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use macro with mock config
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Signed-off-by: Paul Gesel <[email protected]>
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@pac48
pac48 committed Feb 22, 2024
1 parent 5311a91 commit 828203b
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60 changes: 0 additions & 60 deletions src/picknik_ur_base_config/description/pinch_links.xacro
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223 changes: 17 additions & 206 deletions src/picknik_ur_mock_hw_config/description/picknik_ur_machine_tending.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro" name="$(arg name)">
<!-- parameters -->
<xacro:arg name="use_fake_hardware" default="false" />
<xacro:arg name="external_camera" default="false" />
<xacro:arg name="has_tool_changer" default="true" />
<xacro:arg name="use_pinch_links" default="true" />
<xacro:arg name="name" default="" />
<xacro:arg name="joint_limits_parameters_file" default="" />
<xacro:arg name="kinematics_parameters_file" default="" />
<xacro:arg name="physical_parameters_file" default="" />
<xacro:arg name="visual_parameters_file" default="" />
<!-- parameters -->
<xacro:arg name="use_fake_hardware" default="false"/>
<xacro:arg name="external_camera" default="false"/>
<xacro:arg name="has_tool_changer" default="true"/>
<xacro:arg name="use_pinch_links" default="true"/>
<xacro:arg name="name" default=""/>
<xacro:arg name="joint_limits_parameters_file" default=""/>
<xacro:arg name="kinematics_parameters_file" default=""/>
<xacro:arg name="physical_parameters_file" default=""/>
<xacro:arg name="visual_parameters_file" default=""/>
<xacro:arg name="headless_mode" default="false"/>
<xacro:arg name="robot_ip" default="0.0.0.0"/>
<xacro:arg name="initial_positions_file" default="$(find picknik_ur_mock_hw_config)/config/initial_positions.yaml"/>
<xacro:arg name="environment_xacro" default="$(find picknik_ur_mock_hw_config)/description/environment.xacro"/>

<xacro:include filename="$(find picknik_accessories)/macros/manipulators/picknik_ur_macro.xacro"/>
<xacro:picknik_ur_macro environment_xacro="$(arg environment_xacro)" initial_positions_file="$(arg initial_positions_file)" />

<xacro:arg name="headless_mode" default="false" />
<xacro:arg name="robot_ip" default="0.0.0.0" />

<xacro:if value="$(arg has_tool_changer)">
<xacro:property name="camera_adapter_parent" value="tool_changer_tool0" />
</xacro:if>
<xacro:unless value="$(arg has_tool_changer)">
<xacro:property name="camera_adapter_parent" value="tool0" />
</xacro:unless>

<!-- Import macros for main hardware components -->
<xacro:include filename="$(find ur_description)/urdf/ur_macro.xacro" />
<xacro:include filename="$(find robotiq_description)/urdf/ur_to_robotiq_adapter.urdf.xacro" />
<xacro:include filename="$(find robotiq_description)/urdf/robotiq_2f_85_macro.urdf.xacro" />
<xacro:include filename="$(find picknik_accessories)/descriptions/brackets/mtc_ur_tool_changer/mtc_ur_tool_changer.urdf.xacro" />
<xacro:include filename="$(find picknik_accessories)/descriptions/brackets/ur_realsense_camera_adapter/picknik_ur_camera_adapter.urdf.xacro" />
<xacro:include filename="$(find picknik_accessories)/descriptions/sensors/realsense_d415.urdf.xacro" />
<xacro:include filename="$(find picknik_ur_base_config)/description/pinch_links.xacro" />

<!-- Initial positions for simulations (Mock Hardware and Gazebo) -->
<xacro:arg name="initial_positions_file" default="$(find picknik_ur_mock_hw_config)/config/initial_positions.yaml"/>
<xacro:property name="initial_positions_file" default="$(arg initial_positions_file)"/>

<link name="world" />
<!-- arm -->
<xacro:ur_robot
name="$(arg name)"
tf_prefix=""
parent="world"
joint_limits_parameters_file="$(arg joint_limits_parameters_file)"
kinematics_parameters_file="$(arg kinematics_parameters_file)"
physical_parameters_file="$(arg physical_parameters_file)"
visual_parameters_file="$(arg visual_parameters_file)"
use_fake_hardware="$(arg use_fake_hardware)"
initial_positions="${xacro.load_yaml(initial_positions_file)}"
headless_mode="$(arg headless_mode)"
robot_ip="$(arg robot_ip)"
script_filename="$(find ur_robot_driver)/resources/ros_control.urscript"
output_recipe_filename="$(find ur_robot_driver)/resources/rtde_output_recipe.txt"
input_recipe_filename="$(find ur_robot_driver)/resources/rtde_input_recipe.txt">
<origin xyz="0 0 0" rpy="0 0 ${pi/2}" />
</xacro:ur_robot>

