Delete ./ur5-wsg/ with huggingface_hub

ur5-wsg/collision_wsg.yml

@@ -1,110 +0,0 @@
-collision_spheres:
-  base_link:
-    - "center": [-0.035, 0.028, 0.01]
-      "radius": 0.02106
-    - "center": [0.027, -0.005, 0.01]
-      "radius": 0.02106
-    - "center": [0.017, 0.024, 0.01]
-      "radius": 0.02106
-    - "center": [-0.01, -0.032, 0.01]
-      "radius": 0.02106
-    - "center": [0.023, -0.036, 0.01]
-      "radius": 0.02106
-    - "center": [-0.012, 0.013, 0.01]
-      "radius": 0.02106
-  shoulder_link:
-    - "center": [-0.004, 0.017, -0.014]
-      "radius": 0.06067
-    - "center": [0.002, -0.01, -0.02]
-      "radius": 0.05467
-    - "center": [0.017, 0.03, 0.001]
-      "radius": 0.05039
-    - "center": [-0.019, 0.033, 0.008]
-      "radius": 0.04697
-    - "center": [0.011, -0.037, 0.037]
-      "radius": 0.02898
-  upper_arm_link:
-    - "center": [0.001, -0.015, 0.41]
-      "radius": 0.06004
-    - "center": [-0.0, 0.0, 0.201]
-      "radius": 0.05949
-    - "center": [-0.0, -0.015, 0.016]
-      "radius": 0.06004
-    - "center": [0.0, -0.001, 0.306]
-      "radius": 0.05893
-    - "center": [0.0, -0.0, 0.122]
-      "radius": 0.05949
-  forearm_link:
-    - "center": [-0.001, 0.01, 0.02]
-      "radius": 0.05308
-    - "center": [-0.0, 0.0, 0.215]
-      "radius": 0.04707
-    - "center": [-0.0, -0.0, 0.128]
-      "radius": 0.04707
-    - "center": [-0.0, -0.0, 0.293]
-      "radius": 0.04707
-    - "center": [-0.001, 0.015, 0.381]
-      "radius": 0.04256
-  wrist_1_link:
-    - "center": [0.001, 0.082, 0.01]
-      "radius": 0.04397
-    - "center": [-0.002, 0.099, 0.016]
-      "radius": 0.04157
-    - "center": [0.002, 0.109, -0.038]
-      "radius": 0.02958
-  wrist_2_link:
-    - "center": [-0.001, 0.01, 0.083]
-      "radius": 0.0439
-    - "center": [0.002, 0.016, 0.1]
-      "radius": 0.04151
-    - "center": [-0.002, -0.038, 0.11]
-      "radius": 0.02954
-  wrist_3_link:
-    - "center": [-0.023, 0.062, -0.005]
-      "radius": 0.02428
-    - "center": [0.024, 0.062, -0.003]
-      "radius": 0.02339
-  robotiq_85_base_link:
-    - "center": [0.0, 0.0, 0.0]
-      "radius": 0.001
-    # - "center": [0.021, 0.002, -0.001]
-    #   "radius": 0.03085
-    # - "center": [0.017, 0.007, 0.019]
-    #   "radius": 0.02688
-  robotiq_85_left_inner_knuckle_link:
-    - "center": [0.026, -0.024, -0.012]
-      "radius": 0.01419
-    - "center": [0.026, -0.024, 0.012]
-      "radius": 0.01419
-  robotiq_85_left_finger_tip_link:
-    - "center": [-0.003, -0.008, -0.001]
-      "radius": 0.0157
-    - "center": [0.006, -0.003, -0.002]
-      "radius": 0.01361
-  robotiq_85_left_knuckle_link:
-    - "center": [0.002, -0.001, 0.0]
-      "radius": 0.01529
-  robotiq_85_left_finger_link:
-    - "center": [0.024, -0.003, 0.007]
-      "radius": 0.01509
-  robotiq_85_right_inner_knuckle_link:
-    - "center": [0.026, -0.024, -0.012]
-      "radius": 0.01419
-    - "center": [0.026, -0.024, 0.012]
-      "radius": 0.01419
-  robotiq_85_right_finger_tip_link:
-    - "center": [-0.003, -0.008, -0.001]
-      "radius": 0.0157
-    - "center": [0.006, -0.003, -0.002]
-      "radius": 0.01361
-  robotiq_85_right_knuckle_link:
-    - "center": [0.002, -0.001, 0.0]
-      "radius": 0.01529
-  robotiq_85_right_finger_link:
-    - "center": [0.024, -0.003, 0.007]
-      "radius": 0.01509
-    - "center": [0.023, -0.004, -0.002]
-      "radius": 0.01509
-  ee_link:
-    - "center": [0.0, 0.0, 0.0]
-      "radius": 0.001

