diff --git a/robot_descriptions/heron_description/CMakeLists.txt b/robot_descriptions/heron_description/CMakeLists.txt
deleted file mode 100644
index 7e9576faabbfbce19d4fab304b671313c0a70319..0000000000000000000000000000000000000000
--- a/robot_descriptions/heron_description/CMakeLists.txt
+++ /dev/null
@@ -1,4 +0,0 @@
-cmake_minimum_required(VERSION 2.8.3)
-project(heron_description)
-find_package(catkin REQUIRED)
-catkin_package()
diff --git a/robot_descriptions/heron_description/config/joint_publisher_config.yaml b/robot_descriptions/heron_description/config/joint_publisher_config.yaml
deleted file mode 100644
index f579e7887214a7313e037fbd5607ef1ecc9231d8..0000000000000000000000000000000000000000
--- a/robot_descriptions/heron_description/config/joint_publisher_config.yaml
+++ /dev/null
@@ -1,3 +0,0 @@
-rate: 50
-source_list:
- []
diff --git a/robot_descriptions/heron_description/launch/robot_description.launch b/robot_descriptions/heron_description/launch/robot_description.launch
deleted file mode 100644
index bf7c376589844a7158f759a178acc551d95eff44..0000000000000000000000000000000000000000
--- a/robot_descriptions/heron_description/launch/robot_description.launch
+++ /dev/null
@@ -1,29 +0,0 @@
-<?xml version="1.0"?>
-<launch>
- <arg name="arm_name" default=""/>
- <arg name="model" default="$(find heron_description)/robots/heron.urdf.xacro"/>
- <arg name="sim" default="false"/>
- <arg name="js_config" default="$(find heron_description)/config/joint_publisher_config.yaml"/>
- <arg name="camera_joint_type" default="floating"/>
- <arg name="camera_xyz" default="0.05 0.071 -0.071"/> <!-- These are approximate values -->
- <arg name="camera_rpy" default="-2.356 0 0"/> <!-- These are approximate values -->
- <arg name="kinematics_config" default="$(find ur_e_description)/config/ur5e_default.yaml"/>
- <arg name="realsense_static_tf_publisher" default="false" doc="Enables a static tf publisher for the realsense_link to the robots wrist."/>
- <arg name="sim_camera_joint_type" default="fixed"/>
- <arg name="sim_camera_xyz" default="0.05 0.071 -0.071"/> <!-- These are approximate values -->
- <arg name="sim_camera_rpy" default="-1.57 0 0"/> <!-- These are approximate values -->
-
- <!-- NOTE: when disabling this, make sure to publish the transformation somewhere else, or the camera optical frame will be disconnected from the rest -->
- <node if="$(arg sim)" name="realsense_rgb_link_tf_$(arg arm_name)" type="static_transform_publisher" pkg="tf" args="0.0 0.0 0.0 -1.57 0.0 -1.57 realsense_link realsense_rgb_optical_frame 100" />
- <node if="$(arg sim)" name="realsense_depth_link_tf_$(arg arm_name)" type="static_transform_publisher" pkg="tf" args="0.0 0.015 0.0 -1.57 0.0 -1.57 realsense_link realsense_depth_optical_frame 100" />
- <node if="$(arg realsense_static_tf_publisher)" name="realsense_base_link_tf_$(arg arm_name)" type="static_transform_publisher" pkg="tf" args="$(arg sim_camera_xyz) 0 3.14 -0.785 ur5e_ee_link realsense_link 100" />
-
- <!-- Gazebo can't handle floating joints , so needs to load a different description -->
- <param name="/sim/robot_description" command="$(find xacro)/xacro $(arg model) camera_xyz:='$(arg sim_camera_xyz)' camera_rpy:='$(arg sim_camera_rpy)' camera_joint_type:=$(arg sim_camera_joint_type) arm_name:=$(arg arm_name) kinematics_config:=$(arg kinematics_config)" />
-
- <param name="robot_description" command="$(find xacro)/xacro $(arg model) camera_xyz:='$(arg camera_xyz)' camera_rpy:='$(arg camera_rpy)' camera_joint_type:=$(arg camera_joint_type) arm_name:=$(arg arm_name) kinematics_config:=$(arg kinematics_config)" />
-
- <!--node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
- <rosparam command="load" file="$(arg js_config)" />
- </node-->
-</launch>
\ No newline at end of file
diff --git a/robot_descriptions/heron_description/package.xml b/robot_descriptions/heron_description/package.xml
deleted file mode 100644
index 00eb54a005ab79ef9b573cfcbfba0979e13cd706..0000000000000000000000000000000000000000
--- a/robot_descriptions/heron_description/package.xml
+++ /dev/null
@@ -1,13 +0,0 @@
-<package>
- <name>heron_description</name>
- <version>1.0.0</version>
- <description>
- Launch files for Heron demos
- </description>
- <maintainer email="matthias.mayr@cs.lth.se">Matthias Mayr</maintainer>
- <license>BSD</license>
- <author>Matthias Mayr</author>
-
- <buildtool_depend>catkin</buildtool_depend>
-</package>
-
diff --git a/robot_descriptions/heron_description/robots/heron.urdf b/robot_descriptions/heron_description/robots/heron.urdf
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/robot_descriptions/heron_description/robots/heron.urdf.xacro b/robot_descriptions/heron_description/robots/heron.urdf.xacro
deleted file mode 100755
index 75779222ab3389cfc9e3cc457d07bd9cbc2d09e8..0000000000000000000000000000000000000000
--- a/robot_descriptions/heron_description/robots/heron.urdf.xacro
+++ /dev/null
@@ -1,106 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="heron">
- <xacro:property name="PI" value="3.1415926535897931"/>
- <!-- Variables -->
