+++ /dev/null
-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
-
-# Append to CPACK_SOURCE_IGNORE_FILES a semicolon-separated list of
-# directories (or patterns, but directories should suffice) that should
-# be excluded from the distro. This is not the place to put things that
-# should be ignored everywhere, like "build" directories; that happens in
-# rosbuild/rosbuild.cmake. Here should be listed packages that aren't
-# ready for inclusion in a distro.
-#
-# This list is combined with the list in rosbuild/rosbuild.cmake. Note
-# that CMake 2.6 may be required to ensure that the two lists are combined
-# properly. CMake 2.4 seems to have unpredictable scoping rules for such
-# variables.
-#list(APPEND CPACK_SOURCE_IGNORE_FILES /core/experimental)
-
-rosbuild_make_distribution(0.1.0)
+++ /dev/null
-include $(shell rospack find mk)/cmake_stack.mk
\ No newline at end of file
+++ /dev/null
-all: installed
-
-SVN_DIR = libbarrett
-SVN_URL = http://web.barrett.com/svn/libbarrett/trunk/
-#SVN_REVISION = -r 808
-#SVN_PATCH =
-include $(shell rospack find mk)/svn_checkout.mk
-SOURCE_DIR = $(SVN_DIR)
-
-
-installed: wiped $(SOURCE_DIR)
- cd $(SOURCE_DIR) && cmake .
- cd $(SOURCE_DIR) && make
- cd $(SOURCE_DIR) && make install
- touch installed
-
-clean:
- rm -rf $(SVN_DIR) installed patched wiped rospack_nosubdirs
-
-
-wiped: Makefile
- make wipe
- touch wiped
-
-wipe: clean
- rm -rf build cleaned
+++ /dev/null
-<package>
- <description brief="libbarrett for ROS">
-
- Libbarrett robot control library ROS wrapper. Libbarrett is written and maintained by Barrett Technology.
-
- </description>
- <author>Barrett Technology, Inc.</author>
- <license>BSD</license>
- <url>http://ros.org/wiki/libbarrett</url>
-
- <export>
- <cpp cflags="-I${prefix}/libbarrett/include/ -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -Wall -Werror-implicit-function-declaration -pipe -D__XENO__ -I/usr/local/include" lflags="-L${prefix}/libbarrett/src -Wl,-rpath,${prefix}/libbarrett/src -lbarrett -lnative -L/usr/xenomai/lib -lxenomai -lpthread -lrt -L/usr/local/lib -lgsl -lgslcblas -lm" />
- </export>
-
- <export>
- <rosdoc external="http://web.barrett.com/libbarrett/" />
- </export>
-
-</package>
+++ /dev/null
-<stack>
- <description brief="barrett-ros-pkg">barrett-ros-pkg</description>
- <author>Barrett Technology Inc.</author>
- <license>BSD</license>
- <review status="unreviewed" notes=""/>
- <url>http://ros.org/wiki/barrett-ros-pkg</url>
- <depend stack="ros" />
-
-</stack>
+++ /dev/null
-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
-
-rosbuild_init()
-
-#common commands for building c++ executables and libraries
-#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
-#target_link_libraries(${PROJECT_NAME} another_library)
-#rosbuild_add_boost_directories()
-#rosbuild_link_boost(${PROJECT_NAME} thread)
-#rosbuild_add_executable(example examples/example.cpp)
-#target_link_libraries(example ${PROJECT_NAME})
+++ /dev/null
-include $(shell rospack find mk)/cmake.mk
\ No newline at end of file
+++ /dev/null
-<?xml version="1.0"?>
-<launch>
- <include file="$(find gazebo_worlds)/launch/empty_world.launch"/>
- <!--param name="logo_description" textfile="$(find wam_description)/Media/models/logo.urdf" /-->
- <param name="spawn_wam" textfile="$(find wam_description)/urdf/wam_4dof.urdf" />
- <node name="spawn_wam_object" pkg="gazebo" type="spawn_model" args="-urdf -param spawn_wam -model wam_4dof" respawn="false" output="screen" />
-</launch>
+++ /dev/null
-<?xml version="1.0"?>
-<launch>
- <include file="$(find gazebo_worlds)/launch/empty_world.launch"/>
-
- <param name="spawn_wam" textfile="$(find wam_description)/urdf/wam_7dof.urdf" />
-
- <node name="spawn_wam_object" pkg="gazebo" type="spawn_model" args="-urdf -param spawn_wam -model wam_7dof -J wam_j3_joint 0.4" respawn="false" output="screen" />
-</launch>
+++ /dev/null
-<?xml version="1.0"?>
-<launch>
- <include file="$(find gazebo_worlds)/launch/empty_world.launch"/>
-
- <param name="spawn_wam" textfile="$(find wam_description)/urdf/wam_7dof_ft_hand.urdf" />
-
- <node name="spawn_wam_object" pkg="gazebo" type="spawn_model" args="-urdf -param spawn_wam -model wam_7dof_ft_hand -J wam_j3_joint 0.4" respawn="false" output="screen" />
-</launch>
+++ /dev/null
-<?xml version="1.0"?>
-<launch>
- <include file="$(find gazebo_worlds)/launch/empty_world.launch"/>
-
- <param name="spawn_wam" textfile="$(find wam_description)/urdf/wam_7dof_hand.urdf" />
-
- <node name="spawn_wam_object" pkg="gazebo" type="spawn_model" args="-urdf -param spawn_wam -model wam_7dof_hand -J wam_j3_joint 0.4" respawn="false" output="screen" />
-</launch>
+++ /dev/null
-<package>
- <description brief="wam_description">
-
- 4-DOF WAM, 7-DOF WAM, BarrettHand, and FT Sensor meshes and urdfs
- for description of Barrett Technology's products.
-
- </description>
- <author>Kyle Maroney, Barrett Technology Inc.</author>
- <license>BSD</license>
-
- <review status="unreviewed" notes=""/>
- <url>http://ros.org/wiki/wam_description</url>
- <depend package ="urdf"/>
- <depend package="convex_decomposition"/>
- <depend package="gazebo"/>
- <depend package="ivcon"/>
-
- <export>
- <gazebo gazebo_media_path="${prefix}" />
- </export>
-
-</package>
-
-
+++ /dev/null
-<robot name="wam_4dof"
-
- xmlns:xi="http://www.w3.org/2001/XInclude"
- xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
- xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
- xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
- xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
- xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
- xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
- xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
- xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
- xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
- xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
- xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics">
-
- #Fictional Footprint - for integration
- <link name="world"/>
- <link name="wam_footprint">
- <inertial>
- <mass value="0.0001" />
- <origin xyz="0 0 0" />
- <inertia ixx="0.0001" ixy="0.0" ixz="0.0"iyy="0.0001" iyz="0.0" izz="0.0001" />
- </inertial>
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <box size="0.001 0.001 0.001" />
- </geometry>
- </visual>
- <collision>
- <origin xyz="0 0 0.0" rpy="0 0 0" />
- <geometry>
- <box size="0.001 0.001 0.001" />
- </geometry>
- </collision>
- </link>
-
- #WAM BASE
- <link name="wam_base">
- <inertial>
- <mass value="9.97059584"/>
- <origin xyz="-0.02017671 -0.26604706 -0.14071720" />
- <inertia ixx="1.01232865" ixy="0.05992441" ixz="0.05388736" iyy="0.38443311" iyz="0.37488748" izz="0.82739198"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="wam_base_visual">
- <mesh filename="package://wam_description/meshes/wam_base.mesh" />
- </geometry>
- <material name="LightGrey">
- <color rgba="0.9 0.9 0.9 1.0"/>
- </material>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="wam_base_collision">
- <mesh filename="package://wam_description/meshes/wam_base.mesh" />
- </geometry>
- <contact_coefficients kd="1000.0" kp="1000.0" mu="0"/>
- </collision>
- </link>
-
- #LINK J1
- <link name="j1">
- <inertial>
- <mass value="10.76768767"/>
- <origin xyz="-0.00443422 0.12189039 -0.00066489" />
- <inertia ixx="0.29486350" ixy="-0.00795023" ixz="-0.00009311" iyy="0.11350017" iyz="0.00018711" izz="0.25065343"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_j1_visual">
- <mesh filename="package://wam_description/meshes/link_j1.mesh" />
- </geometry>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_j1_collision">
- <mesh filename="package://wam_description/meshes/link_j1.mesh" />
- </geometry>
- <contact_coefficients kd="1000.0" kp="1000.0" mu="0"/>
- </collision>
- </link>
-
- #LINK J2
- <link name="j2">
- <inertial>
- <mass value="3.87493756"/>
- <origin xyz="-0.00236983 0.03105614 0.01542114" />
- <inertia ixx="0.02606840" ixy="-0.00001346" ixz="-0.00011701" iyy="0.01472202" iyz="0.00003659" izz="0.01934814"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_j2_visual">
- <mesh filename="package://wam_description/meshes/link_j2.mesh" />
- </geometry>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_j2_collision">
- <mesh filename="package://wam_description/meshes/link_j2.mesh" />
- </geometry>
- <contact_coefficients kd="1000.0" kp="1000.0" mu="0"/>
- </collision>
- </link>
-
- #LINK J3
- <link name="j3">
- <inertial>
- <mass value="1.80228141"/>
- <origin xyz="-0.03825858 0.20750770 0.00003309" />
- <inertia ixx="0.13671601" ixy="-0.01680434" ixz="0.00000510" iyy="0.00588354" iyz="-0.00000530" izz="0.13951371"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_j3_visual">
- <mesh filename="package://wam_description/meshes/link_j3.mesh" />
- </geometry>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_j3_collision">
- <mesh filename="package://wam_description/meshes/link_j3.mesh" />
- </geometry>
- <contact_coefficients kd="1000.0" kp="1000.0" mu="0"/>
- </collision>
- </link>
-
- #LINK J4
- <link name="j4">
- <inertial>
- <mass value="1.06513649"/>
- <origin xyz="0.01095471 -0.00002567 0.14053900" />
- <inertia ixx="0.03952350" ixy="0.00000189" ixz="0.00003117" iyy="0.04008214" iyz="0.00000131" izz="0.00210299"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_j4_visual">
- <mesh filename="package://wam_description/meshes/link_j4.mesh" />
- </geometry>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_j4_collision">
- <mesh filename="package://wam_description/meshes/link_j4.mesh" />
- </geometry>
- <contact_coefficients kd="1000.0" kp="1000.0" mu="0"/>
- </collision>
- </link>
-
-
- ## Joint Descriptions
- <joint name="fix_world" type="fixed">
- <parent link="world"/>
- <child link="wam_footprint"/>
- </joint>
-
- <joint name="wam_basejoint" type="fixed">
- <parent link="wam_footprint"/>
- <child link="wam_base" />
- <origin xyz="0 0 0.0" rpy="0 0 0" />
- </joint>
-
- <joint name="wam_j1_joint" type="revolute">
- <origin xyz="0.22 0.14 0.346" rpy="-1.57079633 0 0" />
- <parent link="wam_base"/>
- <child link="j1" />
- <axis xyz="0 1 0"/>
- <limit effort="30" velocity="0.5" lower="-2.6" upper="2.6" />
- <dynamics damping="1000"/>
- </joint >
-
- <joint name="wam_j2_joint" type="revolute">
- <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
- <parent link="j1"/>
- <child link="j2" />
- <axis xyz="0 0 1"/>
- <limit effort="30" velocity="0.5" lower="-2.0" upper="2.0" />
- <dynamics damping="1000"/>
- </joint >
-
