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RoboTwin

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  1. embodiments/RM65B-EG24C2/DAE/Link_11.dae +0 -0
  2. embodiments/RM65B-EG24C2/DAE/Link_12.dae +0 -0
  3. embodiments/RM65B-EG24C2/DAE/Link_4.dae +0 -0
  4. embodiments/RM65B-EG24C2/DAE/Link_5.dae +0 -0
  5. embodiments/RM65B-EG24C2/DAE/Link_8.dae +181 -0
  6. embodiments/RM65B-EG24C2/DAE/Link_9.dae +181 -0
  7. embodiments/RM65B-EG24C2/DAE/camera_base_link.dae +0 -0
  8. embodiments/RM65B-EG24C2/DAE/camera_link.dae +0 -0
  9. embodiments/RM65B-EG24C2/DAE/gripper_base_link.dae +0 -0
  10. embodiments/aloha-agilex-1/meshes/caster.stl +0 -0
  11. embodiments/aloha-agilex-1/meshes/castor.dae +0 -0
  12. embodiments/aloha-agilex-1/meshes/tracer_wheel.dae +0 -0
  13. embodiments/aloha-agilex-tactile/config.yml +73 -0
  14. embodiments/aloha-agilex-tactile/urdf/aloha_maniskill_sim/meshes/VisionTactileSensor_Link.STL +0 -0
  15. embodiments/aloha-agilex-tactile/urdf/aloha_maniskill_sim/meshes/back_link7.dae +0 -0
  16. embodiments/aloha-agilex-tactile/urdf/aloha_maniskill_sim/meshes/base_arm.STL +0 -0
  17. embodiments/aloha-agilex-tactile/urdf/aloha_maniskill_sim/meshes/base_arm.dae +0 -0
  18. embodiments/aloha-agilex-tactile/urdf/aloha_maniskill_sim/meshes/box1_Link.STL +0 -0
  19. embodiments/aloha-agilex-tactile/urdf/aloha_maniskill_sim/meshes/caster.stl +0 -0
  20. embodiments/aloha-agilex-tactile/urdf/aloha_maniskill_sim/meshes/caster_L.stl +0 -0
  21. embodiments/aloha-agilex-tactile/urdf/aloha_maniskill_sim/meshes/castor.dae +0 -0
  22. embodiments/aloha-agilex-tactile/urdf/aloha_maniskill_sim/meshes/castor_joint.dae +0 -0
  23. embodiments/aloha-agilex-tactile/urdf/aloha_maniskill_sim/meshes/gelsight_cobotmagic_link7.dae +0 -0
  24. embodiments/aloha-agilex-tactile/urdf/aloha_maniskill_sim/meshes/gelsight_cobotmagic_link8.dae +0 -0
  25. embodiments/aloha-agilex-tactile/urdf/aloha_maniskill_sim/meshes/link1.dae +0 -0
  26. embodiments/aloha-agilex-tactile/urdf/aloha_maniskill_sim/meshes/link2.dae +0 -0
  27. embodiments/aloha-agilex-tactile/urdf/aloha_maniskill_sim/meshes/link3.dae +0 -0
  28. embodiments/aloha-agilex-tactile/urdf/aloha_maniskill_sim/meshes/link4.dae +0 -0
  29. embodiments/aloha-agilex-tactile/urdf/aloha_maniskill_sim/meshes/link5.dae +0 -0
  30. embodiments/aloha-agilex-tactile/urdf/aloha_maniskill_sim/meshes/link6.dae +0 -0
  31. embodiments/aloha-agilex-tactile/urdf/aloha_maniskill_sim/meshes/remesh.mlx +15 -0
  32. embodiments/aloha-agilex-tactile/urdf/aloha_maniskill_sim/meshes/right_cam_link.dae +0 -0
  33. embodiments/aloha-agilex-tactile/urdf/aloha_maniskill_sim/meshes/tracer_wheel.dae +0 -0
  34. embodiments/aloha-agilex-tactile/urdf/aloha_maniskill_sim/meshes/trans.py +27 -0
