This repository has been archived by the owner on Dec 13, 2024. It is now read-only.
-
Notifications
You must be signed in to change notification settings - Fork 6
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Signed-off-by: Paul Gesel <paulgesel@gmail.com>
- Loading branch information
Showing
5 changed files
with
136 additions
and
696 deletions.
There are no files selected for viewing
110 changes: 110 additions & 0 deletions
110
src/picknik_ur_base_config/description/environment.xacro
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,110 @@ | ||
| <?xml version="1.0" encoding="utf-8"?> | ||
| <robot xmlns:xacro="http://ros.org/wiki/xacro"> | ||
| <!-- wrist_3_link/forearm_link have a radius 0f 0.0375m. Actual offset from surface is (radius - attached_link's radius). --> | ||
| <!-- UR Drivers check for a 2.5cm distance between tool_flange/wrist_3 and forearm links. --> | ||
| <xacro:macro name="environment" params="parent"> | ||
| <!-- Import environment macros --> | ||
| <xacro:include filename="$(find picknik_accessories)/descriptions/geometry/collision_and_visual/cube_collision_and_visual.urdf.xacro" /> | ||
| <xacro:include filename="$(find picknik_accessories)/descriptions/geometry/visual/cube_visual.urdf.xacro" /> | ||
| <xacro:include filename="$(find picknik_accessories)/descriptions/sensors/realsense_d435.urdf.xacro" /> | ||
|
|
||
| <!-- Environment --> | ||
| <link name="environment"> | ||
| <visual> | ||
| <origin xyz="0 0 0" rpy="0 0 0" /> | ||
| <geometry> | ||
| <mesh filename="package://picknik_accessories/descriptions/furniture/generic_table/wood_block.dae" scale="0.25 0.25 0.1"/> | ||
| </geometry> | ||
| </visual> | ||
| <collision> | ||
| <origin rpy="0 0 0" xyz="0 0 0"/> | ||
| <geometry> | ||
| <mesh filename="package://picknik_accessories/descriptions/furniture/generic_table/wood_block.dae" scale="0.25 0.25 0.1"/> | ||
| </geometry> | ||
| </collision> | ||
| </link> | ||
|
|
||
| <joint name="table_joint" type="fixed"> | ||
| <parent link="base" /> | ||
| <child link="environment" /> | ||
| <origin rpy="0 0 0" xyz="0 0 -0.05" /> | ||
| </joint> | ||
|
|
||
| <link name="box_1"> | ||
| <xacro:cube_visual length="0.05" width="0.05" height="0.05"> | ||
| <origin xyz="0 0 0" rpy="0 0 0" /> | ||
| <color rgba="0.1 0.1 0.1 0.9" /> | ||
| </xacro:cube_visual> | ||
| </link> | ||
|
|
||
| <joint name="box1_on_table" type="fixed"> | ||
| <parent link="environment" /> | ||
| <child link="box_1" /> | ||
| <origin rpy="0 0 0" xyz="0.65 -0.35 0.1" /> | ||
| </joint> | ||
|
|
||
| <link name="box_2"> | ||
| <xacro:cube_visual length="0.05" width="0.05" height="0.05"> | ||
| <origin xyz="0 0 0" rpy="0 0 0" /> | ||
| <color rgba="0.5 0.5 0.5 0.9" /> | ||
| </xacro:cube_visual> | ||
| </link> | ||
|
|
||
| <joint name="box2_on_table" type="fixed"> | ||
| <parent link="environment" /> | ||
| <child link="box_2" /> | ||
| <origin rpy="0 0 0" xyz="0.65 0.35 0.1" /> | ||
| </joint> | ||
|
|
||
| <link name="box_3"> | ||
| <xacro:cube_visual length="0.05" width="0.05" height="0.05"> | ||
| <origin xyz="0 0 0" rpy="0 0 0" /> | ||
| <color rgba="0.8 0.3 0.1 0.9" /> | ||
