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Axi404
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GenManip-R5a-cuRobo-Assets

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Files changed (22) hide show
  1. .gitattributes +8 -0
  2. CMakeLists.txt +14 -0
  3. R5a.urdf +511 -0
  4. R5a/R5a.usd +3 -0
  5. config/joint_names_R5a.yaml +1 -0
  6. export.log +13 -0
  7. launch/display.launch +20 -0
  8. launch/gazebo.launch +20 -0
  9. meshes/base_link.STL +3 -0
  10. meshes/link1.STL +3 -0
  11. meshes/link2.STL +3 -0
  12. meshes/link3.STL +3 -0
  13. meshes/link4.STL +3 -0
  14. meshes/link5.STL +3 -0
  15. meshes/link6.STL +3 -0
  16. meshes/link7.STL +0 -0
  17. meshes/link8.STL +0 -0
  18. package.xml +21 -0
  19. r5a_left_arm.yml +152 -0
  20. r5a_right_arm.yml +152 -0
  21. urdf/R5a.csv +10 -0
  22. urdf/R5a.urdf +511 -0
.gitattributes CHANGED
@@ -57,3 +57,11 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
57
  # Video files - compressed
58
  *.mp4 filter=lfs diff=lfs merge=lfs -text
59
  *.webm filter=lfs diff=lfs merge=lfs -text
 
 
 
 
 
 
 
 
 