ur5-wsg/config.yml

@@ -1,41 +0,0 @@
-urdf_path: "./ur5_wsg_gripper.urdf"
-srdf_path: "./ur5.srdf"
-joint_stiffness: 1000
-joint_damping: 200
-gripper_stiffnes: 1000
-gripper_damping: 200
-move_group: ["ee_link","ee_link"]
-ee_joints: ["ee_fixed_joint","ee_fixed_joint"]
-arm_joints_name: [["shoulder_pan_joint" ,"shoulder_lift_joint" ,"elbow_joint" ,"wrist_1_joint", "wrist_2_joint", "wrist_3_joint"],
-                  ["shoulder_pan_joint" ,"shoulder_lift_joint" ,"elbow_joint" ,"wrist_1_joint", "wrist_2_joint", "wrist_3_joint"]]
-# gripper_name: [["robotiq_85_left_knuckle_joint", "robotiq_85_right_knuckle_joint"],
-              #  ["robotiq_85_left_knuckle_joint", "robotiq_85_right_knuckle_joint"]]
-gripper_name:
-  - base: "base_joint_gripper_left"
-    mimic: [["base_joint_gripper_right", -1., 0.]]
-  - base: "base_joint_gripper_left"
-    mimic: [["base_joint_gripper_right", -1., 0.]]
-gripper_bias: 0.11
-gripper_scale: [0.01, -0.06]
-homestate: [[-1.5447, -1.5447, -1.5447, -1.5794, 1.5794, 0],
-            [-1.5447, -1.5447, -1.5447, -1.5794, 1.5794, 0]]
-delta_matrix: [[1,0,0],[0,1,0],[0,0,1]]
-global_trans_matrix: [[1,0,0],[0,-1,0],[0,0,-1]]
-robot_pose: [[0, -0.65, 0.65, 1, 0, 0, 0],[0, -0.65, 0.75, 1, 0, 0, 0]]   # modify
-planner: "curobo"
-dual_arm: False
-fix_gripper_name: ["finger_left", "finger_right"]
-static_camera_list: 
-- name: head_camera
-  position:
-  - -0.032
-  - -0.45
-  - 1.35
-  forward:
-  - 0
-  - 0.6
-  - -0.8
-  left:
-  - -1
-  - 0
-  - 0

ur5-wsg/curobo_tmp.yml

@@ -1,76 +0,0 @@
-robot_cfg:
-  kinematics:
-    use_usd_kinematics: False
-    usd_path: null
-    usd_robot_root: null
-    isaac_usd_path: null
-    usd_flip_joints: {}
-    usd_flip_joint_limits: {}
-    urdf_path: ${ASSETS_PATH}/assets/embodiments/ur5-wsg/ur5_wsg_gripper.urdf
-    asset_root_path: null
-    base_link: "base_link"
-    ee_link: "ee_link"
-    collision_link_names: [
-      "base_link",
-      "shoulder_link", 
-      "upper_arm_link",
-      "forearm_link",
-      "wrist_1_link",
-      "wrist_2_link",
-      "wrist_3_link",
-      "ee_link"
-    ]
-    collision_spheres: ${ASSETS_PATH}/assets/embodiments/ur5-wsg/collision_wsg.yml
-    collision_sphere_buffer: 0.004
-    extra_collision_spheres: null
-    use_global_cumul: True
-    self_collision_ignore: {
-      "base_link": ["shoulder_link"],
-      "shoulder_link": ["upper_arm_link", "base_link"],
-      "upper_arm_link": ["forearm_link", "shoulder_link"],
-      "forearm_link": ["wrist_1_link", "upper_arm_link"],
-      "wrist_1_link": ["wrist_2_link", "forearm_link", "ee_link"],
-      "wrist_2_link": ["wrist_3_link", "wrist_1_link", "ee_link"],
-      "wrist_3_link": ["ee_link", "wrist_2_link", "wrist_1_link"],
-    }
-
-    self_collision_buffer:
-      {
-        "base_link": 0.0,
-        "shoulder_link": 0.0,
-        "upper_arm_link": 0.0,
-        "forearm_link": 0.0,
-        "wrist_1_link": 0.0,
-        "wrist_2_link": 0.0,
-        "wrist_3_link": 0.0,
-        "ee_link": 0.0
-      }
-    mesh_link_names:
-      [
-      "base_link",
-      "shoulder_link",
-      "upper_arm_link",
-      "forearm_link",
-      "wrist_1_link",
-      "wrist_2_link",
-      "wrist_3_link",
-      "ee_link"
-      ]
-    
-    lock_joints: {}
-
-    extra_links: null
-    cspace:
-      joint_names: ["shoulder_pan_joint" 
-      ,"shoulder_lift_joint" 
-      ,"elbow_joint" 
-      ,"wrist_1_joint" 
-      ,"wrist_2_joint" 
-      ,"wrist_3_joint"]
-      retract_config: [0, 0, 0, 0, 0, 0]
-      null_space_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
-      cspace_distance_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
-      max_acceleration: 15.0
-      max_jerk: 500.0
-planner:
-  frame_bias: [0., 0., 0.]

