56f98bd226
We are standardizing our software under Apache License 2.0. This PR
replaces existing BSD 3-Clause License with Apache 2.0 in this
repository.
## About Copyright
All commits in this repository are made by Reazon Holdings, Inc.
members, so the copyright has been added as follows.
- `Copyright 2025 Reazon Holdings, Inc.`
```console
$ git shortlog -sn
55 Thomason Zhou
14 thomason
5 takuya kodama
1 Fujimoto Seiji
1 edwin-giang
1 toki
```
## How it was done
We added the new license header directory by directory, with each commit
covering a single directory to make review easier.
To ensure there are no missing files, we ran the following commands.
```
$ grep -RIL --exclude-dir='.git' --exclude='*.stl' "Apache License, Version 2.0" .
./openarm_bringup/README.md
./openarm_bimanual_moveit_config/README.md
./openarm_bimanual_description/urdf/openarm_bimanual.urdf
./.gitignore
./README.md
./openarm_description/urdf/openarm.urdf
./openarm_description/resource/openarm_description
```
The following files are auto-generated.
- openarm_bimanual_description/urdf/openarm_bimanual.urdf
- openarm_description/urdf/openarm.urdf
105 lines
6.0 KiB
XML
105 lines
6.0 KiB
XML
<?xml version="1.0" encoding="UTF-8"?>
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<!--
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Copyright 2025 Reazon Holdings, Inc.
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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-->
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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 name="openarm">
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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="openarm_arm">
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<link name="link1"/>
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<link name="link2"/>
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<link name="link3"/>
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<link name="link4"/>
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<link name="link5"/>
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<link name="link6"/>
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<link name="link7"/>
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<link name="link8"/>
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<joint name="rev1"/>
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<joint name="rev2"/>
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<joint name="rev3"/>
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<joint name="rev4"/>
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<joint name="rev5"/>
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<joint name="rev6"/>
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<joint name="rev7"/>
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<chain base_link="link1" tip_link="link8"/>
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</group>
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<group name="gripper">
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<link name="link_left_jaw"/>
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<link name="link_right_jaw"/>
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<joint name="left_pris1"/>
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<joint name="right_pris2"/>
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</group>
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<!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
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<group_state name="zero_pos_vertical" group="openarm_arm">
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<joint name="rev1" value="0"/>
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<joint name="rev2" value="0"/>
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<joint name="rev3" value="0"/>
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<joint name="rev4" value="0"/>
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<joint name="rev5" value="0"/>
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<joint name="rev6" value="0"/>
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<joint name="rev7" value="0"/>
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</group_state>
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<group_state name="horizontal_bent_elbow" group="openarm_arm">
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<joint name="rev1" value="0"/>
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<joint name="rev2" value="-1.5707"/>
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<joint name="rev3" value="-1.5707"/>
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<joint name="rev4" value="2.4974"/>
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<joint name="rev5" value="0"/>
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<joint name="rev6" value="0"/>
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<joint name="rev7" value="0"/>
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</group_state>
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<!--END EFFECTOR: Purpose: Represent information about an end effector.-->
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<end_effector name="gripper" parent_link="link8" group="gripper" parent_group="openarm_arm"/>
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<!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
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<virtual_joint name="virtual_joint" type="fixed" parent_frame="world" child_link="dummy_link"/>
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<!--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. -->
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<disable_collisions link1="link1" link2="link2" reason="Adjacent"/>
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<disable_collisions link1="link1" link2="link3" reason="Never"/>
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<disable_collisions link1="link1" link2="link5" reason="Never"/>
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<disable_collisions link1="link2" link2="link3" reason="Adjacent"/>
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<disable_collisions link1="link2" link2="link4" reason="Never"/>
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<disable_collisions link1="link2" link2="link5" reason="Never"/>
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<disable_collisions link1="link2" link2="link6" reason="Never"/>
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<disable_collisions link1="link2" link2="link7" reason="Never"/>
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<disable_collisions link1="link3" link2="link4" reason="Adjacent"/>
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<disable_collisions link1="link3" link2="link5" reason="Never"/>
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<disable_collisions link1="link4" link2="link5" reason="Adjacent"/>
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<disable_collisions link1="link4" link2="link7" reason="Never"/>
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<disable_collisions link1="link4" link2="link_left_jaw" reason="Never"/>
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<disable_collisions link1="link4" link2="link_right_jaw" reason="Never"/>
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<disable_collisions link1="link5" link2="link6" reason="Adjacent"/>
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<disable_collisions link1="link5" link2="link7" reason="Never"/>
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<disable_collisions link1="link5" link2="link8" reason="Never"/>
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<disable_collisions link1="link5" link2="link_left_jaw" reason="Never"/>
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<disable_collisions link1="link5" link2="link_right_jaw" reason="Never"/>
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<disable_collisions link1="link6" link2="link7" reason="Adjacent"/>
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<disable_collisions link1="link6" link2="link8" reason="Default"/>
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<disable_collisions link1="link6" link2="link_left_jaw" reason="Never"/>
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<disable_collisions link1="link6" link2="link_right_jaw" reason="Never"/>
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<disable_collisions link1="link7" link2="link8" reason="Adjacent"/>
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<disable_collisions link1="link7" link2="link_left_jaw" reason="Never"/>
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<disable_collisions link1="link7" link2="link_right_jaw" reason="Never"/>
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<disable_collisions link1="link8" link2="link_left_jaw" reason="Adjacent"/>
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<disable_collisions link1="link8" link2="link_right_jaw" reason="Adjacent"/>
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<disable_collisions link1="link_left_jaw" link2="link_right_jaw" reason="Never"/>
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</robot>
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