diff --git a/Dockerfile b/Dockerfile
index 0f686595b2e4bc560af339975a776a3602712f30..863126d837adfa2d34b271b082b8304980baa71d 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -15,8 +15,10 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
sudo \
man-db \
manpages-posix \
+ iputils-ping \
arp-scan \
# nice to have
+ python3-opencv \
vim \
vim-addon-manager \
vim-youcompleteme \
diff --git a/README.md b/README.md
index 0976f007934c51c6f5e429461524aab919b0089d..3773ad268d5b396f0f7a478abeedb83d79894937 100644
--- a/README.md
+++ b/README.md
@@ -1,7 +1,7 @@
# general info
-------------
This is a software library for robot manipulator control.
-Its existance serves two main goals:
+Its existence serves two main goals:
1. to speed up the development, testing and deployment
of new model-based control techniques
2. to provide the introductory robot control software stack for
@@ -11,10 +11,20 @@ These goals are achieved through the following.
Its is designed to be as simple as possible, both in terms of logic
and the total amount of code. Its skeleton provides only a common
interface to both real and simulated robots,
-and a wrapper around control loops to be written by the users.
+and a wrapper around control loops which are to be written by the users.
It also provides basic control examples like inverse kinematics
point to point motion, which serve both as usage examples,
and as basic building blocks for higher level control.
+
+Note that this simplicity comes at the cost of some comfort -
+if this library was a car it would be Lada Niva,
+not an S-class Mercedes. It is easy to fix or replace any part,
+and it runs though all weather conditions and deep mud.
+But there is no power steering, let alone seat heating or
+an "infotainment system". And windows are adjust manually with rotating knobs.
+My personal belief is that software should get out of the way
+of the fact that a robotic manipulator is just 6+ motorized pendulums,
+the control of which are easy provided adequate mathematical background.
Here is some basic technical information:
- code is developed on Arch Linux, also tested on Ubuntu 22, should work on any Linux
@@ -49,6 +59,7 @@ In the examples directory.
- some basic controllers in python/ur_simple_control/basics
- clik and extensions in python/ur_simple_control/clik
- dmp in python/ur_simple_control/dmp
+- optimal control in python/ur_simple_control/optimal_control
- more algorithms will be added over time
- visualization in python/ur_simple_control/visualize
- some basic tests will be here as well, while full projects built on this repo will be in separate repos
@@ -62,7 +73,7 @@ In the examples directory.
- ur_rtde
- pinocchio
- short instructions on installing Ubuntu and the project Docker image
-- code is well documented and short and simple enough to be simple read to be understood
+- code is well documented and short and simple enough to simply be read to be understood
- documentation will be expanded according to demand
# libraries used and their purpose
diff --git a/TODOS_2024_09_19 b/TODOS_2024_09_19
index ccc314f16944f25eec85e570f8e7c9b3bbe0d13f..669d1df520a9f59104bee11c06487f128aee9d00 100644
--- a/TODOS_2024_09_19
+++ b/TODOS_2024_09_19
@@ -23,7 +23,7 @@ goal 1: usability, verifiability
goal 2: clean up the code
---------------------------
-1. test to see everything works
+1. write basic tests to see everything works (if they require eyeballs so be it)
2. fix logging a bit (add a function which combines logs of different runs
of a 'session' or at least names all logs in a run)
3. use python's logging instead of printing
diff --git a/python/examples/camera_no_lag.py b/python/examples/camera_no_lag.py
new file mode 100644
index 0000000000000000000000000000000000000000..41c1406e9e45e6353af6b99cbb2714cc04143bed
--- /dev/null
+++ b/python/examples/camera_no_lag.py
@@ -0,0 +1,21 @@
+import cv2
+
+#camera = cv2.VideoCapture(0)
+camera = cv2.VideoCapture("http://192.168.219.153:8080/video")
