别人克隆后没有 install，source 会直接失败。把展开后的 install 放进仓库，符号链接和指向本机 build 的 egg-link 收成真实文件，Python 入口改走当前环境的解释器，这样不用先 colcon build 也能启动。
Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
arm_dev
+1
@@ -0,0 +1 @@
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||||
urdf;xacro;rviz2;joint_state_publisher;joint_state_publisher_gui;robot_state_publisher
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||||
+1
@@ -0,0 +1 @@
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/home/cc/anaconda3/envs/ros_flexiv
|
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@@ -0,0 +1 @@
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joint_state_publisher:joint_state_publisher_gui:robot_state_publisher:rviz2:urdf:xacro
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+14
@@ -0,0 +1,14 @@
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# generated from ament/cmake/core/templates/nameConfig-version.cmake.in
|
||||
set(PACKAGE_VERSION "1.9.0")
|
||||
|
||||
set(PACKAGE_VERSION_EXACT False)
|
||||
set(PACKAGE_VERSION_COMPATIBLE False)
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|
||||
if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
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set(PACKAGE_VERSION_EXACT True)
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set(PACKAGE_VERSION_COMPATIBLE True)
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endif()
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||||
if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
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set(PACKAGE_VERSION_COMPATIBLE True)
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endif()
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+42
@@ -0,0 +1,42 @@
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# generated from ament/cmake/core/templates/nameConfig.cmake.in
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|
||||
# prevent multiple inclusion
|
||||
if(_flexiv_description_CONFIG_INCLUDED)
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# ensure to keep the found flag the same
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if(NOT DEFINED flexiv_description_FOUND)
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||||
# explicitly set it to FALSE, otherwise CMake will set it to TRUE
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set(flexiv_description_FOUND FALSE)
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elseif(NOT flexiv_description_FOUND)
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# use separate condition to avoid uninitialized variable warning
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set(flexiv_description_FOUND FALSE)
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endif()
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return()
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endif()
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set(_flexiv_description_CONFIG_INCLUDED TRUE)
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||||
|
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# output package information
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if(NOT flexiv_description_FIND_QUIETLY)
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message(STATUS "Found flexiv_description: 1.9.0 (${flexiv_description_DIR})")
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endif()
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|
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# warn when using a deprecated package
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if(NOT "" STREQUAL "")
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set(_msg "Package 'flexiv_description' is deprecated")
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# append custom deprecation text if available
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if(NOT "" STREQUAL "TRUE")
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set(_msg "${_msg} ()")
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endif()
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# optionally quiet the deprecation message
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if(NOT ${flexiv_description_DEPRECATED_QUIET})
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message(DEPRECATION "${_msg}")
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endif()
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endif()
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|
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# flag package as ament-based to distinguish it after being find_package()-ed
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set(flexiv_description_FOUND_AMENT_PACKAGE TRUE)
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|
||||
# include all config extra files
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||||
set(_extras "")
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foreach(_extra ${_extras})
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include("${flexiv_description_DIR}/${_extra}")
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endforeach()
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+49
@@ -0,0 +1,49 @@
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||||
inertia_parameters:
|
||||
wrist_sensor_base_link:
|
||||
mass: 1E-4
|
||||
origin:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
inertia:
|
||||
ixx: 1E-7
|
||||
ixy: 0
|
||||
ixz: 0
|
||||
iyy: 1E-7
|
||||
iyz: 0
|
||||
izz: 1E-7
|
||||
wrist_sensor_proximal_link:
|
||||
mass: 0.149
|
||||
origin:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0.01955
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
inertia:
|
||||
ixx: 8.6E-5
|
||||
ixy: 0
|
||||
ixz: 0
|
||||
iyy: 8.6E-5
|
||||
iyz: 0
|
||||
izz: 1E-7
|
||||
wrist_sensor_distal_link:
|
||||
mass: 0.249
|
||||
origin:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0.0085
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
inertia:
|
||||
ixx: 1.05E-4
|
||||
ixy: 0
|
||||
ixz: 0
|
||||
iyy: 1.05E-4
|
||||
iyz: -0
|
||||
izz: 1.81E-4
|
||||
+22
@@ -0,0 +1,22 @@
|
||||
kinematics:
|
||||
wrist_sensor_remove_rizon_flange_body:
|
||||
x: 0
|
||||
y: 0
|
||||
z: -0.016
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
wrist_sensor_proximal_link_to_sensing_frame:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0.0235
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
wrist_sensor_sensing_frame_to_flange:
|
||||
x: 0.0
|
||||
y: 0.0
|
||||
z: 0.0285
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
@@ -0,0 +1,47 @@
|
||||
visual_parameters:
|
||||
wrist_sensor_proximal_link:
|
||||
visual:
|
||||
shell:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/FT03/visual/proximal.obj
|
||||
collision:
|
||||
origin:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0
|
||||
roll: -1.5708
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/FT03/collision/proximal.stl
|
||||
wrist_sensor_distal_link:
|
||||
visual:
|
||||
shell:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/FT03/visual/distal.obj
|
||||
ring:
|
||||
origin:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/FT03/visual/ring.obj
|
||||
scale: 0.039 0.039 0.002
|
||||
collision:
|
||||
origin:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0
|
||||
roll: -1.5708
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/FT03/collision/distal.stl
|
||||
+57
@@ -0,0 +1,57 @@
|
||||
kinematics:
|
||||
joint1:
|
||||
x: 0.0
|
||||
y: 0.0
|
||||
z: 0.21
|
||||
roll: 0.0
|
||||
pitch: 0.0
|
||||
yaw: 3.141592653589793
|
||||
joint2:
|
||||
x: 0.0
|
||||
y: 0.0675
|
||||
z: 0.24
|
||||
roll: 0.0
|
||||
pitch: 0.0
|
||||
yaw: 0.0
|
||||
joint3:
|
||||
x: 0.0
|
||||
y: 0.0625
|
||||
z: 0.2275
|
||||
roll: 0.0
|
||||
pitch: 0.0
|
||||
yaw: 0.0
|
||||
joint4:
|
||||
x: 0.0
|
||||
y: -0.0625
|
||||
z: 0.2225
|
||||
roll: 0.0
|
||||
pitch: 0.0
|
||||
yaw: 3.141592653589793
|
||||
joint5:
|
||||
x: 0.0
|
||||
y: 0.0575
|
||||
z: 0.205
|
||||
roll: 0.0
|
||||
pitch: 0.0
|
||||
yaw: 3.141592653589793
|
||||
joint6:
|
||||
x: 0.0
|
||||
y: 0.03
|
||||
z: 0.19
|
||||
roll: 0.0
|
||||
pitch: 0.0
|
||||
yaw: 0.0
|
||||
joint7:
|
||||
x: -0.015
|
||||
y: 0.073
|
||||
z: 0.11
|
||||
roll: 0.0
|
||||
pitch: -1.5707963267948966
|
||||
yaw: 0.0
|
||||
link7_to_flange:
|
||||
x: 0.0
|
||||
y: 0.0
|
||||
z: 0.081
|
||||
roll: 0.0
|
||||
pitch: 0.0
|
||||
yaw: 3.141592653589793
|
||||
+129
@@ -0,0 +1,129 @@
|
||||
inertia_parameters:
|
||||
base_link:
|
||||
mass: 8.3
|
||||
origin:
|
||||
x: -0.0001
|
||||
y: -0.0004
|
||||
z: 0.1673
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
inertia:
|
||||
ixx: 0.1402
|
||||
ixy: 0.0
|
||||
ixz: -0.0005
|
||||
iyy: 0.1402
|
||||
iyz: -0.0005
|
||||
izz: 0.0419
|
||||
link1:
|
||||
mass: 14.197
|
||||
origin:
|
||||
x: 0.0001
|
||||
y: 0.0403
|
||||
z: 0.1304
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
inertia:
|
||||
ixx: 0.2373
|
||||
ixy: -0.0005
|
||||
ixz: -0.0004
|
||||
iyy: 0.1699
|
||||
iyz: 0.0629
|
||||
izz: 0.1166
|
||||
link2:
|
||||
mass: 7.287
|
||||
origin:
|
||||
x: -0.0001
|
||||
y: 0.0655
|
||||
z: 0.0637
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
inertia:
|
||||
ixx: 0.0752
|
||||
ixy: -0.0001
|
||||
ixz: 0.0001
|
||||
iyy: 0.0641
|
||||
iyz: -0.0011
|
||||
izz: 0.0412
|
||||
link3:
|
||||
mass: 4.595
|
||||
origin:
|
||||
x: -0.0002
|
||||
y: 0.0186
|
||||
z: 0.1576
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
inertia:
|
||||
ixx: 0.0572
|
||||
ixy: -0.0001
|
||||
ixz: -0.0001
|
||||
iyy: 0.0536
|
||||
iyz: 0.0053
|
||||
izz: 0.0126
|
||||
link4:
|
||||
mass: 3.074
|
||||
origin:
|
||||
x: 0.0002
|
||||
y: 0.0323
|
||||
z: 0.0931
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
inertia:
|
||||
ixx: 0.0319
|
||||
ixy: 0.0
|
||||
ixz: 0.0
|
||||
iyy: 0.027
|
||||
iyz: 0.007
|
||||
izz: 0.0101
|
||||
link5:
|
||||
mass: 2.369
|
||||
origin:
|
||||
x: 0.0003
|
||||
y: 0.0029
|
||||
z: 0.134
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
inertia:
|
||||
ixx: 0.0143
|
||||
ixy: 0.0
|
||||
ixz: 0.0
|
||||
iyy: 0.0136
|
||||
iyz: 0.0008
|
||||
izz: 0.0037
|
||||
link6:
|
||||
mass: 2.257
|
||||
origin:
|
||||
x: 0.0193
|
||||
y: 0.0595
|
||||
z: 0.0724
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
inertia:
|
||||
ixx: 0.0085
|
||||
ixy: 0.0004
|
||||
ixz: 0.0012
|
||||
iyy: 0.0089
|
||||
iyz: 0.0018
|
||||
izz: 0.0041
|
||||
link7:
|
||||
mass: 0.761
|
||||
origin:
|
||||
x: 0.0003
|
||||
y: 0.0001
|
||||
z: 0.0248
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
inertia:
|
||||
ixx: 0.001
|
||||
ixy: 0.0
|
||||
ixz: 0.0
|
||||
iyy: 0.001
|
||||
iyz: 0.0
|
||||
izz: 0.0009
|
||||
@@ -0,0 +1,50 @@
|
||||
joint_limits:
|
||||
joint1:
|
||||
lower: -2.8798
|
||||
upper: 2.8798
|
||||
effort: 261
|
||||
velocity: 1.7453
|
||||
soft_lower: -2.7925
|
||||
soft_upper: 2.7925
|
||||
joint2:
|
||||
lower: -2.7576
|
||||
upper: 2.7576
|
||||
effort: 261
|
||||
velocity: 1.7453
|
||||
soft_lower: -2.6704
|
||||
soft_upper: 2.6704
|
||||
joint3:
|
||||
lower: -2.8798
|
||||
upper: 2.8798
|
||||
effort: 123
|
||||
velocity: 2.0944
|
||||
soft_lower: -2.7925
|
||||
soft_upper: 2.7925
|
||||
joint4:
|
||||
lower: -2.7925
|
||||
upper: 2.7925
|
||||
effort: 123
|
||||
velocity: 2.0944
|
||||
soft_lower: -2.7053
|
||||
soft_upper: 2.7053
|
||||
joint5:
|
||||
lower: -3.0543
|
||||
upper: 3.0543
|
||||
effort: 57
|
||||
velocity: 3.8397
|
||||
soft_lower: -2.9671
|
||||
soft_upper: 2.9671
|
||||
joint6:
|
||||
lower: -1.4835
|
||||
upper: 4.6251
|
||||
effort: 57
|
||||
velocity: 3.8397
|
||||
soft_lower: -1.3963
|
||||
soft_upper: 4.5379
|
||||
joint7:
|
||||
lower: -3.0543
|
||||
upper: 3.0543
|
||||
effort: 57
|
||||
velocity: 3.8397
|
||||
soft_lower: -2.9671