| </xacro:cube_visual> | ||
| </link> | ||
|
|
||
| <joint name="box3_on_table" type="fixed"> | ||
| <parent link="environment" /> | ||
| <child link="box_3" /> | ||
| <origin rpy="0 0 0" xyz="0.65 0 0.1" /> | ||
| </joint> | ||
|
|
||
| <link name="box_4"> | ||
| <xacro:cube_visual length="0.05" width="0.05" height="0.05"> | ||
| <origin xyz="0 0 0" rpy="0 0 0" /> | ||
| <color rgba="0.8 0.3 0.1 0.9" /> | ||
| </xacro:cube_visual> | ||
| </link> | ||
|
|
||
| <joint name="box4_on_table" type="fixed"> | ||
| <parent link="environment" /> | ||
| <child link="box_4" /> | ||
| <origin rpy="0 0 0" xyz="-0.65 0.25 0.1" /> | ||
| </joint> | ||
|
|
||
| <link name="box_5"> | ||
| <xacro:cube_visual length="0.05" width="0.05" height="0.05"> | ||
| <origin xyz="0 0 0" rpy="0 0 0" /> | ||
| <color rgba="0.1 0.3 0.8 0.9" /> | ||
| </xacro:cube_visual> | ||
| </link> | ||
|
|
||
| <joint name="box5_on_table" type="fixed"> | ||
| <parent link="environment" /> | ||
| <child link="box_5" /> | ||
| <origin rpy="0 0 0" xyz="-0.65 -0.25 0.1" /> | ||
| </joint> | ||
|
|
||
| <!-- External Camera --> | ||
| <link name="external_camera_link" /> | ||
| <joint name="external_camera_joint" type="fixed"> | ||
| <parent link="${parent}" /> | ||
| <child link="external_camera_link" /> | ||
| <origin xyz="-0.3 0.3 1.0" rpy="0.0 0.4 0" /> | ||
| </joint> | ||
|
|
||
| <xacro:realsense_d435 parent="external_camera_link" name="scene_camera" visible="false"> | ||
| <origin xyz="0 0 0" rpy="0 0 0" /> | ||
| </xacro:realsense_d435> | ||
| </xacro:macro> | ||
| </robot> |
40 changes: 0 additions & 40 deletions
40
src/picknik_ur_base_config/description/gripper_and_camera.xacro
This file was deleted.
Oops, something went wrong.
215 changes: 25 additions & 190 deletions
215
src/picknik_ur_base_config/description/picknik_ur.xacro
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,200 +1,35 @@ | ||
| <?xml version="1.0"?> | ||
| <robot xmlns:xacro="http://wiki.ros.org/xacro" name="$(arg name)"> | ||
| <!-- parameters --> | ||
| <xacro:arg name="use_fake_hardware" default="false" /> | ||
| <xacro:arg name="external_camera" default="false" /> | ||
| <xacro:arg name="has_tool_changer" default="true" /> | ||
| <xacro:arg name="use_pinch_links" default="true" /> | ||
| <xacro:arg name="name" default="" /> | ||
| <xacro:arg name="joint_limits_parameters_file" default="" /> | ||
| <xacro:arg name="kinematics_parameters_file" default="" /> | ||
| <xacro:arg name="physical_parameters_file" default="" /> | ||
| <xacro:arg name="visual_parameters_file" default="" /> | ||
|
|
||
| <xacro:arg name="headless_mode" default="false" /> | ||
| <xacro:arg name="robot_ip" default="0.0.0.0" /> | ||
| <xacro:arg name="use_tool_communication" default="false" /> | ||
| <xacro:arg name="tool_voltage" default="0" /> | ||
| <xacro:arg name="tool_device_name" default="/dev/ttyUSB0" /> | ||
|
|
||
| <xacro:if value="$(arg has_tool_changer)"> | ||
| <xacro:property name="camera_adapter_parent" value="tool_changer_tool0" /> | ||
| </xacro:if> | ||
| <xacro:unless value="$(arg has_tool_changer)"> | ||
| <xacro:property name="camera_adapter_parent" value="tool0" /> | ||