+
+while True:
+ (grabbed, frame) = camera.read()
+# frame = cv2.flip(frame, 1)
+ scale_percent = 100 # percent of original size
+ width = int(frame.shape[1] * scale_percent / 100)
+ height = int(frame.shape[0] * scale_percent / 100)
+ dim = (width, height)
+
+ # resize image
+ frame = cv2.resize(frame, dim, interpolation = cv2.INTER_AREA)
+# frame = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
+ cv2.imshow("camera", frame)
+ keypress = cv2.waitKey(1) & 0xFF
+
+ if keypress == ord("q"):
+ break
diff --git a/python/examples/clik.py b/python/examples/clik.py
index c5a8c58865919327900ef61af5e4fd1b8169a924..dd6791f7ec2e601110679a3063a064957da7c576 100644
--- a/python/examples/clik.py
+++ b/python/examples/clik.py
@@ -33,11 +33,12 @@ def get_args():
if __name__ == "__main__":
args = get_args()
robot = RobotManager(args)
- Mgoal = robot.defineGoalPointCLI()
- compliantMoveL(args, robot, Mgoal)
+ #Mgoal = robot.defineGoalPointCLI()
+ #compliantMoveL(args, robot, Mgoal)
+ #robot.closeGripper()
+ time.sleep(6.0)
robot.closeGripper()
- time.sleep(2.0)
- robot.openGripper()
+ #robot.openGripper()
if not args.pinocchio_only:
print("stopping via freedrive lel")
robot.rtde_control.freedriveMode()
diff --git a/python/examples/drawing_from_input_drawing.py b/python/examples/drawing_from_input_drawing.py
index 51f3c262eefad9207c80ec87783c4d5c2826e9a5..f602be7223fc3d95390bb3de8d029e3fe73cc0d4 100644
--- a/python/examples/drawing_from_input_drawing.py
+++ b/python/examples/drawing_from_input_drawing.py
@@ -19,7 +19,7 @@ from ur_simple_control.clik.clik import getClikArgs, getClikController, moveL, m
from ur_simple_control.util.map2DPathTo3DPlane import map2DPathTo3DPlane
from ur_simple_control.managers import getMinimalArgParser, ControlLoopManager, RobotManager
from ur_simple_control.util.calib_board_hacks import getBoardCalibrationArgs, calibratePlane, getSpeedInDirectionOfN
-from ur_simple_control.basics.basics import moveJ
+from ur_simple_control.basics.basics import moveJPI
#######################################################################
# arguments #
@@ -33,14 +33,14 @@ def getArgs():
parser = getClikArgs(parser)
parser = getDMPArgs(parser)
parser = getBoardCalibrationArgs(parser)
+ parser.description = 'Make a drawing on screen,\
+ watch the robot do it on the whiteboard.'
parser.add_argument('--kp', type=float, \
help="proportial control constant for position errors", \
default=1.0)
parser.add_argument('--kv', type=float, \
help="damping in impedance control", \
default=0.001)
- parser.description = 'Make a drawing on screen,\
- watch the robot do it on the whiteboard.'
parser.add_argument('--draw-new', action=argparse.BooleanOptionalAction, \
help="whether draw a new picture, or use the saved path path_in_pixels.csv", default=True)
parser.add_argument('--pick-up-marker', action=argparse.BooleanOptionalAction, \
@@ -125,7 +125,7 @@ def getMarker(args, robot, rotation_matrix, translation_vector):
# in fact all of them should be
robot.Mgoal = Tinit.copy()
#compliantMoveL(args, robot, Tinit.copy())
- moveJ(args, robot, q_init)
+ moveJPI(args, robot, q_init)
#moveL(args, robot, Tinit.copy())
print("got back")
@@ -300,6 +300,9 @@ if __name__ == "__main__":
print(args)
clikController = getClikController(args)
robot = RobotManager(args)
+ if args.pinocchio_only:
+ robot.q = np.array([ 1.32022870e+00, -1.40114772e+00, -1.27237797e+00, -1.15715911e+00,
+ 1.76543856e+00, -2.38652054e-01, 2.94117647e-04, 2.94117647e-04]) + np.random.random(8) * 0.1
# calibrate FT first
# it's done by default now because it's basically always necessary
@@ -327,7 +330,7 @@ if __name__ == "__main__":
print(q_init)
print(rotation_matrix)
print(translation_vector)
- #exit()
+ exit()
else:
# TODO: save this somewhere obviously
# also make it prettier if possible
@@ -347,8 +350,9 @@ if __name__ == "__main__":
rotation_matrix = np.array([[ 1. , 0. ,0.0139409 ],
[ 0., -0.61730976 , 0.78659666],