57
  # Video files - compressed
58
  *.mp4 filter=lfs diff=lfs merge=lfs -text
59
  *.webm filter=lfs diff=lfs merge=lfs -text
60
+ R5a/R5a.usd filter=lfs diff=lfs merge=lfs -text
61
+ meshes/base_link.STL filter=lfs diff=lfs merge=lfs -text
62
+ meshes/link1.STL filter=lfs diff=lfs merge=lfs -text
63
+ meshes/link2.STL filter=lfs diff=lfs merge=lfs -text
64
+ meshes/link3.STL filter=lfs diff=lfs merge=lfs -text
65
+ meshes/link4.STL filter=lfs diff=lfs merge=lfs -text
66
+ meshes/link5.STL filter=lfs diff=lfs merge=lfs -text
67
+ meshes/link6.STL filter=lfs diff=lfs merge=lfs -text
CMakeLists.txt ADDED
@@ -0,0 +1,14 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ cmake_minimum_required(VERSION 2.8.3)
2
+
3
+ project(R5a)
4
+
5
+ find_package(catkin REQUIRED)
6
+
7
+ catkin_package()
8
+
9
+ find_package(roslaunch)
10
+
11
+ foreach(dir config launch meshes urdf)
12
+ install(DIRECTORY ${dir}/
13
+ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
14
+ endforeach(dir)
R5a.urdf ADDED
@@ -0,0 +1,511 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="1.0" encoding="utf-8"?>
2
+ <!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
3
+ Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
4
+ For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
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+ <robot
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+ name="R5a">
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+ <link
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+ name="base_link">
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+ <inertial>
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+ <origin
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+ xyz="-0.00013359 6.672E-05 0.031672"
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+ rpy="0 0 0" />
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+ <mass
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+ value="0.42272" />
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+ <inertia
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+ ixx="0.00019"
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+ ixy="0.00000"
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+ ixz="0.00000"
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+ iyy="0.00019"
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+ iyz="0.00000"
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+ izz="0.00020" />
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+ </inertial>
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+ <visual>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
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+ <geometry>
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+ <mesh
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+ filename="meshes/base_link.STL" />
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+ </geometry>
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+ <material
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+ name="">
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+ <color
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+ rgba="0.89804 0.91765 0.92941 1" />
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+ </material>
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+ </visual>
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+ <collision>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
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+ <geometry>
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+ <mesh
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+ filename="meshes/base_link.STL" />
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+ </geometry>
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+ </collision>
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+ </link>
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+ <link
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+ name="link1">
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+ <inertial>
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+ <origin
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+ xyz="0.0050395 -0.0077407 0.020897"
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+ rpy="0 0 0" />
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+ <mass
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+ value="0.096804" />
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+ <inertia
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+ ixx="0.00011"
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+ ixy="-0.00001"
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+ ixz="0.00001"
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+ iyy="0.00005"
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+ iyz="-0.00001"
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+ izz="0.00010" />
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+ </inertial>
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+ <visual>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
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+ <geometry>
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+ <mesh
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+ filename="meshes/link1.STL" />
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+ </geometry>
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+ <material
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+ name="">
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+ <color
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+ rgba="0.56471 0.56471 0.56471 1" />
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+ </material>
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+ </visual>
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+ <collision>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
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+ <geometry>
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+ <mesh
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+ filename="meshes/link1.STL" />
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+ </geometry>
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+ </collision>
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+ </link>
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+ <joint
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+ name="joint1"
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+ type="revolute">
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+ <origin
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+ xyz="0 0 0.0565"
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+ rpy="0 0 0" />
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+ <parent
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+ link="base_link" />
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+ <child
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+ link="link1" />
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+ <axis
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+ xyz="0 0 1" />
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+ <limit
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+ lower="-2.094"
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+ upper="3.1416"
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+ effort="100"
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+ velocity="1000" />
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+ </joint>
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+ <link
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+ name="link2">
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+ <inertial>
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+ <origin
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+ xyz="-0.12992 -0.0011822 -2.6366E-05"
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+ rpy="0 0 0" />
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+ <mass
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+ value="1.1988" />
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+ <inertia
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+ ixx="0.00065"
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+ ixy="0.00008"
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+ ixz="0.00000"
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+ iyy="0.01647"
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+ iyz="0.00000"
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+ izz="0.01646" />
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+ </inertial>
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+ <visual>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
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+ <geometry>
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+ <mesh
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+ filename="meshes/link2.STL" />
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+ </geometry>
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+ <material
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+ name="">
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+ <color
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+ rgba="0.79216 0.81961 0.93333 1" />
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+ </material>
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+ </visual>
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+ <collision>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
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+ <geometry>
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+ <mesh
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+ filename="meshes/link2.STL" />
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+ </geometry>
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+ </collision>
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+ </link>
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+ <joint
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+ name="joint2"
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+ type="revolute">
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+ <origin
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+ xyz="0.02 0 0.047"
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+ rpy="0 0 0" />
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+ <parent
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+ link="link1" />
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+ <child
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+ link="link2" />
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+ <axis
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+ xyz="0 1 0" />
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+ <limit
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+ lower="-0.1"
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+ upper="3.665"
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+ effort="100"
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+ velocity="1000" />
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+ </joint>
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+ <link
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+ name="link3">
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+ <inertial>
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+ <origin
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+ xyz="0.16181 0.0011723 -0.05455"
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+ rpy="0 0 0" />
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+ <mass
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+ value="0.84082" />
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+ <inertia
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+ ixx="0.00082"
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+ ixy="0.00008"
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+ ixz="-0.00074"
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+ iyy="0.00849"
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+ iyz="0.00001"
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+ izz="0.00834" />
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+ </inertial>
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+ <visual>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
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+ <geometry>
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+ <mesh
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+ filename="meshes/link3.STL" />
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+ </geometry>
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+ <material
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+ name="">
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+ <color
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+ rgba="0.89804 0.91765 0.92941 1" />
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+ </material>
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+ </visual>
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+ <collision>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
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+ <geometry>
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+ <mesh
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+ filename="meshes/link3.STL" />
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+ </geometry>
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+ </collision>
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+ </link>
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+ <joint
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+ name="joint3"
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+ type="revolute">
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+ <origin
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+ xyz="-0.264 0 0"
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+ rpy="-3.1416 0 0" />
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+ <parent
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+ link="link2" />
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+ <child
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+ link="link3" />
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+ <axis
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+ xyz="0 1 0" />
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+ <limit
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+ lower="-0.1"
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+ upper="3.24"
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+ effort="100"
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+ velocity="1000" />
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+ </joint>
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+ <link
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+ name="link4">
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+ <inertial>
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+ <origin
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+ xyz="0.041751 0.0054236 -0.03337"
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+ rpy="0 0 0" />
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+ <mass
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+ value="0.12432" />
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+ <inertia
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+ ixx="0.00022"
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+ ixy="-0.00002"
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+ ixz="-0.00009"
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+ iyy="0.00025"
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+ iyz="0.00002"
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+ izz="0.00017" />
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+ </inertial>
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+ <visual>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
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+ <geometry>
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+ <mesh
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+ filename="meshes/link4.STL" />
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+ </geometry>
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+ <material
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+ name="">
