diff --git a/sr_description/CHANGELOG.rst b/sr_description/CHANGELOG.rst deleted file mode 100644 index 5f99305f7..000000000 --- a/sr_description/CHANGELOG.rst +++ /dev/null @@ -1,41 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package sr_description -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -1.4.0 (2015-04-07) ------------------- -* removing cartesian control - not implemented in ros-control + changing to the new traj controller -* Inertia now exact values, with inertia tensor at COM (gazebo and ode support the small values now) - Removed explicit viscous damping from sr_gazebo_plugin, - enabled springDamper in each joint (implicit viscous damping) - changed simulation parameters for stability - and retuned the controllers, explicitely define friction_deadband for simulated controllers (default is for real hand and is too high) -* Added mechanicalReduction to get valid URDF, still warnings about doubled joints or collision that are allowed actually -* Fixed color problems in biotac and forearm_lite -* adding the missing is_lite=0 param -* Rough weight guess for forearm -* Remove wrist mount collider -* Fix forearm collision. -* Fix forearm color in gazebo -* Fix scale -* Rotate the forearm -* Bring in the new forearm part. -* Start on xacro. -* Added a wrist mount collision box (motor and muscle hand) - Added more precision to the palm collision shape (still using boxes) -* Add model for bimanual motor hand robot -* Changed inertia and force limits for biotac fingertip -* Upgraded kinect definition to use plugins, reactivated simulated kinect. -* Add the missing mesh for the finger biotac adapter. -* sr_description upgrade from groovy to hydro + update from hydro to indigo - new collision model port from hydro to indigo - fixed biotac finger missing the prefix parameter and middle transmission parameters - fixed thumb vibrations (tuning and collision model) - updated middle transmission to new J0Transmission syntax - -1.3.1 (2014-07-18) ------------------- - -1.3.0 (2014-02-11) ------------------- -* first hydro release diff --git a/sr_description/CMakeLists.txt b/sr_description/CMakeLists.txt index ad05d5775..3bb693d45 100644 --- a/sr_description/CMakeLists.txt +++ b/sr_description/CMakeLists.txt @@ -16,10 +16,8 @@ if (CATKIN_ENABLE_TESTING) include_directories(${urdf_INCLUDE_DIRS}) catkin_add_gtest(test_sr_description_urdf test/test_sr_description_urdf.cpp) target_link_libraries(test_sr_description_urdf ${urdf_LIBRARIES}) -endif() -install(DIRECTORY arm/ - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/arm) +endif() install(DIRECTORY hand/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/hand) @@ -30,11 +28,8 @@ install(DIRECTORY meshes/ install(DIRECTORY loaders/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/loaders) -install(DIRECTORY other/ - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/other) - install(DIRECTORY robots/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/robots) -install(FILES materials.urdf.xacro +install(FILES other/xacro/materials.urdf.xacro DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/sr_description/README.md b/sr_description/README.md index 9df8b3b21..42ddf131e 100644 --- a/sr_description/README.md +++ b/sr_description/README.md @@ -1,12 +1,5 @@ -This package contains the description for Shadow Robot's Hand and Arm, as well as some additional models used in our robot (kinect, etc...). +This package contains the description for Shadow Robot's Hands. You can find the different complete models in [robots](robots). -You can also find more information about the computation of the [arm kinematics](doc/ArmInertia.md) and of the [hand kinematics](doc/HandInertia.md). - - -*Tips: To automatically reformat the different xacro files you can use the following command:* - -```bash -find . -name "*.urdf.xacro" -type f -exec tidy -xml -i -m -q "{}" \; -``` +You can also find more information about the computation of the [hand kinematics](doc/HandInertia.md). \ No newline at end of file diff --git a/sr_description/arm/config/arm_controller.yaml b/sr_description/arm/config/arm_controller.yaml deleted file mode 100644 index 233dd565a..000000000 --- a/sr_description/arm/config/arm_controller.yaml +++ /dev/null @@ -1,48 +0,0 @@ -sa_sr_position_controller: - type: effort_controllers/JointPositionController - joint: ShoulderJRotate - pid: - p: 15.0 - i: 1.0 - d: 5.0 - i_clamp: 30.0 - -sa_ss_position_controller: - type: effort_controllers/JointPositionController - joint: ShoulderJSwing - pid: - p: 15.0 - i: 30.0 - d: 10.0 - i_clamp: 90.0 - -sa_es_position_controller: - type: effort_controllers/JointPositionController - joint: ElbowJSwing - pid: - p: 30.0 - i: 10.0 - d: 5.0 - i_clamp: 90.0 - -sa_er_position_controller: - type: effort_controllers/JointPositionController - joint: ElbowJRotate - pid: - p: 30.0 - i: 3.0 - d: 5.0 - i_clamp: 5.0 - -r_arm_joint_trajectory_controller: - type: effort_controllers/JointTrajectoryController - joints: - - ShoulderJRotate - - ShoulderJSwing - - ElbowJSwing - - ElbowJRotate - gains: - ShoulderJRotate: {p: 140.0, d: 30.0} - ShoulderJSwing: {p: 140.0, d: 30.0} - ElbowJSwing: {p: 140.0, d: 30.0} - ElbowJRotate: {p: 140.0, d: 30.0} diff --git a/sr_description/arm/model/arm_base.dae b/sr_description/arm/model/arm_base.dae deleted file mode 100644 index 4f24f4cf1..000000000 --- a/sr_description/arm/model/arm_base.dae +++ /dev/null @@ -1,115 +0,0 @@ - - - - - Illusoft 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25.1438 12.706 21.4425 25.2979 13.3262 22.4533 25.1906 12.9446 33.0263 25.4865 13.7901 33.02629 25.1906 12.9446 33.0263 25.2979 13.3262 22.4533 25.2979 13.3262 22.4533 25.543 13.9029 23.4485 25.4865 13.7901 33.02629 25.4865 13.7901 33.02629 25.543 13.9029 23.4485 25.8657 14.4212 24.3856 25.963 14.5485 33.02629 25.4865 13.7901 33.02629 25.8657 14.4212 24.3856 25.8657 14.4212 24.3856 26.2678 14.8888 25.2774 25.963 14.5485 33.02629 26.5964 15.1819 33.02629 25.963 14.5485 33.02629 26.2678 14.8888 25.2774 26.2678 14.8888 25.2774 26.7821 15.3213 26.171 26.5964 15.1819 33.02629 27.3548 15.6584 33.02629 26.5964 15.1819 33.02629 26.7821 15.3213 26.171 26.7821 15.3213 26.171 27.386 15.6732 27.0044 27.3548 15.6584 33.02629 27.3548 15.6584 33.02629 27.386 15.6732 27.0044 28.0315 15.9118 27.7251 28.2003 15.9542 33.02629 27.3548 15.6584 33.02629 28.0315 15.9118 27.7251 28.0315 15.9118 27.7251 28.7022 16.0357 28.3419 28.2003 15.9542 33.02629 29.0904 16.0545 33.02629 28.2003 15.9542 33.02629 28.7022 16.0357 28.3419 28.7022 16.0357 28.3419 29.3938 16.043 28.8714 29.0904 16.0545 33.02629 29.9804 15.9542 33.02629 29.0904 16.0545 33.02629 29.3938 16.043 28.8714 29.3938 16.043 28.8714 30.1042 15.9239 29.3254 29.9804 15.9542 33.02629 29.9804 15.9542 33.02629 30.1042 15.9239 29.3254 30.7996 15.671 29.6948 30.8259 15.6584 33.02629 29.9804 15.9542 33.02629 30.7996 15.671 29.6948 30.7996 15.671 29.6948 31.4543 15.2812 29.9798 30.8259 15.6584 33.02629 31.5843 15.1819 33.02629 30.8259 15.6584 33.02629 31.4543 15.2812 29.9798 31.4543 15.2812 29.9798 32.02119 14.7766 30.1743 31.5843 15.1819 33.02629 32.2177 14.5485 33.02629 31.5843 15.1819 33.02629 32.02119 14.7766 30.1743 32.02119 14.7766 30.1743 32.47959 14.179 30.2843 32.2177 14.5485 33.02629 32.69419 13.7901 33.02629 32.2177 14.5485 33.02629 32.47959 14.179 30.2843 32.47959 14.179 30.2843 32.81439 13.5145 30.3148 32.69419 13.7901 33.02629 32.9901 12.9446 33.02629 32.69419 13.7901 33.02629 32.81439 13.5145 30.3148 32.81439 13.5145 30.3148 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13559 13559 2166 13560 13560 2168 13561 13561 382 13562 13562 2487 13563 13563 382 13564 13564 2168 13565 13565 2168 13566 13566 2180 13567 13567 2487 13568 13568 381 13569 13569 2487 13570 13570 2180 13571 13571 2180 13572 13572 2183 13573 13573 381 13574 13574 2488 13575 13575 381 13576 13576 2183 13577 13577 2183 13578 13578 2192 13579 13579 2488 13580 13580 380 13581 13581 2488 13582 13582 2192 13583 13583 2192 13584 13584 2194 13585 13585 380 13586 13586 2498 13587 13587 380 13588 13588 2194 13589 13589 2194 13590 13590 2205 13591 13591 2498 13592 13592 319 13593 13593 2498 13594 13594 2205 13595 13595 2205 13596 13596 2210 13597 13597 319 13598 13598 2499 13599 13599 319 13600 13600 2210 13601 13601 2210 13602 13602 2212 13603 13603 2499 13604 13604 2500 13605 13605 2499 13606 13606 2212 13607 13607 2212 13608 13608 2214 13609 13609 2500 13610 13610 2501 13611 13611 2500 13612 13612 2214 13613 13613 2214 13614 13614 2216 13615 13615 2501 13616 13616 318 13617 13617 2501 13618 13618 2216 13619 13619 2216 13620 13620 2218 13621 13621 318 13622 13622 317 13623 13623 318 13624 13624 2218 13625 13625 2218 13626 13626 2220 13627 13627 317 13628 13628 316 13629 13629 317 13630 13630 2220 13631 13631 2220 13632 13632 2222 13633 13633 316 13634 13634 2502 13635 13635 316 13636 13636 2222 13637 13637 2222 13638 13638 2224 13639 13639 2502 13640 13640 2503 13641 13641 2502 13642 13642 2224 13643 13643 2224 13644 13644 2226 13645 13645 2503 13646 13646 2504 13647 13647 2503 13648 13648 2226 13649 13649 2226 13650 13650 2228 13651 13651 2504 13652 13652 2505 13653 13653 2504 13654 13654 2228 13655 13655 2228 13656 13656 2230 13657 13657 2505 13658 13658 2506 13659 13659 2505 13660 13660 2230 13661 13661 2230 13662 13662 2232 13663 13663 2506 13664 13664 315 13665 13665 2506 13666 13666 2232 13667 13667 2232 13668 13668 2249 13669 13669 315 13670 13670 2509 13671 13671 315 13672 13672 2249 13673 13673 2249 13674 13674 2251 13675 13675 2509 13676 13676 312 13677 13677 2509 13678 13678 2251 13679 13679 2251 13680 13680 2252 13681 13681 312 13682 13682 2508 13683 13683 312 13684 13684 2252 13685 13685 2252 13686 13686 2253 13687 13687 2508 13688 13688 314 13689 13689 2508 13690 13690 2253 13691 13691 2253 13692 13692 2254 13693 13693 314 13694 13694 2507 13695 13695 314 13696 13696 2254 13697 13697 2254 13698 13698 2255 13699 13699 2507 13700 13700 2510 13701 13701 2507 13702 13702 2255 13703 13703 2255 13704 13704 2256 13705 13705 2510 13706 13706 308 13707 13707 2510 13708 13708 2256 13709 13709 2256 13710 13710 2248 13711 13711 308 13712 13712 2511 13713 13713 308 13714 13714 2248 13715 13715 2248 13716 13716 2247 13717 13717 2511 13718 13718 2512 13719 13719 2511 13720 13720 2247 13721 13721 2247 13722 13722 2246 13723 13723 2512 13724 13724 304 13725 13725 2512 13726 13726 2246 13727 13727 2246 13728 13728 2245 13729 13729 304 13730 13730 2515 13731 13731 304 13732 13732 2245 13733 13733 2245 13734 13734 2206 13735 13735 2515 13736 13736 299 13737 13737 2515 13738 13738 2206 13739 13739 2206 13740 13740 2199 13741 13741 299 13742 13742 2518 13743 13743 299 13744 13744 2199 13745 13745 2199 13746 13746 2188 13747 13747 2518 13748 13748 301 13749 13749 2518 13750 13750 2188 13751 13751 2188 13752 13752 2184 13753 13753 301 13754 13754 2516 13755 13755 301 13756 13756 2184 13757 13757 2184 13758 13758 2174 13759 13759 2516 13760 13760 300 13761 13761 2516 13762 13762 2174 13763 13763 2174 13764 13764 2171 13765 13765 300 13766 13766 2517 13767 13767 300 13768 13768 2171 13769 13769 2171 13770 13770 2162 13771 13771 2517 13772 13772 2514 13773 13773 2517 13774 13774 2162 13775 13775 2162 13776 13776 2158 13777 13777 2514 13778 13778 2513 13779 13779 2514 13780 13780 2158 13781 13781 2158 13782 13782 2153 13783 13783 2513 13784 13784 305 13785 13785 2513 13786 13786 2153 13787 13787 2153 13788 13788 2142 13789 13789 305 13790 13790 309 13791 13791 305 13792 13792 2142 13793 13793 2142 13794 13794 2138 13795 13795 309 13796 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13916 434 13917 13917 424 13918 13918 2187 13919 13919 2187 13920 13920 2198 13921 13921 434 13922 13922 433 13923 13923 434 13924 13924 2198 13925 13925 2198 13926 13926 2201 13927 13927 433 13928 13928 432 13929 13929 433 13930 13930 2201 13931 13931 2201 13932 13932 2244 13933 13933 432 13934 13934 431 13935 13935 432 13936 13936 2244 13937 13937 2244 13938 13938 2243 13939 13939 431 13940 13940 429 13941 13941 431 13942 13942 2243 13943 13943 2243 13944 13944 2242 13945 13945 429 13946 13946 422 13947 13947 429 13948 13948 2242 13949 13949 2242 13950 13950 2241 13951 13951 422 13952 13952 420 13953 13953 422 13954 13954 2241 13955 13955 2241 13956 13956 2240 13957 13957 420 13958 13958 415 13959 13959 420 13960 13960 2240 13961 13961 2240 13962 13962 2239 13963 13963 415 13964 13964 414 13965 13965 415 13966 13966 2239 13967 13967 2239 13968 13968 2238 13969 13969 414 13970 13970 412 13971 13971 414 13972 13972 2238 13973 13973 2238 13974 13974 2237 13975 13975 412 13976 13976 367 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14037 326 14038 14038 2219 14039 14039 2219 14040 14040 2217 14041 14041 334 14042 14042 338 14043 14043 334 14044 14044 2217 14045 14045 2217 14046 14046 2215 14047 14047 338 14048 14048 341 14049 14049 338 14050 14050 2215 14051 14051 2215 14052 14052 2213 14053 14053 341 14054 14054 343 14055 14055 341 14056 14056 2213 14057 14057 2213 14058 14058 2211 14059 14059 343 14060 14060 347 14061 14061 343 14062 14062 2211 14063 14063 2211 14064 14064 2209 14065 14065 347 14066 14066 350 14067 14067 347 14068 14068 2209 14069 14069 2209 14070 14070 2202 14071 14071 350 14072 14072 354 14073 14073 350 14074 14074 2202 14075 14075 2202 14076 14076 2193 14077 14077 354 14078 14078 358 14079 14079 354 14080 14080 2193 14081 14081 2193 14082 14082 2189 14083 14083 358 14084 14084 388 14085 14085 358 14086 14086 2189 14087 14087 2189 14088 14088 2182 14089 14089 388 14090 14090 387 14091 14091 388 14092 14092 2182 14093 14093 2182 14094 14094 2177 14095 14095 387 14096 14096 386 14097 14097 387 14098 14098 2177 14099 14099 2177 14100 14100 2167 14101 14101 386 14102 14102 385 14103 14103 386 14104 14104 2167 14105 14105 2167 14106 14106 2163 14107 14107 385 14108 14108 384 14109 14109 385 14110 14110 2163 14111 14111 2163 14112 14112 2156 14113 14113 384 14114 14114 390 14115 14115 384 14116 14116 2156 14117 14117 2156 14118 14118 2145 14119 14119 390 14120 14120 392 14121 14121 390 14122 14122 2145 14123 14123 2145 14124 14124 2144 14125 14125 392 14126 14126 391 14127 14127 392 14128 14128 2144 14129 14129 2144 14130 14130 2143 14131 14131 391 14132 14132 394 14133 14133 391 14134 14134 2143 14135 14135 2143 14136 14136 2131 14137 14137 394 14138 14138 395 14139 14139 394 14140 14140 2131 14141 14141 2131 14142 14142 2126 14143 14143 395 14144 14144 397 14145 14145 395 14146 14146 2126 14147 14147 2126 14148 14148 2125 14149 14149 397 14150 14150 398 14151 14151 397 14152 14152 2125 14153 14153 2125 14154 14154 2113 14155 14155 398 14156 14156 400 14157 14157 398 14158 14158 2113 14159 14159 2113 14160 14160 2108 14161 14161 400 14162 14162 402 14163 14163 400 14164 14164 2108 14165 14165 2108 14166 14166 2107 14167 14167 402 14168 14168 401 14169 14169 402 14170 14170 2107 14171 14171 2325 14172 14172 2326 14173 14173 1255 14174 14174 1283 14175 14175 1255 14176 14176 2326 14177 14177 2326 14178 14178 2328 14179 14179 1283 14180 14180 1282 14181 14181 1283 14182 14182 2328 14183 14183 2328 14184 14184 2330 14185 14185 1282 14186 14186 1281 14187 14187 1282 14188 14188 2330 14189 14189 2330 14190 14190 2341 14191 14191 1281 14192 14192 1280 14193 14193 1281 14194 14194 2341 14195 14195 2341 14196 14196 2344 14197 14197 1280 14198 14198 1279 14199 14199 1280 14200 14200 2344 14201 14201 2344 14202 14202 2346 14203 14203 1279 14204 14204 1278 14205 14205 1279 14206 14206 2346 14207 14207 2346 14208 14208 2355 14209 14209 1278 14210 14210 1269 14211 14211 1278 14212 14212 2355 14213 14213 2355 14214 14214 2361 14215 14215 1269 14216 14216 1270 14217 14217 1269 14218 14218 