Upload folder using huggingface_hub
Browse files- episode-000000/observation.bota_wrench.parquet +3 -0
- episode-000000/observation.ee_pose_desired.parquet +3 -0
- episode-000000/observation.images.color.mp4 +3 -0
- episode-000000/observation.joint_efforts.parquet +3 -0
- episode-000000/observation.joint_positions.parquet +3 -0
- episode-000000/observation.joint_velocities.parquet +3 -0
- episode-000000/observation.point_cloud.npz +3 -0
- episode-000000/observation.tf.parquet +3 -0
- episode-000000/observation.tf_kinematic.right.parquet +3 -0
- episode-000000/observation.tf_static.parquet +3 -0
- episode-000000/observation.urdf.left.meta.json +6 -0
- episode-000000/observation.urdf.left.urdf +551 -0
- episode-000000/observation.urdf.right.meta.json +6 -0
- episode-000000/observation.urdf.right.urdf +551 -0
- meta/episodes.parquet +3 -0
- meta/info.json +145 -0
- meta/stats.json +1558 -0
- meta/tasks.parquet +3 -0
episode-000000/observation.bota_wrench.parquet
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episode-000000/observation.ee_pose_desired.parquet
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episode-000000/observation.images.color.mp4
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size 894031
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episode-000000/observation.joint_efforts.parquet
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size 358033
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episode-000000/observation.joint_positions.parquet
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size 830440
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episode-000000/observation.joint_velocities.parquet
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size 988059
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episode-000000/observation.point_cloud.npz
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size 2305364
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episode-000000/observation.tf.parquet
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size 145085
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episode-000000/observation.tf_kinematic.right.parquet
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size 2759983
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episode-000000/observation.tf_static.parquet
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version https://git-lfs.github.com/spec/v1
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size 1123
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episode-000000/observation.urdf.left.meta.json
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{
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"feature_key": "observation.urdf.left",
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"timestamp_ns": 1778939064394833724,
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"source_frame": "",
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"target_frame": ""
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}
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episode-000000/observation.urdf.left.urdf
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| 1 |
+
<?xml version="1.0" ?>
