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working chain from linear_slider -> ur5 -> mock_pruner. Fragile. fr3 …
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pybullet_tree_sim/meshes/end_effectors/mock_pruner/MockPrunerASSEMBLED.STL
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pybullet_tree_sim/urdf/end_effectors/mock_pruner/macro/mock_pruner_macro.urdf.xacro
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| <?xml version="1.0"?> | ||
| <robot xmlns:xacro="https://ros.org/wiki/xacro" name="mock_pruner"> | ||
| <!-- Mock Pruner --> | ||
| <xacro:arg name="name" default="mock_pruner"/> | ||
| <!-- <xacro:property name="end_effector_parent" value="" /> --> | ||
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| <!-- Materials --> | ||
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| <xacro:macro name="mock_pruner_macro" params="eef_prefix eef_parent tof0_offset tof1_offset camera_offset"> | ||
| <!-- ================== --> | ||
| <!-- Properties --> | ||
| <!-- ================== --> | ||
| <xacro:property name="mock_pruner_mass" value="2.0" /> | ||
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| <!-- ================== --> | ||
| <!-- Links --> | ||
| <!-- ================== --> | ||
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| <link name="${eef_prefix}base" > | ||
| <visual> | ||
| <material name="orange"> | ||
| <color rgba="${255/255} ${108/255} ${10/255} 1.0"/> | ||
| </material> | ||
| <origin xyz="0 0 0" rpy="0 0 0"/> | ||
| <geometry> | ||
| <mesh filename="./meshes/end_effectors/mock_pruner/MockPrunerASSEMBLED.STL" /> | ||
| </geometry> | ||
| </visual> | ||
| <collision> | ||
| <origin xyz="0 0 0" rpy="0 0 0"/> | ||
| <geometry> | ||
| <mesh filename="./meshes/end_effectors/mock_pruner/MockPrunerASSEMBLED.STL" /> | ||
| </geometry> | ||
| </collision> | ||
| <inertial> | ||
| <mass value="${mock_pruner_mass}"/> | ||
| <origin xyz="0.0 0.0 0.0"/> | ||
| <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1"/> | ||
| </inertial> | ||
| </link> | ||
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| <!-- camera link --> | ||
| <link name="${eef_prefix}camera0" /> | ||
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| <!-- tof links --> | ||
| <link name="${eef_prefix}tof0" /> | ||
| <link name="${eef_prefix}tof1" /> | ||
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| <!-- tool/cut_point link --> | ||
| <link name="${eef_prefix}tool0" /> | ||
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| <!-- ================== --> | ||
| <!-- Joints --> | ||
| <!-- ================== --> | ||
| <joint name="${eef_parent}--${eef_prefix}base_joint" type="fixed"> | ||
| <origin xyz="0 0 0" rpy="0 0 0"/> | ||
| <parent link="${eef_parent}"/> | ||
| <child link="${eef_prefix}base"/> | ||
| </joint> | ||
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| <joint name="${eef_prefix}base--camera0_joint" type="fixed"> | ||
| <origin xyz="0 0 0" rpy="0 0 0"/> | ||
| <parent link="${eef_prefix}base" /> | ||
| <child link="${eef_prefix}camera0" /> | ||
| </joint> | ||
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| <joint name="${eef_prefix}base--tof0_joint" type="fixed"> | ||
| <!-- <xacro:insert_block name="origin"/> --> | ||
| <origin xyz="${tof0_offset} 0 0" rpy="0 0 0"/> | ||
| <parent link="${eef_prefix}base" /> | ||
| <child link="${eef_prefix}tof0" /> | ||
| </joint> | ||
| <joint name="${eef_prefix}base--tof1_joint" type="fixed"> | ||
| <origin xyz="${tof1_offset} 0 0" rpy="0 0 0"/> | ||
| <parent link="${eef_prefix}base" /> | ||
| <child link="${eef_prefix}tof1" /> | ||
| </joint> | ||
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| <joint name="${eef_prefix}base--${eef_prefix}tool0" type="fixed"> | ||
| <origin xyz="0 0 0" rpy="0 0 0"/> | ||
| <parent link="${eef_prefix}base" /> | ||
| <child link="${eef_prefix}tool0" /> | ||
| </joint> | ||
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| </xacro:macro> | ||
| </robot> |
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38
pybullet_tree_sim/urdf/end_effectors/mock_pruner/mock_pruner.urdf.xacro
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| <?xml version="1.0"?> | ||
| <robot xmlns:xacro="https://ros.org/wiki/xacro" name="mock_pruner"> | ||
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| <!-- World link --> | ||
| <link name="world" /> | ||
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| <!-- Args --> | ||
| <xacro:arg name="eef_parent" default="world" /> | ||
