From aee0fa890428aa87ae362c6c5366234e710d5d4e Mon Sep 17 00:00:00 2001
From: m-guberina <gubi.guberina@gmail.com>
Date: Fri, 20 Oct 2023 16:25:04 +0200
Subject: [PATCH] lord know i have no idea where the base frame is, and that i
 dont know eigen nor pinocchios math or options well, but clik works. so now
 the next step is to get to know these libraries better

---
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 clik/build/compile_commands.json              |    6 +-
 clik/src/clik.cpp                             |  119 +-
 ur5e_with_robotiq_hande.urdf                  |  575 ++
 20 files changed, 4231 insertions(+), 2321 deletions(-)
 create mode 100644 ur5e_with_robotiq_hande.urdf

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+ /usr/include/boost/fusion/sequence/comparison/detail/equal_to.hpp \
+ /usr/include/boost/fusion/support/as_const.hpp \
+ /usr/include/boost/fusion/sequence/comparison/enable_comparison.hpp \
+ /usr/include/boost/foreach.hpp /usr/include/boost/foreach_fwd.hpp \
+ /opt/openrobots/include/pinocchio/algorithm/joint-configuration.hpp \
+ /opt/openrobots/include/pinocchio/algorithm/joint-configuration.hxx \
+ /opt/openrobots/include/pinocchio/algorithm/kinematics.hpp \
+ /opt/openrobots/include/pinocchio/algorithm/kinematics.hxx \
+ /opt/openrobots/include/pinocchio/parsers/sample-models.hpp \
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+ /opt/openrobots/include/pinocchio/parsers/sample-models.hxx \
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diff --git a/clik/build/Makefile b/clik/build/Makefile
index 7354d16..cf5555f 100644
--- a/clik/build/Makefile
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 EQUALS = =
 
 # The top-level source directory on which CMake was run.
-CMAKE_SOURCE_DIR = /home/gospodar/lund/praxis/ur_simple_control/clik
+CMAKE_SOURCE_DIR = /home/gospodar/home2/gospodar/lund/praxis/ur_simple_control/clik
 
 # The top-level build directory on which CMake was run.
-CMAKE_BINARY_DIR = /home/gospodar/lund/praxis/ur_simple_control/clik/build
+CMAKE_BINARY_DIR = /home/gospodar/home2/gospodar/lund/praxis/ur_simple_control/clik/build
 
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diff --git a/clik/build/cmake_install.cmake b/clik/build/cmake_install.cmake
index bd0229d..732a1ff 100644
--- a/clik/build/cmake_install.cmake
+++ b/clik/build/cmake_install.cmake
@@ -1,4 +1,4 @@
-# Install script for directory: /home/gospodar/lund/praxis/ur_simple_control/clik
+# Install script for directory: /home/gospodar/home2/gospodar/lund/praxis/ur_simple_control/clik
 
 # Set the install prefix
 if(NOT DEFINED CMAKE_INSTALL_PREFIX)
@@ -50,5 +50,5 @@ endif()
 
 string(REPLACE ";" "\n" CMAKE_INSTALL_MANIFEST_CONTENT
        "${CMAKE_INSTALL_MANIFEST_FILES}")
-file(WRITE "/home/gospodar/lund/praxis/ur_simple_control/clik/build/${CMAKE_INSTALL_MANIFEST}"
+file(WRITE "/home/gospodar/home2/gospodar/lund/praxis/ur_simple_control/clik/build/${CMAKE_INSTALL_MANIFEST}"
      "${CMAKE_INSTALL_MANIFEST_CONTENT}")
diff --git a/clik/build/compile_commands.json b/clik/build/compile_commands.json
index 44da3f8..4fab5e1 100644
--- a/clik/build/compile_commands.json