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+ <color
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+ rgba="0.79216 0.81961 0.93333 1" />
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+ </material>
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+ </visual>
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+ <collision>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
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+ <geometry>
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+ <mesh
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+ filename="meshes/link4.STL" />
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+ </geometry>
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+ </collision>
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+ </link>
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+ <joint
262
+ name="joint4"
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+ type="revolute">
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+ <origin
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+ xyz="0.245 -5E-05 -0.06"
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+ rpy="0 0 0" />
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+ <parent
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+ link="link3" />
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+ <child
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+ link="link4" />
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+ <axis
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+ xyz="0 1 0" />
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+ <limit
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+ lower="-1.671"
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+ upper="1.671"
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+ effort="100"
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+ velocity="1000" />
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+ </joint>
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+ <link
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+ name="link5">
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+ <inertial>
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+ <origin
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+ xyz="-8.3435E-05 -1.5428E-05 0.052216"
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+ rpy="0 0 0" />
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+ <mass
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+ value="0.63601" />
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+ <inertia
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+ ixx="0.00084"
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+ ixy="0.00000"
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+ ixz="0.00007"
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+ iyy="0.00082"
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+ iyz="0.00000"
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+ izz="0.00026" />
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+ </inertial>
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+ <visual>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
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+ <geometry>
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+ <mesh
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+ filename="meshes/link5.STL" />
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+ </geometry>
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+ <material
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+ name="">
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+ <color
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+ rgba="0.69804 0.69804 0.69804 1" />
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+ </material>
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+ </visual>
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+ <collision>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
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+ <geometry>
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+ <mesh
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+ filename="meshes/link5.STL" />
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+ </geometry>
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+ </collision>
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+ </link>
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+ <joint
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+ name="joint5"
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+ type="revolute">
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+ <origin
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+ xyz="0.073914 5E-05 -0.083391"
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+ rpy="0 0 0" />
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+ <parent
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+ link="link4" />
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+ <child
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+ link="link5" />
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+ <axis
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+ xyz="0 0 1" />
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+ <limit
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+ lower="-1.671"
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+ upper="1.671"
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+ effort="100"
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+ velocity="1000" />
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+ </joint>
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+ <link
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+ name="link6">
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+ <inertial>
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+ <origin
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+ xyz="0.041697 2.4368E-05 0.00014464"
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+ rpy="0 0 0" />
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+ <mass
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+ value="0.44089" />
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+ iyy="0.00028"
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+ izz="0.00050" />
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+ </inertial>
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+ <visual>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
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+ <geometry>
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+ <mesh
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+ filename="meshes/link6.STL" />
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+ </geometry>
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+ <material
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+ name="">
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+ <color
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+ rgba="0.89804 0.91765 0.92941 1" />
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+ </material>
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+ </visual>
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+ <collision>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
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+ <geometry>
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+ <mesh
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+ filename="meshes/link6.STL" />
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+ </geometry>
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+ </collision>
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+ </link>
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+ <joint
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+ name="joint6"
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+ type="revolute">
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+ <origin
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+ xyz="0.025286 0 0.083391"
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+ rpy="3.1416 0 0" />
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+ <parent
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+ link="link5" />
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+ <child
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+ link="link6" />
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+ <axis
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+ xyz="1 0 0" />
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+ <limit
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+ lower="-2.094"
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+ upper="2.094"
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+ effort="100"
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+ velocity="1000" />
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+ </joint>
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+ <link
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+ name="link7">
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+ <inertial>
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+ <origin
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+ xyz="-0.00035522 -0.007827 -0.0029883"
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+ rpy="0 0 0" />
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+ <mass
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+ value="0.064798" />
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+ <inertia
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+ ixx="0.00002"
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+ ixy="0.00000"
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+ ixz="0.00000"
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+ iyy="0.00003"
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+ iyz="0.00000"
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+ izz="0.00003" />
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+ </inertial>
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+ <visual>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
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+ <geometry>
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+ <mesh
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+ filename="meshes/link7.STL" />
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+ </geometry>
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+ <material
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+ name="">
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+ <color
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+ rgba="1 1 1 1" />
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+ </material>
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+ </visual>
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+ <collision>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
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+ <geometry>
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+ <mesh
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+ filename="meshes/link7.STL" />
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+ </geometry>
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+ </collision>
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+ </link>
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+ <joint
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+ name="joint7"
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+ type="prismatic">
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+ <origin
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+ xyz="0.08657 0.024896 -0.0002436"
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+ rpy="0 0 0" />
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+ <parent
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+ link="link6" />
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+ <child
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+ link="link7" />
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+ <axis
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+ xyz="0 1 0" />
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+ <limit
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+ lower="0"
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+ upper="0.044"
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+ effort="100"
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+ velocity="1000" />
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+ </joint>
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+ <link
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+ name="link8">
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+ <inertial>
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+ <origin
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+ xyz="-0.000355223470270755 0.00782768751820277 0.00242005642879778"
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+ rpy="0 0 0" />
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+ <mass
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+ value="0.0647981725781684" />
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+ <inertia
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+ ixx="0.00002"
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+ ixy="0.00000"
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+ ixz="0.00000"
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+ iyy="0.00003"
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+ iyz="0.00000"
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+ izz="0.00003" />
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+ </inertial>
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+ <visual>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
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+ <geometry>
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+ <mesh
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+ filename="meshes/link8.STL" />
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+ </geometry>
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+ <material
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+ name="">
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+ <color
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+ rgba="1 1 1 1" />
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+ </material>
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+ </visual>
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+ <collision>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
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+ <geometry>
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+ <mesh
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+ filename="meshes/link8.STL" />
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+ </geometry>
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+ </collision>
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+ </link>
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+ <joint
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+ name="joint8"
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+ type="prismatic">
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+ <origin
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+ xyz="0.08657 -0.0249 -0.00024366"
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+ rpy="0 0 0" />
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+ <parent
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+ link="link6" />
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+ <child
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+ link="link8" />
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+ <axis
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+ xyz="0 -1 0" />
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+ <limit
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+ lower="0"
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+ upper="0.044"
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+ effort="100"
509
+ velocity="1000" />
510
+ </joint>
511
+ </robot>
R5a/R5a.usd ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1e1c72b24d12973a767e1f3032ae2d39dc6f8f28f8056bdee68daf44a9ddcaee
3
+ size 4199530
config/joint_names_R5a.yaml ADDED
@@ -0,0 +1 @@
 