|
||||
soft_upper: 2.9671
|
||||
+175
@@ -0,0 +1,175 @@
|
||||
visual_parameters:
|
||||
base_link:
|
||||
visual:
|
||||
shell:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon10/visual/link0.obj
|
||||
collision:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon10/collision/link0.stl
|
||||
workspace:
|
||||
origin:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0.450
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
sphere:
|
||||
radius: 0.955
|
||||
link1:
|
||||
visual:
|
||||
shell:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon10/visual/link1.obj
|
||||
ring:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon10/visual/ring.obj
|
||||
scale: 0.079 0.079 0.002
|
||||
origin:
|
||||
x: 0
|
||||
y: 0
|
||||
z: -0.0025
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
collision:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon10/collision/link1.stl
|
||||
link2:
|
||||
visual:
|
||||
shell:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon10/visual/link2.obj
|
||||
ring:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon10/visual/ring.obj
|
||||
scale: 0.079 0.079 0.002
|
||||
origin:
|
||||
x: 0
|
||||
y: -0.0025
|
||||
z: 0
|
||||
roll: 1.5707963
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
collision:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon10/collision/link2.stl
|
||||
link3:
|
||||
visual:
|
||||
shell:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon10/visual/link3.obj
|
||||
ring:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon10/visual/ring.obj
|
||||
scale: 0.062 0.062 0.002
|
||||
origin:
|
||||
x: 0
|
||||
y: 0
|
||||
z: -0.0025
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
collision:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon10/collision/link3.stl
|
||||
link4:
|
||||
visual:
|
||||
shell:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon10/visual/link4.obj
|
||||
ring:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon10/visual/ring.obj
|
||||
scale: 0.062 0.062 0.002
|
||||
origin:
|
||||
x: 0
|
||||
y: -0.0025
|
||||
z: 0
|
||||
roll: 1.5707963
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
collision:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon10/collision/link4.stl
|
||||
link5:
|
||||
visual:
|
||||
shell:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon10/visual/link5.obj
|
||||
ring:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon10/visual/ring.obj
|
||||
scale: 0.051 0.051 0.002
|
||||
origin:
|
||||
x: 0
|
||||
y: 0
|
||||
z: -0.0025
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
collision:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon10/collision/link5.stl
|
||||
link6:
|
||||
visual:
|
||||
shell:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon10/visual/link6.obj
|
||||
ring:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon10/visual/ring.obj
|
||||
scale: 0.051 0.051 0.002
|
||||
origin:
|
||||
x: 0
|
||||
y: -0.0025
|
||||
z: 0
|
||||
roll: 1.5707963
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
collision:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon10/collision/link6.stl
|
||||
link7:
|
||||
visual:
|
||||
shell:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon10/visual/link7.obj
|
||||
ring:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon10/visual/ring.obj
|
||||
scale: 0.051 0.051 0.002
|
||||
origin:
|
||||
x: 0
|
||||
y: 0
|
||||
z: -0.0025
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
collision:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon10/collision/link7.stl
|
||||
+57
@@ -0,0 +1,57 @@
|
||||
kinematics:
|
||||
joint1:
|
||||
x: 0.0
|
||||
y: 0.0
|
||||
z: 0.21
|
||||
roll: 0.0
|
||||
pitch: 0.0
|
||||
yaw: 3.141592653589793
|
||||
joint2:
|
||||
x: 0.0
|
||||
y: 0.0675
|
||||
z: 0.24
|
||||
roll: 0.0
|
||||
pitch: 0.0
|
||||
yaw: 0.0
|
||||
joint3:
|
||||
x: 0.0
|
||||
y: 0.0625
|
||||
z: 0.2275
|
||||
roll: 0.0
|
||||
pitch: 0.0
|
||||
yaw: 0.0
|
||||
joint4:
|
||||
x: 0.0
|
||||
y: -0.0625
|
||||
z: 0.2225
|
||||
roll: 0.0
|
||||
pitch: 0.0
|
||||
yaw: 3.141592653589793
|
||||
joint5:
|
||||
x: 0.0
|
||||
y: 0.0575
|
||||
z: 0.205
|
||||
roll: 0.0
|
||||
pitch: 0.0
|
||||
yaw: 3.141592653589793
|
||||
joint6:
|
||||
x: 0.0
|
||||
y: 0.03
|
||||
z: 0.19
|
||||
roll: 0.0
|
||||
pitch: 0.0
|
||||
yaw: 0.0
|
||||
joint7:
|
||||
x: -0.015
|
||||
y: 0.073
|
||||
z: 0.11
|
||||
roll: 0.0
|
||||
pitch: -1.5707963267948966
|
||||
yaw: 0.0
|
||||
link7_to_flange:
|
||||
x: 0.0
|
||||
y: 0.0
|
||||
z: 0.124
|
||||
roll: 0.0
|
||||
pitch: 0.0
|
||||
yaw: 3.141592653589793
|
||||
+129
@@ -0,0 +1,129 @@
|
||||
inertia_parameters:
|
||||
base_link:
|
||||
mass: 8.093
|
||||
origin:
|
||||
x: 0.0002
|
||||
y: -0.0007
|
||||
z: 0.1216
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
inertia:
|
||||
ixx: 0.063
|
||||
ixy: 0.0
|
||||
ixz: -0.0002
|
||||
iyy: 0.0634
|
||||
iyz: 0.0008
|
||||
izz: 0.0331
|
||||
link1:
|
||||
mass: 9.464
|
||||
origin:
|
||||
x: 0.0007
|
||||
y: 0.0181
|
||||
z: 0.1644
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
inertia:
|
||||
ixx: 0.1167
|
||||
ixy: 0.0
|
||||
ixz: -0.001
|
||||
iyy: 0.1075
|
||||
iyz: 0.0126
|
||||
izz: 0.0392
|
||||
link2:
|
||||
mass: 6.635
|
||||
origin:
|
||||
x: -0.0009
|
||||
y: 0.0577
|
||||
z: 0.0935
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
inertia:
|
||||
ixx: 0.0802
|
||||
ixy: 0.0002
|
||||
ixz: 0.0005
|
||||
iyy: 0.0827
|
||||
iyz: 0.0031
|
||||
izz: 0.015
|
||||
link3:
|
||||
mass: 4.489
|
||||
origin:
|
||||
x: -0.0002
|
||||
y: -0.022
|
||||
z: 0.1677
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
inertia:
|
||||
ixx: 0.0371
|
||||
ixy: 0.0
|
||||
ixz: -0.0001
|
||||
iyy: 0.0325
|
||||
iyz: -0.0058
|
||||
izz: 0.0135
|
||||
link4:
|
||||
mass: 3.221
|
||||
origin:
|
||||
x: 0.0001
|
||||
y: 0.0547
|
||||
z: 0.0924
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
inertia:
|
||||
ixx: 0.029
|
||||
ixy: 0.0
|
||||
ixz: 0.0
|
||||
iyy: 0.0298
|
||||
iyz: 0.0007
|
||||
izz: 0.0049
|
||||
link5:
|
||||
mass: 2.39
|
||||
origin:
|
||||
x: 0.0002
|
||||
y: 0.0048
|
||||
z: 0.1352
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
inertia:
|
||||
ixx: 0.0146
|
||||
ixy: 0.0
|
||||
ixz: 0.0
|
||||
iyy: 0.0136
|
||||
iyz: 0.0011
|
||||
izz: 0.004
|
||||
link6:
|
||||
mass: 2.269
|
||||
origin:
|
||||
x: 0.0172
|
||||
y: 0.0599
|
||||
z: 0.0734
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
inertia:
|
||||
ixx: 0.0085
|
||||
ixy: 0.0003
|
||||
ixz: 0.001
|
||||
iyy: 0.009
|
||||
iyz: 0.0018
|
||||
izz: 0.0042
|
||||
link7:
|
||||
mass: 1.459
|
||||
origin:
|
||||
x: 0.0
|
||||
y: 0.0
|
||||
z: 0.0535
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
inertia:
|
||||
ixx: 0.0032
|
||||
ixy: 0.0
|
||||
ixz: 0.0
|
||||
iyy: 0.0032
|
||||
iyz: 0.0
|
||||
izz: 0.0019
|
||||
@@ -0,0 +1,50 @@
|
||||
joint_limits:
|
||||
joint1:
|
||||
lower: -2.8798
|
||||
upper: 2.8798
|
||||
effort: 261
|
||||
velocity: 1.7453
|
||||
soft_lower: -2.7925
|
||||
soft_upper: 2.7925
|
||||
joint2:
|
||||
lower: -2.7576
|
||||
upper: 2.7576
|
||||
effort: 261
|
||||
velocity: 1.7453
|
||||
soft_lower: -2.6704
|
||||
soft_upper: 2.6704
|
||||
joint3:
|
||||
lower: -2.8798
|
||||
upper: 2.8798
|
||||
effort: 123
|
||||
velocity: 2.0944
|
||||
soft_lower: -2.7925
|
||||
soft_upper: 2.7925
|
||||
joint4:
|
||||
lower: -2.7925
|
||||
upper: 2.7925
|
||||
effort: 123
|
||||
velocity: 2.0944
|
||||
soft_lower: -2.7053
|
||||
soft_upper: 2.7053
|
||||
joint5:
|
||||
lower: -3.0543
|
||||
upper: 3.0543
|
||||
effort: 57
|
||||
velocity: 3.8397
|
||||
soft_lower: -2.9671
|
||||
soft_upper: 2.9671
|
||||
joint6:
|
||||
lower: -1.4835
|
||||
upper: 4.6251
|
||||
effort: 57
|
||||
velocity: 3.8397
|
||||
soft_lower: -1.3963
|
||||
soft_upper: 4.5379
|
||||
joint7:
|
||||
lower: -3.0543
|
||||
upper: 3.0543
|
||||
effort: 57
|
||||
velocity: 3.8397
|
||||
soft_lower: -2.9671
|
||||
soft_upper: 2.9671
|
||||
+175
@@ -0,0 +1,175 @@
|
||||
visual_parameters:
|
||||
base_link:
|
||||
visual:
|
||||
shell:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon10s/visual/link0.obj
|
||||
collision:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon10s/collision/link0.stl
|
||||
workspace:
|
||||
origin:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0.450
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
sphere:
|
||||
radius: 0.955
|
||||
link1:
|
||||
visual:
|
||||
shell:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon10s/visual/link1.obj
|
||||
ring:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon10s/visual/ring.obj
|
||||
scale: 0.079 0.079 0.002
|
||||
origin:
|
||||
x: 0
|
||||
y: 0
|
||||
z: -0.0025
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
collision:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon10s/collision/link1.stl
|
||||
link2:
|
||||
visual:
|
||||
shell:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon10s/visual/link2.obj
|
||||
ring:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon10s/visual/ring.obj
|
||||
scale: 0.079 0.079 0.002
|
||||
origin:
|
||||
x: 0
|
||||
y: -0.0025
|
||||
z: 0
|
||||
roll: 1.5707963
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
collision:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon10s/collision/link2.stl
|
||||
link3:
|
||||
visual:
|
||||
shell:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon10s/visual/link3.obj
|
||||
ring:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon10s/visual/ring.obj
|
||||
scale: 0.062 0.062 0.002
|
||||
origin:
|
||||
x: 0
|
||||
y: 0
|
||||
z: -0.0025
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
collision:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon10s/collision/link3.stl
|
||||
link4:
|
||||
visual:
|
||||
shell:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon10s/visual/link4.obj
|
||||
ring:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon10s/visual/ring.obj
|
||||
scale: 0.062 0.062 0.002
|
||||
origin:
|
||||
x: 0
|
||||
y: -0.0025
|
||||
z: 0
|
||||
roll: 1.5707963
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
collision:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon10s/collision/link4.stl
|
||||
link5:
|
||||
visual:
|
||||
shell:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon10s/visual/link5.obj
|
||||
ring:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon10s/visual/ring.obj
|
||||
scale: 0.051 0.051 0.002
|
||||
origin:
|
||||
x: 0
|
||||
y: 0
|
||||
z: -0.0025
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
collision:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon10s/collision/link5.stl
|
||||
link6:
|
||||
visual:
|
||||
shell:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon10s/visual/link6.obj
|
||||
ring:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon10s/visual/ring.obj
|
||||
scale: 0.051 0.051 0.002
|
||||
origin:
|
||||
x: 0
|
||||
y: -0.0025
|
||||
z: 0
|
||||
roll: 1.5707963
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
collision:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon10s/collision/link6.stl
|
||||
link7:
|
||||
visual:
|
||||
shell:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon10s/visual/link7.obj
|
||||
ring:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon10s/visual/ring.obj
|
||||
scale: 0.051 0.051 0.002
|
||||
origin:
|
||||
x: 0
|
||||
y: 0
|
||||
z: -0.0025
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
collision:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon10s/collision/link7.stl
|
||||
+57
@@ -0,0 +1,57 @@
|
||||
kinematics:
|
||||
joint1:
|
||||
x: 0.0
|
||||
y: 0.0
|
||||
z: 0.155
|
||||
roll: 0.0
|
||||
pitch: 0.0
|
||||
yaw: 3.141592653589793
|
||||
joint2:
|
||||
x: 0.0
|
||||
y: 0.03
|
||||
z: 0.21
|
||||