  35. embodiments/aloha-agilex-tactile/urdf/piper_with_pika/piper_description/config/joint_names_agx_arm_description.yaml +1 -0
  36. embodiments/aloha-agilex-tactile/urdf/piper_with_pika/piper_description/config/piper_gazebo_control.yaml +37 -0
  37. embodiments/aloha-agilex-tactile/urdf/piper_with_pika/piper_description/config/piper_no_gripper_gazebo_control.yaml +25 -0
  38. embodiments/aloha-agilex-tactile/urdf/piper_with_pika/piper_description/launch/pika.launch +12 -0
  39. embodiments/aloha-agilex-tactile/urdf/piper_with_pika/piper_description/launch/piper_no_gripper/display_no_gripper_urdf.launch +20 -0
  40. embodiments/aloha-agilex-tactile/urdf/piper_with_pika/piper_description/launch/piper_no_gripper/display_no_gripper_xacro.launch +20 -0
  41. embodiments/aloha-agilex-tactile/urdf/piper_with_pika/piper_description/launch/piper_no_gripper/gazebo_no_gripper_xacro.launch +7 -0
  42. embodiments/aloha-agilex-tactile/urdf/piper_with_pika/piper_description/launch/piper_no_gripper/piper_no_gripper_gazebo_controller.launch +24 -0
  43. embodiments/aloha-agilex-tactile/urdf/piper_with_pika/piper_description/launch/piper_no_gripper/piper_no_gripper_world.launch +28 -0
  44. embodiments/aloha-agilex-tactile/urdf/piper_with_pika/piper_description/launch/piper_with_gripper/display_urdf.launch +26 -0
  45. embodiments/aloha-agilex-tactile/urdf/piper_with_pika/piper_description/launch/piper_with_gripper/display_xacro.launch +21 -0
  46. embodiments/aloha-agilex-tactile/urdf/piper_with_pika/piper_description/launch/piper_with_gripper/gazebo_xacro.launch +7 -0
  47. embodiments/aloha-agilex-tactile/urdf/piper_with_pika/piper_description/launch/piper_with_gripper/piper_gazebo_controller.launch +27 -0
  48. embodiments/aloha-agilex-tactile/urdf/piper_with_pika/piper_description/launch/piper_with_gripper/piper_world.launch +28 -0
  49. embodiments/aloha-agilex-tactile/urdf/piper_with_pika/piper_description/launch/piper_with_gripper/rviz_ctrl_gazebo.launch +9 -0
  50. embodiments/aloha-agilex-tactile/urdf/piper_with_pika/piper_description/meshes/link2.dae +0 -0
embodiments/RM65B-EG24C2/DAE/Link_11.dae ADDED
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embodiments/RM65B-EG24C2/DAE/Link_12.dae ADDED
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embodiments/RM65B-EG24C2/DAE/Link_4.dae ADDED
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embodiments/RM65B-EG24C2/DAE/Link_5.dae ADDED
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embodiments/RM65B-EG24C2/DAE/Link_8.dae ADDED
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embodiments/RM65B-EG24C2/DAE/camera_base_link.dae ADDED
The diff for this file is too large to render. See raw diff
 
