diff --git a/.gitignore b/.gitignore index 6b9d59e..60c84d9 100644 --- a/.gitignore +++ b/.gitignore @@ -5,4 +5,6 @@ **tb/ **.gif **.ckpt -**.pyc \ No newline at end of file +**.pyc + +build/ \ No newline at end of file diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 6ad9bac..a21f704 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -8,7 +8,7 @@ repos: #- id: end-of-file-fixer - id: trailing-whitespace - id: mixed-line-ending - - id: check-added-large-files + # - id: check-added-large-files - repo: https://github.com/myint/autoflake rev: v1.4 hooks: diff --git a/airo_models/arms/__init__.py b/airo_models/arms/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/airo_models/arms/ur3e/collision/base.mtl b/airo_models/arms/ur3e/collision/base.mtl new file mode 100644 index 0000000..f231bdf --- /dev/null +++ b/airo_models/arms/ur3e/collision/base.mtl @@ -0,0 +1,10 @@ +# Blender MTL File: 'None' +# Material Count: 1 + +newmtl None +Ns 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+ + + + + + + + + + + + # the real joint limits are -inf and inf on the ur3e but this makes it difficult for the planner + + + + + transmission_interface/SimpleTransmission + + hardware_interface/PositionJointInterface + + + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/PositionJointInterface + + + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/PositionJointInterface + + + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/PositionJointInterface + + + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/PositionJointInterface + + + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/PositionJointInterface + + + 1 + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/airo_models/arms/ur3e/visual/base.blend1 b/airo_models/arms/ur3e/visual/base.blend1 new file mode 100644 index 0000000..700f5e9 Binary files /dev/null and b/airo_models/arms/ur3e/visual/base.blend1 differ diff --git a/airo_models/arms/ur3e/visual/base.mtl b/airo_models/arms/ur3e/visual/base.mtl new file mode 100644 index 0000000..17b9413 --- /dev/null +++ b/airo_models/arms/ur3e/visual/base.mtl @@ -0,0 +1,22 @@ +# Blender MTL File: 'None' +# Material Count: 2 + +newmtl Black.035 +Ns 225.000000 +Ka 1.000000 1.000000 1.000000 +Kd 0.033102 0.033102 0.033102 +Ks 0.500000 0.500000 0.500000 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl JointGrey.035 +Ns 225.000000 +Ka 1.000000 1.000000 1.000000 +Kd 0.278431 0.278431 0.278431 +Ks 0.500000 0.500000 0.500000 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 diff --git a/airo_models/arms/ur3e/visual/base.obj b/airo_models/arms/ur3e/visual/base.obj new file mode 100644 index 0000000..9052d5f --- /dev/null +++ b/airo_models/arms/ur3e/visual/base.obj @@ -0,0 +1,7984 @@ +# Blender v3.0.1 OBJ File: '' +# www.blender.org +mtllib base.mtl +o 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0000000..eef54cd --- /dev/null +++ b/airo_models/arms/ur3e/visual/shoulder.mtl @@ -0,0 +1,32 @@ +# Blender MTL File: 'None' +# Material Count: 3 + +newmtl Black.033 +Ns 225.000000 +Ka 1.000000 1.000000 1.000000 +Kd 0.033102 0.033102 0.033102 +Ks 0.500000 0.500000 0.500000 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl JointGrey.033 +Ns 225.000000 +Ka 1.000000 1.000000 1.000000 +Kd 0.278431 0.278431 0.278431 +Ks 0.500000 0.500000 0.500000 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl URBlue.028 +Ns 225.000000 +Ka 1.000000 1.000000 1.000000 +Kd 0.490196 0.678431 0.800000 +Ks 0.500000 0.500000 0.500000 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 diff --git a/airo_models/arms/ur3e/visual/shoulder.obj b/airo_models/arms/ur3e/visual/shoulder.obj new file mode 100644 index 0000000..b42c828 --- /dev/null +++ b/airo_models/arms/ur3e/visual/shoulder.obj @@ -0,0 +1,65386 @@ +# Blender v3.0.1 OBJ File: '' +# 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Material Count: 4 + +newmtl Black.079 +Ns 225.000000 +Ka 1.000000 1.000000 1.000000 +Kd 0.033102 0.033102 0.033102 +Ks 0.500000 0.500000 0.500000 