From 10feb7b7a07b45b7ed82067a9fae5c16ce12620a Mon Sep 17 00:00:00 2001
From: KingMaZito <matteo.aneddama@icloud.com>
Date: Wed, 5 Apr 2023 01:09:40 +0200
Subject: [PATCH] ...
---
robots/ceti_quadruple.urdf.xacro | 167 +++++++++++++++++++++++++
robots/ceti_single.urdf.xacro | 54 ++++++++
robots/dual_panda_example.urdf.xacro | 13 +-
robots/panda_arm_hand.urdf.xacro | 2 +-
robots/single_panda_example.urdf.xacro | 15 +++
5 files changed, 239 insertions(+), 12 deletions(-)
create mode 100644 robots/ceti_quadruple.urdf.xacro
create mode 100644 robots/ceti_single.urdf.xacro
create mode 100644 robots/single_panda_example.urdf.xacro
diff --git a/robots/ceti_quadruple.urdf.xacro b/robots/ceti_quadruple.urdf.xacro
new file mode 100644
index 0000000..8ef5830
--- /dev/null
+++ b/robots/ceti_quadruple.urdf.xacro
@@ -0,0 +1,167 @@
+<?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>
diff --git a/robots/ceti_single.urdf.xacro b/robots/ceti_single.urdf.xacro
new file mode 100644
index 0000000..f58ec26
--- /dev/null
+++ b/robots/ceti_single.urdf.xacro
@@ -0,0 +1,54 @@
+<?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>
diff --git a/robots/dual_panda_example.urdf.xacro b/robots/dual_panda_example.urdf.xacro
index 45b4d14..99df197 100644
--- a/robots/dual_panda_example.urdf.xacro
+++ b/robots/dual_panda_example.urdf.xacro
@@ -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>
diff --git a/robots/panda_arm_hand.urdf.xacro b/robots/panda_arm_hand.urdf.xacro
index 65ac6b9..3fd0366 100644
--- a/robots/panda_arm_hand.urdf.xacro
+++ b/robots/panda_arm_hand.urdf.xacro
@@ -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 ${-pi/4}" connected_to="panda_link8"/>
<!-- for simulation -->
diff --git a/robots/single_panda_example.urdf.xacro b/robots/single_panda_example.urdf.xacro
new file mode 100644
index 0000000..8d80580
--- /dev/null
+++ b/robots/single_panda_example.urdf.xacro
@@ -0,0 +1,15 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
+ <xacro:arg name="arm_id_1" default="panda_1" />
+
+ <xacro:include filename="panda_arm.xacro"/>
+ <xacro:include filename="hand.xacro"/>
+
+
+ <link name="world"/>
+
+ <!-- right arm with gripper -->
+ <xacro:panda_arm arm_id="$(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>
--
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