 
1
+ controller_joint_names: ['', 'joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6', 'joint7', 'joint8', ]
export.log ADDED
@@ -0,0 +1,13 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ 2024-11-10 10:47:47,046 INFO Logger.cs: 70 -
2
+ --------------------------------------------------------------------------------
3
+ 2024-11-10 10:47:47,073 INFO Logger.cs: 71 - Logging commencing for SW2URDF exporter
4
+ 2024-11-10 10:47:47,073 INFO Logger.cs: 73 - Commit version 1.6.0-4-g7f85cfe
5
+ 2024-11-10 10:47:47,074 INFO Logger.cs: 74 - Build version 1.6.7995.38578
6
+ 2024-11-10 10:47:47,075 INFO SwAddin.cs: 192 - Attempting to connect to SW
7
+ 2024-11-10 10:47:47,075 INFO SwAddin.cs: 197 - Setting up callbacks
8
+ 2024-11-10 10:47:47,076 INFO SwAddin.cs: 201 - Setting up command manager
9
+ 2024-11-10 10:47:47,076 INFO SwAddin.cs: 204 - Adding command manager
10
+ 2024-11-10 10:47:47,078 INFO SwAddin.cs: 263 - Adding Assembly export to file menu
11
+ 2024-11-10 10:47:47,078 INFO SwAddin.cs: 272 - Adding Part export to file menu
12
+ 2024-11-10 10:47:47,078 INFO SwAddin.cs: 210 - Adding event handlers
13
+ 2024-11-10 10:47:47,080 INFO SwAddin.cs: 217 - Connecting plugin to SolidWorks
launch/display.launch ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <launch>
2
+ <arg
3
+ name="model" />
4
+ <param
5
+ name="robot_description"
6
+ textfile="$(find R5a)/urdf/R5a.urdf" />
7
+ <node
8
+ name="joint_state_publisher_gui"
9
+ pkg="joint_state_publisher_gui"
10
+ type="joint_state_publisher_gui" />
11
+ <node
12
+ name="robot_state_publisher"
13
+ pkg="robot_state_publisher"
14
+ type="robot_state_publisher" />
15
+ <node
16
+ name="rviz"
17
+ pkg="rviz"
18
+ type="rviz"
19
+ args="-d $(find R5a)/urdf.rviz" />
20
+ </launch>
launch/gazebo.launch ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <launch>
2
+ <include
3
+ file="$(find gazebo_ros)/launch/empty_world.launch" />
4
+ <node
5
+ name="tf_footprint_base"
6
+ pkg="tf"
7
+ type="static_transform_publisher"
8
+ args="0 0 0 0 0 0 base_link base_footprint 40" />
9
+ <node
10
+ name="spawn_model"
11
+ pkg="gazebo_ros"
12
+ type="spawn_model"
13
+ args="-file $(find R5a)/urdf/R5a.urdf -urdf -model R5a"
14
+ output="screen" />
15
+ <node
16
+ name="fake_joint_calibration"
17
+ pkg="rostopic"
18
+ type="rostopic"
19
+ args="pub /calibrated std_msgs/Bool true" />
20
+ </launch>
meshes/base_link.STL ADDED
@@ -0,0 +1,3 @@
 