ur5-wsg/meshes/gripper/WSG-FMF.stl

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-size 108184

ur5-wsg/meshes/robotiq_85/collision/robotiq_85_base_link.stl

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ur5-wsg/meshes/robotiq_85/collision/robotiq_85_finger_link.stl

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ur5-wsg/meshes/robotiq_85/collision/robotiq_85_finger_tip_link.stl

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ur5-wsg/meshes/robotiq_85/collision/robotiq_85_inner_knuckle_link.stl

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ur5-wsg/meshes/robotiq_85/collision/robotiq_85_knuckle_link.stl

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ur5-wsg/meshes/robotiq_85/robotiq_85_coupler.stl

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ur5-wsg/meshes/robotiq_85/visual/robotiq_85_base_link.dae

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ur5-wsg/meshes/robotiq_85/visual/robotiq_85_finger_link.dae

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ur5-wsg/meshes/robotiq_85/visual/robotiq_85_finger_tip_link.dae

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ur5-wsg/meshes/robotiq_85/visual/robotiq_85_inner_knuckle_link.dae

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ur5-wsg/meshes/robotiq_85/visual/robotiq_85_knuckle_link.dae

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ur5-wsg/meshes/ur5/collision/base.stl

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ur5-wsg/meshes/ur5/collision/forearm.stl

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ur5-wsg/meshes/ur5/collision/shoulder.stl

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ur5-wsg/meshes/ur5/collision/upperarm.stl

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ur5-wsg/meshes/ur5/collision/wrist1.stl

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ur5-wsg/meshes/ur5/collision/wrist2.stl

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ur5-wsg/meshes/ur5/visual/camera.glb

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ur5-wsg/meshes/ur5/visual/shoulder.glb

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ur5-wsg/meshes/ur5/visual/upperarm.dae

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ur5-wsg/meshes/ur5/visual/wrist1.dae

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ur5-wsg/meshes/ur5/visual/wrist2.dae

