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<technique_common>
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<param name="Y" type="float"/>
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</accessor>
</technique_common>
</source>
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</vertices>
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<input semantic="VERTEX" source="#Part__Feature001_006-mesh-vertices" offset="0"/>
<input semantic="NORMAL" source="#Part__Feature001_006-mesh-normals" offset="1"/>
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</triangles>
</mesh>
</geometry>
</library_geometries>
<library_controllers/>
<library_visual_scenes>
<visual_scene id="Scene" name="Scene">
<node id="node0" name="node0" type="NODE">
<matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
<instance_geometry url="#Part__Feature_007-mesh" name="node0">
<bind_material>
<technique_common>
<instance_material symbol="Part__Feature_007-material" target="#Part__Feature_007-material"/>
</technique_common>
</bind_material>
</instance_geometry>
</node>
<node id="node1" name="node1" type="NODE">
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<instance_geometry url="#Part__Feature001_006-mesh" name="node1">
<bind_material>
<technique_common>
<instance_material symbol="Part__Feature001_006-material" target="#Part__Feature001_006-material"/>
</technique_common>
</bind_material>
</instance_geometry>
</node>
</visual_scene>
</library_visual_scenes>
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
</COLLADA>
\ No newline at end of file
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<?xml version="1.0"?>
<package format="2">
<name>franka_description</name>
<version>0.7.0</version>
<description>franka_description contains URDF files and meshes of Franka Emika robots</description>
<maintainer email="support@franka.de">Franka Emika GmbH</maintainer>
<license>Apache 2.0</license>
<url type="website">http://wiki.ros.org/franka_description</url>
<url type="repository">https://github.com/frankaemika/franka_ros</url>
<url type="bugtracker">https://github.com/frankaemika/franka_ros/issues</url>
<author>Franka Emika GmbH</author>
<buildtool_depend>catkin</buildtool_depend>
<exec_depend>xacro</exec_depend>
</package>
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<?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: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']}" />
<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>
<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} ${z2 + (sz2 * 0.5)}" />
</geometry>
</collision>
</link>
<!-- right arm with gripper -->
<xacro:panda_arm arm_id="$(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" />
<!-- left arm with gripper -->
<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"/>
</robot>
robots/dual_panda_example.urdf.xacro 0 → 100644
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− 0
View file @ 2b32e3da
<?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="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="${props['Basispositionen']['panda_arm2']}" />
<xacro:include filename="panda_arm.xacro"/>
<xacro:include filename="hand.xacro"/>
<link name="world"/>
<!-- right arm with gripper -->
<xacro:panda_arm arm_id="$(arg arm_id_1)" connected_to="world" xyz="${pos_1}" />
<xacro:hand ns="$(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:hand ns="$(arg arm_id_2)" rpy="0 0 ${-pi/4}" connected_to="$(arg arm_id_2)_link8"/>
</robot>
robots/hand.urdf.xacro 0 → 100644
+ 5
− 0
View file @ 2b32e3da
<?xml version="1.0" encoding="utf-8"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="hand">
<xacro:include filename="hand.xacro"/>
<xacro:hand ns="panda"/>
</robot>
robots/hand.xacro 0 → 100644
+ 88
− 0
View file @ 2b32e3da
<?xml version="1.0" encoding="utf-8"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="hand">
<xacro:macro name="hand" params="connected_to:='' ns:='' rpy:='0 0 0' xyz:='0 0 0' ">
<xacro:unless value="${connected_to == ''}">
<joint name="${ns}_hand_joint" type="fixed">
<parent link="${connected_to}"/>
<child link="${ns}_hand"/>
<origin xyz="${xyz}" rpy="${rpy}"/>
</joint>
</xacro:unless>
<link name="${ns}_hand">
<visual>
<geometry>
<mesh filename="package://franka_description/meshes/visual/hand.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://franka_description/meshes/collision/hand.stl"/>
</geometry>
</collision>
<!-- for simulation -->
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="0.68" />
<inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
</inertial>
<!-- end for simulation -->
</link>
<link name="${ns}_leftfinger">
<visual>
<geometry>
<mesh filename="package://franka_description/meshes/visual/finger.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://franka_description/meshes/collision/finger.stl"/>
</geometry>
</collision>
<!-- for simulation -->
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="0.01" />
<inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
</inertial>
<!-- end for simulation -->
</link>
<link name="${ns}_rightfinger">
<visual>
<origin xyz="0 0 0" rpy="0 0 ${pi}"/>
<geometry>
<mesh filename="package://franka_description/meshes/visual/finger.dae"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 ${pi}"/>
<geometry>
<mesh filename="package://franka_description/meshes/collision/finger.stl"/>
</geometry>
</collision>
<!-- for simulation -->
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="0.01" />
<inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