+++ b/clik/build/compile_commands.json
@@ -1,8 +1,8 @@
 [
 {
-  "directory": "/home/gospodar/lund/praxis/ur_simple_control/clik/build",
-  "command": "/usr/bin/c++ -DBOOST_ALL_NO_LIB -DBOOST_ATOMIC_DYN_LINK -DBOOST_MPL_LIMIT_LIST_SIZE=30 -DBOOST_MPL_LIMIT_VECTOR_SIZE=30 -DBOOST_SYSTEM_DYN_LINK -DBOOST_THREAD_DYN_LINK -DHPP_FCL_HAS_OCTOMAP -DHPP_FCL_HAVE_OCTOMAP -DOCTOMAP_MAJOR_VERSION=1 -DOCTOMAP_MINOR_VERSION=9 -DOCTOMAP_PATCH_VERSION=7 -DPINOCCHIO_WITH_HPP_FCL -DPINOCCHIO_WITH_URDFDOM -I/home/gospodar/lund/praxis/ur_simple_control/clik/src -isystem /opt/openrobots/include -isystem /usr/include/eigen3      -D_XOPEN_SOURCE=700     -D_FORTIFY_SOURCE=2     -O2     -fstack-protector     -fomit-frame-pointer     -pipe     -pedantic -pedantic-errors     -Werror     -Weffc++     -Wall -Wextra -Wshadow -Wdeprecated     -Wdiv-by-zero -Wfloat-equal -Wfloat-conversion -Wsign-compare -Wpointer-arith     -Wuninitialized -Wunreachable-code     -Wunused -Wunused-function -Wunused-label -Wunused-parameter -Wunused-but-set-parameter -Wunused-but-set-variable     -Wunused-value -Wunused-variable -Wunused-result     -Wmissing-field-initializers -Wmissing-format-attribute -Wmissing-include-dirs -Wmissing-noreturn -std=gnu++14 -o CMakeFiles/clik.dir/src/clik.cpp.o -c /home/gospodar/lund/praxis/ur_simple_control/clik/src/clik.cpp",
-  "file": "/home/gospodar/lund/praxis/ur_simple_control/clik/src/clik.cpp",
+  "directory": "/home/gospodar/home2/gospodar/lund/praxis/ur_simple_control/clik/build",
+  "command": "/usr/bin/c++ -DBOOST_ALL_NO_LIB -DBOOST_ATOMIC_DYN_LINK -DBOOST_MPL_LIMIT_LIST_SIZE=30 -DBOOST_MPL_LIMIT_VECTOR_SIZE=30 -DBOOST_SYSTEM_DYN_LINK -DBOOST_THREAD_DYN_LINK -DHPP_FCL_HAS_OCTOMAP -DHPP_FCL_HAVE_OCTOMAP -DOCTOMAP_MAJOR_VERSION=1 -DOCTOMAP_MINOR_VERSION=9 -DOCTOMAP_PATCH_VERSION=7 -DPINOCCHIO_WITH_HPP_FCL -DPINOCCHIO_WITH_URDFDOM -I/home/gospodar/home2/gospodar/lund/praxis/ur_simple_control/clik/src -isystem /opt/openrobots/include -isystem /usr/include/eigen3      -D_XOPEN_SOURCE=700     -D_FORTIFY_SOURCE=2     -O2     -fstack-protector     -fomit-frame-pointer     -pipe     -pedantic -pedantic-errors     -Werror     -Weffc++     -Wall -Wextra -Wshadow -Wdeprecated     -Wdiv-by-zero -Wfloat-equal -Wfloat-conversion -Wsign-compare -Wpointer-arith     -Wuninitialized -Wunreachable-code     -Wunused -Wunused-function -Wunused-label -Wunused-parameter -Wunused-but-set-parameter -Wunused-but-set-variable     -Wunused-value -Wunused-variable -Wunused-result     -Wmissing-field-initializers -Wmissing-format-attribute -Wmissing-include-dirs -Wmissing-noreturn -std=gnu++14 -o CMakeFiles/clik.dir/src/clik.cpp.o -c /home/gospodar/home2/gospodar/lund/praxis/ur_simple_control/clik/src/clik.cpp",
+  "file": "/home/gospodar/home2/gospodar/lund/praxis/ur_simple_control/clik/src/clik.cpp",
   "output": "CMakeFiles/clik.dir/src/clik.cpp.o"
 }
 ]
\ No newline at end of file
diff --git a/clik/src/clik.cpp b/clik/src/clik.cpp
index 9bf82d2..0d668ad 100644
--- a/clik/src/clik.cpp
+++ b/clik/src/clik.cpp
@@ -1,26 +1,119 @@
-#include "pinocchio/parsers/urdf.hpp"
-//#include "pinocchio/spatial/explog.hpp"
-//#include "pinocchio/algorithm/kinematics.hpp"