 
 
 
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:1ea7ba47065195c7cc12d5372977fea91e96972d806542f90450462e13019306
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+ size 298284
meshes/link1.STL ADDED
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:65659b3f97f89c22f674bd38567b599ba2e35f7b305085145a232f642aa179cb
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+ size 155484
meshes/link2.STL ADDED
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:c7d693a9c74fba586c6941aa2754116bf1cb1eeb51bea4c31dda7a79d2bd88a9
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+ size 713184
meshes/link3.STL ADDED
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:3c5c590f64cc944dd4f843d52b86c393d2a6a222be25f68a063835a04dfd9562
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+ size 781184
meshes/link4.STL ADDED
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:da6e53e00ffbf5c3b3ab5bbdb980a74f580bb76298b63bdebf72a0b0505d6ced
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+ size 142884
meshes/link5.STL ADDED
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:03a789782b7527bd075d99cc0828d5b0e7d4351ffdb574d28f20681d265a24f7
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+ size 732184
meshes/link6.STL ADDED
@@ -0,0 +1,3 @@
 
 
 
 
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:6e33442021162b8e2d035cd6a1700184280118a10e85519264d402bcb94bac12
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+ size 643784
meshes/link7.STL ADDED
Binary file (99 kB). View file
 
meshes/link8.STL ADDED
Binary file (99 kB). View file
 
package.xml ADDED
@@ -0,0 +1,21 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <package format="2">
2
+ <name>R5a</name>
3
+ <version>1.0.0</version>
4
+ <description>
5
+ <p>URDF Description package for R5a</p>
6
+ <p>This package contains configuration data, 3D models and launch files
7
+ for R5a robot</p>
8
+ </description>
9
+ <author>TODO</author>
10
+ <maintainer email="TODO@email.com" />
11
+ <license>BSD</license>
12
+ <buildtool_depend>catkin</buildtool_depend>
13
+ <depend>roslaunch</depend>
14
+ <depend>robot_state_publisher</depend>
15
+ <depend>rviz</depend>
16
+ <depend>joint_state_publisher_gui</depend>
17
+ <depend>gazebo</depend>
18
+ <export>
19
+ <architecture_independent />
20
+ </export>
21
+ </package>
r5a_left_arm.yml ADDED
@@ -0,0 +1,152 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+
2
+ ##
3
+ ## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
4
+ ##
5
+ ## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
6
+ ## property and proprietary rights in and to this material, related
7
+ ## documentation and any modifications thereto. Any use, reproduction,
8
+ ## disclosure or distribution of this material and related documentation
9
+ ## without an express license agreement from NVIDIA CORPORATION or
10
+ ## its affiliates is strictly prohibited.
11
+ ##
12
+
13
+ robot_cfg:
14
+ kinematics:
15
+ usd_path: "${ASSETS_DIR}/miscs/curobo/R5a/R5a/R5a.usd"
16
+ usd_robot_root: "/robot"
17
+ isaac_usd_path: ""
18
+ usd_flip_joints: {}
19
+ usd_flip_joint_limits: []
20
+
21
+ urdf_path: "${ASSETS_DIR}/miscs/curobo/R5a/R5a.urdf"
22
+ asset_root_path: "robot"
23
+
24
+ base_link: "base_link"
25
+ ee_link: "link6"
26
+
27
+ extra_links: {"attached_object":{"parent_link_name": "link6" ,
28
+ "link_name": "attached_object", "fixed_transform": [0,0,0,1,0,0,0], "joint_type":"FIXED",
29
+ "joint_name": "attach_joint" }}
30
+
31
+
32
+ collision_link_names:
33
+ [
34
+ "base_link",
35
+ "link1",
36
+ "link2",
37
+ "link3",
38
+ "link4",
39
+ "link5",
40
+ "link6",
41
+ "link7",
42
+ "link8",
43
+ "attached_object",
44
+ ]
45
+ collision_spheres:
46
+ link1:
47
+ - "center": [-0.002, 0.003, 0.037]
48
+ "radius": 0.02
49
+ base_link:
50
+ - "center": [-0.003, -0.0, 0.036]
51
+ "radius": 0.02
52
+ link2:
53
+ - "center": [-0.008, 0.0, -0.001]
54
+ "radius": 0.02929
55
+ - "center": [-0.264, -0.001, 0.01]
56
+ "radius": 0.02864
57
+ - "center": [-0.272, 0.003, -0.009]
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+ "radius": 0.02602
59
+ - "center": [-0.178, 0.002, -0.002]
60
+ "radius": 0.02733
61
+ - "center": [-0.1, -0.003, -0.005]
62
+ "radius": 0.0208
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+ link3:
64