2361 14219 14219 2361 14220 14220 2364 14221 14221 1270 14222 14222 1271 14223 14223 1270 14224 14224 2364 14225 14225 2364 14226 14226 2371 14227 14227 1271 14228 14228 1272 14229 14229 1271 14230 14230 2371 14231 14231 2371 14232 14232 2377 14233 14233 1272 14234 14234 1273 14235 14235 1272 14236 14236 2377 14237 14237 2377 14238 14238 2380 14239 14239 1273 14240 14240 1274 14241 14241 1273 14242 14242 2380 14243 14243 2380 14244 14244 2382 14245 14245 1274 14246 14246 1277 14247 14247 1274 14248 14248 2382 14249 14249 2382 14250 14250 2384 14251 14251 1277 14252 14252 1276 14253 14253 1277 14254 14254 2384 14255 14255 2384 14256 14256 2386 14257 14257 1276 14258 14258 1242 14259 14259 1276 14260 14260 2386 14261 14261 2386 14262 14262 2399 14263 14263 1242 14264 14264 1241 14265 14265 1242 14266 14266 2399 14267 14267 2399 14268 14268 2402 14269 14269 1241 14270 14270 1240 14271 14271 1241 14272 14272 2402 14273 14273 2402 14274 14274 2409 14275 14275 1240 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2462 14335 14335 1230 14336 14336 1229 14337 14337 1230 14338 14338 2462 14339 14339 2462 14340 14340 2461 14341 14341 1229 14342 14342 1227 14343 14343 1229 14344 14344 2461 14345 14345 2461 14346 14346 2457 14347 14347 1227 14348 14348 1222 14349 14349 1227 14350 14350 2457 14351 14351 2457 14352 14352 2452 14353 14353 1222 14354 14354 1219 14355 14355 1222 14356 14356 2452 14357 14357 2452 14358 14358 2451 14359 14359 1219 14360 14360 1216 14361 14361 1219 14362 14362 2451 14363 14363 2451 14364 14364 2441 14365 14365 1216 14366 14366 1212 14367 14367 1216 14368 14368 2441 14369 14369 2441 14370 14370 2434 14371 14371 1212 14372 14372 1209 14373 14373 1212 14374 14374 2434 14375 14375 2434 14376 14376 2426 14377 14377 1209 14378 14378 1206 14379 14379 1209 14380 14380 2426 14381 14381 2426 14382 14382 2421 14383 14383 1206 14384 14384 1203 14385 14385 1206 14386 14386 2421 14387 14387 2421 14388 14388 2416 14389 14389 1203 14390 14390 1200 14391 14391 1203 14392 14392 2416 14393 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1291 14511 14511 1288 14512 14512 2334 14513 14513 2334 14514 14514 2333 14515 14515 1291 14516 14516 1294 14517 14517 1291 14518 14518 2333 14519 14519 2333 14520 14520 2332 14521 14521 1294 14522 14522 1297 14523 14523 1294 14524 14524 2332 14525 14525 2332 14526 14526 2339 14527 14527 1297 14528 14528 1301 14529 14529 1297 14530 14530 2339 14531 14531 2339 14532 14532 2349 14533 14533 1301 14534 14534 1304 14535 14535 1301 14536 14536 2349 14537 14537 2349 14538 14538 2348 14539 14539 1304 14540 14540 1307 14541 14541 1304 14542 14542 2348 14543 14543 2348 14544 14544 2353 14545 14545 1307 14546 14546 1310 14547 14547 1307 14548 14548 2353 14549 14549 2353 14550 14550 2359 14551 14551 1310 14552 14552 1313 14553 14553 1310 14554 14554 2359 14555 14555 2359 14556 14556 2366 14557 14557 1313 14558 14558 1316 14559 14559 1313 14560 14560 2366 14561 14561 2366 14562 14562 2369 14563 14563 1316 14564 14564 1319 14565 14565 1316 14566 14566 2369 14567 14567 2369 14568 14568 2375 14569 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- - - - - - - - - - - - - - - - - - - - - - diff --git a/sr_description/arm/xacro/full_arm_motor_with_kinect.urdf.xacro b/sr_description/arm/xacro/full_arm_motor_with_kinect.urdf.xacro deleted file mode 100644 index 963df3a3f..000000000 --- a/sr_description/arm/xacro/full_arm_motor_with_kinect.urdf.xacro +++ /dev/null @@ -1,24 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - diff --git a/sr_description/arm/xacro/full_arm_muscle.urdf.xacro b/sr_description/arm/xacro/full_arm_muscle.urdf.xacro deleted file mode 100644 index 4a2349fcb..000000000 --- a/sr_description/arm/xacro/full_arm_muscle.urdf.xacro +++ /dev/null @@ -1,21 +0,0 @@ - - - - - - - - - - - - - - - - - - diff --git a/sr_description/arm/xacro/hand_support/shadowarm_handsupport_motor.transmission.xacro b/sr_description/arm/xacro/hand_support/shadowarm_handsupport_motor.transmission.xacro deleted file mode 100644 index bafb36c49..000000000 --- a/sr_description/arm/xacro/hand_support/shadowarm_handsupport_motor.transmission.xacro +++ /dev/null @@ -1,21 +0,0 @@ - - - - - - - sr_mechanism_model/SimpleTransmission - - 1 - - - EffortJointInterface - - - - - - diff --git a/sr_description/arm/xacro/hand_support/shadowarm_handsupport_motor.urdf.xacro b/sr_description/arm/xacro/hand_support/shadowarm_handsupport_motor.urdf.xacro deleted file mode 100644 index 7093bc661..000000000 --- a/sr_description/arm/xacro/hand_support/shadowarm_handsupport_motor.urdf.xacro +++ /dev/null @@ -1,45 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - Gazebo/Grey - false - - - - - - - - - - - 1 - 1 - - - - diff --git a/sr_description/arm/xacro/hand_support/shadowarm_handsupport_muscle.transmission.xacro b/sr_description/arm/xacro/hand_support/shadowarm_handsupport_muscle.transmission.xacro deleted file mode 100644 index b35c265a1..000000000 --- a/sr_description/arm/xacro/hand_support/shadowarm_handsupport_muscle.transmission.xacro +++ /dev/null @@ -1,21 +0,0 @@ - - - - - - - sr_mechanism_model/SimpleTransmission - - 1 - - - EffortJointInterface - - - - - - diff --git a/sr_description/arm/xacro/hand_support/shadowarm_handsupport_muscle.urdf.xacro b/sr_description/arm/xacro/hand_support/shadowarm_handsupport_muscle.urdf.xacro deleted file mode 100644 index f1b4b65b1..000000000 --- a/sr_description/arm/xacro/hand_support/shadowarm_handsupport_muscle.urdf.xacro +++ /dev/null @@ -1,45 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - Gazebo/Grey - false - - - - - - - - - - - 1 - 1 - - - - diff --git a/sr_description/arm/xacro/lower_arm/shadowarm_lowerarm.transmission.xacro b/sr_description/arm/xacro/lower_arm/shadowarm_lowerarm.transmission.xacro deleted file mode 100644 index 2a8edde9c..000000000 --- a/sr_description/arm/xacro/lower_arm/shadowarm_lowerarm.transmission.xacro +++ /dev/null @@ -1,21 +0,0 @@ - - - - - - - sr_mechanism_model/SimpleTransmission - - 1 - - - EffortJointInterface - - - - - - diff --git a/sr_description/arm/xacro/lower_arm/shadowarm_lowerarm.urdf.xacro b/sr_description/arm/xacro/lower_arm/shadowarm_lowerarm.urdf.xacro deleted file mode 100644 index a828e28cb..000000000 --- a/sr_description/arm/xacro/lower_arm/shadowarm_lowerarm.urdf.xacro +++ /dev/null @@ -1,44 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - false - - - - - - - - - - - 1 - 1 - - - - diff --git a/sr_description/arm/xacro/trunk/shadowarm_trunk.transmission.xacro b/sr_description/arm/xacro/trunk/shadowarm_trunk.transmission.xacro deleted file mode 100644 index cdf56108f..000000000 --- a/sr_description/arm/xacro/trunk/shadowarm_trunk.transmission.xacro +++ /dev/null @@ -1,20 +0,0 @@ - - - - - - - sr_mechanism_model/SimpleTransmission - - 1 - - - EffortJointInterface - - - - - diff --git a/sr_description/arm/xacro/trunk/shadowarm_trunk.urdf.xacro b/sr_description/arm/xacro/trunk/shadowarm_trunk.urdf.xacro deleted file mode 100644 index a71dda031..000000000 --- a/sr_description/arm/xacro/trunk/shadowarm_trunk.urdf.xacro +++ /dev/null @@ -1,44 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - false - - - - - - - - - - - 1 - 1 - - - - diff --git a/sr_description/arm/xacro/upper_arm/shadowarm_upperarm.transmission.xacro b/sr_description/arm/xacro/upper_arm/shadowarm_upperarm.transmission.xacro deleted file mode 100644 index b53f5be1f..000000000 --- a/sr_description/arm/xacro/upper_arm/shadowarm_upperarm.transmission.xacro +++ /dev/null @@ -1,21 +0,0 @@ - - - - - - - sr_mechanism_model/SimpleTransmission - - 1 - - - EffortJointInterface - - - - - - diff --git a/sr_description/arm/xacro/upper_arm/shadowarm_upperarm.urdf.xacro b/sr_description/arm/xacro/upper_arm/shadowarm_upperarm.urdf.xacro deleted file mode 100644 index 540d00e5e..000000000 --- a/sr_description/arm/xacro/upper_arm/shadowarm_upperarm.urdf.xacro +++ /dev/null @@ -1,45 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - false - - - - - - - - - - - - 1 - 1 - - - - diff --git a/sr_description/doc/ArmInertia.md b/sr_description/doc/ArmInertia.md deleted file mode 100644 index d7264e017..000000000 --- a/sr_description/doc/ArmInertia.md +++ /dev/null @@ -1,86 +0,0 @@ -Author Guillaume WALCK gwalck@techfak.uni-bielefeld.de - -work done during the HANDLE project in 2011 (inertia tensor moved to joint axis) -reworked 2015 (inertia tensor at COM) - -Overview -======== - -Arm inertia estimated from bounding box or bounding cylinders. -mass estimated from volume of bounding boxes times density of material -computation done with octave - - -Octave functions -================ - -```octave -function [ix,iy,iz] = inertiabox(sx,sy,sz,mass) - -ix = 1/12.0*mass*(sy*sy+sz*sz); -iy = 1/12.0*mass*(sx*sx+sz*sz); -iz = 1/12.0*mass*(sy*sy+sx*sx); -end -``` - -```octave -function [ix,iy,iz] = inertiacyl(radius,length,mass) -% along z - -iz = mass* radius*radius/2; -ix = 1/12.0* mass * (3*radius*radius+length*length); -iy = ix; -end -``` - -Inertia Tensors -=============== - -```octave -base aluminum m=400g -inertiabox(0.145,0.145,0.012,0.4) -Ix = 7.0563e-04 -Iy = 7.0563e-04 -Iz = 0.0014017 -``` - - -```octave -hand_support_plate_motor aluminum m=750g -inertiacyl(0.0675,0.006,0.75) -Ix = 8.5655e-04 -Iy = 8.5655e-04 -Iz = 0.0017086 -``` - -```octave -hand_support_plate_muscle aluminum m=750g -inertiacyl(0.07,0.006,0.75) -Ix = 9.2100e-04 -Iy = 9.2100e-04 -Iz = 0.0018375 -``` - -```octave -trunk various material m=10kg -inertiacyl(0.17/2,0.580,10.0) -Ix = 0.29840 -Iy = 0.29840 -Iz = 0.036125 -``` - -```octave -upperarm various material m=2kg -inertiacyl(0.15/2,0.500,2.0) -Ix = 0.044479 -Iy = 0.044479 -Iz = 0.0056250 -``` - -```octave -lower_arm various material m=1.7kg -inertiabox(0.080,0.078,0.07,1.7) -Ix = 0.0015561 -Iy = 0.0016008 -Iz = 0.0017686 -``` diff --git a/sr_description/doc/img/dexterous_hand_reference_frames.png b/sr_description/doc/img/dexterous_hand_reference_frames.png new file mode 100644 index 000000000..9c58601be Binary files /dev/null and b/sr_description/doc/img/dexterous_hand_reference_frames.png differ diff --git a/sr_description/meshes/hand/palm_very_small.png b/sr_description/doc/img/palm_very_small.png similarity index 100% rename from sr_description/meshes/hand/palm_very_small.png rename to sr_description/doc/img/palm_very_small.png diff --git a/sr_description/hand/xacro/ff_biotac_hand.urdf.xacro b/sr_description/hand/xacro/ff_biotac_hand.urdf.xacro deleted file mode 100644 index 617fdd9c5..000000000 --- a/sr_description/hand/xacro/ff_biotac_hand.urdf.xacro +++ /dev/null @@ -1,77 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/sr_description/hand/xacro/finger/biotac/biotac.urdf.xacro b/sr_description/hand/xacro/finger/biotac/biotac.urdf.xacro deleted file mode 100644 index ab72b1a58..000000000 --- a/sr_description/hand/xacro/finger/biotac/biotac.urdf.xacro +++ /dev/null @@ -1,174 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1 - 1000.0 - - - ${prefix}${link_prefix}middle_collision - ${prefix}${link_prefix}middle_collision - - - 100.0 - ${prefix}${link_prefix}middle - - contacts/${prefix}${link_prefix}/middle - - - Gazebo/FlatBlack - - - - - - - - - - - 1 - 1 - - - - - - - - - - - - - - - - - - 1 - 1 - - - - - - - - - - - - - - - - - - - - - - - - - - - 1 - 1000.0 - - - ${prefix}${link_prefix}distal_collision - ${prefix}${link_prefix}distal_collision - - - 100.0 - ${prefix}${link_prefix}distal - - contacts/${prefix}${link_prefix}/distal - - - true - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/sr_description/hand/xacro/finger/distal/distal.gazebo.xacro b/sr_description/hand/xacro/finger/distal/distal.gazebo.xacro index cb02ab294..3c260722b 100644 --- a/sr_description/hand/xacro/finger/distal/distal.gazebo.xacro +++ b/sr_description/hand/xacro/finger/distal/distal.gazebo.xacro @@ -1,28 +1,27 @@ - - - - - - 1 - 1000.0 - - ${prefix}${link_prefix}distal_collision - ${prefix}${link_prefix}distal_collision - - - true - ${prefix}${link_prefix}distal - 100.0 - contacts/${prefix}${link_prefix}/distal - - + + + + + 1 + 1000.0 + + ${prefix}${link_prefix}distal_collision + ${prefix}${link_prefix}distal_collision + + + true + ${prefix}${link_prefix}distal + 100.0 + contacts/${prefix}${link_prefix}/distal + + + - true diff --git a/sr_description/hand/xacro/finger/distal/distal.transmission.xacro b/sr_description/hand/xacro/finger/distal/distal.transmission.xacro index e9f1f30cf..be2a696ab 100644 --- a/sr_description/hand/xacro/finger/distal/distal.transmission.xacro +++ b/sr_description/hand/xacro/finger/distal/distal.transmission.xacro @@ -4,14 +4,10 @@ xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:xacro="http://www.ros.org/wiki/xacro"> - - - - - + - + sr_mechanism_model/SimpleTransmissionForMuscle @@ -22,9 +18,9 @@ PositionJointInterface - + - + sr_mechanism_model/SimpleTransmission @@ -35,7 +31,7 @@ PositionJointInterface - + diff --git a/sr_description/hand/xacro/finger/distal/distal.urdf.xacro b/sr_description/hand/xacro/finger/distal/distal.urdf.xacro index 19ff6474a..ee93a4ae4 100644 --- a/sr_description/hand/xacro/finger/distal/distal.urdf.xacro +++ b/sr_description/hand/xacro/finger/distal/distal.urdf.xacro @@ -1,121 +1,62 @@ + xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" + xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" + xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#slider" + xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" + xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body" + xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"> - - - - - - - - - - + - + - - - + + + + + + + + - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + - - - - - - - - - - - - - - - - - - - - - - - + - - - - - - - - + + @@ -125,8 +66,7 @@ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"> - + @@ -136,7 +76,6 @@ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"> - + diff --git a/sr_description/hand/xacro/finger/fingers.urdf.xacro b/sr_description/hand/xacro/finger/fingers.urdf.xacro index 644369191..86f5ddd83 100644 --- a/sr_description/hand/xacro/finger/fingers.urdf.xacro +++ b/sr_description/hand/xacro/finger/fingers.urdf.xacro @@ -4,66 +4,38 @@ - - - - - - - - - - - - - + + + - - + + - + - + - + - - - - - + + + + - - - - - - - - + + + + + + diff --git a/sr_description/hand/xacro/finger/knuckle/knuckle.gazebo.xacro b/sr_description/hand/xacro/finger/knuckle/knuckle.gazebo.xacro index 661ce3feb..3ed98b28a 100644 --- a/sr_description/hand/xacro/finger/knuckle/knuckle.gazebo.xacro +++ b/sr_description/hand/xacro/finger/knuckle/knuckle.gazebo.xacro @@ -1,26 +1,9 @@ - - - - - - 1 - 1000.0 - - ${prefix}${link_prefix}knuckle_collision - ${prefix}${link_prefix}knuckle_collision - - - true - ${prefix}${link_prefix}knuckle - 100.0 - contacts/${prefix}${link_prefix}/knuckle - - + + + Gazebo/Grey - - diff --git a/sr_description/hand/xacro/finger/knuckle/knuckle.transmission.xacro b/sr_description/hand/xacro/finger/knuckle/knuckle.transmission.xacro index 6476965b0..68d58c952 100644 --- a/sr_description/hand/xacro/finger/knuckle/knuckle.transmission.xacro +++ b/sr_description/hand/xacro/finger/knuckle/knuckle.transmission.xacro @@ -4,14 +4,9 @@ xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:xacro="http://www.ros.org/wiki/xacro"> - - - - - - + - + sr_mechanism_model/SimpleTransmissionForMuscle @@ -24,7 +19,7 @@ - + sr_mechanism_model/SimpleTransmission @@ -36,7 +31,5 @@ - - diff --git a/sr_description/hand/xacro/finger/knuckle/knuckle.urdf.xacro b/sr_description/hand/xacro/finger/knuckle/knuckle.urdf.xacro index 2f6970869..3aad5a2ff 100644 --- a/sr_description/hand/xacro/finger/knuckle/knuckle.urdf.xacro +++ b/sr_description/hand/xacro/finger/knuckle/knuckle.urdf.xacro @@ -1,39 +1,31 @@ + xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" + xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" + xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#slider" + xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" + xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body" + xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"> - - - - - - + + - + - + - @@ -44,8 +36,7 @@ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"> - + @@ -53,10 +44,7 @@ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"> 1 - - + + diff --git a/sr_description/hand/xacro/finger/lfmetacarpal/lfmetacarpal.gazebo.xacro b/sr_description/hand/xacro/finger/lfmetacarpal/lfmetacarpal.gazebo.xacro index 945527b6c..2b9820ba1 100644 --- a/sr_description/hand/xacro/finger/lfmetacarpal/lfmetacarpal.gazebo.xacro +++ b/sr_description/hand/xacro/finger/lfmetacarpal/lfmetacarpal.gazebo.xacro @@ -1,25 +1,24 @@ - - - - - - 1 - 1000.0 - - ${prefix}lfmetacarpal_collision - ${prefix}lfmetacarpal_collision - - - true - ${prefix}lfmetacarpal - 100.0 - contacts/${prefix}lf/metacarpal - - + + + + + 1 + 1000.0 + + ${prefix}lfmetacarpal_collision + ${prefix}lfmetacarpal_collision + + + true + ${prefix}lfmetacarpal + 100.0 + contacts/${prefix}lf/metacarpal + + + true - diff --git a/sr_description/hand/xacro/finger/lfmetacarpal/lfmetacarpal.transmission.xacro b/sr_description/hand/xacro/finger/lfmetacarpal/lfmetacarpal.transmission.xacro index 30c2a85b1..a976af48f 100644 --- a/sr_description/hand/xacro/finger/lfmetacarpal/lfmetacarpal.transmission.xacro +++ b/sr_description/hand/xacro/finger/lfmetacarpal/lfmetacarpal.transmission.xacro @@ -4,12 +4,9 @@ xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:xacro="http://www.ros.org/wiki/xacro"> - - - - + - + sr_mechanism_model/SimpleTransmissionForMuscle @@ -22,7 +19,7 @@ - + sr_mechanism_model/SimpleTransmission @@ -34,7 +31,5 @@ - - diff --git a/sr_description/hand/xacro/finger/lfmetacarpal/lfmetacarpal.urdf.xacro b/sr_description/hand/xacro/finger/lfmetacarpal/lfmetacarpal.urdf.xacro index f376bb267..4a6858940 100644 --- a/sr_description/hand/xacro/finger/lfmetacarpal/lfmetacarpal.urdf.xacro +++ b/sr_description/hand/xacro/finger/lfmetacarpal/lfmetacarpal.urdf.xacro @@ -1,30 +1,25 @@ + xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" + xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" + xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#slider" + xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" + xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body" + xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"> - - - - - + + - + - @@ -41,8 +36,7 @@ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"> - + @@ -50,9 +44,7 @@ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"> 1 - - + + diff --git a/sr_description/hand/xacro/finger/middle/middle.gazebo.xacro b/sr_description/hand/xacro/finger/middle/middle.gazebo.xacro index 8f3449f20..514a9a578 100644 --- a/sr_description/hand/xacro/finger/middle/middle.gazebo.xacro +++ b/sr_description/hand/xacro/finger/middle/middle.gazebo.xacro @@ -1,9 +1,8 @@ - - - - + + + 1 1000.0 @@ -11,14 +10,14 @@ ${prefix}${link_prefix}middle_collision ${prefix}${link_prefix}middle_collision - + true ${prefix}${link_prefix}middle 100.0 contacts/${prefix}${link_prefix}/middle - + true diff --git a/sr_description/hand/xacro/finger/middle/middle.transmission.xacro b/sr_description/hand/xacro/finger/middle/middle.transmission.xacro index c764e7d9c..60f544ddb 100644 --- a/sr_description/hand/xacro/finger/middle/middle.transmission.xacro +++ b/sr_description/hand/xacro/finger/middle/middle.transmission.xacro @@ -4,14 +4,9 @@ xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:xacro="http://www.ros.org/wiki/xacro"> - - - - - - + - + sr_mechanism_model/J0TransmissionForMuscle @@ -29,7 +24,7 @@ - + sr_mechanism_model/J0Transmission @@ -39,7 +34,6 @@ EffortJointInterface PositionJointInterface - diff --git a/sr_description/hand/xacro/finger/middle/middle.urdf.xacro b/sr_description/hand/xacro/finger/middle/middle.urdf.xacro index 6f727dcdf..28aa83b7d 100644 --- a/sr_description/hand/xacro/finger/middle/middle.urdf.xacro +++ b/sr_description/hand/xacro/finger/middle/middle.urdf.xacro @@ -1,39 +1,32 @@ + xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" + xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" + xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#slider" + xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" + xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body" + xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"> - - - - - - + + - + - + - @@ -55,8 +48,7 @@ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"> - + @@ -64,10 +56,7 @@ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"> 1 - - + + diff --git a/sr_description/hand/xacro/finger/middle/middle_and_distal_bt_2p.urdf.xacro b/sr_description/hand/xacro/finger/middle/middle_and_distal_bt_2p.urdf.xacro new file mode 100644 index 000000000..022b025d7 --- /dev/null +++ b/sr_description/hand/xacro/finger/middle/middle_and_distal_bt_2p.urdf.xacro @@ -0,0 +1,144 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1 + 1000.0 + + ${prefix}${link_prefix}middle_collision + ${prefix}${link_prefix}middle_collision + + + 100.0 + ${prefix}${link_prefix}middle + contacts/${prefix}${link_prefix}/middle + + + + Gazebo/FlatBlack + + + + + + + + + + + 1 + 1 + + + + + + + + + + + + + + + + + + 1 + 1 + + + + + + + + + + + + + + + + + + + + + + + + + 1 + 1000.0 + + ${prefix}${link_prefix}distal_collision + ${prefix}${link_prefix}distal_collision + + + 100.0 + ${prefix}${link_prefix}distal + contacts/${prefix}${link_prefix}/distal + + + + true + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/sr_description/hand/xacro/finger/proximal/proximal.gazebo.xacro b/sr_description/hand/xacro/finger/proximal/proximal.gazebo.xacro index 21b074cb8..9d1c7fd96 100644 --- a/sr_description/hand/xacro/finger/proximal/proximal.gazebo.xacro +++ b/sr_description/hand/xacro/finger/proximal/proximal.gazebo.xacro @@ -1,24 +1,23 @@ - - - - - - 1 - 1000.0 - - ${prefix}${link_prefix}proximal_collision - ${prefix}${link_prefix}proximal_collision - - - true - ${prefix}${link_prefix}proximal - 100.0 - contacts/${prefix}${link_prefix}/proximal - - - + + + + + 1 + 1000.0 + + ${prefix}${link_prefix}proximal_collision + ${prefix}${link_prefix}proximal_collision + + + true + ${prefix}${link_prefix}proximal + 100.0 + contacts/${prefix}${link_prefix}/proximal + + + true diff --git a/sr_description/hand/xacro/finger/proximal/proximal.transmission.xacro b/sr_description/hand/xacro/finger/proximal/proximal.transmission.xacro index 37a91293f..849639f80 100644 --- a/sr_description/hand/xacro/finger/proximal/proximal.transmission.xacro +++ b/sr_description/hand/xacro/finger/proximal/proximal.transmission.xacro @@ -4,14 +4,9 @@ xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:xacro="http://www.ros.org/wiki/xacro"> - - - - - - + - + sr_mechanism_model/SimpleTransmissionForMuscle @@ -24,7 +19,7 @@ - + sr_mechanism_model/SimpleTransmission @@ -36,6 +31,5 @@ - diff --git a/sr_description/hand/xacro/finger/proximal/proximal.urdf.xacro b/sr_description/hand/xacro/finger/proximal/proximal.urdf.xacro index b0ac52573..581620668 100644 --- a/sr_description/hand/xacro/finger/proximal/proximal.urdf.xacro +++ b/sr_description/hand/xacro/finger/proximal/proximal.urdf.xacro @@ -1,39 +1,32 @@ + xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" + xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" + xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#slider" + xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" + xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body" + xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"> - - - - - - + + - + - + - @@ -43,8 +36,7 @@ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"> - + @@ -52,10 +44,7 @@ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"> 1 - - + + diff --git a/sr_description/hand/xacro/forearm/forearm.urdf.xacro b/sr_description/hand/xacro/forearm/forearm.urdf.xacro deleted file mode 100644 index 6d9547d8e..000000000 --- a/sr_description/hand/xacro/forearm/forearm.urdf.xacro +++ /dev/null @@ -1,112 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - false - - - diff --git a/sr_description/hand/xacro/forearm/forearm_c.urdf.xacro b/sr_description/hand/xacro/forearm/forearm_c.urdf.xacro new file mode 100644 index 000000000..0f897f893 --- /dev/null +++ b/sr_description/hand/xacro/forearm/forearm_c.urdf.xacro @@ -0,0 +1,45 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + false + + + diff --git a/sr_description/hand/xacro/forearm/forearm_e.urdf.xacro b/sr_description/hand/xacro/forearm/forearm_e.urdf.xacro new file mode 100644 index 000000000..0dd2b5909 --- /dev/null +++ b/sr_description/hand/xacro/forearm/forearm_e.urdf.xacro @@ -0,0 +1,57 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + false + + + diff --git a/sr_description/hand/xacro/forearm/forearm_g.urdf.xacro b/sr_description/hand/xacro/forearm/forearm_g.urdf.xacro new file mode 100644 index 000000000..2d90f33d3 --- /dev/null +++ b/sr_description/hand/xacro/forearm/forearm_g.urdf.xacro @@ -0,0 +1,39 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/sr_description/hand/xacro/forearm/forearm_lite.urdf.xacro b/sr_description/hand/xacro/forearm/forearm_lite.urdf.xacro deleted file mode 100644 index a4bcede8a..000000000 --- a/sr_description/hand/xacro/forearm/forearm_lite.urdf.xacro +++ /dev/null @@ -1,58 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/sr_description/hand/xacro/full_hand.urdf.xacro b/sr_description/hand/xacro/full_hand.urdf.xacro deleted file mode 100644 index 644b0369b..000000000 --- a/sr_description/hand/xacro/full_hand.urdf.xacro +++ /dev/null @@ -1,81 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/sr_description/hand/xacro/hand.urdf.xacro b/sr_description/hand/xacro/hand.urdf.xacro new file mode 100644 index 000000000..d7df4fe6b --- /dev/null +++ b/sr_description/hand/xacro/hand.urdf.xacro @@ -0,0 +1,34 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/sr_description/hand/xacro/hand_E_no_mf_rf.urdf.xacro b/sr_description/hand/xacro/hand_E_no_mf_rf.urdf.xacro deleted file mode 100644 index 35bd0a2b9..000000000 --- a/sr_description/hand/xacro/hand_E_no_mf_rf.urdf.xacro +++ /dev/null @@ -1,64 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/sr_description/hand/xacro/hand_c.urdf.xacro b/sr_description/hand/xacro/hand_c.urdf.xacro new file mode 100644 index 000000000..5aa196e78 --- /dev/null +++ b/sr_description/hand/xacro/hand_c.urdf.xacro @@ -0,0 +1,68 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/sr_description/hand/xacro/hand_e.urdf.xacro b/sr_description/hand/xacro/hand_e.urdf.xacro new file mode 100644 index 000000000..a4ed63b5e --- /dev/null +++ b/sr_description/hand/xacro/hand_e.urdf.xacro @@ -0,0 +1,72 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/sr_description/hand/xacro/hand_g.urdf.xacro b/sr_description/hand/xacro/hand_g.urdf.xacro new file mode 100644 index 000000000..e52ba86f1 --- /dev/null +++ b/sr_description/hand/xacro/hand_g.urdf.xacro @@ -0,0 +1,68 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/sr_description/hand/xacro/hand_lite.urdf.xacro b/sr_description/hand/xacro/hand_lite.urdf.xacro deleted file mode 100644 index e7758c46a..000000000 --- a/sr_description/hand/xacro/hand_lite.urdf.xacro +++ /dev/null @@ -1,67 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/sr_description/hand/xacro/one_finger_unit.urdf.xacro b/sr_description/hand/xacro/one_finger_unit.urdf.xacro deleted file mode 100644 index 54f636218..000000000 --- a/sr_description/hand/xacro/one_finger_unit.urdf.xacro +++ /dev/null @@ -1,59 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/sr_description/hand/xacro/palm/imu.urdf.xacro b/sr_description/hand/xacro/palm/imu.urdf.xacro index 4fe687c7e..529bf5ef3 100644 --- a/sr_description/hand/xacro/palm/imu.urdf.xacro +++ b/sr_description/hand/xacro/palm/imu.urdf.xacro @@ -1,16 +1,10 @@ - + - - - - - - diff --git a/sr_description/hand/xacro/palm/palm.gazebo.xacro b/sr_description/hand/xacro/palm/palm.gazebo.xacro index 20456a177..5547984b4 100644 --- a/sr_description/hand/xacro/palm/palm.gazebo.xacro +++ b/sr_description/hand/xacro/palm/palm.gazebo.xacro @@ -1,24 +1,23 @@ - - - - - - 1 - 1000.0 - - ${prefix}palm_collision - ${prefix}palm_collision - - - true - ${prefix}palm - 100.0 - contacts/${prefix}palm - - - + + + + + 1 + 1000.0 + + ${prefix}palm_collision + ${prefix}palm_collision + + + true + ${prefix}palm + 100.0 + contacts/${prefix}palm + + + diff --git a/sr_description/hand/xacro/palm/palm.transmission.xacro b/sr_description/hand/xacro/palm/palm.transmission.xacro index 718fcada9..e2b780cec 100644 --- a/sr_description/hand/xacro/palm/palm.transmission.xacro +++ b/sr_description/hand/xacro/palm/palm.transmission.xacro @@ -4,12 +4,9 @@ xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:xacro="http://www.ros.org/wiki/xacro"> - - - - + - + sr_mechanism_model/SimpleTransmissionForMuscle @@ -22,7 +19,7 @@ - + sr_mechanism_model/SimpleTransmission @@ -34,7 +31,5 @@ - - diff --git a/sr_description/hand/xacro/palm/palm.urdf.xacro b/sr_description/hand/xacro/palm/palm_e.urdf.xacro similarity index 62% rename from sr_description/hand/xacro/palm/palm.urdf.xacro rename to sr_description/hand/xacro/palm/palm_e.urdf.xacro index ab547fbee..b4022e4e5 100644 --- a/sr_description/hand/xacro/palm/palm.urdf.xacro +++ b/sr_description/hand/xacro/palm/palm_e.urdf.xacro @@ -1,32 +1,27 @@ + xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" + xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" + xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#slider" + xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" + xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body" + xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"> - - - - - + + - + - + @@ -37,31 +32,27 @@ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"> - + - + - + - + @@ -99,8 +90,7 @@ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"> - + @@ -108,10 +98,9 @@ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"> 1 - + - - + + diff --git a/sr_description/hand/xacro/palm/palm_lite.urdf.xacro b/sr_description/hand/xacro/palm/palm_g.urdf.xacro similarity index 62% rename from sr_description/hand/xacro/palm/palm_lite.urdf.xacro rename to sr_description/hand/xacro/palm/palm_g.urdf.xacro index 73cea67f2..269e2cc99 100644 --- a/sr_description/hand/xacro/palm/palm_lite.urdf.xacro +++ b/sr_description/hand/xacro/palm/palm_g.urdf.xacro @@ -1,30 +1,25 @@ + xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" + xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" + xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#slider" + xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" + xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body" + xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"> - - - - - + + - + - @@ -36,24 +31,21 @@ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"> - + - + - + @@ -88,7 +80,7 @@ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"> - - + + diff --git a/sr_description/hand/xacro/process_fingers_parameter.xacro b/sr_description/hand/xacro/process_fingers_parameter.xacro new file mode 100644 index 000000000..80878e31a --- /dev/null +++ b/sr_description/hand/xacro/process_fingers_parameter.xacro @@ -0,0 +1,32 @@ + + + + + + + + + + + + + + + + + + + ${xacro.warning('Parameter "lf" is deprecated. Please use fingers="tf ff mf rf" instead!')