| </xacro:unless> | ||
|
|
||
| <!-- Import macros for main hardware components --> | ||
| <xacro:include filename="$(find ur_description)/urdf/ur_macro.xacro" /> | ||
| <xacro:include filename="$(find robotiq_description)/urdf/ur_to_robotiq_adapter.urdf.xacro" /> | ||
| <xacro:include filename="$(find robotiq_description)/urdf/robotiq_2f_85_macro.urdf.xacro" /> | ||
| <xacro:include filename="$(find picknik_accessories)/descriptions/brackets/mtc_ur_tool_changer/mtc_ur_tool_changer.urdf.xacro" /> | ||
| <xacro:include filename="$(find picknik_accessories)/descriptions/brackets/ur_realsense_camera_adapter/picknik_ur_camera_adapter.urdf.xacro" /> | ||
| <xacro:include filename="$(find picknik_accessories)/descriptions/sensors/realsense_d415.urdf.xacro" /> | ||
| <xacro:include filename="$(find picknik_accessories)/descriptions/sensors/realsense_d435.urdf.xacro" /> | ||
| <xacro:include filename="$(find picknik_ur_base_config)/description/pinch_links.xacro" /> | ||
|
|
||
| <!-- Initial positions for simulations (Mock Hardware and Gazebo) --> | ||
| <xacro:arg name="use_fake_hardware" default="false"/> | ||
| <xacro:arg name="external_camera" default="false"/> | ||
| <xacro:arg name="has_tool_changer" default="true"/> | ||
| <xacro:arg name="use_pinch_links" default="true"/> | ||
| <xacro:arg name="name" default=""/> | ||
| <xacro:arg name="joint_limits_parameters_file" default=""/> | ||
| <xacro:arg name="kinematics_parameters_file" default=""/> | ||
| <xacro:arg name="physical_parameters_file" default=""/> | ||
| <xacro:arg name="visual_parameters_file" default=""/> | ||
| <xacro:arg name="headless_mode" default="false"/> | ||
| <xacro:arg name="robot_ip" default="0.0.0.0"/> | ||
| <xacro:arg name="use_tool_communication" default="false"/> | ||
| <xacro:arg name="tool_voltage" default="0"/> | ||
| <xacro:arg name="tool_device_name" default="/dev/ttyUSB0"/> | ||
| <xacro:arg name="initial_positions_file" default="$(find picknik_ur_base_config)/config/initial_positions.yaml"/> | ||
| <xacro:property name="initial_positions_file" default="$(arg initial_positions_file)"/> | ||
|
|
||
| <!-- Import environment macros --> | ||
| <xacro:include filename="$(find picknik_accessories)/descriptions/geometry/collision_and_visual/cube_collision_and_visual.urdf.xacro" /> | ||
| <xacro:include filename="$(find picknik_accessories)/descriptions/geometry/visual/cube_visual.urdf.xacro" /> | ||
|
|
||
| <link name="world" /> | ||
| <!-- arm --> | ||
| <xacro:ur_robot | ||
| name="$(arg name)" | ||
| tf_prefix="" | ||
| parent="world" | ||
| joint_limits_parameters_file="$(arg joint_limits_parameters_file)" | ||
| kinematics_parameters_file="$(arg kinematics_parameters_file)" | ||
| physical_parameters_file="$(arg physical_parameters_file)" | ||
| visual_parameters_file="$(arg visual_parameters_file)" | ||
| use_fake_hardware="$(arg use_fake_hardware)" | ||
| initial_positions="${xacro.load_yaml(initial_positions_file)}" | ||
| headless_mode="$(arg headless_mode)" | ||
| robot_ip="$(arg robot_ip)" | ||
| use_tool_communication="$(arg use_tool_communication)" | ||
| tool_voltage="$(arg tool_voltage)" | ||
