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Reduce UR descriptions duplication #223

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Feb 29, 2024
Merged

Reduce UR descriptions duplication #223

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828203b
use macro with mock config
pac48 Feb 22, 2024
01d441f
update submodule
pac48 Feb 22, 2024
d617d8b
add base ur macro
pac48 Feb 22, 2024
4a232d1
convert base config
pac48 Feb 23, 2024
6047f53
convert gazebo
pac48 Feb 23, 2024
7f244a3
fix fake hardware gazebo issue
pac48 Feb 23, 2024
5d49116
use yaml substitution instead of xacro logic
pac48 Feb 23, 2024
65c6d74
add missing $
pac48 Feb 23, 2024
b8ff6f9
disable pinch links in gazebo
pac48 Feb 23, 2024
93e19bf
update submodules
pac48 Feb 23, 2024
1dfc6b6
disable mesh if using gazebo
pac48 Feb 23, 2024
d041f47
use gazebo_renderer to set use_mesh
pac48 Feb 23, 2024
bc5071f
Revert "use gazebo_renderer to set use_mesh"
pac48 Feb 23, 2024
65c3c4c
remove extra comments, move gazebo tags to top level, and remove logi…
pac48 Feb 26, 2024
94bed01
find gazebo_renderer tag
pac48 Feb 29, 2024
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2 changes: 1 addition & 1 deletion src/external_dependencies/picknik_accessories
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Submodule picknik_accessories updated 2 files
+3 −3 descriptions/brackets/mtc_ur_tool_changer/mtc_ur_tool_changer.urdf.xacro
+5 −5 descriptions/brackets/ur_realsense_camera_adapter/picknik_ur_camera_adapter.urdf.xacro
2 changes: 1 addition & 1 deletion src/external_dependencies/ros2_robotiq_gripper
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Submodule ros2_robotiq_gripper updated 1 files
+4 −4 robotiq_description/urdf/ur_to_robotiq_adapter.urdf.xacro
110 changes: 110 additions & 0 deletions src/picknik_ur_base_config/description/environment.xacro
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Original file line number Diff line number Diff line change
@@ -0,0 +1,110 @@
<?xml version="1.0" encoding="utf-8"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<!-- wrist_3_link/forearm_link have a radius 0f 0.0375m. Actual offset from surface is (radius - attached_link's radius). -->
<!-- UR Drivers check for a 2.5cm distance between tool_flange/wrist_3 and forearm links. -->
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<xacro:macro name="environment" params="parent">
<!-- Import environment macros -->
<xacro:include filename="$(find picknik_accessories)/descriptions/geometry/collision_and_visual/cube_collision_and_visual.urdf.xacro" />
<xacro:include filename="$(find picknik_accessories)/descriptions/geometry/visual/cube_visual.urdf.xacro" />
<xacro:include filename="$(find picknik_accessories)/descriptions/sensors/realsense_d435.urdf.xacro" />

<!-- Environment -->
<link name="environment">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://picknik_accessories/descriptions/furniture/generic_table/wood_block.dae" scale="0.25 0.25 0.1"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://picknik_accessories/descriptions/furniture/generic_table/wood_block.dae" scale="0.25 0.25 0.1"/>
</geometry>
</collision>
</link>

<joint name="table_joint" type="fixed">
<parent link="base" />
<child link="environment" />
<origin rpy="0 0 0" xyz="0 0 -0.05" />
</joint>

<link name="box_1">
<xacro:cube_visual length="0.05" width="0.05" height="0.05">
<origin xyz="0 0 0" rpy="0 0 0" />
<color rgba="0.1 0.1 0.1 0.9" />
</xacro:cube_visual>
</link>

<joint name="box1_on_table" type="fixed">
<parent link="environment" />
<child link="box_1" />
<origin rpy="0 0 0" xyz="0.65 -0.35 0.1" />
</joint>

<link name="box_2">
<xacro:cube_visual length="0.05" width="0.05" height="0.05">
<origin xyz="0 0 0" rpy="0 0 0" />
<color rgba="0.5 0.5 0.5 0.9" />
</xacro:cube_visual>
</link>