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ur5-wsg/ur5.srdf

@@ -1,148 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<!--This does not replace URDF, and is not an extension of URDF.
-    This is a format for representing semantic information about the robot structure.
-    A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
--->
-<robot name="ur5">
-    <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
-    <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
-    <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
-    <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
-    <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
-    <group name="ur5_arm">
-        <chain base_link="base_link" tip_link="ee_link"/>
-    </group>
-
-    <group name="ur5_manipulator">
-        <chain base_link="ur5_base_link" tip_link="ur5_gripper_tcp"/>
-    </group>
-
-    <group name="gripper">
-        <joint name="robotiq_85_left_knuckle_joint"/>
-    </group>
-    <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
-    <group_state name="home" group="ur5_arm">
-        <joint name="elbow_joint" value="-1.5447"/>
-        <joint name="shoulder_lift_joint" value="-1.5447"/>
-        <joint name="shoulder_pan_joint" value="-1.5447"/>
-        <joint name="wrist_1_joint" value="-1.5794"/>
-        <joint name="wrist_2_joint" value="+1.5794"/>
-        <joint name="wrist_3_joint" value="0"/>
-    </group_state>
-    <group_state name="open" group="gripper">
-        <joint name="robotiq_85_left_knuckle_joint" value="0.1"/>
-    </group_state>
-    <group_state name="closed" group="gripper">
-        <joint name="robotiq_85_left_knuckle_joint" value="0.7"/>
-    </group_state>
-    <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
-    <end_effector name="ur5_gripper_tcp" parent_link="ur5_gripper_tcp" group="gripper" parent_group="ur5_manipulator"/>
-
-    <end_effector name="robotiq_gripper" parent_link="ee_link" group="gripper" parent_group="ur5_arm"/>
-    <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
-    <!-- <virtual_joint name="Virtual Joints" type="fixed" parent_frame="world" child_link="ur5_base_link"/> -->
-    <!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated-->
-    <passive_joint name="robotiq_85_left_inner_knuckle_joint"/>
-    <passive_joint name="robotiq_85_left_finger_tip_joint"/>
-    <passive_joint name="robotiq_85_right_inner_knuckle_joint"/>
-    <passive_joint name="robotiq_85_right_finger_tip_joint"/>
-    <passive_joint name="robotiq_85_right_knuckle_joint"/>
-    <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
-    <disable_collisions link1="ur5_base_link" link2="shoulder_link" reason="Adjacent"/>
-    <disable_collisions link1="ee_link" link2="robotiq_85_base_link" reason="Never"/>
-    <disable_collisions link1="ee_link" link2="robotiq_85_left_finger_link" reason="Never"/>
-    <disable_collisions link1="ee_link" link2="robotiq_85_left_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="ee_link" link2="robotiq_85_left_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="ee_link" link2="robotiq_85_left_knuckle_link" reason="Never"/>
-    <disable_collisions link1="ee_link" link2="robotiq_85_right_finger_link" reason="Never"/>
-    <disable_collisions link1="ee_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="ee_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="ee_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
-    <disable_collisions link1="ee_link" link2="robotiq_coupler" reason="Never"/>
-    <disable_collisions link1="ee_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="ee_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="ee_link" link2="wrist_3_link" reason="Adjacent"/>
-    <disable_collisions link1="forearm_link" link2="upper_arm_link" reason="Adjacent"/>
-    <disable_collisions link1="forearm_link" link2="wrist_1_link" reason="Adjacent"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_left_finger_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_left_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_left_inner_knuckle_link" reason="Adjacent"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_left_knuckle_link" reason="Adjacent"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_right_finger_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_right_inner_knuckle_link" reason="Adjacent"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="robotiq_85_right_knuckle_link" reason="Adjacent"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="robotiq_coupler" reason="Adjacent"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_base_link" link2="wrist_3_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_left_finger_tip_link" reason="Default"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_left_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_left_knuckle_link" reason="Adjacent"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_right_finger_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="robotiq_coupler" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_link" link2="wrist_3_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_left_inner_knuckle_link" reason="Adjacent"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_left_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_right_finger_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="robotiq_coupler" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_finger_tip_link" link2="wrist_3_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="robotiq_85_left_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="robotiq_85_right_finger_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="robotiq_coupler" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_inner_knuckle_link" link2="wrist_3_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="robotiq_85_right_finger_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="robotiq_85_right_finger_tip_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="robotiq_coupler" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_left_knuckle_link" link2="wrist_3_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_link" link2="robotiq_85_right_finger_tip_link" reason="Default"/>
-    <disable_collisions link1="robotiq_85_right_finger_link" link2="robotiq_85_right_inner_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_link" link2="robotiq_85_right_knuckle_link" reason="Adjacent"/>
-    <disable_collisions link1="robotiq_85_right_finger_link" link2="robotiq_coupler" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_link" link2="wrist_3_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="robotiq_85_right_inner_knuckle_link" reason="Adjacent"/>
-    <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="robotiq_coupler" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_finger_tip_link" link2="wrist_3_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_inner_knuckle_link" link2="robotiq_85_right_knuckle_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_inner_knuckle_link" link2="robotiq_coupler" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_inner_knuckle_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_inner_knuckle_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_inner_knuckle_link" link2="wrist_3_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_knuckle_link" link2="robotiq_coupler" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_knuckle_link" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_knuckle_link" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_85_right_knuckle_link" link2="wrist_3_link" reason="Never"/>
-    <disable_collisions link1="robotiq_coupler" link2="wrist_1_link" reason="Never"/>
-    <disable_collisions link1="robotiq_coupler" link2="wrist_2_link" reason="Never"/>
-    <disable_collisions link1="robotiq_coupler" link2="wrist_3_link" reason="Adjacent"/>
-    <disable_collisions link1="shoulder_link" link2="upper_arm_link" reason="Adjacent"/>
-    <disable_collisions link1="wrist_1_link" link2="wrist_2_link" reason="Adjacent"/>
-    <disable_collisions link1="wrist_1_link" link2="wrist_3_link" reason="Never"/>
-    <disable_collisions link1="wrist_2_link" link2="wrist_3_link" reason="Adjacent"/>
-
-    
-</robot>