-//#include "pinocchio/algorithm/jacobian.hpp"
+#include "pinocchio/algorithm/jacobian.hpp"
 #include "pinocchio/algorithm/joint-configuration.hpp"
+#include "pinocchio/algorithm/kinematics.hpp"
+#include "pinocchio/parsers/sample-models.hpp"
+#include "pinocchio/parsers/urdf.hpp"
+#include "pinocchio/spatial/explog.hpp"
+#include <Eigen/src/Core/Matrix.h>
+#include <pinocchio/multibody/fwd.hpp>
+
 #include <ur_rtde/rtde_control_interface.h>
 #include <ur_rtde/rtde_receive_interface.h>
-#include <iostream>
-
-
 
+#include <iostream>
 
 int main(void) {
-  std::cout << "help" << std::endl;
-  const std::string urdf_filename = std::string("/home/gospodar/lund/praxis/pinocchio/models/example-robot-data/robots/ur_description/urdf/ur5_robot.urdf");
+  //  std::cout << "help" << std::endl;
+
+  // TODO put in some ifs to run it in sim/something if you're not connected
+  // to the robot
+  ur_rtde::RTDEControlInterface rtde_control("192.168.1.102");
+  ur_rtde::RTDEReceiveInterface rtde_receive("192.168.1.102");
+  std::vector<double> init_q = rtde_receive.getActualQ();
 
+//  const std::string urdf_filename = std::string(
+//      "/home/gospodar/lund/praxis/pinocchio/models/example-robot-data/robots/"
+//      "ur_description/urdf/ur5_robot.urdf");
+  const std::string urdf_filename = std::string(
+      "/home/gospodar/lund/praxis/ur_resources/ur5e_with_robotiq_hande/urdf/ur5e_with_robotiq_hande.urdf");
   pinocchio::Model model;
   pinocchio::urdf::buildModel(urdf_filename, model);
-  std::cout << model.joints.data() << std::endl;
+  // pinocchio::buildModels::manipulator(model);
 
-  ur_rtde::RTDEControlInterface rtde_control("192.168.1.102");
-  ur_rtde::RTDEReceiveInterface rtde_receive("192.168.1.102");
-//  std::vector<double> init_q = rtde_receive.getActualQ();
+  pinocchio::Data data(model);
+
+  const int JOINT_ID = 6;
+  // oMdes is the desired pose
+
+  //const pinocchio::SE3 oMdes(Eigen::Matrix3d(1.0, 0.0, 0.0,
+  //  										 0.0, 1.0, 0.0,
+  //  										 0.0, 0.0, 1.0),
+  const pinocchio::SE3 oMdes(Eigen::Matrix3d::Zero(),
+                             Eigen::Vector3d(0.5, 0.3,  0.5));
+
+  //Eigen::VectorXd q = pinocchio::neutral(model);
+  Eigen::VectorXd q(model.nq);
+  q = Eigen::Map<Eigen::VectorXd>(&rtde_receive.getActualQ()[0], model.nq);
+  // random print to make sure it works
+  std::cout << q[2] << std::endl;
+//  Eigen::VectorXd q;
+  const double eps = 1e-4;
+  const int IT_MAX = 10000000;
+//  const double DT = 1e-1;
+  const double damp = 1e-6;
+
+  pinocchio::Data::Matrix6x J(6, model.nv);
+  J.setZero();
+
+  bool success = false;
+  typedef Eigen::Matrix<double, 6, 1> Vector6d;
+  Vector6d err;
+  Eigen::VectorXd v(model.nv);
+  std::vector<double> v_as_std_vec;
+  for (int i = 0;; i++) {
+    q = Eigen::Map<Eigen::VectorXd>(&rtde_receive.getActualQ()[0], model.nq);
+    pinocchio::forwardKinematics(model, data, q);
+// data.omi[joint_id] is the placement of joint_id
+	// se3.act is the group action,
+	// se3.actinv is the inverse group action
+	// you need to check the actual math to see what and why is this here
+    const pinocchio::SE3 iMd = data.oMi[JOINT_ID].actInv(oMdes);
