Skip to content
Snippets Groups Projects
Commit 10feb7b7 authored by KingMaZito's avatar KingMaZito
Browse files

...

parent 2b32e3da
No related branches found
No related tags found
No related merge requests found
Hide whitespace changes
Inline Side-by-side
robots/ceti_quadruple.urdf.xacro 0 → 100644
+ 167
− 0
View file @ 10feb7b7
<?xml version="1.0" encoding="utf-8"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
<xacro:arg name="arm_id_1" default="panda_1" />
<xacro:arg name="arm_id_2" default="panda_2" />
<xacro:arg name="arm_id_3" default="panda_3" />
<xacro:arg name="arm_id_4" default="panda_4" />
<xacro:include filename="panda_arm.xacro"/>
<xacro:include filename="hand.xacro"/>
<xacro:arg name="scene" default='dummy/dummy.yaml'/>
<link name="world" />
<xacro:property name="yaml_file" value="$(find multi_cell_builder)/results/$(arg scene)" />
<xacro:property name="props" value="${xacro.load_yaml(yaml_file)}" />
<xacro:property name="x1" value= "${props['objects'][8]['pos']['x']}" />
<xacro:property name="y1" value="${props['objects'][8]['pos']['y']}" />
<xacro:property name="z1" value="${props['objects'][8]['pos']['z']}" />
<xacro:property name="sx1" value="${props['objects'][8]['size']['length']}" />
<xacro:property name="sy1" value="${props['objects'][8]['size']['width']}" />
<xacro:property name="sz1" value="${props['objects'][8]['size']['height']}" />
<xacro:property name="rpy1" value="${props['objects'][8]['rpy']['r']} ${props['objects'][8]['rpy']['p']} ${props['objects'][8]['rpy']['y']}" />
<xacro:property name="x2" value="${props['objects'][17]['pos']['x']}" />
<xacro:property name="y2" value="${props['objects'][17]['pos']['y']}" />
<xacro:property name="z2" value="${props['objects'][17]['pos']['z']}" />
<xacro:property name="rpy2" value="${props['objects'][17]['rpy']['r']} ${props['objects'][17]['rpy']['p']} ${props['objects'][17]['rpy']['y']}" />
<xacro:property name="sx2" value="${props['objects'][17]['size']['length']}" />
<xacro:property name="sy2" value="${props['objects'][17]['size']['width']}" />
<xacro:property name="sz2" value="${props['objects'][17]['size']['height']}" />
<xacro:property name="x3" value="${props['objects'][26]['pos']['x']}" />
<xacro:property name="y3" value="${props['objects'][26]['pos']['y']}" />
<xacro:property name="z3" value="${props['objects'][26]['pos']['z']}" />
<xacro:property name="rpy3" value="${props['objects'][26]['rpy']['r']} ${props['objects'][26]['rpy']['p']} ${props['objects'][26]['rpy']['y']}" />
<xacro:property name="sx3" value="${props['objects'][26]['size']['length']}" />
<xacro:property name="sy3" value="${props['objects'][26]['size']['width']}" />
<xacro:property name="sz3" value="${props['objects'][26]['size']['height']}" />
<xacro:property name="x4" value="${props['objects'][35]['pos']['x']}" />
<xacro:property name="y4" value="${props['objects'][35]['pos']['y']}" />
<xacro:property name="z4" value="${props['objects'][35]['pos']['z']}" />
<xacro:property name="rpy4" value="${props['objects'][35]['rpy']['r']} ${props['objects'][35]['rpy']['p']} ${props['objects'][35]['rpy']['y']}" />
<xacro:property name="sx4" value="${props['objects'][35]['size']['length']}" />
<xacro:property name="sy4" value="${props['objects'][35]['size']['width']}" />
<xacro:property name="sz4" value="${props['objects'][35]['size']['height']}" />