ur5-wsg/ur5_wsg_gripper.urdf

@@ -1,477 +0,0 @@
-<?xml version="1.0" ?>
-<!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from ur5_robotiq85_gripper.urdf.xacro | -->
-<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
-<!-- =================================================================================== -->
-<robot name="ur5">
-  <gazebo>
-    <plugin filename="libgazebo_ros_control.so" name="ros_control">
-      <!--robotNamespace>/</robotNamespace-->
-      <!--robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType-->
-    </plugin>
-    <!--
-    <plugin name="gazebo_ros_power_monitor_controller" filename="libgazebo_ros_power_monitor.so">
-      <alwaysOn>true</alwaysOn>
-      <updateRate>1.0</updateRate>
-      <timeout>5</timeout>
-      <powerStateTopic>power_state</powerStateTopic>
-      <powerStateRate>10.0</powerStateRate>
-      <fullChargeCapacity>87.78</fullChargeCapacity>     
-      <dischargeRate>-474</dischargeRate>
-      <chargeRate>525</chargeRate>
-      <dischargeVoltage>15.52</dischargeVoltage>
-      <chargeVoltage>16.41</chargeVoltage>
-    </plugin>
--->
-  </gazebo>
-  <!-- measured from model -->
-  <!--property name="shoulder_height" value="0.089159" /-->
-  <!--property name="shoulder_offset" value="0.13585" /-->
-  <!-- shoulder_offset - elbow_offset + wrist_1_length = 0.10915 -->
-  <!--property name="upper_arm_length" value="0.42500" /-->
-  <!--property name="elbow_offset" value="0.1197" /-->
-  <!-- CAD measured -->
-  <!--property name="forearm_length" value="0.39225" /-->
-  <!--property name="wrist_1_length" value="0.093" /-->
-  <!-- CAD measured -->
-  <!--property name="wrist_2_length" value="0.09465" /-->
-  <!-- In CAD this distance is 0.930, but in the spec it is 0.09465 -->
-  <!--property name="wrist_3_length" value="0.0823" /-->
-  <!-- manually measured -->
-  <link name="base_link">
-    <visual>
-      <origin xyz="0 0 0" rpy="1.5708 0 0" />
-      <geometry>
-        <mesh filename="meshes/ur5/visual/base.glb"/>
-      </geometry>
-    </visual>
-    <collision>
-      <geometry>
-        <mesh filename="meshes/ur5/collision/base.stl"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="4.0"/>
-      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
-      <inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0.0072"/>
-    </inertial>
-  </link>
-  <joint name="shoulder_pan_joint" type="revolute">
-    <parent link="base_link"/>
-    <child link="shoulder_link"/>
-    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.089159"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="150.0" lower="-3.142" upper="3.142" velocity="3.15"/>
-    <dynamics damping="0.0" friction="0.0"/>
-  </joint>
-  <link name="shoulder_link">
-    <visual>
-      <origin xyz="0 0 0" rpy="1.5708 0 0" />
-      <geometry>
-        <mesh filename="meshes/ur5/visual/shoulder.glb"/>
-      </geometry>
-    </visual>
-    <collision>
-      <geometry>
-        <mesh filename="meshes/ur5/collision/shoulder.stl"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="3.7"/>
-      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
-      <inertia ixx="0.010267495893" ixy="0.0" ixz="0.0" iyy="0.010267495893" iyz="0.0" izz="0.00666"/>
-    </inertial>
-  </link>
-  <joint name="shoulder_lift_joint" type="revolute">
-    <parent link="shoulder_link"/>
-    <child link="upper_arm_link"/>
-    <origin rpy="0.0 1.5707963267948966 0.0" xyz="0.0 0.13585 0.0"/>
-    <axis xyz="0 1 0"/>
-    <limit effort="150.0" lower="-3.142" upper="0" velocity="3.15"/>
-    <dynamics damping="0.0" friction="0.0"/>
-  </joint>
-  <link name="upper_arm_link">
-    <visual>
-      <origin xyz="0 0 0" rpy="1.5708 0 0" />
-      <geometry>
-        <mesh filename="meshes/ur5/visual/upperarm.glb"/>
-      </geometry>
-    </visual>