roll: 0.0
|
||||
pitch: 0.0
|
||||
yaw: 0.0
|
||||
joint3:
|
||||
x: 0.0
|
||||
y: 0.035
|
||||
z: 0.205
|
||||
roll: 0.0
|
||||
pitch: 0.0
|
||||
yaw: 0.0
|
||||
joint4:
|
||||
x: -0.02
|
||||
y: -0.03
|
||||
z: 0.19
|
||||
roll: 0.0
|
||||
pitch: 0.0
|
||||
yaw: 3.141592653589793
|
||||
joint5:
|
||||
x: -0.02
|
||||
y: 0.025
|
||||
z: 0.195
|
||||
roll: 0.0
|
||||
pitch: 0.0
|
||||
yaw: 3.141592653589793
|
||||
joint6:
|
||||
x: 0.0
|
||||
y: 0.03
|
||||
z: 0.19
|
||||
roll: 0.0
|
||||
pitch: 0.0
|
||||
yaw: 0.0
|
||||
joint7:
|
||||
x: -0.015
|
||||
y: 0.073
|
||||
z: 0.11
|
||||
roll: 0.0
|
||||
pitch: -1.5707963267948966
|
||||
yaw: 0.0
|
||||
link7_to_flange:
|
||||
x: 0.0
|
||||
y: 0.0
|
||||
z: 0.081
|
||||
roll: 0.0
|
||||
pitch: 0.0
|
||||
yaw: 3.141592653589793
|
||||
+129
@@ -0,0 +1,129 @@
|
||||
inertia_parameters:
|
||||
base_link:
|
||||
mass: 3.863
|
||||
origin:
|
||||
x: 0.0
|
||||
y: -0.0008
|
||||
z: 0.0883
|
||||
roll: 0.0
|
||||
pitch: 0.0
|
||||
yaw: 0.0
|
||||
inertia:
|
||||
ixx: 0.0188
|
||||
ixy: 0.0
|
||||
ixz: 0.0
|
||||
iyy: 0.019
|
||||
iyz: 0.0002
|
||||
izz: 0.0103
|
||||
link1:
|
||||
mass: 3.85
|
||||
origin:
|
||||
x: 0.0002
|
||||
y: 0.004
|
||||
z: 0.1451
|
||||
roll: 0.0
|
||||
pitch: 0.0
|
||||
yaw: 0.0
|
||||
inertia:
|
||||
ixx: 0.0308
|
||||
ixy: 0.0
|
||||
ixz: -0.0001
|
||||
iyy: 0.0307
|
||||
iyz: 0.0012
|
||||
izz: 0.0077
|
||||
link2:
|
||||
mass: 2.904
|
||||
origin:
|
||||
x: 0.0
|
||||
y: 0.0356
|
||||
z: 0.0946
|
||||
roll: 0.0
|
||||
pitch: 0.0
|
||||
yaw: 0.0
|
||||
inertia:
|
||||
ixx: 0.0255
|
||||
ixy: 0.0
|
||||
ixz: 0.0001
|
||||
iyy: 0.0263
|
||||
iyz: -0.0001
|
||||
izz: 0.0039
|
||||
link3:
|
||||
mass: 2.381
|
||||
origin:
|
||||
x: -0.0123
|
||||
y: -0.0021
|
||||
z: 0.1368
|
||||
roll: 0.0
|
||||
pitch: 0.0
|
||||
yaw: 0.0
|
||||
inertia:
|
||||
ixx: 0.0144
|
||||
ixy: 0.0001
|
||||
ixz: -0.0015
|
||||
iyy: 0.0139
|
||||
iyz: -0.0006
|
||||
izz: 0.0039
|
||||
link4:
|
||||
mass: 2.381
|
||||
origin:
|
||||
x: -0.0129
|
||||
y: 0.0309
|
||||
z: 0.1047
|
||||
roll: 0.0
|
||||
pitch: 0.0
|
||||
yaw: 0.0
|
||||
inertia:
|
||||
ixx: 0.0184
|
||||
ixy: 0.0001
|
||||
ixz: -0.0016
|
||||
iyy: 0.0188
|
||||
iyz: -0.0012
|
||||
izz: 0.0029
|
||||
link5:
|
||||
mass: 2.336
|
||||
origin:
|
||||
x: 0.0003
|
||||
y: 0.0024
|
||||
z: 0.1365
|
||||
roll: 0.0
|
||||
pitch: 0.0
|
||||
yaw: 0.0
|
||||
inertia:
|
||||
ixx: 0.0144
|
||||
ixy: 0.0
|
||||
ixz: 0.0
|
||||
iyy: 0.0136
|
||||
iyz: 0.0006
|
||||
izz: 0.0036
|
||||
link6:
|
||||
mass: 2.251
|
||||
origin:
|
||||
x: 0.0193
|
||||
y: 0.0595
|
||||
z: 0.0726
|
||||
roll: 0.0
|
||||
pitch: 0.0
|
||||
yaw: 0.0
|
||||
inertia:
|
||||
ixx: 0.0085
|
||||
ixy: 0.0004
|
||||
ixz: 0.0012
|
||||
iyy: 0.0089
|
||||
iyz: 0.0018
|
||||
izz: 0.0041
|
||||
link7:
|
||||
mass: 0.774
|
||||
origin:
|
||||
x: 0.0003
|
||||
y: 0.0008
|
||||
z: 0.025
|
||||
roll: 0.0
|
||||
pitch: 0.0
|
||||
yaw: 0.0
|
||||
inertia:
|
||||
ixx: 0.001
|
||||
ixy: 0.0
|
||||
ixz: 0.0
|
||||
iyy: 0.001
|
||||
iyz: 0.0
|
||||
izz: 0.0009
|
||||
@@ -0,0 +1,50 @@
|
||||
joint_limits:
|
||||
joint1:
|
||||
lower: -2.8798
|
||||
upper: 2.8798
|
||||
effort: 123
|
||||
velocity: 2.0944
|
||||
soft_lower: -2.7925
|
||||
soft_upper: 2.7925
|
||||
joint2:
|
||||
lower: -2.3562
|
||||
upper: 2.3562
|
||||
effort: 123
|
||||
velocity: 2.0944
|
||||
soft_lower: -2.2689
|
||||
soft_upper: 2.2689
|
||||
joint3:
|
||||
lower: -3.0543
|
||||
upper: 3.0543
|
||||
effort: 64
|
||||
velocity: 2.4435
|
||||
soft_lower: -2.9671
|
||||
soft_upper: 2.9671
|
||||
joint4:
|
||||
lower: -1.9548
|
||||
upper: 2.7751
|
||||
effort: 64
|
||||
velocity: 2.4435
|
||||
soft_lower: -1.8675
|
||||
soft_upper: 2.6878
|
||||
joint5:
|
||||
lower: -3.0543
|
||||
upper: 3.0543
|
||||
effort: 39
|
||||
velocity: 4.8869
|
||||
soft_lower: -2.9671
|
||||
soft_upper: 2.9671
|
||||
joint6:
|
||||
lower: -1.4835
|
||||
upper: 4.6251
|
||||
effort: 39
|
||||
velocity: 4.8869
|
||||
soft_lower: -1.3963
|
||||
soft_upper: 4.5379
|
||||
joint7:
|
||||
lower: -3.0543
|
||||
upper: 3.0543
|
||||
effort: 39
|
||||
velocity: 4.8869
|
||||
soft_lower: -2.9671
|
||||
soft_upper: 2.9671
|
||||
+175
@@ -0,0 +1,175 @@
|
||||
visual_parameters:
|
||||
base_link:
|
||||
visual:
|
||||
shell:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4/visual/link0.obj
|
||||
collision:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4/collision/link0.stl
|
||||
workspace:
|
||||
origin:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0.365
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
sphere:
|
||||
radius: 0.890
|
||||
link1:
|
||||
visual:
|
||||
shell:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4/visual/link1.obj
|
||||
ring:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4/visual/ring.obj
|
||||
scale: 0.062 0.062 0.002
|
||||
origin:
|
||||
x: 0
|
||||
y: 0
|
||||
z: -0.0025
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
collision:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4/collision/link1.stl
|
||||
link2:
|
||||
visual:
|
||||
shell:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4/visual/link2.obj
|
||||
ring:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4/visual/ring.obj
|
||||
scale: 0.062 0.062 0.002
|
||||
origin:
|
||||
x: 0
|
||||
y: -0.0025
|
||||
z: 0
|
||||
roll: 1.5707963
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
collision:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4/collision/link2.stl
|
||||
link3:
|
||||
visual:
|
||||
shell:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4/visual/link3.obj
|
||||
ring:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4/visual/ring.obj
|
||||
scale: 0.051 0.051 0.002
|
||||
origin:
|
||||
x: 0
|
||||
y: 0
|
||||
z: -0.0025
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
collision:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4/collision/link3.stl
|
||||
link4:
|
||||
visual:
|
||||
shell:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4/visual/link4.obj
|
||||
ring:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4/visual/ring.obj
|
||||
scale: 0.051 0.051 0.002
|
||||
origin:
|
||||
x: 0
|
||||
y: -0.0025
|
||||
z: 0
|
||||
roll: 1.5707963
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
collision:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4/collision/link4.stl
|
||||
link5:
|
||||
visual:
|
||||
shell:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4/visual/link5.obj
|
||||
ring:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4/visual/ring.obj
|
||||
scale: 0.051 0.051 0.002
|
||||
origin:
|
||||
x: 0
|
||||
y: 0
|
||||
z: -0.0025
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
collision:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4/collision/link5.stl
|
||||
link6:
|
||||
visual:
|
||||
shell:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4/visual/link6.obj
|
||||
ring:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4/visual/ring.obj
|
||||
scale: 0.051 0.051 0.002
|
||||
origin:
|
||||
x: 0
|
||||
y: -0.0025
|
||||
z: 0
|
||||
roll: 1.5707963
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
collision:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4/collision/link6.stl
|
||||
link7:
|
||||
visual:
|
||||
shell:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4/visual/link7.obj
|
||||
ring:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4/visual/ring.obj
|
||||
scale: 0.051 0.051 0.002
|
||||
origin:
|
||||
x: 0
|
||||
y: 0
|
||||
z: -0.0025
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
collision:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4/collision/link7.stl
|
||||
+57
@@ -0,0 +1,57 @@
|
||||
kinematics:
|
||||
joint1:
|
||||
x: 0.0
|
||||
y: 0.0
|
||||
z: 0.155
|
||||
roll: 0.0
|
||||
pitch: 0.0
|
||||
yaw: 3.141592653589793
|
||||
joint2:
|
||||
x: 0.0
|
||||
y: 0.03
|
||||
z: 0.21
|
||||
roll: 0.0
|
||||
pitch: 0.0
|
||||
yaw: 0.0
|
||||
joint3:
|
||||
x: 0.0
|
||||
y: 0.035
|
||||
z: 0.205
|
||||
roll: 0.0
|
||||
pitch: 0.0
|
||||
yaw: 0.0
|
||||
joint4:
|
||||
x: -0.02
|
||||
y: -0.03
|
||||
z: 0.19
|
||||
roll: 0.0
|
||||
pitch: 0.0
|
||||
yaw: 3.141592653589793
|
||||
joint5:
|
||||
x: -0.02
|
||||
y: 0.025
|
||||
z: 0.195
|
||||
roll: 0.0
|
||||
pitch: 0.0
|
||||
yaw: 3.141592653589793
|
||||
joint6:
|
||||
x: 0.0
|
||||
y: 0.03
|
||||
z: 0.19
|
||||
roll: 0.0
|
||||
pitch: 0.0
|
||||
yaw: 0.0
|
||||
joint7:
|
||||
x: -0.015
|
||||
y: 0.073
|
||||
z: 0.11
|
||||
roll: 0.0
|
||||
pitch: -1.5707963267948966
|
||||
yaw: 0.0
|
||||
link7_to_flange:
|
||||
x: 0.0
|
||||
y: 0.0
|
||||
z: 0.081
|
||||
roll: 0.0
|
||||
pitch: 0.0
|
||||
yaw: 3.141592653589793
|
||||
+129
@@ -0,0 +1,129 @@
|
||||
inertia_parameters:
|
||||
base_link:
|
||||
mass: 3.792
|
||||
origin:
|
||||
x: 0.0
|
||||
y: -0.0007
|
||||
z: 0.0864
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
inertia:
|
||||
ixx: 0.018
|
||||
ixy: 0.0
|
||||
ixz: 0.0
|
||||
iyy: 0.0182
|
||||
iyz: 0.0001
|
||||
izz: 0.01
|
||||
link1:
|
||||
mass: 3.745
|
||||
origin:
|
||||
x: -0.0001
|
||||
y: 0.0025
|
||||
z: 0.1462
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
inertia:
|
||||
ixx: 0.029
|
||||
ixy: 0.0
|
||||
ixz: 0.0
|
||||
iyy: 0.0288
|
||||
iyz: 0.001
|
||||
izz: 0.0074
|
||||
link2:
|
||||
mass: 2.952
|
||||
origin:
|
||||
x: -0.0001
|
||||
y: 0.0366
|
||||
z: 0.0966
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
inertia:
|
||||
ixx: 0.0253
|
||||
ixy: 0.0
|
||||
ixz: 0.0
|
||||
iyy: 0.0263
|
||||
iyz: -0.0003
|
||||
izz: 0.0038
|
||||
link3:
|
||||
mass: 2.47
|
||||
origin:
|
||||
x: -0.0119
|
||||
y: -0.0008
|
||||
z: 0.1379
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
inertia:
|
||||
ixx: 0.0144
|
||||
ixy: 0.0001
|
||||
ixz: -0.0015
|
||||
iyy: 0.0141
|
||||
iyz: -0.0006
|
||||
izz: 0.0039
|
||||
link4:
|
||||
mass: 2.47
|
||||
origin:
|
||||
x: -0.0134
|
||||
y: 0.0315
|
||||
z: 0.1048
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
inertia:
|
||||
ixx: 0.0186
|
||||
ixy: 0.0001
|
||||
ixz: -0.0017
|
||||
iyy: 0.019
|
||||
iyz: -0.0014
|
||||
izz: 0.0031
|
||||
link5:
|
||||
mass: 2.426
|
||||
origin:
|
||||
x: -0.0002
|
||||
y: 0.0013
|
||||
z: 0.1376
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
inertia:
|
||||
ixx: 0.0144
|
||||
ixy: 0.0
|
||||
ixz: 0.0
|
||||
iyy: 0.0138
|
||||
iyz: 0.0006
|
||||
izz: 0.0036
|
||||
link6:
|
||||
mass: 2.332
|
||||
origin:
|
||||
x: 0.0207
|
||||
y: 0.0606
|
||||
z: 0.0729
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
inertia:
|
||||
ixx: 0.0087
|
||||
ixy: 0.0004
|
||||
ixz: 0.0012
|
||||
iyy: 0.009
|
||||
iyz: 0.0018
|
||||
izz: 0.004
|
||||
link7:
|
||||
mass: 0.825
|
||||
origin:
|
||||
x: 0.0006
|
||||
y: 0.001
|
||||
z: 0.0282
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
inertia:
|
||||
ixx: 0.001
|
||||
ixy: 0.0
|
||||
ixz: 0.0
|
||||
iyy: 0.001
|
||||
iyz: 0.0
|
||||
izz: 0.0009
|
||||
@@ -0,0 +1,50 @@
|
||||
joint_limits:
|
||||
joint1:
|
||||
lower: -2.8798
|
||||
upper: 2.8798
|
||||
effort: 123
|
||||
velocity: 2.0944
|
||||
soft_lower: -2.7925
|
||||
soft_upper: 2.7925
|
||||
joint2:
|
||||
lower: -2.3562
|
||||
upper: 2.3562
|
||||
effort: 123
|
||||
velocity: 2.0944
|
||||
soft_lower: -2.2689
|
||||
soft_upper: 2.2689
|
||||
joint3:
|
||||
lower: -3.0543
|
||||
upper: 3.0543
|
||||
effort: 64
|
||||
velocity: 2.4435
|
||||
soft_lower: -2.9671
|
||||
soft_upper: 2.9671
|
||||
joint4:
|
||||
lower: -1.9548
|
||||
upper: 2.7751
|
||||
effort: 64
|
||||
velocity: 2.4435
|
||||
soft_lower: -1.8675
|
||||
soft_upper: 2.6878
|
||||
joint5:
|
||||
lower: -3.0543
|
||||
upper: 3.0543
|
||||
effort: 39
|
||||
velocity: 4.8869
|
||||
soft_lower: -2.9671
|
||||
soft_upper: 2.9671
|
||||
joint6:
|
||||
lower: -1.4835
|
||||
upper: 4.6251
|
||||