[ 0., -0.78659666 ,-0.61730976]])
- q_init = np.array([ 1.32022870e+00, -1.40114772e+00, -1.27237797e+00, -1.15715911e+00,
- 1.76543856e+00, -2.38652054e-01, 2.94117647e-04, 2.94117647e-04])
+ #q_init = np.array([ 1.32022870e+00, -1.40114772e+00, -1.27237797e+00, -1.15715911e+00, \
+ # 1.76543856e+00, -2.38652054e-01, 2.94117647e-04, 2.94117647e-04])
+ q_init = np.array([1.175, -1.44, -1.283, -1.079, 2.035, -1.887, 0.0, 0.0])
#q_init = robot.getQ()
#T_w_e = robot.getT_w_e()
#rotation_matrix = np.array([
@@ -380,7 +384,9 @@ if __name__ == "__main__":
#path = path + np.array([0.0, 0.0, -1 * marker_offset + 0.003])
path = path + np.array([0.0, 0.0, -1 * marker_offset + 0.005])
else:
+ # old robotweek
path = path + np.array([0.0, 0.0, -1 * marker_offset + 0.015])
+ path = path + np.array([0.0, 0.0, -1 * marker_offset + 0.025])
else:
#path = path + np.array([0.0, 0.0, -0.1503])
path = path + np.array([0.0, 0.0, - 0.092792+ 0.003])
diff --git a/python/examples/joint_trajectory.csv b/python/examples/joint_trajectory.csv
index 08a8b749d059f70b245fc4ab6594193cb5d6c2b4..193c9faf45cdc8f2e34e801a0bfad0216e652d09 100644
--- a/python/examples/joint_trajectory.csv
+++ b/python/examples/joint_trajectory.csv
@@ -1,4643 +1,1570 @@
-0.00000,1.22214,-1.36167,-1.31325,-1.16214,1.84282,-0.22012
-0.00108,1.22199,-1.36117,-1.31415,-1.16178,1.84293,-0.22021
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diff --git a/python/examples/path_in_pixels.csv b/python/examples/path_in_pixels.csv
index 4cb8ed50a18b76585680c581358239ad6ce96602..295ab5a4b74aaaa7dfb5c201039c6308e0cc469c 100644
--- a/python/examples/path_in_pixels.csv
+++ b/python/examples/path_in_pixels.csv
@@ -1,80 +1,80 @@
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diff --git a/python/examples/point_impedance_control.py b/python/examples/point_impedance_control.py
index 1a2728ff68c363efbd13b2685028a74c00ba95ae..b4ad43001e06ef47c426e5cdff3e4b32059ac2e3 100644
--- a/python/examples/point_impedance_control.py
+++ b/python/examples/point_impedance_control.py
@@ -9,7 +9,7 @@ from ur_simple_control.util.draw_path import drawPath
from ur_simple_control.dmp.dmp import DMP, NoTC,TCVelAccConstrained
from ur_simple_control.clik.clik import getClikArgs, getClikController, moveL, moveUntilContact
from ur_simple_control.managers import getMinimalArgParser, ControlLoopManager, RobotManager
-from ur_simple_control.basics.basics import moveJ
+from ur_simple_control.basics.basics import moveJPI
#######################################################################
# arguments #
diff --git a/python/joint_trajectory.csv b/python/joint_trajectory.csv
deleted file mode 100644
index 215c720d7216a130bf9f933d7233e47678cad7d9..0000000000000000000000000000000000000000
--- a/python/joint_trajectory.csv
+++ /dev/null
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-4.85317,0.91554,-1.37200,-1.47914,-1.03130,2.08356,-0.42253
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-4.97902,0.91786,-1.39042,-1.44709,-1.04388,2.08174,-0.42066
-4.98165,0.91780,-1.39085,-1.44642,-1.04414,2.08178,-0.42071
-4.98427,0.91774,-1.39127,-1.44575,-1.04440,2.08183,-0.42076
-4.98689,0.91767,-1.39169,-1.44510,-1.04466,2.08187,-0.42081
-4.98951,0.91761,-1.39210,-1.44446,-1.04491,2.08191,-0.42085
-4.99213,0.91755,-1.39250,-1.44383,-1.04516,2.08196,-0.42090
-4.99476,0.91749,-1.39289,-1.44321,-1.04541,2.08200,-0.42095
-4.99738,0.91743,-1.39328,-1.44259,-1.04566,2.08204,-0.42099
-5.00000,0.91737,-1.39367,-1.44199,-1.04590,2.08208,-0.42104
diff --git a/python/path_in_pixels.csv b/python/path_in_pixels.csv
deleted file mode 100644
index ba1cb6c36bf0c1c30ed5ae2367f025ba9d79400e..0000000000000000000000000000000000000000
--- a/python/path_in_pixels.csv
+++ /dev/null
@@ -1,104 +0,0 @@
-0.25625,0.48783
-0.25086,0.48912
-0.24682,0.49298
-0.24008,0.49941
-0.23200,0.50971
-0.22257,0.52258
-0.21719,0.53417
-0.21315,0.54189
-0.21045,0.54961
-0.21045,0.56248
-0.21719,0.58308
-0.22257,0.59724
-0.23739,0.62169
-0.24412,0.62813
-0.25625,0.63971
-0.27510,0.65258
-0.29261,0.66288
-0.30743,0.66931
-0.33571,0.67961
-0.37477,0.68219
-0.40845,0.68219
-0.43000,0.68219
-0.45693,0.67961
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-0.49465,0.67575
-0.50812,0.67189
-0.52293,0.66803
-0.54717,0.65644
-0.55391,0.65258
-0.56199,0.64615
-0.57007,0.63971
-0.57815,0.63327
-0.58758,0.62555
-0.60913,0.59724
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-0.61721,0.57664
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diff --git a/python/ur_simple_control/managers.py b/python/ur_simple_control/managers.py
index 91b4b43ad7ccb364c844688fd7b511a2024d08d4..eb33ff86b2a7a8a06a9ab71eff293aec8f4f337c 100644
--- a/python/ur_simple_control/managers.py
+++ b/python/ur_simple_control/managers.py
@@ -113,7 +113,7 @@ def getMinimalArgParser():
default='./data')
parser.add_argument('--run-name', type=str, \
help="name the whole run/experiment (name of log file). note that indexing of runs is automatic and under a different argument.", \
- default='none')
+ default='latest_run')
parser.add_argument('--index-runs', action=argparse.BooleanOptionalAction, \
help="if you want more runs of the same name, this option will automatically assign an index to a new run (useful for data collection).", default=True)
parser.add_argument('--past-window-size', type=int, \
@@ -341,6 +341,8 @@ class ControlLoopManager:
print("putting it to freedrive for good measure too")
self.robot_manager.rtde_control.freedriveMode()
+ if args.save_log:
+ self.robot_manager.log_manager.saveLog()
# set kill command and join visualization processes
# TODO: actually send them a SIGINT and a SIGKILL if necessary
if self.args.real_time_plotting:
diff --git a/python/ur_simple_control/util/logging_utils.py b/python/ur_simple_control/util/logging_utils.py
index 3e80eef1d08852b88281c2e73cc8b6f61b5bb0b4..291500fb6ddb8b265d68cd0bad2abf2c75c4a265 100644
--- a/python/ur_simple_control/util/logging_utils.py
+++ b/python/ur_simple_control/util/logging_utils.py
@@ -25,7 +25,7 @@ class LogManager:
self.loop_number = 0
# name the run
self.run_name = 'latest_run'
- if self.args.run_name != 'none':
+ if self.args.run_name != 'latest_run':
self.run_name = self.args.run_name
# assign save directory
if args.save_dir != "./data":
@@ -68,6 +68,8 @@ class LogManager:
self.loop_logs[control_loop_name][key] = np.array(self.loop_logs[control_loop_name][key])
if cleanUpRun:
self.cleanUpRun()
+ print(f"data is ready, logmanager will now save your logs to \
+ {self.save_file_path}")
log_file = open(self.save_file_path, 'wb')
pickle.dump(self.__dict__, log_file)
log_file.close()
diff --git a/robot_descriptions/heron_description/CMakeLists.txt b/robot_descriptions/heron_description/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7e9576faabbfbce19d4fab304b671313c0a70319
--- /dev/null
+++ b/robot_descriptions/heron_description/CMakeLists.txt
@@ -0,0 +1,4 @@
+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
new file mode 100644
index 0000000000000000000000000000000000000000..f579e7887214a7313e037fbd5607ef1ecc9231d8
--- /dev/null
+++ b/robot_descriptions/heron_description/config/joint_publisher_config.yaml
@@ -0,0 +1,3 @@
+rate: 50
+source_list:
+ []
diff --git a/robot_descriptions/heron_description/launch/robot_description.launch b/robot_descriptions/heron_description/launch/robot_description.launch
new file mode 100644
index 0000000000000000000000000000000000000000..bf7c376589844a7158f759a178acc551d95eff44
--- /dev/null
+++ b/robot_descriptions/heron_description/launch/robot_description.launch
@@ -0,0 +1,29 @@
+<?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="$(arg js_config)" />
+ </node-->
+</launch>
\ No newline at end of file
diff --git a/robot_descriptions/heron_description/package.xml b/robot_descriptions/heron_description/package.xml
new file mode 100644
index 0000000000000000000000000000000000000000..00eb54a005ab79ef9b573cfcbfba0979e13cd706
--- /dev/null
+++ b/robot_descriptions/heron_description/package.xml
@@ -0,0 +1,13 @@
+<package>
+ <name>heron_description</name>
+ <version>1.0.0</version>
+ <description>
+ Launch files for Heron demos
+ </description>
+ <maintainer email="matthias.mayr@cs.lth.se">Matthias Mayr</maintainer>
+ <license>BSD</license>
+ <author>Matthias Mayr</author>
+
+ <buildtool_depend>catkin</buildtool_depend>
+</package>
+
diff --git a/robot_descriptions/heron_description/robots/heron.urdf b/robot_descriptions/heron_description/robots/heron.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/robot_descriptions/heron_description/robots/heron.urdf.xacro b/robot_descriptions/heron_description/robots/heron.urdf.xacro
new file mode 100755
index 0000000000000000000000000000000000000000..75779222ab3389cfc9e3cc457d07bd9cbc2d09e8
--- /dev/null
+++ b/robot_descriptions/heron_description/robots/heron.urdf.xacro
@@ -0,0 +1,106 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="heron">
+ <xacro:property name="PI" value="3.1415926535897931"/>
+ <!-- Variables -->
+ <xacro:arg name="arm_name" default="ur5e_"/>
+ <xacro:arg name="prefix" default="mir/"/>
+ <xacro:arg name="kinematics_config" default="$(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
new file mode 100644
index 0000000000000000000000000000000000000000..7b6ee84c77ff3a1a2f6782e85084eaddf3a6b497
--- /dev/null
+++ b/robot_descriptions/heron_description/urdf/cube_base.urdf.xacro
@@ -0,0 +1,51 @@
+<?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} ${chassis_size_z}"/>
+ </geometry>
+ </collision>
+ </link>
+
+ <gazebo reference="box_link">
+ <material>Gazebo/Orange</material>
+ <mu1>0.2</mu1>
+ <mu2>0.2</mu2>
+ </gazebo>
+
+</xacro:macro>
+</robot>
diff --git a/robot_descriptions/heron_description/urdf/mir_with_cabinet.urdf.xacro b/robot_descriptions/heron_description/urdf/mir_with_cabinet.urdf.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..af2ab6a9e49a3c7d04549fda6e005b29322b3f8d
--- /dev/null
+++ b/robot_descriptions/heron_description/urdf/mir_with_cabinet.urdf.xacro
@@ -0,0 +1,103 @@
+<?xml version="1.0"?>
+
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="mir_with_cabinet">
+
+ <xacro:property name="pi" value="3.1415926535897931" />
+ <xacro:arg name="publish_robot" default="false" />
+
+ <!-- Defining material color -->
+ <material name="mir_blue">
+ <color rgba="0 0 0.8 1"/>
+ </material>
+
+ <material name="mir_white">
+ <color rgba="1 1 1 1"/>
+ </material>
+
+ <xacro:macro name="mir_with_cabinet" params="prefix">
+
+ <!-- MiR100 base -->
+ <xacro:include filename="$(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="$(arg publish_robot)">
+ <mir_with_cabinet prefix="mir/"/>
+ </xacro:if>
+
+</robot>
diff --git a/robot_descriptions/heron_description/urdf/primesense/primesense_camera.gazebo.xacro b/robot_descriptions/heron_description/urdf/primesense/primesense_camera.gazebo.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..833ae1151c7ad968b2de3fb23ac42e98087d49f5
--- /dev/null
+++ b/robot_descriptions/heron_description/urdf/primesense/primesense_camera.gazebo.xacro
@@ -0,0 +1,53 @@
+<?xml version="1.0"?>
+<root xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+<xacro:macro name="primesense_camera_gazebo" params="name">
+ <gazebo reference="${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>${name}_rgb_optical_frame</frameName>
+ <distortionK1>0.00000001</distortionK1>
+ <distortionK2>0.00000001</distortionK2>
+ <distortionK3>0.00000001</distortionK3>
+ <distortionT1>0.00000001</distortionT1>
+ <distortionT2>0.00000001</distortionT2>
+<!-- <baseline>0.2</baseline>
+ <CxPrime>320.0</CxPrime>
+ <Cx>320.0</Cx>
+ <Cy>240.0</Cy>
+ --> <pointCloudCutoff>0.01</pointCloudCutoff>
+ <!-- <focal_length>320</focal_length> -->
+ <!-- <hackBaseline>0</hackBaseline> -->
+ </plugin>
+ </sensor>
+ </gazebo>
+</xacro:macro>
+
+</root>
+
diff --git a/robot_descriptions/heron_description/urdf/primesense/primesense_camera.urdf.xacro b/robot_descriptions/heron_description/urdf/primesense/primesense_camera.urdf.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..c55668233f325df7e09b5144e5fa8de918d71b40
--- /dev/null
+++ b/robot_descriptions/heron_description/urdf/primesense/primesense_camera.urdf.xacro
@@ -0,0 +1,50 @@
+<?xml version="1.0"?>
+<root xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+ xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+ xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+ xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+ <xacro:include filename="$(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
new file mode 100644
index 0000000000000000000000000000000000000000..c24ba17a5bec6e9f99f4320c10c42a2389107c52
Binary files /dev/null and b/robot_descriptions/heron_description/urdf/primesense/primesense_collision.stl differ
diff --git a/robot_descriptions/heron_description/urdf/primesense/primesense_visual.stl b/robot_descriptions/heron_description/urdf/primesense/primesense_visual.stl
new file mode 100644
index 0000000000000000000000000000000000000000..a9511552b3b386302dc64b2f1d70c498200067ce
Binary files /dev/null and b/robot_descriptions/heron_description/urdf/primesense/primesense_visual.stl differ
diff --git a/robot_descriptions/heron_description/urdf/schunk_wsg50/finger.dae b/robot_descriptions/heron_description/urdf/schunk_wsg50/finger.dae
new file mode 100644
index 0000000000000000000000000000000000000000..e7b69d765fa89c7c41b6ee23d60bc505dbc5ec87
--- /dev/null
+++ b/robot_descriptions/heron_description/urdf/schunk_wsg50/finger.dae
@@ -0,0 +1,82 @@
+<?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" />
+ <up_axis>Z_UP</up_axis>
+ </asset>
+ <library_visual_scenes>
+ <visual_scene id="ID1">
+ <node name="SketchUp">
+ <instance_geometry url="#ID2">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material2" target="#ID4">
+ <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+ </instance_material>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <library_geometries>
+ <geometry id="ID2">
+ <mesh>
+ <source id="ID5">
+ <float_array id="ID8" count="144">0.0000000 0.5905512 2.2637795 0.7086614 0.5905512 -0.0000000 0.0000000 0.5905512 -0.0000000 0.7086614 0.5905512 2.6574803 0.1968504 0.5905512 2.4606299 0.0000000 0.5905512 2.6574803 0.0000000 0.5905512 3.9370079 0.1968504 0.5905512 3.9370079 0.0000000 -0.5905512 2.2637795 0.0000000 0.5905512 -0.0000000 0.0000000 -0.5905512 0.0000000 0.0000000 0.5905512 2.2637795 0.1968504 0.5905512 2.4606299 0.0000000 -0.5905512 2.2637795 0.1968504 -0.5905512 2.4606299 0.0000000 0.5905512 2.2637795 0.0000000 0.5905512 2.6574803 0.1968504 -0.5905512 2.4606299 0.0000000 -0.5905512 2.6574803 0.1968504 0.5905512 2.4606299 0.0000000 -0.5905512 3.9370079 0.0000000 0.5905512 2.6574803 0.0000000 -0.5905512 2.6574803 0.0000000 0.5905512 3.9370079 0.1968504 -0.5905512 3.9370079 0.0000000 0.5905512 3.9370079 0.0000000 -0.5905512 3.9370079 0.1968504 0.5905512 3.9370079 0.7086614 0.5905512 2.6574803 0.1968504 -0.5905512 3.9370079 0.7086614 -0.5905512 2.6574803 0.1968504 0.5905512 3.9370079 0.7086614 0.5905512 -0.0000000 0.7086614 -0.5905512 2.6574803 0.7086614 -0.5905512 0.0000000 0.7086614 0.5905512 2.6574803 0.7086614 0.5905512 -0.0000000 0.0000000 -0.5905512 0.0000000 0.0000000 0.5905512 -0.0000000 0.7086614 -0.5905512 0.0000000 0.7086614 -0.5905512 2.6574803 0.0000000 -0.5905512 0.0000000 0.7086614 -0.5905512 0.0000000 0.0000000 -0.5905512 2.2637795 0.1968504 -0.5905512 2.4606299 0.0000000 -0.5905512 2.6574803 0.1968504 -0.5905512 3.9370079 0.0000000 -0.5905512 3.9370079</float_array>
+ <technique_common>
+ <accessor count="48" source="#ID8" stride="3">
+ <param name="X" type="float" />
+ <param name="Y" type="float" />
+ <param name="Z" type="float" />
+ </accessor>
+ </technique_common>
+ </source>
+ <source id="ID6">
+ <float_array id="ID9" count="144">0.0000000 1.0000000 -0.0000000 0.0000000 1.0000000 -0.0000000 0.0000000 1.0000000 -0.0000000 0.0000000 1.0000000 -0.0000000 0.0000000 1.0000000 -0.0000000 0.0000000 1.0000000 -0.0000000 0.0000000 1.0000000 -0.0000000 0.0000000 1.0000000 -0.0000000 -1.0000000 0.0000000 0.0000000 -1.0000000 0.0000000 0.0000000 -1.0000000 0.0000000 0.0000000 -1.0000000 0.0000000 0.0000000 -0.7071068 0.0000000 0.7071068 -0.7071068 0.0000000 0.7071068 -0.7071068 0.0000000 0.7071068 -0.7071068 0.0000000 0.7071068 -0.7071068 -0.0000000 -0.7071068 -0.7071068 -0.0000000 -0.7071068 -0.7071068 -0.0000000 -0.7071068 -0.7071068 -0.0000000 -0.7071068 -1.0000000 0.0000000 0.0000000 -1.0000000 0.0000000 0.0000000 -1.0000000 0.0000000 0.0000000 -1.0000000 0.0000000 0.0000000 0.0000000 0.0000000 1.0000000 0.0000000 0.0000000 1.0000000 0.0000000 0.0000000 1.0000000 0.0000000 0.0000000 1.0000000 0.9284767 0.0000000 0.3713907 0.9284767 0.0000000 0.3713907 0.9284767 0.0000000 0.3713907 0.9284767 0.0000000 0.3713907 1.0000000 0.0000000 0.0000000 1.0000000 0.0000000 0.0000000 1.0000000 0.0000000 0.0000000 1.0000000 0.0000000 0.0000000 0.0000000 -0.0000000 -1.0000000 0.0000000 -0.0000000 -1.0000000 0.0000000 -0.0000000 -1.0000000 0.0000000 -0.0000000 -1.0000000 0.0000000 -1.0000000 0.0000000 0.0000000 -1.0000000 0.0000000 0.0000000 -1.0000000 0.0000000 0.0000000 -1.0000000 0.0000000 0.0000000 -1.0000000 0.0000000 0.0000000 -1.0000000 0.0000000 0.0000000 -1.0000000 0.0000000 0.0000000 -1.0000000 0.0000000</float_array>
+ <technique_common>
+ <accessor count="48" source="#ID9" stride="3">
+ <param name="X" type="float" />
+ <param name="Y" type="float" />
+ <param name="Z" type="float" />
+ </accessor>
+ </technique_common>
+ </source>
+ <vertices id="ID7">
+ <input semantic="POSITION" source="#ID5" />
+ <input semantic="NORMAL" source="#ID6" />
+ </vertices>
+ <triangles count="28" material="Material2">
+ <input offset="0" semantic="VERTEX" source="#ID7" />
+ <p>0 1 2 1 0 3 3 0 4 3 4 5 3 5 6 3 6 7 8 9 10 9 8 11 12 13 14 13 12 15 16 17 18 17 16 19 20 21 22 21 20 23 24 25 26 25 24 27 28 29 30 29 28 31 32 33 34 33 32 35 36 37 38 37 36 39 40 41 42 41 40 43 43 40 44 44 40 45 45 40 46 45 46 47</p>
+ </triangles>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_materials>
+ <material id="ID4" name="material">
+ <instance_effect url="#ID3" />
+ </material>
+ </library_materials>
+ <library_effects>
+ <effect id="ID3">
+ <profile_COMMON>
+ <technique sid="COMMON">
+ <lambert>
+ <diffuse>
+ <color>1.0000000 1.0000000 1.0000000 1.0000000</color>
+ </diffuse>
+ </lambert>
+ </technique>
+ </profile_COMMON>
+ </effect>
+ </library_effects>
+ <scene>
+ <instance_visual_scene url="#ID1" />
+ </scene>
+</COLLADA>
diff --git a/robot_descriptions/heron_description/urdf/schunk_wsg50/finger.stl b/robot_descriptions/heron_description/urdf/schunk_wsg50/finger.stl
new file mode 100644
index 0000000000000000000000000000000000000000..c6ad7646223c104dbaacc4d700de218eb852c709
--- /dev/null
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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
new file mode 100755
index 0000000000000000000000000000000000000000..9ac6255a6d8cf06c6431abbfea003ff5e60b42bf
--- /dev/null
+++ b/robot_descriptions/heron_description/urdf/schunk_wsg50/schunk_wsg50.urdf.xacro
@@ -0,0 +1,234 @@
+<?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" />-->
+ <!--<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>-->
+ <!--</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" />-->
+ <!--<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>-->
+ <!--</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>
+</robot>
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
new file mode 100644
index 0000000000000000000000000000000000000000..55484036748723de17b369546e179104f88508bc
--- /dev/null
+++ b/robot_descriptions/heron_description/urdf/schunk_wsg50/schunk_wsg50_main.dae
@@ -0,0 +1,474 @@
+<?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>2012-10-09T14:04:36Z</created>