embodiments/RM65B-EG24C2/DAE/camera_link.dae ADDED
The diff for this file is too large to render. See raw diff
 
embodiments/RM65B-EG24C2/DAE/gripper_base_link.dae ADDED
The diff for this file is too large to render. See raw diff
 
embodiments/aloha-agilex-1/meshes/caster.stl ADDED
Binary file (50.1 kB). View file
 
embodiments/aloha-agilex-1/meshes/castor.dae ADDED
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embodiments/aloha-agilex-1/meshes/tracer_wheel.dae ADDED
The diff for this file is too large to render. See raw diff
 
embodiments/aloha-agilex-tactile/config.yml ADDED
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1
+ urdf_path: "./urdf/arx5_description_isaac.urdf"
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+ srdf_path: "./srdf/arx5_description_isaac.srdf"
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+ joint_stiffness: 1000
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+ joint_damping: 200
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+ gripper_stiffness: 1000
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+ gripper_damping: 200
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+ move_group: ["fl_link6","fr_link6"]
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+ ee_joints: ["fl_joint6", "fr_joint6"]
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+ left_arm_joints_name: ["fl_joint1", "fl_joint2", "fl_joint3", "fl_joint4", "fl_joint5", "fl_joint6"]
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+ right_arm_joints_name: ["fr_joint1", "fr_joint2", "fr_joint3", "fr_joint4", "fr_joint5", "fr_joint6"]
11
+ left_gripper_name: ["fl_joint7", "fl_joint8"]
12
+ right_gripper_name: ["fr_joint7", "fr_joint8"]
13
+ gripper_bias: 0.12
14
+ gripper_scale: [-0.01, 0.045]
15
+ homestate: [[0,0,0,0,0,0], [0,0,0,0,0,0]]
16
+ delta_matrix: [[1,0,0],[0,1,0],[0,0,1]]
17
+ global_trans_matrix: [[1,0,0],[0,-1,0],[0,0,-1]]
18
+ robot_pose: [0, -0.65, 0, 0.707, 0, 0, 0.707]
19
+ dual_arm: True
20
+ static_camera_list:
21
+ - name: head_camera
22
+ type: D435
23
+ position:
24
+ - -0.032
25
+ - -0.45
26
+ - 1.35
27
+ forward:
28
+ - 0
29
+ - 0.6
30
+ - -0.8
31
+ left:
32
+ - -1
33
+ - 0
34
+ - 0
35
+ - name: front_camera
36
+ type: D435
37
+ position:
38
+ - 0
39
+ - -0.45
40
+ - 0.85
41
+ forward:
42
+ - 0
43
+ - 1
44
+ - -0.1
45
+ left:
46
+ - -1
47
+ - 0
48
+ - 0
49
+ vision_tactile_sensor_list:
50
+ - name: ll_tactile
51
+ type: pika
52
+ base_link: vtac_add_fl_Link7
53
+ disable_entities: ["vtac_add_fl_Link7"]
54
+ bias_mat: [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]]
55
+ init_mat: [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]]
56
+ - name: lr_tactile
57
+ type: pika
58
+ base_link: vtac_add_fl_Link8
59
+ disable_entities: ["vtac_add_fl_Link8"]
60
+ bias_mat: [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]]
61
+ init_mat: [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]]
62
+ - name: rl_tactile
63
+ type: pika
64
+ base_link: vtac_add_fr_Link7
65
+ disable_entities: ["vtac_add_fr_Link7"]
66
+ bias_mat: [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]]
67
+ init_mat: [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]]
68
+ - name: rr_tactile
69
+ type: pika
70
+ base_link: vtac_add_fr_Link8
71
+ disable_entities: ["vtac_add_fr_Link8"]
72
+ bias_mat: [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]]
73
+ init_mat: [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]]
embodiments/aloha-agilex-tactile/urdf/aloha_maniskill_sim/meshes/VisionTactileSensor_Link.STL ADDED
Binary file (47.5 kB). View file
 
embodiments/aloha-agilex-tactile/urdf/aloha_maniskill_sim/meshes/back_link7.dae ADDED
The diff for this file is too large to render. See raw diff
 
embodiments/aloha-agilex-tactile/urdf/aloha_maniskill_sim/meshes/base_arm.STL ADDED
Binary file (90.4 kB). View file
 
embodiments/aloha-agilex-tactile/urdf/aloha_maniskill_sim/meshes/base_arm.dae ADDED
The diff for this file is too large to render. See raw diff
 
embodiments/aloha-agilex-tactile/urdf/aloha_maniskill_sim/meshes/box1_Link.STL ADDED
Binary file (71.6 kB). View file
 
embodiments/aloha-agilex-tactile/urdf/aloha_maniskill_sim/meshes/caster.stl ADDED
Binary file (50.1 kB). View file
 
embodiments/aloha-agilex-tactile/urdf/aloha_maniskill_sim/meshes/caster_L.stl ADDED
Binary file (9.48 kB). View file
 
embodiments/aloha-agilex-tactile/urdf/aloha_maniskill_sim/meshes/castor.dae ADDED
The diff for this file is too large to render. See raw diff
 
embodiments/aloha-agilex-tactile/urdf/aloha_maniskill_sim/meshes/castor_joint.dae ADDED
The diff for this file is too large to render. See raw diff
 
embodiments/aloha-agilex-tactile/urdf/aloha_maniskill_sim/meshes/gelsight_cobotmagic_link7.dae ADDED
The diff for this file is too large to render. See raw diff
 