+    err = pinocchio::log6(iMd).toVector(); // in joint frame
+    if (err.norm() < eps) {
+      success = true;
+	  std::cout << "reached destionation" << std::endl;
+      break;
+    }
+    if (i >= IT_MAX) {
+      success = false;
+	  std::cout << "FAIL: did not succed in IT_MAX iterations" << std::endl;
+      break;
+    }
+    pinocchio::computeJointJacobian(model, data, q, JOINT_ID,
+                                    J); // J in joint frame
+    pinocchio::Data::Matrix6 Jlog;
+    pinocchio::Jlog6(iMd.inverse(), Jlog);
+    J = -Jlog * J;
+    pinocchio::Data::Matrix6 JJt;
+    JJt.noalias() = J * J.transpose();
+    JJt.diagonal().array() += damp;
+    v.noalias() = -J.transpose() * JJt.ldlt().solve(err);
+	//    we're running it on the real system
+//    q = pinocchio::integrate(model, q, v * DT);
+//    make a cleaner cast, but also who cares
+	v_as_std_vec.push_back(v[0]);
+	v_as_std_vec.push_back(v[1]);
+	v_as_std_vec.push_back(v[2]);
+	v_as_std_vec.push_back(v[3]);
+	v_as_std_vec.push_back(v[4]);
+	v_as_std_vec.push_back(v[5]);
+    rtde_control.speedJ(v_as_std_vec, 0.1, 1.0/500);
+	v_as_std_vec.clear();
+    if (!(i % 1000))
+      std::cout << i << ": error = " << err.transpose() << std::endl;
+	  std::cout << "pos" << data.oMi[JOINT_ID] << std::endl;
+  }
+
+  if (success) {
+    std::cout << "Convergence achieved!" << std::endl;
+  } else {
+    std::cout << "\nWarning: the iterative algorithm has not reached "
+                 "convergence to the desired precision"
+              << std::endl;
+  }
+
+  std::cout << "\nresult: " << q.transpose() << std::endl;
+  std::cout << "\nfinal error: " << err.transpose() << std::endl;
 
   return 0;
 }
diff --git a/ur5e_with_robotiq_hande.urdf b/ur5e_with_robotiq_hande.urdf
new file mode 100644
index 0000000..ad9a2f3
--- /dev/null
+++ b/ur5e_with_robotiq_hande.urdf
@@ -0,0 +1,575 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from ur5e_with_robotiq_hande.xacro  | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="ur5e_with_robotiq_hande">
+  <!--   <gazebo>
+    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so"> -->
+  <!-- <robotNamespace>/</robotNamespace>
+      <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
+      <legacyModeNS>true</legacyModeNS> -->
+  <!--     </plugin>
+
+  </gazebo> -->
+  <!--
+  Author: Cristian C Beltran-Hernandez
+-->
+  <!-- Robotiq Coupler -->
+  <!--  + Height added by the coupler: 8mm -->
+  <!--  + Reference frame: at the middle (4mm) -->
+  <link name="robotiq_coupler">
+    <visual>
+      <geometry>
+        <mesh filename="package://ur5e_with_robotiq_hande/meshes/robotiq_85_coupler.stl"/>
+      </geometry>
+      <material name="flat_black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://ur5e_with_robotiq_hande/meshes/robotiq_85_coupler.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="2.073e-05   1.45286e-03  -1.1049e-03"/>
+      <mass value="0.168"/>
+      <inertia ixx="6.69695624e-05" ixy="5.21511788e-09" ixz="-2.74383009e-08" iyy="7.85088161e-05" iyz="5.41105193e-07" izz="1.41819717e-04"/>
+    </inertial>
+  </link>
+  <joint name="robotiq_coupler_joint" type="fixed">