effort: 39
|
||||
velocity: 4.8869
|
||||
soft_lower: -1.3963
|
||||
soft_upper: 4.5379
|
||||
joint7:
|
||||
lower: -3.0543
|
||||
upper: 3.0543
|
||||
effort: 39
|
||||
velocity: 4.8869
|
||||
soft_lower: -2.9671
|
||||
soft_upper: 2.9671
|
||||
+175
@@ -0,0 +1,175 @@
|
||||
visual_parameters:
|
||||
base_link:
|
||||
visual:
|
||||
shell:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4M/visual/link0.obj
|
||||
collision:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4M/collision/link0.stl
|
||||
workspace:
|
||||
origin:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0.365
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
sphere:
|
||||
radius: 0.890
|
||||
link1:
|
||||
visual:
|
||||
shell:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4M/visual/link1.obj
|
||||
ring:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4M/visual/ring.obj
|
||||
scale: 0.062 0.062 0.002
|
||||
origin:
|
||||
x: 0
|
||||
y: 0
|
||||
z: -0.0025
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
collision:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4M/collision/link1.stl
|
||||
link2:
|
||||
visual:
|
||||
shell:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4M/visual/link2.obj
|
||||
ring:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4M/visual/ring.obj
|
||||
scale: 0.062 0.062 0.002
|
||||
origin:
|
||||
x: 0
|
||||
y: -0.0025
|
||||
z: 0
|
||||
roll: 1.5707963
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
collision:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4M/collision/link2.stl
|
||||
link3:
|
||||
visual:
|
||||
shell:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4M/visual/link3.obj
|
||||
ring:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4M/visual/ring.obj
|
||||
scale: 0.051 0.051 0.002
|
||||
origin:
|
||||
x: 0
|
||||
y: 0
|
||||
z: -0.0025
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
collision:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4M/collision/link3.stl
|
||||
link4:
|
||||
visual:
|
||||
shell:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4M/visual/link4.obj
|
||||
ring:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4M/visual/ring.obj
|
||||
scale: 0.051 0.051 0.002
|
||||
origin:
|
||||
x: 0
|
||||
y: -0.0025
|
||||
z: 0
|
||||
roll: 1.5707963
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
collision:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4M/collision/link4.stl
|
||||
link5:
|
||||
visual:
|
||||
shell:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4M/visual/link5.obj
|
||||
ring:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4M/visual/ring.obj
|
||||
scale: 0.051 0.051 0.002
|
||||
origin:
|
||||
x: 0
|
||||
y: 0
|
||||
z: -0.0025
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
collision:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4M/collision/link5.stl
|
||||
link6:
|
||||
visual:
|
||||
shell:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4M/visual/link6.obj
|
||||
ring:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4M/visual/ring.obj
|
||||
scale: 0.051 0.051 0.002
|
||||
origin:
|
||||
x: 0
|
||||
y: -0.0025
|
||||
z: 0
|
||||
roll: 1.5707963
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
collision:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4M/collision/link6.stl
|
||||
link7:
|
||||
visual:
|
||||
shell:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4M/visual/link7.obj
|
||||
ring:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4M/visual/ring.obj
|
||||
scale: 0.051 0.051 0.002
|
||||
origin:
|
||||
x: 0
|
||||
y: 0
|
||||
z: -0.0025
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
collision:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4M/collision/link7.stl
|
||||
+57
@@ -0,0 +1,57 @@
|
||||
kinematics:
|
||||
joint1:
|
||||
x: 0.0
|
||||
y: 0.0
|
||||
z: 0.155
|
||||
roll: 3.141592653589793
|
||||
pitch: 0.0
|
||||
yaw: 3.141592653589793
|
||||
joint2:
|
||||
x: 0.0
|
||||
y: 0.03
|
||||
z: -0.21
|
||||
roll: 0.0
|
||||
pitch: 0.0
|
||||
yaw: 3.141592653589793
|
||||
joint3:
|
||||
x: 0.0
|
||||
y: -0.035
|
||||
z: -0.205
|
||||
roll: 0.0
|
||||
pitch: 0.0
|
||||
yaw: 3.141592653589793
|
||||
joint4:
|
||||
x: -0.02
|
||||
y: -0.03
|
||||
z: -0.19
|
||||
roll: 0.0
|
||||
pitch: 0.0
|
||||
yaw: 0.0
|
||||
joint5:
|
||||
x: 0.02
|
||||
y: -0.025
|
||||
z: -0.195
|
||||
roll: 0.0
|
||||
pitch: 0.0
|
||||
yaw: 0.0
|
||||
joint6:
|
||||
x: 0.0
|
||||
y: 0.03
|
||||
z: -0.19
|
||||
roll: 0.0
|
||||
pitch: 0.0
|
||||
yaw: 3.141592653589793
|
||||
joint7:
|
||||
x: 0.015
|
||||
y: -0.073
|
||||
z: -0.11
|
||||
roll: 0.0
|
||||
pitch: -1.5707963267948966
|
||||
yaw: 0.0
|
||||
link7_to_flange:
|
||||
x: 0.0
|
||||
y: 0.0
|
||||
z: -0.081
|
||||
roll: 3.141592653589793
|
||||
pitch: 0.0
|
||||
yaw: 0.0
|
||||
+129
@@ -0,0 +1,129 @@
|
||||
inertia_parameters:
|
||||
base_link:
|
||||
mass: 3.653
|
||||
origin:
|
||||
x: -0.0002
|
||||
y: 0.0006
|
||||
z: 0.0874
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
inertia:
|
||||
ixx: 0.0194
|
||||
ixy: 0.0
|
||||
ixz: 0.0
|
||||
iyy: 0.0196
|
||||
iyz: -0.0001
|
||||
izz: 0.0088
|
||||
link1:
|
||||
mass: 3.673
|
||||
origin:
|
||||
x: -0.0001
|
||||
y: 0.006
|
||||
z: -0.1489
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
inertia:
|
||||
ixx: 0.0276
|
||||
ixy: 0.0
|
||||
ixz: 0.0
|
||||
iyy: 0.0272
|
||||
iyz: -0.0017
|
||||
izz: 0.0077
|
||||
link2:
|
||||
mass: 2.734
|
||||
origin:
|
||||
x: 0.0002
|
||||
y: -0.0362
|
||||
z: -0.0979
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
inertia:
|
||||
ixx: 0.0234
|
||||
ixy: 0.0
|
||||
ixz: 0.0
|
||||
iyy: 0.0243
|
||||
iyz: -0.0003
|
||||
izz: 0.0036
|
||||
link3:
|
||||
mass: 2.397
|
||||
origin:
|
||||
x: -0.0117
|
||||
y: -0.0028
|
||||
z: -0.1334
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
inertia:
|
||||
ixx: 0.0141
|
||||
ixy: 0.0001
|
||||
ixz: 0.0014
|
||||
iyy: 0.0137
|
||||
iyz: 0.0007
|
||||
izz: 0.0038
|
||||
link4:
|
||||
mass: 2.397
|
||||
origin:
|
||||
x: 0.0126
|
||||
y: -0.0312
|
||||
z: -0.1013
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
inertia:
|
||||
ixx: 0.0184
|
||||
ixy: 0.0001
|
||||
ixz: -0.0016
|
||||
iyy: 0.0188
|
||||
iyz: -0.0012
|
||||
izz: 0.003
|
||||
link5:
|
||||
mass: 2.363
|
||||
origin:
|
||||
x: 0.0002
|
||||
y: 0.0032
|
||||
z: -0.1328
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
inertia:
|
||||
ixx: 0.014
|
||||
ixy: 0.0
|
||||
ixz: 0.0
|
||||
iyy: 0.0134
|
||||
iyz: -0.0007
|
||||
izz: 0.0036
|
||||
link6:
|
||||
mass: 2.178
|
||||
origin:
|
||||
x: -0.0171
|
||||
y: -0.0587
|
||||
z: -0.0692
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
inertia:
|
||||
ixx: 0.0085
|
||||
ixy: 0.0004
|
||||
ixz: 0.0011
|
||||
iyy: 0.0088
|
||||
iyz: 0.0019
|
||||
izz: 0.0039
|
||||
link7:
|
||||
mass: 0.794
|
||||
origin:
|
||||
x: 0.0001
|
||||
y: -0.0003
|
||||
z: 0.0252
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
inertia:
|
||||
ixx: 0.0009
|
||||
ixy: 0.0
|
||||
ixz: 0.0
|
||||
iyy: 0.001
|
||||
iyz: 0.0
|
||||
izz: 0.0009
|
||||
@@ -0,0 +1,50 @@
|
||||
joint_limits:
|
||||
joint1:
|
||||
lower: -2.8798
|
||||
upper: 2.8798
|
||||
effort: 123
|
||||
velocity: 2.0944
|
||||
soft_lower: -2.7925
|
||||
soft_upper: 2.7925
|
||||
joint2:
|
||||
lower: -2.3562
|
||||
upper: 2.3562
|
||||
effort: 123
|
||||
velocity: 2.0944
|
||||
soft_lower: -2.2689
|
||||
soft_upper: 2.2689
|
||||
joint3:
|
||||
lower: -3.0543
|
||||
upper: 3.0543
|
||||
effort: 64
|
||||
velocity: 2.4435
|
||||
soft_lower: -2.9671
|
||||
soft_upper: 2.9671
|
||||
joint4:
|
||||
lower: -1.9548
|
||||
upper: 2.7751
|
||||
effort: 64
|
||||
velocity: 2.4435
|
||||
soft_lower: -1.8675
|
||||
soft_upper: 2.6878
|
||||
joint5:
|
||||
lower: -3.0543
|
||||
upper: 3.0543
|
||||
effort: 39
|
||||
velocity: 4.8869
|
||||
soft_lower: -2.9671
|
||||
soft_upper: 2.9671
|
||||
joint6:
|
||||
lower: -1.4835
|
||||
upper: 4.6251
|
||||
effort: 39
|
||||
velocity: 4.8869
|
||||
soft_lower: -1.3963
|
||||
soft_upper: 4.5379
|
||||
joint7:
|
||||
lower: -3.0543
|
||||
upper: 3.0543
|
||||
effort: 39
|
||||
velocity: 4.8869
|
||||
soft_lower: -2.9671
|
||||
soft_upper: 2.9671
|
||||
+287
@@ -0,0 +1,287 @@
|
||||
visual_parameters:
|
||||
base_link:
|
||||
visual:
|
||||
shell:
|
||||
origin:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 3.141592653589793
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4R/visual/link0.obj
|
||||
collision:
|
||||
origin:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 3.141592653589793
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4R/collision/link0.stl
|
||||
workspace:
|
||||
origin:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0.365
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
sphere:
|
||||
radius: 0.890
|
||||
link1:
|
||||
visual:
|
||||
shell:
|
||||
origin:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0
|
||||
roll: 0
|
||||
pitch: 3.141592653589793
|
||||
yaw: 0
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4R/visual/link1.obj
|
||||
ring:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4R/visual/ring.obj
|
||||
scale: 0.062 0.062 0.002
|
||||
origin:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0.0025
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
collision:
|
||||
origin:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0
|
||||
roll: 0
|
||||
pitch: 3.141592653589793
|
||||
yaw: 0
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4R/collision/link1.stl
|
||||
link2:
|
||||
visual:
|
||||
shell:
|
||||
origin:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0
|
||||
roll: 3.141592653589793
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4R/visual/link2.obj
|
||||
ring:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4R/visual/ring.obj
|
||||
scale: 0.062 0.062 0.002
|
||||
origin:
|
||||
x: 0
|
||||
y: 0.0025
|
||||
z: 0
|
||||
roll: 1.5707963
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
collision:
|
||||
origin:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0
|
||||
roll: 3.141592653589793
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4R/collision/link2.stl
|
||||
link3:
|
||||
visual:
|
||||
shell:
|
||||
origin:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0
|
||||
roll: 0
|
||||
pitch: 3.141592653589793
|
||||
yaw: 0
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4R/visual/link3r.obj
|
||||
ring:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4R/visual/ring.obj
|
||||
scale: 0.051 0.051 0.002
|
||||
origin:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0.0025
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
collision:
|
||||
origin:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0
|
||||
roll: 0
|
||||
pitch: 3.141592653589793
|
||||
yaw: 0
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4R/collision/link3r.stl
|
||||
link4:
|
||||
visual:
|
||||
shell:
|
||||
origin:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0
|
||||
roll: 3.141592653589793
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4R/visual/link4r.obj
|
||||
ring:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4R/visual/ring.obj
|
||||
scale: 0.051 0.051 0.002
|
||||
origin:
|
||||
x: 0
|
||||
y: 0.0025
|
||||
z: 0
|
||||
roll: 1.5707963
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
collision:
|
||||
origin:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0
|
||||
roll: 3.141592653589793
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4R/collision/link4r.stl
|
||||
link5:
|
||||
visual:
|
||||
shell:
|
||||
origin:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0
|
||||
roll: 0
|
||||
pitch: 3.141592653589793
|
||||
yaw: 0
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4R/visual/link5.obj
|
||||