| <xacro:arg name="eef_prefix" default="mock_pruner__" /> | ||
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| <!-- mock_pruner macro --> | ||
| <xacro:include filename="./macro/mock_pruner_macro.urdf.xacro" /> | ||
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| <!-- <xacro:arg name="parent" default="world" /> | ||
| <xacro:arg name="prefix" default="''" /> | ||
| <xacro:arg name="use_mock_hardware" default="false" /> | ||
| <xacro:arg name="mock_sensor_commands" default="false" /> | ||
| <xacro:arg name="sim_gazebo" default="false" /> | ||
| <xacro:arg name="sim_gazebo_classic" default="false"/> --> | ||
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| <xacro:mock_pruner_macro | ||
| eef_prefix="$(arg eef_prefix)" | ||
| eef_parent="$(arg eef_parent)" | ||
| tof0_offset='0.02' | ||
| tof1_offset='-0.02' | ||
| camera_offset='' | ||
| /> | ||
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| <joint name="world__$(arg eef_prefix)base" type="fixed"> | ||
| <origin xyz="0.0 180.0 0.0" rpy="0 0 0"/> | ||
| <parent link="world" /> | ||
| <child link="$(arg eef_prefix)base" /> | ||
| </joint> | ||
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| </robot> | ||
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73 changes: 73 additions & 0 deletions
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pybullet_tree_sim/urdf/end_effectors/mock_pruner/test.urdf
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| <?xml version="1.0" ?> | ||
| <!-- =================================================================================== --> | ||
| <!-- | This document was autogenerated by xacro from mock_pruner.urdf.xacro | --> | ||
| <!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | --> | ||
| <!-- =================================================================================== --> | ||
| <robot name="mock_pruner"> | ||
| <!-- World link --> | ||
| <link name="world"/> | ||
| <!-- <xacro:property name="end_effector_parent" value="" /> --> | ||
| <!-- Materials --> | ||
| <!-- <xacro:arg name="parent" default="world" /> | ||
| <xacro:arg name="prefix" default="''" /> | ||
| <xacro:arg name="use_mock_hardware" default="false" /> | ||
| <xacro:arg name="mock_sensor_commands" default="false" /> | ||
| <xacro:arg name="sim_gazebo" default="false" /> | ||
| <xacro:arg name="sim_gazebo_classic" default="false"/> --> | ||
| <!-- ================== --> | ||
| <!-- Links --> | ||
| <!-- ================== --> | ||
| <link name="mock_pruner__base"> | ||
| <visual> | ||
| <material name="orange"> | ||
| <color rgba="1.0 0.4235294117647059 0.0392156862745098 1.0"/> | ||
| </material> | ||
| <origin rpy="0 0 0" xyz="0 0 0"/> | ||
| <geometry> | ||
| <mesh filename="./meshes/end_effectors/mock_pruner/MockPrunerASSEMBLED.STL"/> | ||
| </geometry> | ||
| </visual> | ||
| <collision> | ||
| <origin rpy="0 0 0" xyz="0 0 0"/> | ||
| <geometry> | ||
| <mesh filename="./meshes/end_effectors/mock_pruner/MockPrunerASSEMBLED.STL"/> | ||
| </geometry> | ||
| </collision> | ||
| <inertial> | ||
| <mass value="2.0"/> | ||
| <origin xyz="0.0 0.0 0.0"/> | ||
| <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1"/> | ||
| </inertial> | ||
| </link> | ||
| <!-- camera link --> | ||
| <link name="mock_pruner__camera0"/> | ||
| <!-- tof links --> | ||
| <link name="mock_pruner__tof0"/> | ||
| <link name="mock_pruner__tof1"/> | ||
| <!-- tool/cut_point link --> | ||
| <link name="mock_pruner__tool0"/> | ||
| <!-- ================== --> | ||
| <!-- Joints --> | ||
| <!-- ================== --> | ||
| <joint name="mock_pruner__base__camera0_joint" type="fixed"> | ||
| <origin rpy="0 0 0" xyz="0 0 0"/> | ||
| <parent link="mock_pruner__base"/> | ||
| <child link="mock_pruner__camera0"/> | ||
| </joint> | ||
| <joint name="mock_pruner__base__tof0_joint" type="fixed"> | ||
| <!-- <xacro:insert_block name="origin"/> --> | ||
| <origin rpy="0 0 0" xyz="0.02 0 0"/> | ||
| <parent link="mock_pruner__base"/> | ||
| <child link="mock_pruner__tof0"/> | ||
| </joint> | ||
| <joint name="mock_pruner__base__tof1_joint" type="fixed"> | ||
| <origin rpy="0 0 0" xyz="-0.02 0 0"/> | ||
| <parent link="mock_pruner__base"/> | ||
| <child link="mock_pruner__tof1"/> | ||
| </joint> | ||
| <joint name="world__mock_pruner__base" type="fixed"> | ||
| <origin rpy="0 0 0" xyz="0.0 180.0 0.0"/> | ||
| <parent link="world"/> | ||
| <child link="mock_pruner__base"/> | ||
| </joint> | ||
| </robot> |
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