diff --git a/.gitattributes b/.gitattributes index af042f6ac18fd6ef7fd6e06cfd0fe67aa58be298..c479b5816772474059b59fc68b0d8e5bac01fd3c 100644 --- a/.gitattributes +++ b/.gitattributes @@ -17,3 +17,4 @@ simplified_objects/071/textured.sdf filter=lfs diff=lfs merge=lfs -text simplified_objects/072/textured.sdf filter=lfs diff=lfs merge=lfs -text simplified_objects/073/textured.sdf filter=lfs diff=lfs merge=lfs -text simplified_objects/076/textured.sdf filter=lfs diff=lfs merge=lfs -text +ur5e/gripper/visual/robotiq_gripper_coupling.stl filter=lfs diff=lfs merge=lfs -text diff --git a/ur5e/collision/base.stl b/ur5e/collision/base.stl new file mode 100644 index 0000000000000000000000000000000000000000..c5881046676ce1ca5c88bbc482e05473ffb616bc Binary files /dev/null and b/ur5e/collision/base.stl differ diff --git a/ur5e/collision/forearm.stl b/ur5e/collision/forearm.stl new file mode 100644 index 0000000000000000000000000000000000000000..3a02f8b0ef78e60f87bda07902a01342586e8f42 Binary files /dev/null and b/ur5e/collision/forearm.stl differ diff --git a/ur5e/collision/shoulder.stl b/ur5e/collision/shoulder.stl new file mode 100644 index 0000000000000000000000000000000000000000..ba79079f6e9386eb2616ad9c2a4f20b48373be1c Binary files /dev/null and b/ur5e/collision/shoulder.stl differ diff --git a/ur5e/collision/upperarm.stl b/ur5e/collision/upperarm.stl new file mode 100644 index 0000000000000000000000000000000000000000..02f6edfdde2bf08188ec6fc5d73f9b8d8773e0d0 Binary files /dev/null and b/ur5e/collision/upperarm.stl differ diff --git a/ur5e/collision/wrist1.stl b/ur5e/collision/wrist1.stl new file mode 100644 index 0000000000000000000000000000000000000000..694700f7dd428b083f5b362771034f7905d2db23 Binary files /dev/null and b/ur5e/collision/wrist1.stl differ diff --git a/ur5e/collision/wrist2.stl b/ur5e/collision/wrist2.stl new file mode 100644 index 0000000000000000000000000000000000000000..667d60e302146b015bee66af38ce88973c87ba01 Binary files /dev/null and b/ur5e/collision/wrist2.stl differ diff --git a/ur5e/collision/wrist3.stl b/ur5e/collision/wrist3.stl new file mode 100644 index 0000000000000000000000000000000000000000..d6bdb411e5eacf6ee17746bfc19665143ae59514 Binary files /dev/null and b/ur5e/collision/wrist3.stl differ diff --git a/ur5e/gripper/collision/README.md b/ur5e/gripper/collision/README.md new file mode 100644 index 0000000000000000000000000000000000000000..0ca8b8a3c097e966af62cd8ff4af9c6fdf5b7b0d --- /dev/null +++ b/ur5e/gripper/collision/README.md @@ -0,0 +1,3 @@ +Use the obj instead of dae for inner_finger. +The obj is generated from dae by using v-hacd. +The dae is a rough convex hull which causes unexpected collision. \ No newline at end of file diff --git a/ur5e/gripper/collision/robotiq_arg2f_85_base_link.stl b/ur5e/gripper/collision/robotiq_arg2f_85_base_link.stl new file mode 100644 index 0000000000000000000000000000000000000000..cb9fec8cf15fea4530d5acdbfe750f4523d519d3 Binary files /dev/null and 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2046 1133 2047 1150 2047 1156 2047 1145 2048 1121 2048 1158 2048 1140 2049 1153 2049 1157 2049 1121 2050 1139 2050 1158 2050 1132 2051 1144 2051 1159 2051 1149 2052 1132 2052 1159 2052 1142 2053 1160 2053 1161 2053 1150 2054 1148 2054 1161 2054 1148 2055 1142 2055 1161 2055 1134 2056 1146 2056 1162 2056 1145 2057 