+ - "center": [0.025, 0.001, -0.063]
65
+ "radius": 0.02861
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+ - "center": [0.085, -0.003, -0.062]
67
+ "radius": 0.02274
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+ - "center": [0.165, -0.008, -0.057]
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+ "radius": 0.02144
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+ - "center": [-0.005, -0.019, -0.014]
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+ "radius": 0.02013
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+ - "center": [0.091, -0.004, -0.072]
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+ "radius": 0.01883
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+ - "center": [0.239, 0.012, -0.073]
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+ "radius": 0.01883
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+ link4:
77
+ - "center": [0.016, -0.001, 0.001]
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+ "radius": 0.02437
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+ - "center": [0.071, 0.003, -0.052]
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+ "radius": 0.02302
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+ link5:
82
+ - "center": [-0.002, 0.006, 0.021]
83
+ "radius": 0.02754
84
+ - "center": [0.003, 0.009, 0.08]
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+ "radius": 0.02697
86
+ link6:
87
+ - "center": [0.055, 0.001, -0.001]
88
+ "radius": 0.02822
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+ - "center": [0.035, -0.001, -0.0]
90
+ "radius": 0.02587
91
+ link7:
92
+ - "center": [0.036, -0.015, -0.006]
93
+ "radius": 0.0137
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+ - "center": [-0.007, -0.003, -0.011]
95
+ "radius": 0.0137
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+ link8:
97
+ - "center": [0.039, 0.016, -0.005]
98
+ "radius": 0.0137
99
+ - "center": [-0.007, 0.002, -0.009]
100
+ "radius": 0.0137
101
+ collision_sphere_buffer: 0.004
102
+ extra_collision_spheres: {"attached_object": 4}
103
+ self_collision_ignore:
104
+ {
105
+ "base_link": ["link1", "link2", "link3", "link4", "link5", "link6", "link7", "link8", "attached_object"],
106
+ "link1": ["link2", "link3", "link4", "link5", "link6", "link7", "link8", "attached_object"],
107
+ "link2": ["link3", "link4", "link5", "link6", "link7", "link8", "attached_object"],
108
+ "link3": ["link4", "link5", "link6", "link7", "link8", "attached_object"],
109
+ "link4": ["link5", "link6", "link7", "link8", "attached_object"],
110
+ "link5": ["link6", "link7", "link8", "attached_object"],
111
+ "link6": ["link7", "link8", "attached_object"],
112
+ "link7": ["link8", "attached_object"]
113
+ }
114
+ self_collision_buffer:
115
+ {
116
+ "base_link": 0.1,
117
+ "link1": 0.05,
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+ "link2": 0.05,
119
+ "link3": 0.05,
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+ "link4": 0.05,
121
+ "link5": 0.05,
122
+ "link6": 0.05,
123
+ "link7": 0.02,
124
+ "link8": 0.02,
125
+ "attached_object": 0.0,
126
+ }
127
+ use_global_cumul: True
128
+ mesh_link_names:
129
+ [
130
+ "base_link",
131
+ "link1",
132
+ "link2",
133
+ "link3",
134
+ "link4",
135
+ "link5",
136
+ "link6",
137
+ "link7",
138
+ "link8"
139
+ ]
140
+ external_asset_path: null # Use this to add path for externally located assets/robot folder.
141
+ lock_joints: {"joint7": 0.044, "joint8": 0.044}
142
+
143
+ cspace:
144
+ joint_names: ["joint1","joint2","joint3","joint4", "joint5", "joint6","joint7","joint8"]
145
+ # retract_config: [0.0, 0.35, -0.35, 0.0, 0.0, 0.0, 0.0, 0.0]
146
+ retract_config: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
147
+ null_space_weight: [1,1,1,1,1,1,1,1]
148
+ cspace_distance_weight: [1,1,1,1,1,1,1,1]
149
+ max_acceleration: 15.0
150
+ max_jerk: 500.0
151
+
152
+
r5a_right_arm.yml ADDED
@@ -0,0 +1,152 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+
2
+ ##
3
+ ## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
4
+ ##
5
+ ## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
6
+ ## property and proprietary rights in and to this material, related
7
+ ## documentation and any modifications thereto. Any use, reproduction,
8
+ ## disclosure or distribution of this material and related documentation
9