- <joint name="wam_j3_joint" type="revolute">
- <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
- <parent link="j2"/>
- <child link="j3" />
- <axis xyz="0 1 0"/>
- <limit effort="30" velocity="0.5" lower="-2.8" upper="2.8" />
- <dynamics damping="1000"/>
- </joint >
-
- <joint name="wam_j4_joint" type="revolute">
- <origin xyz="0.045 -0.55 0.0" rpy="1.57079633 0 0" />
- <parent link="j3"/>
- <child link="j4" />
- <axis xyz="0 1 0"/>
- <limit effort="30" velocity="0.5" lower="-0.9" upper="3.1" />
- <dynamics damping="1000"/>
- </joint >
-
-
- #Adding Gazebo Requirements
- <gazebo reference="wam_world">
- <material>Gazebo/White</material>
- <selfCollide>true</selfCollide>
- </gazebo>
-
- <gazebo reference="wam_base">
- <material>Gazebo/White</material>
- <selfCollide>true</selfCollide>
- <turnGravityOff>true</turnGravityOff>
- </gazebo>
-
- <gazebo reference="j1">
- <material>Gazebo/White</material>
- <selfCollide>true</selfCollide>
- <turnGravityOff>true</turnGravityOff>
- </gazebo>
-
- <gazebo reference="j2">
- <material>Gazebo/Grey</material>
- <selfCollide>true</selfCollide>
- <turnGravityOff>true</turnGravityOff>
- </gazebo>
-
- <gazebo reference="j3">
- <material>Gazebo/Grey</material>
- <selfCollide>true</selfCollide>
- <turnGravityOff>true</turnGravityOff>
- </gazebo>
-
- <gazebo reference="j4">
- <material>Gazebo/Grey</material>
- <selfCollide>true</selfCollide>
- <turnGravityOff>true</turnGravityOff>
- </gazebo>
-
- #Adding Transmissions
- <transmission type="pr2_mechanism_model/SimpleTransmission" name="j1_transmission">
- <actuator name="j1" />
- <joint name="wam_j1_joint" />
- <mechanicalReduction>1</mechanicalReduction>
- <motorTorqueConstant>1</motorTorqueConstant>
- </transmission>
-
- <transmission type="pr2_mechanism_model/SimpleTransmission" name="j2_transmission">
- <actuator name="j2" />
- <joint name="wam_j2_joint" />
- <mechanicalReduction>1</mechanicalReduction>
- <motorTorqueConstant>1</motorTorqueConstant>
- </transmission>
-
- <transmission type="pr2_mechanism_model/SimpleTransmission" name="j3_transmission">
- <actuator name="j3" />
- <joint name="wam_j3_joint" />
- <mechanicalReduction>1</mechanicalReduction>
- <motorTorqueConstant>1</motorTorqueConstant>
- </transmission>
-
- <transmission type="pr2_mechanism_model/SimpleTransmission" name="j4_transmission">
- <actuator name="j4" />
- <joint name="wam_j4_joint" />
- <mechanicalReduction>1</mechanicalReduction>
- <motorTorqueConstant>1</motorTorqueConstant>
- </transmission>
-
-</robot>
\ No newline at end of file
+++ /dev/null
-<robot name="wam_7dof"
-
- xmlns:xi="http://www.w3.org/2001/XInclude"
- xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
- xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
- xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
- xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
- xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
- xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
- xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
- xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
- xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
- xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
- xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics">
-
- #Fictional Footprint - for integration
- <link name="world"/>
- <link name="wam_footprint">
- <inertial>
- <mass value="0.0001" />
- <origin xyz="0 0 0" />
- <inertia ixx="0.0001" ixy="0.0" ixz="0.0"iyy="0.0001" iyz="0.0" izz="0.0001" />
- </inertial>
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <box size="0.001 0.001 0.001" />
- </geometry>
- </visual>
- <collision>
- <origin xyz="0 0 0.0" rpy="0 0 0" />
- <geometry>
- <box size="0.001 0.001 0.001" />
- </geometry>
- </collision>
- </link>
-
- #WAM BASE
- <link name="wam_base">
- <inertial>
- <mass value="9.97059584"/>
- <origin xyz="-0.02017671 -0.26604706 -0.14071720" />
- <inertia ixx="1.01232865" ixy="0.05992441" ixz="0.05388736" iyy="0.38443311" iyz="0.37488748" izz="0.82739198"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="wam_base_visual">
- <mesh filename="package://wam_description/meshes/wam_base.mesh" />
- </geometry>
- <material name="LightGrey">
- <color rgba="0.9 0.9 0.9 1.0"/>
- </material>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="wam_base_collision">
- <mesh filename="package://wam_description/meshes/wam_base.mesh" />
- </geometry>
- </collision>
- </link>
-
- #LINK J1
- <link name="j1">
- <inertial>
- <mass value="10.76768767"/>
- <origin xyz="-0.00443422 0.12189039 -0.00066489" />
- <inertia ixx="0.29486350" ixy="-0.00795023" ixz="-0.00009311" iyy="0.11350017" iyz="0.00018711" izz="0.25065343"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_j1_visual">
- <mesh filename="package://wam_description/meshes/link_j1.mesh" />
- </geometry>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_j1_collision">
- <mesh filename="package://wam_description/meshes/link_j1.mesh" />
- </geometry>
- </collision>
- </link>
-
- #LINK J2
- <link name="j2">
- <inertial>
- <mass value="3.87493756"/>
- <origin xyz="-0.00236983 0.03105614 0.01542114" />
- <inertia ixx="0.02606840" ixy="-0.00001346" ixz="-0.00011701" iyy="0.01472202" iyz="0.00003659" izz="0.01934814"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_j2_visual">
- <mesh filename="package://wam_description/meshes/link_j2.mesh" />
- </geometry>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_j2_collision">
- <mesh filename="package://wam_description/meshes/link_j2.mesh" />
- </geometry>
- </collision>
- </link>
-
- #LINK J3
- <link name="j3">
- <inertial>
- <mass value="1.80228141"/>
- <origin xyz="-0.03825858 0.20750770 0.00003309" />
- <inertia ixx="0.13671601" ixy="-0.01680434" ixz="0.00000510" iyy="0.00588354" iyz="-0.00000530" izz="0.13951371"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_j3_visual">
- <mesh filename="package://wam_description/meshes/link_j3.mesh" />
- </geometry>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_j3_collision">
- <mesh filename="package://wam_description/meshes/link_j3.mesh" />
- </geometry>
- </collision>
- </link>
-
- #LINK J4
- <link name="j4">
- <inertial>
- <mass value="1.06513649"/>
- <origin xyz="0.01095471 -0.00002567 0.14053900" />
- <inertia ixx="0.03952350" ixy="0.00000189" ixz="0.00003117" iyy="0.04008214" iyz="0.00000131" izz="0.00210299"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_j4_visual">
- <mesh filename="package://wam_description/meshes/link_j4.mesh" />
- </geometry>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_j4_collision">
- <mesh filename="package://wam_description/meshes/link_j4.mesh" />
- </geometry>
- <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
- </collision>
- </link>
-
- #LINK J5
- <link name="j5">
- <inertial>
- <mass value="0.12376019"/>
- <origin xyz="0.00008921 0.00511217 0.00435824" />
- <inertia ixx="0.00005587" ixy="0.00000026" ixz="0.00000000" iyy="0.00007817" iyz="-0.00000083" izz="0.00006594"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_j5_visual">
- <mesh filename="package://wam_description/meshes/link_j5.mesh" />
- </geometry>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_j5_collision">
- <mesh filename="package://wam_description/meshes/link_j5.mesh" />
- </geometry>
- <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
- </collision>
- </link>
-
- #LINK J6
- <link name="j6">
- <inertial>
- <mass value="0.41797364"/>
- <origin xyz="-0.00012262 -0.01703194 0.02468336" />
- <inertia ixx="0.00093106" ixy="0.00000148" ixz="-0.00000201" iyy="0.00049833" iyz="-0.00022162" izz="0.00057483"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_j6_visual">
- <mesh filename="package://wam_description/meshes/link_j6.mesh" />
- </geometry>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_j6_collision">
- <mesh filename="package://wam_description/meshes/link_j6.mesh" />
- </geometry>
- <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
- </collision>
- </link>
-
- #LINK J7
- <link name="j7">
- <inertial>
- <mass value="0.06864753"/>
- <origin xyz="-0.00007974 0.00016313 -0.00323552" />
- <inertia ixx="0.00003845" ixy="-0.00000019" ixz="0.00000002" iyy="0.00003878" iyz="-0.00000004" izz="0.00007408"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_j6_visual">
- <mesh filename="package://wam_description/meshes/link_j7.mesh" />
- </geometry>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_j7_collision">
- <mesh filename="package://wam_description/meshes/link_j7.mesh" />
- </geometry>
- <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
- </collision>
- </link>
-
- ## Joint Descriptions
- <joint name="fix_world" type="fixed">
- <parent link="world"/>
- <child link="wam_footprint"/>
- </joint>
-
- <joint name="wam_basejoint" type="fixed">
- <parent link="wam_footprint"/>
- <child link="wam_base" />
- <origin xyz="0 0 0.0" rpy="0 0 0" />
- </joint>
-
- <joint name="wam_j1_joint" type="revolute">
- <origin xyz="0.22 0.14 0.346" rpy="-1.57079633 0 0" />
- <parent link="wam_base"/>
- <child link="j1" />
- <axis xyz="0 1 0"/>
- <limit effort="30" velocity="1.5" lower="-2.6" upper="2.6" />
- <joint_properties damping="100.0" friction="1000.0" />
- <dynamics damping="1000"/>
- </joint >
-
- <joint name="wam_j2_joint" type="revolute">
- <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
- <parent link="j1"/>
- <child link="j2" />
- <axis xyz="0 0 1"/>
- <limit effort="30" velocity="1.5" lower="-2.0" upper="2.0" />
- <joint_properties damping="100.0" friction="1000.0" />
- <dynamics damping="1000"/>
- </joint >
-
- <joint name="wam_j3_joint" type="revolute">
- <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
- <parent link="j2"/>
- <child link="j3" />
- <axis xyz="0 1 0"/>
- <limit effort="30" velocity="1.5" lower="-2.8" upper="2.8" />
- <joint_properties damping="100.0" friction="1000.0" />
- <dynamics damping="1000"/>
- </joint >
-
- <joint name="wam_j4_joint" type="revolute">
- <origin xyz="0.045 -0.55 0.0" rpy="1.57079633 0 0" />
- <parent link="j3"/>
- <child link="j4" />
- <axis xyz="0 1 0"/>
- <limit effort="30" velocity="1.5" lower="-0.9" upper="3.1" />
- <joint_properties damping="100.0" friction="1000.0" />
- <dynamics damping="1000"/>
- </joint >
-
- <joint name="wam_j5_joint" type="revolute">
- <origin xyz="-0.045 0.0 0.3" rpy="1.57079633 0 0" />
- <parent link="j4"/>
- <child link="j5" />
- <axis xyz="0 0 1"/>
- <limit effort="30" velocity="1.5" lower="-4.76" upper="1.24" />
- <joint_properties damping="100.0" friction="1000.0" />
- <dynamics damping="1000"/>
- </joint >