+    <origin rpy="0 0 -1.57079632679" xyz="0 0 0.004"/>
+    <parent link="tool0"/>
+    <child link="robotiq_coupler"/>
+  </joint>
+  <!-- <link name="gripper_root_link">
+    <visual>
+      <origin xyz="0 0 0.005" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.005" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.01" />
+      <origin xyz="0.0 0.0 0.0" />
+      <inertia ixx = "0.000001" ixy = "0.000000" ixz = "0.000000"
+           iyx = "0.000000" iyy = "0.000001" iyz = "0.000000"
+           izx = "0.000000" izy = "0.000000" izz = "0.000001" />
+    </inertial>
+  </link>
+
+  <link name="world" />
+
+  <joint name="world_joint" type="fixed">
+    <parent link="world" />
+    <child link = "gripper_root_link" />
+    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
+  </joint> -->
+  <!-- gripper -->
+  <!-- <xacro:robotiq_hande_gripper prefix="" parent="gripper_root_link" > -->
+  <!-- <xacro:robotiq_hande_gripper prefix="" parent="" > -->
+  <!-- <origin xyz="0.0 0 0.005" rpy="0 0 0"/> -->
+  <!-- </xacro:robotiq_hande_gripper> -->
+  <!--
+    Base UR robot series xacro macro.
+
+    NOTE: this is NOT a URDF. It cannot directly be loaded by consumers
+    expecting a flattened '.urdf' file. See the top-level '.xacro' for that
+    (but note: that .xacro must still be processed by the xacro command).
+
+    For use in '.launch' files: use one of the 'load_urX.launch' convenience
+    launch files.
+
+    This file models the base kinematic chain of a UR robot, which then gets
+    parameterised by various configuration files to convert it into a UR3(e),
+    UR5(e), UR10(e) or UR16e.
+
+    NOTE: the default kinematic parameters (ie: link lengths, frame locations,
+    offets, etc) do not correspond to any particular robot. They are defaults
+    only. There WILL be non-zero offsets between the Forward Kinematics results
+    in TF (ie: robot_state_publisher) and the values reported by the Teach
+    Pendant.
+
+    For accurate (and robot-specific) transforms, the 'kinematics_parameters_file'
+    parameter MUST point to a .yaml file containing the appropriate values for
+    the targetted robot.
+
+    If using the UniversalRobots/Universal_Robots_ROS_Driver, follow the steps
+    described in the readme of that repository to extract the kinematic
+    calibration from the controller and generate the required .yaml file.
+
+    Main author of the migration to yaml configs: Ludovic Delval.
+
+    Contributors to previous versions (in no particular order):
+
+     - Felix Messmer
+     - Kelsey Hawkins
+     - Wim Meeussen
+     - Shaun Edwards
+     - Nadia Hammoudeh Garcia
+     - Dave Hershberger
+     - G. vd. Hoorn
+     - Philip Long
+     - Dave Coleman
+     - Miguel Prada
+     - Mathias Luedtke
+     - Marcel Schnirring
+     - Felix von Drigalski
+     - Felix Exner
+     - Jimmy Da Silva
+     - Ajit Krisshna N L
+     - Muhammad Asif Rana
+  -->
+  <!--
+    NOTE: the macro defined in this file is NOT part of the public API of this
+          package. Users CANNOT rely on this file being available, or stored in
+          this location. Nor can they rely on the existence of the macro.