1158 2057 1163 2057 1147 2058 1164 2058 1162 2058 1153 2059 1134 2059 1162 2059 1151 2060 1145 2060 1163 2060 1146 2061 1147 2061 1162 2061 1156 2062 1150 2062 1165 2062 1161 2063 1160 2063 1165 2063 1154 2064 1149 2064 1166 2064 1149 2065 1159 2065 1166 2065 1150 2066 1161 2066 1165 2066 1155 2067 1141 2067 1167 2067 1157 2068 1153 2068 1168 2068 1141 2069 1156 2069 1167 2069 1153 2070 1162 2070 1168 2070 1156 2071 1165 2071 1167 2071 1138 2072 1154 2072 1169 2072 1170 2073 1138 2073 1169 2073 1171 2074 1152 2074 1172 2074 1173 2075 1170 2075 1169 2075 1174 2076 1173 2076 1169 2076 1152 2077 1151 2077 1172 2077 1175 2078 1174 2078 1169 2078 1144 2079 1157 2079 1176 2079 1159 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2146 1198 2147 1179 2147 1212 2147 1179 2148 1195 2148 1212 2148 1185 2149 1198 2149 1213 2149 1203 2150 1185 2150 1213 2150 1200 2151 1214 2151 1215 2151 1211 2152 1187 2152 1215 2152 1201 2153 1200 2153 1215 2153 1187 2154 1201 2154 1215 2154 1208 2155 1203 2155 1216 2155 1203 2156 1213 2156 1216 2156 1217 2157 1189 2157 1218 2157 1219 2158 1217 2158 1218 2158 1189 2159 1208 2159 1218 2159 1195 2160 1211 2160 1220 2160 1212 2161 1195 2161 1220 2161 1198 2162 1212 2162 1221 2162 1213 2163 1198 2163 1221 2163 1216 2164 1213 2164 1222 2164 1213 2165 1221 2165 1222 2165 1214 2166 1223 2166 1224 2166 1215 2167 1214 2167 1224 2167 1211 2168 1215 2168 1224 2168 1220 2169 1211 2169 1224 2169 1208 2170 1216 2170 1225 2170 1218 2171 1208 2171 1225 2171 1226 2172 1219 2172 1227 2172 1219 2173 1218 2173 1227 2173 1221 2174 1212 2174 1228 2174 1212 2175 1220 2175 1228 2175 1221 2176 1228 2176 1229 2176 1222 2177 1221 2177 1229 2177 1216 2178 1222 2178 1230 2178 1225 2179 1216 2179 1230 2179 1223 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2213 1250 2213 1241 2214 1242 2214 1250 2214 1244 2215 1236 2215 1251 2215 1236 2216 1243 2216 1251 2216 1245 2217 1244 2217 1252 2217 1244 2218 1251 2218 1252 2218 1240 2219 1245 2219 1253 2219 1248 2220 1240 2220 1253 2220 1246 2221 1254 2221 1255 2221 1247 2222 1246 2222 1255 2222 1243 2223 1247 2223 1255 2223 1251 2224 1243 2224 1255 2224 1242 2225 1248 2225 1256 2225 1250 2226 1242 2226 1256 2226 1257 2227 1249 2227 1258 2227 1249 2228 1250 2228 1258 2228 1251 2229 1255 2229 1259 2229 1252 2230 1251 2230 1259 2230 1245 2231 1252 2231 1260 2231 1253 2232 1245 2232 1260 2232 1248 2233 1253 2233 1261 2233 1256 2234 1248 2234 1261 2234 1255 2235 1254 2235 1262 2235 1259 2236 1255 2236 1262 2236 1254 2237 1263 2237 1262 2237 1258 2238 1250 2238 1264 2238 1250 2239 1256 2239 1264 2239 1265 2240 1257 2240 1266 2240 1257 2241 1258 2241 1266 2241 1252 2242 1259 2242 1267 2242 1260 2243 1252 2243 1267 2243 1261 2244 1253 2244 1268 2244 1253 2245 1260 2245 1268 2245 1256 2246 1261 2246 1269 2246 1264 2247 1256 2247 1269 2247 1267 2248 1259 2248 1270 2248 1259 2249 1262 2249 1270 2249 1262 2250 1263 2250 1270 2250 1263 2251 1271 2251 1270 2251 1266 2252 1258 2252 1272 2252 1258 2253 1264 2253 1272 2253 1265 2254 1266 2254 1273 2254 1274 2255 1265 2255 1273 2255 1268 2256 1260 2256 1275 2256 1260 2257 1267 2257 1275 2257 1261 2258 1268 2258 1276 2258 1269 2259 1261 2259 1276 2259 1264 2260 1269 2260 1277 2260 1272 2261 1264 2261 1277 2261 1267 2262 1270 2262 1278 2262 1275 2263 1267 2263 1278 2263 1270 2264 1271 2264 1278 