| tool_device_name="$(arg tool_device_name)" | ||
| script_filename="$(find ur_robot_driver)/resources/ros_control.urscript" | ||
| output_recipe_filename="$(find ur_robot_driver)/resources/rtde_output_recipe.txt" | ||
| input_recipe_filename="$(find ur_robot_driver)/resources/rtde_input_recipe.txt"> | ||
| <origin xyz="0 0 0" rpy="0 0 0" /> | ||
| </xacro:ur_robot> | ||
|
|
||
| <xacro:if value="$(arg has_tool_changer)"> | ||
| <!-- tool changer--> | ||
| <xacro:mtc_ur_tool_changer prefix="" connected_to="tool0" rotation="0" /> | ||
| </xacro:if> | ||
|
|
||
| <!-- pinch geometry for moveit motion planning. see https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/611 --> | ||
| <xacro:if value="$(arg use_pinch_links)"> | ||
| <xacro:forearm_pinch_link/> | ||
| <xacro:wrist_3_pinch_link/> | ||
| </xacro:if> | ||
|
|
||
| <!-- wrist camera adapter and camera--> | ||
| <xacro:ur_realsense_camera_adapter prefix="" connected_to="${camera_adapter_parent}" rotation="0" /> | ||
|
|
||
| <xacro:realsense_d415 parent="d415_mount_link" name="wrist_mounted_camera"> | ||
| <origin xyz="0 0 0" rpy="0 0 0" /> | ||
| </xacro:realsense_d415> | ||
|
|
||
| <!-- Gripper and UR adapter--> | ||
| <xacro:ur_to_robotiq prefix="" connected_to="realsense_camera_adapter_tool0" rotation="0" /> | ||
|
|
||
| <xacro:robotiq_gripper name="RobotiqGripperHardwareInterface" prefix="" | ||
| parent="gripper_mount_link" use_fake_hardware="$(arg use_fake_hardware)" com_port="$(arg tool_device_name)"> | ||
| <origin xyz="0 0 0" rpy="0 0 0" /> | ||
| </xacro:robotiq_gripper> | ||
|
|
||
| <!-- This link aligns the axes of the grasp frame to our required convention for motion planning tasks. --> | ||
| <link name="grasp_link" /> | ||
| <joint name="grasp_link_joint" type="fixed"> | ||
| <parent link="robotiq_85_base_link" /> | ||
| <child link="grasp_link" /> | ||
| <origin xyz="0.0 0.0 0.134" rpy="0.0 0.0 ${pi}" /> | ||
| </joint> | ||
|
|
||
| <!-- Environment --> | ||
| <link name="environment"> | ||
| <visual> | ||
| <origin xyz="0 0 0" rpy="0 0 0" /> | ||
| <geometry> | ||
| <mesh filename="package://picknik_accessories/descriptions/furniture/generic_table/wood_block.dae" scale="0.25 0.25 0.1"/> | ||
| </geometry> | ||
| </visual> | ||
| <collision> | ||
| <origin rpy="0 0 0" xyz="0 0 0"/> | ||
| <geometry> | ||
| <mesh filename="package://picknik_accessories/descriptions/furniture/generic_table/wood_block.dae" scale="0.25 0.25 0.1"/> | ||
| </geometry> | ||
| </collision> | ||
| </link> | ||
|
|
||
| <joint name="table_joint" type="fixed"> | ||
| <parent link="base" /> | ||
| <child link="environment" /> | ||
| <origin rpy="0 0 0" xyz="0 0 -0.05" /> | ||
| </joint> | ||
|
|
||
| <link name="box_1"> | ||
| <xacro:cube_visual length="0.05" width="0.05" height="0.05"> | ||
| <origin xyz="0 0 0" rpy="0 0 0" /> | ||
| <color rgba="0.1 0.1 0.1 0.9" /> | ||
| </xacro:cube_visual> | ||
| </link> | ||
|
|
||
| <joint name="box1_on_table" type="fixed"> | ||
| <parent link="environment" /> | ||
| <child link="box_1" /> | ||
| <origin rpy="0 0 0" xyz="0.65 -0.35 0.1" /> | ||
| </joint> | ||
|
|
||
| <link name="box_2"> | ||