|
| 2 |
+
<!-- =================================================================================== -->
|
| 3 |
+
<!-- | This document was autogenerated by xacro from /home/robot/ros2_ws/install/franka_cell_description/share/franka_cell_description/robots/fr3/fr3_dual.urdf.xacro | -->
|
| 4 |
+
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
| 5 |
+
<!-- =================================================================================== -->
|
| 6 |
+
<!-- Like fr3.urdf.xacro but forwards xyz/rpy to franka_robot,
|
| 7 |
+
so each arm can be placed at its correct cell position for dual-arm setups. -->
|
| 8 |
+
<robot name="fr3">
|
| 9 |
+
<!-- safety_distance: Minimum safety distance in [m] by which the collision volumes are expanded and which is enforced during robot motions -->
|
| 10 |
+
<!-- robot_type: Namespace of the robot arm. Serves to differentiate between arms in case of multiple instances. -->
|
| 11 |
+
<!-- joint_limits: description of the joint limits that comes from a YAML file. Example definition: ${xacro.load_yaml('$(find franka_description)/robots/fr3/joint_limits.yaml')} -->
|
| 12 |
+
<!-- kinematics: description of the kinematics that comes from a YAML file. Example definition: ${xacro.load_yaml('$(find franka_description)/robots/fr3/kinematics.yaml')} -->
|
| 13 |
+
<!-- inertials: description of the inertials that comes from a YAML file. Example definition: ${xacro.load_yaml('$(find franka_description)/robots/fr3/inertials.yaml')} -->
|
| 14 |
+
<!-- dynamics: description of the dynamics that comes from a YAML file. Example definition: ${xacro.load_yaml('$(find franka_description)/robots/fr3/dynamics.yaml')} -->
|
| 15 |
+
<link name="base">
|
| 16 |
+
</link>
|
| 17 |
+
<joint name="left_fr3_base_joint" type="fixed">
|
| 18 |
+
<parent link="base"/>
|
| 19 |
+
<child link="left_fr3_link0"/>
|
| 20 |
+
<origin rpy="-0.0076535775 -0.0018257267 0.0025929823" xyz="-0.0063876 -0.9463389 0.0037814"/>
|
| 21 |
+
</joint>
|
| 22 |
+
<!-- sub-link defining detailed meshes for collision with environment -->
|
| 23 |
+
<link name="left_fr3_link0">
|
| 24 |
+
<visual name="left_fr3_link0_visual">
|
| 25 |
+
<geometry>
|
| 26 |
+
<mesh filename="package://franka_description/meshes/robots/fr3/visual/link0.dae"/>
|
| 27 |
+
</geometry>
|
| 28 |
+
</visual>
|
| 29 |
+
<collision name="left_fr3_link0_collision">
|
| 30 |
+
<geometry>
|
| 31 |
+
<mesh filename="package://franka_description/meshes/robots/fr3/collision/link0.stl"/>
|
| 32 |
+
</geometry>
|
| 33 |
+
</collision>
|
| 34 |
+
<inertial>
|
| 35 |
+
<origin rpy="0 0 0" xyz="-0.0172 0.0004 0.0745"/>
|
| 36 |
+
<mass value="2.3966"/>
|
| 37 |
+
<inertia ixx="0.009" ixy="0.0" ixz="0.002" iyy="0.0115" iyz="0.0" izz="0.0085"/>
|
| 38 |
+
</inertial>
|
| 39 |
+
</link>
|
| 40 |
+
<link name="left_fr3_link0_accelerometer_top">
|
| 41 |
+
</link>
|
| 42 |
+
<joint name="left_fr3_link0_accelerometer_top_joint" type="fixed">
|
| 43 |
+
<origin rpy="3.1416 0.0 0.0" xyz="-0.017402 -0.007872 0.04715"/>
|
| 44 |
+
<parent link="left_fr3_link0"/>
|
| 45 |
+
<child link="left_fr3_link0_accelerometer_top"/>
|
| 46 |
+
</joint>
|
| 47 |
+
<link name="left_fr3_link0_accelerometer_bottom">