} + + + + + + + + + ${xacro.warning('Parameter "extra_lite" is deprecated. Please use fingers="tf ff rf" instead!')} + + + + diff --git a/sr_description/hand/xacro/process_hand_type_version_side_parameters.xacro b/sr_description/hand/xacro/process_hand_type_version_side_parameters.xacro new file mode 100644 index 000000000..e63c5971c --- /dev/null +++ b/sr_description/hand/xacro/process_hand_type_version_side_parameters.xacro @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + ${xacro.error("Parameter 'hand_type' ("+hand_type+") doesn't comply with 'hand_version' ("+hand_version+")")} + + + + + + + + + + + + + + diff --git a/sr_description/hand/xacro/process_sensor_parameters.xacro b/sr_description/hand/xacro/process_sensor_parameters.xacro new file mode 100644 index 000000000..8ab05891e --- /dev/null +++ b/sr_description/hand/xacro/process_sensor_parameters.xacro @@ -0,0 +1,82 @@ + + + + + + + + + + + + + + + + + + + + ${xacro.warning('Parameter "' + name + '" is deprecated. Please use tip_sensors=' + name + ' instead!')} + + + + + + + + + + + + + + + + + + + + + + + + ${xacro.warning('Deprecated specifier (list) used for ' + name + '. Replace with: ' + name + '="' + ' '.join([_fmt_pair_.format(f=k, sensor=v) for k,v in _tmp_]) + '"')} + + + + + + ${xacro.warning('Deprecated specifier (dict) used for ' + name + '. Replace with: ' + name + '="' + ' '.join([_fmt_pair_.format(f=k, sensor=v) for k,v in _tmp_]) + '"')} + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/sr_description/hand/xacro/th_ff_rf_ellipsoid_hand.urdf.xacro b/sr_description/hand/xacro/th_ff_rf_ellipsoid_hand.urdf.xacro deleted file mode 100644 index f3aff5b03..000000000 --- a/sr_description/hand/xacro/th_ff_rf_ellipsoid_hand.urdf.xacro +++ /dev/null @@ -1,76 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/sr_description/hand/xacro/three_biotac_fingers_hand.urdf.xacro b/sr_description/hand/xacro/three_biotac_fingers_hand.urdf.xacro deleted file mode 100644 index 64a551704..000000000 --- a/sr_description/hand/xacro/three_biotac_fingers_hand.urdf.xacro +++ /dev/null @@ -1,76 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/sr_description/hand/xacro/three_fingers_hand.urdf.xacro b/sr_description/hand/xacro/three_fingers_hand.urdf.xacro deleted file mode 100644 index 228287397..000000000 --- a/sr_description/hand/xacro/three_fingers_hand.urdf.xacro +++ /dev/null @@ -1,61 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/sr_description/hand/xacro/three_fingers_hand_RF.urdf.xacro b/sr_description/hand/xacro/three_fingers_hand_RF.urdf.xacro deleted file mode 100644 index 014a34ffb..000000000 --- a/sr_description/hand/xacro/three_fingers_hand_RF.urdf.xacro +++ /dev/null @@ -1,61 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/sr_description/hand/xacro/thumb/thbase.gazebo.xacro b/sr_description/hand/xacro/thumb/thbase.gazebo.xacro index f431be53e..0a92722cf 100644 --- a/sr_description/hand/xacro/thumb/thbase.gazebo.xacro +++ b/sr_description/hand/xacro/thumb/thbase.gazebo.xacro @@ -1,25 +1,9 @@ - - - - - - 1 - 1000.0 - - ${prefix}thbase_collision - ${prefix}thbase_collision - - - true - ${prefix}thbase - 100.0 - contacts/${prefix}th/base - - + + + false - diff --git a/sr_description/hand/xacro/thumb/thbase.transmission.xacro b/sr_description/hand/xacro/thumb/thbase.transmission.xacro index 903aeda36..22cb4e401 100644 --- a/sr_description/hand/xacro/thumb/thbase.transmission.xacro +++ b/sr_description/hand/xacro/thumb/thbase.transmission.xacro @@ -4,12 +4,9 @@ xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:xacro="http://www.ros.org/wiki/xacro"> - - - - + - + sr_mechanism_model/SimpleTransmissionForMuscle @@ -22,7 +19,7 @@ - + sr_mechanism_model/SimpleTransmission diff --git a/sr_description/hand/xacro/thumb/thbase.urdf.xacro b/sr_description/hand/xacro/thumb/thbase.urdf.xacro index c07c18915..00fa0d60a 100644 --- a/sr_description/hand/xacro/thumb/thbase.urdf.xacro +++ b/sr_description/hand/xacro/thumb/thbase.urdf.xacro @@ -1,24 +1,20 @@ + xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" + xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" + xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#slider" + xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" + xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body" + xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"> - - - - - + + - + @@ -39,11 +35,9 @@ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"> - + - + @@ -51,8 +45,7 @@ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"> 1 - - + + diff --git a/sr_description/hand/xacro/thumb/thdistal.gazebo.xacro b/sr_description/hand/xacro/thumb/thdistal.gazebo.xacro index 4c4d60505..a6deb1824 100644 --- a/sr_description/hand/xacro/thumb/thdistal.gazebo.xacro +++ b/sr_description/hand/xacro/thumb/thdistal.gazebo.xacro @@ -1,28 +1,27 @@ - - - - - - 1 - 1000.0 - - ${prefix}thdistal_collision - ${prefix}thdistal_collision - - - true - ${prefix}thdistal - 100.0 - contacts/${prefix}th/distal - - + + + + + 1 + 1000.0 + + ${prefix}thdistal_collision + ${prefix}thdistal_collision + + + true + ${prefix}thdistal + 100.0 + contacts/${prefix}th/distal + + + - true diff --git a/sr_description/hand/xacro/thumb/thdistal.transmission.xacro b/sr_description/hand/xacro/thumb/thdistal.transmission.xacro index f116de891..f7015f0d4 100644 --- a/sr_description/hand/xacro/thumb/thdistal.transmission.xacro +++ b/sr_description/hand/xacro/thumb/thdistal.transmission.xacro @@ -4,12 +4,9 @@ xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:xacro="http://www.ros.org/wiki/xacro"> - - - - + - + sr_mechanism_model/SimpleTransmissionForMuscle @@ -22,7 +19,7 @@ - + sr_mechanism_model/SimpleTransmission diff --git a/sr_description/hand/xacro/thumb/thdistal.urdf.xacro b/sr_description/hand/xacro/thumb/thdistal.urdf.xacro index 3c80b3f1d..3f0d963cf 100644 --- a/sr_description/hand/xacro/thumb/thdistal.urdf.xacro +++ b/sr_description/hand/xacro/thumb/thdistal.urdf.xacro @@ -1,24 +1,16 @@ + xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" + xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" + xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#slider" + xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" + xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body" + xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"> - - - - - - - - - - + + + @@ -32,8 +24,7 @@ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"> - + @@ -45,23 +36,19 @@ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"> - + - - - - - @@ -74,13 +61,11 @@ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"> ${prefix}thdistal_geom ${prefix}thdistal_collision - + true ${prefix}thdistal 100.0 - - contacts/${prefix}th/distal + contacts/${prefix}th/distal true @@ -92,19 +77,12 @@ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"> - - + - @@ -112,46 +90,33 @@ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"> - + - + - + - - - + + + + + + + + - - - - - - - - - - - - - - - - @@ -160,30 +125,18 @@ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"> - - - + + + + + + + + - - - - - - - - - - - - - - - - - @@ -192,8 +145,7 @@ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"> - + @@ -203,8 +155,7 @@ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"> - + @@ -212,10 +163,9 @@ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"> - + - + diff --git a/sr_description/hand/xacro/thumb/thhub.gazebo.xacro b/sr_description/hand/xacro/thumb/thhub.gazebo.xacro index 1056b8549..aefd59e08 100644 --- a/sr_description/hand/xacro/thumb/thhub.gazebo.xacro +++ b/sr_description/hand/xacro/thumb/thhub.gazebo.xacro @@ -1,25 +1,9 @@ - - - - - - 1 - 1000.0 - - ${prefix}thhub_collision - ${prefix}thhub_collision - - - true - ${prefix}thhub - 100.0 - contacts/${prefix}th/hub - - - true - + + + + false diff --git a/sr_description/hand/xacro/thumb/thhub.transmission.xacro b/sr_description/hand/xacro/thumb/thhub.transmission.xacro index 97fb5a6a9..120495993 100644 --- a/sr_description/hand/xacro/thumb/thhub.transmission.xacro +++ b/sr_description/hand/xacro/thumb/thhub.transmission.xacro @@ -4,12 +4,9 @@ xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:xacro="http://www.ros.org/wiki/xacro"> - - - - + - + sr_mechanism_model/SimpleTransmissionForMuscle @@ -22,7 +19,7 @@ - + sr_mechanism_model/SimpleTransmission diff --git a/sr_description/hand/xacro/thumb/thhub.urdf.xacro b/sr_description/hand/xacro/thumb/thhub.urdf.xacro index a5e417771..70cdc5688 100644 --- a/sr_description/hand/xacro/thumb/thhub.urdf.xacro +++ b/sr_description/hand/xacro/thumb/thhub.urdf.xacro @@ -1,25 +1,20 @@ + xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" + xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" + xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#slider" + xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" + xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body" + xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"> - - - - - - + + - + @@ -51,8 +46,7 @@ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"> - + @@ -62,9 +56,8 @@ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"> - + - + diff --git a/sr_description/hand/xacro/thumb/thmiddle.gazebo.xacro b/sr_description/hand/xacro/thumb/thmiddle.gazebo.xacro index e48f5de27..51f331693 100644 --- a/sr_description/hand/xacro/thumb/thmiddle.gazebo.xacro +++ b/sr_description/hand/xacro/thumb/thmiddle.gazebo.xacro @@ -1,25 +1,24 @@ - - - - - - 1 - 1000.0 - - ${prefix}thmiddle_collision - ${prefix}thmiddle_collision - - - true - ${prefix}thmiddle - 100.0 - contacts/${prefix}th/middle - - - true - + + + + + 1 + 1000.0 + + ${prefix}thmiddle_collision + ${prefix}thmiddle_collision + + + true + ${prefix}thmiddle + 100.0 + contacts/${prefix}th/middle + + + true + diff --git a/sr_description/hand/xacro/thumb/thmiddle.transmission.xacro b/sr_description/hand/xacro/thumb/thmiddle.transmission.xacro index e9b1c5718..ce63110c0 100644 --- a/sr_description/hand/xacro/thumb/thmiddle.transmission.xacro +++ b/sr_description/hand/xacro/thumb/thmiddle.transmission.xacro @@ -4,12 +4,9 @@ xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:xacro="http://www.ros.org/wiki/xacro"> - - - - + - + sr_mechanism_model/SimpleTransmissionForMuscle @@ -22,7 +19,7 @@ - + sr_mechanism_model/SimpleTransmission diff --git a/sr_description/hand/xacro/thumb/thmiddle.urdf.xacro b/sr_description/hand/xacro/thumb/thmiddle.urdf.xacro index d1892b71d..5e7c08f72 100644 --- a/sr_description/hand/xacro/thumb/thmiddle.urdf.xacro +++ b/sr_description/hand/xacro/thumb/thmiddle.urdf.xacro @@ -1,36 +1,33 @@ + xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" + xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" + xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#slider" + xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" + xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body" + xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"> - - - + - + - + - + - - + - @@ -39,20 +36,20 @@ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"> - + - + - + @@ -64,16 +61,15 @@ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"> - + - + - + @@ -81,8 +77,7 @@ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"> 1 - - + + diff --git a/sr_description/hand/xacro/thumb/thproximal.gazebo.xacro b/sr_description/hand/xacro/thumb/thproximal.gazebo.xacro index 2b31ace9b..0e8103365 100644 --- a/sr_description/hand/xacro/thumb/thproximal.gazebo.xacro +++ b/sr_description/hand/xacro/thumb/thproximal.gazebo.xacro @@ -1,25 +1,24 @@ - - - - - - 1 - 1000.0 - - ${prefix}thproximal_collision - ${prefix}thproximal_collision - - - true - ${prefix}thproximal - 100.0 - contacts/${prefix}th/proximal - - + + + + + 1 + 1000.0 + + ${prefix}thproximal_collision + ${prefix}thproximal_collision + + + true + ${prefix}thproximal + 100.0 + contacts/${prefix}th/proximal + + + false - diff --git a/sr_description/hand/xacro/thumb/thproximal.transmission.xacro b/sr_description/hand/xacro/thumb/thproximal.transmission.xacro index 1c2e10675..7a8c4a381 100644 --- a/sr_description/hand/xacro/thumb/thproximal.transmission.xacro +++ b/sr_description/hand/xacro/thumb/thproximal.transmission.xacro @@ -4,12 +4,9 @@ xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:xacro="http://www.ros.org/wiki/xacro"> - - - - + - + sr_mechanism_model/SimpleTransmissionForMuscle @@ -22,7 +19,7 @@ - + sr_mechanism_model/SimpleTransmission diff --git a/sr_description/hand/xacro/thumb/thproximal.urdf.xacro b/sr_description/hand/xacro/thumb/thproximal.urdf.xacro index 05e760d80..80a4e4bc9 100644 --- a/sr_description/hand/xacro/thumb/thproximal.urdf.xacro +++ b/sr_description/hand/xacro/thumb/thproximal.urdf.xacro @@ -1,30 +1,25 @@ + xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" + xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" + xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#slider" + xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" + xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body" + xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"> - - - - - + + - + - @@ -43,8 +38,7 @@ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"> - + @@ -52,8 +46,7 @@ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"> 1 - - + + diff --git a/sr_description/hand/xacro/thumb/thumb.urdf.xacro b/sr_description/hand/xacro/thumb/thumb.urdf.xacro index 3498d4896..98bb3c9ca 100644 --- a/sr_description/hand/xacro/thumb/thumb.urdf.xacro +++ b/sr_description/hand/xacro/thumb/thumb.urdf.xacro @@ -4,34 +4,20 @@ - - - - - - - - - - + + + + + - + - - + - - > + - + - + diff --git a/sr_description/hand/xacro/validate_macros.xacro b/sr_description/hand/xacro/validate_macros.xacro new file mode 100644 index 000000000..e84ef0f30 --- /dev/null +++ b/sr_description/hand/xacro/validate_macros.xacro @@ -0,0 +1,7 @@ + + + + + ${xacro.error('Unknown '+name+': '+', '.join(_unknown_tokens_)+'. The set of available specifiers is: '+', '.join(valid))} + + diff --git a/sr_description/hand/xacro/wrist/wrist.transmission.xacro b/sr_description/hand/xacro/wrist/wrist.transmission.xacro index 5b1ae541d..be633d165 100644 --- a/sr_description/hand/xacro/wrist/wrist.transmission.xacro +++ b/sr_description/hand/xacro/wrist/wrist.transmission.xacro @@ -4,12 +4,9 @@ xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:xacro="http://www.ros.org/wiki/xacro"> - - - - + - + sr_mechanism_model/SimpleTransmissionForMuscle @@ -22,7 +19,7 @@ - + sr_mechanism_model/SimpleTransmission @@ -34,7 +31,5 @@ - - diff --git a/sr_description/hand/xacro/wrist/wrist.urdf.xacro b/sr_description/hand/xacro/wrist/wrist.urdf.xacro index 4ac1ab0ba..f835924e7 100644 --- a/sr_description/hand/xacro/wrist/wrist.urdf.xacro +++ b/sr_description/hand/xacro/wrist/wrist.urdf.xacro @@ -1,22 +1,17 @@ - - - - - + + - + - @@ -40,15 +35,13 @@ - + - + @@ -63,8 +56,7 @@ - + @@ -72,7 +64,6 @@ 1 - + diff --git a/sr_description/loaders/load_arm_and_hand_model.launch b/sr_description/loaders/load_arm_and_hand_model.launch deleted file mode 100644 index 54d1da0b9..000000000 --- a/sr_description/loaders/load_arm_and_hand_model.launch +++ /dev/null @@ -1,36 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/sr_description/loaders/load_arm_model.launch b/sr_description/loaders/load_arm_model.launch deleted file mode 100644 index 430b6b375..000000000 --- a/sr_description/loaders/load_arm_model.launch +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - diff --git a/sr_description/loaders/load_hand_model.launch b/sr_description/loaders/load_hand_model.launch index 4712eaafd..1dcb8ea24 100644 --- a/sr_description/loaders/load_hand_model.launch +++ b/sr_description/loaders/load_hand_model.launch @@ -3,69 +3,63 @@ + command="xacro '$(find sr_description)/robots/sr_hand.urdf.xacro' hand_type:=hand_c hand_version:=C6M2 side:=left fingers:=all tip_sensors:=pst"/> + command="xacro '$(find sr_description)/robots/sr_hand.urdf.xacro' hand_type:=hand_c hand_version:=C6M2 side:=right fingers:=all tip_sensors:=bt_sp"/> + command="xacro '$(find sr_description)/robots/sr_hand.urdf.xacro' hand_type:=hand_c hand_version:=C6M2 side:=right fingers:=all tip_sensors:=pst"/> + command="xacro '$(find sr_description)/robots/sr_hand.urdf.xacro' hand_type:=hand_e hand_version:=E3M5 side:=right fingers:=ff tip_sensors:=pst" /> + command="xacro '$(find sr_description)/robots/sr_hand.urdf.xacro' hand_type:=hand_e hand_version:=E3M5 side:=right fingers:=all tip_sensors:=pst" /> + command="xacro '$(find sr_description)/robots/sr_hand.urdf.xacro' hand_type:=hand_e hand_version:=E3M5 side:=right fingers:=th,ff,mf tip_sensors:=pst" /> - + + command="xacro '$(find sr_description)/robots/sr_hand.urdf.xacro' hand_type:=hand_e hand_version:=E3M5 side:=right fingers:=all tip_sensors:=bt_sp" /> - - + + + command="xacro '$(find sr_description)/robots/sr_hand.urdf.xacro' hand_type:=hand_e hand_version:=E3M5 side:=right fingers:=all tip_sensors:=bt_sp" /> - - + + - - - + command="xacro '$(find sr_description)/robots/sr_hand.urdf.xacro' hand_type:=hand_g hand_version:=G1M5 side:=right fingers:=all tip_sensors:=pst" /> + + + - - - - - - - - - - - + command="xacro '$(find sr_description)/robots/sr_hand.urdf.xacro' hand_type:=hand_g hand_version:=G1M5 side:=right fingers:=th,ff,mf tip_sensors:=pst" /> + + + + - + + + diff --git a/sr_description/loaders/load_support_model.launch b/sr_description/loaders/load_support_model.launch deleted file mode 100644 index 1a7771412..000000000 --- a/sr_description/loaders/load_support_model.launch +++ /dev/null @@ -1,4 +0,0 @@ - - - diff --git a/sr_description/mainpage.dox b/sr_description/mainpage.dox deleted file mode 100644 index 1ca1ec5fb..000000000 --- a/sr_description/mainpage.dox +++ /dev/null @@ -1,26 +0,0 @@ -/** -\mainpage -\htmlinclude manifest.html - -\b sr_description is ... - - - - -\section codeapi Code API - - - - -*/ diff --git a/sr_description/meshes/components/cable_connector/cable_connector_base_E3M5.dae b/sr_description/meshes/components/cable_connector/cable_connector_base_E3M5.dae new file mode 100644 index 000000000..7b8597dc1 --- /dev/null +++ b/sr_description/meshes/components/cable_connector/cable_connector_base_E3M5.dae @@ -0,0 +1,59 @@ + + + + + Blender User + Blender 3.0.1 commit date:2022-01-25, commit time:17:19, hash:dc2d18018171 + + 2022-02-10T09:30:09 + 2022-02-10T09:30:09 + + Z_UP + + + + + + + 28.33431 57.12572 183.2646 28.33 58.14146 183.2646 28.33867 58.14145 183.2646 28.19943 25.68105 183.2646 18.33454 57.07963 183.2646 5.728507 25.68105 183.2646 18.33011 58.12125 183.2646 27.64823 50.18185 197.1763 26.23972 57.85178 183.7646 23.33541 58.14346 183.2646 26.2141 58.00422 183.5019 23.69103 58.14324 183.2646 26.19103 58.14197 183.2646 23.44241 50.01022 198.1551 23.54812 41.85612 213.0616 29.44288 41.85494 212.1651 30.39398 37.89211 219.4549 23.65216 33.71112 227.9293 31.46643 33.70673 227.2636 23.75476 25.55724 242.791 33.75476 25.55724 242.791 20.55389 45.92826 207.0144 20.94338 50.00099 198.9619 18.42947 49.99182 199.7792 19.20372 53.5207 192.4882 17.2939 44.38079 211.7785 16.81973 41.84804 217.3583 20.19382 41.85505 215.1975 16.69419 25.55724 252.4563 19.04771 25.55724 249.2346 19.29011 29.63244 240.5296 21.36229 54.07321 191.0398 21.80962 58.1363 183.2646 20.28466 58.12899 183.2646 22.57241 58.13991 183.2646 19.56193 33.70713 231.955 15.4568 33.70318 235.9913 14.86788 29.63035 245.703 14.34067 25.55724 255.6781 22.1933 50.0056 198.5582 21.87147 41.85858 214.1237 21.60745 33.70913 229.9419 21.49712 29.63349 237.9458 19.86317 37.78134 223.511 16.10741 37.77575 226.5431 15.65625 34.99348 232.9695 5.728507 25.68105 250.4218 5.680414 25.55724 250.6781 10.01054 25.55724 253.1781 19.30717 58.12515 183.2646 16.80963 49.98599 199.9407 14.42725 41.8436 217.1544 12.1756 25.55724 254.4281 13.81122 33.70193 235.4441 12.16088 33.70069 234.9002 15.16769 49.98025 200.118 12.00526 41.83924 216.9714 8.842841 33.69824 233.8247 28.32435 58.14145 183.2646 27.26506 58.14167 183.2646 29.2624 49.99868 197.0376 26.37697 58.14192 183.2646 30.85746 49.99539 196.5677 33.37624 41.84934 209.8708 37.24905 25.55724 238.0555 34.78134 33.70417 224.201 36.08428 25.55724 239.634 33.67234 33.70503 225.2247 34.91952 25.55724 241.2125 32.56753 33.70588 226.2454 31.39838 41.85218 211.0259 35.89503 33.70329 223.1739 38.41382 25.55724 236.4771 28.31502 52.62783 188.8711 29.13781 47.3805 195.537 28.29631 48.26679 194.6078 28.27821 44.04628 200.4541 30.5891 47.37923 195.0643 32.84388 37.63274 206.864 31.14501 37.6342 208.0153 35.09867 27.88625 218.6637 31.48491 27.88832 222.7136 30.79358 31.09409 218.2082 32.38257 27.88781 221.7052 30.3039 37.63493 208.5851 33.28378 27.88729 220.6943 34.18899 27.88677 219.6806 33.75476 18.13976 236.6846 34.65443 18.13976 235.1293 35.5541 18.13976 233.574 36.45378 18.13976 232.0187 37.35345 18.13976 230.4634 29.46751 37.63566 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3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 -

180 59 204 60 202 61 86 65 394 66 88 67 360 74 351 75 90 76 78 80 370 81 83 82 202 61 187 115 180 59 90 76 351 75 65 118 110 138 109 139 117 140 126 141 125 142 142 143 408 144 112 145 118 146 408 144 118 146 170 147 178 148 232 149 337 150 111 151 214 152 316 153 334 154 306 155 310 156 310 156 336 157 334 154 336 157 310 156 303 158 316 153 214 152 286 159 336 157 303 158 298 160 309 161 262 162 264 163 206 164 338 165 222 166 284 167 291 168 290 169 336 157 298 160 295 170 295 170 341 171 336 157 341 171 295 170 294 172 273 173 243 174 77 175 341 171 294 172 300 176 341 171 300 176 307 177 307 177 345 178 341 171 325 179 264 163 262 162 84 180 348 181 337 150 345 178 307 177 301 182 262 162 239 183 192 184 345 178 301 182 308 185 255 186 231 187 312 188 345 178 308 185 287 189 219 190 224 191 343 192 211 193 225 194 280 195 182 196 271 197 289 198 234 199 348 181 215 200 207 201 182 196 288 202 325 179 349 203 346 204 302 205 207 201 282 206 287 189 283 207 210 208 286 159 237 209 347 210 111 151 316 153 320 211 113 212 73 213 119 214 292 215 199 216 344 217 347 210 255 186 251 218 248 219 183 220 324 221 236 222 281 223 340 224 226 225 334 154 229 226 283 207 259 227 210 208 134 228 71 229 143 230 237 209 261 231 255 186 225 194 290 169 291 168 103 232 75 233 113 212 335 234 198 235 191 236 342 237 184 238 258 239 247 240 344 217 179 241 230 242 278 243 267 244 268 245 207 201 302 205 259 227 258 239 184 238 263 246 305 247 109 139 207 201 268 245 271 197 214 152 186 248 237 209 219 190 343 192 212 249 277 250 313 251 275 252 305 247 263 246 282 206 264 163 304 253 309 161 185 254 332 255 299 256 320 211 316 153 265 257 223 258 222 166 338 165 344 217 304 253 201 259 266 260 260 261 342 237 280 195 291 168 285 262 208 263 224 191 219 190 258 239 266 260 342 237 236 222 185 254 286 159 108 264 109 139 305 247 282 206 288 202 305 247 305 247 276 265 108 264 260 261 312 188 342 237 260 261 330 266 312 188 329 267 244 268 193 269 267 244 274 270 230 242 313 251 277 250 293 271 312 188 330 266 331 272 312 188 326 273 322 274 312 188 331 272 326 273 251 218 322 274 318 275 297 276 267 244 186 248 251 218 318 275 315 277 293 271 277 250 222 166 59 278 217 279 257 280 286 159 265 257 316 153 315 277 220 281 251 218 235 282 247 240 231 187 322 274 251 218 312 188 239 183 262 162 309 161 180 59 226 225 319 283 184 238 210 208 259 227 345 178 210 208 201 259 287 189 210 208 345 178 195 284 238 285 290 169 106 286 107 287 206 164 208 263 339 288 270 289 77 175 243 174 219 190 110 138 320 211 263 246 275 252 211 193 277 250 234 199 233 290 196 291 251 218 220 281 347 210 340 224 281 223 314 292 314 292 317 293 340 224 346 204 229 226 334 154 317 293 321 294 340 224 288 202 282 206 207 201 107 287 108 264 338 165 332 255 340 224 321 294 321 294 323 295 332 255 341 171 345 178 221 296 233 290 319 283 196 291 299 256 332 255 327 297 262 162 191 236 325 179 77 175 76 298 273 173 192 184 191 236 262 162 210 208 184 238 179 241 328 299 228 300 299 256 347 210 220 281 281 223 290 169 225 194 329 267 215 200 204 60 234 199 178 148 196 291 190 301 320 211 110 138 111 151 268 245 228 300 216 302 194 303 270 289 339 288 340 224 185 254 236 222 109 139 110 138 263 246 261 231 235 282 255 186 182 196 207 201 271 197 243 174 273 173 339 288 228 300 268 245 299 256 229 226 319 283 226 225 222 166 223 258 293 271 279 305 222 166 277 250 185 254 340 224 332 255 268 245 216 302 209 306 302 205 299 256 268 245 276 265 338 165 108 264 291 168 280 195 225 194 339 288 208 263 243 174 329 267 225 194 211 193 250 307 282 206 263 246 339 288 103 232 194 303 304 253 264 163 221 296 338 165 206 164 107 287 243 174 208 263 219 190 201 259 221 296 345 178 338 165 276 265 223 258 334 154 336 157 346 204 271 197 209 306 205 308 299 256 302 205 185 254 206 164 218 309 106 286 272 310 324 221 290 169 209 306 271 197 268 245 105 311 218 309 285 262 290 169 329 267 193 269 271 197 203 312 240 313 185 254 302 205 250 307 205 308 203 312 271 197 196 291 178 148 234 199 221 296 346 204 336 157 276 265 305 247 288 202 289 198 240 313 253 314 76 298 103 232 273 173 227 315 196 291 319 283 240 313 289 198 271 197 265 257 250 307 320 211 284 167 270 289 285 262 104 316 285 262 270 289 349 203 325 179 191 236 272 310 248 219 324 221 336 157 341 171 221 296 284 167 324 221 224 191 178 148 337 150 348 181 313 251 289 198 249 317 270 289 284 167 208 263 190 301 232 149 178 148 292 215 230 242 274 270 184 238 231 187 179 241 212 249 245 318 51 319 288 202 223 258 276 265 183 220 343 192 224 191 275 252 313 251 242 320 312 188 251 218 255 186 186 248 278 243 261 231 233 290 234 199 204 60 246 321 252 322 275 252 329 267 275 252 252 322 252 322 254 323 329 267 348 181 234 199 178 148 204 60 180 59 233 290 227 315 349 203 198 235 254 323 244 268 329 267 319 283 233 290 180 59 264 163 325 179 221 296 222 166 279 305 206 164 277 250 211 193 279 305 349 203 227 315 319 283 290 169 324 221 284 167 280 195 279 305 211 193 242 320 246 321 275 252 241 324 242 320 313 251 249 317 241 324 313 251 256 325 249 317 289 198 253 314 256 325 289 198 285 262 291 168 284 167 196 291 227 315 188 326 237 209 286 159 214 152 342 237 312 188 231 187 327 297 328 299 299 256 323 295 327 297 332 255 239 183 309 161 199 216 270 289 194 303 104 316 220 281 315 277 314 292 314 292 281 223 220 281 198 235 335 234 213 327 311 328 334 154 226 225 278 243 230 242 235 282 281 223 236 222 347 210 226 225 197 329 200 330 211 193 275 252 329 267 311 328 306 155 334 154 279 305 280 195 218 309 289 198 293 271 182 196 269 331 204 60 215 200 285 262 104 316 105 311 181 332 272 310 290 169 191 236 192 184 335 234 269 331 202 61 204 60 292 215 274 270 333 333 304 253 344 217 199 216 210 208 179 241 201 259 184 238 342 237 231 187 265 257 286 159 185 254 189 334 226 225 180 59 224 191 208 263 284 167 183 220 224 191 324 221 187 115 189 334 180 59 347 210 236 222 286 159 226 225 189 334 197 329 278 243 186 248 267 244 250 307 265 257 185 254 226 225 200 330 311 328 214 152 111 151 112 145 282 206 250 307 302 205 285 262 218 309 280 195 60 336 217 279 59 278 103 232 339 288 273 173 105 311 106 286 218 309 223 258 288 202 182 196 238 285 181 332 290 169 188 326 190 301 196 291 218 309 206 164 279 305 255 186 347 210 237 209 199 216 333 333 239 183 231 187 255 186 235 282 193 269 195 284 290 169 182 196 293 271 223 258 179 241 231 187 247 240 293 271 289 198 313 251 201 259 179 241 344 217 199 216 309 161 304 253 221 296 201 259 304 253 344 217 247 240 292 215 230 242 292 215 247 240 346 204 221 296 325 179 191 236 198 235 349 203 229 226 346 204 349 203 213 327 188 326 227 315 333 333 199 216 292 215 213 327 227 315 198 235 261 231 237 209 186 248 229 226 349 203 319 283 235 282 261 231 278 243 263 246 320 211 250 307 247 240 235 282 230 242 110 138 117 140 133 337 110 138 133 337 125 142 124 338 117 140 109 139 124 338 109 139 108 264 104 316 194 303 114 339 113 212 114 339 194 303 103 232 113 212 194 303 169 340 168 341 176 342 169 340 176 342 177 343 162 344 161 345 171 346 161 345 351 75 171 346 164 347 163 348 172 349 164 347 172 349 173 350 166 351 165 352 350 353 166 351 350 353 174 354 168 341 167 355 175 356 168 341 175 356 176 342 170 147 169 340 177 343 370 81 360 74 83 82 163 348 162 344 172 349 162 344 171 346 172 349 165 352 164 347 173 350 165 352 173 350 350 353 167 355 166 351 174 354 167 355 174 354 175 356 160 357 159 358 168 341 160 357 168 341 169 340 153 359 152 360 162 344 152 360 161 345 162 344 155 361 154 362 163 348 155 361 163 348 164 347 157 363 156 364 165 352 157 363 165 352 166 351 159 358 158 365 167 355 159 358 167 355 168 341 118 146 169 340 170 147 63 366 65 118 351 75 154 362 153 359 163 348 153 359 162 344 163 348 156 364 155 361 164 347 156 364 164 347 165 352 158 365 157 363 166 351 158 365 166 351 167 355 151 367 150 368 159 358 151 367 159 358 160 357 144 369 143 230 153 359 143 230 152 360 153 359 146 370 145 371 154 362 146 370 154 362 155 361 148 372 147 373 156 364 148 372 156 364 157 363 150 368 149 374 158 365 150 368 158 365 159 358 161 345 63 366 351 75 145 371 144 369 154 362 144 369 153 359 154 362 147 373 146 370 155 361 147 373 155 361 156 364 149 374 148 372 157 363 149 374 157 363 158 365 126 141 142 143 150 368 126 141 150 368 151 367 136 375 135 376 144 369 135 376 143 230 144 369 138 377 137 378 145 371 138 377 145 371 146 370 140 379 139 380 147 373 140 379 147 373 148 372 142 143 141 381 149 374 142 143 149 374 150 368 135 376 134 228 143 230 137 378 136 375 145 371 136 375 144 369 145 371 139 380 138 377 146 370 139 380 146 370 147 373 141 381 140 379 148 372 141 381 148 372 149 374 128 382 127 383 136 375 127 383 135 376 136 375 130 384 129 385 137 378 130 384 137 378 138 377 132 386 131 387 139 380 132 386 139 380 140 379 125 142 133 337 141 381 125 142 141 381 142 143 143 230 71 229 152 360 129 385 128 382 137 378 128 382 136 375 137 378 131 387 130 384 138 377 131 387 138 377 139 380 133 337 132 386 140 379 133 337 140 379 141 381 120 388 119 214 128 382 119 214 127 383 128 382 122 389 121 390 129 385 122 389 129 385 130 384 124 338 123 391 131 387 124 338 131 387 132 386 72 392 134 228 135 376 127 383 72 392 135 376 121 390 120 388 129 385 120 388 128 382 129 385 123 391 122 389 130 384 123 391 130 384 131 387 117 140 124 338 132 386 117 140 132 386 133 337 111 151 110 138 125 142 111 151 125 142 126 141 114 339 113 212 119 214 114 339 119 214 120 388 116 393 115 394 121 390 116 393 121 390 122 389 108 264 107 287 123 391 108 264 123 391 124 338 119 214 73 213 127 383 73 213 72 392 127 383 115 394 114 339 120 388 115 394 120 388 121 390 107 287 116 393 122 389 107 287 122 389 123 391 106 286 105 311 115 394 106 286 115 394 116 393 103 232 76 298 75 233 113 212 75 233 73 213 105 311 104 316 115 394 104 316 114 339 115 394 107 287 106 286 116 393 408 144 214 152 112 145 408 144 186 248 214 152 408 144 297 276 186 248 192 184 404 395 335 234 188 326 405 396 406 397 213 327 405 396 188 326 85 398 84 180 337 150 84 180 59 278 215 200 335 234 404 395 405 396 335 234 405 396 213 327 192 184 398 399 399 400 192 184 399 400 404 395 405 396 400 401 401 402 405 396 401 402 406 397 407 404 86 65 85 398 239 183 397 405 398 399 239 183 398 399 192 184 404 395 399 400 400 401 404 395 400 401 405 396 406 397 401 402 402 406 406 397 402 406 407 404 267 244 395 407 396 408 267 244 396 408 274 270 403 409 388 410 389 411 403 409 389 411 397 405 398 399 390 412 391 413 398 399 391 