||||
|
</joint>
|
||||||
|
<joint>
|
||||||
|
<name>l_J4_v002__to__l_J5_v003</name>
|
||||||
|
<jointSpecific>unset</jointSpecific>
|
||||||
|
<jointRotationDirection>unset</jointRotationDirection>
|
||||||
|
<jointRelTotalCenterOfMass_x>0.22025922472459597</jointRelTotalCenterOfMass_x>
|
||||||
|
<jointRelTotalCenterOfMass_y>0.008374721740355901</jointRelTotalCenterOfMass_y>
|
||||||
|
<jointRelTotalCenterOfMass_z>0.050913081930198584</jointRelTotalCenterOfMass_z>
|
||||||
|
</joint>
|
||||||
|
<joint>
|
||||||
|
<name>l_J5_v003__to__l_J6_right_wrist</name>
|
||||||
|
<jointSpecific>unset</jointSpecific>
|
||||||
|
<jointRotationDirection>unset</jointRotationDirection>
|
||||||
|
<jointRelTotalCenterOfMass_x>0.19167872532322497</jointRelTotalCenterOfMass_x>
|
||||||
|
<jointRelTotalCenterOfMass_y>0.0064906429748443194</jointRelTotalCenterOfMass_y>
|
||||||
|
<jointRelTotalCenterOfMass_z>-0.08327912378977964</jointRelTotalCenterOfMass_z>
|
||||||
|
</joint>
|
||||||
|
<joint>
|
||||||
|
<name>l_J6_right_wrist__to__l_J7_v002</name>
|
||||||
|
<jointSpecific>unset</jointSpecific>
|
||||||
|
<jointRotationDirection>unset</jointRotationDirection>
|
||||||
|
<jointRelTotalCenterOfMass_x>0.15724014645135684</jointRelTotalCenterOfMass_x>
|
||||||
|
<jointRelTotalCenterOfMass_y>0.004788009645123903</jointRelTotalCenterOfMass_y>
|
||||||
|
<jointRelTotalCenterOfMass_z>-0.20462341836146958</jointRelTotalCenterOfMass_z>
|
||||||
|
</joint>
|
||||||
|
<joint>
|
||||||
|
<name>l_J7_v002__to__l_J8_v002</name>
|
||||||
|
<jointSpecific>unset</jointSpecific>
|
||||||
|
<jointRotationDirection>unset</jointRotationDirection>
|
||||||
|
<jointRelTotalCenterOfMass_x>0.19274068817153964</jointRelTotalCenterOfMass_x>
|
||||||
|
<jointRelTotalCenterOfMass_y>0.020236481260391712</jointRelTotalCenterOfMass_y>
|
||||||
|
<jointRelTotalCenterOfMass_z>-0.20452981106538665</jointRelTotalCenterOfMass_z>
|
||||||
|
</joint>
|
||||||
|
<joint>
|
||||||
|
<name>l_J8_v002__to__l_left_jaw_v002</name>
|
||||||
|
<jointSpecific>unset</jointSpecific>
|
||||||
|
<jointRotationDirection>unset</jointRotationDirection>
|
||||||
|
<jointRelTotalCenterOfMass_x>0.11588209690508</jointRelTotalCenterOfMass_x>
|
||||||
|
<jointRelTotalCenterOfMass_y>0.005535639545575529</jointRelTotalCenterOfMass_y>
|
||||||
|
<jointRelTotalCenterOfMass_z>-0.31143348516325103</jointRelTotalCenterOfMass_z>
|
||||||
|
</joint>
|
||||||
|
<joint>
|
||||||
|
<name>l_J8_v002__to__l_right_jaw_v002</name>
|
||||||
|
<jointSpecific>unset</jointSpecific>
|
||||||
|
<jointRotationDirection>unset</jointRotationDirection>
|
||||||
|
<jointRelTotalCenterOfMass_x>0.2708761523021711</jointRelTotalCenterOfMass_x>
|
||||||
|
<jointRelTotalCenterOfMass_y>0.005536094754475288</jointRelTotalCenterOfMass_y>
|
||||||
|
<jointRelTotalCenterOfMass_z>-0.3100436226578966</jointRelTotalCenterOfMass_z>
|
||||||
|
</joint>
|
||||||
|
<joint>
|
||||||
|
<name>l_pedestal_02_urdf_v002__to__l_base_link001</name>
|
||||||
|
<jointSpecific>unset</jointSpecific>
|
||||||
|
<jointRotationDirection>unset</jointRotationDirection>
|
||||||
|
<jointRelTotalCenterOfMass_x>-0.09014799771583559</jointRelTotalCenterOfMass_x>
|
||||||
|
<jointRelTotalCenterOfMass_y>0.008374721740674999</jointRelTotalCenterOfMass_y>
|
||||||
|
<jointRelTotalCenterOfMass_z>0.35364086758792995</jointRelTotalCenterOfMass_z>
|
||||||
|
</joint>
|
||||||
|
<joint>
|
||||||
|
<name>l_base_link001__to__l_J2_v003</name>
|
||||||
|
<jointSpecific>unset</jointSpecific>
|
||||||
|
<jointRotationDirection>unset</jointRotationDirection>
|
||||||
|
<jointRelTotalCenterOfMass_x>-0.14339799771583558</jointRelTotalCenterOfMass_x>
|
||||||
|
<jointRelTotalCenterOfMass_y>0.008374721740675389</jointRelTotalCenterOfMass_y>
|
||||||
|
<jointRelTotalCenterOfMass_z>0.3536408675879335</jointRelTotalCenterOfMass_z>
|
||||||
|
</joint>
|
||||||
|
<joint>
|
||||||
|