+ <modified>2012-10-09T14:04:36Z</modified>
+ <unit meter="0.0254000" name="inch" />
+ <up_axis>Z_UP</up_axis>
+ </asset>
+ <library_visual_scenes>
+ <visual_scene id="ID1">
+ <node name="SketchUp">
+ <node id="ID2" name="group_0">
+ <matrix>1.0000000 0.0000000 0.0000000 0.0000000 0.0000000 1.0000000 0.0000000 0.0000000 0.0000000 0.0000000 1.0000000 0.0000000 0.0000000 0.0000000 0.0000000 1.0000000</matrix>
+ <instance_geometry url="#ID3">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material2" target="#ID4">
+ <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+ </instance_material>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ <instance_geometry url="#ID11">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material2" target="#ID12">
+ <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+ </instance_material>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ <instance_geometry url="#ID19">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material2" target="#ID12">
+ <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+ </instance_material>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ <instance_geometry url="#ID25">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material2" target="#ID12">
+ <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+ </instance_material>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ <instance_geometry url="#ID31">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material2" target="#ID4">
+ <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+ </instance_material>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ <instance_geometry url="#ID37">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material2" target="#ID4">
+ <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+ </instance_material>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ <instance_geometry url="#ID43">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material2" target="#ID12">
+ <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+ </instance_material>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ <instance_geometry url="#ID49">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material2" target="#ID4">
+ <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+ </instance_material>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ <instance_geometry url="#ID55">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material2" target="#ID12">
+ <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
+ </instance_material>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ <instance_geometry url="#ID61">
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+ <technique_common>
+ <instance_material symbol="Material2" target="#ID62">
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+ </instance_material>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <library_geometries>
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diff --git a/robot_descriptions/heron_description/urdf/ur.gazebo.xacro b/robot_descriptions/heron_description/urdf/ur.gazebo.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..d67a77e5157882c65f58cc4914983ecd131df3c3
--- /dev/null
+++ b/robot_descriptions/heron_description/urdf/ur.gazebo.xacro
@@ -0,0 +1,47 @@
+<?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="${prefix}ee_link">
+ <turnGravityOff>true</turnGravityOff>
+ <selfCollide>true</selfCollide>
+ </gazebo>
+
+ </xacro:macro>
+
+</robot>
diff --git a/robot_descriptions/heron_description/urdf/ur5e.urdf.xacro b/robot_descriptions/heron_description/urdf/ur5e.urdf.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..127444322ce8bb318020a580547e4c1e2ee2505b
--- /dev/null
+++ b/robot_descriptions/heron_description/urdf/ur5e.urdf.xacro
@@ -0,0 +1,369 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+ <xacro:include filename="$(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>