- <xacro:arg name="arm_name" default="ur5e_"/>
- <xacro:arg name="prefix" default="mir/"/>
- <xacro:arg name="kinematics_config" default="$(find ur_e_description)/config/ur5e_default.yaml"/>
- <xacro:arg name="camera_joint_type" default="floating"/>
- <xacro:arg name="camera_xyz" default="0.05 0.06 0.06"/> <!-- These are approximate values -->
- <xacro:arg name="camera_rpy" default="-${3*PI/4} 0 0"/> <!-- These are approximate values -->
- <!-- If false, gazebo will not publish images. Useful to test with real camera. -->
- <xacro:arg name="sim_camera" default="true"/>
-
- <!-- Transformation from endeffector to gripper connector plate -->
- <xacro:property name="cal_gripper_xyz" value="0 0 0" />
- <xacro:property name="cal_gripper_rpy" value="-${3*PI/4} 0 0" />
-
- <!-- Include models -->
- <xacro:include filename="$(find heron_description)/urdf/ur5e.urdf.xacro" />
- <xacro:include filename="$(find heron_description)/urdf/cube_base.urdf.xacro"/>
- <xacro:include filename="$(find heron_description)/urdf/schunk_wsg50/schunk_wsg50.urdf.xacro"/>
- <xacro:include filename="$(find heron_description)/urdf/primesense/primesense_camera.urdf.xacro"/>
- <xacro:include filename="$(find heron_description)/urdf/mir_with_cabinet.urdf.xacro"/>
- <!-- <link name="world"/> -->
-
- <!-- mir -->
- <xacro:mir_with_cabinet prefix="$(arg prefix)"/>
-
- <!-- world to mir_base_footprint -->
- <!-- <joint name="$(arg prefix)base_footprint" type="fixed">
- <parent link="world"/>
- <child link = "$(arg prefix)base_footprint"/>
- <origin xyz="0 0 0"/>
- </joint> -->
-
- <!-- arm -->
- <joint name="arm_joint" type="fixed">
- <parent link="$(arg prefix)cabinet_arm_base"/>
- <child link = "$(arg arm_name)base_link"/>
- <origin xyz="0 0 0" rpy="0 0 -${PI/2}"/>
- </joint>
-
- <xacro:ur5e_robot prefix="$(arg arm_name)" joint_limited="false"
- shoulder_pan_lower_limit="${-PI}" shoulder_pan_upper_limit="${PI}"
- shoulder_lift_lower_limit="${-PI}" shoulder_lift_upper_limit="${PI}"
- elbow_joint_lower_limit="${-2*PI}" elbow_joint_upper_limit="${2*PI}"
- wrist_1_lower_limit="${-PI}" wrist_1_upper_limit="${PI}"
- wrist_2_lower_limit="${-PI}" wrist_2_upper_limit="${PI}"
- wrist_3_lower_limit="${-PI}" wrist_3_upper_limit="${PI}"
- kinematics_file="${load_yaml('$(arg kinematics_config)')}">
- </xacro:ur5e_robot>
-
- <!-- gripper -->
- <xacro:schunk_wsg50 parent="$(arg arm_name)ee_link">
- <origin xyz="${cal_gripper_xyz}" rpy="${cal_gripper_rpy}"/>
- </xacro:schunk_wsg50>
-
- <!-- ur5e_tcp_link + joint-->
- <link name="$(arg arm_name)tcp_link"/>
-
- <joint name="$(arg arm_name)tcp_joint" type="fixed">
- <parent link="gripper_link" />
- <child link = "$(arg arm_name)tcp_link" />
- <origin xyz="0.072 0.0 0.0" rpy="0.0 ${pi/2.0} 0.0" />
- </joint>
-
- <!-- camera -->
- <xacro:primesense_camera name="realsense"
- parent="$(arg arm_name)ee_link"
- joint_type="$(arg camera_joint_type)"
- load_gazebo_plugin="$(arg sim_camera)">
- <origin xyz="$(arg camera_xyz)" rpy="$(arg camera_rpy)"/>
- </xacro:primesense_camera>
-
- <!-- The ft_sensor plugin -->
- <gazebo reference="ur5e_wrist_3_joint">
- <provideFeedback>true</provideFeedback>
- </gazebo>
-
- <gazebo>
- <plugin name="ft_sensor" filename="libgazebo_ros_ft_sensor.so">
- <updateRate>500.0</updateRate>
- <topicName>/wrench</topicName>
- <jointName>ur5e_wrist_3_joint</jointName>
- <!-- <noise>
- <type>gaussian</type>
- <mean>0.0</mean>
- <stddev>0.003</stddev>
- </noise> -->
- </plugin>
- </gazebo>
-
- <!-- Load Gazebo lib and set the robot namespace <robotNamespace>/</robotNamespace> -->
- <gazebo>
- <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
- <robotSimType>heron_gazebo/AngularErrorFixHWSim</robotSimType>
- <robotParam>/robot_description</robotParam>
- <!-- 500Hz is the default for commanding the real UR -->
- <!-- Settings this causes issues with Gazebo. The arm would do a fast movement when being started. -->
- <!-- <controlPeriod>0.002</controlPeriod> -->
- </plugin>
- </gazebo>
-</robot>
-
-
-
diff --git a/robot_descriptions/heron_description/urdf/cube_base.urdf.xacro b/robot_descriptions/heron_description/urdf/cube_base.urdf.xacro
deleted file mode 100644
index 7b6ee84c77ff3a1a2f6782e85084eaddf3a6b497..0000000000000000000000000000000000000000
--- a/robot_descriptions/heron_description/urdf/cube_base.urdf.xacro
+++ /dev/null
@@ -1,51 +0,0 @@
-<?xml version="1.0"?>
-
-<robot name="hardware" xmlns:xacro="http://wiki.ros.org/xacro">
-
-<xacro:macro name="cube_base" params="parent chassis_size_x chassis_size_y chassis_size_z *origin">
- <!-- Macro for the inertia of a box -->
- <xacro:macro name="box_inertia" params="x y z mass">
- <inertia ixx="${0.0833333 * mass * (y*y + z*z)}" ixy="0.0" ixz="0.0"
- iyy="${0.0833333 * mass * (x*x + z*z)}" iyz="0.0"
- izz="${0.0833333 * mass * (x*x + y*y)}" />
- </xacro:macro>
-
- <!-- Define the origin of your 3D space
- Here we define a box lying at 0,0,0 with some dimensions, in reality our robot is place on top of a metal cart with those dimensions.
- This will include the cart in the scene and avoid the robot to hit it when using MoveIt!