413 399 400 401 402 392 414 393 415 400 401 392 414 401 402 402 406 394 66 86 65 348 181 84 180 215 200 397 405 389 411 390 412 397 405 390 412 398 399 399 400 391 413 392 414 399 400 392 414 400 401 402 406 393 415 394 66 401 402 393 415 402 406 388 410 381 416 382 417 388 410 382 417 389 411 390 412 383 418 384 419 390 412 384 419 391 413 393 415 385 420 386 421 392 414 385 420 393 415 88 67 387 422 89 423 337 150 232 149 85 398 396 408 380 424 381 416 396 408 381 416 388 410 389 411 382 417 383 418 389 411 383 418 390 412 391 413 384 419 385 420 391 413 385 420 392 414 394 66 386 421 387 422 393 415 386 421 394 66 381 416 373 425 374 426 381 416 374 426 382 417 383 418 375 427 376 428 383 418 376 428 384 419 386 421 377 429 378 430 385 420 377 429 386 421 89 423 379 431 78 80 394 66 387 422 88 67 380 424 372 432 373 425 380 424 373 425 381 416 382 417 374 426 375 427 382 417 375 427 383 418 384 419 376 428 377 429 384 419 377 429 385 420 387 422 378 430 379 431 386 421 378 430 387 422 395 407 371 433 372 432 395 407 372 432 380 424 373 425 364 434 365 435 373 425 365 435 374 426 375 427 366 436 367 437 375 427 367 437 376 428 378 430 368 438 369 439 377 429 368 438 378 430 379 431 370 81 78 80 387 422 379 431 89 423 372 432 363 440 364 434 372 432 364 434 373 425 374 426 365 435 366 436 374 426 366 436 375 427 376 428 367 437 368 438 376 428 368 438 377 429 379 431 369 439 370 81 378 430 369 439 379 431 371 433 362 441 363 440 371 433 363 440 372 432 364 434 354 442 355 443 364 434 355 443 365 435 366 436 356 444 357 445 366 436 357 445 367 437 369 439 358 446 359 447 368 438 358 446 369 439 407 404 402 406 86 65 232 149 407 404 85 398 361 448 170 147 352 449 363 440 353 450 354 442 363 440 354 442 364 434 365 435 355 443 356 444 365 435 356 444 366 436 367 437 357 445 358 446 367 437 358 446 368 438 370 81 359 447 360 74 369 439 359 447 370 81 362 441 352 449 353 450 362 441 353 450 363 440 354 442 175 356 174 354 354 442 174 354 355 443 356 444 350 353 173 350 356 444 173 350 357 445 359 447 172 349 171 346 358 446 172 349 359 447 83 82 360 74 90 76 170 147 177 343 352 449 353 450 176 342 175 356 353 450 175 356 354 442 355 443 174 354 350 353 355 443 350 353 356 444 357 445 173 350 172 349 357 445 172 349 358 446 360 74 171 346 351 75 359 447 171 346 360 74 352 449 177 343 176 342 352 449 176 342 353 450 232 149 190 301 407 404 407 404 190 301 406 397 188 326 406 397 190 301 397 405 239 183 333 333 397 405 333 333 403 409 274 270 396 408 388 410 274 270 388 410 403 409 408 144 170 147 361 448 408 144 361 448 297 276 395 407 380 424 396 408 274 270 403 409 333 333 112 145 111 151 126 141 395 407 267 244 297 276 151 367 112 145 126 141 371 433 395 407 297 276 160 357 112 145 151 367 362 441 371 433 297 276 169 340 118 146 112 145 169 340 112 145 160 357 352 449 297 276 361 448 352 449 362 441 297 276 219 190 51 319 77 175 51 319 219 190 212 249 245 318 40 451 51 319 66 473 63 366 161 345 152 360 66 473 161 345 71 229 66 473 152 360 59 278 257 280 215 200 215 200 257 280 269 331

- - - - - 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 -

23 37 54 37 8 37 1 43 3 43 43 43 3 44 97 44 43 44 46 45 48 45 47 45 44 46 49 46 48 46 49 47 50 47 48 47 51 48 52 48 53 48 53 49 45 49 54 49 53 50 52 50 45 50 44 51 54 51 45 51 56 52 57 52 44 52 44 53 45 53 56 53 44 54 57 54 49 54 58 55 59 55 46 55 60 56 59 56 58 56 61 57 47 57 48 57 50 58 61 58 48 58 62 62 66 62 67 62 70 63 64 63 63 63 69 64 70 64 63 64 64 68 65 68 63 68 69 69 63 69 66 69 62 70 69 70 66 70 78 71 79 71 80 71 88 72 89 72 87 72 78 73 92 73 89 73 79 77 83 77 90 77 86 78 88 78 87 78 82 79 80 79 79 79 51 83 96 83 77 83 96 84 76 84 77 84 96 85 75 85 76 85 95 86 96 86 53 86 73 87 75 87 96 87 68 88 67 88 71 88 51 89 53 89 96 89 44 90 55 90 54 90 93 91 96 91 95 91 74 92 73 92 96 92 93 93 74 93 96 93 95 94 54 94 93 94 44 95 48 95 43 95 44 96 43 96 55 96 97 97 55 97 43 97 7 98 8 98 55 98 5 99 7 99 55 99 46 100 43 100 48 100 84 101 98 101 59 101 98 102 84 102 85 102 85 103 101 103 98 103 78 104 80 104 91 104 92 105 87 105 89 105 101 106 85 106 86 106 46 107 98 107 99 107 99 108 43 108 46 108 98 109 46 109 59 109 98 110 102 110 99 110 101 111 102 111 98 111 40 112 52 112 51 112 45 113 52 113 41 113 46 114 47 114 42 114 53 116 54 116 95 116 41 117 56 117 45 117 66 119 71 119 67 119 79 120 78 120 83 120 99 121 2 121 1 121 5 122 55 122 4 122 6 123 2 123 99 123 23 124 93 124 54 124 55 125 97 125 4 125 3 126 4 126 97 126 54 127 55 127 8 127 6 129 102 129 100 129 101 130 100 130 102 130 1 131 43 131 99 131 74 132 94 132 93 132 92 133 91 133 82 133 91 134 80 134 82 134 78 135 91 135 92 135 134 136 72 136 68 136 68 137 62 137 67 137 315 304 318 304 441 304 314 335 315 335 441 335 317 403 314 403 296 403 90 452 65 452 79 452 81 453 79 453 65 453 64 454 81 454 65 454 86 455 39 455 101 455 100 456 101 456 39 456 39 457 86 457 87 457 72 468 73 468 13 468 13 469 68 469 72 469 73 470 74 470 13 470 74 471 13 471 94 471 6 472 99 472 102 472 71 474 134 474 68 474 42 475 58 475 46 475 321 476 296 476 409 476 296 477 441 477 442 477 441 478 322 478 442 478 323 479 409 479 410 479 409 480 442 480 410 480 442 481 326 481 443 481 327 482 410 482 411 482 410 483 443 483 444 483 443 484 331 484 444 484 328 485 411 485 412 485 411 486 444 486 445 486 444 487 330 487 445 487 228 488 412 488 413 488 412 489 445 489 446 489 445 490 260 490 446 490 216 491 413 491 414 491 413 492 446 492 414 492 446 493 266 493 447 493 209 494 414 494 415 494 414 495 447 495 415 495 447 496 258 496 448 496 205 497 415 497 416 497 415 498 448 498 416 498 448 499 259 499 449 499 203 500 416 500 417 500 416 501 449 501 417 501 449 502 283 502 450 502 240 503 417 503 418 503 417 504 450 504 418 504 450 505 287 505 451 505 253 506 418 506 419 506 418 507 451 507 452 507 451 508 308 508 452 508 256 509 419 509 420 509 419 510 452 510 453 510 452 511 301 511 453 511 249 512 420 512 421 512 420 513 453 513 454 513 453 514 307 514 454 514 241 515 421 515 422 515 421 516 454 516 455 516 454 517 300 517 455 517 242 518 422 518 423 518 422 519 455 519 456 519 455 520 294 520 456 520 246 521 423 521 424 521 423 522 456 522 424 522 456 523 295 523 457 523 252 524 424 524 425 524 424 525 457 525 425 525 457 526 298 526 458 526 254 527 425 527 426 527 425 528 458 528 426 528 458 529 303 529 459 529 244 530 426 530 427 530 426 531 459 531 427 531 459 532 310 532 460 532 193 533 427 533 428 533 427 534 460 534 461 534 460 535 306 535 461 535 195 536 428 536 429 536 428 537 461 537 462 537 461 538 311 538 462 538 238 539 429 539 430 539 430 540 429 540 463 540 462 541 200 541 463 541 181 542 430 542 431 542 430 543 463 543 431 543 463 544 197 544 464 544 272 545 431 545 248 545 431 546 464 546 432 546 464 547 189 547 187 547 248 548 432 548 183 548 432 549 465 549 433 549 465 550 187 550 202 550 183 551 433 551 343 551 433 552 466 552 467 552 466 553 202 553 269 553 343 554 434 554 212 554 434 555 467 555 468 555 467 556 269 556 257 556 212 557 435 557 245 557 435 558 468 558 436 558 468 559 257 559 217 559 245 560 436 560 40 560 436 561 469 561 437 561 469 562 217 562 60 562 40 563 437 563 52 563 437 564 470 564 438 564 470 565 60 565 58 565 52 566 438 566 41 566 438 567 471 567 472 567 471 568 58 568 42 568 41 569 439 569 56 569 439 570 472 570 440 570 472 571 42 571 47 571 56 572 440 572 57 572 440 573 473 573 49 573 473 574 47 574 61 574 318 575 322 575 441 575 296 576 314 576 441 576 321 577 317 577 296 577 323 578 321 578 409 578 409 579 296 579 442 579 322 580 326 580 442 580 327 581 323 581 410 581 442 582 443 582 410 582 326 583 331 583 443 583 328 584 327 584 411 584 411 585 410 585 444 585 331 586 330 586 444 586 228 587 328 587 412 587 412 588 411 588 445 588 330 589 260 589 445 589 216 590 228 590 413 590 413 591 412 591 446 591 260 592 266 592 446 592 209 593 216 593 414 593 446 594 447 594 414 594 266 595 258 595 447 595 205 596 209 596 415 596 447 597 448 597 415 597 258 598 259 598 448 598 203 599 205 599 416 599 448 600 449 600 416 600 259 601 283 601 449 601 240 602 203 602 417 602 449 603 450 603 417 603 283 604 287 604 450 604 253 605 240 605 418 605 450 606 451 606 418 606 287 607 308 607 451 607 256 608 253 608 419 608 419 609 418 609 452 609 308 610 301 610 452 610 249 611 256 611 420 611 420 612 419 612 453 612 301 613 307 613 453 613 241 614 249 614 421 614 421 615 420 615 454 615 307 616 300 616 454 616 242 617 241 617 422 617 422 618 421 618 455 618 300 619 294 619 455 619 246 620 242 620 423 620 423 621 422 621 456 621 294 622 295 622 456 622 252 623 246 623 424 623 456 624 457 624 424 624 295 625 298 625 457 625 254 626 252 626 425 626 457 627 458 627 425 627 298 628 303 628 458 628 244 629 254 629 426 629 429 630 462 630 463 630 303 631 310 631 459 631 193 632 244 632 427 632 458 633 459 633 426 633 310 634 306 634 460 634 195 635 193 635 428 635 428 636 427 636 461 636 306 637 311 637 461 637 238 638 195 638 429 638 429 639 428 639 462 639 311 640 200 640 462 640 181 641 238 641 430 641 200 642 197 642 463 642 272 643 181 643 431 643 463 644 464 644 431 644 197 645 189 645 464 645 431 646 432 646 248 646 464 647 465 647 432 647 465 648 464 648 187 648 432 649 433 649 183 649 465 650 466 650 433 650 466 651 465 651 202 651 433 652 434 652 343 652 434 653 433 653 467 653 467 654 466 654 269 654 434 655 435 655 212 655 435 656 434 656 468 656 468 657 467 657 257 657 435 658 436 658 245 658 468 659 469 659 436 659 469 660 468 660 217 660 436 661 437 661 40 661 469 662 470 662 437 662 470 663 469 663 60 663 437 664 438 664 52 664 470 665 471 665 438 665 471 666 470 666 58 666 438 667 439 667 41 667 439 668 438 668 472 668 472 669 471 669 42 669 439 670 440 670 56 670 472 671 473 671 440 671 473 672 472 672 47 672 440 673 49 673 57 673 473 674 50 674 49 674 50 675 473 675 61 675 459 676 460 676 427 676

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6744 20244 1819 6744 20245 1948 6744 20246 1948 6744 20247 1821 6744 20248 1820 6744 20249 1662 6745 20250 1720 6745 20251 1696 6745 20252 1696 6745 20253 1661 6745 20254 1662 6745 20255

- - - - - - - - 0.00000 0.00000 0.00000 - 0 0 1 0.00000 - 0 1 0 -0.00000 - 1 0 0 0.00000 - 0.00100 0.00100 0.00100 - - - - - - - - - - - - - - - - 0.5 - 0.0 - 0.5 - - - - - - - - false - 0 - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/sr_description/other/model/kinect.tga b/sr_description/other/model/kinect.tga deleted file mode 100644 index 9e35c2423..000000000 Binary files a/sr_description/other/model/kinect.tga and /dev/null differ diff --git a/sr_description/other/xacro/desk/desk.urdf.xacro b/sr_description/other/xacro/desk/desk.urdf.xacro deleted file mode 100644 index 0ae60a689..000000000 --- a/sr_description/other/xacro/desk/desk.urdf.xacro +++ /dev/null @@ -1,70 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - Gazebo/Green - false - - - - - - - - - - - - - - - - - - - - - - - Gazebo/Green - false - - - - - - - - - - - - - diff --git a/sr_description/other/xacro/desk/desk_robot.urdf.xacro b/sr_description/other/xacro/desk/desk_robot.urdf.xacro deleted file mode 100644 index 013970fce..000000000 --- a/sr_description/other/xacro/desk/desk_robot.urdf.xacro +++ /dev/null @@ -1,5 +0,0 @@ - - - - - diff --git a/sr_description/other/xacro/gazebo/gazebo.urdf.xacro b/sr_description/other/xacro/gazebo.urdf.xacro similarity index 61% rename from sr_description/other/xacro/gazebo/gazebo.urdf.xacro rename to sr_description/other/xacro/gazebo.urdf.xacro index bfae59719..265a90d1f 100644 --- a/sr_description/other/xacro/gazebo/gazebo.urdf.xacro +++ b/sr_description/other/xacro/gazebo.urdf.xacro @@ -1,7 +1,7 @@ + xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" + xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"> diff --git a/sr_description/other/xacro/kinect/gazebo_kinect.urdf.xacro b/sr_description/other/xacro/kinect/gazebo_kinect.urdf.xacro deleted file mode 100644 index 1e376ab43..000000000 --- a/sr_description/other/xacro/kinect/gazebo_kinect.urdf.xacro +++ /dev/null @@ -1,47 +0,0 @@ - - - - - true - 20.0 - - ${60.0*pi/180.0} - - R8G8B8 - 640 - 480 - - - 0.05 - 3.0 - - - - camera - true - 20 - rgb/image_raw - - depth/image_raw - depth/points - - rgb/camera_info - - depth/camera_info - camera_depth_optical_frame - 0.1 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.4 - - - - - diff --git a/sr_description/other/xacro/kinect/shadowarm_kinect.urdf.xacro b/sr_description/other/xacro/kinect/shadowarm_kinect.urdf.xacro deleted file mode 100644 index 289cb54f5..000000000 --- a/sr_description/other/xacro/kinect/shadowarm_kinect.urdf.xacro +++ /dev/null @@ -1,88 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/sr_description/materials.urdf.xacro b/sr_description/other/xacro/materials.urdf.xacro similarity index 100% rename from sr_description/materials.urdf.xacro rename to sr_description/other/xacro/materials.urdf.xacro diff --git a/sr_description/package.xml b/sr_description/package.xml index 9c23cebdb..a9a47b126 100644 --- a/sr_description/package.xml +++ b/sr_description/package.xml @@ -1,7 +1,7 @@ sr_description 1.4.0 - sr_description contains the description for Shadow Robot's Hand and Arm, as well as some additional models used in our robot (kinect, etc...). + sr_description contains the description for Shadow Robot's Hands. Shadow Robot's software team GPL @@ -10,13 +10,9 @@ https://github.com/shadow-robot/sr_common https://github.com/shadow-robot/sr_common/issues - Ugo Cupcic - catkin - - xacro position_controllers diff --git a/sr_description/robots/arm_and_hand_motor.urdf.xacro b/sr_description/robots/arm_and_hand_motor.urdf.xacro deleted file mode 100644 index 3717986c7..000000000 --- a/sr_description/robots/arm_and_hand_motor.urdf.xacro +++ /dev/null @@ -1,20 +0,0 @@ - - - - - - - - - - - - - - - - - - - diff --git a/sr_description/robots/arm_and_hand_motor_biotac.urdf.xacro b/sr_description/robots/arm_and_hand_motor_biotac.urdf.xacro deleted file mode 100644 index d30a482b9..000000000 --- a/sr_description/robots/arm_and_hand_motor_biotac.urdf.xacro +++ /dev/null @@ -1,20 +0,0 @@ - - - - - - - - - - - - - - - - - - - diff --git a/sr_description/robots/arm_and_hand_motor_ellipsoid.urdf.xacro b/sr_description/robots/arm_and_hand_motor_ellipsoid.urdf.xacro deleted file mode 100644 index 958e5bddb..000000000 --- a/sr_description/robots/arm_and_hand_motor_ellipsoid.urdf.xacro +++ /dev/null @@ -1,20 +0,0 @@ - - - - - - - - - - - - - - - - - - - diff --git a/sr_description/robots/arm_and_hand_motor_three_finger.urdf.xacro b/sr_description/robots/arm_and_hand_motor_three_finger.urdf.xacro deleted file mode 100644 index e70afb852..000000000 --- a/sr_description/robots/arm_and_hand_motor_three_finger.urdf.xacro +++ /dev/null @@ -1,20 +0,0 @@ - - - - - - - - - - - - - - - - - - - diff --git a/sr_description/robots/arm_and_hand_muscle.urdf.xacro b/sr_description/robots/arm_and_hand_muscle.urdf.xacro deleted file mode 100644 index 707cfc3ec..000000000 --- a/sr_description/robots/arm_and_hand_muscle.urdf.xacro +++ /dev/null @@ -1,20 +0,0 @@ - - - - - - - - - - - - - - - - - - - diff --git a/sr_description/robots/arm_and_hand_muscle_biotac.urdf.xacro b/sr_description/robots/arm_and_hand_muscle_biotac.urdf.xacro deleted file mode 100644 index 8d2c4ce8b..000000000 --- a/sr_description/robots/arm_and_hand_muscle_biotac.urdf.xacro +++ /dev/null @@ -1,20 +0,0 @@ - - - - - - - - - - - - - - - - - - - diff --git a/sr_description/robots/arm_and_sr_one_finger_motor.urdf.xacro b/sr_description/robots/arm_and_sr_one_finger_motor.urdf.xacro deleted file mode 100644 index e6e9c4225..000000000 --- a/sr_description/robots/arm_and_sr_one_finger_motor.urdf.xacro +++ /dev/null @@ -1,23 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - diff --git a/sr_description/robots/bimanual_shadowhand_extra_lite.urdf.xacro b/sr_description/robots/bimanual_shadowhand_extra_lite.urdf.xacro deleted file mode 100644 index 352af0592..000000000 --- a/sr_description/robots/bimanual_shadowhand_extra_lite.urdf.xacro +++ /dev/null @@ -1,23 +0,0 @@ - - - - - - - - - - - - - - - - - - - - diff --git a/sr_description/robots/bimanual_shadowhand_lite.urdf.xacro b/sr_description/robots/bimanual_shadowhand_lite.urdf.xacro deleted file mode 100644 index f92067bca..000000000 --- a/sr_description/robots/bimanual_shadowhand_lite.urdf.xacro +++ /dev/null @@ -1,23 +0,0 @@ - - - - - - - - - - - - - - - - - - - - diff --git a/sr_description/robots/bimanual_shadowhand_lite_btsp.urdf.xacro b/sr_description/robots/bimanual_shadowhand_lite_btsp.urdf.xacro deleted file mode 100644 index 216ee0ac3..000000000 --- a/sr_description/robots/bimanual_shadowhand_lite_btsp.urdf.xacro +++ /dev/null @@ -1,23 +0,0 @@ - - - - - - - - - - - - - - - - - - - - diff --git a/sr_description/robots/bimanual_shadowhand_lite_right_btsp.urdf.xacro b/sr_description/robots/bimanual_shadowhand_lite_right_btsp.urdf.xacro deleted file mode 100644 index 43d4dc133..000000000 --- a/sr_description/robots/bimanual_shadowhand_lite_right_btsp.urdf.xacro +++ /dev/null @@ -1,23 +0,0 @@ - - - - - - - - - - - - - - - - - - - - diff --git a/sr_description/robots/bimanual_shadowhand_motor.urdf.xacro b/sr_description/robots/bimanual_shadowhand_motor.urdf.xacro deleted file mode 100644 index 60ff54aa9..000000000 --- a/sr_description/robots/bimanual_shadowhand_motor.urdf.xacro +++ /dev/null @@ -1,21 +0,0 @@ - - - - - - - - - - - - - - - - - - diff --git a/sr_description/robots/bimanual_shadowhand_motor_plus.urdf.xacro b/sr_description/robots/bimanual_shadowhand_motor_plus.urdf.xacro deleted file mode 100644 index bcce90313..000000000 --- a/sr_description/robots/bimanual_shadowhand_motor_plus.urdf.xacro +++ /dev/null @@ -1,23 +0,0 @@ - - - - - - - - - - - - - - - - - - - - diff --git a/sr_description/robots/bimanual_shadowhand_motor_plus_right_biotac.urdf.xacro b/sr_description/robots/bimanual_shadowhand_motor_plus_right_biotac.urdf.xacro deleted file mode 100644 index 134afc006..000000000 --- a/sr_description/robots/bimanual_shadowhand_motor_plus_right_biotac.urdf.xacro +++ /dev/null @@ -1,21 +0,0 @@ - - - - - - - - - - - - - - - - - - diff --git a/sr_description/robots/desk_arm_and_hand_motor.urdf.xacro b/sr_description/robots/desk_arm_and_hand_motor.urdf.xacro deleted file mode 100644 index 40a69e56d..000000000 --- a/sr_description/robots/desk_arm_and_hand_motor.urdf.xacro +++ /dev/null @@ -1,23 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - diff --git a/sr_description/robots/shadowhand_edc_muscle.urdf.xacro b/sr_description/robots/shadowhand_edc_muscle.urdf.xacro deleted file mode 100644 index 3c5ee3f6b..000000000 --- a/sr_description/robots/shadowhand_edc_muscle.urdf.xacro +++ /dev/null @@ -1,49 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - Gazebo/Grey - false - - - - - - - diff --git a/sr_description/robots/shadowhand_edc_muscle_biotac.urdf.xacro b/sr_description/robots/shadowhand_edc_muscle_biotac.urdf.xacro deleted file mode 100644 index aff5c3cb2..000000000 --- a/sr_description/robots/shadowhand_edc_muscle_biotac.urdf.xacro +++ /dev/null @@ -1,52 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - Gazebo/Grey - false - - - - - - - diff --git a/sr_description/robots/shadowhand_extra_lite.urdf.xacro b/sr_description/robots/shadowhand_extra_lite.urdf.xacro deleted file mode 100644 index 123d695dd..000000000 --- a/sr_description/robots/shadowhand_extra_lite.urdf.xacro +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - diff --git a/sr_description/robots/shadowhand_left_edc_muscle.urdf.xacro b/sr_description/robots/shadowhand_left_edc_muscle.urdf.xacro deleted file mode 100644 index e9790bbc0..000000000 --- a/sr_description/robots/shadowhand_left_edc_muscle.urdf.xacro +++ /dev/null @@ -1,49 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - Gazebo/Grey - false - - - - - - - diff --git a/sr_description/robots/shadowhand_left_extra_lite.urdf.xacro b/sr_description/robots/shadowhand_left_extra_lite.urdf.xacro deleted file mode 100644 index 191b18f56..000000000 --- a/sr_description/robots/shadowhand_left_extra_lite.urdf.xacro +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - diff --git a/sr_description/robots/shadowhand_left_lite.urdf.xacro b/sr_description/robots/shadowhand_left_lite.urdf.xacro deleted file mode 100644 index 2eb2a95fc..000000000 --- a/sr_description/robots/shadowhand_left_lite.urdf.xacro +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - diff --git a/sr_description/robots/shadowhand_left_lite_btsp.urdf.xacro b/sr_description/robots/shadowhand_left_lite_btsp.urdf.xacro deleted file mode 100644 index a89c77435..000000000 --- a/sr_description/robots/shadowhand_left_lite_btsp.urdf.xacro +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - diff --git a/sr_description/robots/shadowhand_left_motor.urdf.xacro b/sr_description/robots/shadowhand_left_motor.urdf.xacro deleted file mode 100644 index 046ab06fe..000000000 --- a/sr_description/robots/shadowhand_left_motor.urdf.xacro +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - diff --git a/sr_description/robots/shadowhand_left_motor_biotac.urdf.xacro b/sr_description/robots/shadowhand_left_motor_biotac.urdf.xacro deleted file mode 100644 index 3abdf0ebd..000000000 --- a/sr_description/robots/shadowhand_left_motor_biotac.urdf.xacro +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - diff --git a/sr_description/robots/shadowhand_left_motor_plus.urdf.xacro b/sr_description/robots/shadowhand_left_motor_plus.urdf.xacro deleted file mode 100644 index b58e93c7b..000000000 --- a/sr_description/robots/shadowhand_left_motor_plus.urdf.xacro +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - diff --git a/sr_description/robots/shadowhand_left_motor_plus_btsp.urdf.xacro b/sr_description/robots/shadowhand_left_motor_plus_btsp.urdf.xacro deleted file mode 100644 index 879c6dcea..000000000 --- a/sr_description/robots/shadowhand_left_motor_plus_btsp.urdf.xacro +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - diff --git a/sr_description/robots/shadowhand_left_muscle.urdf.xacro b/sr_description/robots/shadowhand_left_muscle.urdf.xacro deleted file mode 100644 index 9973f796b..000000000 --- a/sr_description/robots/shadowhand_left_muscle.urdf.xacro +++ /dev/null @@ -1,49 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - Gazebo/Grey - false - - - - - - - diff --git a/sr_description/robots/shadowhand_lite.urdf.xacro b/sr_description/robots/shadowhand_lite.urdf.xacro deleted file mode 100644 index e11cfca03..000000000 --- a/sr_description/robots/shadowhand_lite.urdf.xacro +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - diff --git a/sr_description/robots/shadowhand_lite_btsp.urdf.xacro b/sr_description/robots/shadowhand_lite_btsp.urdf.xacro deleted file mode 100644 index 624f2ac86..000000000 --- a/sr_description/robots/shadowhand_lite_btsp.urdf.xacro +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - diff --git a/sr_description/robots/shadowhand_motor.urdf.xacro b/sr_description/robots/shadowhand_motor.urdf.xacro deleted file mode 100644 index 218244a4d..000000000 --- a/sr_description/robots/shadowhand_motor.urdf.xacro +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - diff --git a/sr_description/robots/shadowhand_motor_biotac.urdf.xacro b/sr_description/robots/shadowhand_motor_biotac.urdf.xacro deleted file mode 100644 index e901c78ed..000000000 --- a/sr_description/robots/shadowhand_motor_biotac.urdf.xacro +++ /dev/null @@ -1,21 +0,0 @@ - - - - - - - - - - - - - - diff --git a/sr_description/robots/shadowhand_motor_btsp.urdf.xacro b/sr_description/robots/shadowhand_motor_btsp.urdf.xacro deleted file mode 100644 index 9397967dd..000000000 --- a/sr_description/robots/shadowhand_motor_btsp.urdf.xacro +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - diff --git a/sr_description/robots/shadowhand_motor_ellipsoid.urdf.xacro b/sr_description/robots/shadowhand_motor_ellipsoid.urdf.xacro deleted file mode 100644 index 5f33a889a..000000000 --- a/sr_description/robots/shadowhand_motor_ellipsoid.urdf.xacro +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - diff --git a/sr_description/robots/shadowhand_motor_ff_biotac.urdf.xacro b/sr_description/robots/shadowhand_motor_ff_biotac.urdf.xacro deleted file mode 100644 index 05a5c3997..000000000 --- a/sr_description/robots/shadowhand_motor_ff_biotac.urdf.xacro +++ /dev/null @@ -1,19 +0,0 @@ - - - - - - - - - - - - - - diff --git a/sr_description/robots/shadowhand_motor_no_lf.urdf.xacro b/sr_description/robots/shadowhand_motor_no_lf.urdf.xacro deleted file mode 100644 index 1580e4bb6..000000000 --- a/sr_description/robots/shadowhand_motor_no_lf.urdf.xacro +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - diff --git a/sr_description/robots/shadowhand_motor_no_mf_rf_lf.urdf.xacro b/sr_description/robots/shadowhand_motor_no_mf_rf_lf.urdf.xacro deleted file mode 100644 index 165fbb20d..000000000 --- a/sr_description/robots/shadowhand_motor_no_mf_rf_lf.urdf.xacro +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - diff --git a/sr_description/robots/shadowhand_motor_plus.urdf.xacro b/sr_description/robots/shadowhand_motor_plus.urdf.xacro deleted file mode 100644 index 5df8ad8cc..000000000 --- a/sr_description/robots/shadowhand_motor_plus.urdf.xacro +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - diff --git a/sr_description/robots/shadowhand_motor_plus_biotac.urdf.xacro b/sr_description/robots/shadowhand_motor_plus_biotac.urdf.xacro deleted file mode 100644 index 29ffaa99b..000000000 --- a/sr_description/robots/shadowhand_motor_plus_biotac.urdf.xacro +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - diff --git a/sr_description/robots/shadowhand_motor_plus_btsp.urdf.xacro b/sr_description/robots/shadowhand_motor_plus_btsp.urdf.xacro deleted file mode 100644 index 09edde951..000000000 --- a/sr_description/robots/shadowhand_motor_plus_btsp.urdf.xacro +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - diff --git a/sr_description/robots/shadowhand_motor_th_ff_rf_ellipsoid.urdf.xacro b/sr_description/robots/shadowhand_motor_th_ff_rf_ellipsoid.urdf.xacro deleted file mode 100644 index 030584ddd..000000000 --- a/sr_description/robots/shadowhand_motor_th_ff_rf_ellipsoid.urdf.xacro +++ /dev/null @@ -1,19 +0,0 @@ - - - - - - - - - - - - - - diff --git a/sr_description/robots/shadowhand_muscle.urdf.xacro b/sr_description/robots/shadowhand_muscle.urdf.xacro deleted file mode 100644 index bcd7244de..000000000 --- a/sr_description/robots/shadowhand_muscle.urdf.xacro +++ /dev/null @@ -1,49 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - Gazebo/Grey - false - - - - - - - diff --git a/sr_description/robots/shadowhand_muscle_biotac.urdf.xacro b/sr_description/robots/shadowhand_muscle_biotac.urdf.xacro deleted file mode 100644 index 4abbecdb9..000000000 --- a/sr_description/robots/shadowhand_muscle_biotac.urdf.xacro +++ /dev/null @@ -1,52 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - Gazebo/Grey - false - - - - - - - diff --git a/sr_description/robots/sr_arm_motor.urdf.xacro b/sr_description/robots/sr_arm_motor.urdf.xacro deleted file mode 100644 index 723ef518f..000000000 --- a/sr_description/robots/sr_arm_motor.urdf.xacro +++ /dev/null @@ -1,15 +0,0 @@ - - - - - - - - - - - - diff --git a/sr_description/robots/sr_arm_muscle.urdf.xacro b/sr_description/robots/sr_arm_muscle.urdf.xacro deleted file mode 100644 index 6e01821f1..000000000 --- a/sr_description/robots/sr_arm_muscle.urdf.xacro +++ /dev/null @@ -1,15 +0,0 @@ - - - - - - - - - - - - diff --git a/sr_description/robots/sr_hand.urdf.xacro b/sr_description/robots/sr_hand.urdf.xacro new file mode 100644 index 000000000..fdd92bcd1 --- /dev/null +++ b/sr_description/robots/sr_hand.urdf.xacro @@ -0,0 +1,39 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/sr_description/robots/sr_hand_bimanual.urdf.xacro b/sr_description/robots/sr_hand_bimanual.urdf.xacro new file mode 100644 index 000000000..91ca9ef6e --- /dev/null +++ b/sr_description/robots/sr_hand_bimanual.urdf.xacro @@ -0,0 +1,50 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/sr_description/robots/sr_one_finger_motor.urdf.xacro b/sr_description/robots/sr_one_finger_motor.urdf.xacro deleted file mode 100644 index e4b6174e9..000000000 --- a/sr_description/robots/sr_one_finger_motor.urdf.xacro +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - diff --git a/sr_description/robots/sr_three_finger_edc_muscle_biotac.urdf.xacro b/sr_description/robots/sr_three_finger_edc_muscle_biotac.urdf.xacro deleted file mode 100644 index 43db18771..000000000 --- a/sr_description/robots/sr_three_finger_edc_muscle_biotac.urdf.xacro +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - diff --git a/sr_description/robots/sr_three_finger_motor.urdf.xacro b/sr_description/robots/sr_three_finger_motor.urdf.xacro deleted file mode 100644 index ef8812f67..000000000 --- a/sr_description/robots/sr_three_finger_motor.urdf.xacro +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - diff --git a/sr_description/robots/sr_three_finger_rf_motor.urdf.xacro b/sr_description/robots/sr_three_finger_rf_motor.urdf.xacro deleted file mode 100644 index f6d78c0c6..000000000 --- a/sr_description/robots/sr_three_finger_rf_motor.urdf.xacro +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - diff --git a/sr_description/test/README.md b/sr_description/test/README.md index ba68b545b..9f088ed37 100644 --- a/sr_description/test/README.md +++ b/sr_description/test/README.md @@ -3,12 +3,10 @@ In addition to the gtest test_sr_description_urdf which tests xacro expansion and resulting urdf validity, visual tests have been added to check if the generated urdf produce the desired hand with the correct joints. -The visual tests are two shell scripts that require user interaction: +The visual tests are scripts that require user interaction: 1. Start the test ./tests_hand.sh - or - ./tests_arms.sh 2. User is requested to press enter the first time to start -3. To finish an inspection press CTRL-C in the terminal or close rviz +3. To finish an inspection, press CTRL-C in the terminal or close rviz diff --git a/sr_description/test/copyright_exclusions.cfg b/sr_description/test/copyright_exclusions.cfg index c3df6c4ed..e73d6290e 100644 --- a/sr_description/test/copyright_exclusions.cfg +++ b/sr_description/test/copyright_exclusions.cfg @@ -1 +1 @@ -exclude_files=test_sr_description_urdf.cpp \ No newline at end of file +exclude_files=test_sr_description_urdf.cpp|test_compatibility.py \ No newline at end of file diff --git a/sr_description/test/test_arms.rviz b/sr_description/test/test_arms.rviz deleted file mode 100644 index 5f0539475..000000000 --- a/sr_description/test/test_arms.rviz +++ /dev/null @@ -1,156 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 0 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - - /RobotModel1 - Splitter Ratio: 0.446809 - Tree Height: 948 - - 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: "" -Preferences: - PromptSaveOnExit: true -Toolbars: - toolButtonStyle: 2 -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 - Name: RobotModel - Robot Description: /robot_description - TF Prefix: "" - Update Interval: 0 - Value: true - Visual Enabled: true - - Class: rviz/TF - Enabled: false - Frame Timeout: 15 - Frames: - All Enabled: false - Marker Scale: 0.3 - Name: TF - Show Arrows: true - Show Axes: true - Show Names: true - Tree: - {} - Update Interval: 0 - Value: false - - Class: rviz/Marker - Enabled: true - Marker Topic: text_marker - Name: Marker - Namespaces: - "": true - Queue Size: 100 - Value: true - Enabled: true - Global Options: - Background Color: 255; 255; 255 - Default Light: true - 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: 2.071582317352295 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Field of View: 0.7853981852531433 - Focal Point: - X: 0.19704656302928925 - Y: 0.11506625264883041 - Z: 0.9076462984085083 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 0.2552030086517334 - Target Frame: - Yaw: 0.7217040061950684 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 992 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 000000ff00000000fd00000004000000000000015600000342fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000342000000c900fffffffb0000000c00430061006d0065007200610000000420000000160000000000000000fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065010000033c000000cd0000000000000000000000010000010f000002bbfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002bb000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005eb0000003efc0100000002fb0000000800540069006d00650100000000000005eb0000025600fffffffb0000000800540069006d006501000000000000045000000000000000000000048f0000034200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1515 - X: 385 - Y: 25 diff --git a/sr_description/test/test_arms.sh b/sr_description/test/test_arms.sh deleted file mode 100755 index 10fd12f3d..000000000 --- a/sr_description/test/test_arms.sh +++ /dev/null @@ -1,12 +0,0 @@ -#!