embodiments/aloha-agilex-tactile/urdf/aloha_maniskill_sim/meshes/gelsight_cobotmagic_link8.dae ADDED
The diff for this file is too large to render. See raw diff
 
embodiments/aloha-agilex-tactile/urdf/aloha_maniskill_sim/meshes/link1.dae ADDED
The diff for this file is too large to render. See raw diff
 
embodiments/aloha-agilex-tactile/urdf/aloha_maniskill_sim/meshes/link2.dae ADDED
The diff for this file is too large to render. See raw diff
 
embodiments/aloha-agilex-tactile/urdf/aloha_maniskill_sim/meshes/link3.dae ADDED
The diff for this file is too large to render. See raw diff
 
embodiments/aloha-agilex-tactile/urdf/aloha_maniskill_sim/meshes/link4.dae ADDED
The diff for this file is too large to render. See raw diff
 
embodiments/aloha-agilex-tactile/urdf/aloha_maniskill_sim/meshes/link5.dae ADDED
The diff for this file is too large to render. See raw diff
 
embodiments/aloha-agilex-tactile/urdf/aloha_maniskill_sim/meshes/link6.dae ADDED
The diff for this file is too large to render. See raw diff
 
embodiments/aloha-agilex-tactile/urdf/aloha_maniskill_sim/meshes/remesh.mlx ADDED
@@ -0,0 +1,15 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <!DOCTYPE FilterScript>
2
+ <FilterScript>
3
+ <filter name="Simplification: Quadric Edge Collapse Decimation (with texture)">
4
+ <Param value="282454" type="RichInt" isxmlparam="0" description="Target number of faces" tooltip="" name="TargetFaceNum"/>
5
+ <Param value="0.03" type="RichFloat" isxmlparam="0" description="Percentage reduction (0..1)" tooltip="If non zero, this parameter specifies the desired final size of the mesh as a percentage of the initial mesh." name="TargetPerc"/>
6
+ <Param value="0.3" type="RichFloat" isxmlparam="0" description="Quality threshold" tooltip="Quality threshold for penalizing bad shaped faces.&lt;br>The value is in the range [0..1]&#xa; 0 accept any kind of face (no penalties),&#xa; 0.5 penalize faces with quality &lt; 0.5, proportionally to their shape&#xa;" name="QualityThr"/>
7
+ <Param value="1" type="RichFloat" isxmlparam="0" description="Texture Weight" tooltip="Additional weight for each extra Texture Coordinates for every (selected) vertex" name="Extratcoordw"/>
8
+ <Param value="false" type="RichBool" isxmlparam="0" description="Preserve Boundary of the mesh" tooltip="The simplification process tries not to destroy mesh boundaries" name="PreserveBoundary"/>
9
+ <Param value="1" type="RichFloat" isxmlparam="0" description="Boundary Preserving Weight" tooltip="The importance of the boundary during simplification. Default (1.0) means that the boundary has the same importance of the rest. Values greater than 1.0 raise boundary importance and has the effect of removing less vertices on the border. Admitted range of values (0,+inf). " name="BoundaryWeight"/>
10
+ <Param value="true" type="RichBool" isxmlparam="0" description="Optimal position of simplified vertices" tooltip="Each collapsed vertex is placed in the position minimizing the quadric error.&#xa; It can fail (creating bad spikes) in case of very flat areas. &#xa;If disabled edges are collapsed onto one of the two original vertices and the final mesh is composed by a subset of the original vertices. " name="OptimalPlacement"/>
11
+ <Param value="false" type="RichBool" isxmlparam="0" description="Preserve Normal" tooltip="Try to avoid face flipping effects and try to preserve the original orientation of the surface" name="PreserveNormal"/>
12
+ <Param value="false" type="RichBool" isxmlparam="0" description="Planar Simplification" tooltip="Add additional simplification constraints that improves the quality of the simplification of the planar portion of the mesh." name="PlanarQuadric"/>
13
+ <Param value="false" type="RichBool" isxmlparam="0" description="Simplify only selected faces" tooltip="The simplification is applied only to the selected set of faces.&#xa; Take care of the target number of faces!" name="Selected"/>
14
+ </filter>
15
+ </FilterScript>
embodiments/aloha-agilex-tactile/urdf/aloha_maniskill_sim/meshes/right_cam_link.dae ADDED
The diff for this file is too large to render. See raw diff
 