<name>l_J2_v003__to__l_J3_v004</name>
|
||||||
|
<jointSpecific>unset</jointSpecific>
|
||||||
|
<jointRotationDirection>unset</jointRotationDirection>
|
||||||
|
<jointRelTotalCenterOfMass_x>-0.1881479977158356</jointRelTotalCenterOfMass_x>
|
||||||
|
<jointRelTotalCenterOfMass_y>-0.021375278259324573</jointRelTotalCenterOfMass_y>
|
||||||
|
<jointRelTotalCenterOfMass_z>0.353640867587937</jointRelTotalCenterOfMass_z>
|
||||||
|
</joint>
|
||||||
|
<joint>
|
||||||
|
<name>l_J3_v004__to__l_J4_v003</name>
|
||||||
|
<jointSpecific>unset</jointSpecific>
|
||||||
|
<jointRotationDirection>unset</jointRotationDirection>
|
||||||
|
<jointRelTotalCenterOfMass_x>-0.1886844295601532</jointRelTotalCenterOfMass_x>
|
||||||
|
<jointRelTotalCenterOfMass_y>0.008374721740675183</jointRelTotalCenterOfMass_y>
|
||||||
|
<jointRelTotalCenterOfMass_z>0.2923932166870525</jointRelTotalCenterOfMass_z>
|
||||||
|
</joint>
|
||||||
|
<joint>
|
||||||
|
<name>l_J4_v003__to__l_J5_v004</name>
|
||||||
|
<jointSpecific>unset</jointSpecific>
|
||||||
|
<jointRotationDirection>unset</jointRotationDirection>
|
||||||
|
<jointRelTotalCenterOfMass_x>-0.16104816625753005</jointRelTotalCenterOfMass_x>
|
||||||
|
<jointRelTotalCenterOfMass_y>0.008374721740337383</jointRelTotalCenterOfMass_y>
|
||||||
|
<jointRelTotalCenterOfMass_z>0.05039189494258471</jointRelTotalCenterOfMass_z>
|
||||||
|
</joint>
|
||||||
|
<joint>
|
||||||
|
<name>l_J5_v004__to__l_J6_Left_v004</name>
|
||||||
|
<jointSpecific>unset</jointSpecific>
|
||||||
|
<jointRotationDirection>unset</jointRotationDirection>
|
||||||
|
<jointRelTotalCenterOfMass_x>-0.19197472075495053</jointRelTotalCenterOfMass_x>
|
||||||
|
<jointRelTotalCenterOfMass_y>0.006490642974852389</jointRelTotalCenterOfMass_y>
|
||||||
|
<jointRelTotalCenterOfMass_z>-0.08327912378976009</jointRelTotalCenterOfMass_z>
|
||||||
|
</joint>
|
||||||
|
<joint>
|
||||||
|
<name>l_J6_Left_v004__to__l_J7_Left_v004</name>
|
||||||
|
<jointSpecific>unset</jointSpecific>
|
||||||
|
<jointRotationDirection>unset</jointRotationDirection>
|
||||||
|
<jointRelTotalCenterOfMass_x>-0.15753614188309684</jointRelTotalCenterOfMass_x>
|
||||||
|
<jointRelTotalCenterOfMass_y>0.004788009644679908</jointRelTotalCenterOfMass_y>
|
||||||
|
<jointRelTotalCenterOfMass_z>-0.20462341836144668</jointRelTotalCenterOfMass_z>
|
||||||
|
</joint>
|
||||||
|
<joint>
|
||||||
|
<name>l_J7_Left_v004__to__l_J8_v003</name>
|
||||||
|
<jointSpecific>unset</jointSpecific>
|
||||||
|
<jointRotationDirection>unset</jointRotationDirection>
|
||||||
|
<jointRelTotalCenterOfMass_x>-0.1930375916126833</jointRelTotalCenterOfMass_x>
|
||||||
|
<jointRelTotalCenterOfMass_y>0.02023467484404285</jointRelTotalCenterOfMass_y>
|
||||||
|
<jointRelTotalCenterOfMass_z>-0.2046334839704481</jointRelTotalCenterOfMass_z>
|
||||||
|
</joint>
|
||||||
|
<joint>
|
||||||
|
<name>l_J8_v003__to__l_right_jaw_v004</name>
|
||||||
|
<jointSpecific>unset</jointSpecific>
|
||||||
|
<jointRotationDirection>unset</jointRotationDirection>
|
||||||
|
<jointRelTotalCenterOfMass_x>-0.1167140742748525</jointRelTotalCenterOfMass_x>
|
||||||
|
<jointRelTotalCenterOfMass_y>0.004821133967191955</jointRelTotalCenterOfMass_y>
|
||||||
|
<jointRelTotalCenterOfMass_z>-0.3114360267081933</jointRelTotalCenterOfMass_z>
|
||||||
|
</joint>
|
||||||
|
<joint>
|
||||||
|
<name>l_J8_v003__to__l_left_jaw_v004</name>
|
||||||
|
<jointSpecific>unset</jointSpecific>
|
||||||
|
<jointRotationDirection>unset</jointRotationDirection>
|
||||||
|
<jointRelTotalCenterOfMass_x>-0.27170812973763375</jointRelTotalCenterOfMass_x>
|
||||||
|
<jointRelTotalCenterOfMass_y>0.004821803052998609</jointRelTotalCenterOfMass_y>
|
||||||
|
<jointRelTotalCenterOfMass_z>-0.31004632670935167</jointRelTotalCenterOfMass_z>
|
||||||
|
</joint>
|
||||||
|
</joints>
|
||||||
|
</robotMeta>
|
||||||
Loading…
Reference in New Issue
Block a user