-
- <joint name="wam_j6_joint" type="revolute">
- <origin xyz="0.0 0.0 0.0" rpy="-1.57079633 0 0" />
- <parent link="j5"/>
- <child link="j6" />
- <axis xyz="0 0 1"/>
- <limit effort="30" velocity="1.5" lower="-1.5" upper="1.5" />
- <joint_properties damping="100.0" friction="1000.0" />
- <dynamics damping="1000"/>
- </joint >
-
- <joint name="wam_j7_joint" type="revolute">
- <origin xyz="0.0 0.0 0.06" rpy="0 0 0" />
- <parent link="j6"/>
- <child link="j7" />
- <axis xyz="0 0 1"/>
- <limit effort="30" velocity="1.5" lower="-3.0" upper="3.0" />
- <joint_properties damping="100.0" friction="1000.0" />
- <dynamics damping="1000"/>
- </joint >
-
-
- #Adding Gazebo Requirements
- <gazebo reference="wam_world">
- <material>Gazebo/White</material>
- <selfCollide>true</selfCollide>
- </gazebo>
-
- <gazebo reference="wam_base">
- <material>Gazebo/White</material>
- <selfCollide>true</selfCollide>
- <turnGravityOff>true</turnGravityOff>
- </gazebo>
-
- <gazebo reference="j1">
- <material>Gazebo/White</material>
- <selfCollide>true</selfCollide>
- <turnGravityOff>true</turnGravityOff>
- </gazebo>
-
- <gazebo reference="j2">
- <material>Gazebo/Grey</material>
- <selfCollide>true</selfCollide>
- <turnGravityOff>true</turnGravityOff>
- </gazebo>
-
- <gazebo reference="j3">
- <material>Gazebo/Grey</material>
- <selfCollide>true</selfCollide>
- <turnGravityOff>true</turnGravityOff>
- </gazebo>
-
- <gazebo reference="j4">
- <material>Gazebo/Grey</material>
- <selfCollide>true</selfCollide>
- <turnGravityOff>true</turnGravityOff>
- </gazebo>
-
- <gazebo reference="j5">
- <material>Gazebo/Grey</material>
- <selfCollide>true</selfCollide>
- <turnGravityOff>true</turnGravityOff>
- </gazebo>
-
- <gazebo reference="j6">
- <material>Gazebo/Grey</material>
- <selfCollide>true</selfCollide>
- <turnGravityOff>true</turnGravityOff>
- </gazebo>
-
- <gazebo reference="j7">
- <material>Gazebo/Grey</material>
- <selfCollide>true</selfCollide>
- <turnGravityOff>true</turnGravityOff>
- </gazebo>
-
- #Adding Transmissions
- <transmission type="pr2_mechanism_model/SimpleTransmission" name="j1_transmission">
- <actuator name="j1" />
- <joint name="wam_j1_joint" />
- <mechanicalReduction>1</mechanicalReduction>
- <motorTorqueConstant>1</motorTorqueConstant>
- </transmission>
-
- <transmission type="pr2_mechanism_model/SimpleTransmission" name="j2_transmission">
- <actuator name="j2" />
- <joint name="wam_j2_joint" />
- <mechanicalReduction>1</mechanicalReduction>
- <motorTorqueConstant>1</motorTorqueConstant>
- </transmission>
-
- <transmission type="pr2_mechanism_model/SimpleTransmission" name="j3_transmission">
- <actuator name="j3" />
- <joint name="wam_j3_joint" />
- <mechanicalReduction>1</mechanicalReduction>
- <motorTorqueConstant>1</motorTorqueConstant>
- </transmission>
-
- <transmission type="pr2_mechanism_model/SimpleTransmission" name="j4_transmission">
- <actuator name="j4" />
- <joint name="wam_j4_joint" />
- <mechanicalReduction>1</mechanicalReduction>
- <motorTorqueConstant>1</motorTorqueConstant>
- </transmission>
-
- <transmission type="pr2_mechanism_model/SimpleTransmission" name="j5_transmission">
- <actuator name="j5" />
- <joint name="wam_j5_joint" />
- <mechanicalReduction>1</mechanicalReduction>
- <motorTorqueConstant>1</motorTorqueConstant>
- </transmission>
-
- <transmission type="pr2_mechanism_model/SimpleTransmission" name="j6_transmission">
- <actuator name="j6" />
- <joint name="wam_j6_joint" />
- <mechanicalReduction>1</mechanicalReduction>
- <motorTorqueConstant>1</motorTorqueConstant>
- </transmission>
-
- <transmission type="pr2_mechanism_model/SimpleTransmission" name="j7_transmission">
- <actuator name="j7" />
- <joint name="wam_j7_joint" />
- <mechanicalReduction>1</mechanicalReduction>
- <motorTorqueConstant>1</motorTorqueConstant>
- </transmission>
-</robot>
\ No newline at end of file
+++ /dev/null
-<robot name="wam_7dof_ft_hand"
-
- xmlns:xi="http://www.w3.org/2001/XInclude"
- xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
- xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
- xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
- xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
- xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
- xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
- xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
- xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
- xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
- xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
- xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics">
-
- #Fictional Footprint - for integration
- <link name="world"/>
- <link name="wam_footprint">
- <inertial>
- <mass value="0.0001" />
- <origin xyz="0 0 0" />
- <inertia ixx="0.0001" ixy="0.0" ixz="0.0"iyy="0.0001" iyz="0.0" izz="0.0001" />
- </inertial>
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <box size="0.001 0.001 0.001" />
- </geometry>
- </visual>
- <collision>
- <origin xyz="0 0 0.0" rpy="0 0 0" />
- <geometry>
- <box size="0.001 0.001 0.001" />
- </geometry>
- </collision>
- </link>
-
- #WAM BASE
- <link name="wam_base">
- <inertial>
- <mass value="9.97059584"/>
- <origin xyz="-0.02017671 -0.26604706 -0.14071720" />
- <inertia ixx="1.01232865" ixy="0.05992441" ixz="0.05388736" iyy="0.38443311" iyz="0.37488748" izz="0.82739198"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="wam_base_visual">
- <mesh filename="package://wam_description/meshes/wam_base.mesh" />
- </geometry>
- <material name="LightGrey">
- <color rgba="0.9 0.9 0.9 1.0"/>
- </material>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="wam_base_collision">
- <mesh filename="package://wam_description/meshes/wam_base.mesh" />
- </geometry>
- </collision>
- </link>
-
- #LINK J1
- <link name="j1">
- <inertial>
- <mass value="10.76768767"/>
- <origin xyz="-0.00443422 0.12189039 -0.00066489" />
- <inertia ixx="0.29486350" ixy="-0.00795023" ixz="-0.00009311" iyy="0.11350017" iyz="0.00018711" izz="0.25065343"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_j1_visual">
- <mesh filename="package://wam_description/meshes/link_j1.mesh" />
- </geometry>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_j1_collision">
- <mesh filename="package://wam_description/meshes/link_j1.mesh" />
- </geometry>
- </collision>
- </link>
-
- #LINK J2
- <link name="j2">
- <inertial>
- <mass value="3.87493756"/>
- <origin xyz="-0.00236983 0.03105614 0.01542114" />
- <inertia ixx="0.02606840" ixy="-0.00001346" ixz="-0.00011701" iyy="0.01472202" iyz="0.00003659" izz="0.01934814"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_j2_visual">
- <mesh filename="package://wam_description/meshes/link_j2.mesh" />
- </geometry>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_j2_collision">
- <mesh filename="package://wam_description/meshes/link_j2.mesh" />
- </geometry>
- </collision>
- </link>
-
- #LINK J3
- <link name="j3">
- <inertial>
- <mass value="1.80228141"/>
- <origin xyz="-0.03825858 0.20750770 0.00003309" />
- <inertia ixx="0.13671601" ixy="-0.01680434" ixz="0.00000510" iyy="0.00588354" iyz="-0.00000530" izz="0.13951371"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_j3_visual">
- <mesh filename="package://wam_description/meshes/link_j3.mesh" />
- </geometry>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_j3_collision">
- <mesh filename="package://wam_description/meshes/link_j3.mesh" />
- </geometry>
- </collision>
- </link>
-
- #LINK J4
- <link name="j4">
- <inertial>
- <mass value="1.06513649"/>
- <origin xyz="0.01095471 -0.00002567 0.14053900" />
- <inertia ixx="0.03952350" ixy="0.00000189" ixz="0.00003117" iyy="0.04008214" iyz="0.00000131" izz="0.00210299"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_j4_visual">
- <mesh filename="package://wam_description/meshes/link_j4.mesh" />
- </geometry>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_j4_collision">
- <mesh filename="package://wam_description/meshes/link_j4.mesh" />
- </geometry>
- <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
- </collision>
- </link>
-
- #LINK J5
- <link name="j5">
- <inertial>
- <mass value="0.12376019"/>
- <origin xyz="0.00008921 0.00511217 0.00435824" />
- <inertia ixx="0.00005587" ixy="0.00000026" ixz="0.00000000" iyy="0.00007817" iyz="-0.00000083" izz="0.00006594"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_j5_visual">
- <mesh filename="package://wam_description/meshes/link_j5.mesh" />
- </geometry>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_j5_collision">
- <mesh filename="package://wam_description/meshes/link_j5.mesh" />
- </geometry>
- <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
- </collision>
- </link>
-
- #LINK J6
- <link name="j6">
- <inertial>
- <mass value="0.41797364"/>
- <origin xyz="-0.00012262 -0.01703194 0.02468336" />
- <inertia ixx="0.00093106" ixy="0.00000148" ixz="-0.00000201" iyy="0.00049833" iyz="-0.00022162" izz="0.00057483"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_j6_visual">
- <mesh filename="package://wam_description/meshes/link_j6.mesh" />
- </geometry>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_j6_collision">
- <mesh filename="package://wam_description/meshes/link_j6.mesh" />
- </geometry>
- <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
- </collision>
- </link>
-
- #LINK J7
- <link name="j7">
- <inertial>
- <mass value="0.06864753"/>
- <origin xyz="-0.00007974 0.00016313 -0.00323552" />
- <inertia ixx="0.00003845" ixy="-0.00000019" ixz="0.00000002" iyy="0.00003878" iyz="-0.00000004" izz="0.00007408"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_j6_visual">
- <mesh filename="package://wam_description/meshes/link_j7.mesh" />
- </geometry>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_j7_collision">
- <mesh filename="package://wam_description/meshes/link_j7.mesh" />
- </geometry>
- <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
- </collision>
- </link>
-
- #LINK FT SENSOR
- <link name="bhand_ftsensor">
- <inertial>
- <mass value="0.06864753"/>
- <origin xyz="0 0 0" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_bhand_ftsensor_visual">
- <mesh filename="package://wam_description/meshes/bhand_ftsensor.mesh" />
- </geometry>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_bhand_ftsensor_collision">
- <mesh filename="package://wam_description/meshes/bhand_ftsensor.mesh" />
- </geometry>
- <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
- </collision>
- </link>
-
- #LINK BHAND BASE
- <link name="bhand_base">
- <inertial>
- <mass value="0.8"/>