embodiments/aloha-agilex-tactile/urdf/aloha_maniskill_sim/meshes/tracer_wheel.dae ADDED
The diff for this file is too large to render. See raw diff
 
embodiments/aloha-agilex-tactile/urdf/aloha_maniskill_sim/meshes/trans.py ADDED
@@ -0,0 +1,27 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ import argparse
2
+ import pdb
3
+
4
+ import pymeshlab
5
+ import os
6
+
7
+ def mesh_down_sample(file_path):
8
+ file_path = file_path
9
+ ms = pymeshlab.MeshSet()
10
+ ms.load_new_mesh(file_path)
11
+ print("origin Mesh:")
12
+ print("Vertices:", ms.current_mesh().vertex_number())
13
+ print("Faces:", ms.current_mesh().face_number())
14
+ # try:
15
+ # 这里使用一个示例方法添加纹理坐标，具体添加方式可能需要根据实际情况调整
16
+ ms.generate_synthetic_per_wedge_texcoord()
17
+ ms.load_filter_script('remesh.mlx')
18
+ ms.apply_filter_script()
19
+ print("Simplified Mesh:")
20
+ print("Vertices:", ms.current_mesh().vertex_number())
21
+ print("Faces:", ms.current_mesh().face_number())
22
+ ms.save_current_mesh(file_path.replace('.STL', '_down.STL'))
23
+ # except Exception as e:
24
+ # print("error: ", e)
25
+
26
+ if __name__ == "__main__":
27
+ mesh_down_sample('VisionTactileSensor_Link.STL')
embodiments/aloha-agilex-tactile/urdf/piper_with_pika/piper_description/config/joint_names_agx_arm_description.yaml ADDED
@@ -0,0 +1 @@
 