-    <collision>
-      <geometry>
-        <mesh filename="meshes/ur5/collision/upperarm.stl"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="8.393"/>
-      <origin rpy="0 0 0" xyz="0.0 0.0 0.28"/>
-      <inertia ixx="0.22689067591036005" ixy="0.0" ixz="0.0" iyy="0.22689067591036005" iyz="0.0" izz="0.0151074"/>
-    </inertial>
-  </link>
-  <joint name="elbow_joint" type="revolute">
-    <parent link="upper_arm_link"/>
-    <child link="forearm_link"/>
-    <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.1197 0.425"/>
-    <axis xyz="0 1 0"/>
-    <limit effort="150.0" lower="-3.142" upper="3.142" velocity="3.15"/>
-    <dynamics damping="0.0" friction="0.0"/>
-  </joint>
-  <link name="forearm_link">
-    <visual>
-      <origin xyz="0 0 0" rpy="1.5708 0 0" />
-      <geometry>
-        <mesh filename="meshes/ur5/visual/forearm.glb"/>
-      </geometry>
-    </visual>
-    <collision>
-      <geometry>
-        <mesh filename="meshes/ur5/collision/forearm.stl"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="2.275"/>
-      <origin rpy="0 0 0" xyz="0.0 0.0 0.196125"/>
-      <inertia ixx="0.03121679102890359" ixy="0.0" ixz="0.0" iyy="0.03121679102890359" iyz="0.0" izz="0.004095"/>
-    </inertial>
-  </link>
-  <joint name="wrist_1_joint" type="revolute">
-    <parent link="forearm_link"/>
-    <child link="wrist_1_link"/>
-    <origin rpy="0.0 1.5707963267948966 0.0" xyz="0.0 0.0 0.39225"/>
-    <axis xyz="0 1 0"/>
-    <limit effort="100.0" lower="-1.75" upper="1.75" velocity="3.2"/>
-    <dynamics damping="0.0" friction="0.0"/>
-  </joint>
-  <link name="wrist_1_link">
-    <visual>
-      <origin xyz="0 0 0" rpy="1.5708 0 0" />
-      <geometry>
-        <mesh filename="meshes/ur5/visual/wrist1.glb"/>
-      </geometry>
-    </visual>
-    <collision>
-      <geometry>
-        <mesh filename="meshes/ur5/collision/wrist1.stl"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="1.219"/>
-      <origin rpy="0 0 0" xyz="0.0 0.093 0.0"/>
-      <inertia ixx="0.0025598989760400002" ixy="0.0" ixz="0.0" iyy="0.0025598989760400002" iyz="0.0" izz="0.0021942"/>
-    </inertial>
-  </link>
-  <joint name="wrist_2_joint" type="revolute">
-    <parent link="wrist_1_link"/>
-    <child link="wrist_2_link"/>
-    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.093 0.0"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="100.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="3.2"/>
-    <dynamics damping="0.0" friction="0.0"/>
-  </joint>
-  <link name="wrist_2_link">
-    <visual>
-      <origin xyz="0 0 0" rpy="1.5708 0 0" />
-      <geometry>
-        <mesh filename="meshes/ur5/visual/wrist2.glb"/>
-      </geometry>
-    </visual>
-    <collision>
-      <geometry>
-        <mesh filename="meshes/ur5/collision/wrist2.stl"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="1.219"/>
-      <origin rpy="0 0 0" xyz="0.0 0.0 0.09465"/>
-      <inertia ixx="0.0025598989760400002" ixy="0.0" ixz="0.0" iyy="0.0025598989760400002" iyz="0.0" izz="0.0021942"/>
-    </inertial>
-  </link>
-  <joint name="wrist_3_joint" type="revolute">
-    <parent link="wrist_2_link"/>
-    <child link="wrist_3_link"/>
-    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.09465"/>
-    <axis xyz="0 1 0"/>
-    <limit effort="100.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="3.2"/>
-    <dynamics damping="0.0" friction="0.0"/>
-  </joint>
-  <link name="wrist_3_link">
-    <visual>
-      <origin xyz="0 0 0" rpy="1.5708 0 0" />
-      <geometry>
-        <mesh filename="meshes/ur5/visual/wrist3.glb"/>
-      </geometry>
-    </visual>
-    <collision>
-      <geometry>
-        <mesh filename="meshes/ur5/collision/wrist3.stl"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.1879"/>
-      <origin rpy="1.5707963267948966 0 0" xyz="0.0 0.06505 0.0"/>