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl JointGrey.079 +Ns 225.000000 +Ka 1.000000 1.000000 1.000000 +Kd 0.278431 0.278431 0.278431 +Ks 0.500000 0.500000 0.500000 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl LinkGrey.038 +Ns 225.000000 +Ka 1.000000 1.000000 1.000000 +Kd 0.820392 0.820392 0.820392 +Ks 0.500000 0.500000 0.500000 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl URBlue.067 +Ns 225.000000 +Ka 1.000000 1.000000 1.000000 +Kd 0.490196 0.678431 0.800000 +Ks 0.500000 0.500000 0.500000 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 diff --git a/airo_models/arms/ur5e/visual/forearm.obj b/airo_models/arms/ur5e/visual/forearm.obj new file mode 100644 index 0000000..d036d83 --- /dev/null +++ b/airo_models/arms/ur5e/visual/forearm.obj 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b/airo_models/grippers/robotiq_2f85/meshes/collision/robotiq_arg2f_base_link.stl new file mode 100644 index 0000000..7eccbbb Binary files /dev/null and b/airo_models/grippers/robotiq_2f85/meshes/collision/robotiq_arg2f_base_link.stl differ diff --git a/airo_models/grippers/robotiq_2f85/meshes/visual/convert_to_obj.sh b/airo_models/grippers/robotiq_2f85/meshes/visual/convert_to_obj.sh new file mode 100755 index 0000000..069c763 --- /dev/null +++ b/airo_models/grippers/robotiq_2f85/meshes/visual/convert_to_obj.sh @@ -0,0 +1,13 @@ +#!/usr/bin/env bash + +## +# +# A quick script for converting other mesh filetypes to .obj +# (since Drake can only handle obj meshes) using meshlab. +# +## + +for file in ./*.dae; do + echo "$file ===> ${file%.*}.obj " + meshlabserver -i "$file" -o "${file%.*}.obj" +done diff --git a/airo_models/grippers/robotiq_2f85/meshes/visual/robotiq_arg2f_85_base_link.dae b/airo_models/grippers/robotiq_2f85/meshes/visual/robotiq_arg2f_85_base_link.dae new file mode 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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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2646 1486 2647 1476 2647 1497 2647 1478 2648 1491 2648 1498 2648 1476 2649 1484 2649 1497 2649 1487 2650 1488 2650 1499 2650 1477 2651 1482 2651 1500 2651 1482 2652 1492 2652 1501 2652 1500 2653 1482 2653 1501 2653 1483 2654 1470 2654 1502 2654 1470 2655 1485 2655 1502 2655 1489 2656 1486 2656 1503 2656 1485 2657 1495 2657 1504 2657 1502 2658 1485 2658 1504 2658 1484 2659 1469 2659 1505 2659 1469 2660 1490 2660 1505 2660 1480 2661 1506 2661 1507 2661 1481 2662 1480 2662 1507 2662 1491 2663 1467 2663 1507 2663 1467 2664 1481 2664 1507 2664 1498 2665 1491 2665 1507 2665 1492 2666 1473 2666 1508 2666 1473 2667 1494 2667 1508 2667 1494 2668 1496 2668 1508 2668 1499 2669 1488 2669 1509 2669 1488 2670 1474 2670 1509 2670 1474 2671 1493 2671 1509 2671 1486 2672 1497 2672 1510 2672 1493 2673 1483 2673 1511 2673 1477 2674 1500 2674 1512 2674 1483 2675 1502 2675 1511 2675 1513 2676 1487 2676 1514 2676 1490 2677 1477 2677 1512 2677 1489 2678 1503 2678 1515 2678 1487 2679 1499 2679 1514 2679 1516 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124 +f 124 79 81 +f 124 81 126 +f 126 81 83 +f 126 83 128 +f 128 83 85 +f 128 85 87 +f 128 87 130 +f 130 87 89 +f 130 89 92 +f 92 89 39 +f 92 39 94 +# 3212 faces, 0 coords texture + +# End of File diff --git a/airo_models/grippers/robotiq_2f85/meshes/visual/robotiq_gripper_coupling.stl b/airo_models/grippers/robotiq_2f85/meshes/visual/robotiq_gripper_coupling.stl new file mode 100644 index 0000000..02c600f Binary files /dev/null and b/airo_models/grippers/robotiq_2f85/meshes/visual/robotiq_gripper_coupling.stl differ diff --git a/airo_models/grippers/robotiq_2f85/urdf/robotiq_2f_85.urdf b/airo_models/grippers/robotiq_2f85/urdf/robotiq_2f_85.urdf new file mode 100644 index 0000000..9351477 --- /dev/null +++ b/airo_models/grippers/robotiq_2f85/urdf/robotiq_2f_85.urdf @@ -0,0 +1,348 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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namespace pacakges omit the need to put init files everywhere,