|
| 48 |
+
</link>
|
| 49 |
+
<joint name="left_fr3_link0_accelerometer_bottom_joint" type="fixed">
|
| 50 |
+
<origin rpy="0.0 0.0 -1.5708" xyz="-0.019739 0.0015506 0.05075"/>
|
| 51 |
+
<parent link="left_fr3_link0"/>
|
| 52 |
+
<child link="left_fr3_link0_accelerometer_bottom"/>
|
| 53 |
+
</joint>
|
| 54 |
+
<!-- sub-link defining detailed meshes for collision with environment -->
|
| 55 |
+
<link name="left_fr3_link1">
|
| 56 |
+
<visual name="left_fr3_link1_visual">
|
| 57 |
+
<geometry>
|
| 58 |
+
<mesh filename="package://franka_description/meshes/robots/fr3/visual/link1.dae"/>
|
| 59 |
+
</geometry>
|
| 60 |
+
</visual>
|
| 61 |
+
<collision name="left_fr3_link1_collision">
|
| 62 |
+
<geometry>
|
| 63 |
+
<mesh filename="package://franka_description/meshes/robots/fr3/collision/link1.stl"/>
|
| 64 |
+
</geometry>
|
| 65 |
+
</collision>
|
| 66 |
+
<inertial>
|
| 67 |
+
<origin rpy="0 0 0" xyz="0.0000004128 -0.0181251324 -0.0386035970"/>
|
| 68 |
+
<mass value="2.9274653454"/>
|
| 69 |
+
<inertia ixx="0.023927316485107913" ixy="1.3317903455714081e-05" ixz="-0.00011404774918616684" iyy="0.0224821613275756" iyz="-0.0019950320628240115" izz="0.006350098258530016"/>
|
| 70 |
+
</inertial>
|
| 71 |
+
</link>
|
| 72 |
+
<link name="left_fr3_link1_accelerometer_top">
|
| 73 |
+
</link>
|
| 74 |
+
<joint name="left_fr3_link1_accelerometer_top_joint" type="fixed">
|
| 75 |
+
<origin rpy="-1.5708 0.0 3.1416" xyz="0.017402 -0.093352 -0.00787"/>
|
| 76 |
+
<parent link="left_fr3_link1"/>
|
| 77 |
+
<child link="left_fr3_link1_accelerometer_top"/>
|
| 78 |
+
</joint>
|
| 79 |
+
<link name="left_fr3_link1_accelerometer_bottom">
|
| 80 |
+
</link>
|
| 81 |
+
<joint name="left_fr3_link1_accelerometer_bottom_joint" type="fixed">
|
| 82 |
+
<origin rpy="-1.5708 1.5708 0.0" xyz="0.01974 -0.08975 0.00155"/>
|
| 83 |
+
<parent link="left_fr3_link1"/>
|
| 84 |
+
<child link="left_fr3_link1_accelerometer_bottom"/>
|
| 85 |
+
</joint>
|
| 86 |
+
<joint name="left_fr3_joint1" type="revolute">
|
| 87 |
+
<origin rpy="-5.376848533730949e-18 1.0089834846609295e-16 1.9157107814917958e-16" xyz="-7.432368638435935e-17 4.3698027383426336e-16 0.333"/>
|
| 88 |
+
<parent link="left_fr3_link0"/>
|
| 89 |
+
<child link="left_fr3_link1"/>
|
| 90 |
+
<axis xyz="0 0 1"/>
|
| 91 |
+
<limit effort="87.0" lower="-2.9007" upper="2.9007" velocity="2.62"/>
|
| 92 |
+
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.9007" soft_upper_limit="2.9007"/>
|
| 93 |
+
<position_based_velocity_limits deceleration_limit="6.0" velocity_offset="0.652"/>
|
| 94 |
+
<dynamics D="1" K="7000" damping="0.003" friction="0.2" gear_ratio="120.0" motor_inertia="4.206399e-05" mu_coulomb="0" mu_viscous="16"/>
|
| 95 |
+
</joint>
|
| 96 |
+
<!-- sub-link defining detailed meshes for collision with environment -->
|
| 97 |
+
<link name="left_fr3_link2">
|
| 98 |
+
<visual name="left_fr3_link2_visual">
|
| 99 |
+
<geometry>
|
| 100 |
+
<mesh filename="package://franka_description/meshes/robots/fr3/visual/link2.dae"/>
|
| 101 |
+
</geometry>
|
| 102 |
+
</visual>
|
| 103 |
+
<collision name="left_fr3_link2_collision">
|
| 104 |
+
<geometry>
|
| 105 |
+