- <origin xyz="0 0 0" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_bhand_base_visual">
- <mesh filename="package://wam_description/meshes/bhand_base.mesh" />
- </geometry>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_bhand_base_collision">
- <mesh filename="package://wam_description/meshes/bhand_base.mesh" />
- </geometry>
- <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
- </collision>
- </link>
-
- #FINGERS
-
- #LINK BHAND LINK F11
- <link name="bhand_link11">
- <inertial>
- <mass value="0.1"/>
- <origin xyz="0 0 0" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_bhand_f11_visual">
- <mesh filename="package://wam_description/meshes/bhand_link1.mesh" />
- </geometry>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_bhand_f11_collision">
- <mesh filename="package://wam_description/meshes/bhand_link1.mesh" />
- </geometry>
- <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
- </collision>
- </link>
-
- #LINK BHAND LINK F21
- <link name="bhand_link21">
- <inertial>
- <mass value="0.1"/>
- <origin xyz="0 0 0" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_bhand_f21_visual">
- <mesh filename="package://wam_description/meshes/bhand_link1.mesh" />
- </geometry>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_bhand_f21_collision">
- <mesh filename="package://wam_description/meshes/bhand_link1.mesh" />
- </geometry>
- <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
- </collision>
- </link>
-
- #LINK BHAND LINK F12
- <link name="bhand_link12">
- <inertial>
- <mass value="0.1"/>
- <origin xyz="0 0 0" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_bhand_f12_visual">
- <mesh filename="package://wam_description/meshes/bhand_link2.mesh" />
- </geometry>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_bhand_f12_collision">
- <mesh filename="package://wam_description/meshes/bhand_link2.mesh" />
- </geometry>
- <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
- </collision>
- </link>
-
- #LINK BHAND LINK F22
- <link name="bhand_link22">
- <inertial>
- <mass value="0.1"/>
- <origin xyz="0 0 0" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_bhand_f22_visual">
- <mesh filename="package://wam_description/meshes/bhand_link2.mesh" />
- </geometry>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_bhand_f22_collision">
- <mesh filename="package://wam_description/meshes/bhand_link2.mesh" />
- </geometry>
- <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
- </collision>
- </link>
-
- #LINK BHAND LINK F32
- <link name="bhand_link32">
- <inertial>
- <mass value="0.1"/>
- <origin xyz="0 0 0" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_bhand_f32_visual">
- <mesh filename="package://wam_description/meshes/bhand_link2.mesh" />
- </geometry>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_bhand_f32_collision">
- <mesh filename="package://wam_description/meshes/bhand_link2.mesh" />
- </geometry>
- <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
- </collision>
- </link>
-
- #LINK BHAND LINK F13
- <link name="bhand_link13">
- <inertial>
- <mass value="0.1"/>
- <origin xyz="0 0 0" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_bhand_f13_visual">
- <mesh filename="package://wam_description/meshes/bhand_link3.mesh" />
- </geometry>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_bhand_f13_collision">
- <mesh filename="package://wam_description/meshes/bhand_link3.mesh" />
- </geometry>
- <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
- </collision>
- </link>
-
- #LINK BHAND LINK F23
- <link name="bhand_link23">
- <inertial>
- <mass value="0.1"/>
- <origin xyz="0 0 0" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_bhand_f23_visual">
- <mesh filename="package://wam_description/meshes/bhand_link3.mesh" />
- </geometry>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_bhand_f23_collision">
- <mesh filename="package://wam_description/meshes/bhand_link3.mesh" />
- </geometry>
- <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
- </collision>
- </link>
-
- #LINK BHAND LINK F33
- <link name="bhand_link33">
- <inertial>
- <mass value="0.1"/>
- <origin xyz="0 0 0" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_bhand_f33_visual">
- <mesh filename="package://wam_description/meshes/bhand_link3.mesh" />
- </geometry>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_bhand_f33_collision">
- <mesh filename="package://wam_description/meshes/bhand_link3.mesh" />
- </geometry>
- <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
- </collision>
- </link>
-
- ## Joint Descriptions
- <joint name="fix_world" type="fixed">
- <parent link="world"/>
- <child link="wam_footprint"/>
- </joint>
-
- <joint name="wam_basejoint" type="fixed">
- <parent link="wam_footprint"/>
- <child link="wam_base" />
- <origin xyz="0 0 0.0" rpy="0 0 0" />
- </joint>
-
- <joint name="wam_j1_joint" type="revolute">
- <origin xyz="0.22 0.14 0.346" rpy="-1.57079633 0 0" />
- <parent link="wam_base"/>
- <child link="j1" />
- <axis xyz="0 1 0"/>
- <limit effort="30" velocity="1.5" lower="-2.6" upper="2.6" />
- <joint_properties damping="100.0" friction="1000.0" />
- <dynamics damping="1000"/>
- </joint >
-
- <joint name="wam_j2_joint" type="revolute">
- <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
- <parent link="j1"/>
- <child link="j2" />
- <axis xyz="0 0 1"/>
- <limit effort="30" velocity="1.5" lower="-2.0" upper="2.0" />
- <joint_properties damping="100.0" friction="1000.0" />
- <dynamics damping="1000"/>
- </joint >
-
- <joint name="wam_j3_joint" type="revolute">
- <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
- <parent link="j2"/>
- <child link="j3" />
- <axis xyz="0 1 0"/>
- <limit effort="30" velocity="1.5" lower="-2.8" upper="2.8" />
- <joint_properties damping="100.0" friction="1000.0" />
- <dynamics damping="1000"/>
- </joint >
-
- <joint name="wam_j4_joint" type="revolute">
- <origin xyz="0.045 -0.55 0.0" rpy="1.57079633 0 0" />
- <parent link="j3"/>
- <child link="j4" />
- <axis xyz="0 1 0"/>
- <limit effort="30" velocity="1.5" lower="-0.9" upper="3.1" />
- <joint_properties damping="100.0" friction="1000.0" />
- <dynamics damping="1000"/>
- </joint >
-
- <joint name="wam_j5_joint" type="revolute">
- <origin xyz="-0.045 0.0 0.3" rpy="1.57079633 0 0" />
- <parent link="j4"/>
- <child link="j5" />
- <axis xyz="0 0 1"/>
- <limit effort="30" velocity="1.5" lower="-4.76" upper="1.24" />
- <joint_properties damping="100.0" friction="1000.0" />
- <dynamics damping="1000"/>
- </joint >
-
- <joint name="wam_j6_joint" type="revolute">
- <origin xyz="0.0 0.0 0.0" rpy="-1.57079633 0 0" />
- <parent link="j5"/>
- <child link="j6" />
- <axis xyz="0 0 1"/>
- <limit effort="30" velocity="1.5" lower="-1.5" upper="1.5" />
- <joint_properties damping="100.0" friction="1000.0" />
- <dynamics damping="1000"/>
- </joint >
-
- <joint name="wam_j7_joint" type="revolute">
- <origin xyz="0.0 0.0 0.06" rpy="0 0 0" />
- <parent link="j6"/>
- <child link="j7" />
- <axis xyz="0 0 1"/>
- <limit effort="30" velocity="1.5" lower="-3.0" upper="3.0" />
- <joint_properties damping="100.0" friction="1000.0" />
- <dynamics damping="1000"/>
- </joint >
-
- <joint name="bhand_ftsensor_joint" type="fixed">
- <parent link="j7"/>
- <child link="bhand_ftsensor" />
- <origin xyz="0.0 0.0 0.0" rpy="1.57079633 0 0" />
- </joint>
-
- <joint name="bhand_base_joint" type="fixed">
- <parent link="bhand_ftsensor"/>
- <child link="bhand_base" />
- <origin xyz="0.0 0.013 0.0" rpy="-1.57079633 0.0 0.0" />
- </joint>
-
- <joint name="bhand_j11_joint" type="revolute">
- <origin xyz="-0.02475 0.0 0.0395" rpy="0.0 0 1.57079633" />
- <parent link="bhand_base"/>
- <child link="bhand_link11" />
- <axis xyz="0 0 1"/>
- <limit effort="30" velocity="1.5" lower="0.0" upper="3.14159265" />
- <joint_properties damping="100.0" friction="1000.0" />
- <dynamics damping="1000"/>
- </joint >
-
- <joint name="bhand_j21_joint" type="revolute">
- <origin xyz="0.02475 0.0 0.0395" rpy="0.0 0.0 1.57079633" />
- <parent link="bhand_base"/>
- <child link="bhand_link21" />
- <axis xyz="0 0 1"/>
- <limit effort="30" velocity="1.5" lower="-3.14159265" upper="0.0" />
- <joint_properties damping="100.0" friction="1000.0" />
- <dynamics damping="1000"/>
- </joint >
-
- <joint name="bhand_j12_joint" type="revolute">
- <origin xyz="0.050 0.0 0.038" rpy="1.57079633 0 0.0" />
- <parent link="bhand_link11"/>
- <child link="bhand_link12" />
- <axis xyz="0 0 1"/>
- <limit effort="30" velocity="1.5" lower="0.0" upper="2.44346095" />
- <joint_properties damping="100.0" friction="1000.0" />
- <dynamics damping="1000"/>
- </joint >
-
- <joint name="bhand_j22_joint" type="revolute">
- <origin xyz="0.050 0.0 0.038" rpy="1.57079633 0 0.0" />
- <parent link="bhand_link21"/>
- <child link="bhand_link22" />
- <axis xyz="0 0 1"/>
- <limit effort="30" velocity="1.5" lower="0.0" upper="2.44346095" />
- <joint_properties damping="100.0" friction="1000.0" />
- <dynamics damping="1000"/>
- </joint >
-
- <joint name="bhand_j32_joint" type="revolute">
- <origin xyz="0.0 0.050 0.0775" rpy="1.57079633 0 1.57079633" />
- <parent link="bhand_base"/>
- <child link="bhand_link32" />
- <axis xyz="0 0 1"/>
- <limit effort="30" velocity="1.5" lower="0.0" upper="2.44346095" />
- <joint_properties damping="100.0" friction="1000.0" />
- <dynamics damping="1000"/>
- </joint >
-
- <joint name="bhand_j13_joint" type="revolute">
- <origin xyz="0.070 0.0 0.0" rpy="0.0 0 0.0" />
- <parent link="bhand_link12"/>
- <child link="bhand_link13" />
- <axis xyz="0 0 1"/>
- <limit effort="30" velocity="1.5" lower="0.698131701" upper="2.44346095" />
- <joint_properties damping="100.0" friction="1000.0" />
- <dynamics damping="1000"/>
- </joint >
-
- <joint name="bhand_j23_joint" type="revolute">
- <origin xyz="0.070 0.0 0.0" rpy="0.0 0 0.0" />
- <parent link="bhand_link22"/>
- <child link="bhand_link23" />
- <axis xyz="0 0 1"/>
- <limit effort="30" velocity="1.5" lower="0.698131701" upper="2.44346095" />
- <joint_properties damping="100.0" friction="1000.0" />
- <dynamics damping="1000"/>
- </joint >
-
- <joint name="bhand_j33_joint" type="revolute">
- <origin xyz="0.070 0.0 0.0" rpy="0.0 0 0.0" />
- <parent link="bhand_link32"/>
- <child link="bhand_link33" />
- <axis xyz="0 0 1"/>
- <limit effort="30" velocity="1.5" lower="0.698131701" upper="2.44346095" />
- <joint_properties damping="100.0" friction="1000.0" />
- <dynamics damping="1000"/>
- </joint >
-
- #Adding Gazebo Requirements
- <gazebo reference="wam_world">
- <material>Gazebo/White</material>
- <selfCollide>true</selfCollide>