<joint name="base_joint1" type="fixed">
<parent link="world" />
<child link="base_1" />
<origin xyz="${x1} ${y1} ${(z1* 0.5) + (sz1 * 0.25)}" rpy="${rpy1}"/>
<axis xyz="0 0 1"/>
</joint>
<joint name="base_joint2" type="fixed">
<parent link="world" />
<child link="base_2" />
<origin xyz="${x2} ${y2} ${(z2* 0.5) + (sz2 * 0.25)}" rpy="${rpy2}"/>
<axis xyz="0 0 1"/>
</joint>
<joint name="base_joint3" type="fixed">
<parent link="world" />
<child link="base_3" />
<origin xyz="${x3} ${y3} ${(z3* 0.5) + (sz3 * 0.25)}" rpy="${rpy3}"/>
<axis xyz="0 0 1"/>
</joint>
<joint name="base_joint4" type="fixed">
<parent link="world" />
<child link="base_4" />
<origin xyz="${x4} ${y4} ${(z4* 0.5) + (sz4 * 0.25)}" rpy="${rpy4}"/>
<axis xyz="0 0 1"/>
</joint>
<link name="base_1">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="${sx1} ${sy1} ${z1 + (sz1 * 0.5)}" />
</geometry>
<material name="White">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="${sx1} ${sy1} ${z1 + (sz1 * 0.5)}" />
</geometry>
</collision>
</link>
<link name="base_2">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="${sx2} ${sy2} ${z2 + (sz2 * 0.5)}" />
</geometry>
<material name="White">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="${sx2} ${sy2} ${z2 + (sz2 * 0.5)}" />
</geometry>
</collision>
</link>
<link name="base_3">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="${sx3} ${sy3} ${z3 + (sz3 * 0.5)}" />
</geometry>
<material name="White">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="${sx3} ${sy3} ${z3 + (sz3 * 0.5)}" />
</geometry>
</collision>
</link>
<link name="base_4">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="${sx4} ${sy4} ${z4 + (sz4 * 0.5)}" />
</geometry>
<material name="White">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="${sx4} ${sy4} ${z4 + (sz4 * 0.5)}" />
</geometry>
</collision>
</link>
<xacro:panda_arm arm_id="$(arg arm_id_1)" connected_to="base_1" xyz="-0.22 0 ${(z1* 0.5) + (sz1 * 0.25)}" />
<xacro:hand ns="$(arg arm_id_1)" rpy="0 0 ${-pi/4}" connected_to="$(arg arm_id_1)_link8" />
<xacro:panda_arm arm_id="$(arg arm_id_2)" connected_to="base_2" xyz="-0.22 0 ${(z2* 0.5) + (sz2 * 0.25)}" />
<xacro:hand ns="$(arg arm_id_2)" rpy="0 0 ${-pi/4}" connected_to="$(arg arm_id_2)_link8"/>
<xacro:panda_arm arm_id="$(arg arm_id_3)" connected_to="base_3" xyz="-0.22 0 ${(z3* 0.5) + (sz3 * 0.25)}" />
<xacro:hand ns="$(arg arm_id_3)" rpy="0 0 ${-pi/4}" connected_to="$(arg arm_id_3)_link8"/>
<xacro:panda_arm arm_id="$(arg arm_id_4)" connected_to="base_4" xyz="-0.22 0 ${(z4* 0.5) + (sz4 * 0.25)}" />
<xacro:hand ns="$(arg arm_id_4)" rpy="0 0 ${-pi/4}" connected_to="$(arg arm_id_4)_link8"/>
</robot>
robots/ceti_single.urdf.xacro 0 → 100644
+ 54
− 0
View file @ 10feb7b7
<?xml version="1.0" encoding="utf-8"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
<xacro:arg name="arm_id_1" default="panda_1" />
<xacro:include filename="panda_arm.xacro"/>
<xacro:include filename="hand.xacro"/>
<xacro:arg name="scene" default='dummy/dummy.yaml'/>
<link name="world" />
<xacro:property name="yaml_file" value="$(find multi_cell_builder)/results/$(arg scene)" />
<xacro:property name="props" value="${xacro.load_yaml(yaml_file)}" />
<xacro:property name="x1" value="${props['objects'][8]['pos']['x']}" />
<xacro:property name="y1" value="${props['objects'][8]['pos']['y']}" />