<mesh filename="package://franka_description/meshes/robots/fr3/collision/link2.stl"/>
|
| 106 |
+
</geometry>
|
| 107 |
+
</collision>
|
| 108 |
+
<inertial>
|
| 109 |
+
<origin rpy="0 0 0" xyz="0.0031828864 -0.0743221644 0.0088146084"/>
|
| 110 |
+
<mass value="2.9355370338"/>
|
| 111 |
+
<inertia ixx="0.041938946257609425" ixy="0.00020257331521090626" ixz="0.004077784227179924" iyy="0.02514514885014724" iyz="-0.0042252158006570156" izz="0.06170214472888839"/>
|
| 112 |
+
</inertial>
|
| 113 |
+
</link>
|
| 114 |
+
<link name="left_fr3_link2_accelerometer_top">
|
| 115 |
+
</link>
|
| 116 |
+
<joint name="left_fr3_link2_accelerometer_top_joint" type="fixed">
|
| 117 |
+
<origin rpy="1.5708 0.0 3.1416" xyz="0.017403 -0.11715 0.00787"/>
|
| 118 |
+
<parent link="left_fr3_link2"/>
|
| 119 |
+
<child link="left_fr3_link2_accelerometer_top"/>
|
| 120 |
+
</joint>
|
| 121 |
+
<link name="left_fr3_link2_accelerometer_bottom">
|
| 122 |
+
</link>
|
| 123 |
+
<joint name="left_fr3_link2_accelerometer_bottom_joint" type="fixed">
|
| 124 |
+
<origin rpy="1.5708 -1.5708 0.0" xyz="0.019737 -0.11875 -0.00155"/>
|
| 125 |
+
<parent link="left_fr3_link2"/>
|
| 126 |
+
<child link="left_fr3_link2_accelerometer_bottom"/>
|
| 127 |
+
</joint>
|
| 128 |
+
<joint name="left_fr3_joint2" type="revolute">
|
| 129 |
+
<origin rpy="-1.5698189493243335 0.0038211726345077435 -1.0620464710452712e-06" xyz="-0.00037891683734586596 0.00020052978512279888 -2.506491425450905e-17"/>
|
| 130 |
+
<parent link="left_fr3_link1"/>
|
| 131 |
+
<child link="left_fr3_link2"/>
|
| 132 |
+
<axis xyz="0 0 1"/>
|
| 133 |
+
<limit effort="87.0" lower="-1.8361" upper="1.8361" velocity="2.62"/>
|
| 134 |
+
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.8361" soft_upper_limit="1.8361"/>
|
| 135 |
+
<position_based_velocity_limits deceleration_limit="2.585" velocity_offset="0.25"/>
|
| 136 |
+
<dynamics D="1" K="7000" damping="0.003" friction="0.2" gear_ratio="120.0" motor_inertia="4.206399e-05" mu_coulomb="0" mu_viscous="16"/>
|
| 137 |
+
</joint>
|
| 138 |
+
<!-- sub-link defining detailed meshes for collision with environment -->
|
| 139 |
+
<link name="left_fr3_link3">
|
| 140 |
+
<visual name="left_fr3_link3_visual">
|
| 141 |
+
<geometry>
|
| 142 |
+
<mesh filename="package://franka_description/meshes/robots/fr3/visual/link3.dae"/>
|
| 143 |
+
</geometry>
|
| 144 |
+
</visual>
|
| 145 |
+
<collision name="left_fr3_link3_collision">
|
| 146 |
+
<geometry>
|
| 147 |
+
<mesh filename="package://franka_description/meshes/robots/fr3/collision/link3.stl"/>
|
| 148 |
+
</geometry>
|
| 149 |
+
</collision>
|
| 150 |
+
<inertial>
|
| 151 |
+
<origin rpy="0 0 0" xyz="0.0407015686 -0.0048200565 -0.0289730823"/>
|
| 152 |
+
<mass value="2.2449013699"/>
|
| 153 |
+
<inertia ixx="0.02410142547240885" ixy="0.002404694559042109" ixz="-0.002856269270114313" iyy="0.01974053266708178" iyz="-0.002104212683891874" izz="0.019044494482244823"/>
|
| 154 |
+
</inertial>
|
| 155 |
+
</link>
|
| 156 |
+
<link name="left_fr3_link3_accelerometer_top">
|
| 157 |
+
</link>
|
| 158 |
+
<joint name="left_fr3_link3_accelerometer_top_joint" type="fixed">
|
| 159 |
+
<origin rpy="-1.5708 0.0 0.0" xyz="0.065099 0.077352 -0.00787"/>
|
| 160 |
+
