Remove bhand and plier.

diff --git a/bhand_description/CMakeLists.txt b/bhand_description/CMakeLists.txt
deleted file mode 100644 (file)
index f8f1c9c..0000000
--- a/bhand_description/CMakeLists.txt
+++ /dev/null
@@ -1,30 +0,0 @@
-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_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 ${PROJECT_SOURCE_DIR}/lib)
-
-#uncomment if you have defined messages
-#rosbuild_genmsg()
-#uncomment if you have defined services
-#rosbuild_gensrv()
-
-#common commands for building c++ executables and libraries
-#rosbuild_add_library(${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})

diff --git a/bhand_description/Makefile b/bhand_description/Makefile
deleted file mode 100644 (file)
index b75b928..0000000
--- a/bhand_description/Makefile
+++ /dev/null
@@ -1 +0,0 @@
-include $(shell rospack find mk)/cmake.mk
\ No newline at end of file

diff --git a/bhand_description/launch/bhand.launch b/bhand_description/launch/bhand.launch
deleted file mode 100644 (file)
index 1875c7c..0000000
--- a/bhand_description/launch/bhand.launch
+++ /dev/null
@@ -1,5 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-       <param name="robot_description" command="$(find xacro)/xacro.py '$(find bhand_description)/xacro/bhand.urdf.xacro'" />
-       <node name="spawn_wam_object" pkg="gazebo" type="spawn_model" args="-urdf -param robot_description -model bhand -z 0.1" respawn="false" output="screen" />
-</launch>

diff --git a/bhand_description/launch/bhand_sim.launch b/bhand_description/launch/bhand_sim.launch
deleted file mode 100644 (file)
index 09797be..0000000
--- a/bhand_description/launch/bhand_sim.launch
+++ /dev/null
@@ -1,9 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-
-       <!-- Start Gazebo -->
-       <include file="$(find gazebo_worlds)/launch/empty_world.launch"/>
-
-
-       <include file="$(find bhand_description)/launch/bhand.launch" />
-</launch>

diff --git a/bhand_description/manifest.xml b/bhand_description/manifest.xml
deleted file mode 100644 (file)
index 80a2f17..0000000
--- a/bhand_description/manifest.xml
+++ /dev/null
@@ -1,14 +0,0 @@
-<package>
-  <description brief="bhand_description">
-
-     bhand_description
-
-  </description>
-  <author>Walter Fetter Lages</author>
-  <license>GNU</license>
-  <review status="unreviewed" notes=""/>
-  <url>http://ros.org/wiki/bhand_description</url>
-
-</package>
-
-

diff --git a/bhand_description/meshes/bh_base.stl b/bhand_description/meshes/bh_base.stl
deleted file mode 100644 (file)
index dce76f7..0000000
Binary files a/bhand_description/meshes/bh_base.stl and /dev/null differ

diff --git a/bhand_description/meshes/bh_link1.stl b/bhand_description/meshes/bh_link1.stl
deleted file mode 100644 (file)
index bf35bd9..0000000
Binary files a/bhand_description/meshes/bh_link1.stl and /dev/null differ

diff --git a/bhand_description/meshes/bh_link2.stl b/bhand_description/meshes/bh_link2.stl
deleted file mode 100644 (file)
index f74e529..0000000
Binary files a/bhand_description/meshes/bh_link2.stl and /dev/null differ

diff --git a/bhand_description/meshes/bh_link3.stl b/bhand_description/meshes/bh_link3.stl
deleted file mode 100644 (file)
index d9361c6..0000000
Binary files a/bhand_description/meshes/bh_link3.stl and /dev/null differ

diff --git a/bhand_description/xacro/bhand.urdf.xacro b/bhand_description/xacro/bhand.urdf.xacro
deleted file mode 100644 (file)
index b8fb615..0000000
--- a/bhand_description/xacro/bhand.urdf.xacro
+++ /dev/null
@@ -1,63 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-       xmlns:xacro="http://ros.org/wiki/xacro"
-       name="bhand">
-
-  <property name="M_PI" value="3.1415926535897931" />
-  
-  <include filename="$(find bhand_description)/xacro/bhand_base.urdf.xacro" />
-  <include filename="$(find bhand_description)/xacro/bhand_finger.urdf.xacro" />
-
-  <xacro:bhand_base>
-  </xacro:bhand_base>
-
-  <xacro:bhand_finger parent="bhand_link_base" joint="11" type="revolute">
-               <origin xyz="0.0 0.02475 0.1325" rpy="0.0 0 0" /> 
-               <limit effort="30" velocity="1.5" lower="0.0" upper="${M_PI}" />
-               <mesh filename="package://bhand_description/meshes/bh_link1.stl" />
-  </xacro:bhand_finger>
-  <xacro:bhand_finger parent="bhand_link_base" joint="21" type="revolute">
-               <origin xyz="0.0 -0.02475 0.1325" rpy="0.0 0 0" /> 
-               <limit effort="30" velocity="1.5" lower="-${M_PI}" upper="0.0" />
-               <mesh filename="package://bhand_description/meshes/bh_link1.stl" />
-  </xacro:bhand_finger>
-  <xacro:bhand_finger parent="bhand_link_base" joint="31" type="fixed">
-               <origin xyz="0.0 0.0 0.1325" rpy="0.0 0 0" /> 
-               <limit effort="30" velocity="0.0" lower="0.0" upper="0.0" />
-               <mesh filename="package://bhand_description/meshes/bh_link1.stl" />
-  </xacro:bhand_finger>
-  <xacro:bhand_finger parent="bhand_link11" joint="12" type="revolute">
-               <origin xyz="0.050 0.0 0.0" rpy="${M_PI/2} 0.0 0.0" /> 
-               <limit effort="30" velocity="1.5" lower="0.0" upper="2.44346095" />
-               <mesh filename="package://bhand_description/meshes/bh_link2.stl" />
-  </xacro:bhand_finger>
-  <xacro:bhand_finger parent="bhand_link21" joint="22" type="revolute">
-               <origin xyz="0.050 0.0 0.0" rpy="${M_PI/2} 0.0 0.0" /> 
-               <limit effort="30" velocity="1.5" lower="0.0" upper="2.44346095" />
-               <mesh filename="package://bhand_description/meshes/bh_link2.stl" />
-  </xacro:bhand_finger>
-  <xacro:bhand_finger parent="bhand_link31" joint="32" type="revolute">
-               <origin xyz="0.050 0.0 0.0" rpy="${M_PI/2} 0.0 0.0" /> 
-               <limit effort="30" velocity="1.5" lower="0.0" upper="2.44346095" />
-               <mesh filename="package://bhand_description/meshes/bh_link2.stl" />
-  </xacro:bhand_finger>
-  <xacro:bhand_finger parent="bhand_link12" joint="13" type="revolute">
-               <origin xyz="0.070 0.0 0.0" rpy="0.0 0 0.0" /> 
-               <limit effort="30" velocity="1.5" lower="0.698131701" upper="2.44346095" />
-               <mesh filename="package://bhand_description/meshes/bh_link3.stl" />
-  </xacro:bhand_finger>
-  <xacro:bhand_finger parent="bhand_link22" joint="23" type="revolute">
-               <origin xyz="0.070 0.0 0.0" rpy="0.0 0 0.0" /> 
-               <limit effort="30" velocity="1.5" lower="0.698131701" upper="2.44346095" />
-               <mesh filename="package://bhand_description/meshes/bh_link3.stl" />
-  </xacro:bhand_finger>
-  <xacro:bhand_finger parent="bhand_link32" joint="33" type="revolute">
-               <origin xyz="0.070 0.0 0.0" rpy="0.0 0 0.0" /> 
-               <limit effort="30" velocity="1.5" lower="0.698131701" upper="2.44346095" />
-               <mesh filename="package://bhand_description/meshes/bh_link3.stl" />
-  </xacro:bhand_finger>
-
-</robot>
-

diff --git a/bhand_description/xacro/bhand0.urdf.xacro b/bhand_description/xacro/bhand0.urdf.xacro
deleted file mode 100644 (file)
index 79f781a..0000000
--- a/bhand_description/xacro/bhand0.urdf.xacro
+++ /dev/null
@@ -1,72 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-       xmlns:xacro="http://ros.org/wiki/xacro"
-       name="bhand">
-
-  <property name="M_PI" value="3.1415926535897931" />
-  
-  <include filename="$(find bhand_description)/xacro/bhand_base.urdf.xacro" />
-  <include filename="$(find bhand_description)/xacro/bhand_finger.urdf.xacro" />
-
-  <xacro:bhand_base>
-  </xacro:bhand_base>
-
-       <link name="world" />
-
-       <joint name="bhand_origin" type="fixed">
-               <parent link="world"/>
-               <child link="bhand_origin" />
-               <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-       </joint>
-
-
-  <xacro:bhand_finger parent="bhand_link_base" joint="11" type="revolute">
-               <origin xyz="0.0 0.02475 0.1325" rpy="0.0 0 0" /> 
-               <limit effort="30" velocity="1.5" lower="0.0" upper="${M_PI}" />
-               <mesh filename="package://bhand_description/meshes/bh_link1.stl" />
-  </xacro:bhand_finger>
-  <xacro:bhand_finger parent="bhand_link_base" joint="21" type="revolute">
-               <origin xyz="0.0 -0.02475 0.1325" rpy="0.0 0 0" /> 
-               <limit effort="30" velocity="1.5" lower="-${M_PI}" upper="0.0" />
-               <mesh filename="package://bhand_description/meshes/bh_link1.stl" />
-  </xacro:bhand_finger>
-  <xacro:bhand_finger parent="bhand_link_base" joint="31" type="fixed">
-               <origin xyz="0.0 0.0 0.1325" rpy="0.0 0 0" /> 
-               <limit effort="30" velocity="0.0" lower="0.0" upper="0.0" />
-               <mesh filename="package://bhand_description/meshes/bh_link1.stl" />
-  </xacro:bhand_finger>
-  <xacro:bhand_finger parent="bhand_link11" joint="12" type="revolute">
-               <origin xyz="0.050 0.0 0.0" rpy="${M_PI/2} 0.0 0.0" /> 
-               <limit effort="30" velocity="1.5" lower="0.0" upper="2.44346095" />
-               <mesh filename="package://bhand_description/meshes/bh_link2.stl" />
-  </xacro:bhand_finger>
-  <xacro:bhand_finger parent="bhand_link21" joint="22" type="revolute">
-               <origin xyz="0.050 0.0 0.0" rpy="${M_PI/2} 0.0 0.0" /> 
-               <limit effort="30" velocity="1.5" lower="0.0" upper="2.44346095" />
-               <mesh filename="package://bhand_description/meshes/bh_link2.stl" />
-  </xacro:bhand_finger>
-  <xacro:bhand_finger parent="bhand_link31" joint="32" type="revolute">
-               <origin xyz="0.050 0.0 0.0" rpy="${M_PI/2} 0.0 0.0" /> 
-               <limit effort="30" velocity="1.5" lower="0.0" upper="2.44346095" />
-               <mesh filename="package://bhand_description/meshes/bh_link2.stl" />
-  </xacro:bhand_finger>
-  <xacro:bhand_finger parent="bhand_link12" joint="13" type="revolute">
-               <origin xyz="0.070 0.0 0.0" rpy="0.0 0 0.0" /> 
-               <limit effort="30" velocity="1.5" lower="0.698131701" upper="2.44346095" />
-               <mesh filename="package://bhand_description/meshes/bh_link3.stl" />
-  </xacro:bhand_finger>
-  <xacro:bhand_finger parent="bhand_link22" joint="23" type="revolute">
-               <origin xyz="0.070 0.0 0.0" rpy="0.0 0 0.0" /> 
-               <limit effort="30" velocity="1.5" lower="0.698131701" upper="2.44346095" />
-               <mesh filename="package://bhand_description/meshes/bh_link3.stl" />
-  </xacro:bhand_finger>
-  <xacro:bhand_finger parent="bhand_link32" joint="33" type="revolute">
-               <origin xyz="0.070 0.0 0.0" rpy="0.0 0 0.0" /> 
-               <limit effort="30" velocity="1.5" lower="0.698131701" upper="2.44346095" />
-               <mesh filename="package://bhand_description/meshes/bh_link3.stl" />
-  </xacro:bhand_finger>
-
-</robot>
-

diff --git a/bhand_description/xacro/bhand_base.urdf.xacro b/bhand_description/xacro/bhand_base.urdf.xacro
deleted file mode 100644 (file)
index a397d3a..0000000
--- a/bhand_description/xacro/bhand_base.urdf.xacro
+++ /dev/null
@@ -1,45 +0,0 @@
-<?xml version="1.0" ?>
-
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-   <xacro:macro name="bhand_base">
-
-       <link name="bhand_origin"/>
-       
-       <link name="bhand_link_base">
-               <inertial>
-                       <mass value="0.8"/>
-                       <origin rpy="0 0 0" 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="bhand_link_base_visual">
-                               <mesh filename="package://bhand_description/meshes/bh_base.stl" />
-                       </geometry>
-               </visual>
-               <collision>
-                       <origin rpy="0 0 0" xyz="0 0 0"/>
-                       <geometry name="bhand_link_base_collision">
-                               <mesh filename="package://bhand_description/meshes/bh_base.stl" />
-                       </geometry>
-                       <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
-               </collision>
-       </link>  
-
-       <gazebo reference="bhand_link_base">
-               <selfCollide>true</selfCollide>
-               <material>Gazebo/Blue</material>
-       </gazebo>
-
-
-       <joint name="bhand_base_joint" type="fixed">
-               <!--origin rpy="0 0 0" xyz="-0.060 -0.140 0.206"/-->
-               <!--origin rpy="0 0 0" xyz="0.22 0.14 0.346"/-->
-               <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-               <child link="bhand_link_base"/>
-               <parent link="bhand_origin"/>
-       </joint>
-
-    </xacro:macro>
-
-</robot>

diff --git a/bhand_description/xacro/bhand_finger.urdf.xacro b/bhand_description/xacro/bhand_finger.urdf.xacro
deleted file mode 100644 (file)
index e8b7e88..0000000
--- a/bhand_description/xacro/bhand_finger.urdf.xacro
+++ /dev/null
@@ -1,60 +0,0 @@
-<?xml version="1.0" ?>
-
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-
-  <xacro:macro name="bhand_finger" params="parent joint type *origin *limit *mesh">
-
-       <link name="bhand_link${joint}">
-               <inertial>
-                       <mass value="0.1"/>
-                       <origin xyz="0 0 0" />  
-                       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
-               </inertial>
-               <visual>
-                       <origin rpy="0 0 0" xyz="0 0 0"/>
-                       <geometry name="link_bhand_f${joint}_visual">
-                               <xacro:insert_block name="mesh" />
-                       </geometry>
-               </visual>
-               <collision>
-                       <origin rpy="0 0 0" xyz="0 0 0"/>
-                       <geometry name="link_bhand_f${joint}_collision">
-                               <xacro:insert_block name="mesh" />
-                       </geometry>
-                       <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
-               </collision>
-       </link>  
-
-       <gazebo reference="bhand_link${joint}">
-               <material>Gazebo/Grey</material>
-               <selfCollide>true</selfCollide>
-       </gazebo> 
-
-
-       <joint name="bhand_j${joint}_joint" type="${type}">
-               <!--origin xyz="-0.02475 0.0 0.0395" rpy="0.0 0 1.57079633" /--> 
-               <!--origin xyz="0.0 0.02475 0.1325" rpy="0.0 0 0" /--> 
-
-               <xacro:insert_block name="origin" />
-
-               <parent link="${parent}"/>
-               <child link="bhand_link${joint}" />
-               <axis xyz="0 0 1"/>
-
-               <xacro:insert_block name="limit" />
-
-               <joint_properties damping="100.0" friction="1000.0" />
-               <dynamics damping="1000"/>
-       </joint >
-
-       <transmission type="pr2_mechanism_model/SimpleTransmission" name="f${joint}_transmission">
-               <actuator name="bhand_link${joint}" />
-               <joint name="bhand_f${joint}_joint" />
-               <mechanicalReduction>1</mechanicalReduction>
-               <motorTorqueConstant>1</motorTorqueConstant>
-       </transmission>
-
-
-  </xacro:macro>
-
-</robot>

diff --git a/plier_description/launch/display.launch b/plier_description/launch/display.launch
deleted file mode 100644 (file)
index a113ced..0000000
--- a/plier_description/launch/display.launch
+++ /dev/null
@@ -1,11 +0,0 @@
-<launch>\r
-  <arg name="model" />\r
-  <arg name="gui" default="False" />\r
-  <param\r
-    name="robot_description"\r
-    textfile="$(find plier_description)/urdf/plier.urdf" />\r
-  <param name="use_gui" value="$(arg gui)" />\r
-  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />\r
-  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />\r
-  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find plier_description)/urdf.rviz" />\r
-</launch>
\ No newline at end of file

diff --git a/plier_description/launch/gazebo.launch b/plier_description/launch/gazebo.launch
deleted file mode 100644 (file)
index c829339..0000000
--- a/plier_description/launch/gazebo.launch
+++ /dev/null
@@ -1,7 +0,0 @@
-<launch>\r
-  <include file="$(find gazebo_worlds)/launch/empty_world.launch" />\r
-  <node name="tf_footprint_base" pkg="tf" type="static_transform_publisher" args="0 0 0 0 0 0 base_link base_footprint 40" />\r
-  <node name="spawn_model" pkg="gazebo" type="spawn_model" args="-file $(find plier)/urdf/plier.urdf -urdf -model plier" output="screen" />\r
-  <include file="$(find pr2_controller_manager)/controller_manager.launch" />\r
-  <node name="fake_joint_calibration" pkg="rostopic" type="rostopic"  args="pub /calibrated std_msgs/Bool true" />\r
-</launch>
\ No newline at end of file

diff --git a/plier_description/launch/plier.launch b/plier_description/launch/plier.launch
deleted file mode 100644 (file)
index 8376d88..0000000
--- a/plier_description/launch/plier.launch
+++ /dev/null
@@ -1,4 +0,0 @@
-<launch>
-       <param name="robot_description" textfile="$(find plier_description)/urdf/plier.urdf" />
-       <node name="spawn_wam_object" pkg="gazebo" type="spawn_model" args="-urdf -param robot_description -model plier" respawn="false" output="screen" />
-</launch>

diff --git a/plier_description/launch/plier_sim.launch b/plier_description/launch/plier_sim.launch
deleted file mode 100644 (file)
index c9bf77f..0000000
--- a/plier_description/launch/plier_sim.launch
+++ /dev/null
@@ -1,6 +0,0 @@
-<launch>
-       <!-- Start Gazebo -->
-       <include file="$(find gazebo_worlds)/launch/empty_world.launch"/>
-
-       <include file="$(find plier_description)/launch/plier.launch"/>
-</launch>

diff --git a/plier_description/manifest.xml b/plier_description/manifest.xml
deleted file mode 100644 (file)
index 97a62e2..0000000
--- a/plier_description/manifest.xml
+++ /dev/null
@@ -1,6 +0,0 @@
-<package>\r
-  <description brief="plier_description">plier_description</description>\r
-  <depend package="gazebo" />\r
-  <author>Walter Fetter Lags</author>\r
-  <license>BSD</license>\r
-</package>
\ No newline at end of file

diff --git a/plier_description/meshes/base_link.stl b/plier_description/meshes/base_link.stl
deleted file mode 100644 (file)
index eab1cf1..0000000
Binary files a/plier_description/meshes/base_link.stl and /dev/null differ

diff --git a/plier_description/meshes/link1.stl b/plier_description/meshes/link1.stl
deleted file mode 100644 (file)
index 6bcdc08..0000000
Binary files a/plier_description/meshes/link1.stl and /dev/null differ

diff --git a/plier_description/meshes/link2.stl b/plier_description/meshes/link2.stl
deleted file mode 100644 (file)
index 6f95350..0000000
Binary files a/plier_description/meshes/link2.stl and /dev/null differ

diff --git a/plier_description/urdf/plier.urdf b/plier_description/urdf/plier.urdf
deleted file mode 100644 (file)
index 6ad1514..0000000
--- a/plier_description/urdf/plier.urdf
+++ /dev/null
@@ -1,112 +0,0 @@
-<robot name="plier">\r
-\r
-  <link name="base_link">\r
-\r
-    <inertial>\r
-      <origin xyz="-2.9946E-09 2.3647E-09 0.038028" rpy="0 0 0" />\r
-      <mass value="0.065887" />\r
-      <inertia ixx="0.0001476" ixy="5.724E-13" ixz="-6.0829E-11" iyy="0.0001476" iyz="4.4824E-11" izz="8.4481E-05" />\r
-    </inertial>\r
-\r
-    <visual>\r
-      <origin  xyz="0 0 0" rpy="0 0 0" />\r
-      <geometry>\r
-        <mesh filename="package://plier_description/meshes/base_link.stl" />\r
-      </geometry>\r
-      <material name="">\r
-        <color rgba="0.75294 0.75294 0.75294 1" />\r
-      </material>\r
-    </visual>\r
-\r
-    <collision>\r
-      <origin xyz="0 0 0" rpy="0 0 0" />\r
-      <geometry>\r
-        <mesh filename="package://plier_description/meshes/base_link.stl" />\r
-      </geometry>\r
-    </collision>\r
-  </link>\r
-\r
-  <link name="link1">\r
-\r
-    <inertial>\r
-      <origin xyz="0.00018812 -0.011115 0.0015573" rpy="0 0 0" />\r
-      <mass value="0.00011808" />\r
-      <inertia ixx="5.1612E-09" ixy="-9.0621E-11" ixz="2.0497E-12" iyy="1.6125E-10" iyz="-1.1473E-10" izz="5.0583E-09" />\r
-    </inertial>\r
-\r
-    <visual>\r
-      <origin xyz="0 0 0" rpy="0 0 0" />\r
-      <geometry>\r
-        <mesh filename="package://plier_description/meshes/link1.stl" />\r
-      </geometry>\r
-      <material name="">\r
-        <color rgba="0.75294 0.75294 0.75294 1" />\r
-      </material>\r
-    </visual>\r
-\r
-    <collision>\r
-      <origin xyz="0 0 0" rpy="0 0 0" />\r
-      <geometry>\r
-        <mesh filename="package://plier_description/meshes/link1.stl" />\r
-      </geometry>\r
-    </collision>\r
-\r
-  </link>\r
-\r
-  <joint name="joint1" type="revolute">\r
-    <origin xyz="-0.00125 0.00098997 0.3459" rpy="-1.5708 -6.123E-17 -1.5708" />\r
-    <parent link="base_link" />\r
-    <child link="link1" />\r
-    <axis xyz="0 0 1" />\r
-    <limit lower="-0.05" upper="0.05" effort="0.31" velocity="0.25" />\r
-  </joint>\r
-\r
-  <link name="link2">\r
-    <inertial>\r
-      <origin xyz="-0.0001883 -0.011122 0.00021282" rpy="0 0 0" />\r
-      <mass value="0.00011791" />\r
-      <inertia ixx="5.1222E-09" ixy="9.017E-11" ixz="1.1618E-12" iyy="1.4783E-10" iyz="6.6059E-11" izz="5.0326E-09" />\r
-    </inertial>\r
-\r
-    <visual>\r
-      <origin xyz="0 0 0" rpy="0 0 0" />\r
-      <geometry>\r
-        <mesh filename="package://plier_description/meshes/link2.stl" />\r
-      </geometry>\r
-      <material name="">\r
-        <color rgba="0.75294 0.75294 0.75294 1" />\r
-      </material>\r
-    </visual>\r
-\r
-    <collision>\r
-      <origin xyz="0 0 0" rpy="0 0 0" />\r
-      <geometry>\r
-        <mesh filename="package://plier_description/meshes/link2.stl" />\r
-      </geometry>\r
-    </collision>\r
-\r
-  </link>\r
-\r
-  <joint name="joint2" type="revolute">\r
-    <origin xyz="0.00025 -0.00098997 0.3459" rpy="-1.5708 -6.123E-17 -1.5708" />\r
-    <parent link="base_link" />\r
-    <child link="link2" />\r
-    <axis xyz="0 0 1" />\r
-    <limit lower="-0.05" upper="0.05" effort="0.31" velocity="0.25" />\r
-  </joint>\r
-\r
-  <gazebo reference="base_link">
-    <material>Gazebo/Yellow</material>
-  </gazebo>\r
-\r
-\r
-  <gazebo reference="link1">
-    <material>Gazebo/White</material>
-  </gazebo>\r
-\r
-\r
-  <gazebo reference="link2">
-    <material>Gazebo/Grey</material>
-  </gazebo>\r
-\r
-</robot>\r

diff --git a/wam_controllers/scripts/set_initial.sh b/wam_controllers/scripts/set_initial.sh
deleted file mode 100755 (executable)
index d1099b3..0000000
--- a/wam_controllers/scripts/set_initial.sh
+++ /dev/null
@@ -1,12 +0,0 @@
-#!/bin/bash
-
-rosservice call /gazebo/set_model_configuration wam joint \
-['wam_joint_1','wam_joint_2','wam_joint_3','wam_joint_4', \
-'wam_joint_5','wam_joint_6','wam_joint_7'] \
-[0.0,0.75,0.0,1.5,0.0,0.9,0.0]
-
-rostopic pub /wam/computed_torque_controller/command \
-trajectory_msgs/JointTrajectoryPoint \
-"[0.0,0.75,0.0,1.5,0.0,0.9,0.0]" \
-"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" \
-"[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" "[0.0, 0.0]" -1

diff --git a/wam_description/launch/wam_bhand.launch b/wam_description/launch/wam_bhand.launch
deleted file mode 100644 (file)
index 5302c4b..0000000
--- a/wam_description/launch/wam_bhand.launch
+++ /dev/null
@@ -1,4 +0,0 @@
-<launch>
-       <param name="robot_description" command="$(find xacro)/xacro.py '$(find wam_description)/xacro/wam_bhand.urdf.xacro'" />
-       <node name="spawn_wam_object" pkg="gazebo" type="spawn_model" args="-urdf -param robot_description -model wam" respawn="false" output="screen" />
-</launch>

diff --git a/wam_description/launch/wam_bhand_sim.launch b/wam_description/launch/wam_bhand_sim.launch
deleted file mode 100644 (file)
index 60b4beb..0000000
--- a/wam_description/launch/wam_bhand_sim.launch
+++ /dev/null
@@ -1,11 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-       <arg name="paused" default="false"/>
-
-       <!-- Start Gazebo -->
-       <include file="$(find gazebo_worlds)/launch/empty_world.launch">
-               <arg name="paused" value="$(arg paused)"/>
-       </include>
-
-       <include file="$(find wam_description)/launch/wam_bhand.launch"/>
-</launch>

diff --git a/wam_description/xacro/wam_bhand.urdf.xacro b/wam_description/xacro/wam_bhand.urdf.xacro
deleted file mode 100644 (file)
index f9bec07..0000000
--- a/wam_description/xacro/wam_bhand.urdf.xacro
+++ /dev/null
@@ -1,22 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-       xmlns:xacro="http://ros.org/wiki/xacro"
-       name="wam">
-
-  <property name="M_PI" value="3.1415926535897931" />  
-  
-  <include filename="$(find wam_description)/xacro/wam.urdf.xacro" />
-
-  <include filename="$(find bhand_description)/xacro/bhand.urdf.xacro" />
-
-       <joint name="wam_tool_plate_bhand_joint" type="fixed">
-               <parent link="wam_tool_plate"/>
-               <child link="bhand_origin" />
-               <!--origin xyz="0.0 0.013 0.0" rpy="${-M_PI/2} 0.0 0.0" /-->
-               <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-       </joint>
-
-</robot>
-