2264 1271 2265 1279 2265 1278 2265 1273 2266 1266 2266 1280 2266 1266 2267 1272 2267 1280 2267 1274 2268 1273 2268 1281 2268 1282 2269 1274 2269 1281 2269 1268 2270 1275 2270 1283 2270 1276 2271 1268 2271 1283 2271 1277 2272 1269 2272 1284 2272 1269 2273 1276 2273 1284 2273 1280 2274 1272 2274 1285 2274 1272 2275 1277 2275 1285 2275 1275 2276 1278 2276 1286 2276 1283 2277 1275 2277 1286 2277 1278 2278 1279 2278 1286 2278 1279 2279 1287 2279 1286 2279 1273 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2346 1328 2347 1317 2347 1329 2347 1316 2348 1314 2348 1330 2348 1317 2349 1318 2349 1329 2349 1314 2350 1320 2350 1330 2350 1304 2351 1316 2351 1331 2351 1319 2352 1304 2352 1331 2352 1193 2353 1206 2353 1332 2353 1206 2354 1207 2354 1332 2354 1321 2355 1193 2355 1332 2355 1323 2356 1308 2356 1333 2356 1324 2357 1313 2357 1334 2357 1308 2358 1319 2358 1333 2358 1313 2359 1321 2359 1334 2359 1320 2360 1322 2360 1335 2360 1330 2361 1320 2361 1335 2361 1322 2362 1336 2362 1335 2362 1315 2363 1324 2363 1337 2363 1323 2364 1333 2364 1338 2364 1326 2365 1315 2365 1337 2365 1325 2366 1323 2366 1338 2366 1332 2367 1207 2367 1339 2367 1301 2368 1340 2368 1339 2368 1207 2369 1301 2369 1339 2369 1327 2370 1325 2370 1341 2370 1342 2371 1327 2371 1341 2371 1329 2372 1318 2372 1343 2372 1325 2373 1338 2373 1341 2373 1318 2374 1326 2374 1343 2374 1331 2375 1316 2375 1344 2375 1345 2376 1328 2376 1346 2376 1316 2377 1330 2377 1344 2377 1328 2378 1329 2378 1346 2378 1329 2379 1343 2379 1346 2379 1319 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+ + + + + + + + + + + + + + + + + + + diff --git a/ur5e/gripper/visual/robotiq_arg2f_85_pad.dae b/ur5e/gripper/visual/robotiq_arg2f_85_pad.dae new file mode 100644 index 0000000000000000000000000000000000000000..e0c6e645da7828db4d22f4c4becc39269b8214d0 --- /dev/null +++ b/ur5e/gripper/visual/robotiq_arg2f_85_pad.dae @@ -0,0 +1,104 @@ + + + 2016-07-17T22:25:43.361178 + 2016-07-17T22:25:43.361188 + Z_UP + + + + + + + + 0.0 0.0 0.0 1.0 + + + 0.0 0.0 0.0 1.0 + + + 0.7 0.7 0.7 1.0 + + + 1 1 1 1.0 + + + 0.0 + + + 0.0 0.0 0.0 1.0 + + + 0.0 + + + 0.0 0.0 0.0 1.0 + + + 1.0 + + + + + + 0 + + + + + + + + + + 4.38531e-14 -1 -4.451336e-05 4.38531e-14 -1 -4.451336e-05 -4.38531e-14 1 4.451336e-05 -4.38531e-14 1 4.451336e-05 -1 -4.385301e-14 -2.011189e-15 -1 -4.385301e-14 -2.011189e-15 -2.009237e-15 -4.451336e-05 1 -2.009237e-15 -4.451336e-05 1 1 4.385301e-14 2.011189e-15 1 4.385301e-14 2.011189e-15 2.009237e-15 4.451336e-05 -1 2.009237e-15 4.451336e-05 -1 + + + + + + + + + + -10 -23.90175 13.51442 10 -23.9033 48.51442 -10 -23.9033 48.51442 10 -23.90175 13.51442 -10 -18.90175 13.51464 -10 -18.9033 48.51464 10 -18.90175 13.51464 10 -18.9033 48.51464 + + + + + + + + + + + + + + +

0 0 1 0 2 0 3 1 1 1 0 1 4 2 5 2 6 2 5 3 7 3 6 3 2 4 5 4 4 4 2 5 4 5 0 5 5 6 2 6 1 6 5 7 1 7 7 7 7 8 1 8 6 8 1 9 3 9 6 9 0 10 4 10 3 10 4 11 6 11 3 11

+ + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur5e/gripper/visual/robotiq_gripper_coupling.stl b/ur5e/gripper/visual/robotiq_gripper_coupling.stl new file mode 100644 index 0000000000000000000000000000000000000000..e2289a1e75b5ee9e21d22de667fdb5805011d08b --- /dev/null +++ b/ur5e/gripper/visual/robotiq_gripper_coupling.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4281e83002a25c20dc07c68b8d77da30a13e9a8401f157f6848ed8287d7cce44 +size 160684 diff --git a/ur5e/license.txt b/ur5e/license.txt new file mode 100644 index 0000000000000000000000000000000000000000..55378df259580aed7990223ead89687c086c8cd7 --- /dev/null +++ b/ur5e/license.txt @@ -0,0 +1,32 @@ +Original work Copyright 2018 ROS Industrial (https://rosindustrial.org/) +Modified work Copyright 2018 Virtana, Inc (www.virtanatech.com) + +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + +http://www.apache.org/licenses/LICENSE-2.0 + +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express +or implied. See the License for the specific language governing +permissions and limitations under the License. + +Changenotes: + +2018-05-08: Vijay Pradeep (vijay@virtanatech.com) +The visual/ mesh files were generated from the dae files in the +ros-industrial universal robot repo [1]. Since the collada pyBullet +parser is somewhat limited, it is unable to parse the UR collada mesh +files. Thus, we imported these collada files into blender and +converted them into STL files. We lost material definitions during +the conversion, but that's ok. + +The URDF was generated by running the xacro xml preprocessor on the +URDF included in the ur_description repo already mentioned here. +Additional manual tweaking was required to update resource paths and +to remove errors caused by missing inertia elements. Varios Gazebo +plugin tags were also removed. + +[1] - https://github.com/ros-industrial/universal_robot/tree/kinetic-devel/ur_description/meshes/ur5/visual diff --git a/ur5e/plane.obj b/ur5e/plane.obj new file mode 100644 index 0000000000000000000000000000000000000000..6062095314e3d3f5b9da26a580ca2e6ee14623e6 --- /dev/null +++ b/ur5e/plane.obj @@ -0,0 +1,18 @@ +# Blender v2.66 (sub 1) OBJ File: '' +# www.blender.org +mtllib plane.mtl +o Plane +v 15.000000 -15.000000 0.000000 +v 15.000000 15.000000 0.000000 +v -15.000000 15.000000 0.000000 +v -15.000000 -15.000000 0.000000 + +vt 15.000000 0.000000 +vt 15.000000 15.000000 +vt 0.000000 15.000000 +vt 0.000000 0.000000 + +usemtl Material +s off +f 1/1 2/2 3/3 +f 1/1 3/3 4/4 diff --git a/ur5e/ur5e.urdf b/ur5e/ur5e.urdf new file mode 100644 index 0000000000000000000000000000000000000000..5b609220251e41ae59cf51f0130b0abcc390f84a --- /dev/null +++ b/ur5e/ur5e.urdf @@ -0,0 +1,218 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ur5e/visual/base.dae b/ur5e/visual/base.dae new file mode 100644 index 0000000000000000000000000000000000000000..6933608f553ce3fa008db290231363e89c1915aa --- /dev/null +++ b/ur5e/visual/base.dae @@ -0,0 +1,172 @@ + + + + + Blender User + Blender 2.78.0 commit date:2017-02-24, commit time:14:33, hash:e92f2352830 + + 2018-08-20T16:29:20 + 2018-08-20T16:29:20 + + Z_UP + + + + + + + + + 0 0 0 1 + + + 0.25 0.25 0.25 1 + + + 0.2784314 0.2784314 0.2784314 1 + + + 0.03150501 0.03150501 0.03150501 1 + + + 0 + + + 1 + + + + + + + + + + + 0 0 0 1 + + + 0.25 0.25 0.25 1 + + + 0.03310248 0.03310248 0.03310248 1 + + + 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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 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 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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 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 +

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