- If you don't want to have that you can define a basic world link (see commented lines)
- -->
- <joint name="footprint_joint" type="fixed">
- <parent link="${parent}"/>
- <child link = "box_link"/>
- <xacro:insert_block name="origin" />
- </joint>
-
- <link name="box_link">
- <inertial>
- <origin xyz="0 0 ${chassis_size_z/2}" rpy="0 0 0"/>
- <mass value="100.0"/>
- <xacro:box_inertia x="${chassis_size_x}" y="${chassis_size_y}" z="${chassis_size_z}" mass="100.0"/>
- </inertial>
- <visual>
- <origin xyz="0 0 ${chassis_size_z/2}" rpy="0 0 0"/>
- <geometry>
- <box size="${chassis_size_x} ${chassis_size_y} ${chassis_size_z}"/>
- </geometry>
- </visual>
- <collision>
- <origin xyz="0 0 ${chassis_size_z/2}" rpy="0 0 0"/>
- <geometry>
- <box size="${chassis_size_x} ${chassis_size_y} ${chassis_size_z}"/>
- </geometry>
- </collision>
- </link>
-
- <gazebo reference="box_link">
- <material>Gazebo/Orange</material>
- <mu1>0.2</mu1>
- <mu2>0.2</mu2>
- </gazebo>
-
-</xacro:macro>
-</robot>
diff --git a/robot_descriptions/heron_description/urdf/mir_with_cabinet.urdf.xacro b/robot_descriptions/heron_description/urdf/mir_with_cabinet.urdf.xacro
deleted file mode 100644
index af2ab6a9e49a3c7d04549fda6e005b29322b3f8d..0000000000000000000000000000000000000000
--- a/robot_descriptions/heron_description/urdf/mir_with_cabinet.urdf.xacro
+++ /dev/null
@@ -1,103 +0,0 @@
-<?xml version="1.0"?>
-
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="mir_with_cabinet">
-
- <xacro:property name="pi" value="3.1415926535897931" />
- <xacro:arg name="publish_robot" default="false" />
-
- <!-- Defining material color -->
- <material name="mir_blue">
- <color rgba="0 0 0.8 1"/>
- </material>
-
- <material name="mir_white">
- <color rgba="1 1 1 1"/>
- </material>
-
- <xacro:macro name="mir_with_cabinet" params="prefix">
-
- <!-- MiR100 base -->
- <xacro:include filename="$(find mir_description)/urdf/include/mir_100_v1.urdf.xacro" />
- <xacro:include filename="$(find mir_description)/urdf/include/common.gazebo.xacro" />
-
- <xacro:mir_100 prefix="${prefix}"/>
-
- <!-- Defining cabinet_centre -->
- <link name="${prefix}cabinet_centre">
- <visual>
- <geometry>
- <box size ="0.76 0.46 0.5"/>
- </geometry>
- <material name="mir_blue"/>
- </visual>
- <collision>
- <geometry>
- <box size ="0.76 0.46 0.5"/>
- </geometry>
- </collision>
- </link>
-
- <!-- Defining cabinet_pad -->
- <link name="${prefix}cabinet_pad">
- <visual>
- <geometry>
- <box size="0.25 0.29 0.02"/>
- </geometry>
- <material name="mir_white"/>
- <origin rpy="0 ${-pi/3} 0" xyz="0 0 0"/>
- </visual>
- <collision>
- <geometry>
- <box size="0.25 0.29 0.02"/>
- </geometry>
- <origin rpy="0 ${-pi/3} 0" xyz="0 0 0"/>
- </collision>
- </link>
-
- <!-- Defining cabinet_table-->
- <link name="${prefix}cabinet_table"/>
-
- <!-- Defining cabinet_lower-->
- <link name="${prefix}cabinet_lower"/>
-
- <!-- Defining cabinet_arm_base-->
- <link name="${prefix}cabinet_arm_base"/>
-
- <!-- Defining joints -->
- <joint name="${prefix}cabinet_pad_joint" type="fixed">
- <parent link="${prefix}cabinet_centre"/>
- <child link="${prefix}cabinet_pad"/>
- <origin xyz="-0.45 0 0.14"/>
- </joint>
-
- <joint name="${prefix}cabinet_table_joint" type="fixed">
- <parent link="${prefix}cabinet_centre"/>
- <child link="${prefix}cabinet_table"/>
- <origin xyz="${-0.38+0.04} ${-0.23+0.04} 0.25"/>
- </joint>
-
- <joint name="${prefix}cabinet_lower_joint" type="fixed">
- <parent link="${prefix}cabinet_centre"/>
- <child link="${prefix}cabinet_lower"/>
- <origin xyz="-0.38 -0.23 -0.25"/>
- </joint>
-
- <joint name="${prefix}cabinet_arm_base_joint" type="fixed">
- <parent link="${prefix}cabinet_table"/>
- <child link="${prefix}cabinet_arm_base"/>
- <origin xyz=" ${0.1425+0.098} ${+0.0875+0.098} 0.02"/>
- </joint>
-
- <joint name="${prefix}cabinet_to_mir" type="fixed">
- <parent link="${prefix}surface"/>
- <child link="${prefix}cabinet_centre"/>
- <origin xyz="0 0 0.25"/>
- </joint>
-
-
- </xacro:macro>
- <xacro:if value="$(arg publish_robot)">
- <mir_with_cabinet prefix="mir/"/>
- </xacro:if>
-
-</robot>
diff --git a/robot_descriptions/heron_description/urdf/primesense/primesense_camera.gazebo.xacro b/robot_descriptions/heron_description/urdf/primesense/primesense_camera.gazebo.xacro
deleted file mode 100644
index 833ae1151c7ad968b2de3fb23ac42e98087d49f5..0000000000000000000000000000000000000000
--- a/robot_descriptions/heron_description/urdf/primesense/primesense_camera.gazebo.xacro
+++ /dev/null
@@ -1,53 +0,0 @@
-<?xml version="1.0"?>
-<root xmlns:xacro="http://www.ros.org/wiki/xacro">
-
-<xacro:macro name="primesense_camera_gazebo" params="name">
- <gazebo reference="${name}_link">
- <turnGravityOff>true</turnGravityOff>
- <material>Gazebo/Gold</material>
- <mu1>10.0</mu1>
- <mu2>10.0</mu2>
- <sensor type="depth" name="${name}_frame_sensor">
- <always_on>true</always_on>
- <update_rate>20.0</update_rate>
- <camera>
- <horizontal_fov>${57.3*3.1415/180.0}</horizontal_fov>
- <image>
- <format>B8G8R8</format>
- <width>640</width>
- <height>480</height>
- </image>
- <clip>
- <near>0.1</near>
- <far>5</far>
- </clip>
- </camera>
- <plugin name="${name}_frame_controller" filename="libgazebo_ros_openni_kinect.so">
- <alwaysOn>true</alwaysOn>
- <updateRate>20.0</updateRate>
- <cameraName>${name}</cameraName>
- <imageTopicName>rgb/image_raw</imageTopicName>
- <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
- <depthImageTopicName>depth/image_raw</depthImageTopicName>
- <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
- <pointCloudTopicName>depth/points</pointCloudTopicName>
- <frameName>${name}_rgb_optical_frame</frameName>
- <distortionK1>0.00000001</distortionK1>
- <distortionK2>0.00000001</distortionK2>
- <distortionK3>0.00000001</distortionK3>
- <distortionT1>0.00000001</distortionT1>
- <distortionT2>0.00000001</distortionT2>
-<!-- <baseline>0.2</baseline>
- <CxPrime>320.0</CxPrime>
- <Cx>320.0</Cx>
- <Cy>240.0</Cy>
- --> <pointCloudCutoff>0.01</pointCloudCutoff>
- <!-- <focal_length>320</focal_length> -->
- <!-- <hackBaseline>0</hackBaseline> -->
- </plugin>
- </sensor>
- </gazebo>
-</xacro:macro>
-
-</root>
-
diff --git a/robot_descriptions/heron_description/urdf/primesense/primesense_camera.urdf.xacro b/robot_descriptions/heron_description/urdf/primesense/primesense_camera.urdf.xacro
deleted file mode 100644
index c55668233f325df7e09b5144e5fa8de918d71b40..0000000000000000000000000000000000000000
--- a/robot_descriptions/heron_description/urdf/primesense/primesense_camera.urdf.xacro
+++ /dev/null
@@ -1,50 +0,0 @@
-<?xml version="1.0"?>
-<root xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
- xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
- xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
- xmlns:xacro="http://www.ros.org/wiki/xacro">
-
- <xacro:include filename="$(find heron_description)/urdf/primesense/primesense_camera.gazebo.xacro" />
-
- <xacro:macro name="primesense_camera" params="name parent joint_type *origin load_gazebo_plugin">
- <joint name="${name}_frame_joint" type="${joint_type}">
- <xacro:insert_block name="origin" />
- <parent link="${parent}"/>
- <child link="${name}_link"/>
- </joint>
- <link name="${name}_link">
- <inertial>
- <mass value="0.1" />
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <inertia ixx="0.01" ixy="0.0" ixz="0.0"
- iyy="0.01" iyz="0.0"
- izz="0.01" />
- </inertial>
-
- <visual>
- <origin xyz="-0.02 0.0 0.0" rpy="${3.1415/2} 0 ${-3.1415/2}"/>
- <geometry>
- <!--<mesh filename="package://heron_description/urdf/primesense/primesense_collision.stl" scale="0.001 0.001 0.001" /> -->
- <box size="0.17 0.035 0.045"/>
- </geometry>
- <material name="DarkGrayBlack">
- <color rgba="0.1 0.1 0.1 1.0"/>
- </material>
- </visual>
-
- <collision>
- <origin xyz="-0.02 0.0 0.0" rpy="${3.1415/2} 0 ${-3.1415/2}"/>
- <geometry>
- <!--<mesh filename="package://heron_description/urdf/primesense/primesense_collision.stl" scale="0.001 0.001 0.001" /> -->
- <box size="0.17 0.035 0.045"/>
- </geometry>
- </collision>
- </link>
-
- <!-- extensions -->
- <xacro:if value="${load_gazebo_plugin}">
- <xacro:primesense_camera_gazebo name="${name}"/>
- </xacro:if>
- </xacro:macro>
-</root>
-
diff --git a/robot_descriptions/heron_description/urdf/primesense/primesense_collision.stl b/robot_descriptions/heron_description/urdf/primesense/primesense_collision.stl
deleted file mode 100644
index c24ba17a5bec6e9f99f4320c10c42a2389107c52..0000000000000000000000000000000000000000
Binary files a/robot_descriptions/heron_description/urdf/primesense/primesense_collision.stl and /dev/null differ
diff --git a/robot_descriptions/heron_description/urdf/primesense/primesense_visual.stl b/robot_descriptions/heron_description/urdf/primesense/primesense_visual.stl
deleted file mode 100644
index a9511552b3b386302dc64b2f1d70c498200067ce..0000000000000000000000000000000000000000
Binary files a/robot_descriptions/heron_description/urdf/primesense/primesense_visual.stl and /dev/null differ
diff --git a/robot_descriptions/heron_description/urdf/schunk_wsg50/finger.dae b/robot_descriptions/heron_description/urdf/schunk_wsg50/finger.dae
deleted file mode 100644
index e7b69d765fa89c7c41b6ee23d60bc505dbc5ec87..0000000000000000000000000000000000000000
--- a/robot_descriptions/heron_description/urdf/schunk_wsg50/finger.dae
+++ /dev/null
@@ -1,82 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
-<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
- <asset>
- <contributor>
- <authoring_tool>SketchUp 8.0.15157</authoring_tool>
- </contributor>
- <created>2012-12-05T10:12:10Z</created>
- <modified>2012-12-05T10:12:10Z</modified>
- <unit meter="0.0254000" name="inch" />
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diff --git a/robot_descriptions/heron_description/urdf/schunk_wsg50/finger.stl b/robot_descriptions/heron_description/urdf/schunk_wsg50/finger.stl
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diff --git a/robot_descriptions/heron_description/urdf/schunk_wsg50/schunk_wsg50.urdf.xacro b/robot_descriptions/heron_description/urdf/schunk_wsg50/schunk_wsg50.urdf.xacro
deleted file mode 100755
index 9ac6255a6d8cf06c6431abbfea003ff5e60b42bf..0000000000000000000000000000000000000000
--- a/robot_descriptions/heron_description/urdf/schunk_wsg50/schunk_wsg50.urdf.xacro
+++ /dev/null
@@ -1,234 +0,0 @@
-<?xml version="1.0"?>
-
-<robot name="lh_hardware" xmlns:xacro="http://www.ros.org/wiki/xacro">
-
-
-<!-- main gripper macro -->
-<xacro:macro name="schunk_wsg50" params="parent *origin">
- <!-- Macro for the inertia of a box -->
- <xacro:macro name="box_inertia" params="x y z mass">
- <inertia ixx="${0.0833333 * mass * (y*y + z*z)}" ixy="0.0" ixz="0.0"
- iyy="${0.0833333 * mass * (x*x + z*z)}" iyz="0.0"
- izz="${0.0833333 * mass * (x*x + y*y)}" />
- </xacro:macro>
- <!-- connector plate -->
- <joint name="gripper_connector" type="fixed">
- <xacro:insert_block name="origin"/>
- <parent link="${parent}" />
- <child link="connector_plate" />
- </joint>
- <link name="connector_plate">
- <visual>
- <origin xyz="0.01 0 0" rpy="0 0 0"/>
- <geometry>
- <box size="0.02 0.09 0.09"/>
- </geometry>
- <material name="Grey"/>
- </visual>
- <collision>
- <origin xyz="0.01 0 0" rpy="0 0 0"/>
- <geometry>
- <box size="0.02 0.09 0.09"/>
- </geometry>
- </collision>
- </link>
-
- <!-- the actual gripper main component -->
- <joint name="schunk_gripper" type="fixed">
- <origin xyz="0.02 0 0" rpy="0 0 0"/>
- <parent link="connector_plate" />
- <child link="gripper_link" />
- </joint>
-
- <link name="gripper_link">
- <inertial>
- <origin xyz="0.05 0 0" />
- <mass value="1.2" />
- <xacro:box_inertia x="0.0725" y="0.146" z="0.05" mass="1.2"/>
- </inertial>
- <visual>
- <!--<origin xyz="0 0 0 " rpy="0 0 1.570796327" />-->
- <origin xyz="0.03625 0 0" rpy="0 0 0" />
- <geometry>
- <!--<mesh filename="package://bh_description/urdf/schunk_wsg50/schunk_wsg50_main.dae" scale="0.0254 0.0254 0.0254"/>-->
- <box size="0.0725 0.146 0.05"/>
- </geometry>
- </visual>
- <collision>
- <origin xyz="0.03625 0 0" rpy="0 0 0" />
- <geometry>
- <box size="0.0725 0.146 0.05"/>
- </geometry>
- </collision>
- </link>
-
- <!-- Finger 1 -->
- <joint name="gripper_finger1_joint" type="fixed">
- <origin xyz="0.0725 0 0.0" rpy="0 0 0"/>
- <parent link="gripper_link" />
- <child link="finger1_link" />
- </joint>
-
- <link name="finger1_link">
- <visual>
- <!--<origin xyz="0 -0.05 0 " rpy="${-PI/2} 0 ${-PI/2}" />-->
- <origin xyz="0.05 -0.059 0" rpy="0 0 0" />
- <geometry>
- <box size="0.1 0.018 0.03"/>
- <!--<mesh filename="package://bh_description/urdf/schunk_wsg50/finger.dae" scale="0.0254 0.0254 0.0254"/>-->
- </geometry>
- <!--<material name="Grey"/>-->
- </visual>
- <collision>
- <!--<origin xyz="0 -0.05 0 " rpy="${-PI/2} 0 ${-PI/2}" />-->
- <origin xyz="0.05 -0.059 0" rpy="0 0 0" />
- <geometry>
- <!--<mesh filename="package://bh_description/urdf/schunk_wsg50/finger.dae" scale="0.0254 0.0254 0.0254"/>-->
- <box size="0.1 0.018 0.03"/>
- </geometry>
- </collision>
- <inertial>
- <origin xyz="0.05 -0.059 0" rpy="0 0 0" />
- <mass value="0.4" />
- <xacro:box_inertia x="0.05" y="-0.009" z="0.03" mass="0.4"/>
- </inertial>
- </link>
-
- <!-- Finger 2 -->
- <joint name="gripper_finger2_joint" type="fixed">
- <origin xyz="0.0725 0 0.0" rpy="0 0 0"/>
- <parent link="gripper_link" />
- <child link="finger2_link" />
- </joint>
-
- <link name="finger2_link">
- <visual>
- <!--<origin xyz="0 0.05 0 " rpy="${PI/2} 0 ${PI/2}" />-->
- <origin xyz="0.05 0.059 0" rpy="0 0 0" />
- <geometry>
- <!--<mesh filename="package://bh_description/urdf/schunk_wsg50/finger.dae" scale="0.0254 0.0254 0.0254"/>-->
- <box size="0.1 0.018 0.03"/>
- </geometry>
- <!--<material name="Grey"/>-->
- </visual>
- <collision>
- <!--<origin xyz="0 0.05 0 " rpy="${PI/2} 0 ${PI/2}" />-->
- <origin xyz="0.05 0.059 0" rpy="0 0 0" />
- <geometry>
- <!--<mesh filename="package://bh_description/urdf/schunk_wsg50/finger.dae" scale="0.0254 0.0254 0.0254"/>-->
- <box size="0.1 0.018 0.03"/>
- </geometry>
- </collision>
- <inertial>
- <origin xyz="0.05 0.059 0" rpy="0 0 0" />
- <mass value="0.4" />
- <xacro:box_inertia x="0.05" y="-0.009" z="0.03" mass="0.4"/>
- </inertial>
- </link>
-
- <gazebo reference="connector_plate">
- <turnGravityOff>true</turnGravityOff>
- <material>Gazebo/Gold</material>
- <mu1>0.2</mu1>
- <mu2>0.2</mu2>
- </gazebo>
-
- <gazebo reference="gripper_link">
- <turnGravityOff>true</turnGravityOff>
- <material>Gazebo/Gold</material>
- <mu1>0.2</mu1>
- <mu2>0.2</mu2>
- </gazebo>
-
- <gazebo reference="finger1_link">
- <turnGravityOff>true</turnGravityOff>
- <material>Gazebo/Gold</material>
- <mu1>0.2</mu1>
- <mu2>0.2</mu2>
- </gazebo>
-
- <gazebo reference="finger2_link">
- <turnGravityOff>true</turnGravityOff>
- <material>Gazebo/Gold</material>
- <mu1>0.2</mu1>
- <mu2>0.2</mu2>
- </gazebo>
-
- <!-- Finger 1 -->
- <!--<joint name="gripper_finger1_joint" type="prismatic">-->
- <!--<origin xyz="0.0725 0 0.0" rpy="0 0 0"/>-->
- <!--<parent link="gripper_link" />-->
- <!--<child link="finger1_link" />-->
- <!--<axis xyz="0 1 0"/>-->
- <!--<limit lower="-0.055" upper="0" velocity="0.400" effort="80"/>-->
- <!--</joint>-->
-
- <!--<link name="finger1_link">-->
- <!--<visual>-->
- <!--<origin xyz="0 0 0 " rpy="-1.570796327 0 -1.570796327" />-->
- <!--<geometry>-->
- <!--<mesh filename="package://bh_description/urdf/schunk_wsg50/finger.dae"/>-->
- <!--</geometry>-->
- <!--</visual>-->
- <!--<collision>-->
- <!--<origin xyz="0.05 -0.009 0" rpy="0 0 0" />-->
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- <!--<box size="0.1 0.018 0.03"/>-->
- <!--<mesh filename="package://bh_description/urdf/schunk_wsg50/finger.dae" scale="0.0254 0.0254 0.0254"/>-->
- <!--</geometry>-->
- <!--</collision>-->
- <!--</link>-->
-
- <!-- Finger 2 -->
- <!--<joint name="gripper_finger2_joint" type="prismatic">-->
- <!--<origin xyz="0.0725 0 0.0" rpy="0 0 0"/>-->
- <!--<parent link="gripper_link" />-->
- <!--<child link="finger2_link" />-->
- <!--<axis xyz="0 1 0"/>-->
- <!--<limit lower="0" upper="0.055" velocity="0.400" effort="80"/>-->
- <!--<mimic joint="finger2_joint" multiplier="1" offset="0"/>-->
- <!--</joint>-->
-
- <!--<link name="finger2_link">-->
- <!--<visual>-->
- <!--<origin xyz="0 0 0 " rpy="1.570796327 0 1.570796327" />-->
- <!--<geometry>-->
- <!--<mesh filename="package://bh_description/urdf/schunk_wsg50/finger.dae"/>-->
- <!--</geometry>-->
- <!--</visual>-->
- <!--<collision>-->
- <!--<origin xyz="0.05 0.009 0" rpy="0 0 0" />-->
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- <!--<box size="0.1 0.018 0.03"/>-->
- <!--<mesh filename="package://bh_description/urdf/schunk_wsg50/finger.dae" scale="0.0254 0.0254 0.0254">-->
- <!--</geometry>-->
- <!--</collision>-->
- <!--</link>-->
-
- <!-- frames for groove and tip -->
- <!--<joint name="gripper_groove_joint" type="fixed">-->
- <!--<origin xyz="0.135 0 0"/>-->
- <!--<parent link="gripper_link"/>-->
- <!--<child link="gripper_groove_frame"/>-->
- <!--</joint>-->
- <!--<link name="gripper_groove_frame"/>-->
- <!--<joint name="gripper_tip_joint" type="fixed">-->
- <!--<origin xyz="0.1725 0 0"/>-->
- <!--<parent link="gripper_link"/>-->
- <!--<child link="gripper_tip_frame"/>-->
- <!--</joint>-->
- <!--<link name="gripper_tip_frame"/>-->
-
-
- <!-- joint saying how much the gripper is open -->
- <!--<joint name="gripper_joint" type="prismatic">-->
- <!--<parent link="gripper_link"/>-->
- <!--<child link="gripper_joint"/>-->
- <!--<axis xyz="0 1 0"/>-->
- <!--<limit lower="0" upper="0.11" velocity="0.400" effort="80"/>-->
- <!--</joint>-->
- <!--<link name="gripper_joint"/>-->
-
-
-</xacro:macro>
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diff --git a/robot_descriptions/heron_description/urdf/schunk_wsg50/schunk_wsg50_main.dae b/robot_descriptions/heron_description/urdf/schunk_wsg50/schunk_wsg50_main.dae
deleted file mode 100644
index 55484036748723de17b369546e179104f88508bc..0000000000000000000000000000000000000000
--- a/robot_descriptions/heron_description/urdf/schunk_wsg50/schunk_wsg50_main.dae
+++ /dev/null
@@ -1,474 +0,0 @@
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diff --git a/robot_descriptions/heron_description/urdf/ur.gazebo.xacro b/robot_descriptions/heron_description/urdf/ur.gazebo.xacro
deleted file mode 100644
index d67a77e5157882c65f58cc4914983ecd131df3c3..0000000000000000000000000000000000000000
--- a/robot_descriptions/heron_description/urdf/ur.gazebo.xacro
+++ /dev/null
@@ -1,47 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro">
-
- <xacro:macro name="ur_arm_gazebo" params="prefix">
-
- <!-- Load Gazebo lib and set the robot namespace -->
- <!-- <gazebo>
- <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
- <robotNamespace>/${prefix}</robotNamespace>
- <robotSimType>heron_gazebo/AngularErrorFixHWSim</robotSimType>
- <legacyModeNS>true</legacyModeNS>
-
- </plugin>
- </gazebo> -->
-
- <gazebo reference="${prefix}shoulder_link">
- <turnGravityOff>true</turnGravityOff>
- <selfCollide>true</selfCollide>
- </gazebo>
- <gazebo reference="${prefix}upper_arm_link">
- <turnGravityOff>true</turnGravityOff>
- <selfCollide>true</selfCollide>
- </gazebo>
- <gazebo reference="${prefix}forearm_link">
- <turnGravityOff>true</turnGravityOff>
- <selfCollide>true</selfCollide>
- </gazebo>
- <gazebo reference="${prefix}wrist_1_link">
- <turnGravityOff>true</turnGravityOff>
- <selfCollide>true</selfCollide>
- </gazebo>
- <gazebo reference="${prefix}wrist_3_link">
- <turnGravityOff>true</turnGravityOff>
- <selfCollide>true</selfCollide>
- </gazebo>
- <gazebo reference="${prefix}wrist_2_link">
- <turnGravityOff>true</turnGravityOff>
- <selfCollide>true</selfCollide>
- </gazebo>
- <gazebo reference="${prefix}ee_link">
- <turnGravityOff>true</turnGravityOff>
- <selfCollide>true</selfCollide>
- </gazebo>
-
- </xacro:macro>
-
-</robot>
diff --git a/robot_descriptions/heron_description/urdf/ur5e.urdf.xacro b/robot_descriptions/heron_description/urdf/ur5e.urdf.xacro
deleted file mode 100644
index 127444322ce8bb318020a580547e4c1e2ee2505b..0000000000000000000000000000000000000000
--- a/robot_descriptions/heron_description/urdf/ur5e.urdf.xacro
+++ /dev/null
@@ -1,369 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro">
-
- <xacro:include filename="$(find ur_e_description)/urdf/ur.transmission.xacro" />
- <xacro:include filename="$(find heron_description)/urdf/ur.gazebo.xacro" />
-
- <xacro:macro name="cylinder_inertial" params="radius length mass *origin">
- <inertial>
- <mass value="${mass}" />
- <xacro:insert_block name="origin" />
- <inertia ixx="${0.0833333 * mass * (3 * radius * radius + length * length)}" ixy="0.0" ixz="0.0"
- iyy="${0.0833333 * mass * (3 * radius * radius + length * length)}" iyz="0.0"
- izz="${0.5 * mass * radius * radius}" />
- </inertial>
- </xacro:macro>
-
- <xacro:macro name="ur5e_robot" params="prefix joint_limited
- shoulder_pan_lower_limit:=${-pi} shoulder_pan_upper_limit:=${pi}
- shoulder_lift_lower_limit:=${-pi} shoulder_lift_upper_limit:=${pi}
- elbow_joint_lower_limit:=${-pi} elbow_joint_upper_limit:=${pi}
- wrist_1_lower_limit:=${-pi} wrist_1_upper_limit:=${pi}
- wrist_2_lower_limit:=${-pi} wrist_2_upper_limit:=${pi}
- wrist_3_lower_limit:=${-pi} wrist_3_upper_limit:=${pi}
- transmission_hw_interface:=hardware_interface/PositionJointInterface
- safety_limits:=false safety_pos_margin:=0.15
- safety_k_position:=20
- kinematics_file">
-
- <xacro:property name="_kinematics" value="${kinematics_file['kinematics']}"/>
-
- <!-- Inertia parameters -->
- <xacro:property name="base_mass" value="4.0" /> <!-- This mass might be incorrect -->
- <xacro:property name="shoulder_mass" value="3.7000" />
- <xacro:property name="upper_arm_mass" value="8.3930" />
- <xacro:property name="forearm_mass" value="2.2750" />
- <xacro:property name="wrist_1_mass" value="1.2190" />
- <xacro:property name="wrist_2_mass" value="1.2190" />
- <xacro:property name="wrist_3_mass" value="0.1879" />
-
- <xacro:property name="shoulder_cog" value="0.0 0.00193 -0.02561" />
- <xacro:property name="upper_arm_cog" value="0.0 -0.024201 0.2125" />
- <xacro:property name="forearm_cog" value="0.0 0.0265 0.11993" />
- <xacro:property name="wrist_1_cog" value="0.0 0.110949 0.01634" />
- <xacro:property name="wrist_2_cog" value="0.0 0.0018 0.11099" />
- <xacro:property name="wrist_3_cog" value="0.0 0.001159 0.0" />
-
- <!-- Arbitrary offsets for shoulder/elbow joints -->
- <xacro:property name="shoulder_offset" value="0.138" />
- <xacro:property name="elbow_offset" value="0.007" />
- <xacro:property name="upper_arm_inertia_offset" value="0.138" /> <!-- measured from model -->
-
- <!-- link lengths used in model -->
-
- <xacro:property name="shoulder_radius" value="0.060" /> <!-- manually measured -->
- <xacro:property name="upper_arm_radius" value="0.054" /> <!-- manually measured -->
- <xacro:property name="elbow_radius" value="0.060" /> <!-- manually measured -->
- <xacro:property name="forearm_radius" value="0.040" /> <!-- manually measured -->
- <xacro:property name="wrist_radius" value="0.045" /> <!-- manually measured -->
-
- <!-- This is for compatibility reasons, as transformation between base and base_link was always 180 degree in the ur_description -->
- <xacro:property name="base_correction" value="${pi}" />
-
- <link name="${prefix}base_link" >
- <visual>
- <origin xyz="0 0 0" rpy="0 0 ${base_correction}"/>
- <geometry>
- <mesh filename="package://ur_e_description/meshes/ur5e/visual/base.dae" />
- </geometry>
- <material name="LightGrey">
- <color rgba="0.7 0.7 0.7 1.0"/>
- </material>
- </visual>
- <collision>
- <origin xyz="0 0 0" rpy="0 0 ${base_correction}"/>
- <geometry>
- <mesh filename="package://ur_e_description/meshes/ur5e/collision/base.stl" />
- </geometry>
- </collision>
- <xacro:cylinder_inertial radius="0.06" length="0.05" mass="${base_mass}">
- <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
- </xacro:cylinder_inertial>
- </link>
-
- <joint name="${prefix}shoulder_pan_joint" type="revolute">
- <parent link="${prefix}base_link" />
- <child link = "${prefix}shoulder_link" />
- <origin xyz="${_kinematics['shoulder']['x']} ${_kinematics['shoulder']['y']} ${_kinematics['shoulder']['z']}" rpy="${_kinematics['shoulder']['roll']} ${_kinematics['shoulder']['pitch']} ${_kinematics['shoulder']['yaw'] + base_correction}" />
- <axis xyz="0 0 1" />
- <xacro:unless value="${joint_limited}">
- <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="150.0" velocity="3.14"/>
- <xacro:if value="${safety_limits}">
- <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
- </xacro:if>
- </xacro:unless>
- <xacro:if value="${joint_limited}">
- <limit lower="${shoulder_pan_lower_limit}" upper="${shoulder_pan_upper_limit}" effort="150.0" velocity="3.14"/>
- <xacro:if value="${safety_limits}">
- <safety_controller soft_lower_limit="${shoulder_pan_lower_limit + safety_pos_margin}" soft_upper_limit="${shoulder_pan_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
- </xacro:if>
- </xacro:if>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
-
- <link name="${prefix}shoulder_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 ${pi}"/>
- <geometry>
- <mesh filename="package://ur_e_description/meshes/ur5e/visual/shoulder.dae" />
- </geometry>
- <material name="LightGrey">
- <color rgba="0.7 0.7 0.7 1.0"/>
- </material>
- </visual>
- <collision>
- <origin xyz="0 0 0" rpy="0 0 ${pi}"/>
- <geometry>
- <mesh filename="package://ur_e_description/meshes/ur5e/collision/shoulder.stl" />
- </geometry>
- </collision>
- <xacro:cylinder_inertial radius="0.06" length="0.15" mass="${shoulder_mass}">
- <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
- </xacro:cylinder_inertial>
- </link>
-
- <joint name="${prefix}shoulder_lift_joint" type="revolute">
- <parent link="${prefix}shoulder_link" />
- <child link = "${prefix}upper_arm_link" />
- <origin xyz="${_kinematics['upper_arm']['x']} ${_kinematics['upper_arm']['y']} ${_kinematics['upper_arm']['z']}" rpy="${_kinematics['upper_arm']['roll']} ${_kinematics['upper_arm']['pitch']} ${_kinematics['upper_arm']['yaw']}" />
- <axis xyz="0 0 1" />
- <xacro:unless value="${joint_limited}">
- <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="150.0" velocity="3.14"/>
- <xacro:if value="${safety_limits}">
- <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
- </xacro:if>
- </xacro:unless>
- <xacro:if value="${joint_limited}">
- <limit lower="${shoulder_lift_lower_limit}" upper="${shoulder_lift_upper_limit}" effort="150.0" velocity="3.14"/>
- <xacro:if value="${safety_limits}">
- <safety_controller soft_lower_limit="${shoulder_lift_lower_limit + safety_pos_margin}" soft_upper_limit="${shoulder_lift_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
- </xacro:if>
- </xacro:if>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
-
- <link name="${prefix}upper_arm_link">
- <visual>
- <origin xyz="0 0 ${shoulder_offset}" rpy="${pi/2} 0 ${-pi/2}"/>
- <geometry>
- <mesh filename="package://ur_e_description/meshes/ur5e/visual/upperarm.dae" />
- </geometry>
- <material name="LightGrey">
- <color rgba="0.7 0.7 0.7 1.0"/>
- </material>
- </visual>
- <collision>
- <origin xyz="0 0 ${shoulder_offset}" rpy="${pi/2} 0 ${-pi/2}"/>
- <geometry>
- <mesh filename="package://ur_e_description/meshes/ur5e/collision/upperarm.stl" />
- </geometry>
- </collision>
- <xacro:cylinder_inertial radius="0.075" length="${-1*_kinematics['forearm']['x']}" mass="${upper_arm_mass}">
- <origin xyz="${0.5*_kinematics['forearm']['x']} 0.0 ${upper_arm_inertia_offset}" rpy="0 ${pi/2} 0" />
- </xacro:cylinder_inertial>
- </link>
-
- <joint name="${prefix}elbow_joint" type="revolute">
- <parent link="${prefix}upper_arm_link" />
- <child link = "${prefix}forearm_link" />
- <origin xyz="${_kinematics['forearm']['x']} ${_kinematics['forearm']['y']} ${_kinematics['forearm']['z']}" rpy="${_kinematics['forearm']['roll']} ${_kinematics['forearm']['pitch']} ${_kinematics['forearm']['yaw']}" />
- <axis xyz="0 0 1" />
- <xacro:unless value="${joint_limited}">
- <limit lower="${-pi}" upper="${pi}" effort="150.0" velocity="3.14"/>
- <xacro:if value="${safety_limits}">
- <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
- </xacro:if>
- </xacro:unless>
- <xacro:if value="${joint_limited}">
- <limit lower="${elbow_joint_lower_limit}" upper="${elbow_joint_upper_limit}" effort="150.0" velocity="3.14"/>
- <xacro:if value="${safety_limits}">
- <safety_controller soft_lower_limit="${elbow_joint_lower_limit + safety_pos_margin}" soft_upper_limit="${elbow_joint_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
- </xacro:if>
- </xacro:if>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
-
- <link name="${prefix}forearm_link">
- <visual>
- <origin xyz="0 0 ${elbow_offset}" rpy="${pi/2} 0 ${-pi/2}"/>
- <geometry>
- <mesh filename="package://ur_e_description/meshes/ur5e/visual/forearm.dae" />
- </geometry>
- <material name="LightGrey">
- <color rgba="0.7 0.7 0.7 1.0"/>
- </material>
- </visual>
- <collision>
- <origin xyz="0 0 ${elbow_offset}" rpy="${pi/2} 0 ${-pi/2}"/>
- <geometry>
- <mesh filename="package://ur_e_description/meshes/ur5e/collision/forearm.stl" />
- </geometry>
- </collision>
- <xacro:cylinder_inertial radius="0.075" length="${-1*_kinematics['wrist_1']['x']}" mass="${forearm_mass}">
- <origin xyz="${0.5*_kinematics['forearm']['x']} 0.0 ${elbow_offset}" rpy="0 ${pi/2} 0" />
- </xacro:cylinder_inertial>
- </link>
-
- <joint name="${prefix}wrist_1_joint" type="revolute">
- <parent link="${prefix}forearm_link" />
- <child link = "${prefix}wrist_1_link" />
- <origin xyz="${_kinematics['wrist_1']['x']} ${_kinematics['wrist_1']['y']} ${_kinematics['wrist_1']['z']}" rpy="${_kinematics['wrist_1']['roll']} ${_kinematics['wrist_1']['pitch']} ${_kinematics['wrist_1']['yaw']}" />
- <axis xyz="0 0 1" />
- <xacro:unless value="${joint_limited}">
- <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="28.0" velocity="6.28"/>
- <xacro:if value="${safety_limits}">
- <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
- </xacro:if>
- </xacro:unless>
- <xacro:if value="${joint_limited}">
- <limit lower="${wrist_1_lower_limit}" upper="${wrist_1_upper_limit}" effort="28.0" velocity="6.28"/>
- <xacro:if value="${safety_limits}">
- <safety_controller soft_lower_limit="${wrist_1_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_1_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
- </xacro:if>
- </xacro:if>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
-
- <link name="${prefix}wrist_1_link">
- <visual>
- <origin xyz="0 0 -0.127" rpy="${pi/2} 0 0"/>
- <geometry>
- <mesh filename="package://ur_e_description/meshes/ur5e/visual/wrist1.dae" />
- </geometry>
- <material name="LightGrey">
- <color rgba="0.7 0.7 0.7 1.0"/>
- </material>
- </visual>
- <collision>
- <origin xyz="0 0 -0.127" rpy="${pi/2} 0 0"/>
- <geometry>
- <mesh filename="package://ur_e_description/meshes/ur5e/collision/wrist1.stl" />
- </geometry>
- </collision>
- <xacro:cylinder_inertial radius="0.075" length="${-1*_kinematics['wrist_2']['y']}" mass="${wrist_1_mass}">
- <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
- </xacro:cylinder_inertial>
- </link>
-
- <joint name="${prefix}wrist_2_joint" type="revolute">
- <parent link="${prefix}wrist_1_link" />
- <child link = "${prefix}wrist_2_link" />
- <origin xyz="${_kinematics['wrist_2']['x']} ${_kinematics['wrist_2']['y']} ${_kinematics['wrist_2']['z']}" rpy="${_kinematics['wrist_2']['roll']} ${_kinematics['wrist_2']['pitch']} ${_kinematics['wrist_2']['yaw']}" />
- <axis xyz="0 0 1" />
- <xacro:unless value="${joint_limited}">
- <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="28.0" velocity="6.28"/>
- <xacro:if value="${safety_limits}">
- <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
- </xacro:if>
- </xacro:unless>
- <xacro:if value="${joint_limited}">
- <limit lower="${wrist_2_lower_limit}" upper="${wrist_2_upper_limit}" effort="28.0" velocity="6.28"/>
- <xacro:if value="${safety_limits}">
- <safety_controller soft_lower_limit="${wrist_2_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_2_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
- </xacro:if>
- </xacro:if>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
-
- <link name="${prefix}wrist_2_link">
- <visual>
- <origin xyz="0 0 -0.0997" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://ur_e_description/meshes/ur5e/visual/wrist2.dae" />
- </geometry>
- <material name="LightGrey">
- <color rgba="0.7 0.7 0.7 1.0"/>
- </material>
- </visual>
- <collision>
- <origin xyz="0 0 -0.0997" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://ur_e_description/meshes/ur5e/collision/wrist2.stl" />
- </geometry>
- </collision>
- <xacro:cylinder_inertial radius="0.075" length="${_kinematics['wrist_3']['y']}" mass="${wrist_2_mass}">
- <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
- </xacro:cylinder_inertial>
- </link>
-
- <joint name="${prefix}wrist_3_joint" type="revolute">
- <parent link="${prefix}wrist_2_link" />
- <child link = "${prefix}wrist_3_link" />
- <origin xyz="${_kinematics['wrist_3']['x']} ${_kinematics['wrist_3']['y']} ${_kinematics['wrist_3']['z']}" rpy="${_kinematics['wrist_3']['roll']} ${_kinematics['wrist_3']['pitch']} ${_kinematics['wrist_3']['yaw']}" />
- <axis xyz="0 0 1" />
- <xacro:unless value="${joint_limited}">
- <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="28.0" velocity="6.28"/>
- <xacro:if value="${safety_limits}">
- <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
- </xacro:if>
- </xacro:unless>
- <xacro:if value="${joint_limited}">
- <limit lower="${wrist_3_lower_limit}" upper="${wrist_3_upper_limit}" effort="28.0" velocity="6.28"/>
- <xacro:if value="${safety_limits}">
- <safety_controller soft_lower_limit="${wrist_3_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_3_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
- </xacro:if>
- </xacro:if>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
-
- <link name="${prefix}wrist_3_link">
- <visual>
- <origin xyz="0 0 -0.0989" rpy="${pi/2} 0 0"/>
- <geometry>
- <mesh filename="package://ur_e_description/meshes/ur5e/visual/wrist3.dae" />
- </geometry>
- <material name="LightGrey">
- <color rgba="0.7 0.7 0.7 1.0"/>
- </material>
- </visual>
- <collision>
- <origin xyz="0 0 -0.0989" rpy="${pi/2} 0 0"/>
- <geometry>
- <mesh filename="package://ur_e_description/meshes/ur5e/collision/wrist3.stl" />
- </geometry>
- </collision>
- <xacro:cylinder_inertial radius="0.045" length="0.05" mass="${wrist_3_mass}">
- <origin xyz="0.0 0.0 ${-0.05/2}" rpy="0 0 0" />
- </xacro:cylinder_inertial>
- </link>
-
- <joint name="${prefix}ee_fixed_joint" type="fixed">
- <parent link="${prefix}wrist_3_link" />
- <child link = "${prefix}ee_link" />
- <origin xyz="0.0 0.0 0.0" rpy="0.0 ${-pi/2.0} ${pi/2.0}" />
- </joint>
-
- <link name="${prefix}ee_link">
- <collision>
- <geometry>
- <box size="0.01 0.01 0.01"/>
- </geometry>
- <origin rpy="0 0 0" xyz="-0.01 0 0"/>
- </collision>
- </link>
-
- <xacro:ur_arm_transmission prefix="${prefix}" />
- <xacro:ur_arm_gazebo prefix="${prefix}" />
-
- <!-- ROS base_link to UR 'Base' Coordinates transform -->
- <link name="${prefix}base"/>
- <joint name="${prefix}base_link-base_fixed_joint" type="fixed">
- <!-- NOTE: this rotation is only needed as long as base_link itself is
- not corrected wrt the real robot (ie: rotated over 180
- degrees)
- -->
- <origin xyz="0 0 0" rpy="0 0 ${-base_correction}"/>
- <parent link="${prefix}base_link"/>
- <child link="${prefix}base"/>
- </joint>
-
- <!-- Frame coincident with all-zeros TCP on UR controller -->
- <link name="${prefix}tool0"/>
- <joint name="${prefix}wrist_3_link-tool0_fixed_joint" type="fixed">
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <parent link="${prefix}wrist_3_link"/>
- <child link="${prefix}tool0"/>
- </joint>
-
- </xacro:macro>
-</robot>