<xacro:if value="$(arg has_tool_changer)">
<!-- tool changer-->
<xacro:mtc_ur_tool_changer prefix="" connected_to="tool0" rotation="0" />
</xacro:if>

<!-- pinch geometry for moveit motion planning. see https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/611 -->
<xacro:if value="$(arg use_pinch_links)">
<xacro:forearm_pinch_link />
<xacro:wrist_3_pinch_link />
</xacro:if>

<!-- wrist camera adapter and camera-->
<xacro:ur_realsense_camera_adapter prefix="" connected_to="${camera_adapter_parent}" rotation="0" />

<xacro:realsense_d415 parent="d415_mount_link" name="wrist_mounted_camera">
<origin xyz="0 0 0" rpy="0 0 0" />
</xacro:realsense_d415>

<!-- Gripper and UR adapter-->
<xacro:ur_to_robotiq prefix="" connected_to="realsense_camera_adapter_tool0" rotation="0" />

<xacro:robotiq_gripper name="RobotiqGripperHardwareInterface" prefix=""
parent="gripper_mount_link" use_fake_hardware="$(arg use_fake_hardware)" com_port="/dev/ttyUSB0">
<origin xyz="0 0 0" rpy="0 0 0" />
</xacro:robotiq_gripper>

<link name="grasp_link" />
<joint name="grasp_link_joint" type="fixed">
<parent link="robotiq_85_base_link" />
<child link="grasp_link" />
<origin xyz="0.0 0.0 0.134" rpy="0.0 0.0 ${pi}" />
</joint>

<!-- CNC machine -->
<link name="cnc_machine">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="file://$(find picknik_ur_mock_hw_config)/meshes/cnc.dae" scale="1 1 1"/>
</geometry>
</visual>
<!-- CNC base collision -->
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find picknik_ur_mock_hw_config)/meshes/cnc-collision.dae" scale="1 1 1"/>
</geometry>
</collision>
</link>

<joint name="cnc_machine_joint" type="fixed">
<parent link="world" />
<child link="cnc_machine" />
<origin xyz="-0.1 -1.25 -0.8" rpy="0 0 3.14" />
</joint>

<!-- Robot base -->
<link name="robot_base">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="file://$(find picknik_ur_mock_hw_config)/meshes/base.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find picknik_ur_mock_hw_config)/meshes/base.dae" scale="1 1 1"/>
</geometry>
</collision>
</link>

<joint name="robot_base_joint" type="fixed">
<parent link="world" />
<child link="robot_base" />
<origin xyz="0 0 -0.8" rpy="0 0 3.14" />
</joint>

<!-- Hexagonal tables -->
<link name="left_hexagonal_table">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="file://$(find picknik_ur_mock_hw_config)/meshes/table.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="file://$(find picknik_ur_mock_hw_config)/meshes/table-collision.dae" scale="1 1 1"/>
</geometry>
</collision>
</link>

<joint name="left_hexagonal_table_joint" type="fixed">
<parent link="world" />
<child link="left_hexagonal_table" />
<origin xyz="0.8 0 -0.8" rpy="0 0 3.14" />
</joint>

<link name="right_hexagonal_table">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="file://$(find picknik_ur_mock_hw_config)/meshes/table.dae" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="file://$(find picknik_ur_mock_hw_config)/meshes/table-collision.dae" scale="1 1 1"/>
</geometry>
</collision>
</link>

<joint name="right_hexagonal_table_joint" type="fixed">
<parent link="world" />
<child link="right_hexagonal_table" />
<origin xyz="-0.8 0 -0.8" rpy="0 0 3.14" />
</joint>

<!-- Cylinder items -->
<link name="left_cylinder_item">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="file://$(find picknik_ur_mock_hw_config)/meshes/cylinder-item.dae" scale="1 1 1"/>
</geometry>
</visual>
<!-- No collision geometry so the gripper can overlap with the object. -->
</link>

<joint name="left_cylinder_item_joint" type="fixed">
<parent link="world" />
<child link="left_cylinder_item" />
<origin xyz="0.73 0.06 -0.30" rpy="0 0 3.14" />
</joint>

<link name="right_cylinder_item">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="file://$(find picknik_ur_mock_hw_config)/meshes/cylinder-item.dae" scale="1 1 1"/>
</geometry>
</visual>
<!-- No collision geometry so the gripper can overlap with the object. -->
</link>

<joint name="right_cylinder_item_joint" type="fixed">
<parent link="world" />
<child link="right_cylinder_item" />
<origin xyz="-0.73 0.06 -0.30" rpy="0 0 3.14" />
</joint>
</robot>

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