/bin/bash -# Launch all the existing arm and hand models in RVIZ for visual inspection. - -source ./test_models.sh - -launch arm_and_hand_motor -launch arm_and_hand_motor_ellipsoid -launch arm_and_hand_motor_biotac -launch arm_and_hand_motor_three_finger -launch arm_and_sr_one_finger_motor -launch arm_and_hand_muscle -launch arm_and_hand_muscle_biotac diff --git a/sr_description/test/test_compatibility.py b/sr_description/test/test_compatibility.py new file mode 100644 index 000000000..23b807e45 --- /dev/null +++ b/sr_description/test/test_compatibility.py @@ -0,0 +1,233 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- + +###################################################################### +# Software License Agreement (BSD License) +# +# Copyright (c) 2021, Bielefeld University +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Bielefeld University nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +###################################################################### + +# Author: Robert Haschke + +from __future__ import absolute_import, print_function + +import ast +import re +import sys +import os +import unittest +import xacro +import xml.dom +from xml.dom.minidom import parseString +from io import StringIO + +try: + from unittest import subTest +except ImportError: + # subTest was introduced in 3.4 only. Provide a dummy fallback. + from contextlib import contextmanager + + @contextmanager + def subTest(msg): + print(msg) + yield None + +# regex to match whitespace +whitespace = re.compile(r'\s+') + + +def text_values_match(a, b): + # generic comparison + if whitespace.sub(' ', a).strip() == whitespace.sub(' ', b).strip(): + return True + + try: # special handling of dicts: ignore order + a_dict = ast.literal_eval(a) + b_dict = ast.literal_eval(b) + if (isinstance(a_dict, dict) and isinstance(b_dict, dict) and a_dict == b_dict): + return True + except Exception: # Attribute values aren't dicts + pass + + # on failure, try to split a and b at whitespace and compare snippets + def match_splits(a_, b_): + if len(a_) != len(b_): + return False + for a, b in zip(a_, b_): + if a == b: + continue + try: # compare numeric values only up to some accuracy + if abs(float(a) - float(b)) > 1.0e-9: + return False + except ValueError: # values aren't numeric and not identical + return False + return True + + return match_splits(a.split(), b.split()) + + +def all_attributes_match(a, b): + if len(a.attributes) != len(b.attributes): + raise AssertionError('Different number of attributes: [{}] != [{}]'. + format(', '.join(sorted(a.attributes.keys())), + ', '.join(sorted(b.attributes.keys())))) + a_atts = a.attributes.items() + b_atts = b.attributes.items() + a_atts.sort() + b_atts.sort() + + for a, b in zip(a_atts, b_atts): + if a[0] != b[0]: + raise AssertionError('Different attribute names: %s and %s' % (a[0], b[0])) + if not text_values_match(a[1], b[1]): + raise AssertionError('Different attribute values: {}={} and {}={}'. + format(a[0], a[1], b[0], b[1])) + return True + + +def text_matches(a, b): + if text_values_match(a, b): + return True + raise AssertionError("Different text values: '%s' and '%s'" % (a, b)) + + +def nodes_match(a, b, ignore_nodes): + if not a and not b: + return True + if not a or not b: + return False + + if a.nodeType != b.nodeType: + raise AssertionError('Different node types: %s and %s' % (a, b)) + + # compare text-valued nodes + if a.nodeType in [xml.dom.Node.TEXT_NODE, + xml.dom.Node.CDATA_SECTION_NODE, + xml.dom.Node.COMMENT_NODE]: + return text_matches(a.data, b.data) + + # ignore all other nodes except ELEMENTs + if a.nodeType != xml.dom.Node.ELEMENT_NODE: + return True + + # compare ELEMENT nodes + if a.nodeName != b.nodeName: + raise AssertionError('Different element names: %s and %s' % (a.nodeName, b.nodeName)) + + try: + all_attributes_match(a, b) + except AssertionError as e: + raise AssertionError('{err} in node <{node}>'.format(err=str(e), node=a.nodeName)) + + a = a.firstChild + b = b.firstChild + while a or b: + # ignore whitespace-only text nodes + # we could have several text nodes in a row, due to replacements + while (a and + ((a.nodeType in ignore_nodes) or + (a.nodeType == xml.dom.Node.TEXT_NODE and whitespace.sub('', a.data) == ""))): + a = a.nextSibling + while (b and + ((b.nodeType in ignore_nodes) or + (b.nodeType == xml.dom.Node.TEXT_NODE and whitespace.sub('', b.data) == ""))): + b = b.nextSibling + + nodes_match(a, b, ignore_nodes) + + if a: + a = a.nextSibling + if b: + b = b.nextSibling + + return True + + +def xml_matches(a, b, ignore_nodes=[]): + if isinstance(a, str): + return xml_matches(parseString(a).documentElement, b, ignore_nodes) + if isinstance(b, str): + return xml_matches(a, parseString(b).documentElement, ignore_nodes) + if a.nodeType == xml.dom.Node.DOCUMENT_NODE: + return xml_matches(a.documentElement, b, ignore_nodes) + if b.nodeType == xml.dom.Node.DOCUMENT_NODE: + return xml_matches(a, b.documentElement, ignore_nodes) + + return nodes_match(a, b, ignore_nodes) + + +class TestEquality(unittest.TestCase): + def generate_test_params(self): + path = os.path.dirname(__file__) + old_path = os.path.join(path, 'robots.old') + new_path = os.path.join(path, 'robots.new') + + for name in os.listdir(old_path): + old_file = os.path.join(old_path, name) + new_file = os.path.join(new_path, name) + + if name.endswith('.urdf.xacro') and os.path.isfile(old_file) and os.path.isfile(new_file): + yield name, old_file, new_file + + def save_results(self, name, doc): + with open(name, 'w') as f: + f.write(doc.toprettyxml(indent=' ')) + + def test_files(self): + def process(filename): + return xacro.process_file(filename) + + results_dir = None + for name, old_file, new_file in self.generate_test_params(): + with subTest(msg='Checking {}'.format(name)): + try: + old_doc = process(old_file) + new_doc = process(new_file) + xml_matches(old_doc, new_doc, ignore_nodes=[xml.dom.Node.COMMENT_NODE]) + except AssertionError: + if results_dir is None: + import tempfile + results_dir = tempfile.mkdtemp(prefix='sr_compat') + print('Saving mismatching URDFs to:', results_dir) + + for suffix, doc in zip(['.old', '.new'], [old_doc, new_doc]): + self.save_results(os.path.join(results_dir, name + suffix), doc) + + raise + except Exception as e: + msg = str(e) or repr(e) + xacro.error(msg) + xacro.print_location() + raise + + +if __name__ == '__main__': + unittest.main() diff --git a/sr_description/test/test_hands.rviz b/sr_description/test/test_hands.rviz index 2668ae583..742e86b76 100644 --- a/sr_description/test/test_hands.rviz +++ b/sr_description/test/test_hands.rviz @@ -7,8 +7,8 @@ Panels: - /Global Options1 - /Status1 - /RobotModel1 - Splitter Ratio: 0.446809 - Tree Height: 944 + Splitter Ratio: 0.44680899381637573 + Tree Height: 650 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -17,7 +17,7 @@ Panels: - /2D Nav Goal1 - /Publish Point1 Name: Tool Properties - Splitter Ratio: 0.588679 + Splitter Ratio: 0.5886790156364441 - Class: rviz/Views Expanded: - /Current View1 @@ -28,6 +28,10 @@ Panels: Name: Time SyncMode: 0 SyncSource: "" +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 Visualization Manager: Class: "" Displays: @@ -37,7 +41,7 @@ Visualization Manager: Color: 160; 160; 164 Enabled: true Line Style: - Line Width: 0.03 + Line Width: 0.029999999329447746 Value: Lines Name: Grid Normal Cell Count: 0 @@ -70,7 +74,8 @@ Visualization Manager: Frame Timeout: 15 Frames: All Enabled: false - Marker Scale: 0.3 + Marker Alpha: 1 + Marker Scale: 0.30000001192092896 Name: TF Show Arrows: true Show Axes: true @@ -84,7 +89,7 @@ Visualization Manager: Marker Topic: text_marker Name: Marker Namespaces: - "": true + {} Queue Size: 100 Value: true Enabled: true @@ -102,7 +107,10 @@ Visualization Manager: - Class: rviz/FocusCamera - Class: rviz/Measure - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 - Class: rviz/SetGoal Topic: /move_base_simple/goal - Class: rviz/PublishPoint @@ -112,30 +120,33 @@ Visualization Manager: Views: Current: Class: rviz/Orbit - Distance: 0.99575 + Distance: 0.9957500100135803 Enable Stereo Rendering: - Stereo Eye Separation: 0.06 + Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false + Field of View: 0.7853981852531433 Focal Point: - X: 0.057173 - Y: 0.0551292 - Z: 0.283615 + X: 0.057172998785972595 + Y: 0.05512920022010803 + Z: 0.28361499309539795 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false Name: Current View - Near Clip Distance: 0.01 - Pitch: 0.255203 + Near Clip Distance: 0.009999999776482582 + Pitch: 0.2552030086517334 Target Frame: - Value: Orbit (rviz) - Yaw: 5.40489 + Yaw: 5.404890060424805 Saved: ~ Window Geometry: Displays: collapsed: false - Height: 992 + Height: 863 Hide Left Dock: false Hide Right Dock: false - QMainWindow State: 000000ff00000000fd00000004000000000000010f000003f1fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006700fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000043000003f1000000e300fffffffb0000000c00430061006d0065007200610000000420000000160000000000000000fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065010000033c000000cd0000000000000000000000010000010f000002bbfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002bb000000b300fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006360000003efc0100000002fb0000000800540069006d00650100000000000006360000023a00fffffffb0000000800540069006d0065010000000000000450000000000000000000000521000003f100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd000000040000000000000156000002c5fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002c5000000c700fffffffb0000000c00430061006d0065007200610000000420000000160000000000000000fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065010000033c000000cd0000000000000000000000010000010f000002bbfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002bb000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006400000003efc0100000002fb0000000800540069006d00650100000000000006400000024400fffffffb0000000800540069006d00650100000000000004500000000000000000000004e4000002c500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: @@ -144,6 +155,6 @@ Window Geometry: collapsed: false Views: collapsed: false - Width: 1515 - X: 395 - Y: 0 + Width: 1600 + X: 0 + Y: 89 diff --git a/sr_description/test/test_hands.sh b/sr_description/test/test_hands.sh index efbf4a810..9c3e553b3 100755 --- a/sr_description/test/test_hands.sh +++ b/sr_description/test/test_hands.sh @@ -3,28 +3,24 @@ source ./test_models.sh -launch shadowhand_motor -launch shadowhand_left_motor -launch shadowhand_lite -launch shadowhand_extra_lite +# Testing default hand - hand_type:="hand_e" hand_version:="E3M5" side:="right" fingers:="all" tip_sensors:="pst" +launch sr_hand -launch shadowhand_motor_ellipsoid +# Testing left side +launch sr_hand side:="left" -launch shadowhand_motor_biotac -launch shadowhand_left_motor_biotac +# Testing 'bt_sp' tip sensors +launch sr_hand tip_sensors:="bt_sp" -launch shadowhand_motor_ff_biotac -launch shadowhand_motor_th_ff_rf_ellipsoid +# Testing 'bt_2p' tip sensors +launch sr_hand tip_sensors:="bt_2p" -launch shadowhand_motor_btsp +# Testing custom finger set +launch sr_hand fingers:="th,ff,mf,rf" +launch sr_hand fingers:="th,ff,mf" -launch sr_three_finger_motor -launch sr_one_finger_motor +# Testing hand lite +launch sr_hand hand_type:="hand_g" hand_version:="G1M5" -launch shadowhand_muscle -launch shadowhand_edc_muscle -launch shadowhand_left_muscle -launch shadowhand_left_edc_muscle -launch shadowhand_muscle_biotac -launch shadowhand_edc_muscle_biotac -launch sr_three_finger_edc_muscle_biotac +# Testing muscle hand +launch sr_hand hand_type:="hand_c" hand_version:="C6M2" diff --git a/sr_description/test/test_models.launch b/sr_description/test/test_models.launch index 88251b46d..45641c2cb 100644 --- a/sr_description/test/test_models.launch +++ b/sr_description/test/test_models.launch @@ -1,11 +1,11 @@ - + - + @@ -13,4 +13,4 @@ - + \ No newline at end of file diff --git a/sr_description/test/test_models.sh b/sr_description/test/test_models.sh index 1c3152a2c..4792f2761 100644 --- a/sr_description/test/test_models.sh +++ b/sr_description/test/test_models.sh @@ -15,19 +15,28 @@ pose: orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0} scale: {x: 0.0, y: 0.0, z: 0.1} color: {r: 0.0, g: 0.0, b: 0.0, a: 1.0} -text: '$1'" & +text: '$1 $2 $3 $4 $5 $6'" & ROSTOPIC_PID=$! # Get PID from background process trap stop_rostopic EXIT # Ensure rostopic is killed on exit } function launch { - echo - echo "Testing $1.urdf.xacro" + + robot_description=$(xacro ../robots/sr_hand.urdf.xacro $2 $3 $4 $5 $6) + echo $robot_description > "robot_description" + + echo "***********************************************" + echo "Testing $1.urdf.xacro " + for ((i=2; i<=$#; i++)) + do + echo "--- ${!i}" + done echo "***********************************************" - start_rostopic $1 - roslaunch sr_description test_models.launch robot:=$(rospack find sr_description)/robots/$1.urdf.xacro rviz_config:=$RVIZ_CONFIG + start_rostopic $1 $2 $3 $4 $5 $6 + roslaunch sr_description test_models.launch robot:="$(rospack find sr_description)/test/robot_description" rviz_config:=$RVIZ_CONFIG + rm "robot_description" stop_rostopic sleep 0.2 # Some time to Ctrl-C before next launch diff --git a/sr_description/test/test_process_fingers_parameter.xacro b/sr_description/test/test_process_fingers_parameter.xacro new file mode 100644 index 000000000..48968efea --- /dev/null +++ b/sr_description/test/test_process_fingers_parameter.xacro @@ -0,0 +1,21 @@ + + + + + + ${input} ${msg} : ${fingers} + + + + + + + + + + + + + + + diff --git a/sr_description/test/test_process_sensor_parameters.xacro b/sr_description/test/test_process_sensor_parameters.xacro new file mode 100644 index 000000000..200bb8b08 --- /dev/null +++ b/sr_description/test/test_process_sensor_parameters.xacro @@ -0,0 +1,41 @@ + + + + tip_sensors: ${tip_sensors} + mid_sensors: ${mid_sensors} + prox_sensors: ${prox_sensors} + palm_sensor: ${palm_sensor} + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +