From 24838e6f56b302a9ea33d76779fd742e93009f09 Mon Sep 17 00:00:00 2001 From: Kentaro Wada Date: Tue, 7 Jun 2016 04:13:40 +0900 Subject: [PATCH 01/24] Set inertial for LRMate200iD for Gazebo simulation --- .../urdf/lrmate200id_macro.xacro | 35 +++++++++++++++++++ 1 file changed, 35 insertions(+) diff --git a/fanuc_lrmate200id_support/urdf/lrmate200id_macro.xacro b/fanuc_lrmate200id_support/urdf/lrmate200id_macro.xacro index de84d2b7..848adba2 100644 --- a/fanuc_lrmate200id_support/urdf/lrmate200id_macro.xacro +++ b/fanuc_lrmate200id_support/urdf/lrmate200id_macro.xacro @@ -18,6 +18,11 @@ + + + + + @@ -33,6 +38,11 @@ + + + + + @@ -48,6 +58,11 @@ + + + + + @@ -63,6 +78,11 @@ + + + + + @@ -78,6 +98,11 @@ + + + + + @@ -93,6 +118,11 @@ + + + + + @@ -108,6 +138,11 @@ + + + + + From 09f934f1681c3c3422e97155b7f19a9412040b6b Mon Sep 17 00:00:00 2001 From: Kentaro Wada Date: Tue, 7 Jun 2016 04:14:24 +0900 Subject: [PATCH 02/24] Package to spawn model and position control on Gazebo simulator --- fanuc_lrmate200id_gazebo/CMakeLists.txt | 4 + .../config/lrmate200id_controllers.yaml | 26 ++++ .../launch/lrmate200id_control.launch | 17 +++ .../launch/lrmate200id_gazebo.launch | 30 +++++ fanuc_lrmate200id_gazebo/package.xml | 46 +++++++ .../urdf/lrmate200id.gazebo | 115 ++++++++++++++++++ .../urdf/lrmate200id.xacro | 6 + 7 files changed, 244 insertions(+) create mode 100644 fanuc_lrmate200id_gazebo/CMakeLists.txt create mode 100644 fanuc_lrmate200id_gazebo/config/lrmate200id_controllers.yaml create mode 100644 fanuc_lrmate200id_gazebo/launch/lrmate200id_control.launch create mode 100644 fanuc_lrmate200id_gazebo/launch/lrmate200id_gazebo.launch create mode 100644 fanuc_lrmate200id_gazebo/package.xml create mode 100644 fanuc_lrmate200id_gazebo/urdf/lrmate200id.gazebo create mode 100644 fanuc_lrmate200id_gazebo/urdf/lrmate200id.xacro diff --git a/fanuc_lrmate200id_gazebo/CMakeLists.txt b/fanuc_lrmate200id_gazebo/CMakeLists.txt new file mode 100644 index 00000000..8fbc696a --- /dev/null +++ b/fanuc_lrmate200id_gazebo/CMakeLists.txt @@ -0,0 +1,4 @@ +cmake_minimum_required(VERSION 2.8.3) +project(fanuc_lrmate200id_gazebo) +find_package(catkin REQUIRED) +catkin_package() diff --git a/fanuc_lrmate200id_gazebo/config/lrmate200id_controllers.yaml b/fanuc_lrmate200id_gazebo/config/lrmate200id_controllers.yaml new file mode 100644 index 00000000..9f6d8b16 --- /dev/null +++ b/fanuc_lrmate200id_gazebo/config/lrmate200id_controllers.yaml @@ -0,0 +1,26 @@ +# Publish all joint states ----------------------------------- +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 50 + +arm_controller: + type: position_controllers/JointTrajectoryController + joints: + - joint_1 + - joint_2 + - joint_3 + - joint_4 + - joint_5 + - joint_6 + constraints: + goal_time: 0.6 + stopped_velocity_tolerance: 0.05 + joint_1: {trajectory: 0.1, goal: 0.1} + joint_2: {trajectory: 0.1, goal: 0.1} + joint_3: {trajectory: 0.1, goal: 0.1} + joint_4: {trajectory: 0.1, goal: 0.1} + joint_5: {trajectory: 0.1, goal: 0.1} + joint_6: {trajectory: 0.1, goal: 0.1} + stop_trajectory_duration: 0.5 + state_publish_rate: 25 + action_monitor_rate: 10 diff --git a/fanuc_lrmate200id_gazebo/launch/lrmate200id_control.launch b/fanuc_lrmate200id_gazebo/launch/lrmate200id_control.launch new file mode 100644 index 00000000..adbf2e74 --- /dev/null +++ b/fanuc_lrmate200id_gazebo/launch/lrmate200id_control.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + diff --git a/fanuc_lrmate200id_gazebo/launch/lrmate200id_gazebo.launch b/fanuc_lrmate200id_gazebo/launch/lrmate200id_gazebo.launch new file mode 100644 index 00000000..0781d8a4 --- /dev/null +++ b/fanuc_lrmate200id_gazebo/launch/lrmate200id_gazebo.launch @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/fanuc_lrmate200id_gazebo/package.xml b/fanuc_lrmate200id_gazebo/package.xml new file mode 100644 index 00000000..4a7553c9 --- /dev/null +++ b/fanuc_lrmate200id_gazebo/package.xml @@ -0,0 +1,46 @@ + + + fanuc_lrmate200id_gazebo + 0.1.0 + +

+ ROS-Industrial Gazebo support for the Fanuc LR Mate 200iD (and variants). +

+

+ This package contains configuration data and launch files for Gazebo + for Fanuc LR Mate 200iD manipulators. +

+ + G.A. vd. Hoorn (TU Delft Robotics Institute) + Kentaro Wada + G.A. vd. Hoorn (TU Delft Robotics Institute) + BSD + + http://wiki.ros.org/fanuc_lrmate200id_support + https://github.com/ros-industrial/fanuc_experimental/issues + https://github.com/ros-industrial/fanuc_experimental + + catkin + + roslaunch + + control_manager + fanuc_lrmate200id_support + gazebo_ros + robot_state_publisher + xacro + + + + + + gazebo + fanuc + industrial + ros-industrial + lrmate200id + experimental + + + + diff --git a/fanuc_lrmate200id_gazebo/urdf/lrmate200id.gazebo b/fanuc_lrmate200id_gazebo/urdf/lrmate200id.gazebo new file mode 100644 index 00000000..c53373ed --- /dev/null +++ b/fanuc_lrmate200id_gazebo/urdf/lrmate200id.gazebo @@ -0,0 +1,115 @@ + + + + + + + + / + gazebo_ros_control/DefaultRobotHWSim + + + + + + + + + + + + + + + + Gazebo/Grey + + + + Gazebo/Yellow + + + + Gazebo/Yellow + + + + Gazebo/Yellow + + + + Gazebo/Yellow + + + + Gazebo/Yellow + + + + Gazebo/Black + + + + + + transmission_interface/SimpleTransmission + + PositionJointInterface + + + PositionJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + PositionJointInterface + + + PositionJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + PositionJointInterface + + + PositionJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + PositionJointInterface + + + PositionJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + PositionJointInterface + + + PositionJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + PositionJointInterface + + + PositionJointInterface + 1 + + + + diff --git a/fanuc_lrmate200id_gazebo/urdf/lrmate200id.xacro b/fanuc_lrmate200id_gazebo/urdf/lrmate200id.xacro new file mode 100644 index 00000000..15ef4084 --- /dev/null +++ b/fanuc_lrmate200id_gazebo/urdf/lrmate200id.xacro @@ -0,0 +1,6 @@ + + + + + + From f714a8be4c2c5ce2ef16eb71294114faf16330e3 Mon Sep 17 00:00:00 2001 From: Kentaro Wada Date: Thu, 7 Jul 2016 02:05:16 +0900 Subject: [PATCH 03/24] Set joint dynamics 1.0 for gazebo simulation --- fanuc_lrmate200id_support/urdf/lrmate200id_macro.xacro | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/fanuc_lrmate200id_support/urdf/lrmate200id_macro.xacro b/fanuc_lrmate200id_support/urdf/lrmate200id_macro.xacro index 848adba2..1726dfa1 100644 --- a/fanuc_lrmate200id_support/urdf/lrmate200id_macro.xacro +++ b/fanuc_lrmate200id_support/urdf/lrmate200id_macro.xacro @@ -152,6 +152,7 @@ + @@ -159,6 +160,7 @@ + @@ -166,6 +168,7 @@ + @@ -173,6 +176,7 @@ + @@ -180,6 +184,7 @@ + @@ -187,6 +192,7 @@ + From 4bd376ab4402abdfef94612097721fca43aee7e3 Mon Sep 17 00:00:00 2001 From: Kentaro Wada Date: Fri, 8 Jul 2016 00:05:28 +0900 Subject: [PATCH 04/24] Install config,launch,urdf dir for lrmate200id_gazebo pkg --- fanuc_lrmate200id_gazebo/CMakeLists.txt | 3 +++ 1 file changed, 3 insertions(+) diff --git a/fanuc_lrmate200id_gazebo/CMakeLists.txt b/fanuc_lrmate200id_gazebo/CMakeLists.txt index 8fbc696a..6c5b4d30 100644 --- a/fanuc_lrmate200id_gazebo/CMakeLists.txt +++ b/fanuc_lrmate200id_gazebo/CMakeLists.txt @@ -2,3 +2,6 @@ cmake_minimum_required(VERSION 2.8.3) project(fanuc_lrmate200id_gazebo) find_package(catkin REQUIRED) catkin_package() + +install(DIRECTORY config launch urdf + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) From 089d398f497b0bc210a4554f1f7033672f951c33 Mon Sep 17 00:00:00 2001 From: Kentaro Wada Date: Fri, 8 Jul 2016 00:08:15 +0900 Subject: [PATCH 05/24] Move robot_state_publisher from _control.launch --- fanuc_lrmate200id_gazebo/launch/lrmate200id_control.launch | 5 ----- fanuc_lrmate200id_gazebo/launch/lrmate200id_gazebo.launch | 5 +++++ 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/fanuc_lrmate200id_gazebo/launch/lrmate200id_control.launch b/fanuc_lrmate200id_gazebo/launch/lrmate200id_control.launch index adbf2e74..e1e195b6 100644 --- a/fanuc_lrmate200id_gazebo/launch/lrmate200id_control.launch +++ b/fanuc_lrmate200id_gazebo/launch/lrmate200id_control.launch @@ -9,9 +9,4 @@ args="joint_state_controller arm_controller" respawn="false" output="screen" /> - - - diff --git a/fanuc_lrmate200id_gazebo/launch/lrmate200id_gazebo.launch b/fanuc_lrmate200id_gazebo/launch/lrmate200id_gazebo.launch index 0781d8a4..80d18b74 100644 --- a/fanuc_lrmate200id_gazebo/launch/lrmate200id_gazebo.launch +++ b/fanuc_lrmate200id_gazebo/launch/lrmate200id_gazebo.launch @@ -27,4 +27,9 @@ + + + From b992003a860971257af32261f3958208a0ec5abc Mon Sep 17 00:00:00 2001 From: Kentaro Wada Date: Fri, 8 Jul 2016 00:08:42 +0900 Subject: [PATCH 06/24] support -> gazebo --- fanuc_lrmate200id_gazebo/package.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/fanuc_lrmate200id_gazebo/package.xml b/fanuc_lrmate200id_gazebo/package.xml index 4a7553c9..efe41d70 100644 --- a/fanuc_lrmate200id_gazebo/package.xml +++ b/fanuc_lrmate200id_gazebo/package.xml @@ -16,7 +16,7 @@ G.A. vd. Hoorn (TU Delft Robotics Institute) BSD - http://wiki.ros.org/fanuc_lrmate200id_support + http://wiki.ros.org/fanuc_lrmate200id_gazebo https://github.com/ros-industrial/fanuc_experimental/issues https://github.com/ros-industrial/fanuc_experimental From d3902ac919ab67f74e8ef925ed034ad5c75b7ccd Mon Sep 17 00:00:00 2001 From: Kentaro Wada Date: Fri, 8 Jul 2016 00:08:59 +0900 Subject: [PATCH 07/24] Remove no need version_gte for roslaunch --- fanuc_lrmate200id_gazebo/package.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/fanuc_lrmate200id_gazebo/package.xml b/fanuc_lrmate200id_gazebo/package.xml index efe41d70..9897da37 100644 --- a/fanuc_lrmate200id_gazebo/package.xml +++ b/fanuc_lrmate200id_gazebo/package.xml @@ -22,7 +22,7 @@ catkin - roslaunch + roslaunch control_manager fanuc_lrmate200id_support From 265a9515077bd241c705f3cec892ee66c8d215a9 Mon Sep 17 00:00:00 2001 From: Kentaro Wada Date: Fri, 8 Jul 2016 00:11:11 +0900 Subject: [PATCH 08/24] Simplify dependency on controllers --- fanuc_lrmate200id_gazebo/package.xml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/fanuc_lrmate200id_gazebo/package.xml b/fanuc_lrmate200id_gazebo/package.xml index 9897da37..b214e131 100644 --- a/fanuc_lrmate200id_gazebo/package.xml +++ b/fanuc_lrmate200id_gazebo/package.xml @@ -24,9 +24,10 @@ roslaunch - control_manager fanuc_lrmate200id_support gazebo_ros + joint_trajectory_controller + joint_state_controller robot_state_publisher xacro From 305bb0a3c45d59bbecfbc130ef1adbdb108d68d9 Mon Sep 17 00:00:00 2001 From: Kentaro Wada Date: Fri, 8 Jul 2016 00:13:31 +0900 Subject: [PATCH 09/24] Move world-base_link fixed link to top level xacro file --- fanuc_lrmate200id_gazebo/urdf/lrmate200id.gazebo | 9 --------- fanuc_lrmate200id_gazebo/urdf/lrmate200id.xacro | 9 +++++++++ 2 files changed, 9 insertions(+), 9 deletions(-) diff --git a/fanuc_lrmate200id_gazebo/urdf/lrmate200id.gazebo b/fanuc_lrmate200id_gazebo/urdf/lrmate200id.gazebo index c53373ed..327bdaec 100644 --- a/fanuc_lrmate200id_gazebo/urdf/lrmate200id.gazebo +++ b/fanuc_lrmate200id_gazebo/urdf/lrmate200id.gazebo @@ -10,15 +10,6 @@ - - - - - - - - - diff --git a/fanuc_lrmate200id_gazebo/urdf/lrmate200id.xacro b/fanuc_lrmate200id_gazebo/urdf/lrmate200id.xacro index 15ef4084..9024e6ea 100644 --- a/fanuc_lrmate200id_gazebo/urdf/lrmate200id.xacro +++ b/fanuc_lrmate200id_gazebo/urdf/lrmate200id.xacro @@ -3,4 +3,13 @@ + + + + + + + + + From 7bc21328ed8e3694621456e42941cb4a125621bc Mon Sep 17 00:00:00 2001 From: Kentaro Wada Date: Fri, 8 Jul 2016 00:16:33 +0900 Subject: [PATCH 10/24] Rename .gazebo -> _macro.xacro --- fanuc_lrmate200id_gazebo/urdf/lrmate200id.xacro | 2 +- .../urdf/{lrmate200id.gazebo => lrmate200id_macro.xacro} | 0 2 files changed, 1 insertion(+), 1 deletion(-) rename fanuc_lrmate200id_gazebo/urdf/{lrmate200id.gazebo => lrmate200id_macro.xacro} (100%) diff --git a/fanuc_lrmate200id_gazebo/urdf/lrmate200id.xacro b/fanuc_lrmate200id_gazebo/urdf/lrmate200id.xacro index 9024e6ea..d08f5183 100644 --- a/fanuc_lrmate200id_gazebo/urdf/lrmate200id.xacro +++ b/fanuc_lrmate200id_gazebo/urdf/lrmate200id.xacro @@ -1,7 +1,7 @@ - + diff --git a/fanuc_lrmate200id_gazebo/urdf/lrmate200id.gazebo b/fanuc_lrmate200id_gazebo/urdf/lrmate200id_macro.xacro similarity index 100% rename from fanuc_lrmate200id_gazebo/urdf/lrmate200id.gazebo rename to fanuc_lrmate200id_gazebo/urdf/lrmate200id_macro.xacro From ac1a9244b06e81a454e394e6f796851351b928ea Mon Sep 17 00:00:00 2001 From: Kentaro Wada Date: Sun, 10 Jul 2016 07:41:13 +0900 Subject: [PATCH 11/24] Fix control_manager -> controller_manager --- fanuc_lrmate200id_gazebo/package.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/fanuc_lrmate200id_gazebo/package.xml b/fanuc_lrmate200id_gazebo/package.xml index b214e131..0e86b849 100644 --- a/fanuc_lrmate200id_gazebo/package.xml +++ b/fanuc_lrmate200id_gazebo/package.xml @@ -24,6 +24,7 @@ roslaunch + controller_manager fanuc_lrmate200id_support gazebo_ros joint_trajectory_controller From 9fc401ba4a568cfe2892cbb3db4672fea992dff7 Mon Sep 17 00:00:00 2001 From: Kentaro Wada Date: Thu, 7 Jul 2016 20:29:45 +0900 Subject: [PATCH 12/24] Add argument of load_robot_model for lrmate200id_gazebo.launch --- fanuc_lrmate200id_gazebo/launch/lrmate200id_gazebo.launch | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/fanuc_lrmate200id_gazebo/launch/lrmate200id_gazebo.launch b/fanuc_lrmate200id_gazebo/launch/lrmate200id_gazebo.launch index 80d18b74..42fc1681 100644 --- a/fanuc_lrmate200id_gazebo/launch/lrmate200id_gazebo.launch +++ b/fanuc_lrmate200id_gazebo/launch/lrmate200id_gazebo.launch @@ -1,5 +1,7 @@ + + @@ -18,7 +20,10 @@ - + + + Date: Thu, 7 Jul 2016 02:17:12 +0900 Subject: [PATCH 13/24] Add launch file to run moveit with Gazebo --- .../moveit_planning_execution_gazebo.launch | 42 +++++++++++++++++++ 1 file changed, 42 insertions(+) create mode 100644 fanuc_lrmate200id_moveit_config/launch/moveit_planning_execution_gazebo.launch diff --git a/fanuc_lrmate200id_moveit_config/launch/moveit_planning_execution_gazebo.launch b/fanuc_lrmate200id_moveit_config/launch/moveit_planning_execution_gazebo.launch new file mode 100644 index 00000000..7bc8f8e4 --- /dev/null +++ b/fanuc_lrmate200id_moveit_config/launch/moveit_planning_execution_gazebo.launch @@ -0,0 +1,42 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From 67f453c63535ab774c036f84f69c0913a7284798 Mon Sep 17 00:00:00 2001 From: Kentaro Wada Date: Thu, 7 Jul 2016 21:11:51 +0900 Subject: [PATCH 14/24] Gazebo demonstration of reactive planning: Touch the floor --- fanuc_lrmate200id_gazebo_demo/CMakeLists.txt | 18 + .../launch/touch_the_floor.launch | 32 ++ fanuc_lrmate200id_gazebo_demo/package.xml | 23 ++ .../rvizconfig/touch_the_floor.rviz | 353 ++++++++++++++++++ .../scripts/touch_the_floor_main.py | 130 +++++++ .../urdf/lrmate200id_ft.gazebo | 18 + .../urdf/lrmate200id_ft.xacro | 6 + 7 files changed, 580 insertions(+) create mode 100644 fanuc_lrmate200id_gazebo_demo/CMakeLists.txt create mode 100644 fanuc_lrmate200id_gazebo_demo/launch/touch_the_floor.launch create mode 100644 fanuc_lrmate200id_gazebo_demo/package.xml create mode 100644 fanuc_lrmate200id_gazebo_demo/rvizconfig/touch_the_floor.rviz create mode 100755 fanuc_lrmate200id_gazebo_demo/scripts/touch_the_floor_main.py create mode 100644 fanuc_lrmate200id_gazebo_demo/urdf/lrmate200id_ft.gazebo create mode 100644 fanuc_lrmate200id_gazebo_demo/urdf/lrmate200id_ft.xacro diff --git a/fanuc_lrmate200id_gazebo_demo/CMakeLists.txt b/fanuc_lrmate200id_gazebo_demo/CMakeLists.txt new file mode 100644 index 00000000..c6546c54 --- /dev/null +++ b/fanuc_lrmate200id_gazebo_demo/CMakeLists.txt @@ -0,0 +1,18 @@ +cmake_minimum_required(VERSION 2.8.3) +project(fanuc_lrmate200id_gazebo_demo) + +find_package(catkin REQUIRED) + +catkin_package() + +install( + DIRECTORY launch + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + USE_SOURCE_PERMISSIONS +) + +if(CATKIN_ENABLE_TESTING) + find_package(roslint REQUIRED) + roslint_python(${PROJECT_SOURCE_DIR}/scripts) + roslint_add_test() +endif() diff --git a/fanuc_lrmate200id_gazebo_demo/launch/touch_the_floor.launch b/fanuc_lrmate200id_gazebo_demo/launch/touch_the_floor.launch new file mode 100644 index 00000000..ef8731bd --- /dev/null +++ b/fanuc_lrmate200id_gazebo_demo/launch/touch_the_floor.launch @@ -0,0 +1,32 @@ + + + + + + + + + + + + + + + + + + reactive: $(arg reactive) + + + + + + + + + diff --git a/fanuc_lrmate200id_gazebo_demo/package.xml b/fanuc_lrmate200id_gazebo_demo/package.xml new file mode 100644 index 00000000..b47737fe --- /dev/null +++ b/fanuc_lrmate200id_gazebo_demo/package.xml @@ -0,0 +1,23 @@ + + + fanuc_lrmate200id_gazebo_demo + 0.0.1 + The fanuc_lrmate200id_gazebo_demo package + + Kentaro Wada + + BSD + + Kentaro Wada + + catkin + fanuc_lrmate200id_gazebo + fanuc_lrmate200id_moveit_config + roscpp + roslaunch + roslint + rviz + + + + \ No newline at end of file diff --git a/fanuc_lrmate200id_gazebo_demo/rvizconfig/touch_the_floor.rviz b/fanuc_lrmate200id_gazebo_demo/rvizconfig/touch_the_floor.rviz new file mode 100644 index 00000000..ab017c1b --- /dev/null +++ b/fanuc_lrmate200id_gazebo_demo/rvizconfig/touch_the_floor.rviz @@ -0,0 +1,353 @@ +Panels: + - Class: rviz/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: ~ + Splitter Ratio: 0.5 + Tree Height: 150 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + tool0: + Alpha: 1 + Show Axes: false + Show Trail: false + world: + Alpha: 1 + Show Axes: false + Show Trail: false + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: moveit_rviz_plugin/MotionPlanning + Enabled: true + Move Group Namespace: "" + MoveIt_Goal_Tolerance: 0 + MoveIt_Planning_Attempts: 10 + MoveIt_Planning_Time: 5 + MoveIt_Use_Constraint_Aware_IK: true + MoveIt_Warehouse_Host: 127.0.0.1 + MoveIt_Warehouse_Port: 33829 + MoveIt_Workspace: + Center: + X: 0 + Y: 0 + Z: 0 + Size: + X: 2 + Y: 2 + Z: 2 + Name: MotionPlanning + Planned Path: + Interrupt Display: false + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + tool0: + Alpha: 1 + Show Axes: false + Show Trail: false + world: + Alpha: 1 + Show Axes: false + Show Trail: false + Loop Animation: false + Robot Alpha: 0.5 + Show Robot Collision: false + Show Robot Visual: true + Show Trail: false + State Display Time: 0.05 s + Trajectory Topic: /move_group/display_planned_path + Planning Metrics: + Payload: 1 + Show Joint Torques: false + Show Manipulability: false + Show Manipulability Index: false + Show Weight Limit: false + TextHeight: 0.08 + Planning Request: + Colliding Link Color: 255; 0; 0 + Goal State Alpha: 1 + Goal State Color: 250; 128; 0 + Interactive Marker Size: 0 + Joint Violation Color: 255; 0; 255 + Planning Group: manipulator + Query Goal State: true + Query Start State: true + Show Workspace: false + Start State Alpha: 1 + Start State Color: 0; 255; 0 + Planning Scene Topic: planning_scene + Robot Description: robot_description + Scene Geometry: + Scene Alpha: 0.9 + Scene Color: 50; 230; 50 + Scene Display Time: 0.2 + Show Scene Geometry: true + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + Scene Robot: + Attached Body Color: 150; 50; 150 + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + tool0: + Alpha: 1 + Show Axes: false + Show Trail: false + world: + Alpha: 1 + Show Axes: false + Show Trail: false + Robot Alpha: 1 + Show Robot Collision: false + Show Robot Visual: false + Value: true + - Alpha: 1 + Arrow Width: 0.5 + Class: rviz/WrenchStamped + Enabled: true + Force Arrow Scale: 2 + Force Color: 204; 51; 51 + History Length: 1 + Name: WrenchStamped + Topic: /ft_sensor + Torque Arrow Scale: 2 + Torque Color: 204; 204; 51 + Unreliable: false + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: world + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 2.03073 + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.358959 + Y: -0.20704 + Z: 0.585957 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.0198 + Target Frame: + Value: Orbit (rviz) + Yaw: 5.67814 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 825 + Hide Left Dock: false + Hide Right Dock: true + Motion Planning: + collapsed: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1168 + X: 66 + Y: 495 diff --git a/fanuc_lrmate200id_gazebo_demo/scripts/touch_the_floor_main.py b/fanuc_lrmate200id_gazebo_demo/scripts/touch_the_floor_main.py new file mode 100755 index 00000000..f78c51ab --- /dev/null +++ b/fanuc_lrmate200id_gazebo_demo/scripts/touch_the_floor_main.py @@ -0,0 +1,130 @@ +#!/usr/bin/env python + +from __future__ import absolute_import +from __future__ import division +from __future__ import print_function + +import sys + +from geometry_msgs.msg import Quaternion +from geometry_msgs.msg import TransformStamped +from geometry_msgs.msg import Vector3Stamped +from geometry_msgs.msg import Wrench +from geometry_msgs.msg import WrenchStamped +import moveit_commander +from moveit_commander import conversions +import rospy +import tf +import tf2_geometry_msgs +import tf2_ros + +import termcolor + + +def loginfo(msg): + rospy.loginfo('[{}] {}'.format(rospy.get_name(), + termcolor.colored(msg, 'green'))) + + +class MainController(object): + + def __init__(self): + self.tf_buffer = tf2_ros.Buffer() + self.tf_listener = tf2_ros.TransformListener(self.tf_buffer) + self.eef_ft = None + self.robot = moveit_commander.RobotCommander() + self.scene = moveit_commander.PlanningSceneInterface() + self.manipulator = self.robot.manipulator + self.manipulator.remember_joint_values('reset_pose', [ + -8.919513305727378e-06, + 0.02127825324544297, + -0.24378089125464353, + -4.526926321801739e-06, + 0.2012009032703368, + 7.030738657931579e-09 + ]) # inititial pose on Gazebo + self.pub = rospy.Publisher('~output', WrenchStamped, queue_size=1) + self.sub_ft_sensor = rospy.Subscriber( + '/ft_sensor', WrenchStamped, self._cb_ft_sensor, queue_size=1) + + def _cb_ft_sensor(self, msg): + force = msg.wrench.force + torque = msg.wrench.torque + try: + transform = self.tf_buffer.lookup_transform( + target_frame='world', + source_frame=msg.header.frame_id, + time=msg.header.stamp, + timeout=rospy.Duration(2.0), + ) + except Exception: + link_pose = self.robot._r.get_link_pose(msg.header.frame_id) + transform = TransformStamped( + header=msg.header, + transform=conversions.list_to_transform(link_pose), + ) + transform.header.frame_id = self.robot.get_planning_frame() + force = tf2_geometry_msgs.do_transform_vector3( + Vector3Stamped(header=msg.header, vector=force), transform).vector + torque = tf2_geometry_msgs.do_transform_vector3( + Vector3Stamped(header=msg.header, vector=torque), transform).vector + self.eef_ft = Wrench(force=force, torque=torque) + + def go_down_to_floor(self, reactive=True): + # # add plane under the robot + # p = PoseStamped() + # p.header.frame_id = self.robot.get_planning_frame() + # p.pose.orientation.w = 1 + # self.scene.add_box('floor', p, (1, 1, 0.01)) + # rospy.sleep(1) + + # rotate the end effector to the ground + loginfo('Initializing to go down to floor') + self.manipulator.clear_pose_targets() + pose = self.manipulator.get_current_pose().pose + pose.orientation = Quaternion( + *tf.transformations.quaternion_from_euler(-3.14, 0, 0)) + self.manipulator.set_pose_target(pose) + self.manipulator.go(wait=True) + rospy.sleep(3) + + loginfo('Going down') + self.manipulator.clear_pose_targets() + pose.position.z = -1.0 + self.manipulator.clear_pose_targets() + plan, fraction = self.manipulator.compute_cartesian_path( + [pose], 0.01, 0.0) + self.manipulator.execute(plan, wait=False) + while True: + force_z = self.eef_ft.force.z + loginfo('Force in z axis: {}'.format(force_z)) + if reactive and force_z > 0: + loginfo('Touched the floor') + self.manipulator.stop() + self.manipulator.clear_pose_targets() + pose = self.manipulator.get_current_pose().pose + loginfo("Approximate floor's z is: {}".format(pose.position.z)) + pose.position.z += 0.01 + plan, fraction = self.manipulator.compute_cartesian_path( + [pose], 0.01, 0.0) + self.manipulator.execute(plan, wait=True) + break + rospy.sleep(0.01) + + +def main(): + moveit_commander.roscpp_initialize(sys.argv) + rospy.init_node('touch_floor') + c = MainController() + rospy.sleep(1) + reactive = rospy.get_param('~reactive', True) + loginfo('Reactive Planning: {}'.format(reactive)) + c.go_down_to_floor(reactive=reactive) + moveit_commander.roscpp_shutdown() + + +if __name__ == '__main__': + try: + main() + except rospy.ROSInterruptException(): + pass diff --git a/fanuc_lrmate200id_gazebo_demo/urdf/lrmate200id_ft.gazebo b/fanuc_lrmate200id_gazebo_demo/urdf/lrmate200id_ft.gazebo new file mode 100644 index 00000000..34b5a140 --- /dev/null +++ b/fanuc_lrmate200id_gazebo_demo/urdf/lrmate200id_ft.gazebo @@ -0,0 +1,18 @@ + + + + + + + true + + + + + 100.0 + ft_sensor + joint_6 + + + + diff --git a/fanuc_lrmate200id_gazebo_demo/urdf/lrmate200id_ft.xacro b/fanuc_lrmate200id_gazebo_demo/urdf/lrmate200id_ft.xacro new file mode 100644 index 00000000..034c3b80 --- /dev/null +++ b/fanuc_lrmate200id_gazebo_demo/urdf/lrmate200id_ft.xacro @@ -0,0 +1,6 @@ + + + + + + From e584e712f59a4a320ba698f7d7bad94f2b23d919 Mon Sep 17 00:00:00 2001 From: Kentaro Wada Date: Mon, 11 Jul 2016 06:26:04 +0900 Subject: [PATCH 15/24] Fix name of xacro file for gazebo --- .../urdf/lrmate200id_ft.gazebo | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/fanuc_lrmate200id_gazebo_demo/urdf/lrmate200id_ft.gazebo b/fanuc_lrmate200id_gazebo_demo/urdf/lrmate200id_ft.gazebo index 34b5a140..11d6e8ea 100644 --- a/fanuc_lrmate200id_gazebo_demo/urdf/lrmate200id_ft.gazebo +++ b/fanuc_lrmate200id_gazebo_demo/urdf/lrmate200id_ft.gazebo @@ -1,7 +1,15 @@ - + + + + + + + + + true From 084466765a6386d153e1be6192f00f5997e6ee2d Mon Sep 17 00:00:00 2001 From: Kentaro Wada Date: Mon, 11 Jul 2016 06:56:13 +0900 Subject: [PATCH 16/24] Exit cleanly with moveit_commander --- fanuc_lrmate200id_gazebo_demo/scripts/touch_the_floor_main.py | 1 + 1 file changed, 1 insertion(+) diff --git a/fanuc_lrmate200id_gazebo_demo/scripts/touch_the_floor_main.py b/fanuc_lrmate200id_gazebo_demo/scripts/touch_the_floor_main.py index f78c51ab..d66ed12c 100755 --- a/fanuc_lrmate200id_gazebo_demo/scripts/touch_the_floor_main.py +++ b/fanuc_lrmate200id_gazebo_demo/scripts/touch_the_floor_main.py @@ -121,6 +121,7 @@ def main(): loginfo('Reactive Planning: {}'.format(reactive)) c.go_down_to_floor(reactive=reactive) moveit_commander.roscpp_shutdown() + moveit_commander.os._exit(0) if __name__ == '__main__': From b32ea9449c450ab33ac90540a8b23432a494775d Mon Sep 17 00:00:00 2001 From: Kentaro Wada Date: Mon, 11 Jul 2016 06:56:50 +0900 Subject: [PATCH 17/24] Fix import comment --- fanuc_lrmate200id_gazebo_demo/scripts/touch_the_floor_main.py | 1 + 1 file changed, 1 insertion(+) diff --git a/fanuc_lrmate200id_gazebo_demo/scripts/touch_the_floor_main.py b/fanuc_lrmate200id_gazebo_demo/scripts/touch_the_floor_main.py index d66ed12c..3e116e3a 100755 --- a/fanuc_lrmate200id_gazebo_demo/scripts/touch_the_floor_main.py +++ b/fanuc_lrmate200id_gazebo_demo/scripts/touch_the_floor_main.py @@ -72,6 +72,7 @@ def _cb_ft_sensor(self, msg): def go_down_to_floor(self, reactive=True): # # add plane under the robot + # from geometry_msgs.msg import PoseStamped # p = PoseStamped() # p.header.frame_id = self.robot.get_planning_frame() # p.pose.orientation.w = 1 From e7095aab7e81a22725d1c0748a375665cf4bc940 Mon Sep 17 00:00:00 2001 From: Kentaro Wada Date: Sun, 7 Aug 2016 03:19:00 +0900 Subject: [PATCH 18/24] Add rviz arg to touch_the_floor.launch --- fanuc_lrmate200id_gazebo_demo/launch/touch_the_floor.launch | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/fanuc_lrmate200id_gazebo_demo/launch/touch_the_floor.launch b/fanuc_lrmate200id_gazebo_demo/launch/touch_the_floor.launch index ef8731bd..3d2153b5 100644 --- a/fanuc_lrmate200id_gazebo_demo/launch/touch_the_floor.launch +++ b/fanuc_lrmate200id_gazebo_demo/launch/touch_the_floor.launch @@ -1,7 +1,7 @@ - + From 1307126926c609cc67d314d2979c29a0a40c1a2e Mon Sep 17 00:00:00 2001 From: Kentaro Wada Date: Sun, 7 Aug 2016 03:22:06 +0900 Subject: [PATCH 19/24] Merge two xacro files to one for demo robot --- .../urdf/lrmate200id_ft.gazebo | 26 ------------------- .../urdf/lrmate200id_ft.xacro | 23 +++++++++++++++- 2 files changed, 22 insertions(+), 27 deletions(-) delete mode 100644 fanuc_lrmate200id_gazebo_demo/urdf/lrmate200id_ft.gazebo diff --git a/fanuc_lrmate200id_gazebo_demo/urdf/lrmate200id_ft.gazebo b/fanuc_lrmate200id_gazebo_demo/urdf/lrmate200id_ft.gazebo deleted file mode 100644 index 11d6e8ea..00000000 --- a/fanuc_lrmate200id_gazebo_demo/urdf/lrmate200id_ft.gazebo +++ /dev/null @@ -1,26 +0,0 @@ - - - - - - - - - - - - - - - true - - - - - 100.0 - ft_sensor - joint_6 - - - - diff --git a/fanuc_lrmate200id_gazebo_demo/urdf/lrmate200id_ft.xacro b/fanuc_lrmate200id_gazebo_demo/urdf/lrmate200id_ft.xacro index 034c3b80..13715d10 100644 --- a/fanuc_lrmate200id_gazebo_demo/urdf/lrmate200id_ft.xacro +++ b/fanuc_lrmate200id_gazebo_demo/urdf/lrmate200id_ft.xacro @@ -1,6 +1,27 @@ - + + + + true + + + + + 100.0 + ft_sensor + joint_6 + + + + + + + + + + + From 1bb213da4f0856e16f674569ed7629d4657c3203 Mon Sep 17 00:00:00 2001 From: Kentaro Wada Date: Tue, 9 Aug 2016 19:32:03 +0900 Subject: [PATCH 20/24] Add feature to set world --- fanuc_lrmate200id_gazebo/launch/lrmate200id_gazebo.launch | 2 ++ 1 file changed, 2 insertions(+) diff --git a/fanuc_lrmate200id_gazebo/launch/lrmate200id_gazebo.launch b/fanuc_lrmate200id_gazebo/launch/lrmate200id_gazebo.launch index 42fc1681..c6ff9a13 100644 --- a/fanuc_lrmate200id_gazebo/launch/lrmate200id_gazebo.launch +++ b/fanuc_lrmate200id_gazebo/launch/lrmate200id_gazebo.launch @@ -11,8 +11,10 @@ + + From 0a2754105780f272e3f10f0ba08ae985e0008cde Mon Sep 17 00:00:00 2001 From: Kentaro Wada Date: Tue, 9 Aug 2016 19:35:03 +0900 Subject: [PATCH 21/24] APC stow task demo --- .../launch/apc_stow.launch | 29 ++ .../rvizconfig/apc_stow.rviz | 316 ++++++++++++++++++ .../urdf/lrmate200id_apc_stow.xacro | 123 +++++++ .../worlds/apc_stow.world | 33 ++ 4 files changed, 501 insertions(+) create mode 100644 fanuc_lrmate200id_gazebo_demo/launch/apc_stow.launch create mode 100644 fanuc_lrmate200id_gazebo_demo/rvizconfig/apc_stow.rviz create mode 100644 fanuc_lrmate200id_gazebo_demo/urdf/lrmate200id_apc_stow.xacro create mode 100644 fanuc_lrmate200id_gazebo_demo/worlds/apc_stow.world diff --git a/fanuc_lrmate200id_gazebo_demo/launch/apc_stow.launch b/fanuc_lrmate200id_gazebo_demo/launch/apc_stow.launch new file mode 100644 index 00000000..5a2bf113 --- /dev/null +++ b/fanuc_lrmate200id_gazebo_demo/launch/apc_stow.launch @@ -0,0 +1,29 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/fanuc_lrmate200id_gazebo_demo/rvizconfig/apc_stow.rviz b/fanuc_lrmate200id_gazebo_demo/rvizconfig/apc_stow.rviz new file mode 100644 index 00000000..1397c470 --- /dev/null +++ b/fanuc_lrmate200id_gazebo_demo/rvizconfig/apc_stow.rviz @@ -0,0 +1,316 @@ +Panels: + - Class: rviz/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: ~ + Splitter Ratio: 0.532 + Tree Height: 290 + - Class: rviz/Help + Name: Help + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: moveit_rviz_plugin/MotionPlanning + Enabled: true + Move Group Namespace: "" + MoveIt_Goal_Tolerance: 0 + MoveIt_Planning_Attempts: 10 + MoveIt_Planning_Time: 5 + MoveIt_Use_Constraint_Aware_IK: true + MoveIt_Warehouse_Host: 127.0.0.1 + MoveIt_Warehouse_Port: 33829 + MoveIt_Workspace: + Center: + X: 0 + Y: 0 + Z: 0 + Size: + X: 2 + Y: 2 + Z: 2 + Name: MotionPlanning + Planned Path: + Interrupt Display: false + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + order_bin_base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + order_bin_x_part0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + order_bin_x_part1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + order_bin_y_part0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + order_bin_y_part1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + tool0: + Alpha: 1 + Show Axes: false + Show Trail: false + world: + Alpha: 1 + Show Axes: false + Show Trail: false + Loop Animation: false + Robot Alpha: 0.5 + Show Robot Collision: false + Show Robot Visual: true + Show Trail: false + State Display Time: 0.05 s + Trajectory Topic: /move_group/display_planned_path + Planning Metrics: + Payload: 1 + Show Joint Torques: false + Show Manipulability: false + Show Manipulability Index: false + Show Weight Limit: false + TextHeight: 0.08 + Planning Request: + Colliding Link Color: 255; 0; 0 + Goal State Alpha: 1 + Goal State Color: 250; 128; 0 + Interactive Marker Size: 0 + Joint Violation Color: 255; 0; 255 + Planning Group: manipulator + Query Goal State: true + Query Start State: false + Show Workspace: false + Start State Alpha: 1 + Start State Color: 0; 255; 0 + Planning Scene Topic: /move_group/monitored_planning_scene + Robot Description: robot_description + Scene Geometry: + Scene Alpha: 0.9 + Scene Color: 50; 230; 50 + Scene Display Time: 0.2 + Show Scene Geometry: true + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + Scene Robot: + Attached Body Color: 150; 50; 150 + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + order_bin_base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + order_bin_x_part0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + order_bin_x_part1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + order_bin_y_part0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + order_bin_y_part1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + tool0: + Alpha: 1 + Show Axes: false + Show Trail: false + world: + Alpha: 1 + Show Axes: false + Show Trail: false + Robot Alpha: 0.5 + Show Robot Collision: false + Show Robot Visual: true + Value: true + - Alpha: 1 + Arrow Width: 0.3 + Class: rviz/WrenchStamped + Enabled: true + Force Arrow Scale: 0.05 + Force Color: 204; 51; 51 + History Length: 1 + Name: WrenchStamped + Topic: /ft_sensor + Torque Arrow Scale: 0.1 + Torque Color: 204; 204; 51 + Unreliable: false + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: jsk_rviz_plugin/OverlayPicker + Value: true + Views: + Current: + Class: rviz/XYOrbit + Distance: 2.15629 + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.00592166 + Y: 0.160186 + Z: 4.47044e-08 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.559797 + Target Frame: base_link + Value: XYOrbit (rviz) + Yaw: 1.13493 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1006 + Help: + collapsed: false + Hide Left Dock: false + Hide Right Dock: false + Motion Planning: + collapsed: false + QMainWindow State: 000000ff00000000fd0000000100000000000002ab000003a8fc0200000006fb000000100044006900730070006c006100790073010000002800000162000000d600fffffffb0000000800480065006c00700000000342000000bb0000007300fffffffb0000000a0056006900650077007300000003b0000000b0000000ac00fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e0067010000019000000240000001cb00fffffffb0000000a0049006d006100670065000000032b000000a50000000000000000000003df000003a800000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Views: + collapsed: false + Width: 1680 + X: 43 + Y: 32 diff --git a/fanuc_lrmate200id_gazebo_demo/urdf/lrmate200id_apc_stow.xacro b/fanuc_lrmate200id_gazebo_demo/urdf/lrmate200id_apc_stow.xacro new file mode 100644 index 00000000..cf2365e1 --- /dev/null +++ b/fanuc_lrmate200id_gazebo_demo/urdf/lrmate200id_apc_stow.xacro @@ -0,0 +1,123 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + true + + + + 100.0 + ft_sensor + joint_6 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 30 + + 1.50 + + B8G8R8 + 480 + 640 + + + 0.5 + 9 + + + + true + 30 + kinect_tote + rgb/image_rect_color + rgb/camera_info + depth_registered/hw_registered/image_rect_raw + depth_registered/camera_info + depth_registered/points + kinect_tote_depth_optical_frame + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + + + + + + + + + /vacuum_gripper + link_6 + grasping + + + + + diff --git a/fanuc_lrmate200id_gazebo_demo/worlds/apc_stow.world b/fanuc_lrmate200id_gazebo_demo/worlds/apc_stow.world new file mode 100644 index 00000000..a8ef6482 --- /dev/null +++ b/fanuc_lrmate200id_gazebo_demo/worlds/apc_stow.world @@ -0,0 +1,33 @@ + + + + + model://ground_plane + + + + model://sun + + + + model://kiva_pod + kiva_pod + 0.95 0 0 0 0 1.57 + + + + model://oreo_mega_stuf + oreo_mega_stuf + 0 0.5 1.2 0 0 0 + + + + 1000.0 + + 0.0 0.0 -9.81 + + + + + + From aadb1add25aba72749bd9c6551214c0ed87b205e Mon Sep 17 00:00:00 2001 From: Kentaro Wada Date: Wed, 17 Aug 2016 18:38:41 +0900 Subject: [PATCH 22/24] Fix vacuum gripper simulation with gripper link --- .../rvizconfig/apc_stow.rviz | 130 ++++++++++++++++-- .../urdf/lrmate200id_apc_stow.xacro | 28 +++- .../worlds/apc_stow.world | 4 +- 3 files changed, 145 insertions(+), 17 deletions(-) diff --git a/fanuc_lrmate200id_gazebo_demo/rvizconfig/apc_stow.rviz b/fanuc_lrmate200id_gazebo_demo/rvizconfig/apc_stow.rviz index 1397c470..7cd67c5c 100644 --- a/fanuc_lrmate200id_gazebo_demo/rvizconfig/apc_stow.rviz +++ b/fanuc_lrmate200id_gazebo_demo/rvizconfig/apc_stow.rviz @@ -3,9 +3,10 @@ Panels: Help Height: 0 Name: Displays Property Tree Widget: - Expanded: ~ + Expanded: + - /TF1/Frames1 Splitter Ratio: 0.532 - Tree Height: 290 + Tree Height: 806 - Class: rviz/Help Name: Help - Class: rviz/Views @@ -70,6 +71,19 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true + kinect_tote_depth_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + kinect_tote_depth_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + kinect_tote_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true link_1: Alpha: 1 Show Axes: false @@ -185,6 +199,19 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true + kinect_tote_depth_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + kinect_tote_depth_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + kinect_tote_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true link_1: Alpha: 1 Show Axes: false @@ -255,7 +282,7 @@ Visualization Manager: - Alpha: 1 Arrow Width: 0.3 Class: rviz/WrenchStamped - Enabled: true + Enabled: false Force Arrow Scale: 0.05 Force Color: 204; 51; 51 History Length: 1 @@ -264,7 +291,82 @@ Visualization Manager: Torque Arrow Scale: 0.1 Torque Color: 204; 204; 51 Unreliable: false + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.01 + Style: Flat Squares + Topic: /kinect_tote/depth_registered/points + Unreliable: false + Use Fixed Frame: true + Use rainbow: true Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: false + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: false + Visual Enabled: true + - Class: rviz/TF + Enabled: false + Frame Timeout: 15 + Frames: + All Enabled: false + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + {} + Update Interval: 0 + Value: false + - Alpha: 1 + Axes Length: 0.05 + Axes Radius: 0.01 + Class: rviz/Pose + Color: 255; 25; 0 + Enabled: false + Head Length: 0.3 + Head Radius: 0.1 + Name: Pose + Shaft Length: 1 + Shaft Radius: 0.05 + Shape: Axes + Topic: /vacuum_gripper/gripper_pose + Unreliable: false + Value: false Enabled: true Global Options: Background Color: 48; 48; 48 @@ -281,36 +383,36 @@ Visualization Manager: Views: Current: Class: rviz/XYOrbit - Distance: 2.15629 + Distance: 1.66983 Enable Stereo Rendering: Stereo Eye Separation: 0.06 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: - X: 0.00592166 - Y: 0.160186 - Z: 4.47044e-08 + X: 0.0975873 + Y: 0.390616 + Z: -7.45049e-08 Name: Current View Near Clip Distance: 0.01 - Pitch: 0.559797 + Pitch: 0.849797 Target Frame: base_link Value: XYOrbit (rviz) - Yaw: 1.13493 + Yaw: 1.97493 Saved: ~ Window Geometry: Displays: collapsed: false - Height: 1006 + Height: 1416 Help: collapsed: false Hide Left Dock: false Hide Right Dock: false Motion Planning: collapsed: false - QMainWindow State: 000000ff00000000fd0000000100000000000002ab000003a8fc0200000006fb000000100044006900730070006c006100790073010000002800000162000000d600fffffffb0000000800480065006c00700000000342000000bb0000007300fffffffb0000000a0056006900650077007300000003b0000000b0000000ac00fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e0067010000019000000240000001cb00fffffffb0000000a0049006d006100670065000000032b000000a50000000000000000000003df000003a800000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd0000000100000000000002ab00000542fc0200000006fb000000100044006900730070006c006100790073010000002800000366000000d600fffffffb0000000800480065006c00700000000342000000bb0000007300fffffffb0000000a0056006900650077007300000003b0000000b0000000ac00fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000394000001d6000001cb00fffffffb0000000a0049006d006100670065000000032b000000a500000000000000000000074f0000054200000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Views: collapsed: false - Width: 1680 - X: 43 - Y: 32 + Width: 2560 + X: 0 + Y: 24 diff --git a/fanuc_lrmate200id_gazebo_demo/urdf/lrmate200id_apc_stow.xacro b/fanuc_lrmate200id_gazebo_demo/urdf/lrmate200id_apc_stow.xacro index cf2365e1..f7c7a015 100644 --- a/fanuc_lrmate200id_gazebo_demo/urdf/lrmate200id_apc_stow.xacro +++ b/fanuc_lrmate200id_gazebo_demo/urdf/lrmate200id_apc_stow.xacro @@ -111,11 +111,37 @@ + + 0 + + + + + + + + + + + + + + + + + + + + + /vacuum_gripper - link_6 + gripper_link grasping + 5 + 0.10 + 0.10 diff --git a/fanuc_lrmate200id_gazebo_demo/worlds/apc_stow.world b/fanuc_lrmate200id_gazebo_demo/worlds/apc_stow.world index a8ef6482..9c31940f 100644 --- a/fanuc_lrmate200id_gazebo_demo/worlds/apc_stow.world +++ b/fanuc_lrmate200id_gazebo_demo/worlds/apc_stow.world @@ -16,8 +16,8 @@ - model://oreo_mega_stuf - oreo_mega_stuf + model://safety_works_safety_glasses + safety_works_safety_glasses 0 0.5 1.2 0 0 0 From 88ccda0673b68e8d17e1da1dd14ea1607e2a75d0 Mon Sep 17 00:00:00 2001 From: Kentaro Wada Date: Wed, 17 Aug 2016 21:16:08 +0900 Subject: [PATCH 23/24] Update rvizconfig --- .../rvizconfig/apc_stow.rviz | 40 ++++++++++++------- 1 file changed, 25 insertions(+), 15 deletions(-) diff --git a/fanuc_lrmate200id_gazebo_demo/rvizconfig/apc_stow.rviz b/fanuc_lrmate200id_gazebo_demo/rvizconfig/apc_stow.rviz index 7cd67c5c..39cc547b 100644 --- a/fanuc_lrmate200id_gazebo_demo/rvizconfig/apc_stow.rviz +++ b/fanuc_lrmate200id_gazebo_demo/rvizconfig/apc_stow.rviz @@ -6,7 +6,7 @@ Panels: Expanded: - /TF1/Frames1 Splitter Ratio: 0.532 - Tree Height: 806 + Tree Height: 438 - Class: rviz/Help Name: Help - Class: rviz/Views @@ -71,6 +71,11 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true + gripper_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true kinect_tote_depth_frame: Alpha: 1 Show Axes: false @@ -199,6 +204,11 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true + gripper_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true kinect_tote_depth_frame: Alpha: 1 Show Axes: false @@ -282,7 +292,7 @@ Visualization Manager: - Alpha: 1 Arrow Width: 0.3 Class: rviz/WrenchStamped - Enabled: false + Enabled: true Force Arrow Scale: 0.05 Force Color: 204; 51; 51 History Length: 1 @@ -291,7 +301,7 @@ Visualization Manager: Torque Arrow Scale: 0.1 Torque Color: 204; 204; 51 Unreliable: false - Value: false + Value: true - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: @@ -390,29 +400,29 @@ Visualization Manager: Swap Stereo Eyes: false Value: false Focal Point: - X: 0.0975873 - Y: 0.390616 - Z: -7.45049e-08 + X: 0.297266 + Y: -0.047982 + Z: 4.47044e-08 Name: Current View Near Clip Distance: 0.01 - Pitch: 0.849797 + Pitch: 0.524797 Target Frame: base_link Value: XYOrbit (rviz) - Yaw: 1.97493 + Yaw: 1.40493 Saved: ~ Window Geometry: Displays: - collapsed: false - Height: 1416 + collapsed: true + Height: 1387 Help: collapsed: false - Hide Left Dock: false + Hide Left Dock: true Hide Right Dock: false Motion Planning: collapsed: false - QMainWindow State: 000000ff00000000fd0000000100000000000002ab00000542fc0200000006fb000000100044006900730070006c006100790073010000002800000366000000d600fffffffb0000000800480065006c00700000000342000000bb0000007300fffffffb0000000a0056006900650077007300000003b0000000b0000000ac00fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000394000001d6000001cb00fffffffb0000000a0049006d006100670065000000032b000000a500000000000000000000074f0000054200000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd00000002000000000000024d00000525fc0200000005fb000000100044006900730070006c006100790073000000002800000525000000d600fffffffb0000000800480065006c00700000000342000000bb0000007300fffffffb0000000a0056006900650077007300000003b0000000b0000000ac00fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000000a0049006d006100670065000000032b000000a5000000000000000000000003000004fe000001d6fc0100000001fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000000000004fe0000029200ffffff000004fe0000034900000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Views: collapsed: false - Width: 2560 - X: 0 - Y: 24 + Width: 1278 + X: 1240 + Y: 14 From 84728c402707e57ec1e96ef2dd52dbf7666831db Mon Sep 17 00:00:00 2001 From: Kentaro Wada Date: Thu, 18 Aug 2016 18:00:43 +0900 Subject: [PATCH 24/24] Add models for apc demo --- .../launch/apc_stow.launch | 2 + .../models/kiva_pod/meshes/pod_lowres.stl | Bin 0 -> 509284 bytes .../models/kiva_pod/model.config | 19 ++ .../models/kiva_pod/model.sdf | 56 ++++++ .../models/kiva_pod/urdf/pod_lowres.urdf | 23 +++ .../kiva_pod/urdf/pod_lowres_convex.xacro | 173 ++++++++++++++++++ .../safety_works_safety_glasses/image.png | Bin 0 -> 223444 bytes .../safety_works_safety_glasses.material | 13 ++ .../optimized_tsdf_texture_mapped_mesh.png | Bin 0 -> 2351166 bytes .../meshes/safety_works_safety_glasses.dae | 137 ++++++++++++++ .../safety_works_safety_glasses/model.config | 14 ++ .../safety_works_safety_glasses/model.sdf | 53 ++++++ 12 files changed, 490 insertions(+) create mode 100644 fanuc_lrmate200id_gazebo_demo/models/kiva_pod/meshes/pod_lowres.stl create mode 100644 fanuc_lrmate200id_gazebo_demo/models/kiva_pod/model.config create mode 100644 fanuc_lrmate200id_gazebo_demo/models/kiva_pod/model.sdf create mode 100644 fanuc_lrmate200id_gazebo_demo/models/kiva_pod/urdf/pod_lowres.urdf create mode 100644 fanuc_lrmate200id_gazebo_demo/models/kiva_pod/urdf/pod_lowres_convex.xacro create mode 100755 fanuc_lrmate200id_gazebo_demo/models/safety_works_safety_glasses/image.png create mode 100644 fanuc_lrmate200id_gazebo_demo/models/safety_works_safety_glasses/materials/scripts/safety_works_safety_glasses.material create mode 100644 fanuc_lrmate200id_gazebo_demo/models/safety_works_safety_glasses/materials/textures/optimized_tsdf_texture_mapped_mesh.png create mode 100644 fanuc_lrmate200id_gazebo_demo/models/safety_works_safety_glasses/meshes/safety_works_safety_glasses.dae create mode 100644 fanuc_lrmate200id_gazebo_demo/models/safety_works_safety_glasses/model.config create mode 100644 fanuc_lrmate200id_gazebo_demo/models/safety_works_safety_glasses/model.sdf diff --git a/fanuc_lrmate200id_gazebo_demo/launch/apc_stow.launch b/fanuc_lrmate200id_gazebo_demo/launch/apc_stow.launch index 5a2bf113..333ed867 100644 --- a/fanuc_lrmate200id_gazebo_demo/launch/apc_stow.launch +++ 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b/fanuc_lrmate200id_gazebo_demo/models/kiva_pod/model.config @@ -0,0 +1,19 @@ + + + + Kiva Amazon Pod + 1.0 + model.sdf + + + Joe Romano + jromano@kivasystems.com + + + + A model of a Kiva Amazon Shelf Pod + + + + + diff --git a/fanuc_lrmate200id_gazebo_demo/models/kiva_pod/model.sdf b/fanuc_lrmate200id_gazebo_demo/models/kiva_pod/model.sdf new file mode 100644 index 00000000..59f8046e --- /dev/null +++ b/fanuc_lrmate200id_gazebo_demo/models/kiva_pod/model.sdf @@ -0,0 +1,56 @@ + + + + + + 0.0 0.0 1.2045 0 0 0 + 76.26 + + 47 + -0.003456 + 0.001474 + 13.075 + -0.014439 + 47 + + + + + 0 0 0 1.5707 0 0 + + + + + + model://kiva_pod/meshes/pod_lowres.stl + + + + + + + 0 0 0 1.5707 0 0 + + + model://kiva_pod/meshes/pod_lowres.stl + + + + + + 0.8 + 0.8 + 0.0 0.0 0.0 + 1.0 + 1.0 + + + + + + + + diff --git a/fanuc_lrmate200id_gazebo_demo/models/kiva_pod/urdf/pod_lowres.urdf b/fanuc_lrmate200id_gazebo_demo/models/kiva_pod/urdf/pod_lowres.urdf new file mode 100644 index 00000000..96869ec1 --- 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0.661098 0.225698 0.659016 0.22486 0.662295 0.00277506 0.596731 0.00569654 0.586412 0.0027933 0.6 0.00219507 0.596101 0.0027933 0.595082 0.00277506 0.596731 0.00219507 0.596101 0.0027933 0.6 0.00569654 0.586412 0.925043 0.148685 0.935477 0.14912 0.930717 0.158131 3.37903e-05 0.999658 0.000125499 0.999267 3.81901e-05 1.00002 3.18767e-06 0.999778 0.000172733 0.999475 0.000153759 0.999865 3.18767e-06 0.999778 0.000125499 0.999267 0.000172733 0.999475 0.52095 0.957377 0.522115 0.957383 0.521331 0.961557 0.000138041 0.999996 6.12572e-05 0.999216 4.9255e-05 0.999629 0.843296 0.72623 0.842527 0.728893 0.843296 0.727869 0.521788 0.962295 0.522067 0.959016 0.521331 0.961557 0 1 7.34958e-05 0.999527 0.000153759 0.999865 0.224824 0.661098 0.223228 0.670288 0.222027 0.663602 0.222027 0.663602 0.222724 0.65882 0.224363 0.66066 0.952083 0.169205 0.974111 0.183784 0.961053 0.21478 1.76568e-06 0.999188 0 0.998361 0.000124335 0.999455 0.836872 0.752459 0.836872 0.754098 0.836592 0.755738 0 1 0.000124335 0.999455 0.00027933 1 0.228684 0.643088 0.226969 0.6399 0.228771 0.642623 -2.03538e-05 0.999551 0 0.998361 8.63305e-05 0.998795 0.230736 0.638232 0.226969 0.6399 0.228771 0.639344 0.947508 0.180522 0.952083 0.169205 0.948883 0.186885 0.304515 0.457268 0.297404 0.462254 0.29484 0.456337 0.307016 0.435261 0.304515 0.457268 0.294006 0.446091 0.292486 0.447682 0.294006 0.446091 0.304515 0.457268 0.9632 0.296367 0.969052 0.340386 0.959771 0.322144 0.279439 0.478211 0.275763 0.449377 0.294786 0.45909 0.070741 0.378133 0.0703911 0.378689 0.0701117 0.377049 0.292601 0.445905 0.292201 0.445774 0.291899 0.447541 0.755028 0.855738 0.755028 0.855738 0.755028 0.855738 0.316437 0.444814 0.315182 0.436847 0.331627 0.427095 8.85784e-05 0.99931 0.000125513 0.99952 0.000162154 0.999701 0.316437 0.444814 0.331627 0.427095 0.321091 0.470203 0.000121612 0.99986 1.17602e-05 0.99948 0.000128636 0.999298 0.307016 0.435261 0.310505 0.45184 0.306474 0.453162 0.315182 0.436847 0.313489 0.444268 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1093 3281 136 1094 3282 127 1094 3283 17 1094 3284 131 1095 3285 134 1095 3286 12 1095 3287 55 1096 3288 134 1096 3289 131 1096 3290 479 1097 3291 124 1097 3292 123 1097 3293 484 1098 3294 52 1098 3295 165 1098 3296

    +     +     +     +     + + + + + + + + + + + + + + + + + + +     diff --git a/fanuc_lrmate200id_gazebo_demo/models/safety_works_safety_glasses/model.config b/fanuc_lrmate200id_gazebo_demo/models/safety_works_safety_glasses/model.config new file mode 100644 index 00000000..4c40289b --- /dev/null +++ b/fanuc_lrmate200id_gazebo_demo/models/safety_works_safety_glasses/model.config @@ -0,0 +1,14 @@ + + + + safety_works_safety_glasses + 1.0 + model.sdf + + + A model of a safety_works_safety_glasses + + + + + diff --git a/fanuc_lrmate200id_gazebo_demo/models/safety_works_safety_glasses/model.sdf b/fanuc_lrmate200id_gazebo_demo/models/safety_works_safety_glasses/model.sdf new file mode 100644 index 00000000..229a933f --- /dev/null +++ b/fanuc_lrmate200id_gazebo_demo/models/safety_works_safety_glasses/model.sdf @@ -0,0 +1,53 @@ + + + + + + + 0 0 0 0 0 0 + 0.08 + + + + 0 0 0 0 0 0 + + + + + + model://safety_works_safety_glasses/meshes/safety_works_safety_glasses.dae + + + + + + + 0 0 0 0 0 0 + + + 0.01 0.01 0.01 + + # + # model://safety_works_safety_glasses/meshes/safety_works_safety_glasses.dae + # + + + + + 0.8 + 0.8 + 0.0 0.0 0.0 + 0.01 + 0.01 + + + + + + + +