-      <inertia ixx="8.469589112163e-05" ixy="0.0" ixz="0.0" iyy="8.469589112163e-05" iyz="0.0" izz="0.0001321171875"/>
-    </inertial>
-  </link>
-  <joint name="ee_fixed_joint" type="fixed">
-    <parent link="wrist_3_link"/>
-    <child link="ee_link"/>
-    <origin rpy="0.0 0.0 1.5707963267948966" xyz="0.0 0.0823 0.0"/>
-  </joint>
-  <link name="ee_link">
-    <collision>
-      <geometry>
-        <box size="0.01 0.01 0.01"/>
-      </geometry>
-      <origin rpy="0 0 0" xyz="-0.01 0 0"/>
-    </collision>
-  </link>
-
-  <link name="camera_base">
-    <visual>
-      <origin rpy="0 0 1.57079632679" xyz="0 -0.0 0"/>
-      <geometry>
-        <mesh filename="meshes/ur5/visual/camera_base_ur5.glb" />
-      </geometry>
-    </visual>
-  </link>
-  <joint name="hand_to_camera_mount" type="fixed">
-    <parent link="wrist_3_link"/>
-    <child link="camera_base"/>
-    <origin rpy="3.14159265359 1.57079632679 1.57079632679" xyz="0.0 0.08 0"/>
-  </joint>
-
-  <link name="camera">
-    <visual>
-      <origin rpy="3.141592653589793 0 1.5707963267948966" xyz="0.0 0.0 -0.0"/>
-      <geometry>
-        <mesh filename="meshes/ur5/visual/camera.glb" />
-      </geometry>
-    </visual>
-  </link>
-  <joint name="camera_joint" type="fixed">
-    <parent link="camera_base"/>
-    <child link="camera"/>
-    <origin rpy="1.57079632679 1.5707963267948966 -1.57079632679" xyz="-0.052 0.0 -0.025"/>
-  </joint>
-
-  <!-- ROS base_link to UR 'Base' Coordinates transform -->
-  <link name="base"/>
-  <joint name="base_link-base_fixed_joint" type="fixed">
-    <!-- NOTE: this rotation is only needed as long as base_link itself is
-                 not corrected wrt the real robot (ie: rotated over 180
-                 degrees)
-      -->
-    <origin rpy="0 0 -3.141592653589793" xyz="0 0 0"/>
-    <parent link="base_link"/>
-    <child link="base"/>
-  </joint>
-  <!-- Frame coincident with all-zeros TCP on UR controller -->
-  <link name="tool0"/>
-  <joint name="wrist_3_link-tool0_fixed_joint" type="fixed">
-    <origin rpy="-1.5707963267948966 0 0" xyz="0 0.0823 0"/>
-    <parent link="wrist_3_link"/>
-    <child link="tool0"/>
-  </joint>
-  <link name="world"/>
-  <joint name="world_joint" type="fixed">
-    <parent link="world"/>
-    <child link="base_link"/>
-    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
-  </joint>
-  
-
-
-  <joint name="wsg_base_joint" type="fixed">
-    <parent link="ee_link"/>
-    <child link="wsg_50_base_link"/>
-    <origin rpy="1.5707 0 1.5707" xyz="0 0 0"/>
-  </joint>
-
-
-
-<!-- ********************** Start WSG ******************* -->
-  <!-- BASE LINK -->
-  <link name="wsg_50_base_link">
-    <inertial>
-      <mass value="1.2" />
-      <origin xyz="0 0 0" />
-      <!--inertia
-      ixx="1.0" ixy="0.0" ixz="0.0"
-           iyy="100.0" iyz="0.0" 
-           izz="1.0" /-->
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
-    </inertial>
-
-    <visual>
-      <origin xyz="0.0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="./meshes/gripper/WSG50_110.stl" scale="1 1 1" />
-      </geometry>
-      <material name="black">
-        <color rgba="0.4 0.4 0.4 1" />
-      </material>
-    </visual>
-
-    <collision>
-      <origin xyz="0.0 0 0" rpy="0 0 0" />
-      <geometry>
-        <!--box
-        size="0.146 0.05 0.0735"/-->
-        <mesh filename="./meshes/gripper/WSG50_110.stl" scale="1 1 1" />
-      </geometry>
-    </collision>
-  </link>
-  
-  <joint name="base_joint_gripper_left" type="prismatic">
-    <limit lower="-0.055" upper="-0.0027" effort="1.0" velocity="1.0" />
-    <origin xyz="0 0 0" rpy="0 0 0" />      <!--origin
-    xyz="-0.0067 0 0.049" rpy="0 0 0" /-->
-    <parent link="wsg_50_base_link" />
-    <child link="gripper_left" />
-    <dynamics friction="100" damping="100" />