<joint name="box2_on_table" type="fixed">
<parent link="environment" />
<child link="box_2" />
<origin rpy="0 0 0" xyz="0.65 0.35 0.1" />
</joint>

<link name="box_3">
<xacro:cube_visual length="0.05" width="0.05" height="0.05">
<origin xyz="0 0 0" rpy="0 0 0" />
<color rgba="0.8 0.3 0.1 0.9" />
</xacro:cube_visual>
</link>

<joint name="box3_on_table" type="fixed">
<parent link="environment" />
<child link="box_3" />
<origin rpy="0 0 0" xyz="0.65 0 0.1" />
</joint>

<link name="box_4">
<xacro:cube_visual length="0.05" width="0.05" height="0.05">
<origin xyz="0 0 0" rpy="0 0 0" />
<color rgba="0.8 0.3 0.1 0.9" />
</xacro:cube_visual>
</link>

<joint name="box4_on_table" type="fixed">
<parent link="environment" />
<child link="box_4" />
<origin rpy="0 0 0" xyz="-0.65 0.25 0.1" />
</joint>

<link name="box_5">
<xacro:cube_visual length="0.05" width="0.05" height="0.05">
<origin xyz="0 0 0" rpy="0 0 0" />
<color rgba="0.1 0.3 0.8 0.9" />
</xacro:cube_visual>
</link>

<joint name="box5_on_table" type="fixed">
<parent link="environment" />
<child link="box_5" />
<origin rpy="0 0 0" xyz="-0.65 -0.25 0.1" />
</joint>

<!-- External Camera -->
<link name="external_camera_link" />
<joint name="external_camera_joint" type="fixed">
<parent link="${parent}" />
<child link="external_camera_link" />
<origin xyz="-0.3 0.3 1.0" rpy="0.0 0.4 0" />
</joint>

<xacro:realsense_d435 parent="external_camera_link" name="scene_camera" visible="false">
<origin xyz="0 0 0" rpy="0 0 0" />
</xacro:realsense_d435>
</xacro:macro>
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</robot>
40 changes: 0 additions & 40 deletions src/picknik_ur_base_config/description/gripper_and_camera.xacro
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This file was deleted.

215 changes: 25 additions & 190 deletions src/picknik_ur_base_config/description/picknik_ur.xacro
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Original file line number Diff line number Diff line change
@@ -1,200 +1,35 @@
<?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="" />

<xacro:arg name="headless_mode" default="false" />
<xacro:arg name="robot_ip" default="0.0.0.0" />
<xacro:arg name="use_tool_communication" default="false" />
<xacro:arg name="tool_voltage" default="0" />
<xacro:arg name="tool_device_name" default="/dev/ttyUSB0" />

<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="$(find picknik_accessories)/descriptions/sensors/realsense_d435.urdf.xacro" />
<xacro:include filename="$(find picknik_ur_base_config)/description/pinch_links.xacro" />

<!-- Initial positions for simulations (Mock Hardware and Gazebo) -->
<xacro:arg name="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="use_tool_communication" default="false"/>
<xacro:arg name="tool_voltage" default="0"/>
<xacro:arg name="tool_device_name" default="/dev/ttyUSB0"/>
<xacro:arg name="initial_positions_file" default="$(find picknik_ur_base_config)/config/initial_positions.yaml"/>
<xacro:property name="initial_positions_file" default="$(arg initial_positions_file)"/>

<!-- Import environment macros -->
<xacro:include filename="$(find picknik_accessories)/descriptions/geometry/collision_and_visual/cube_collision_and_visual.urdf.xacro" />
<xacro:include filename="$(find picknik_accessories)/descriptions/geometry/visual/cube_visual.urdf.xacro" />

<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="$(arg robot_ip)"
use_tool_communication="$(arg use_tool_communication)"
tool_voltage="$(arg tool_voltage)"
tool_device_name="$(arg tool_device_name)"
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 0" />
</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="$(arg use_fake_hardware)" com_port="$(arg tool_device_name)">
<origin xyz="0 0 0" rpy="0 0 0" />
</xacro:robotiq_gripper>

<!-- This link aligns the axes of the grasp frame to our required convention for motion planning tasks. -->
<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>