ring:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4R/visual/ring.obj
|
||||
scale: 0.051 0.051 0.002
|
||||
origin:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0.0025
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
collision:
|
||||
origin:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0
|
||||
roll: 0
|
||||
pitch: 3.141592653589793
|
||||
yaw: 0
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4R/collision/link5.stl
|
||||
link6:
|
||||
visual:
|
||||
shell:
|
||||
origin:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0
|
||||
roll: 0
|
||||
pitch: 3.141592653589793
|
||||
yaw: 0
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4R/visual/link6r.obj
|
||||
ring:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4R/visual/ring.obj
|
||||
scale: 0.051 0.051 0.002
|
||||
origin:
|
||||
x: 0
|
||||
y: 0.0025
|
||||
z: 0
|
||||
roll: 1.5707963
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
collision:
|
||||
origin:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0
|
||||
roll: 0
|
||||
pitch: 3.141592653589793
|
||||
yaw: 0
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4R/collision/link6r.stl
|
||||
link7:
|
||||
visual:
|
||||
shell:
|
||||
origin:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0
|
||||
roll: 3.141592653589793
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4R/visual/link7.obj
|
||||
ring:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4R/visual/ring.obj
|
||||
scale: 0.051 0.051 0.002
|
||||
origin:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0.0025
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
collision:
|
||||
origin:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0
|
||||
roll: 3.141592653589793
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4R/collision/link7.stl
|
||||
+57
@@ -0,0 +1,57 @@
|
||||
kinematics:
|
||||
joint1:
|
||||
x: 0.0
|
||||
y: 0.0
|
||||
z: 0.155
|
||||
roll: 0.0
|
||||
pitch: 0.0
|
||||
yaw: 3.141592653589793
|
||||
joint2:
|
||||
x: 0.0
|
||||
y: 0.03
|
||||
z: 0.21
|
||||
roll: 0.0
|
||||
pitch: 0.0
|
||||
yaw: 0.0
|
||||
joint3:
|
||||
x: 0.0
|
||||
y: 0.035
|
||||
z: 0.205
|
||||
roll: 0.0
|
||||
pitch: 0.0
|
||||
yaw: 0.0
|
||||
joint4:
|
||||
x: -0.02
|
||||
y: -0.03
|
||||
z: 0.19
|
||||
roll: 0.0
|
||||
pitch: 0.0
|
||||
yaw: 3.141592653589793
|
||||
joint5:
|
||||
x: -0.02
|
||||
y: 0.025
|
||||
z: 0.195
|
||||
roll: 0.0
|
||||
pitch: 0.0
|
||||
yaw: 3.141592653589793
|
||||
joint6:
|
||||
x: 0.0
|
||||
y: 0.03
|
||||
z: 0.19
|
||||
roll: 0.0
|
||||
pitch: 0.0
|
||||
yaw: 0.0
|
||||
joint7:
|
||||
x: -0.015
|
||||
y: 0.073
|
||||
z: 0.11
|
||||
roll: 0.0
|
||||
pitch: -1.5707963267948966
|
||||
yaw: 0.0
|
||||
link7_to_flange:
|
||||
x: 0.0
|
||||
y: 0.0
|
||||
z: 0.124
|
||||
roll: 0.0
|
||||
pitch: 0.0
|
||||
yaw: 3.141592653589793
|
||||
+129
@@ -0,0 +1,129 @@
|
||||
inertia_parameters:
|
||||
base_link:
|
||||
mass: 3.788
|
||||
origin:
|
||||
x: 0.0002
|
||||
y: -0.0007
|
||||
z: 0.0871
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
inertia:
|
||||
ixx: 0.0182
|
||||
ixy: 0.0
|
||||
ixz: 0.0
|
||||
iyy: 0.0184
|
||||
iyz: 0.0001
|
||||
izz: 0.01
|
||||
link1:
|
||||
mass: 3.596
|
||||
origin:
|
||||
x: 0.0001
|
||||
y: 0.0035
|
||||
z: 0.15
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
inertia:
|
||||
ixx: 0.0274
|
||||
ixy: 0.0
|
||||
ixz: 0.0
|
||||
iyy: 0.0273
|
||||
iyz: 0.0011
|
||||
izz: 0.0071
|
||||
link2:
|
||||
mass: 2.69
|
||||
origin:
|
||||
x: -0.0003
|
||||
y: 0.0361
|
||||
z: 0.0998
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
inertia:
|
||||
ixx: 0.023
|
||||
ixy: 0.0
|
||||
ixz: 0.0
|
||||
iyy: 0.0239
|
||||
iyz: -0.0001
|
||||
izz: 0.0036
|
||||
link3:
|
||||
mass: 2.354
|
||||
origin:
|
||||
x: -0.0123
|
||||
y: -0.0012
|
||||
z: 0.1366
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
inertia:
|
||||
ixx: 0.0143
|
||||
ixy: 0.0001
|
||||
ixz: -0.0015
|
||||
iyy: 0.0137
|
||||
iyz: -0.0005
|
||||
izz: 0.004
|
||||
link4:
|
||||
mass: 2.354
|
||||
origin:
|
||||
x: -0.0129
|
||||
y: 0.0313
|
||||
z: 0.1034
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
inertia:
|
||||
ixx: 0.018
|
||||
ixy: 0.0001
|
||||
ixz: -0.0016
|
||||
iyy: 0.0184
|
||||
iyz: -0.0012
|
||||
izz: 0.003
|
||||
link5:
|
||||
mass: 2.31
|
||||
origin:
|
||||
x: 0.0003
|
||||
y: 0.0014
|
||||
z: 0.1363
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
inertia:
|
||||
ixx: 0.0142
|
||||
ixy: 0.0
|
||||
ixz: 0.0
|
||||
iyy: 0.0135
|
||||
iyz: 0.0005
|
||||
izz: 0.0037
|
||||
link6:
|
||||
mass: 2.223
|
||||
origin:
|
||||
x: 0.0202
|
||||
y: 0.0596
|
||||
z: 0.0724
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
inertia:
|
||||
ixx: 0.0085
|
||||
ixy: 0.0004
|
||||
ixz: 0.0012
|
||||
iyy: 0.009
|
||||
iyz: 0.0018
|
||||
izz: 0.0042
|
||||
link7:
|
||||
mass: 1.403
|
||||
origin:
|
||||
x: 0.0
|
||||
y: 0.0001
|
||||
z: 0.0544
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
inertia:
|
||||
ixx: 0.0032
|
||||
ixy: 0.0
|
||||
ixz: 0.0
|
||||
iyy: 0.0032
|
||||
iyz: 0.0
|
||||
izz: 0.0018
|
||||
@@ -0,0 +1,50 @@
|
||||
joint_limits:
|
||||
joint1:
|
||||
lower: -2.8798
|
||||
upper: 2.8798
|
||||
effort: 123
|
||||
velocity: 2.0944
|
||||
soft_lower: -2.7925
|
||||
soft_upper: 2.7925
|
||||
joint2:
|
||||
lower: -2.3562
|
||||
upper: 2.3562
|
||||
effort: 123
|
||||
velocity: 2.0944
|
||||
soft_lower: -2.2689
|
||||
soft_upper: 2.2689
|
||||
joint3:
|
||||
lower: -3.0543
|
||||
upper: 3.0543
|
||||
effort: 64
|
||||
velocity: 2.4435
|
||||
soft_lower: -2.9671
|
||||
soft_upper: 2.9671
|
||||
joint4:
|
||||
lower: -1.9548
|
||||
upper: 2.7751
|
||||
effort: 64
|
||||
velocity: 2.4435
|
||||
soft_lower: -1.8675
|
||||
soft_upper: 2.6878
|
||||
joint5:
|
||||
lower: -3.0543
|
||||
upper: 3.0543
|
||||
effort: 39
|
||||
velocity: 4.8869
|
||||
soft_lower: -2.9671
|
||||
soft_upper: 2.9671
|
||||
joint6:
|
||||
lower: -1.4835
|
||||
upper: 4.6251
|
||||
effort: 39
|
||||
velocity: 4.8869
|
||||
soft_lower: -1.3963
|
||||
soft_upper: 4.5379
|
||||
joint7:
|
||||
lower: -3.0543
|
||||
upper: 3.0543
|
||||
effort: 39
|
||||
velocity: 4.8869
|
||||
soft_lower: -2.9671
|
||||
soft_upper: 2.9671
|
||||
+175
@@ -0,0 +1,175 @@
|
||||
visual_parameters:
|
||||
base_link:
|
||||
visual:
|
||||
shell:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4s/visual/link0.obj
|
||||
collision:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4s/collision/link0.stl
|
||||
workspace:
|
||||
origin:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0.365
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
sphere:
|
||||
radius: 0.890
|
||||
link1:
|
||||
visual:
|
||||
shell:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4s/visual/link1.obj
|
||||
ring:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4s/visual/ring.obj
|
||||
scale: 0.062 0.062 0.002
|
||||
origin:
|
||||
x: 0
|
||||
y: 0
|
||||
z: -0.0025
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
collision:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4s/collision/link1.stl
|
||||
link2:
|
||||
visual:
|
||||
shell:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4s/visual/link2.obj
|
||||
ring:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4s/visual/ring.obj
|
||||
scale: 0.062 0.062 0.002
|
||||
origin:
|
||||
x: 0
|
||||
y: -0.0025
|
||||
z: 0
|
||||
roll: 1.5707963
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
collision:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4s/collision/link2.stl
|
||||
link3:
|
||||
visual:
|
||||
shell:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4s/visual/link3.obj
|
||||
ring:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4s/visual/ring.obj
|
||||
scale: 0.051 0.051 0.002
|
||||
origin:
|
||||
x: 0
|
||||
y: 0
|
||||
z: -0.0025
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
collision:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4s/collision/link3.stl
|
||||
link4:
|
||||
visual:
|
||||
shell:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4s/visual/link4.obj
|
||||
ring:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4s/visual/ring.obj
|
||||
scale: 0.051 0.051 0.002
|
||||
origin:
|
||||
x: 0
|
||||
y: -0.0025
|
||||
z: 0
|
||||
roll: 1.5707963
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
collision:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4s/collision/link4.stl
|
||||
link5:
|
||||
visual:
|
||||
shell:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4s/visual/link5.obj
|
||||
ring:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4s/visual/ring.obj
|
||||
scale: 0.051 0.051 0.002
|
||||
origin:
|
||||
x: 0
|
||||
y: 0
|
||||
z: -0.0025
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
collision:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4s/collision/link5.stl
|
||||
link6:
|
||||
visual:
|
||||
shell:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4s/visual/link6.obj
|
||||
ring:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4s/visual/ring.obj
|
||||
scale: 0.051 0.051 0.002
|
||||
origin:
|
||||
x: 0
|
||||
y: -0.0025
|
||||
z: 0
|
||||
roll: 1.5707963
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
collision:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4s/collision/link6.stl
|
||||
link7:
|
||||
visual:
|
||||
shell:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4s/visual/link7.obj
|
||||
ring:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4s/visual/ring.obj
|
||||
scale: 0.051 0.051 0.002
|
||||
origin:
|
||||
x: 0
|
||||
y: 0
|
||||
z: -0.0025
|
||||
roll: 0
|
||||
pitch: 0
|
||||
yaw: 0
|
||||
collision:
|
||||
mesh:
|
||||
package: flexiv_description
|
||||
path: meshes/Rizon4s/collision/link7.stl
|
||||
@@ -0,0 +1,15 @@
|
||||
positions:
|
||||
left:
|
||||
x: 0.0
|
||||
y: 1.0
|
||||
z: 0.0
|
||||
rx: 0.0
|
||||
ry: 0.0
|
||||
rz: 0.0
|
||||
right:
|
||||
x: 0.0
|
||||
y: 0.0
|
||||
z: 0.0
|
||||
rx: 0.0
|
||||
ry: 0.0
|
||||
rz: 0.0
|
||||
@@ -0,0 +1,8 @@
|
||||
initial_positions:
|
||||
joint1: 0.0
|
||||
joint2: -0.69813
|
||||
joint3: 0.0
|
||||
joint4: 1.570796
|
||||
joint5: 0.0
|
||||
joint6: 0.69813
|
||||
joint7: 0.0
|
||||
@@ -0,0 +1,8 @@
|
||||
initial_positions:
|
||||
joint1: 0.0
|
||||
joint2: -0.69813
|
||||
joint3: 0.0
|
||||
joint4: 1.570796
|
||||
joint5: 0.0
|
||||
joint6: 0.69813
|
||||
joint7: 0.0
|
||||
+8
@@ -0,0 +1,8 @@
|
||||
initial_positions:
|
||||
joint1: 0.0
|
||||
joint2: -0.69813
|
||||
joint3: 0.0
|
||||
joint4: 1.570796
|
||||
joint5: 0.0
|
||||
joint6: 0.69813
|
||||
joint7: 0.0
|
||||
@@ -0,0 +1,4 @@
|
||||
orientation:
|
||||
rx: 0.0
|
||||
ry: 0.0
|
||||
rz: 0.0
|
||||
@@ -0,0 +1 @@
|
||||
prepend-non-duplicate;AMENT_PREFIX_PATH;
|
||||
@@ -0,0 +1,4 @@
|
||||
# copied from
|
||||
# ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh
|
||||
|
||||
ament_prepend_unique_value AMENT_PREFIX_PATH "$AMENT_CURRENT_PREFIX"
|
||||
@@ -0,0 +1 @@
|
||||
prepend-non-duplicate-if-exists;PATH;bin
|
||||
@@ -0,0 +1,5 @@
|
||||
# copied from ament_cmake_core/cmake/environment_hooks/environment/path.sh
|
||||
|
||||
if [ -d "$AMENT_CURRENT_PREFIX/bin" ]; then
|
||||
ament_prepend_unique_value PATH "$AMENT_CURRENT_PREFIX/bin"
|
||||
fi
|
||||
@@ -0,0 +1 @@
|
||||
prepend-non-duplicate;CMAKE_PREFIX_PATH;
|
||||
@@ -0,0 +1,3 @@
|
||||
# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
|
||||
|
||||
colcon_prepend_unique_value CMAKE_PREFIX_PATH "$env:COLCON_CURRENT_PREFIX"
|
||||
@@ -0,0 +1,3 @@
|
||||
# generated from colcon_core/shell/template/hook_prepend_value.sh.em
|
||||
|
||||
_colcon_prepend_unique_value CMAKE_PREFIX_PATH "$COLCON_CURRENT_PREFIX"
|
||||
@@ -0,0 +1,156 @@
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument
|
||||
from launch.conditions import IfCondition, UnlessCondition
|
||||