+  -->
+  <transmission name="shoulder_pan_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="shoulder_pan_joint">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="shoulder_pan_motor">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="shoulder_lift_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="shoulder_lift_joint">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="shoulder_lift_motor">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="elbow_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="elbow_joint">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="elbow_motor">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="wrist_1_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="wrist_1_joint">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="wrist_1_motor">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="wrist_2_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="wrist_2_joint">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="wrist_2_motor">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="wrist_3_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="wrist_3_joint">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="wrist_3_motor">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <!-- links: main serial chain -->
+  <link name="base_link"/>
+  <link name="base_link_inertia">
+    <visual>
+      <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ur_description/meshes/ur5e/visual/base.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ur_description/meshes/ur5e/collision/base.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="4.0"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0.0072"/>
+    </inertial>
+  </link>
+  <link name="shoulder_link">
+    <visual>
+      <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ur_description/meshes/ur5e/visual/shoulder.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ur_description/meshes/ur5e/collision/shoulder.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="3.7"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.010267495893" ixy="0.0" ixz="0.0" iyy="0.010267495893" iyz="0.0" izz="0.00666"/>
+    </inertial>
+  </link>
+  <link name="upper_arm_link">
+    <visual>
+      <origin rpy="1.57079632679 0 -1.57079632679" xyz="0 0 0.138"/>
+      <geometry>
+        <mesh filename="package://ur_description/meshes/ur5e/visual/upperarm.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.57079632679 0 -1.57079632679" xyz="0 0 0.138"/>
+      <geometry>
+        <mesh filename="package://ur_description/meshes/ur5e/collision/upperarm.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="8.393"/>
+      <origin rpy="0 1.57079632679 0" xyz="-0.2125 0.0 0.138"/>
+      <inertia ixx="0.133885781862" ixy="0.0" ixz="0.0" iyy="0.133885781862" iyz="0.0" izz="0.0151074"/>
+    </inertial>
+  </link>
+  <link name="forearm_link">
+    <visual>
+      <origin rpy="1.57079632679 0 -1.57079632679" xyz="0 0 0.007"/>
+      <geometry>
+        <mesh filename="package://ur_description/meshes/ur5e/visual/forearm.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.57079632679 0 -1.57079632679" xyz="0 0 0.007"/>
+      <geometry>
+        <mesh filename="package://ur_description/meshes/ur5e/collision/forearm.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="2.275"/>
+      <origin rpy="0 1.57079632679 0" xyz="-0.1961 0.0 0.007"/>
+      <inertia ixx="0.0312093550996" ixy="0.0" ixz="0.0" iyy="0.0312093550996" iyz="0.0" izz="0.004095"/>
+    </inertial>
+  </link>
+  <link name="wrist_1_link">
+    <visual>
+      <!-- TODO: Move this to a parameter -->
+      <origin rpy="1.57079632679 0 0" xyz="0 0 -0.127"/>
+      <geometry>
+        <mesh filename="package://ur_description/meshes/ur5e/visual/wrist1.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.57079632679 0 0" xyz="0 0 -0.127"/>
+      <geometry>
+        <mesh filename="package://ur_description/meshes/ur5e/collision/wrist1.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.219"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.00255989897604" ixy="0.0" ixz="0.0" iyy="0.00255989897604" iyz="0.0" izz="0.0021942"/>
+    </inertial>
+  </link>
+  <link name="wrist_2_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 -0.0997"/>
+      <geometry>
+        <mesh filename="package://ur_description/meshes/ur5e/visual/wrist2.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.0997"/>
+      <geometry>
+        <mesh filename="package://ur_description/meshes/ur5e/collision/wrist2.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.219"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.00255989897604" ixy="0.0" ixz="0.0" iyy="0.00255989897604" iyz="0.0" izz="0.0021942"/>
+    </inertial>
+  </link>
+  <link name="wrist_3_link">
+    <visual>
+      <origin rpy="1.57079632679 0 0" xyz="0 0 -0.0989"/>
+      <geometry>
+        <mesh filename="package://ur_description/meshes/ur5e/visual/wrist3.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="1.57079632679 0 0" xyz="0 0 -0.0989"/>
+      <geometry>
+        <mesh filename="package://ur_description/meshes/ur5e/collision/wrist3.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.1879"/>
+      <origin rpy="0 0 0" xyz="0.0 0.0 -0.0229"/>
+      <inertia ixx="9.89041005217e-05" ixy="0.0" ixz="0.0" iyy="9.89041005217e-05" iyz="0.0" izz="0.0001321171875"/>
+    </inertial>
+  </link>
+  <!-- joints: main serial chain -->
+  <joint name="base_link-base_link_inertia" type="fixed">
+    <parent link="base_link"/>
+    <child link="base_link_inertia"/>
+    <!-- 'base_link' is REP-103 aligned (so X+ forward), while the internal
+           frames of the robot/controller have X+ pointing backwards.