<parent link="left_fr3_link3"/>
|
| 161 |
+
<child link="left_fr3_link3_accelerometer_top"/>
|
| 162 |
+
</joint>
|
| 163 |
+
<link name="left_fr3_link3_accelerometer_bottom">
|
| 164 |
+
</link>
|
| 165 |
+
<joint name="left_fr3_link3_accelerometer_bottom_joint" type="fixed">
|
| 166 |
+
<origin rpy="1.5708 1.5708 0.0" xyz="0.062769 0.073756 0.00155"/>
|
| 167 |
+
<parent link="left_fr3_link3"/>
|
| 168 |
+
<child link="left_fr3_link3_accelerometer_bottom"/>
|
| 169 |
+
</joint>
|
| 170 |
+
<joint name="left_fr3_joint3" type="revolute">
|
| 171 |
+
<origin rpy="1.56980765886291 -4.118480358817519e-05 0.003503198479042176" xyz="0.001006976363643694 -0.3157693392478164 0.00020012290243905364"/>
|
| 172 |
+
<parent link="left_fr3_link2"/>
|
| 173 |
+
<child link="left_fr3_link3"/>
|
| 174 |
+
<axis xyz="0 0 1"/>
|
| 175 |
+
<limit effort="87.0" lower="-2.9007" upper="2.9007" velocity="2.62"/>
|
| 176 |
+
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.9007" soft_upper_limit="2.9007"/>
|
| 177 |
+
<position_based_velocity_limits deceleration_limit="3.5" velocity_offset="0.2005"/>
|
| 178 |
+
<dynamics D="1" K="7000" damping="0.003" friction="0.2" gear_ratio="120.0" motor_inertia="3.211626e-05" mu_coulomb="0" mu_viscous="16"/>
|
| 179 |
+
</joint>
|
| 180 |
+
<!-- sub-link defining detailed meshes for collision with environment -->
|
| 181 |
+
<link name="left_fr3_link4">
|
| 182 |
+
<visual name="left_fr3_link4_visual">
|
| 183 |
+
<geometry>
|
| 184 |
+
<mesh filename="package://franka_description/meshes/robots/fr3/visual/link4.dae"/>
|
| 185 |
+
</geometry>
|
| 186 |
+
</visual>
|
| 187 |
+
<collision name="left_fr3_link4_collision">
|
| 188 |
+
<geometry>
|
| 189 |
+
<mesh filename="package://franka_description/meshes/robots/fr3/collision/link4.stl"/>
|
| 190 |
+
</geometry>
|
| 191 |
+
</collision>
|
| 192 |
+
<inertial>
|
| 193 |
+
<origin rpy="0 0 0" xyz="-0.0459100965 0.0630492960 -0.0085187868"/>
|
| 194 |
+
<mass value="2.6155955791"/>
|
| 195 |
+
<inertia ixx="0.03452998321913202" ixy="0.01322552265982813" ixz="0.01015142998484113" iyy="0.028881621933049058" iyz="-0.0009762833870704552" izz="0.04125471171146641"/>
|
| 196 |
+
</inertial>
|
| 197 |
+
</link>
|
| 198 |
+
<link name="left_fr3_link4_accelerometer_top">
|
| 199 |
+
</link>
|
| 200 |
+
<joint name="left_fr3_link4_accelerometer_top_joint" type="fixed">
|
| 201 |
+
<origin rpy="-1.5708 0.0 -3.1416" xyz="-0.0651 0.046252 -0.00787"/>
|
| 202 |
+
<parent link="left_fr3_link4"/>
|
| 203 |
+
<child link="left_fr3_link4_accelerometer_top"/>
|
| 204 |
+
</joint>
|
| 205 |
+
<link name="left_fr3_link4_accelerometer_bottom">
|
| 206 |
+
</link>
|
| 207 |
+
<joint name="left_fr3_link4_accelerometer_bottom_joint" type="fixed">
|
| 208 |
+
<origin rpy="-1.5708 1.5708 0.0" xyz="-0.062775 0.049753 0.00155"/>
|
| 209 |
+
<parent link="left_fr3_link4"/>
|
| 210 |
+
<child link="left_fr3_link4_accelerometer_bottom"/>
|
| 211 |
+
</joint>
|
| 212 |
+
<joint name="left_fr3_joint4" type="revolute">
|
| 213 |
+
<origin rpy="1.5680369836107806 0.0011432286546720041 6.73447172323928e-05" xyz="0.08279690622356352 -0.00025988823970615006 -0.00023187137526394297"/>
|
| 214 |
+
<parent link="left_fr3_link3"/>
