diff --git a/.gitignore b/.gitignore index f3ddbf6..a22865b 100644 --- a/.gitignore +++ b/.gitignore @@ -1,3 +1,4 @@ *.fasl *.*~ *.*.swp +*.vscode diff --git a/iai_adapters_description/meshes/fwk_fwa_050_simple.dae b/iai_adapters_description/meshes/fwk_fwa_050_simple.dae new file mode 100644 index 0000000..192e329 --- /dev/null +++ b/iai_adapters_description/meshes/fwk_fwa_050_simple.dae @@ -0,0 +1,59 @@ + + + + + Blender User + Blender 2.91.0 commit date:2020-11-25, commit time:08:34, hash:0f45cab862b8 + + 2020-12-12T17:30:30 + 2020-12-12T17:30:30 + + Z_UP + + + + + + + -31.07038 -5.18473 14.1 31.07038 -5.18473 14.1 -31.5 0 14.1 29.79324 -10.22803 14.1 -29.79324 -10.22803 14.1 27.70342 -14.99234 14.1 -27.70342 -14.99234 14.1 24.85793 -19.3477 14.1 -24.85793 -19.3477 14.1 21.33437 -23.1753 14.1 -21.33437 -23.1753 14.1 17.22887 -26.37075 14.1 -17.22887 -26.37075 14.1 12.65341 -28.84686 14.1 -12.65341 -28.84686 14.1 7.732793 -30.53611 14.1 -7.732793 -30.53611 14.1 2.601249 -31.39241 14.1 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differ diff --git a/iai_boxy_base_2/meshes/wheel_front_right.stl b/iai_boxy_base_2/meshes/wheel_front_right.stl new file mode 100644 index 0000000..6d3718a Binary files /dev/null and b/iai_boxy_base_2/meshes/wheel_front_right.stl differ diff --git a/iai_boxy_base_2/robots/base.URDF b/iai_boxy_base_2/robots/base.URDF deleted file mode 100644 index 2cc0c0b..0000000 --- a/iai_boxy_base_2/robots/base.URDF +++ /dev/null @@ -1,187 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/iai_boxy_base_2/robots/base.URDF.xacro b/iai_boxy_base_2/robots/base.URDF.xacro deleted file mode 120000 index 480a0a9..0000000 --- a/iai_boxy_base_2/robots/base.URDF.xacro +++ /dev/null @@ -1 +0,0 @@ -base.URDF \ No newline at end of file diff --git a/iai_boxy_base_2/robots/base.xacro b/iai_boxy_base_2/robots/base.xacro new file mode 100644 index 0000000..533f9e1 --- /dev/null +++ b/iai_boxy_base_2/robots/base.xacro @@ -0,0 +1,271 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iai_donbot_description/launch/display.launch b/iai_donbot_description/launch/display.launch index 3fe50ab..038deca 100644 --- a/iai_donbot_description/launch/display.launch +++ b/iai_donbot_description/launch/display.launch @@ -1,22 +1,10 @@ - - - - - - - - - + + + + + + + + + \ No newline at end of file diff --git a/iai_donbot_description/launch/display_with_wheels.launch b/iai_donbot_description/launch/display_with_wheels.launch new file mode 100644 index 0000000..59c8f08 --- /dev/null +++ b/iai_donbot_description/launch/display_with_wheels.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + \ No newline at end of file diff --git a/iai_donbot_description/launch/upload.launch b/iai_donbot_description/launch/upload.launch index 2fe3f9d..35b5306 100644 --- a/iai_donbot_description/launch/upload.launch +++ b/iai_donbot_description/launch/upload.launch @@ -1,8 +1,8 @@ - + - diff --git a/iai_donbot_description/launch/upload_with_refills_finger.launch b/iai_donbot_description/launch/upload_with_refills_finger.launch index 489c200..a972ee8 100644 --- a/iai_donbot_description/launch/upload_with_refills_finger.launch +++ b/iai_donbot_description/launch/upload_with_refills_finger.launch @@ -1,5 +1,5 @@ - + diff --git a/iai_donbot_description/robots/iai_donbot2.xacro b/iai_donbot_description/robots/iai_donbot.urdf.xacro similarity index 82% rename from iai_donbot_description/robots/iai_donbot2.xacro rename to iai_donbot_description/robots/iai_donbot.urdf.xacro index 5b76607..70d8240 100644 --- a/iai_donbot_description/robots/iai_donbot2.xacro +++ b/iai_donbot_description/robots/iai_donbot.urdf.xacro @@ -5,7 +5,7 @@ - + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iai_donbot_description/robots/iai_donbot2_with_refills_finger.xacro b/iai_donbot_description/robots/iai_donbot_with_refills_finger.urdf.xacro similarity index 97% rename from iai_donbot_description/robots/iai_donbot2_with_refills_finger.xacro rename to iai_donbot_description/robots/iai_donbot_with_refills_finger.urdf.xacro index 8537e71..2ad8707 100644 --- a/iai_donbot_description/robots/iai_donbot2_with_refills_finger.xacro +++ b/iai_donbot_description/robots/iai_donbot_with_refills_finger.urdf.xacro @@ -6,7 +6,7 @@ - + diff --git a/iai_donbot_description/robots/iai_donbot_with_wheels.urdf.xacro b/iai_donbot_description/robots/iai_donbot_with_wheels.urdf.xacro new file mode 100644 index 0000000..406c992 --- /dev/null +++ b/iai_donbot_description/robots/iai_donbot_with_wheels.urdf.xacro @@ -0,0 +1,15 @@ + + + + + + + + + + + + diff --git a/iai_donbot_description/rviz/urdf.rviz b/iai_donbot_description/rviz/urdf.rviz new file mode 100644 index 0000000..2f7bc9b --- /dev/null +++ b/iai_donbot_description/rviz/urdf.rviz @@ -0,0 +1,341 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + Splitter Ratio: 0.5 + Tree Height: 549 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + adapter_fwa050_wsg50_frame_in: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + adapter_fwa050_wsg50_frame_out: + Alpha: 1 + Show Axes: false + Show Trail: false + adapter_iso50_kms40_frame_in: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + adapter_iso50_kms40_frame_out: + Alpha: 1 + Show Axes: false + Show Trail: false + adapter_kms40_fwk050_frame_in: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + adapter_kms40_fwk050_frame_out: + Alpha: 1 + Show Axes: false + Show Trail: false + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_holder_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + charger: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + e_stop: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fwk_fwa_050_frame_in: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fwk_fwa_050_frame_out: + Alpha: 1 + Show Axes: false + Show Trail: false + gripper_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gripper_finger_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gripper_finger_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gripper_gripper_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gripper_gripper_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gripper_tool_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + kms40_frame_in: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + kms40_frame_out: + Alpha: 1 + Show Axes: false + Show Trail: false + kms_mounting_plate: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser_reference_back: + Alpha: 1 + Show Axes: false + Show Trail: false + laser_reference_front: + Alpha: 1 + Show Axes: false + Show Trail: false + odom: + Alpha: 1 + Show Axes: false + Show Trail: false + odom_x_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + odom_y_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + plate: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rs_camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + switches: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + ur5_base: + Alpha: 1 + Show Axes: false + Show Trail: false + ur5_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + ur5_ee_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + ur5_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + ur5_shoulder_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + ur5_tool0: + Alpha: 1 + Show Axes: false + Show Trail: false + ur5_touchpad: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + ur5_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + ur5_wrist_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + ur5_wrist_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + ur5_wrist_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wlan: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wrist_collision: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 10 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.785398006439209 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.785398006439209 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 846 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1200 + X: 60 + Y: 30 diff --git a/iai_ur_description/urdf/ur10.urdf.xacro b/iai_ur_description/urdf/ur10.urdf.xacro index 22ec37f..23cbb89 100644 --- a/iai_ur_description/urdf/ur10.urdf.xacro +++ b/iai_ur_description/urdf/ur10.urdf.xacro @@ -31,7 +31,7 @@ safety_k_position:=20 kinematics_file"> - + @@ -85,7 +85,7 @@ - + @@ -126,7 +126,7 @@ - + @@ -159,15 +159,15 @@ - - + + - + @@ -200,15 +200,15 @@ - - + + - + @@ -241,7 +241,7 @@ - + @@ -249,7 +249,7 @@ - + @@ -282,7 +282,7 @@ - + @@ -290,7 +290,7 @@ - + diff --git a/iai_ur_description/urdf/ur3.urdf.xacro b/iai_ur_description/urdf/ur3.urdf.xacro index 2d8b429..b5de605 100644 --- a/iai_ur_description/urdf/ur3.urdf.xacro +++ b/iai_ur_description/urdf/ur3.urdf.xacro @@ -30,7 +30,7 @@ safety_k_position:=20 kinematics_file"> - + @@ -84,7 +84,7 @@ - + @@ -125,7 +125,7 @@ - + @@ -158,15 +158,15 @@ - - + + - + @@ -199,15 +199,15 @@ - - + + - + @@ -240,7 +240,7 @@ - + @@ -248,7 +248,7 @@ - + @@ -281,7 +281,7 @@ - + @@ -289,7 +289,7 @@ - + diff --git a/iai_ur_description/urdf/ur5.urdf.xacro b/iai_ur_description/urdf/ur5.urdf.xacro index 8be4d5f..7f0807c 100644 --- a/iai_ur_description/urdf/ur5.urdf.xacro +++ b/iai_ur_description/urdf/ur5.urdf.xacro @@ -26,7 +26,7 @@ safety_k_position:=20 kinematics_file"> - + @@ -76,7 +76,7 @@ - + @@ -117,7 +117,7 @@ - + @@ -150,15 +150,15 @@ - - + + - + @@ -191,15 +191,15 @@ - - + + - + @@ -232,7 +232,7 @@ - + @@ -240,7 +240,7 @@ - + @@ -273,7 +273,7 @@ - + @@ -281,7 +281,7 @@ - + diff --git a/iai_wsg_50_description/meshes/GUIDE_WSG50_110.dae b/iai_wsg_50_description/meshes/GUIDE_WSG50_110.dae new file mode 100644 index 0000000..cf35118 --- /dev/null +++ b/iai_wsg_50_description/meshes/GUIDE_WSG50_110.dae @@ -0,0 +1,132 @@ + + + + + Blender User + Blender 2.91.0 commit date:2020-11-25, commit time:08:34, hash:0f45cab862b8 + + 2020-12-06T22:14:43 + 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