</inertial>
<!-- end for simulation -->
</link>
<joint name="${ns}_finger_joint1" type="prismatic">
<parent link="${ns}_hand"/>
<child link="${ns}_leftfinger"/>
<origin xyz="0 0 0.0584" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
</joint>
<joint name="${ns}_finger_joint2" type="prismatic">
<parent link="${ns}_hand"/>
<child link="${ns}_rightfinger"/>
<origin xyz="0 0 0.0584" rpy="0 0 0"/>
<axis xyz="0 -1 0"/>
<limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
</joint>
</xacro:macro>
</robot>
robots/panda.gazebo.xacro 0 → 100644
+ 94
− 0
View file @ 2b32e3da
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="panda_gazebo" params="robot_name">
<!-- Link0 -->
<gazebo reference="${robot_name}_link0">
<material>Gazebo/Grey</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<!-- Link1 -->
<gazebo reference="${robot_name}_link1">
<material>Gazebo/White</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<!-- Link2 -->
<gazebo reference="${robot_name}_link2">
<material>Gazebo/White</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<!-- Link3 -->
<gazebo reference="${robot_name}_link3">
<material>Gazebo/White</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<!-- Link4 -->
<gazebo reference="${robot_name}_link4">
<material>Gazebo/White</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<!-- Link5 -->
<gazebo reference="${robot_name}_link5">
<material>Gazebo/White</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<!-- Link6 -->
<gazebo reference="${robot_name}_link6">
<material>Gazebo/White</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<!-- Link7 -->
<gazebo reference="${robot_name}_link7">
<material>Gazebo/Grey</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<!-- Link8 -->
<gazebo reference="${robot_name}_link8">
<material>Gazebo/Grey</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<!-- LinkHand -->
<gazebo reference="${robot_name}_hand">
<material>Gazebo/Grey</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<!-- LinkRightFinger -->
<gazebo reference="${robot_name}_rightfinger">
<material>Gazebo/Grey</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<!-- LinkLeftFinger -->
<gazebo reference="${robot_name}_leftfinger">
<material>Gazebo/Grey</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
</xacro:macro>
</robot>
robots/panda.transmission.xacro 0 → 100644
+ 114
− 0
View file @ 2b32e3da
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="panda_transmission" params="robot_name load_hand">
<!-- Load Gazebo lib and set the robot namespace -->
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<!-- <robotNamespace>/${robot_name}</robotNamespace> -->
</plugin>
</gazebo>
<transmission name="${robot_name}_tran_1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${robot_name}_joint1">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="${robot_name}_motor_1">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${robot_name}_tran_2">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${robot_name}_joint2">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="${robot_name}_motor_2">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${robot_name}_tran_3">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${robot_name}_joint3">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="${robot_name}_motor_3">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${robot_name}_tran_4">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${robot_name}_joint4">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="${robot_name}_motor_4">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${robot_name}_tran_5">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${robot_name}_joint5">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="${robot_name}_motor_5">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${robot_name}_tran_6">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${robot_name}_joint6">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="${robot_name}_motor_6">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${robot_name}_tran_7">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${robot_name}_joint7">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="${robot_name}_motor_7">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<xacro:if value="${load_hand}">
<transmission name="${robot_name}_leftfinger">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${robot_name}_finger_joint1">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="${robot_name}_finger_joint1">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${robot_name}_rightfinger">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${robot_name}_finger_joint2">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="${robot_name}_finger_joint2">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</xacro:if>
</xacro:macro>
</robot>
robots/panda_arm.urdf.xacro 0 → 100644
+ 18
− 0
View file @ 2b32e3da
<?xml version='1.0' encoding='utf-8'?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
<xacro:include filename="panda_arm.xacro" />
<!-- for simulation -->
<xacro:include filename="panda.gazebo.xacro"/>
<xacro:include filename="panda.transmission.xacro"/>
<!-- end for simulation -->
<xacro:panda_arm/>
<!-- for simulation -->
<xacro:arg name="robot_name" default="panda"/>
<xacro:panda_gazebo robot_name="$(arg robot_name)" />
<xacro:panda_transmission robot_name="$(arg robot_name)" load_hand="false" />
<!-- end for simulation -->
</robot>
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