from launch_ros.parameter_descriptions import ParameterValue
|
||||
from launch.substitutions import (
|
||||
Command,
|
||||
FindExecutable,
|
||||
LaunchConfiguration,
|
||||
PathJoinSubstitution,
|
||||
PythonExpression,
|
||||
)
|
||||
from launch_ros.actions import Node
|
||||
from launch_ros.substitutions import FindPackageShare
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
pkg_share = FindPackageShare("flexiv_description")
|
||||
|
||||
# Arguments
|
||||
external_axis_type = LaunchConfiguration("external_axis_type")
|
||||
external_axis_prefix = LaunchConfiguration("external_axis_prefix")
|
||||
robot_sn = LaunchConfiguration("robot_sn")
|
||||
rizon_type = LaunchConfiguration("rizon_type")
|
||||
load_gripper = LaunchConfiguration("load_gripper")
|
||||
gripper_name = LaunchConfiguration("gripper_name")
|
||||
load_mounted_ft_sensor = LaunchConfiguration("load_mounted_ft_sensor")
|
||||
|
||||
default_rviz_config_path = PathJoinSubstitution(
|
||||
[pkg_share, "rviz", "view_rizon.rviz"]
|
||||
)
|
||||
|
||||
robot_description_content = ParameterValue(
|
||||
Command(
|
||||
[
|
||||
PathJoinSubstitution([FindExecutable(name="xacro")]),
|
||||
" ",
|
||||
PathJoinSubstitution(
|
||||
[FindPackageShare("flexiv_description"), "urdf", "aico1.urdf.xacro"]
|
||||
),
|
||||
" ",
|
||||
"external_axis_type:=",
|
||||
PythonExpression(
|
||||
["'", external_axis_type, "'.lower().replace('-', '_')"]
|
||||
),
|
||||
" ",
|
||||
"external_axis_prefix:=",
|
||||
external_axis_prefix,
|
||||
" ",
|
||||
"robot_sn:=",
|
||||
robot_sn,
|
||||
" ",
|
||||
"rizon_type:=",
|
||||
rizon_type,
|
||||
" ",
|
||||
"load_gripper:=",
|
||||
load_gripper,
|
||||
" ",
|
||||
"gripper_name:=",
|
||||
gripper_name,
|
||||
" ",
|
||||
"load_mounted_ft_sensor:=",
|
||||
load_mounted_ft_sensor,
|
||||
]
|
||||
),
|
||||
value_type=str,
|
||||
)
|
||||
|
||||
# Robot state publisher
|
||||
robot_state_publisher_node = Node(
|
||||
package="robot_state_publisher",
|
||||
executable="robot_state_publisher",
|
||||
name="robot_state_publisher",
|
||||
output="screen",
|
||||
parameters=[{"robot_description": robot_description_content}],
|
||||
)
|
||||
|
||||
joint_state_publisher_node = Node(
|
||||
package="joint_state_publisher",
|
||||
executable="joint_state_publisher",
|
||||
name="joint_state_publisher",
|
||||
condition=UnlessCondition(LaunchConfiguration("gui")),
|
||||
)
|
||||
|
||||
joint_state_publisher_gui_node = Node(
|
||||
package="joint_state_publisher_gui",
|
||||
executable="joint_state_publisher_gui",
|
||||
name="joint_state_publisher_gui",
|
||||
condition=IfCondition(LaunchConfiguration("gui")),
|
||||
)
|
||||
|
||||
# RViz
|
||||
rviz_node = Node(
|
||||
package="rviz2",
|
||||
executable="rviz2",
|
||||
name="rviz2",
|
||||
output="screen",
|
||||
arguments=["-d", LaunchConfiguration("rvizconfig")],
|
||||
)
|
||||
|
||||
return LaunchDescription(
|
||||
[
|
||||
DeclareLaunchArgument(
|
||||
name="external_axis_type",
|
||||
default_value="AICO1-4-V1",
|
||||
description="Type of the AICO1 platform.",
|
||||
choices=["AICO1-4-V1", "AICO1-4-V2"],
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
name="external_axis_prefix",
|
||||
default_value="",
|
||||
description="Prefix for the external axis links and joints",
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
name="robot_sn",
|
||||
description="Serial number of the robot to connect to. Remove any space, for example: Rizon4s-123456",
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
name="rizon_type",
|
||||
default_value="Rizon4",
|
||||
description="Type of the Flexiv Rizon robot.",
|
||||
choices=[
|
||||
"Rizon4",
|
||||
"Rizon4s",
|
||||
],
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
name="load_gripper",
|
||||
default_value="False",
|
||||
description="Flag to load the Flexiv Grav gripper",
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
name="gripper_name",
|
||||
default_value="Flexiv-GN01",
|
||||
description="Full name of the gripper to be controlled",
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
name="load_mounted_ft_sensor",
|
||||
default_value="False",
|
||||
description="Flag to load the mounted force torque sensor. Only available for Rizon4, Rizon4R and Rizon10",
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
name="gui",
|
||||
default_value="False",
|
||||
description="Flag to enable joint_state_publisher_gui",
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
name="rvizconfig",
|
||||
default_value=default_rviz_config_path,
|
||||
description="Absolute path to rviz config file",
|
||||
),
|
||||
robot_state_publisher_node,
|
||||
joint_state_publisher_node,
|
||||
joint_state_publisher_gui_node,
|
||||
rviz_node,
|
||||
]
|
||||
)
|
||||
@@ -0,0 +1,192 @@
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument
|
||||
from launch.conditions import IfCondition, UnlessCondition
|
||||
from launch_ros.parameter_descriptions import ParameterValue
|
||||
from launch.substitutions import (
|
||||
Command,
|
||||
FindExecutable,
|
||||
LaunchConfiguration,
|
||||
PathJoinSubstitution,
|
||||
PythonExpression,
|
||||
)
|
||||
from launch_ros.actions import Node
|
||||
from launch_ros.substitutions import FindPackageShare
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
pkg_share = FindPackageShare("flexiv_description")
|
||||
|
||||
# Arguments
|
||||
external_axis_type = LaunchConfiguration("external_axis_type")
|
||||
external_axis_prefix = LaunchConfiguration("external_axis_prefix")
|
||||
rizon_type = LaunchConfiguration("rizon_type")
|
||||
|
||||
robot_sn_left = LaunchConfiguration("robot_sn_left")
|
||||
load_gripper_left = LaunchConfiguration("load_gripper_left")
|
||||
gripper_name_left = LaunchConfiguration("gripper_name_left")
|
||||
load_mounted_ft_sensor_left = LaunchConfiguration("load_mounted_ft_sensor_left")
|
||||
|
||||
robot_sn_right = LaunchConfiguration("robot_sn_right")
|
||||
load_gripper_right = LaunchConfiguration("load_gripper_right")
|
||||
gripper_name_right = LaunchConfiguration("gripper_name_right")
|
||||
load_mounted_ft_sensor_right = LaunchConfiguration("load_mounted_ft_sensor_right")
|
||||
|
||||
default_rviz_config_path = PathJoinSubstitution(
|
||||
[pkg_share, "rviz", "view_rizon_dual.rviz"]
|
||||
)
|
||||
|
||||
robot_description_content = ParameterValue(
|
||||
Command(
|
||||
[
|
||||
PathJoinSubstitution([FindExecutable(name="xacro")]),
|
||||
" ",
|
||||
PathJoinSubstitution(
|
||||
[FindPackageShare("flexiv_description"), "urdf", "aico2.urdf.xacro"]
|
||||
),
|
||||
" ",
|
||||
"external_axis_type:=",
|
||||
PythonExpression(
|
||||
["'", external_axis_type, "'.lower().replace('-', '_')"]
|
||||
),
|
||||
" ",
|
||||
"external_axis_prefix:=",
|
||||
external_axis_prefix,
|
||||
" ",
|
||||
"rizon_type:=",
|
||||
rizon_type,
|
||||
" ",
|
||||
"robot_sn_left:=",
|
||||
robot_sn_left,
|
||||
" ",
|
||||
"load_gripper_left:=",
|
||||
load_gripper_left,
|
||||
" ",
|
||||
"gripper_name_left:=",
|
||||
gripper_name_left,
|
||||
" ",
|
||||
"load_mounted_ft_sensor_left:=",
|
||||
load_mounted_ft_sensor_left,
|
||||
" ",
|
||||
"robot_sn_right:=",
|
||||
robot_sn_right,
|
||||
" ",
|
||||
"load_gripper_right:=",
|
||||
load_gripper_right,
|
||||
" ",
|
||||
"gripper_name_right:=",
|
||||
gripper_name_right,
|
||||
" ",
|
||||
"load_mounted_ft_sensor_right:=",
|
||||
load_mounted_ft_sensor_right,
|
||||
]
|
||||
),
|
||||
value_type=str,
|
||||
)
|
||||
|
||||
# Robot state publisher
|
||||
robot_state_publisher_node = Node(
|
||||
package="robot_state_publisher",
|
||||
executable="robot_state_publisher",
|
||||
name="robot_state_publisher",
|
||||
output="screen",
|
||||
parameters=[{"robot_description": robot_description_content}],
|
||||
)
|
||||
|
||||
joint_state_publisher_node = Node(
|
||||
package="joint_state_publisher",
|
||||
executable="joint_state_publisher",
|
||||
name="joint_state_publisher",
|
||||
condition=UnlessCondition(LaunchConfiguration("gui")),
|
||||
)
|
||||
|
||||
joint_state_publisher_gui_node = Node(
|
||||
package="joint_state_publisher_gui",
|
||||
executable="joint_state_publisher_gui",
|
||||
name="joint_state_publisher_gui",
|
||||
condition=IfCondition(LaunchConfiguration("gui")),
|
||||
)
|
||||
|
||||
# RViz
|
||||
rviz_node = Node(
|
||||
package="rviz2",
|
||||
executable="rviz2",
|
||||
name="rviz2",
|
||||
output="screen",
|
||||
arguments=["-d", LaunchConfiguration("rvizconfig")],
|
||||
)
|
||||
|
||||
return LaunchDescription(
|
||||
[
|
||||
DeclareLaunchArgument(
|
||||
name="external_axis_type",
|
||||
default_value="AICO2-4-V1",
|
||||
description="Type of the AICO2 platform.",
|
||||
choices=["AICO2-4-V1", "AICO2-4-V2", "AICO2-10-V1"],
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
name="external_axis_prefix",
|
||||
default_value="",
|
||||
description="Prefix for the external axis links and joints",
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
name="rizon_type",
|
||||
default_value="Rizon4",
|
||||
description="Type of the Rizon robot of the AICO2 platform (Rizon4 or Rizon10)",
|
||||
choices=["Rizon4", "Rizon10"],
|
||||
),
|
||||
# Left Robot
|
||||
DeclareLaunchArgument(
|
||||
name="robot_sn_left",
|
||||
description="Serial number of the left robot.",
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
name="load_gripper_left",
|
||||
default_value="False",
|
||||
description="Flag to load the gripper for left robot",
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
name="gripper_name_left",
|
||||
default_value="Flexiv-GN01",
|
||||
description="Full name of the gripper for left robot",
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
name="load_mounted_ft_sensor_left",
|
||||
default_value="False",
|
||||
description="Flag to load the mounted force torque sensor for left robot",
|
||||
),
|
||||
# Right Robot
|
||||
DeclareLaunchArgument(
|
||||
name="robot_sn_right",
|
||||
description="Serial number of the right robot.",
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
name="load_gripper_right",
|
||||
default_value="False",
|
||||
description="Flag to load the gripper for right robot",
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
name="gripper_name_right",
|
||||
default_value="Flexiv-GN01",
|
||||
description="Full name of the gripper for right robot",
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
name="load_mounted_ft_sensor_right",
|
||||
default_value="False",
|
||||
description="Flag to load the mounted force torque sensor for right robot",
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
name="gui",
|
||||
default_value="False",
|
||||
description="Flag to enable joint_state_publisher_gui",
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
name="rvizconfig",
|
||||
default_value=default_rviz_config_path,
|
||||
description="Absolute path to rviz config file",
|
||||
),
|
||||
robot_state_publisher_node,
|
||||
joint_state_publisher_node,
|
||||
joint_state_publisher_gui_node,
|
||||
rviz_node,
|
||||
]
|
||||
)
|
||||
@@ -0,0 +1,134 @@
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument
|
||||
from launch.conditions import IfCondition, UnlessCondition
|
||||
from launch_ros.parameter_descriptions import ParameterValue
|
||||
from launch.substitutions import (
|
||||
Command,
|
||||
FindExecutable,
|
||||
LaunchConfiguration,
|
||||
PathJoinSubstitution,
|
||||
)
|
||||
from launch_ros.actions import Node
|
||||
from launch_ros.substitutions import FindPackageShare
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
pkg_share = FindPackageShare("flexiv_description")
|
||||
robot_sn = LaunchConfiguration("robot_sn")
|
||||
rizon_type = LaunchConfiguration("rizon_type")
|
||||
load_gripper = LaunchConfiguration("load_gripper")
|
||||
gripper_name = LaunchConfiguration("gripper_name")
|
||||
load_mounted_ft_sensor = LaunchConfiguration("load_mounted_ft_sensor")
|
||||
default_rviz_config_path = PathJoinSubstitution(
|
||||
[pkg_share, "rviz", "view_rizon.rviz"]
|
||||
)
|
||||
robot_description_content = ParameterValue(
|
||||
Command(
|
||||
[
|
||||
PathJoinSubstitution([FindExecutable(name="xacro")]),
|
||||
" ",
|
||||
PathJoinSubstitution(
|
||||
[FindPackageShare("flexiv_description"), "urdf", "rizon.urdf.xacro"]
|
||||
),
|
||||
" ",
|
||||
"robot_sn:=",
|
||||
robot_sn,
|
||||
" ",
|
||||
"rizon_type:=",
|
||||
rizon_type,
|
||||
" ",
|
||||
"load_gripper:=",
|
||||
load_gripper,
|
||||
" ",
|
||||
"gripper_name:=",
|
||||
gripper_name,
|
||||
" ",
|
||||
"load_mounted_ft_sensor:=",
|
||||
load_mounted_ft_sensor,
|
||||
]
|
||||
),
|
||||
value_type=str,
|
||||
)
|
||||
|
||||
# Robot state publisher
|
||||
robot_state_publisher_node = Node(
|
||||
package="robot_state_publisher",
|
||||
executable="robot_state_publisher",
|
||||
name="robot_state_publisher",
|
||||
output="screen",
|
||||
parameters=[{"robot_description": robot_description_content}],
|
||||
)
|
||||
|
||||
joint_state_publisher_node = Node(
|
||||
package="joint_state_publisher",
|
||||
executable="joint_state_publisher",
|
||||
name="joint_state_publisher",
|
||||
condition=UnlessCondition(LaunchConfiguration("gui")),
|
||||
)
|
||||
|
||||
joint_state_publisher_gui_node = Node(
|
||||
package="joint_state_publisher_gui",
|
||||
executable="joint_state_publisher_gui",
|
||||
name="joint_state_publisher_gui",
|
||||
condition=IfCondition(LaunchConfiguration("gui")),
|
||||
)
|
||||
|
||||
# RViz
|
||||
rviz_node = Node(
|
||||
package="rviz2",
|
||||
executable="rviz2",
|
||||
name="rviz2",
|
||||
output="screen",
|
||||
arguments=["-d", LaunchConfiguration("rvizconfig")],
|
||||
)
|
||||
|
||||
return LaunchDescription(
|
||||
[
|
||||
DeclareLaunchArgument(
|
||||
name="robot_sn",
|
||||
description="Serial number of the robot to connect to. Remove any space, for example: Rizon4s-123456",
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
name="rizon_type",
|
||||
default_value="Rizon4",
|
||||
description="Type of the Flexiv Rizon robot.",
|
||||
choices=[
|
||||
"Rizon4",
|
||||
"Rizon4M",
|
||||
"Rizon4R",
|
||||
"Rizon4s",
|
||||
"Rizon10",
|
||||
"Rizon10s",
|
||||
],
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
name="load_gripper",
|
||||
default_value="False",
|
||||
description="Flag to load the Flexiv Grav gripper",
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
name="gripper_name",
|
||||
default_value="Flexiv-GN01",
|
||||
description="Full name of the gripper to be controlled",
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
name="load_mounted_ft_sensor",
|
||||
default_value="False",
|
||||
description="Flag to load the mounted force torque sensor. Only available for Rizon4, Rizon4R and Rizon10",
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
name="gui",
|
||||
default_value="False",
|
||||
description="Flag to enable joint_state_publisher_gui",
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
name="rvizconfig",
|
||||
default_value=default_rviz_config_path,
|
||||
description="Absolute path to rviz config file",
|
||||
),
|
||||
robot_state_publisher_node,
|
||||
joint_state_publisher_node,
|
||||
joint_state_publisher_gui_node,
|
||||
rviz_node,
|
||||
]
|
||||
)
|
||||
@@ -0,0 +1,194 @@
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument
|
||||
from launch.conditions import IfCondition, UnlessCondition
|
||||
from launch_ros.parameter_descriptions import ParameterValue
|
||||
from launch.substitutions import (
|
||||
Command,
|
||||
FindExecutable,
|
||||
LaunchConfiguration,
|
||||
PathJoinSubstitution,
|
||||
)
|
||||
from launch_ros.actions import Node
|
||||
from launch_ros.substitutions import FindPackageShare
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
pkg_share = FindPackageShare("flexiv_description")
|
||||
|
||||
robot_sn_left = LaunchConfiguration("robot_sn_left")
|
||||
rizon_type_left = LaunchConfiguration("rizon_type_left")
|
||||
load_gripper_left = LaunchConfiguration("load_gripper_left")
|
||||
gripper_name_left = LaunchConfiguration("gripper_name_left")
|
||||
load_mounted_ft_sensor_left = LaunchConfiguration("load_mounted_ft_sensor_left")
|
||||
|
||||
robot_sn_right = LaunchConfiguration("robot_sn_right")
|
||||
rizon_type_right = LaunchConfiguration("rizon_type_right")
|
||||
load_gripper_right = LaunchConfiguration("load_gripper_right")
|
||||
gripper_name_right = LaunchConfiguration("gripper_name_right")
|
||||
load_mounted_ft_sensor_right = LaunchConfiguration("load_mounted_ft_sensor_right")
|
||||
|
||||
default_rviz_config_path = PathJoinSubstitution(
|
||||
[pkg_share, "rviz", "view_rizon_dual.rviz"]
|
||||
)
|
||||
|
||||
robot_description_content = ParameterValue(
|
||||
Command(
|
||||
[
|
||||
PathJoinSubstitution([FindExecutable(name="xacro")]),
|
||||
" ",
|
||||
PathJoinSubstitution(
|
||||
[
|
||||
FindPackageShare("flexiv_description"),
|
||||
"urdf",
|
||||
"rizon_dual.urdf.xacro",
|
||||
]
|
||||
),
|
||||
" ",
|
||||
"robot_sn_left:=",
|
||||
robot_sn_left,
|
||||
" ",
|
||||
"robot_sn_right:=",
|
||||
robot_sn_right,
|
||||
" ",
|
||||
"rizon_type_left:=",
|
||||
rizon_type_left,
|
||||
" ",
|
||||
"rizon_type_right:=",
|
||||
rizon_type_right,
|
||||
" ",
|
||||
"load_gripper_left:=",
|
||||
load_gripper_left,
|
||||
" ",
|
||||
"load_gripper_right:=",
|
||||
load_gripper_right,
|
||||
" ",
|
||||
"gripper_name_left:=",
|
||||
gripper_name_left,
|
||||
" ",
|
||||
"gripper_name_right:=",
|
||||
gripper_name_right,
|
||||
" ",
|
||||
"load_mounted_ft_sensor_left:=",
|
||||
load_mounted_ft_sensor_left,
|
||||
" ",
|
||||
"load_mounted_ft_sensor_right:=",
|
||||
load_mounted_ft_sensor_right,
|
||||
]
|
||||
),
|
||||
value_type=str,
|
||||
)
|
||||
|
||||
# Robot state publisher
|
||||
robot_state_publisher_node = Node(
|
||||
package="robot_state_publisher",
|
||||
executable="robot_state_publisher",
|
||||
name="robot_state_publisher",
|
||||
output="screen",
|
||||
parameters=[{"robot_description": robot_description_content}],
|
||||
)
|
||||
|
||||
joint_state_publisher_node = Node(
|
||||
package="joint_state_publisher",
|
||||
executable="joint_state_publisher",
|
||||
name="joint_state_publisher",
|
||||
condition=UnlessCondition(LaunchConfiguration("gui")),
|
||||
)
|
||||
|
||||
joint_state_publisher_gui_node = Node(
|
||||
package="joint_state_publisher_gui",
|
||||
executable="joint_state_publisher_gui",
|
||||
name="joint_state_publisher_gui",
|
||||
condition=IfCondition(LaunchConfiguration("gui")),
|
||||
)
|
||||
|
||||
# RViz
|
||||
rviz_node = Node(
|
||||
package="rviz2",
|
||||
executable="rviz2",
|
||||
name="rviz2",
|
||||
output="screen",
|
||||
arguments=["-d", LaunchConfiguration("rvizconfig")],
|
||||
)
|
||||
|
||||
return LaunchDescription(
|
||||
[
|
||||
DeclareLaunchArgument(
|
||||
name="robot_sn_left",
|
||||
description="Serial number of the left robot.",
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
name="robot_sn_right",
|
||||
description="Serial number of the right robot.",
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
name="rizon_type_left",
|
||||
default_value="Rizon4",
|
||||
description="Type of the left Flexiv Rizon robot.",
|
||||
choices=[
|
||||
"Rizon4",
|
||||
"Rizon4M",
|
||||
"Rizon4R",
|
||||
"Rizon4s",
|
||||
"Rizon10",
|
||||
"Rizon10s",
|
||||
],
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
name="rizon_type_right",
|
||||
default_value="Rizon4",
|
||||
description="Type of the right Flexiv Rizon robot.",
|
||||
choices=[
|
||||
"Rizon4",
|
||||
"Rizon4M",
|
||||
"Rizon4R",
|
||||
"Rizon4s",
|
||||
"Rizon10",
|
||||
"Rizon10s",
|
||||
],
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
name="load_gripper_left",
|
||||
default_value="False",
|
||||
description="Flag to load the Flexiv Grav gripper for left robot",
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
name="load_gripper_right",
|
||||
default_value="False",
|
||||
description="Flag to load the Flexiv Grav gripper for right robot",
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
name="gripper_name_left",
|
||||
default_value="Flexiv-GN01",
|
||||
description="Full name of the gripper to be controlled for left robot",
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
name="gripper_name_right",
|
||||
default_value="Flexiv-GN01",
|
||||
description="Full name of the gripper to be controlled for right robot",
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
name="load_mounted_ft_sensor_left",
|
||||
default_value="False",
|
||||
description="Flag to load the mounted force torque sensor for left robot. Only available for Rizon4, Rizon4R and Rizon10",
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
name="load_mounted_ft_sensor_right",
|
||||
default_value="False",
|
||||
description="Flag to load the mounted force torque sensor for right robot. Only available for Rizon4, Rizon4R and Rizon10",
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
name="gui",
|
||||
default_value="False",
|
||||
description="Flag to enable joint_state_publisher_gui",
|
||||
),
|
||||
DeclareLaunchArgument(
|
||||
name="rvizconfig",
|
||||
default_value=default_rviz_config_path,
|
||||
description="Absolute path to rviz config file",
|
||||
),
|
||||
robot_state_publisher_node,
|
||||
joint_state_publisher_node,
|
||||
joint_state_publisher_gui_node,
|
||||
rviz_node,
|
||||
]
|
||||
)
|
||||
@@ -0,0 +1,46 @@
|
||||
# generated from ament_package/template/package_level/local_setup.bash.in
|
||||
|
||||
# source local_setup.sh from same directory as this file
|
||||
_this_path=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" && pwd)
|
||||
# provide AMENT_CURRENT_PREFIX to shell script
|
||||
AMENT_CURRENT_PREFIX=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." && pwd)
|
||||
# store AMENT_CURRENT_PREFIX to restore it before each environment hook
|
||||
_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX
|
||||
|
||||
# trace output
|
||||
if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
|
||||
echo "# . \"$_this_path/local_setup.sh\""
|
||||
fi
|
||||
. "$_this_path/local_setup.sh"
|
||||
unset _this_path
|
||||
|
||||
# unset AMENT_ENVIRONMENT_HOOKS
|
||||
# if not appending to them for return
|
||||
if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
|
||||
unset AMENT_ENVIRONMENT_HOOKS
|
||||
fi
|
||||
|
||||
# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks
|
||||
AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
|
||||
# list all environment hooks of this package
|
||||
|
||||
# source all shell-specific environment hooks of this package
|
||||
# if not returning them
|
||||
if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
|
||||
_package_local_setup_IFS=$IFS
|
||||
IFS=":"
|
||||
for _hook in $AMENT_ENVIRONMENT_HOOKS; do
|
||||
# restore AMENT_CURRENT_PREFIX for each environment hook
|
||||
AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
|
||||
# restore IFS before sourcing other files
|
||||
IFS=$_package_local_setup_IFS
|
||||
. "$_hook"
|
||||
done
|
||||
unset _hook
|
||||
IFS=$_package_local_setup_IFS
|
||||
unset _package_local_setup_IFS
|
||||
unset AMENT_ENVIRONMENT_HOOKS
|
||||
fi
|
||||
|
||||
unset _package_local_setup_AMENT_CURRENT_PREFIX
|
||||
unset AMENT_CURRENT_PREFIX
|
||||
@@ -0,0 +1,2 @@
|
||||
source;share/flexiv_description/environment/ament_prefix_path.sh
|
||||
source;share/flexiv_description/environment/path.sh
|
||||
@@ -0,0 +1,184 @@
|
||||
# generated from ament_package/template/package_level/local_setup.sh.in
|
||||
|
||||
# since this file is sourced use either the provided AMENT_CURRENT_PREFIX
|
||||