- </gazebo>
-
- <gazebo reference="wam_base">
- <material>Gazebo/White</material>
- <selfCollide>true</selfCollide>
- <turnGravityOff>true</turnGravityOff>
- </gazebo>
-
- <gazebo reference="j1">
- <material>Gazebo/White</material>
- <selfCollide>true</selfCollide>
- <turnGravityOff>true</turnGravityOff>
- </gazebo>
-
- <gazebo reference="j2">
- <material>Gazebo/Grey</material>
- <selfCollide>true</selfCollide>
- <turnGravityOff>true</turnGravityOff>
- </gazebo>
-
- <gazebo reference="j3">
- <material>Gazebo/Grey</material>
- <selfCollide>true</selfCollide>
- <turnGravityOff>true</turnGravityOff>
- </gazebo>
-
- <gazebo reference="j4">
- <material>Gazebo/Grey</material>
- <selfCollide>true</selfCollide>
- <turnGravityOff>true</turnGravityOff>
- </gazebo>
-
- <gazebo reference="j5">
- <material>Gazebo/Grey</material>
- <selfCollide>true</selfCollide>
- <turnGravityOff>true</turnGravityOff>
- </gazebo>
-
- <gazebo reference="j6">
- <material>Gazebo/Grey</material>
- <selfCollide>true</selfCollide>
- <turnGravityOff>true</turnGravityOff>
- </gazebo>
-
- <gazebo reference="j7">
- <material>Gazebo/Grey</material>
- <selfCollide>true</selfCollide>
- <turnGravityOff>true</turnGravityOff>
- </gazebo>
-
- <gazebo reference="bhand_ftsensor">
- <material>Gazebo/Grey</material>
- <selfCollide>true</selfCollide>
- <turnGravityOff>true</turnGravityOff>
- </gazebo>
-
- <gazebo reference="bhand_base">
- <material>Gazebo/Grey</material>
- <selfCollide>true</selfCollide>
- <turnGravityOff>true</turnGravityOff>
- </gazebo>
-
- <gazebo reference="bhand_link11">
- <material>Gazebo/Grey</material>
- <selfCollide>true</selfCollide>
- <turnGravityOff>true</turnGravityOff>
- </gazebo>
-
- <gazebo reference="bhand_link21">
- <material>Gazebo/Grey</material>
- <selfCollide>true</selfCollide>
- <turnGravityOff>true</turnGravityOff>
- </gazebo>
-
- <gazebo reference="bhand_link12">
- <material>Gazebo/Grey</material>
- <selfCollide>true</selfCollide>
- <turnGravityOff>true</turnGravityOff>
- </gazebo>
-
- <gazebo reference="bhand_link22">
- <material>Gazebo/Grey</material>
- <selfCollide>true</selfCollide>
- <turnGravityOff>true</turnGravityOff>
- </gazebo>
-
- <gazebo reference="bhand_link32">
- <material>Gazebo/Grey</material>
- <selfCollide>true</selfCollide>
- <turnGravityOff>true</turnGravityOff>
- </gazebo>
-
- <gazebo reference="bhand_link13">
- <material>Gazebo/Grey</material>
- <selfCollide>true</selfCollide>
- <turnGravityOff>true</turnGravityOff>
- </gazebo>
-
- <gazebo reference="bhand_link23">
- <material>Gazebo/Grey</material>
- <selfCollide>true</selfCollide>
- <turnGravityOff>true</turnGravityOff>
- </gazebo>
-
- <gazebo reference="bhand_link33">
- <material>Gazebo/Grey</material>
- <selfCollide>true</selfCollide>
- <turnGravityOff>true</turnGravityOff>
- </gazebo>
-
- #Adding Transmissions
- <transmission type="pr2_mechanism_model/SimpleTransmission" name="j1_transmission">
- <actuator name="j1" />
- <joint name="wam_j1_joint" />
- <mechanicalReduction>1</mechanicalReduction>
- <motorTorqueConstant>1</motorTorqueConstant>
- </transmission>
-
- <transmission type="pr2_mechanism_model/SimpleTransmission" name="j2_transmission">
- <actuator name="j2" />
- <joint name="wam_j2_joint" />
- <mechanicalReduction>1</mechanicalReduction>
- <motorTorqueConstant>1</motorTorqueConstant>
- </transmission>
-
- <transmission type="pr2_mechanism_model/SimpleTransmission" name="j3_transmission">
- <actuator name="j3" />
- <joint name="wam_j3_joint" />
- <mechanicalReduction>1</mechanicalReduction>
- <motorTorqueConstant>1</motorTorqueConstant>
- </transmission>
-
- <transmission type="pr2_mechanism_model/SimpleTransmission" name="j4_transmission">
- <actuator name="j4" />
- <joint name="wam_j4_joint" />
- <mechanicalReduction>1</mechanicalReduction>
- <motorTorqueConstant>1</motorTorqueConstant>
- </transmission>
-
- <transmission type="pr2_mechanism_model/SimpleTransmission" name="j5_transmission">
- <actuator name="j5" />
- <joint name="wam_j5_joint" />
- <mechanicalReduction>1</mechanicalReduction>
- <motorTorqueConstant>1</motorTorqueConstant>
- </transmission>
-
- <transmission type="pr2_mechanism_model/SimpleTransmission" name="j6_transmission">
- <actuator name="j6" />
- <joint name="wam_j6_joint" />
- <mechanicalReduction>1</mechanicalReduction>
- <motorTorqueConstant>1</motorTorqueConstant>
- </transmission>
-
- <transmission type="pr2_mechanism_model/SimpleTransmission" name="j7_transmission">
- <actuator name="j7" />
- <joint name="wam_j7_joint" />
- <mechanicalReduction>1</mechanicalReduction>
- <motorTorqueConstant>1</motorTorqueConstant>
- </transmission>
-
- #FINGER TRANSMISSIONS
-
- <transmission type="pr2_mechanism_model/SimpleTransmission" name="f11_transmission">
- <actuator name="bhand_link11" />
- <joint name="bhand_f11_joint" />
- <mechanicalReduction>1</mechanicalReduction>
- <motorTorqueConstant>1</motorTorqueConstant>
- </transmission>
-
- <transmission type="pr2_mechanism_model/SimpleTransmission" name="f21_transmission">
- <actuator name="bhand_link21" />
- <joint name="bhand_f21_joint" />
- <mechanicalReduction>1</mechanicalReduction>
- <motorTorqueConstant>1</motorTorqueConstant>
- </transmission>
-
- <transmission type="pr2_mechanism_model/SimpleTransmission" name="f12_transmission">
- <actuator name="bhand_link12" />
- <joint name="bhand_f12_joint" />
- <mechanicalReduction>1</mechanicalReduction>
- <motorTorqueConstant>1</motorTorqueConstant>
- </transmission>
-
- <transmission type="pr2_mechanism_model/SimpleTransmission" name="f22_transmission">
- <actuator name="bhand_link22" />
- <joint name="bhand_f22_joint" />
- <mechanicalReduction>1</mechanicalReduction>
- <motorTorqueConstant>1</motorTorqueConstant>
- </transmission>
-
- <transmission type="pr2_mechanism_model/SimpleTransmission" name="f32_transmission">
- <actuator name="bhand_link32" />
- <joint name="bhand_f32_joint" />
- <mechanicalReduction>1</mechanicalReduction>
- <motorTorqueConstant>1</motorTorqueConstant>
- </transmission>
-
- <transmission type="pr2_mechanism_model/SimpleTransmission" name="f13_transmission">
- <actuator name="bhand_link13" />
- <joint name="bhand_f13_joint" />
- <mechanicalReduction>1</mechanicalReduction>
- <motorTorqueConstant>1</motorTorqueConstant>
- </transmission>
-
- <transmission type="pr2_mechanism_model/SimpleTransmission" name="f23_transmission">
- <actuator name="bhand_link23" />
- <joint name="bhand_f23_joint" />
- <mechanicalReduction>1</mechanicalReduction>
- <motorTorqueConstant>1</motorTorqueConstant>
- </transmission>
-
- <transmission type="pr2_mechanism_model/SimpleTransmission" name="f33_transmission">
- <actuator name="bhand_link33" />
- <joint name="bhand_f33_joint" />
- <mechanicalReduction>1</mechanicalReduction>
- <motorTorqueConstant>1</motorTorqueConstant>
- </transmission>
-
-</robot>
\ No newline at end of file
+++ /dev/null
-<robot name="wam_7dof_ft_hand"
-
- xmlns:xi="http://www.w3.org/2001/XInclude"
- xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
- xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
- xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
- xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
- xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
- xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
- xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
- xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
- xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
- xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
- xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics">
-
- #Fictional Footprint - for integration
- <link name="world"/>
- <link name="wam_footprint">
- <inertial>
- <mass value="0.0001" />
- <origin xyz="0 0 0" />
- <inertia ixx="0.0001" ixy="0.0" ixz="0.0"iyy="0.0001" iyz="0.0" izz="0.0001" />
- </inertial>
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <box size="0.001 0.001 0.001" />
- </geometry>
- </visual>
- <collision>
- <origin xyz="0 0 0.0" rpy="0 0 0" />
- <geometry>
- <box size="0.001 0.001 0.001" />
- </geometry>
- </collision>
- </link>
-
- #WAM BASE
- <link name="wam_base">
- <inertial>
- <mass value="9.97059584"/>
- <origin xyz="-0.02017671 -0.26604706 -0.14071720" />
- <inertia ixx="1.01232865" ixy="0.05992441" ixz="0.05388736" iyy="0.38443311" iyz="0.37488748" izz="0.82739198"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="wam_base_visual">
- <mesh filename="package://wam_description/meshes/wam_base.mesh" />
- </geometry>
- <material name="LightGrey">
- <color rgba="0.9 0.9 0.9 1.0"/>
- </material>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="wam_base_collision">
- <mesh filename="package://wam_description/meshes/wam_base.mesh" />
- </geometry>
- </collision>
- </link>
-
- #LINK J1
- <link name="j1">
- <inertial>
- <mass value="10.76768767"/>
- <origin xyz="-0.00443422 0.12189039 -0.00066489" />
- <inertia ixx="0.29486350" ixy="-0.00795023" ixz="-0.00009311" iyy="0.11350017" iyz="0.00018711" izz="0.25065343"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_j1_visual">
- <mesh filename="package://wam_description/meshes/link_j1.mesh" />
- </geometry>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_j1_collision">
- <mesh filename="package://wam_description/meshes/link_j1.mesh" />
- </geometry>
- </collision>
- </link>
-
- #LINK J2
- <link name="j2">
- <inertial>
- <mass value="3.87493756"/>
- <origin xyz="-0.00236983 0.03105614 0.01542114" />
- <inertia ixx="0.02606840" ixy="-0.00001346" ixz="-0.00011701" iyy="0.01472202" iyz="0.00003659" izz="0.01934814"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_j2_visual">
- <mesh filename="package://wam_description/meshes/link_j2.mesh" />
- </geometry>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_j2_collision">
- <mesh filename="package://wam_description/meshes/link_j2.mesh" />
- </geometry>
- </collision>
- </link>
-
- #LINK J3
- <link name="j3">
- <inertial>
- <mass value="1.80228141"/>
- <origin xyz="-0.03825858 0.20750770 0.00003309" />
- <inertia ixx="0.13671601" ixy="-0.01680434" ixz="0.00000510" iyy="0.00588354" iyz="-0.00000530" izz="0.13951371"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_j3_visual">
- <mesh filename="package://wam_description/meshes/link_j3.mesh" />
- </geometry>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_j3_collision">
- <mesh filename="package://wam_description/meshes/link_j3.mesh" />
- </geometry>
- </collision>
- </link>
-
- #LINK J4
- <link name="j4">
- <inertial>
- <mass value="1.06513649"/>