 
1
+ controller_joint_names: ['', 'joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6', 'joint7', 'joint8', ]
embodiments/aloha-agilex-tactile/urdf/piper_with_pika/piper_description/config/piper_gazebo_control.yaml ADDED
@@ -0,0 +1,37 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ piper_description:
2
+ joint_state_controller:
3
+ type: joint_state_controller/JointStateController
4
+ publish_rate: 200
5
+
6
+ joint1_position_controller:
7
+ type: position_controllers/JointPositionController
8
+ joint: joint1
9
+ pid: {p: 100.0, i: 0.01, d: 5.0}
10
+ joint2_position_controller:
11
+ type: position_controllers/JointPositionController
12
+ joint: joint2
13
+ pid: {p: 100.0, i: 0.01, d: 5.0}
14
+ joint3_position_controller:
15
+ type: position_controllers/JointPositionController
16
+ joint: joint3
17
+ pid: {p: 100.0, i: 0.01, d: 5.0}
18
+ joint4_position_controller:
19
+ type: position_controllers/JointPositionController
20
+ joint: joint4
21
+ pid: {p: 100.0, i: 0.01, d: 5.0}
22
+ joint5_position_controller:
23
+ type: position_controllers/JointPositionController
24
+ joint: joint5
25
+ pid: {p: 100.0, i: 0.01, d: 5.0}
26
+ joint6_position_controller:
27
+ type: position_controllers/JointPositionController
28
+ joint: joint6
29
+ pid: {p: 100.0, i: 0.01, d: 5.0}
30
+ joint7_position_controller:
31
+ type: position_controllers/JointPositionController
32
+ joint: joint7
33
+ pid: {p: 100, i: 0.001, d: 10.0}
34
+ joint8_position_controller:
35
+ type: position_controllers/JointPositionController
36
+ joint: joint8
37
+ pid: {p: 100, i: 0.001, d: 10.0}
embodiments/aloha-agilex-tactile/urdf/piper_with_pika/piper_description/config/piper_no_gripper_gazebo_control.yaml ADDED
@@ -0,0 +1,25 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ piper_description:
2
+ joint_state_controller:
3
+ type: joint_state_controller/JointStateController
4
+ publish_rate: 200
5
+
6
+ joint1_position_controller:
7
+ type: position_controllers/JointPositionController
8
+ joint: joint1
9
+ pid: {p: 100.0, i: 0.01, d: 5.0}
10
+ joint2_position_controller:
11
+ type: position_controllers/JointPositionController
12
+ joint: joint2
13
+ pid: {p: 100.0, i: 0.01, d: 5.0}
14
+ joint3_position_controller:
15
+ type: position_controllers/JointPositionController
16
+ joint: joint3
17
+ pid: {p: 100.0, i: 0.01, d: 5.0}
18
+ joint4_position_controller:
19
+ type: position_controllers/JointPositionController
20
+ joint: joint4
21
+ pid: {p: 100.0, i: 0.01, d: 5.0}
22
+ joint5_position_controller:
23
+ type: position_controllers/JointPositionController
24
+ joint: joint5
25
+ pid: {p: 100.0, i: 0.01, d: 5.0}
embodiments/aloha-agilex-tactile/urdf/piper_with_pika/piper_description/launch/pika.launch ADDED
@@ -0,0 +1,12 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <launch>
2
+ <arg name="model" />
3
+ <param
4
+ name="robot_description"
5
+ textfile="$(find piper_description)/urdf/piper_with_pika.urdf" />
6
+ <!-- <param name="robot_description" command="$(find xacro)/xacro '$(find piper_description)/urdf/piper_with_pika.xacro'" /> -->
7
+ <!-- <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node> -->
8
+ <node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" ></node>
9
+ <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
10
+
11
+ <node name="rviz" pkg="rviz" type="rviz" args="-d $(find piper_description)/rviz/piper_no_gripper.rviz" />
12
+ </launch>
embodiments/aloha-agilex-tactile/urdf/piper_with_pika/piper_description/launch/piper_no_gripper/display_no_gripper_urdf.launch ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <launch>
2
+ <arg name="model" />
3
+ <arg name="rviz_config" default="$(find piper_description)/rviz/piper_no_gripper.rviz" />
4
+ <param
5
+ name="robot_description"
6
+ textfile="$(find piper_description)/urdf/piper_no_gripper_description.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="$(anon 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 $(arg rviz_config)" />
20
+ </launch>
embodiments/aloha-agilex-tactile/urdf/piper_with_pika/piper_description/launch/piper_no_gripper/display_no_gripper_xacro.launch ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <launch>
2
+ <arg name="model" />
3
+ <arg name="rviz_config" default="$(find piper_description)/rviz/piper_no_gripper.rviz" />
4
+ <param
5
+ name="robot_description"
6
+ textfile="$(find piper_description)/urdf/piper_no_gripper_description.xacro" />
7
+ <node
8
+ name="joint_state_publisher_gui"
9
+ pkg="joint_state_publisher_gui"
10
+ type="joint_state_publisher_gui" />
11
+ <node
12
+ name="$(anon 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 $(arg rviz_config)" />
20
+ </launch>
embodiments/aloha-agilex-tactile/urdf/piper_with_pika/piper_description/launch/piper_no_gripper/gazebo_no_gripper_xacro.launch ADDED
@@ -0,0 +1,7 @@
 
 
 
 
 
 
 