-    <axis xyz="1 0 0" />
-    <limit effort="100" velocity="100" />
-  </joint>
-
-  <link name="gripper_left">
-    <inertial>
-      <mass value="0.1" />
-      <origin xyz="0 0 0" />
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0"
-        iyy="1.0" iyz="0.0"
-        izz="1.0" />
-    </inertial>
-
-    <visual>
-      <origin xyz="0.0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="./meshes/gripper/GUIDE_WSG50_110.stl"/>
-      </geometry>
-      <material name="black1">
-        <color rgba="0.4 0.4 0.4 1" />
-      </material>
-    </visual>
-
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <!--box
-        size="0.0175 0.03 0.024"/-->
-        <mesh filename="./meshes/gripper/GUIDE_WSG50_110.stl"  />
-      </geometry>
-    </collision>
-  </link>
-
-  <!-- LEFT FINGER -->
-  <joint name="guide_joint_finger_left" type="fixed">
-    <origin xyz="0 0 0.023" rpy="0 0 0" />
-    <parent link="gripper_left" />
-    <child link="finger_left" />
-    <dynamics friction="100" damping="100" />
-    <axis xyz="1 0 0" />
-    <limit effort="100" velocity="100" />
-  </joint>
-
-  <link name="finger_left">
-    <inertial>
-      <mass value="0.1" />
-      <origin xyz="0 0 0" />
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0"
-        iyy="1.0" iyz="0.0"
-        izz="1.0" />
-    </inertial>
-
-    <visual>
-      <origin xyz="0.0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="./meshes/gripper/WSG-FMF.stl"  />
-      </geometry>
-      <material name="black2">
-        <color rgba="0.4 0.4 0.4 1" />
-      </material>
-    </visual>
-
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="./meshes/gripper/WSG-FMF.stl"  />
-      </geometry>
-    </collision>
-  </link>
-
-  <!-- GRIPPER RIGHT -->
-  <joint name="base_joint_gripper_right" type="prismatic">
-    <limit lower="0.0027" upper="0.055" effort="1.0" velocity="1.0" />
-    <origin xyz="0 0 0" rpy="0 0 3.14159" />
-    <parent link="wsg_50_base_link" />
-    <child link="gripper_right" />
-    <axis xyz="-1 0 0" />
-    <dynamics friction="100" damping="100" />
-    <limit effort="100" velocity="100" />
-  </joint>
-
-  <link name="gripper_right">
-    <inertial>
-      <mass value="0.1" />
-      <origin xyz="0 0 0" />
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0"
-        iyy="1.0" iyz="0.0"
-        izz="1.0" />
-    </inertial>
-
-    <visual>
-      <origin xyz="0.0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="./meshes/gripper/GUIDE_WSG50_110.stl"  />
-      </geometry>
-      <material name="black">
-        <color rgba="0.6 0.6 0.6 1" />
-      </material>
-    </visual>
-
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="./meshes/gripper/GUIDE_WSG50_110.stl"  />
-      </geometry>
-    </collision>
-  </link>
-
-  <!-- RIGHT FINGER -->
-  <joint name="guide_joint_finger_right" type="fixed">
-    <origin xyz="0 0 0.023" rpy="0 0 0" />
-    <parent link="gripper_right" />
-    <child link="finger_right" />
-    <dynamics friction="100" damping="100" />
-    <axis xyz="1 0 0" />
-    <limit effort="100" velocity="100" />
-  </joint>
-
-  <link name="finger_right">
-    <inertial>
-      <mass value="0.1" />
-      <origin xyz="0 0 0" />
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0"
-        iyy="1.0" iyz="0.0"
-        izz="1.0" />
-    </inertial>
-
-    <visual>
-      <origin xyz="0.0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="./meshes/gripper/WSG-FMF.stl"  />
-      </geometry>
-      <material name="black">
-        <color rgba="0.4 0.4 0.4 1" />
-      </material>
-    </visual>
-
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="./meshes/gripper/WSG-FMF.stl"  />
-      </geometry>
-    </collision>
-  </link>
-  <!-- ******************* end WSG ********************** -->
-</robot>