+ ## without an express license agreement from NVIDIA CORPORATION or
10
+ ## its affiliates is strictly prohibited.
11
+ ##
12
+
13
+ robot_cfg:
14
+ kinematics:
15
+ usd_path: "${ASSETS_DIR}/miscs/curobo/R5a/R5a/R5a.usd"
16
+ usd_robot_root: "/robot"
17
+ isaac_usd_path: ""
18
+ usd_flip_joints: {}
19
+ usd_flip_joint_limits: []
20
+
21
+ urdf_path: "${ASSETS_DIR}/miscs/curobo/R5a/R5a.urdf"
22
+ asset_root_path: "robot"
23
+
24
+ base_link: "base_link"
25
+ ee_link: "link6"
26
+
27
+ extra_links: {"attached_object":{"parent_link_name": "link6" ,
28
+ "link_name": "attached_object", "fixed_transform": [0,0,0,1,0,0,0], "joint_type":"FIXED",
29
+ "joint_name": "attach_joint" }}
30
+
31
+
32
+ collision_link_names:
33
+ [
34
+ "base_link",
35
+ "link1",
36
+ "link2",
37
+ "link3",
38
+ "link4",
39
+ "link5",
40
+ "link6",
41
+ "link7",
42
+ "link8",
43
+ "attached_object",
44
+ ]
45
+ collision_spheres:
46
+ link1:
47
+ - "center": [-0.002, 0.003, 0.037]
48
+ "radius": 0.02
49
+ base_link:
50
+ - "center": [-0.003, -0.0, 0.036]
51
+ "radius": 0.02
52
+ link2:
53
+ - "center": [-0.008, 0.0, -0.001]
54
+ "radius": 0.02929
55
+ - "center": [-0.264, -0.001, 0.01]
56
+ "radius": 0.02864
57
+ - "center": [-0.272, 0.003, -0.009]
58
+ "radius": 0.02602
59
+ - "center": [-0.178, 0.002, -0.002]
60
+ "radius": 0.02733
61
+ - "center": [-0.1, -0.003, -0.005]
62
+ "radius": 0.0208
63
+ link3:
64
+ - "center": [0.025, 0.001, -0.063]
65
+ "radius": 0.02861
66
+ - "center": [0.085, -0.003, -0.062]
67
+ "radius": 0.02274
68
+ - "center": [0.165, -0.008, -0.057]
69
+ "radius": 0.02144
70
+ - "center": [-0.005, -0.019, -0.014]
71
+ "radius": 0.02013
72
+ - "center": [0.091, -0.004, -0.072]
73
+ "radius": 0.01883
74
+ - "center": [0.239, 0.012, -0.073]
75
+ "radius": 0.01883
76
+ link4:
77
+ - "center": [0.016, -0.001, 0.001]
78
+ "radius": 0.02437
79
+ - "center": [0.071, 0.003, -0.052]
80
+ "radius": 0.02302
81
+ link5:
82
+ - "center": [-0.002, 0.006, 0.021]
83
+ "radius": 0.02754
84
+ - "center": [0.003, 0.009, 0.08]
85
+ "radius": 0.02697
86
+ link6:
87
+ - "center": [0.055, 0.001, -0.001]
88
+ "radius": 0.02822
89
+ - "center": [0.035, -0.001, -0.0]
90
+ "radius": 0.02587
91
+ link7:
92
+ - "center": [0.036, -0.015, -0.006]
93
+ "radius": 0.0137
94
+ - "center": [-0.007, -0.003, -0.011]
95
+ "radius": 0.0137
96
+ link8:
97
+ - "center": [0.039, 0.016, -0.005]
98
+ "radius": 0.0137
99
+ - "center": [-0.007, 0.002, -0.009]
100
+ "radius": 0.0137
101
+ collision_sphere_buffer: 0.004
102
+ extra_collision_spheres: {"attached_object": 4}
103
+ self_collision_ignore:
104
+ {
105
+ "base_link": ["link1", "link2", "link3", "link4", "link5", "link6", "link7", "link8", "attached_object"],
106
+ "link1": ["link2", "link3", "link4", "link5", "link6", "link7", "link8", "attached_object"],
107
+ "link2": ["link3", "link4", "link5", "link6", "link7", "link8", "attached_object"],
108
+ "link3": ["link4", "link5", "link6", "link7", "link8", "attached_object"],
109
+ "link4": ["link5", "link6", "link7", "link8", "attached_object"],
110
+ "link5": ["link6", "link7", "link8", "attached_object"],
111
+ "link6": ["link7", "link8", "attached_object"],
112
+ "link7": ["link8", "attached_object"]
113
+ }
114
+ self_collision_buffer:
115
+ {
116
+ "base_link": 0.1,
117
+ "link1": 0.05,
118
+ "link2": 0.05,
119
+ "link3": 0.05,
120
+ "link4": 0.05,
121
+ "link5": 0.05,
122
+ "link6": 0.05,
123
+ "link7": 0.02,
124
+ "link8": 0.02,
125
+ "attached_object": 0.0,
126
+ }
127
+ use_global_cumul: True
128
+ mesh_link_names:
129
+ [
130
+ "base_link",
131
+ "link1",
132
+ "link2",
133
+ "link3",
134
+ "link4",
135
+ "link5",
136
+ "link6",
137
+ "link7",
138
+ "link8"
139
+ ]
140
+ external_asset_path: null # Use this to add path for externally located assets/robot folder.
141
+ lock_joints: {"joint7": 0.044, "joint8": 0.044}
142
+
143
+ cspace:
144
+ joint_names: ["joint1","joint2","joint3","joint4", "joint5", "joint6","joint7","joint8"]
145
+ # retract_config: [0.0, 0.35, -0.35, 0.0, 0.0, 0.0, 0.0, 0.0]
146
+ retract_config: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
147
+ null_space_weight: [1,1,1,1,1,1,1,1]
148
+ cspace_distance_weight: [1,1,1,1,1,1,1,1]
149
+ max_acceleration: 15.0
150
+ max_jerk: 500.0
151
+
152
+
urdf/R5a.csv ADDED
@@ -0,0 +1,10 @@
 