+           Use the joint between 'base_link' and 'base_link_inertia' (a dummy
+           link/frame) to introduce the necessary rotation over Z (of pi rad).
+      -->
+    <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
+  </joint>
+  <joint name="shoulder_pan_joint" type="revolute">
+    <parent link="base_link_inertia"/>
+    <child link="shoulder_link"/>
+    <origin rpy="0 0 0" xyz="0 0 0.1625"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14159265359"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="shoulder_lift_joint" type="revolute">
+    <parent link="shoulder_link"/>
+    <child link="upper_arm_link"/>
+    <origin rpy="1.570796327 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14159265359"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="elbow_joint" type="revolute">
+    <parent link="upper_arm_link"/>
+    <child link="forearm_link"/>
+    <origin rpy="0 0 0" xyz="-0.425 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-3.14159265359" upper="3.14159265359" velocity="3.14159265359"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="wrist_1_joint" type="revolute">
+    <parent link="forearm_link"/>
+    <child link="wrist_1_link"/>
+    <origin rpy="0 0 0" xyz="-0.3922 0 0.1333"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14159265359"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="wrist_2_joint" type="revolute">
+    <parent link="wrist_1_link"/>
+    <child link="wrist_2_link"/>
+    <origin rpy="1.570796327 0 0" xyz="0 -0.0997 -2.0448811823e-11"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14159265359"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <joint name="wrist_3_joint" type="revolute">
+    <parent link="wrist_2_link"/>
+    <child link="wrist_3_link"/>
+    <origin rpy="1.57079632659 3.14159265359 3.14159265359" xyz="0 0.0996 -2.04283014801e-11"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14159265359"/>
+    <dynamics damping="0" friction="0"/>
+  </joint>
+  <!-- ROS-Industrial 'base' frame: base_link to UR 'Base' Coordinates transform -->
+  <link name="base"/>
+  <joint name="base_link-base_fixed_joint" type="fixed">
+    <!-- Note the rotation over Z of pi radians: as base_link is REP-103
+           aligned (ie: has X+ forward, Y+ left and Z+ up), this is needed
+           to correctly align 'base' with the 'Base' coordinate system of
+           the UR controller.
+      -->
+    <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="base"/>
+  </joint>
+  <!-- ROS-Industrial 'flange' frame: attachment point for EEF models -->
+  <link name="flange"/>
+  <joint name="wrist_3-flange" type="fixed">
+    <parent link="wrist_3_link"/>
+    <child link="flange"/>
+    <origin rpy="0 -1.57079632679 -1.57079632679" xyz="0 0 0"/>
+  </joint>
+  <!-- ROS-Industrial 'tool0' frame: all-zeros tool frame -->
+  <link name="tool0"/>
+  <joint name="flange-tool0" type="fixed">
+    <!-- default toolframe: X+ left, Y+ up, Z+ front -->
+    <origin rpy="1.57079632679 0 1.57079632679" xyz="0 0 0"/>
+    <parent link="flange"/>
+    <child link="tool0"/>
+  </joint>
+  <joint name="robotiq_hande_base_joint" type="fixed">
+    <parent link="tool0"/>
+    <child link="hand_e_link"/>
+    <!-- <xacro:insert_block name="origin"/> -->
+  </joint>
+  <link name="hand_e_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.04607"/>
+      <mass value="0.86387"/>
+      <inertia ixx="1017560E-9" ixy="0" ixz="2235E-9" iyy="1028041E-9" iyz="0" izz="489810E-9"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ur5e_with_robotiq_hande/meshes/visual/hand-e.dae" scale="1.0 1.0 1.0"/>
+      </geometry>
+      <material name="Dark">
+        <color rgba=".1 0.1 0.1 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robotiq_description/meshes/collision/hand-e-collision.dae" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="hande_left_finger">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.02262 0.00759 0.00738"/>