- <origin xyz="0.01095471 -0.00002567 0.14053900" />
- <inertia ixx="0.03952350" ixy="0.00000189" ixz="0.00003117" iyy="0.04008214" iyz="0.00000131" izz="0.00210299"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_j4_visual">
- <mesh filename="package://wam_description/meshes/link_j4.mesh" />
- </geometry>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_j4_collision">
- <mesh filename="package://wam_description/meshes/link_j4.mesh" />
- </geometry>
- <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
- </collision>
- </link>
-
- #LINK J5
- <link name="j5">
- <inertial>
- <mass value="0.12376019"/>
- <origin xyz="0.00008921 0.00511217 0.00435824" />
- <inertia ixx="0.00005587" ixy="0.00000026" ixz="0.00000000" iyy="0.00007817" iyz="-0.00000083" izz="0.00006594"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_j5_visual">
- <mesh filename="package://wam_description/meshes/link_j5.mesh" />
- </geometry>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_j5_collision">
- <mesh filename="package://wam_description/meshes/link_j5.mesh" />
- </geometry>
- <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
- </collision>
- </link>
-
- #LINK J6
- <link name="j6">
- <inertial>
- <mass value="0.41797364"/>
- <origin xyz="-0.00012262 -0.01703194 0.02468336" />
- <inertia ixx="0.00093106" ixy="0.00000148" ixz="-0.00000201" iyy="0.00049833" iyz="-0.00022162" izz="0.00057483"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_j6_visual">
- <mesh filename="package://wam_description/meshes/link_j6.mesh" />
- </geometry>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_j6_collision">
- <mesh filename="package://wam_description/meshes/link_j6.mesh" />
- </geometry>
- <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
- </collision>
- </link>
-
- #LINK J7
- <link name="j7">
- <inertial>
- <mass value="0.06864753"/>
- <origin xyz="-0.00007974 0.00016313 -0.00323552" />
- <inertia ixx="0.00003845" ixy="-0.00000019" ixz="0.00000002" iyy="0.00003878" iyz="-0.00000004" izz="0.00007408"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_j6_visual">
- <mesh filename="package://wam_description/meshes/link_j7.mesh" />
- </geometry>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_j7_collision">
- <mesh filename="package://wam_description/meshes/link_j7.mesh" />
- </geometry>
- <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
- </collision>
- </link>
-
- #LINK BHAND BASE
- <link name="bhand_base">
- <inertial>
- <mass value="0.8"/>
- <origin xyz="0 0 0" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_bhand_base_visual">
- <mesh filename="package://wam_description/meshes/bhand_base.mesh" />
- </geometry>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_bhand_base_collision">
- <mesh filename="package://wam_description/meshes/bhand_base.mesh" />
- </geometry>
- <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
- </collision>
- </link>
-
- #FINGERS
-
- #LINK BHAND LINK F11
- <link name="bhand_link11">
- <inertial>
- <mass value="0.1"/>
- <origin xyz="0 0 0" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_bhand_f11_visual">
- <mesh filename="package://wam_description/meshes/bhand_link1.mesh" />
- </geometry>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_bhand_f11_collision">
- <mesh filename="package://wam_description/meshes/bhand_link1.mesh" />
- </geometry>
- <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
- </collision>
- </link>
-
- #LINK BHAND LINK F21
- <link name="bhand_link21">
- <inertial>
- <mass value="0.1"/>
- <origin xyz="0 0 0" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_bhand_f21_visual">
- <mesh filename="package://wam_description/meshes/bhand_link1.mesh" />
- </geometry>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_bhand_f21_collision">
- <mesh filename="package://wam_description/meshes/bhand_link1.mesh" />
- </geometry>
- <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
- </collision>
- </link>
-
- #LINK BHAND LINK F12
- <link name="bhand_link12">
- <inertial>
- <mass value="0.1"/>
- <origin xyz="0 0 0" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_bhand_f12_visual">
- <mesh filename="package://wam_description/meshes/bhand_link2.mesh" />
- </geometry>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_bhand_f12_collision">
- <mesh filename="package://wam_description/meshes/bhand_link2.mesh" />
- </geometry>
- <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
- </collision>
- </link>
-
- #LINK BHAND LINK F22
- <link name="bhand_link22">
- <inertial>
- <mass value="0.1"/>
- <origin xyz="0 0 0" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_bhand_f22_visual">
- <mesh filename="package://wam_description/meshes/bhand_link2.mesh" />
- </geometry>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_bhand_f22_collision">
- <mesh filename="package://wam_description/meshes/bhand_link2.mesh" />
- </geometry>
- <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
- </collision>
- </link>
-
- #LINK BHAND LINK F32
- <link name="bhand_link32">
- <inertial>
- <mass value="0.1"/>
- <origin xyz="0 0 0" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_bhand_f32_visual">
- <mesh filename="package://wam_description/meshes/bhand_link2.mesh" />
- </geometry>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_bhand_f32_collision">
- <mesh filename="package://wam_description/meshes/bhand_link2.mesh" />
- </geometry>
- <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
- </collision>
- </link>
-
- #LINK BHAND LINK F13
- <link name="bhand_link13">
- <inertial>
- <mass value="0.1"/>
- <origin xyz="0 0 0" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_bhand_f13_visual">
- <mesh filename="package://wam_description/meshes/bhand_link3.mesh" />
- </geometry>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_bhand_f13_collision">
- <mesh filename="package://wam_description/meshes/bhand_link3.mesh" />
- </geometry>
- <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
- </collision>
- </link>
-
- #LINK BHAND LINK F23
- <link name="bhand_link23">
- <inertial>
- <mass value="0.1"/>
- <origin xyz="0 0 0" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_bhand_f23_visual">
- <mesh filename="package://wam_description/meshes/bhand_link3.mesh" />
- </geometry>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_bhand_f23_collision">
- <mesh filename="package://wam_description/meshes/bhand_link3.mesh" />
- </geometry>
- <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
- </collision>
- </link>
-
- #LINK BHAND LINK F33
- <link name="bhand_link33">
- <inertial>
- <mass value="0.1"/>
- <origin xyz="0 0 0" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_bhand_f33_visual">
- <mesh filename="package://wam_description/meshes/bhand_link3.mesh" />
- </geometry>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry name="link_bhand_f33_collision">
- <mesh filename="package://wam_description/meshes/bhand_link3.mesh" />
- </geometry>
- <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
- </collision>
- </link>
-
- ## Joint Descriptions
- <joint name="fix_world" type="fixed">
- <parent link="world"/>
- <child link="wam_footprint"/>
- </joint>
-
- <joint name="wam_basejoint" type="fixed">
- <parent link="wam_footprint"/>
- <child link="wam_base" />
- <origin xyz="0 0 0.0" rpy="0 0 0" />
- </joint>
-
- <joint name="wam_j1_joint" type="revolute">
- <origin xyz="0.22 0.14 0.346" rpy="-1.57079633 0 0" />
- <parent link="wam_base"/>
- <child link="j1" />
- <axis xyz="0 1 0"/>
- <limit effort="30" velocity="1.5" lower="-2.6" upper="2.6" />
- <joint_properties damping="100.0" friction="1000.0" />
- <dynamics damping="1000"/>
- </joint >
-
- <joint name="wam_j2_joint" type="revolute">
- <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
- <parent link="j1"/>
- <child link="j2" />
- <axis xyz="0 0 1"/>
- <limit effort="30" velocity="1.5" lower="-2.0" upper="2.0" />
- <joint_properties damping="100.0" friction="1000.0" />
- <dynamics damping="1000"/>
- </joint >
-
- <joint name="wam_j3_joint" type="revolute">
- <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
- <parent link="j2"/>
- <child link="j3" />
- <axis xyz="0 1 0"/>
- <limit effort="30" velocity="1.5" lower="-2.8" upper="2.8" />
- <joint_properties damping="100.0" friction="1000.0" />
- <dynamics damping="1000"/>
- </joint >
-
- <joint name="wam_j4_joint" type="revolute">
- <origin xyz="0.045 -0.55 0.0" rpy="1.57079633 0 0" />
- <parent link="j3"/>
- <child link="j4" />
- <axis xyz="0 1 0"/>
- <limit effort="30" velocity="1.5" lower="-0.9" upper="3.1" />
- <joint_properties damping="100.0" friction="1000.0" />
- <dynamics damping="1000"/>
- </joint >
-
- <joint name="wam_j5_joint" type="revolute">
- <origin xyz="-0.045 0.0 0.3" rpy="1.57079633 0 0" />
- <parent link="j4"/>
- <child link="j5" />
- <axis xyz="0 0 1"/>
- <limit effort="30" velocity="1.5" lower="-4.76" upper="1.24" />
- <joint_properties damping="100.0" friction="1000.0" />
- <dynamics damping="1000"/>
- </joint >
-
- <joint name="wam_j6_joint" type="revolute">
- <origin xyz="0.0 0.0 0.0" rpy="-1.57079633 0 0" />
- <parent link="j5"/>
- <child link="j6" />
- <axis xyz="0 0 1"/>
- <limit effort="30" velocity="1.5" lower="-1.5" upper="1.5" />
- <joint_properties damping="100.0" friction="10000" />
- <dynamics damping="1000"/>
- </joint >
-
- <joint name="wam_j7_joint" type="revolute">
- <origin xyz="0.0 0.0 0.06" rpy="0 0 0" />
- <parent link="j6"/>
- <child link="j7" />
- <axis xyz="0 0 1"/>
- <limit effort="30" velocity="1.5" lower="-3.0" upper="3.0" />
- <joint_properties damping="100.0" friction="1000.0" />
- <dynamics damping="1000"/>
- </joint >
-
- <joint name="bhand_base_joint" type="fixed">
- <parent link="j7"/>
- <child link="bhand_base" />
- <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
- </joint>
-
- <joint name="bhand_j11_joint" type="revolute">
- <origin xyz="-0.02475 0.0 0.0395" rpy="0.0 0 1.57079633" />
- <parent link="bhand_base"/>
- <child link="bhand_link11" />
- <axis xyz="0 0 1"/>
- <limit effort="30" velocity="1.5" lower="0.0" upper="3.14159265" />
- <joint_properties damping="100.0" friction="1000.0" />
- <dynamics damping="1000"/>
- </joint >
-
- <joint name="bhand_j21_joint" type="revolute">
- <origin xyz="0.02475 0.0 0.0395" rpy="0.0 0.0 1.57079633" />
- <parent link="bhand_base"/>
- <child link="bhand_link21" />
- <axis xyz="0 0 1"/>
- <limit effort="30" velocity="1.5" lower="-3.14159265" upper="0.0" />
- <joint_properties damping="100.0" friction="1000.0" />
- <dynamics damping="1000"/>
- </joint >
-
- <joint name="bhand_j12_joint" type="revolute">
- <origin xyz="0.050 0.0 0.038" rpy="1.57079633 0 0.0" />
- <parent link="bhand_link11"/>
- <child link="bhand_link12" />
- <axis xyz="0 0 1"/>
- <limit effort="30" velocity="1.5" lower="0.0" upper="2.44346095" />
- <joint_properties damping="100.0" friction="1000.0" />
- <dynamics damping="1000"/>
- </joint >
-
- <joint name="bhand_j22_joint" type="revolute">
- <origin xyz="0.050 0.0 0.038" rpy="1.57079633 0 0.0" />
- <parent link="bhand_link21"/>
- <child link="bhand_link22" />
- <axis xyz="0 0 1"/>
- <limit effort="30" velocity="1.5" lower="0.0" upper="2.44346095" />
- <joint_properties damping="100.0" friction="1000.0" />
- <dynamics damping="1000"/>
- </joint >
-
- <joint name="bhand_j32_joint" type="revolute">
- <origin xyz="0.0 0.050 0.0775" rpy="1.57079633 0 1.57079633" />
- <parent link="bhand_base"/>
- <child link="bhand_link32" />
- <axis xyz="0 0 1"/>
- <limit effort="30" velocity="1.5" lower="0.0" upper="2.44346095" />
- <joint_properties damping="100.0" friction="1000.0" />
- <dynamics damping="1000"/>
- </joint >
-
- <joint name="bhand_j13_joint" type="revolute">
- <origin xyz="0.070 0.0 0.0" rpy="0.0 0 0.0" />
- <parent link="bhand_link12"/>
- <child link="bhand_link13" />
- <axis xyz="0 0 1"/>
- <limit effort="30" velocity="1.5" lower="0.698131701" upper="2.44346095" />
- <joint_properties damping="100.0" friction="1000.0" />
- <dynamics damping="1000"/>
- </joint >
-
- <joint name="bhand_j23_joint" type="revolute">
- <origin xyz="0.070 0.0 0.0" rpy="0.0 0 0.0" />
- <parent link="bhand_link22"/>
- <child link="bhand_link23" />
- <axis xyz="0 0 1"/>
- <limit effort="30" velocity="1.5" lower="0.698131701" upper="2.44346095" />
- <joint_properties damping="100.0" friction="1000.0" />
- <dynamics damping="1000"/>
- </joint >
-
- <joint name="bhand_j33_joint" type="revolute">
- <origin xyz="0.070 0.0 0.0" rpy="0.0 0 0.0" />
- <parent link="bhand_link32"/>
- <child link="bhand_link33" />
- <axis xyz="0 0 1"/>
- <limit effort="30" velocity="1.5" lower="0.698131701" upper="2.44346095" />
- <joint_properties damping="100.0" friction="1000.0" />
- <dynamics damping="1000"/>
- </joint >
-
- #Adding Gazebo Requirements
- <gazebo reference="wam_world">
- <material>Gazebo/White</material>
- <selfCollide>true</selfCollide>
- </gazebo>
-
- <gazebo reference="wam_base">
- <material>Gazebo/White</material>
- <selfCollide>true</selfCollide>
- <turnGravityOff>true</turnGravityOff>
- </gazebo>
-
- <gazebo reference="j1">
- <material>Gazebo/White</material>
- <selfCollide>true</selfCollide>
- <turnGravityOff>true</turnGravityOff>
- </gazebo>
-
- <gazebo reference="j2">
- <material>Gazebo/Grey</material>
- <selfCollide>true</selfCollide>
- <turnGravityOff>true</turnGravityOff>
- </gazebo>
-
- <gazebo reference="j3">
- <material>Gazebo/Grey</material>
- <selfCollide>true</selfCollide>
- <turnGravityOff>true</turnGravityOff>
- </gazebo>
-
- <gazebo reference="j4">
- <material>Gazebo/Grey</material>
- <selfCollide>true</selfCollide>
- <turnGravityOff>true</turnGravityOff>
- </gazebo>
-
- <gazebo reference="j5">
- <material>Gazebo/Grey</material>
- <selfCollide>true</selfCollide>
- <turnGravityOff>true</turnGravityOff>
- </gazebo>
-
- <gazebo reference="j6">
- <material>Gazebo/Grey</material>
- <selfCollide>true</selfCollide>
- <turnGravityOff>true</turnGravityOff>
- </gazebo>
-
- <gazebo reference="j7">
- <material>Gazebo/Grey</material>
- <selfCollide>true</selfCollide>
- <turnGravityOff>true</turnGravityOff>
- </gazebo>
-
- <gazebo reference="bhand_base">
- <material>Gazebo/Grey</material>
- <selfCollide>true</selfCollide>
- <turnGravityOff>true</turnGravityOff>
- </gazebo>
-
- <gazebo reference="bhand_link11">
- <material>Gazebo/Grey</material>
- <selfCollide>true</selfCollide>
- <turnGravityOff>true</turnGravityOff>
- </gazebo>
-
- <gazebo reference="bhand_link21">
- <material>Gazebo/Grey</material>
- <selfCollide>true</selfCollide>
- <turnGravityOff>true</turnGravityOff>
- </gazebo>
-
- <gazebo reference="bhand_link12">
- <material>Gazebo/Grey</material>
- <selfCollide>true</selfCollide>
- <turnGravityOff>true</turnGravityOff>
- </gazebo>
-
- <gazebo reference="bhand_link22">
- <material>Gazebo/Grey</material>
- <selfCollide>true</selfCollide>
- <turnGravityOff>true</turnGravityOff>
- </gazebo>
-
- <gazebo reference="bhand_link32">
- <material>Gazebo/Grey</material>
- <selfCollide>true</selfCollide>
- <turnGravityOff>true</turnGravityOff>
- </gazebo>
-
- <gazebo reference="bhand_link13">
- <material>Gazebo/Grey</material>
- <selfCollide>true</selfCollide>
- <turnGravityOff>true</turnGravityOff>
- </gazebo>
-
- <gazebo reference="bhand_link23">
- <material>Gazebo/Grey</material>
- <selfCollide>true</selfCollide>
- <turnGravityOff>true</turnGravityOff>
- </gazebo>
-
- <gazebo reference="bhand_link33">
- <material>Gazebo/Grey</material>
- <selfCollide>true</selfCollide>
- <turnGravityOff>true</turnGravityOff>
- </gazebo>
-
- #Adding Transmissions
- <transmission type="pr2_mechanism_model/SimpleTransmission" name="j1_transmission">
- <actuator name="j1" />
- <joint name="wam_j1_joint" />
- <mechanicalReduction>1</mechanicalReduction>
- <motorTorqueConstant>1</motorTorqueConstant>
- </transmission>
-
- <transmission type="pr2_mechanism_model/SimpleTransmission" name="j2_transmission">
- <actuator name="j2" />
- <joint name="wam_j2_joint" />
- <mechanicalReduction>1</mechanicalReduction>
- <motorTorqueConstant>1</motorTorqueConstant>
- </transmission>
-
- <transmission type="pr2_mechanism_model/SimpleTransmission" name="j3_transmission">
- <actuator name="j3" />
- <joint name="wam_j3_joint" />
- <mechanicalReduction>1</mechanicalReduction>
- <motorTorqueConstant>1</motorTorqueConstant>
- </transmission>
-
- <transmission type="pr2_mechanism_model/SimpleTransmission" name="j4_transmission">
- <actuator name="j4" />
- <joint name="wam_j4_joint" />
- <mechanicalReduction>1</mechanicalReduction>
- <motorTorqueConstant>1</motorTorqueConstant>
- </transmission>
-
- <transmission type="pr2_mechanism_model/SimpleTransmission" name="j5_transmission">
- <actuator name="j5" />
- <joint name="wam_j5_joint" />
- <mechanicalReduction>1</mechanicalReduction>
- <motorTorqueConstant>1</motorTorqueConstant>
- </transmission>
-
- <transmission type="pr2_mechanism_model/SimpleTransmission" name="j6_transmission">
- <actuator name="j6" />
- <joint name="wam_j6_joint" />
- <mechanicalReduction>1</mechanicalReduction>
- <motorTorqueConstant>1</motorTorqueConstant>
- </transmission>
-
- <transmission type="pr2_mechanism_model/SimpleTransmission" name="j7_transmission">
- <actuator name="j7" />
- <joint name="wam_j7_joint" />
- <mechanicalReduction>1</mechanicalReduction>
- <motorTorqueConstant>1</motorTorqueConstant>
- </transmission>
-
- #FINGER TRANSMISSIONS
-
- <transmission type="pr2_mechanism_model/SimpleTransmission" name="f11_transmission">
- <actuator name="bhand_link11" />
- <joint name="bhand_f11_joint" />
- <mechanicalReduction>1</mechanicalReduction>
- <motorTorqueConstant>1</motorTorqueConstant>
- </transmission>
-
- <transmission type="pr2_mechanism_model/SimpleTransmission" name="f21_transmission">
- <actuator name="bhand_link21" />
- <joint name="bhand_f21_joint" />
- <mechanicalReduction>1</mechanicalReduction>
- <motorTorqueConstant>1</motorTorqueConstant>
- </transmission>
-
- <transmission type="pr2_mechanism_model/SimpleTransmission" name="f12_transmission">
- <actuator name="bhand_link12" />
- <joint name="bhand_f12_joint" />
- <mechanicalReduction>1</mechanicalReduction>
- <motorTorqueConstant>1</motorTorqueConstant>
- </transmission>
-
- <transmission type="pr2_mechanism_model/SimpleTransmission" name="f22_transmission">
- <actuator name="bhand_link22" />
- <joint name="bhand_f22_joint" />
- <mechanicalReduction>1</mechanicalReduction>
- <motorTorqueConstant>1</motorTorqueConstant>
- </transmission>
-
- <transmission type="pr2_mechanism_model/SimpleTransmission" name="f32_transmission">
- <actuator name="bhand_link32" />
- <joint name="bhand_f32_joint" />
- <mechanicalReduction>1</mechanicalReduction>
- <motorTorqueConstant>1</motorTorqueConstant>
- </transmission>
-
- <transmission type="pr2_mechanism_model/SimpleTransmission" name="f13_transmission">
- <actuator name="bhand_link13" />
- <joint name="bhand_f13_joint" />
- <mechanicalReduction>1</mechanicalReduction>
- <motorTorqueConstant>1</motorTorqueConstant>
- </transmission>
-
- <transmission type="pr2_mechanism_model/SimpleTransmission" name="f23_transmission">
- <actuator name="bhand_link23" />
- <joint name="bhand_f23_joint" />
- <mechanicalReduction>1</mechanicalReduction>
- <motorTorqueConstant>1</motorTorqueConstant>
- </transmission>
-
- <transmission type="pr2_mechanism_model/SimpleTransmission" name="f33_transmission">
- <actuator name="bhand_link33" />
- <joint name="bhand_f33_joint" />
- <mechanicalReduction>1</mechanicalReduction>
- <motorTorqueConstant>1</motorTorqueConstant>
- </transmission>
-
-</robot>
\ No newline at end of file
+++ /dev/null
-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
-
-# Set the build type. Options are:
-# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage
-# Debug : w/ debug symbols, w/o optimization
-# Release : w/o debug symbols, w/ optimization
-# RelWithDebInfo : w/ debug symbols, w/ optimization
-# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries
-#set(ROS_BUILD_TYPE RelWithDebInfo)
-rosbuild_find_ros_package(actionlib_msgs)
-include(${actionlib_msgs_PACKAGE_PATH}/cmake/actionbuild.cmake)
-genaction()
-
-rosbuild_init()
-
-#set the default path for built executables to the "bin" directory
-set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-#set the default path for built libraries to the "lib" directory
-set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
-
-rosbuild_genmsg()
-rosbuild_gensrv()
-
-link_directories(/usr/xenomai/lib /usr/local/lib)
-rosbuild_add_executable(wam_node src/wam_node.cpp)
-include_directories(/usr/xenomai/include /usr/local/include /usr/local/include/eigen2 /usr/local/include/boost)
-add_definitions(-D_GNU_SOURCE -D_REENTRANT -D__XENO__)
-rosbuild_add_compile_flags(wam_node -Wall -pipe)
-target_link_libraries(wam_node barrett native xenomai pthread rt gsl gslcblas m boost_signals boost_thread)
-#rosbuild_add_boost_directories()
-#rosbuild_link_boost(wam_node thread)
-
-
+++ /dev/null
-include $(shell rospack find mk)/cmake.mk
\ No newline at end of file
+++ /dev/null
-<package>
- <description brief="wam_node">
-
- Barrett Technology ROS node for 4-DOF and 7-DOF WAM.