| <xacro:cube_visual length="0.05" width="0.05" height="0.05"> | ||
| <origin xyz="0 0 0" rpy="0 0 0" /> | ||
| <color rgba="0.5 0.5 0.5 0.9" /> | ||
| </xacro:cube_visual> | ||
| </link> | ||
|
|
||
| <joint name="box2_on_table" type="fixed"> | ||
| <parent link="environment" /> | ||
| <child link="box_2" /> | ||
| <origin rpy="0 0 0" xyz="0.65 0.35 0.1" /> | ||
| </joint> | ||
|
|
||
| <link name="box_3"> | ||
| <xacro:cube_visual length="0.05" width="0.05" height="0.05"> | ||
| <origin xyz="0 0 0" rpy="0 0 0" /> | ||
| <color rgba="0.8 0.3 0.1 0.9" /> | ||
| </xacro:cube_visual> | ||
| </link> | ||
|
|
||
| <joint name="box3_on_table" type="fixed"> | ||
| <parent link="environment" /> | ||
| <child link="box_3" /> | ||
| <origin rpy="0 0 0" xyz="0.65 0 0.1" /> | ||
| </joint> | ||
|
|
||
| <link name="box_4"> | ||
| <xacro:cube_visual length="0.05" width="0.05" height="0.05"> | ||
| <origin xyz="0 0 0" rpy="0 0 0" /> | ||
| <color rgba="0.8 0.3 0.1 0.9" /> | ||
| </xacro:cube_visual> | ||
| </link> | ||
| <xacro:arg name="environment_xacro" default="$(find picknik_ur_base_config)/description/environment.xacro"/> | ||
|
|
||
| <joint name="box4_on_table" type="fixed"> | ||
| <parent link="environment" /> | ||
| <child link="box_4" /> | ||
| <origin rpy="0 0 0" xyz="-0.65 0.25 0.1" /> | ||
| </joint> | ||
| <!-- Import UR and environment macros --> | ||
| <xacro:include filename="$(find picknik_ur_base_config)/description/picknik_ur_macro.xacro"/> | ||
| <xacro:include filename="$(find picknik_ur_base_config)/description/picknik_ur_attachments_macro.xacro"/> | ||
| <xacro:include filename="$(arg environment_xacro)"/> | ||
|
|
||
| <link name="box_5"> | ||
| <xacro:cube_visual length="0.05" width="0.05" height="0.05"> | ||
| <origin xyz="0 0 0" rpy="0 0 0" /> | ||
| <color rgba="0.1 0.3 0.8 0.9" /> | ||
| </xacro:cube_visual> | ||
| </link> | ||
| <!-- Robot: contains robot description from the world frame to the tool frame --> | ||
| <xacro:picknik_ur parent="world" child="tool0" initial_positions_file="$(arg initial_positions_file)" /> | ||
|
|
||
| <joint name="box5_on_table" type="fixed"> | ||
| <parent link="environment" /> | ||
| <child link="box_5" /> | ||
| <origin rpy="0 0 0" xyz="-0.65 -0.25 0.1" /> | ||
| </joint> | ||
| <!-- Gripper and UR adapter and realsense camera --> | ||
| <xacro:picknik_ur_attachments parent="tool0" child="grasp_link" has_tool_changer="$(arg has_tool_changer)"/> | ||
|
|
||
| <!-- External Camera --> | ||
| <link name="external_camera_link" /> | ||
| <joint name="external_camera_joint" type="fixed"> | ||
| <parent link="world" /> | ||
| <child link="external_camera_link" /> | ||
| <origin xyz="-0.3 0.3 1.0" rpy="0.0 0.4 0" /> | ||
| </joint> | ||
| <!-- Environment: contains scene geometry and external sensors, e.g. cameras --> | ||
| <xacro:environment parent="world"/> | ||
|
|
||
| <xacro:realsense_d435 parent="external_camera_link" name="scene_camera" visible="false"> | ||
| <origin xyz="0 0 0" rpy="0 0 0" /> | ||
| </xacro:realsense_d435> | ||
| </robot> |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Oops, something went wrong.