 
1
+ <launch>
2
+ <!-- 启动Gazebo -->
3
+ <include file="$(find piper_description)/launch/piper_no_gripper/piper_no_gripper_world.launch" />
4
+
5
+ <!-- 启动Gazebo controllers -->
6
+ <include file="$(find piper_description)/launch/piper_no_gripper/piper_no_gripper_gazebo_controller.launch" />
7
+ </launch>
embodiments/aloha-agilex-tactile/urdf/piper_with_pika/piper_description/launch/piper_no_gripper/piper_no_gripper_gazebo_controller.launch ADDED
@@ -0,0 +1,24 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <launch>
2
+
3
+ <!-- 将关节控制器的配置参数加载到参数服务器中 -->
4
+ <rosparam file="$(find piper_description)/config/piper_no_gripper_gazebo_control.yaml" command="load"/>
5
+
6
+ <!-- 加载controllers -->
7
+ <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
8
+ output="screen" ns="/piper_description" args="joint_state_controller
9
+ joint1_position_controller
10
+ joint2_position_controller
11
+ joint3_position_controller
12
+ joint4_position_controller
13
+ joint5_position_controller"/>
14
+
15
+ <!-- 运行robot_state_publisher节点，发布tf -->
16
+ <node name="$(anon robot_state_publisher)" pkg="robot_state_publisher" type="robot_state_publisher"
17
+ respawn="false" output="screen">
18
+ <remap from="/joint_states" to="/piper_description/joint_states" />
19
+ </node>
20
+
21
+
22
+ </launch>
23
+
24
+
embodiments/aloha-agilex-tactile/urdf/piper_with_pika/piper_description/launch/piper_no_gripper/piper_no_gripper_world.launch ADDED
@@ -0,0 +1,28 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <launch>
2
+
3
+ <!-- these are the arguments you can pass this launch file, for example paused:=true -->
4
+ <arg name="paused" default="false"/>
5
+ <arg name="use_sim_time" default="true"/>
6
+ <arg name="gui" default="true"/>
7
+ <arg name="headless" default="false"/>
8
+ <arg name="debug" default="false"/>
9
+
10
+ <!-- We resume the logic in empty_world.launch -->
11
+ <include file="$(find gazebo_ros)/launch/empty_world.launch">
12
+ <arg name="world_name" default="$(find piper_description)worlds/empty.world"/>
13
+ <arg name="debug" value="$(arg debug)" />
14
+ <arg name="gui" value="$(arg gui)" />
15
+ <arg name="paused" value="$(arg paused)"/>
16
+ <arg name="use_sim_time" value="$(arg use_sim_time)"/>
17
+ <arg name="headless" value="$(arg headless)"/>
18
+ </include>
19
+
20
+ <!-- Load the URDF into the ROS Parameter Server -->
21
+ <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find piper_description)/urdf/piper_no_gripper_description.xacro'" />
22
+
23
+ <!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
24
+ <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
25
+ args="-urdf -model arm -param robot_description"/>
26
+
27
+
28
+ </launch>
embodiments/aloha-agilex-tactile/urdf/piper_with_pika/piper_description/launch/piper_with_gripper/display_urdf.launch ADDED
@@ -0,0 +1,26 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <launch>
2
+ <arg name="model" />
3
+ <arg name="rviz_config" default="$(find piper_description)/rviz/piper_ctrl.rviz" />
4
+ <param
5
+ name="robot_description"
6
+ textfile="$(find piper_description)/urdf/piper_description_v00.urdf" />
7
+
8
+ <!-- <arg name="jnt_stat_source" default="[/joint_states_origin]" />
9
+ <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
10
+ <rosparam param="/source_list" subst_value="True">$(arg jnt_stat_source)</rosparam>
11
+ </node> -->
12
+
13
+ <node
14
+ name="joint_state_publisher_gui"
15
+ pkg="joint_state_publisher_gui"
16
+ type="joint_state_publisher_gui" />
17
+ <node
18
+ name="robot_state_publisher"
19
+ pkg="robot_state_publisher"
20
+ type="robot_state_publisher" />
21
+ <node
22
+ name="rviz"
23
+ pkg="rviz"
24
+ type="rviz"
25
+ args="-d $(arg rviz_config)" />
26
+ </launch>
embodiments/aloha-agilex-tactile/urdf/piper_with_pika/piper_description/launch/piper_with_gripper/display_xacro.launch ADDED
@@ -0,0 +1,21 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <launch>
2
+ <arg
3
+ name="model" />
4
+ <arg name="rviz_config" default="$(find piper_description)/rviz/piper_ctrl.rviz" />
5
+ <param
6
+ name="robot_description"
7
+ textfile="$(find piper_description)/urdf/piper_description.xacro" />
8
+ <node
9
+ name="joint_state_publisher_gui"
10
+ pkg="joint_state_publisher_gui"
11
+ type="joint_state_publisher_gui" />
12
+ <node
13
+ name="$(anon robot_state_publisher)"
14
+ pkg="robot_state_publisher"
15
+ type="robot_state_publisher" />
16
+ <node
17
+ name="rviz"
18
+ pkg="rviz"
19
+ type="rviz"
20
+ args="-d $(arg rviz_config)" />
21
+ </launch>
embodiments/aloha-agilex-tactile/urdf/piper_with_pika/piper_description/launch/piper_with_gripper/gazebo_xacro.launch ADDED
@@ -0,0 +1,7 @@
 