-
- </description>
- <author>Barrett Technology Inc., Kyle Maroney</author>
- <license>BSD</license>
- <review status="unreviewed" notes=""/>
- <url>http://ros.org/wiki/wam_node</url>
- <depend package="std_msgs"/>
- <depend package="std_srvs"/>
- <depend package="sensor_msgs"/>
- <depend package="geometry_msgs"/>
- <depend package="roscpp"/>
- <depend package="actionlib"/>
- <depend package="libbarrett_ros"/>
-</package>
-
-
+++ /dev/null
-#include <unistd.h>
-
-#include "ros/ros.h"
-#include "wam_node/GravityComp.h"
-#include "wam_node/JointMove.h"
-#include "wam_node/CartMove.h"
-#include "std_srvs/Empty.h"
-#include "sensor_msgs/JointState.h"
-#include "geometry_msgs/PoseStamped.h"
-
-#include <barrett/math.h>
-#include <barrett/units.h>
-#include <barrett/systems.h>
-#include <barrett/products/product_manager.h>
-#include <barrett/standard_main_function.h>
-#include <barrett/systems/wam.h>
-
-static const int PUBLISH_FREQ = 1;
-
-using namespace barrett;
-
-bool grav_state = true;
-int wam_dof = 0;
-systems::Wam<4>* wam4 = NULL;
-systems::Wam<7>* wam7 = NULL;
-units::JointPositions<4>::type* jp4;
-units::JointPositions<4>::type* jp4home;
-units::JointPositions<7>::type* jp7;
-units::JointPositions<7>::type* jp7home;
-units::CartesianPosition::type* cpp;
-Eigen::Quaterniond to;
-Eigen::Quaterniond tog;
-
-class WamNode
-{
-protected:
- //ros::NodeHandle n_;
- sensor_msgs::JointState joint_state;
- geometry_msgs::PoseStamped wam_pose;
- ros::Publisher joint_pub;
- ros::Publisher pose_pub;
- ros::ServiceServer gravity_srv;
- ros::ServiceServer jmove_srv;
- ros::ServiceServer cmove_srv;
- ros::ServiceServer home_srv;
-
-public:
- WamNode(){}
-
- void init(std::vector<double> &dof)
- {
- WamNode wam;
- ros::NodeHandle n_("wam");
- wam_dof = dof.size();
- gravity_srv = n_.advertiseService("gravity_comp", &WamNode::gravity, &wam);
- jmove_srv = n_.advertiseService("joint_move", &WamNode::joint_move, &wam);
- cmove_srv = n_.advertiseService("cartesian_move", &WamNode::cart_move, &wam);
- home_srv = n_.advertiseService("go_home",&WamNode::go_home, &wam);
- joint_pub = n_.advertise<sensor_msgs::JointState>("wam_joints", 100);
- pose_pub = n_.advertise<geometry_msgs::PoseStamped>("wam_pose", 100);
-
- //explicitly naming joints until loaded from urdf
- const char* strarray[] = {"j1", "j2", "j3", "j4", "j5", "j6", "j7"};
- std::vector<std::string> joints(strarray, strarray + 7);
- joint_state.name = joints;
- joint_state.name.resize(wam_dof);
- joint_state.position.resize(wam_dof);
- joint_state.velocity.resize(wam_dof);
- joint_state.effort.resize(wam_dof);
-
- if (wam_dof == 4)
- {
- *jp4home = wam4->getJointPositions();
- }
- else if (wam_dof == 7)
- {
- *jp7home = wam7->getJointPositions();
- }
- }
-
- ~WamNode(){}
-
- bool gravity(wam_node::GravityComp::Request &req, wam_node::GravityComp::Response &res);
- bool joint_move(wam_node::JointMove::Request &req, wam_node::JointMove::Response &res);
- bool cart_move(wam_node::CartMove::Request &req, wam_node::CartMove::Response &res);
- bool go_home(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res);
- void update_publisher(std::vector<double> &j_pos, std::vector<double> &j_vel, std::vector<double> &j_tor,
- std::vector<double> &c_pos);
-};
-
-bool WamNode::gravity(wam_node::GravityComp::Request &req, wam_node::GravityComp::Response &res)
-{
- grav_state = req.gravity;
- if (wam4 != NULL)
- wam4->gravityCompensate(grav_state);
- else if (wam7 != NULL)
- wam7->gravityCompensate(grav_state);
-
- ROS_INFO("Gravity Compensation Request: %s", (req.gravity) ? "true" : "false");
- return true;
-}
-
-bool WamNode::joint_move(wam_node::JointMove::Request &req, wam_node::JointMove::Response &res)
-{
- if (req.joints.size() != (size_t)wam_dof)
- {
- ROS_INFO("Request Failed: %d-DOF request received, must be %d-DOF", req.joints.size(), wam_dof);
- return false;
- }
-
- if (wam_dof == 4)
- {
- for (int i = 0; i < 4; i++)
- (*jp4)[i] = req.joints[i];
- wam4->moveTo(*jp4);
- }
- else
- {
- for (int j = 0; j < 7; j++)
- (*jp7)[j] = req.joints[j];
- wam7->moveTo(*jp7);
- }
- ROS_INFO("Moving Robot to Commanded Joint Pose");
- return true;
-}
-
-bool WamNode::cart_move(wam_node::CartMove::Request &req, wam_node::CartMove::Response &res)
-{
- if (req.coordinates.size() != 3)
- {
- ROS_INFO("Request Failed: %d coordinate request received, must be 3 coordinates [X,Y,Z]", req.coordinates.size());
- return false;
- }
- for (int i = 0; i < 3; i++)
- (*cpp)[i] = req.coordinates[i];
-
- if (wam_dof == 4)
- wam4->moveTo(*jp4);
- else
- wam7->moveTo(*jp7);
-
- ROS_INFO("Moving Robot to Commanded Coordinate Pose");
- return true;
-}
-
-bool WamNode::go_home(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
-{
- if (wam_dof == 4)
- {
- wam4->moveTo(*jp4home);
- }
- else
- {
- wam7->moveTo(*jp7home);
- }
- ROS_INFO("Moving Robot to Starting Position");
- return true;
-}
-
-void WamNode::update_publisher(std::vector<double> &j_pos, std::vector<double> &j_vel, std::vector<double> &j_tor,
- std::vector<double> &c_pos)
-{
- //publishing sensor_msgs/JointState to wam_joints
- for (size_t i = 0; i < j_pos.size(); i++)
- {
- joint_state.position[i] = j_pos[i];
- joint_state.velocity[i] = j_vel[i];
- joint_state.effort[i] = j_tor[i];
- }
- joint_pub.publish(joint_state);
-
- //publishing geometry_msgs/PoseStamed to wam_pose
- wam_pose.pose.position.x = c_pos[0];
- wam_pose.pose.position.y = c_pos[1];
- wam_pose.pose.position.z = c_pos[2];
- wam_pose.pose.orientation.w = to.w();
- wam_pose.pose.orientation.x = to.x();
- wam_pose.pose.orientation.y = to.y();
- wam_pose.pose.orientation.z = to.z();
- pose_pub.publish(wam_pose);
-}
-
-template<size_t DOF>
- int wam_main(int argc, char** argv, ProductManager& pm, systems::Wam<DOF>& wam)
- {
- BARRETT_UNITS_TEMPLATE_TYPEDEFS(DOF);
- BARRETT_UNITS_FIXED_SIZE_TYPEDEFS;
- wam.gravityCompensate(grav_state);
- ros::init(argc, argv, "barrettWam");
- WamNode wam_node;
-
- if (pm.foundWam4())
- {
- wam4 = pm.getWam4();
- }
- else if (pm.foundWam7())
- wam7 = pm.getWam7();
-
- jp_type jp;
- jv_type jv;
- jt_type jt;
- cp_type cp;
-
- cpp = new units::CartesianPosition::type;
- if (DOF == 4)
- {
- jp4 = new units::JointPositions<4>::type;
- jp4home = new units::JointPositions<4>::type;
-
- }
- else if (DOF == 7)
- {
- jp7 = new units::JointPositions<7>::type;
- jp7home = new units::JointPositions<7>::type;
- }
-
- std::vector<double> joint_vel;
- std::vector<double> joint_tor;
- std::vector<double> joint_pos;
- std::vector<double> cart_pos;
- joint_pos.resize(jp.size());
- joint_vel.resize(jv.size());
- joint_tor.resize(jt.size());
- cart_pos.resize(cp.size());
-
- wam_node.init(joint_pos);
-
- int pub_rate = 1000000 * (1 / PUBLISH_FREQ);
- while (ros::ok() && pm.getSafetyModule()->getMode() == SafetyModule::ACTIVE)
- {
- ros::spinOnce();
- jp = wam.getJointPositions();
- jt = wam.getJointTorques();
- jv = wam.getJointVelocities();
- cp = wam.getToolPosition();
- to = wam.getToolOrientation();
- for (size_t i = 0; i < DOF; i++)
- {
- joint_pos[i] = jp[i];
- joint_vel[i] = jv[i];
- joint_tor[i] = jt[i];
- if (i < 3)
- cart_pos[i] = cp[i];
- }
- wam_node.update_publisher(joint_pos, joint_vel, joint_tor, cart_pos);
- usleep(pub_rate); // publishing at frequency PUBLISH_FREQ
- }
- delete cpp;
- delete jp4;
- delete jp4home;
- delete jp7;
- delete jp7home;
- return 0;
- }
-
+++ /dev/null
-float32[] coordinates
----
\ No newline at end of file
+++ /dev/null
-bool gravity
----
+++ /dev/null
-float32[] joints
----
\ No newline at end of file
projects / barrett-ros-pkg.git / commitdiff