+      <mass value="0.03804"/>
+      <inertia ixx="13567E-9" ixy="1849E-9" ixz="3622E-9" iyy="15784E-9" iyz="3616E-9" izz="7478E-9"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robotiq_description/meshes/visual/finger_1.dae" scale="1.0 1.0 1.0"/>
+      </geometry>
+      <material name="DarkGray">
+        <color rgba=".4 0.4 0.4 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robotiq_description/meshes/collision/finger_1-collision.dae" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="hande_right_finger">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.02262 -0.00759 0.00738"/>
+      <mass value="0.03804"/>
+      <inertia ixx="13567E-9" ixy="1849E-9" ixz="-3622E-9" iyy="15784E-9" iyz="-3616E-9" izz="7478E-9"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robotiq_description/meshes/visual/finger_2.dae" scale="1.0 1.0 1.0"/>
+      </geometry>
+      <material name="DarkGray">
+        <color rgba=".4 0.4 0.4 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://robotiq_description/meshes/collision/finger_2-collision.dae" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- <gazebo reference="${prefix}hand_e_link">
+      <material>Gazebo/FlatBlack</material>
+    </gazebo>
+    <gazebo reference="${prefix}hande_right_finger">
+      <material>Gazebo/Grey</material>
+    </gazebo>
+    <gazebo reference="${prefix}hande_left_finger">
+      <material>Gazebo/Grey</material>
+    </gazebo> -->
+  <joint name="hande_left_finger_joint" type="prismatic">
+    <origin rpy="0 0 0" xyz="0 0 0.099"/>
+    <parent link="hand_e_link"/>
+    <child link="hande_left_finger"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="130" lower="0" upper="0.025" velocity="0.15"/>
+  </joint>
+  <joint name="hande_right_finger_joint" type="prismatic">
+    <origin rpy="0 0 0" xyz="0 0 0.099"/>
+    <parent link="hand_e_link"/>
+    <child link="hande_right_finger"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="130" lower="0" upper="0.025" velocity="0.15"/>
+    <mimic joint="hande_left_finger_joint" multiplier="1" offset="0"/>
+  </joint>
+  <!-- Improve grasping physics -->
+  <gazebo reference="hande_left_finger">
+    <kp>1e8</kp>
+    <kd>1.0</kd>
+    <mu1>1.0</mu1>
+    <mu2>1.0</mu2>
+    <minDepth>0.001</minDepth>
+  </gazebo>
+  <gazebo reference="hande_right_finger">
+    <kp>1e8</kp>
+    <kd>1.0</kd>
+    <mu1>1.0</mu1>
+    <mu2>1.0</mu2>
+    <minDepth>0.001</minDepth>
+  </gazebo>
+  <transmission name="hande_left_finger_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="hande_left_finger_joint">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="hande_left_finger_motor">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <!-- <transmission name="${prefix}hande_right_finger_trans">
+      <type>transmission_interface/SimpleTransmission</type>
+      <joint name="${prefix}hande_right_finger_joint">
+        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      </joint>
+      <actuator name="${prefix}hande_right_finger_motor">
+        <mechanicalReduction>1</mechanicalReduction>
+      </actuator>
+    </transmission> -->
+  <!-- Mimic joints -->
+  <!-- <gazebo>
+      <plugin filename="libgazebo_mimic_joint_plugin.so" name="${prefix}mimic_robotiq_hande">
+        <joint>${prefix}hande_left_finger_joint</joint>
+        <mimicJoint>${prefix}hande_right_finger_joint</mimicJoint>
+        <multiplier>1.0</multiplier>
+        <offset>0.0</offset>
+      </plugin>
+    </gazebo> -->
+  <!-- define the ur5e's position and orientation in the world coordinate system -->
+  <link name="world"/>
+  <joint name="world_joint" type="fixed">
+    <parent link="world"/>
+    <child link="base_link"/>
+    <!-- TODO: check base_link name of robot -->
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+  </joint>
+</robot>
-- 
GitLab