 
 
 
 
 
 
 
1
+ <launch>
2
+ <!-- 启动Gazebo -->
3
+ <include file="$(find piper_description)/launch/piper_with_gripper/piper_world.launch" />
4
+
5
+ <!-- 启动Gazebo controllers -->
6
+ <include file="$(find piper_description)/launch/piper_with_gripper/piper_gazebo_controller.launch" />
7
+ </launch>
embodiments/aloha-agilex-tactile/urdf/piper_with_pika/piper_description/launch/piper_with_gripper/piper_gazebo_controller.launch ADDED
@@ -0,0 +1,27 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <launch>
2
+
3
+ <!-- 将关节控制器的配置参数加载到参数服务器中 -->
4
+ <rosparam file="$(find piper_description)/config/piper_gazebo_control.yaml" command="load"/>
5
+
6
+ <!-- 加载controllers -->
7
+ <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
8
+ output="screen" ns="/piper_description" args="joint_state_controller
9
+ joint1_position_controller
10
+ joint2_position_controller
11
+ joint3_position_controller
12
+ joint4_position_controller
13
+ joint5_position_controller
14
+ joint6_position_controller
15
+ joint7_position_controller
16
+ joint8_position_controller"/>
17
+
18
+ <!-- 运行robot_state_publisher节点，发布tf -->
19
+ <node name="$(anon robot_state_publisher)" pkg="robot_state_publisher" type="robot_state_publisher"
20
+ respawn="false" output="screen">
21
+ <remap from="/joint_states" to="/piper_description/joint_states" />
22
+ </node>
23
+
24
+
25
+ </launch>
26
+
27
+
embodiments/aloha-agilex-tactile/urdf/piper_with_pika/piper_description/launch/piper_with_gripper/piper_world.launch ADDED
@@ -0,0 +1,28 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <launch>
2
+
3
+ <!-- these are the arguments you can pass this launch file, for example paused:=true -->
4
+ <arg name="paused" default="false"/>
5
+ <arg name="use_sim_time" default="true"/>
6
+ <arg name="gui" default="true"/>
7
+ <arg name="headless" default="false"/>
8
+ <arg name="debug" default="false"/>
9
+
10
+ <!-- We resume the logic in empty_world.launch -->
11
+ <include file="$(find gazebo_ros)/launch/empty_world.launch">
12
+ <arg name="world_name" default="$(find piper_description)worlds/empty.world"/>
13
+ <arg name="debug" value="$(arg debug)" />
14
+ <arg name="gui" value="$(arg gui)" />
15
+ <arg name="paused" value="$(arg paused)"/>
16
+ <arg name="use_sim_time" value="$(arg use_sim_time)"/>
17
+ <arg name="headless" value="$(arg headless)"/>
18
+ </include>
19
+
20
+ <!-- Load the URDF into the ROS Parameter Server -->
21
+ <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find piper_description)/urdf/piper_description.xacro'" />
22
+
23
+ <!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
24
+ <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
25
+ args="-urdf -model arm -param robot_description"/>
26
+
27
+
28
+ </launch>
embodiments/aloha-agilex-tactile/urdf/piper_with_pika/piper_description/launch/piper_with_gripper/rviz_ctrl_gazebo.launch ADDED
@@ -0,0 +1,9 @@
 
 
 
 
 
 
 
 
 
 
1
+ <launch>
2
+ <!-- 启动Gazebo -->
3
+ <include file="$(find piper_description)/launch/piper_with_gripper/piper_world.launch" />
4
+ <!-- 启动Gazebo controllers -->
5
+ <include file="$(find piper_description)/launch/piper_with_gripper/piper_gazebo_controller.launch" />
6
+ <!-- 由于和rviz启动打不开gz控制器，所以建议分开启动 -->
7
+ <!-- <include file="$(find piper_description)/launch/display_xacro.launch"/> -->
8
+ <node name="rviz_ctrl_gazebo_joint" pkg="piper_description" type="rviz_ctrl_gazebo.py" output="screen"/>
9
+ </launch>
embodiments/aloha-agilex-tactile/urdf/piper_with_pika/piper_description/meshes/link2.dae ADDED
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