<xacro:property name="z1" value="${props['objects'][8]['pos']['z']}" />
<xacro:property name="sx1" value="${props['objects'][8]['size']['length']}" />
<xacro:property name="sy1" value="${props['objects'][8]['size']['width']}" />
<xacro:property name="sz1" value="${props['objects'][8]['size']['height']}" />
<xacro:property name="rpy1" value="${props['objects'][8]['rpy']['r']} ${props['objects'][8]['rpy']['p']} ${props['objects'][8]['rpy']['y']}" />
<joint name="base_joint1" type="fixed">
<parent link="world" />
<child link="base_1" />
<origin xyz="${x1} ${y1} ${(z1* 0.5) + (sz1 * 0.25)}" rpy="${rpy1}"/>
<axis xyz="0 0 1"/>
</joint>
<link name="base_1">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="${sx1} ${sy1} ${z1 + (sz1 * 0.5)}" />
</geometry>
<material name="White">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="${sx1} ${sy1} ${z1 + (sz1 * 0.5)}" />
</geometry>
</collision>
</link>
<!-- right arm with gripper -->
<xacro:panda_arm arm_id="$(arg arm_id_1)" connected_to="base_1" xyz="-0.22 0 ${(z1* 0.5) + (sz1 * 0.25)}" />
<xacro:hand ns="$(arg arm_id_1)" rpy="0 0 ${-pi/4}" connected_to="$(arg arm_id_1)_link8" />
</robot>
robots/dual_panda_example.urdf.xacro
+ 2
− 11
View file @ 10feb7b7
......@@ -3,15 +3,6 @@
<xacro:arg name="arm_id_1" default="panda_1" />
<xacro:arg name="arm_id_2" default="panda_2" />
<xacro:arg name="GOAL" default='Base_task'/>
<xacro:property name="yaml_file" value="$(find reachability)/Positionsanalyse/$(arg GOAL).yaml" />
<xacro:property name="props" value="${load_yaml(yaml_file)}" />
<xacro:property name="pos_1" value="${props['Basispositionen']['panda_arm1']}" />
<xacro:property name="pos_2" value="${props['Basispositionen']['panda_arm2']}" />
<xacro:include filename="panda_arm.xacro"/>
<xacro:include filename="hand.xacro"/>
......@@ -19,11 +10,11 @@
<link name="world"/>
<!-- right arm with gripper -->
<xacro:panda_arm arm_id="$(arg arm_id_1)" connected_to="world" xyz="${pos_1}" />
<xacro:panda_arm arm_id="$(arg arm_id_1)" connected_to="world" xyz="0 0 0" />
<xacro:hand ns="$(arg arm_id_1)" rpy="0 0 ${-pi/4}" connected_to="$(arg arm_id_1)_link8" />
<!-- left arm with gripper -->
<xacro:panda_arm arm_id="$(arg arm_id_2)" connected_to="world" xyz="${pos_2}" />
<xacro:panda_arm arm_id="$(arg arm_id_2)" connected_to="world" xyz="0 1 0" />
<xacro:hand ns="$(arg arm_id_2)" rpy="0 0 ${-pi/4}" connected_to="$(arg arm_id_2)_link8"/>
</robot>
robots/panda_arm_hand.urdf.xacro
+ 1
− 1
View file @ 10feb7b7
......@@ -8,7 +8,7 @@
<xacro:include filename="panda.transmission.xacro"/>
<!-- end for simulation -->
<xacro:panda_arm />
<xacro:panda_arm/>
<xacro:hand ns="panda" rpy="0 0 ${-pi/4}" connected_to="panda_link8"/>
<!-- for simulation -->
......
robots/single_panda_example.urdf.xacro 0 → 100644
+ 15
− 0
View file @ 10feb7b7
<?xml version="1.0" encoding="utf-8"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
<xacro:arg name="arm_id_1" default="panda_1" />
<xacro:include filename="panda_arm.xacro"/>
<xacro:include filename="hand.xacro"/>
<link name="world"/>
<!-- right arm with gripper -->
<xacro:panda_arm arm_id="$(arg arm_id_1)" connected_to="world" xyz="0 0 0" />
<xacro:hand ns="$(arg arm_id_1)" rpy="0 0 ${-pi/4}" connected_to="$(arg arm_id_1)_link8" />
</robot>
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Please register or to comment