# or fall back to the destination set at configure time
|
||||
: ${AMENT_CURRENT_PREFIX:="/home/cc/ros2/install/flexiv_description"}
|
||||
if [ ! -d "$AMENT_CURRENT_PREFIX" ]; then
|
||||
if [ -z "$COLCON_CURRENT_PREFIX" ]; then
|
||||
echo "The compile time prefix path '$AMENT_CURRENT_PREFIX' doesn't " \
|
||||
"exist. Consider sourcing a different extension than '.sh'." 1>&2
|
||||
else
|
||||
AMENT_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
|
||||
fi
|
||||
fi
|
||||
|
||||
# function to append values to environment variables
|
||||
# using colons as separators and avoiding leading separators
|
||||
ament_append_value() {
|
||||
# arguments
|
||||
_listname="$1"
|
||||
_value="$2"
|
||||
#echo "listname $_listname"
|
||||
#eval echo "list value \$$_listname"
|
||||
#echo "value $_value"
|
||||
|
||||
# avoid leading separator
|
||||
eval _values=\"\$$_listname\"
|
||||
if [ -z "$_values" ]; then
|
||||
eval export $_listname=\"$_value\"
|
||||
#eval echo "set list \$$_listname"
|
||||
else
|
||||
# field separator must not be a colon
|
||||
_ament_append_value_IFS=$IFS
|
||||
unset IFS
|
||||
eval export $_listname=\"\$$_listname:$_value\"
|
||||
#eval echo "append list \$$_listname"
|
||||
IFS=$_ament_append_value_IFS
|
||||
unset _ament_append_value_IFS
|
||||
fi
|
||||
unset _values
|
||||
|
||||
unset _value
|
||||
unset _listname
|
||||
}
|
||||
|
||||
# function to append non-duplicate values to environment variables
|
||||
# using colons as separators and avoiding leading separators
|
||||
ament_append_unique_value() {
|
||||
# arguments
|
||||
_listname=$1
|
||||
_value=$2
|
||||
#echo "listname $_listname"
|
||||
#eval echo "list value \$$_listname"
|
||||
#echo "value $_value"
|
||||
|
||||
# check if the list contains the value
|
||||
eval _values=\$$_listname
|
||||
_duplicate=
|
||||
_ament_append_unique_value_IFS=$IFS
|
||||
IFS=":"
|
||||
if [ "$AMENT_SHELL" = "zsh" ]; then
|
||||
ament_zsh_to_array _values
|
||||
fi
|
||||
for _item in $_values; do
|
||||
# ignore empty strings
|
||||
if [ -z "$_item" ]; then
|
||||
continue
|
||||
fi
|
||||
if [ $_item = $_value ]; then
|
||||
_duplicate=1
|
||||
fi
|
||||
done
|
||||
unset _item
|
||||
|
||||
# append only non-duplicates
|
||||
if [ -z "$_duplicate" ]; then
|
||||
# avoid leading separator
|
||||
if [ -z "$_values" ]; then
|
||||
eval $_listname=\"$_value\"
|
||||
#eval echo "set list \$$_listname"
|
||||
else
|
||||
# field separator must not be a colon
|
||||
unset IFS
|
||||
eval $_listname=\"\$$_listname:$_value\"
|
||||
#eval echo "append list \$$_listname"
|
||||
fi
|
||||
fi
|
||||
IFS=$_ament_append_unique_value_IFS
|
||||
unset _ament_append_unique_value_IFS
|
||||
unset _duplicate
|
||||
unset _values
|
||||
|
||||
unset _value
|
||||
unset _listname
|
||||
}
|
||||
|
||||
# function to prepend non-duplicate values to environment variables
|
||||
# using colons as separators and avoiding trailing separators
|
||||
ament_prepend_unique_value() {
|
||||
# arguments
|
||||
_listname="$1"
|
||||
_value="$2"
|
||||
#echo "listname $_listname"
|
||||
#eval echo "list value \$$_listname"
|
||||
#echo "value $_value"
|
||||
|
||||
# check if the list contains the value
|
||||
eval _values=\"\$$_listname\"
|
||||
_duplicate=
|
||||
_ament_prepend_unique_value_IFS=$IFS
|
||||
IFS=":"
|
||||
if [ "$AMENT_SHELL" = "zsh" ]; then
|
||||
ament_zsh_to_array _values
|
||||
fi
|
||||
for _item in $_values; do
|
||||
# ignore empty strings
|
||||
if [ -z "$_item" ]; then
|
||||
continue
|
||||
fi
|
||||
if [ "$_item" = "$_value" ]; then
|
||||
_duplicate=1
|
||||
fi
|
||||
done
|
||||
unset _item
|
||||
|
||||
# prepend only non-duplicates
|
||||
if [ -z "$_duplicate" ]; then
|
||||
# avoid trailing separator
|
||||
if [ -z "$_values" ]; then
|
||||
eval export $_listname=\"$_value\"
|
||||
#eval echo "set list \$$_listname"
|
||||
else
|
||||
# field separator must not be a colon
|
||||
unset IFS
|
||||
eval export $_listname=\"$_value:\$$_listname\"
|
||||
#eval echo "prepend list \$$_listname"
|
||||
fi
|
||||
fi
|
||||
IFS=$_ament_prepend_unique_value_IFS
|
||||
unset _ament_prepend_unique_value_IFS
|
||||
unset _duplicate
|
||||
unset _values
|
||||
|
||||
unset _value
|
||||
unset _listname
|
||||
}
|
||||
|
||||
# unset AMENT_ENVIRONMENT_HOOKS
|
||||
# if not appending to them for return
|
||||
if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
|
||||
unset AMENT_ENVIRONMENT_HOOKS
|
||||
fi
|
||||
|
||||
# list all environment hooks of this package
|
||||
ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/flexiv_description/environment/ament_prefix_path.sh"
|
||||
ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/flexiv_description/environment/path.sh"
|
||||
|
||||
# source all shell-specific environment hooks of this package
|
||||
# if not returning them
|
||||
if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
|
||||
_package_local_setup_IFS=$IFS
|
||||
IFS=":"
|
||||
if [ "$AMENT_SHELL" = "zsh" ]; then
|
||||
ament_zsh_to_array AMENT_ENVIRONMENT_HOOKS
|
||||
fi
|
||||
for _hook in $AMENT_ENVIRONMENT_HOOKS; do
|
||||
if [ -f "$_hook" ]; then
|
||||
# restore IFS before sourcing other files
|
||||
IFS=$_package_local_setup_IFS
|
||||
# trace output
|
||||
if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
|
||||
echo "# . \"$_hook\""
|
||||
fi
|
||||
. "$_hook"
|
||||
fi
|
||||
done
|
||||
unset _hook
|
||||
IFS=$_package_local_setup_IFS
|
||||
unset _package_local_setup_IFS
|
||||
unset AMENT_ENVIRONMENT_HOOKS
|
||||
fi
|
||||
|
||||
# reset AMENT_CURRENT_PREFIX after each package
|
||||
# allowing to source multiple package-level setup files
|
||||
unset AMENT_CURRENT_PREFIX
|
||||
@@ -0,0 +1,59 @@
|
||||
# generated from ament_package/template/package_level/local_setup.zsh.in
|
||||
|
||||
AMENT_SHELL=zsh
|
||||
|
||||
# source local_setup.sh from same directory as this file
|
||||
_this_path=$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)
|
||||
# provide AMENT_CURRENT_PREFIX to shell script
|
||||
AMENT_CURRENT_PREFIX=$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)
|
||||
# store AMENT_CURRENT_PREFIX to restore it before each environment hook
|
||||
_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX
|
||||
|
||||
# function to convert array-like strings into arrays
|
||||
# to wordaround SH_WORD_SPLIT not being set
|
||||
ament_zsh_to_array() {
|
||||
local _listname=$1
|
||||
local _dollar="$"
|
||||
local _split="{="
|
||||
local _to_array="(\"$_dollar$_split$_listname}\")"
|
||||
eval $_listname=$_to_array
|
||||
}
|
||||
|
||||
# trace output
|
||||
if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
|
||||
echo "# . \"$_this_path/local_setup.sh\""
|
||||
fi
|
||||
# the package-level local_setup file unsets AMENT_CURRENT_PREFIX
|
||||
. "$_this_path/local_setup.sh"
|
||||
unset _this_path
|
||||
|
||||
# unset AMENT_ENVIRONMENT_HOOKS
|
||||
# if not appending to them for return
|
||||
if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
|
||||
unset AMENT_ENVIRONMENT_HOOKS
|
||||
fi
|
||||
|
||||
# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks
|
||||
AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
|
||||
# list all environment hooks of this package
|
||||
|
||||
# source all shell-specific environment hooks of this package
|
||||
# if not returning them
|
||||
if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
|
||||
_package_local_setup_IFS=$IFS
|
||||
IFS=":"
|
||||
for _hook in $AMENT_ENVIRONMENT_HOOKS; do
|
||||
# restore AMENT_CURRENT_PREFIX for each environment hook
|
||||
AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
|
||||
# restore IFS before sourcing other files
|
||||
IFS=$_package_local_setup_IFS
|
||||
. "$_hook"
|
||||
done
|
||||
unset _hook
|
||||
IFS=$_package_local_setup_IFS
|
||||
unset _package_local_setup_IFS
|
||||
unset AMENT_ENVIRONMENT_HOOKS
|
||||
fi
|
||||
|
||||
unset _package_local_setup_AMENT_CURRENT_PREFIX
|
||||
unset AMENT_CURRENT_PREFIX
|
||||
BIN
Binary file not shown.
BIN
Binary file not shown.
BIN
Binary file not shown.
BIN
Binary file not shown.
+10
@@ -0,0 +1,10 @@
|
||||
|
||||
newmtl aico_white
|
||||
Ns 92.156872
|
||||
Ka 0.250000 0.250000 0.250000
|
||||
Kd 0.969921 0.969921 0.969921
|
||||
Ks 0.072304 0.072304 0.072304
|
||||
Ke 0.0 0.0 0.0
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
+16278
File diff suppressed because it is too large
Load Diff
+10
@@ -0,0 +1,10 @@
|
||||
|
||||
newmtl aico_white
|
||||
Ns 92.156872
|
||||
Ka 0.250000 0.250000 0.250000
|
||||
Kd 0.969921 0.969921 0.969921
|
||||
Ks 0.072304 0.072304 0.072304
|
||||
Ke 0.0 0.0 0.0
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
+19868
File diff suppressed because it is too large
Load Diff
+10
@@ -0,0 +1,10 @@
|
||||
|
||||
newmtl aico_white
|
||||
Ns 92.156872
|
||||
Ka 0.250000 0.250000 0.250000
|
||||
Kd 0.969921 0.969921 0.969921
|
||||
Ks 0.072304 0.072304 0.072304
|
||||
Ke 0.0 0.0 0.0
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
+14067
File diff suppressed because it is too large
Load Diff
BIN
Binary file not shown.
BIN
Binary file not shown.
BIN
Binary file not shown.
BIN
Binary file not shown.
BIN
Binary file not shown.
+2
@@ -0,0 +1,2 @@
|
||||
# Blender 4.2.16 LTS MTL File: 'None'
|
||||
# www.blender.org
|
||||
+28983
File diff suppressed because it is too large
Load Diff
+2
@@ -0,0 +1,2 @@
|
||||
# Blender 4.2.15 LTS MTL File: 'None'
|
||||
# www.blender.org
|
||||
+17682
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,2 @@
|
||||
# Blender 4.2.15 LTS MTL File: 'None'
|
||||
# www.blender.org
|
||||
+23224
File diff suppressed because it is too large
Load Diff
+2
@@ -0,0 +1,2 @@
|
||||
# Blender 4.2.15 LTS MTL File: 'None'
|
||||
# www.blender.org
|
||||
+18092
File diff suppressed because it is too large
Load Diff
+2
@@ -0,0 +1,2 @@
|
||||
# Blender 4.2.15 LTS MTL File: 'None'
|
||||
# www.blender.org
|
||||
+16856
File diff suppressed because it is too large
Load Diff
BIN
Binary file not shown.
BIN
Binary file not shown.
BIN
Binary file not shown.
+2
@@ -0,0 +1,2 @@
|
||||
# Blender 4.4.1 MTL File: 'None'
|
||||
# www.blender.org
|
||||
+33591
File diff suppressed because it is too large
Load Diff
+2
@@ -0,0 +1,2 @@
|
||||
# Blender 4.4.1 MTL File: 'None'
|
||||
# www.blender.org
|
||||
+21506
File diff suppressed because it is too large
Load Diff
+2
@@ -0,0 +1,2 @@
|
||||
# Blender 4.4.1 MTL File: 'None'
|
||||
# www.blender.org
|
||||
+29670
File diff suppressed because it is too large
Load Diff
BIN
Binary file not shown.
BIN
Binary file not shown.
BIN
Binary file not shown.
+10
@@ -0,0 +1,10 @@
|
||||
|
||||
newmtl aico_white
|
||||
Ns 92.156872
|
||||
Ka 0.250000 0.250000 0.250000
|
||||
Kd 0.969921 0.969921 0.969921
|
||||
Ks 0.072304 0.072304 0.072304
|
||||
Ke 0.0 0.0 0.0
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
+18187
File diff suppressed because it is too large
Load Diff
+10
@@ -0,0 +1,10 @@
|
||||
|
||||
newmtl aico_white
|
||||
Ns 92.156872
|
||||
Ka 0.250000 0.250000 0.250000
|
||||
Kd 0.969921 0.969921 0.969921
|
||||
Ks 0.072304 0.072304 0.072304
|
||||
Ke 0.0 0.0 0.0
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
+18828
File diff suppressed because it is too large
Load Diff
+10
@@ -0,0 +1,10 @@
|
||||
|
||||
newmtl aico_white
|
||||
Ns 92.156872
|
||||
Ka 0.250000 0.250000 0.250000
|
||||
Kd 0.969921 0.969921 0.969921
|
||||
Ks 0.072304 0.072304 0.072304
|
||||
Ke 0.0 0.0 0.0
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
+18883
File diff suppressed because it is too large
Load Diff
BIN
Binary file not shown.
BIN
Binary file not shown.
BIN
Binary file not shown.
+2
@@ -0,0 +1,2 @@
|
||||
# Blender 4.4.1 MTL File: 'None'
|
||||
# www.blender.org
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user