 
 
 
 
 
 
 
 
 
 
1
+ Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity
2
+ base_link,-0.00013359,6.672E-05,0.031672,0,0,0,0.42272,0.00018295,3.3215E-07,1.3234E-07,0.00018416,-7.784E-07,0.00019923,0,0,0,0,0,0,package://R5a/meshes/base_link.STL,0.89804,0.91765,0.92941,1,0,0,0,0,0,0,package://R5a/meshes/base_link.STL,,底座融合版V2.0-V0(A)KDzpros-1;DMDzpros-1/DMDDzpros-1;DMDzpros-1/DMSDzpros-1,Baselink,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
3
+ link1,0.0050395,-0.0077407,0.020897,0,0,0,0.096804,7.0654E-05,8.3266E-06,-1.1857E-05,4.5067E-05,1.7469E-05,6.235E-05,0,0,0,0,0,0,package://R5a/meshes/link1.STL,0.56471,0.56471,0.56471,1,0,0,0,0,0,0,package://R5a/meshes/link1.STL,,link1底座cZDKDzpros-1;link1底座轴承侧KDzpros-1,coordinate1,A1,joint1,revolute,0,0,0.0565,0,0,0,base_link,0,0,1,100,1000,-10,10,,,,,,,,
4
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+ upper="10"
392
+ effort="100"
393
+ velocity="1000" />
394
+ </joint>
395
+ <link
396
+ name="link7">
397
+ <inertial>
398
+ <origin
399
+ xyz="-0.00035522 -0.007827 -0.0029883"
400
+ rpy="0 0 0" />
401
+ <mass
402
+ value="0.064798" />
403
+ <inertia
404
+ ixx="0.00002"
405
+ ixy="0.00000"
406
+ ixz="0.00000"
407
+ iyy="0.00003"
408
+ iyz="0.00000"
409
+ izz="0.00003" />
410
+ </inertial>
411
+ <visual>
412
+ <origin
413
+ xyz="0 0 0"
414
+ rpy="0 0 0" />
415
+ <geometry>
416
+ <mesh
417
+ filename="package://R5a/meshes/link7.STL" />
418
+ </geometry>
419
+ <material
420
+ name="">
421
+ <color
422
+ rgba="1 1 1 1" />
423
+ </material>
424
+ </visual>
425
+ <collision>
426
+ <origin
427
+ xyz="0 0 0"
428
+ rpy="0 0 0" />
429
+ <geometry>
430
+ <mesh
431
+ filename="package://R5a/meshes/link7.STL" />
432
+ </geometry>
433
+ </collision>
434
+ </link>
435
+ <joint
436
+ name="joint7"
437
+ type="prismatic">
438
+ <origin
439
+ xyz="0.08657 0.024896 -0.0002436"
440
+ rpy="0 0 0" />
441
+ <parent
442
+ link="link6" />
443
+ <child
444
+ link="link7" />
445
+ <axis
446
+ xyz="0 1 0" />
447
+ <limit
448
+ lower="0"
449
+ upper="0.044"
450
+ effort="100"
451
+ velocity="1000" />
452
+ </joint>
453
+ <link
454
+ name="link8">
455
+ <inertial>
456
+ <origin
457
+ xyz="-0.000355223470270755 0.00782768751820277 0.00242005642879778"
458
+ rpy="0 0 0" />
459
+ <mass
460
+ value="0.0647981725781684" />
461
+ <inertia
462
+ ixx="0.00002"
463
+ ixy="0.00000"
464
+ ixz="0.00000"
465
+ iyy="0.00003"
466
+ iyz="0.00000"
467
+ izz="0.00003" />
468
+ </inertial>
469
+ <visual>
470
+ <origin
471
+ xyz="0 0 0"
472
+ rpy="0 0 0" />
473
+ <geometry>
474
+ <mesh
475
+ filename="package://R5a/meshes/link8.STL" />
476
+ </geometry>
477
+ <material
478
+ name="">
479
+ <color
480
+ rgba="1 1 1 1" />
481
+ </material>
482
+ </visual>
483
+ <collision>
484
+ <origin
485
+ xyz="0 0 0"
486
+ rpy="0 0 0" />
487
+ <geometry>
488
+ <mesh
489
+ filename="package://R5a/meshes/link8.STL" />
490
+ </geometry>
491
+ </collision>
492
+ </link>
493
+ <joint
494
+ name="joint8"
495
+ type="prismatic">
496
+ <origin
497
+ xyz="0.08657 -0.0249 -0.00024366"
498
+ rpy="0 0 0" />
499
+ <parent
500
+ link="link6" />
501
+ <child
502
+ link="link8" />
503
+ <axis
504
+ xyz="0 -1 0" />
505
+ <limit
506
+ lower="0"
507
+ upper="0.044"
508
+ effort="100"
509
+ velocity="1000" />
510
+ </joint>
511
+ </robot>