<!-- Environment -->
<link name="environment">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://picknik_accessories/descriptions/furniture/generic_table/wood_block.dae" scale="0.25 0.25 0.1"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://picknik_accessories/descriptions/furniture/generic_table/wood_block.dae" scale="0.25 0.25 0.1"/>
</geometry>
</collision>
</link>

<joint name="table_joint" type="fixed">
<parent link="base" />
<child link="environment" />
<origin rpy="0 0 0" xyz="0 0 -0.05" />
</joint>

<link name="box_1">
<xacro:cube_visual length="0.05" width="0.05" height="0.05">
<origin xyz="0 0 0" rpy="0 0 0" />
<color rgba="0.1 0.1 0.1 0.9" />
</xacro:cube_visual>
</link>

<joint name="box1_on_table" type="fixed">
<parent link="environment" />
<child link="box_1" />
<origin rpy="0 0 0" xyz="0.65 -0.35 0.1" />
</joint>

<link name="box_2">
<xacro:cube_visual length="0.05" width="0.05" height="0.05">
<origin xyz="0 0 0" rpy="0 0 0" />
<color rgba="0.5 0.5 0.5 0.9" />
</xacro:cube_visual>
</link>

<joint name="box2_on_table" type="fixed">
<parent link="environment" />
<child link="box_2" />
<origin rpy="0 0 0" xyz="0.65 0.35 0.1" />
</joint>

<link name="box_3">
<xacro:cube_visual length="0.05" width="0.05" height="0.05">
<origin xyz="0 0 0" rpy="0 0 0" />
<color rgba="0.8 0.3 0.1 0.9" />
</xacro:cube_visual>
</link>

<joint name="box3_on_table" type="fixed">
<parent link="environment" />
<child link="box_3" />
<origin rpy="0 0 0" xyz="0.65 0 0.1" />
</joint>

<link name="box_4">
<xacro:cube_visual length="0.05" width="0.05" height="0.05">
<origin xyz="0 0 0" rpy="0 0 0" />
<color rgba="0.8 0.3 0.1 0.9" />
</xacro:cube_visual>
</link>
<xacro:arg name="environment_xacro" default="$(find picknik_ur_base_config)/description/environment.xacro"/>

<joint name="box4_on_table" type="fixed">
<parent link="environment" />
<child link="box_4" />
<origin rpy="0 0 0" xyz="-0.65 0.25 0.1" />
</joint>
<!-- Import UR and environment macros -->
<xacro:include filename="$(find picknik_ur_base_config)/description/picknik_ur_macro.xacro"/>
<xacro:include filename="$(find picknik_ur_base_config)/description/picknik_ur_attachments_macro.xacro"/>
<xacro:include filename="$(arg environment_xacro)"/>

<link name="box_5">
<xacro:cube_visual length="0.05" width="0.05" height="0.05">
<origin xyz="0 0 0" rpy="0 0 0" />
<color rgba="0.1 0.3 0.8 0.9" />
</xacro:cube_visual>
</link>
<!-- Robot: contains robot description from the world frame to the tool frame -->
<xacro:picknik_ur parent="world" child="tool0" initial_positions_file="$(arg initial_positions_file)" />

<joint name="box5_on_table" type="fixed">
<parent link="environment" />
<child link="box_5" />
<origin rpy="0 0 0" xyz="-0.65 -0.25 0.1" />
</joint>
<!-- Gripper and UR adapter and realsense camera -->
<xacro:picknik_ur_attachments parent="tool0" child="grasp_link" has_tool_changer="$(arg has_tool_changer)"/>

<!-- External Camera -->
<link name="external_camera_link" />
<joint name="external_camera_joint" type="fixed">
<parent link="world" />
<child link="external_camera_link" />
<origin xyz="-0.3 0.3 1.0" rpy="0.0 0.4 0" />
</joint>
<!-- Environment: contains scene geometry and external sensors, e.g. cameras -->
<xacro:environment parent="world"/>

<xacro:realsense_d435 parent="external_camera_link" name="scene_camera" visible="false">
<origin xyz="0 0 0" rpy="0 0 0" />
</xacro:realsense_d435>
</robot>
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