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Commit 6639ca48 authored by m-guberina's avatar m-guberina
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urdfs do not work as expected atm, but i need a commit

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# NOTE: this example needs gepetto-gui to be installed
# usage: launch gepetto-gui and then run this test
import pinocchio as pin
import numpy as np
import sys
import os
from os.path import dirname, join, abspath
from pinocchio.visualize import GepettoVisualizer
# Load the URDF model.
# Conversion with str seems to be necessary when executing this file with ipython
#pinocchio_model_dir = join(dirname(dirname(str(abspath(__file__)))),"models")
#model_path = join(pinocchio_model_dir, "example-robot-data/robots")
#mesh_dir = pinocchio_model_dir
#mesh_dir = "/home/gospodar/lund/praxis/ur_resources/ur5e_with_robotiq_hande/meshes/"
mesh_dir = "/home/gospodar/lund/praxis/ur_simple_control/robot_descriptions/meshes/ur5e/"
#urdf_filename = "talos_reduced.urdf"
#urdf_model_path = join(join(model_path,"talos_data/robots"),urdf_filename)
urdf_model_path = "/home/gospodar/lund/praxis/ur_simple_control/robot_descriptions/urdf/ur5e_with_robotiq_hande.urdf"
model, collision_model, visual_model = pin.buildModelsFromUrdf(urdf_model_path, mesh_dir, pin.JointModelFreeFlyer())
viz = GepettoVisualizer(model, collision_model, visual_model)
# Initialize the viewer.
try:
viz.initViewer()
except ImportError as err:
print("Error while initializing the viewer. It seems you should install gepetto-viewer")
print(err)
sys.exit(0)
try:
viz.loadViewerModel("pinocchio")
except AttributeError as err:
print("Error while loading the viewer model. It seems you should start gepetto-viewer")
print(err)
sys.exit(0)
# Display a robot configuration.
q0 = pin.neutral(model)
viz.display(q0)
# Display another robot.
viz2 = GepettoVisualizer(model, collision_model, visual_model)
viz2.initViewer(viz.viewer)
viz2.loadViewerModel(rootNodeName = "pinocchio2")
q = q0.copy()
q[1] = 1.0
viz2.display(q)
kinematics:
shoulder:
x: 0
y: 0
z: 0.1625
roll: 0
pitch: 0
yaw: 0
upper_arm:
x: 0
y: 0
z: 0
roll: 1.570796327
pitch: 0
yaw: 0
forearm:
x: -0.425
y: 0
z: 0
roll: 0
pitch: 0
yaw: 0
wrist_1:
x: -0.3922
y: 0
z: 0.1333
roll: 0
pitch: 0
yaw: 0
wrist_2:
x: 0
y: -0.0997
z: -2.044881182297852e-11
roll: 1.570796327
pitch: 0
yaw: 0
wrist_3:
x: 0
y: 0.09959999999999999
z: -2.042830148012698e-11
roll: 1.570796326589793
pitch: 3.141592653589793
yaw: 3.141592653589793
hash: calib_12788084448423163542
# Joints limits
#
# Sources:
#
# - Universal Robots e-Series, User Manual, UR5e, Version 5.8
# https://s3-eu-west-1.amazonaws.com/ur-support-site/69091/99404_UR5e_User_Manual_en_Global.pdf
# - Support > Articles > UR articles > Max. joint torques
# https://www.universal-robots.com/articles/ur-articles/max-joint-torques
# retrieved: 2020-06-16, last modified: 2020-06-09
joint_limits:
shoulder_pan_joint:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 150.0
max_position: !degrees 360.0
max_velocity: !degrees 180.0
min_position: !degrees -360.0
shoulder_lift_joint:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 150.0
max_position: !degrees 360.0
max_velocity: !degrees 180.0
min_position: !degrees -360.0
elbow_joint:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 150.0
# we artificially limit this joint to half its actual joint position limit
# to avoid (MoveIt/OMPL) planning problems, as due to the physical
# construction of the robot, it's impossible to rotate the 'elbow_joint'
# over more than approx +- 1 pi (the shoulder lift joint gets in the way).
#
# This leads to planning problems as the search space will be divided into
# two sections, with no connections from one to the other.
#
# Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
# more information.
max_position: !degrees 180.0
max_velocity: !degrees 180.0
min_position: !degrees -180.0
wrist_1_joint:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 28.0
max_position: !degrees 360.0
max_velocity: !degrees 180.0
min_position: !degrees -360.0
wrist_2_joint:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 28.0
max_position: !degrees 360.0
max_velocity: !degrees 180.0
min_position: !degrees -360.0
wrist_3_joint:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 28.0
max_position: !degrees 360.0
max_velocity: !degrees 180.0
min_position: !degrees -360.0
# Physical parameters
dh_parameters:
d1: 0.163
a2: -0.42500
a3: -0.39225
d4: 0.134 # wrist1_length = d4 - elbow_offset - shoulder_offset
d5: 0.100
d6: 0.100
offsets:
shoulder_offset: 0.138 # measured from model
elbow_offset: 0.007 # measured from model
inertia_parameters:
base_mass: 4.0 # This mass might be incorrect
shoulder_mass: 3.7000
upper_arm_mass: 8.3930
upper_arm_inertia_offset: 0.138 # measured from model
forearm_mass: 2.2750
wrist_1_mass: 1.2190
wrist_2_mass: 1.2190
wrist_3_mass: 0.1879
shoulder_radius: 0.060 # manually measured
upper_arm_radius: 0.054 # manually measured
elbow_radius: 0.060 # manually measured
forearm_radius: 0.040 # manually measured
wrist_radius: 0.045 # manually measured
links:
base:
radius: 0.06
length: 0.05
shoulder:
radius: 0.06
length: 0.15
upperarm:
radius: 0.06
length: 0.425
forearm:
radius: 0.06
length: 0.3922
wrist_1:
radius: 0.06
length: 0.12
wrist_2:
radius: 0.06
length: 0.12
wrist_3:
radius: 0.0375
length: 0.0458
center_of_mass:
shoulder_cog:
x: 0.0
y: 0.00193
z: -0.02561
upper_arm_cog:
x: 0.0
y: -0.024201
z: 0.2125
forearm_cog:
x: 0.0
y: 0.0265
z: 0.11993
wrist_1_cog:
x: 0.0
y: 0.110949
z: 0.01634
wrist_2_cog:
x: 0.0
y: 0.0018
z: 0.11099
wrist_3_cog:
x: 0.0
y: 0.001159
z: 0.0
mesh_files:
base:
visual:
mesh:
package: ur_description
path: meshes/ur5e/visual/base.dae
collision:
mesh:
package: ur_description
path: meshes/ur5e/collision/base.stl
shoulder:
visual:
mesh:
package: ur_description
path: meshes/ur5e/visual/shoulder.dae
collision:
mesh:
package: ur_description
path: meshes/ur5e/collision/shoulder.stl
upper_arm:
visual:
mesh:
package: ur_description
path: meshes/ur5e/visual/upperarm.dae
collision:
mesh:
package: ur_description
path: meshes/ur5e/collision/upperarm.stl
mesh_files:
forearm:
visual:
mesh:
package: ur_description
path: meshes/ur5e/visual/forearm.dae
collision:
mesh:
package: ur_description
path: meshes/ur5e/collision/forearm.stl
wrist_1:
visual:
mesh:
package: ur_description
path: meshes/ur5e/visual/wrist1.dae
collision:
mesh:
package: ur_description
path: meshes/ur5e/collision/wrist1.stl
visual_offset: -0.127
wrist_2:
visual:
mesh:
package: ur_description
path: meshes/ur5e/visual/wrist2.dae
collision:
mesh:
package: ur_description
path: meshes/ur5e/collision/wrist2.stl
visual_offset: -0.0997
wrist_3:
visual:
mesh:
package: ur_description
path: meshes/ur5e/visual/wrist3.dae
collision:
mesh:
package: ur_description
path: meshes/ur5e/collision/wrist3.stl
visual_offset: -0.0989
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<asset>
<contributor>
<author>VCGLab</author>
<authoring_tool>VCGLib | MeshLab</authoring_tool>
</contributor>
<up_axis>Y_UP</up_axis>
<created>日 1月 31 09:37:43 2021</created>
<modified>日 1月 31 09:37:43 2021</modified>
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<p>7 0 3 0 6 0 6 1 3 1 10 1 9 2 3 2 8 2 3 3 7 3 8 3 10 4 3 4 0 4 3 5 9 5 2 5 4 6 0 6 3 6 2 7 4 7 3 7 7 8 6 8 1 8 17 9 7 9 1 9 10 10 0 10 4 10 20 11 3 11 13 11 13 12 3 12 2 12 13 13 2 13 20 13 20 14 2 14 3 14 21 15 20 15 9 15 15 16 5 16 16 16 11 17 17 17 18 17 17 18 12 18 14 18 15 19 20 19 13 19 7 20 17 20 14 20 21 21 9 21 8 21 21 22 8 22 14 22 18 23 17 23 1 23 4 24 2 24 15 24 20 25 2 25 9 25 7 26 14 26 8 26 18 27 1 27 19 27 19 28 1 28 6 28 19 29 6 29 10 29 19 30 10 30 16 30 16 31 10 31 4 31 16 32 4 32 15 32 5 33 22 33 16 33 5 34 15 34 22 34 11 35 18 35 23 35 23 36 17 36 11 36 12 37 17 37 28 37 12 38 28 38 14 38 20 39 27 39 13 39 27 40 15 40 13 40 15 41 2 41 20 41 23 42 18 42 19 42 23 43 19 43 24 43 24 44 19 44 16 44 20 45 26 45 27 45 26 46 20 46 21 46 26 47 21 47 14 47 26 48 14 48 28 48 27 49 22 49 15 49 28 50 17 50 23 50 24 51 16 51 22 51 32 52 28 52 23 52 32 53 23 53 34 53 34 54 23 54 24 54 34 55 24 55 22 55 26 56 30 56 27 56 26 57 28 57 31 57 32 58 33 58 28 58 28 59 33 59 31 59 35 60 22 60 27 60 27 61 30 61 37 61 27 62 37 62 35 62 29 63 34 63 22 63 22 64 35 64 29 64 30 65 26 65 31 65 30 66 36 66 38 66 36 67 30 67 31 67 33 68 36 68 31 68 32 69 85 69 33 69 85 70 32 70 34 70 29 71 85 71 34 71 29 72 35 72 37 72 30 73 38 73 37 73 33 74 25 74 36 74 37 75 25 75 29 75 37 76 38 76 25 76 33 77 85 77 25 77 36 78 25 78 38 78 29 79 25 79 85 79 41 80 46 80 74 80 46 81 73 81 74 81 40 82 48 82 39 82 44 83 62 83 42 83 49 84 50 84 43 84 52 85 44 85 42 85 54 86 40 86 39 86 60 87 46 87 61 87 64 88 43 88 50 88 48 89 56 89 55 89 48 90 55 90 39 90 48 91 40 91 65 91 65 92 40 92 54 92 62 93 73 93 42 93 73 94 41 94 74 94 73 95 47 95 41 95 47 96 73 96 62 96 49 97 72 97 50 97 49 98 43 98 75 98 75 99 43 99 64 99 63 100 44 100 52 100 55 101 54 101 39 101 48 102 65 102 56 102 70 103 57 103 45 103 70 104 45 104 58 104 58 105 45 105 59 105 58 106 59 106 60 106 58 107 60 107 61 107 61 108 46 108 41 108 61 109 63 109 84 109 62 110 63 110 47 110 47 111 63 111 41 111 63 112 61 112 41 112 44 113 63 113 62 113 72 114 64 114 50 114 68 115 66 115 65 115 68 116 65 116 54 116 66 117 68 117 67 117 67 118 68 118 71 118 71 119 69 119 67 119 57 120 70 120 71 120 71 121 70 121 69 121 72 122 49 122 53 122 52 123 60 123 59 123 73 124 52 124 42 124 60 125 52 125 73 125 60 126 73 126 46 126 75 127 53 127 49 127 64 128 76 128 75 128 76 129 64 129 78 129 76 130 78 130 77 130 77 131 78 131 80 131 80 132 79 132 77 132 79 133 80 133 81 133 81 134 80 134 82 134 81 135 82 135 51 135 81 136 51 136 83 136 83 137 51 137 84 137 83 138 84 138 63 138 83 139 63 139 52 139 38 140 49 140 53 140 38 141 53 141 49 141 85 142 48 142 56 142 85 143 56 143 48 143 29 144 55 144 85 144 85 145 55 145 56 145 65 146 85 146 56 146 67 147 85 147 66 147 66 148 85 148 65 148 87 149 80 149 36 149 64 150 72 150 78 150 78 151 72 151 36 151 78 152 36 152 80 152 84 153 51 153 87 153 87 154 51 154 82 154 87 155 82 155 80 155 84 156 87 156 61 156 58 157 61 157 87 157 85 158 67 158 69 158 85 159 69 159 87 159 87 160 69 160 70 160 87 161 70 161 58 161 53 162 38 162 72 162 72 163 38 163 36 163 81 164 86 164 38 164 81 165 38 165 79 165 79 166 38 166 77 166 53 167 75 167 38 167 38 168 75 168 76 168 38 169 76 169 77 169 54 170 55 170 68 170 68 171 55 171 29 171 68 172 29 172 71 172 59 173 45 173 86 173 86 174 45 174 57 174 86 175 57 175 71 175 86 176 71 176 29 176 59 177 86 177 52 177 86 178 81 178 83 178 86 179 83 179 52 179 38 180 86 180 29 180 38 181 29 181 36 181 29 182 85 182 87 182 29 183 87 183 36 183</p>
</triangles>
</mesh>
</geometry>
</library_geometries>
<library_visual_scenes>
<visual_scene id="VisualSceneNode" name="VisualScene">
<node id="node" name="node">
<instance_geometry url="#shape0-lib">
<bind_material>
<technique_common/>
</bind_material>
</instance_geometry>
</node>
</visual_scene>
</library_visual_scenes>
<scene>
<instance_visual_scene url="#VisualSceneNode"/>
</scene>
</COLLADA>
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