|
| 215 |
+
<child link="left_fr3_link4"/>
|
| 216 |
+
<axis xyz="0 0 1"/>
|
| 217 |
+
<limit effort="87.0" lower="-3.077" upper="-0.1169" velocity="2.62"/>
|
| 218 |
+
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.077" soft_upper_limit="-0.1169"/>
|
| 219 |
+
<position_based_velocity_limits deceleration_limit="4.0" velocity_offset="0.3542"/>
|
| 220 |
+
<dynamics D="1" K="7000" damping="0.003" friction="0.2" gear_ratio="120.0" motor_inertia="3.211626e-05" mu_coulomb="0" mu_viscous="16"/>
|
| 221 |
+
</joint>
|
| 222 |
+
<!-- sub-link defining detailed meshes for collision with environment -->
|
| 223 |
+
<link name="left_fr3_link5">
|
| 224 |
+
<visual name="left_fr3_link5_visual">
|
| 225 |
+
<geometry>
|
| 226 |
+
<mesh filename="package://franka_description/meshes/robots/fr3/visual/link5.dae"/>
|
| 227 |
+
</geometry>
|
| 228 |
+
</visual>
|
| 229 |
+
<collision name="left_fr3_link5_collision">
|
| 230 |
+
<geometry>
|
| 231 |
+
<mesh filename="package://franka_description/meshes/robots/fr3/collision/link5.stl"/>
|
| 232 |
+
</geometry>
|
| 233 |
+
</collision>
|
| 234 |
+
<inertial>
|
| 235 |
+
<origin rpy="0 0 0" xyz="-0.0016039605 0.0292536262 -0.0972965990"/>
|
| 236 |
+
<mass value="2.3271207594"/>
|
| 237 |
+
<inertia ixx="0.051610278463662895" ixy="-0.005715173387783472" ixz="-0.0035673167625872135" iyy="0.04787729713371481" iyz="0.010673985108535986" izz="0.016423625579357254"/>
|
| 238 |
+
</inertial>
|
| 239 |
+
</link>
|
| 240 |
+
<link name="left_fr3_link5_accelerometer_top">
|
| 241 |
+
</link>
|
| 242 |
+
<joint name="left_fr3_link5_accelerometer_top_joint" type="fixed">
|
| 243 |
+
<origin rpy="-1.5708 0.0 0.0" xyz="-0.017363 0.085872 -0.00795"/>
|
| 244 |
+
<parent link="left_fr3_link5"/>
|
| 245 |
+
<child link="left_fr3_link5_accelerometer_top"/>
|
| 246 |
+
</joint>
|
| 247 |
+
<link name="left_fr3_link5_accelerometer_bottom">
|
| 248 |
+
</link>
|
| 249 |
+
<joint name="left_fr3_link5_accelerometer_bottom_joint" type="fixed">
|
| 250 |
+
<origin rpy="1.5708 1.5708 0.0" xyz="-0.019742 0.082275 0.00146"/>
|
| 251 |
+
<parent link="left_fr3_link5"/>
|
| 252 |
+
<child link="left_fr3_link5_accelerometer_bottom"/>
|
| 253 |
+
</joint>
|
| 254 |
+
<joint name="left_fr3_joint5" type="revolute">
|
| 255 |
+
<origin rpy="-1.5694817176581353 0.009774293061736985 -0.0009293773355112487" xyz="-0.08206082146636931 0.38454595004415926 0.0002578077270763603"/>
|
| 256 |
+
<parent link="left_fr3_link4"/>
|
| 257 |
+
<child link="left_fr3_link5"/>
|
| 258 |
+
<axis xyz="0 0 1"/>
|
| 259 |
+
<limit effort="12.0" lower="-2.8763" upper="2.8763" velocity="5.26"/>
|
| 260 |
+
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8763" soft_upper_limit="2.8763"/>
|
| 261 |
+
<position_based_velocity_limits deceleration_limit="17.0" velocity_offset="0.5738"/>
|
| 262 |
+
<dynamics D="1" K="7000" damping="0.003" friction="0.2" gear_ratio="80.0" motor_inertia="3.211626e-05" mu_coulomb="0" mu_viscous="16"/>
|
| 263 |
+
</joint>
|
| 264 |
+
<!-- sub-link defining detailed meshes for collision with environment -->
|
| 265 |
+
<link name="left_fr3_link6">
|
| 266 |
+
<visual name="left_fr3_link6_visual">
|
| 267 |
+
<geometry>
|
| 268 |
+
<mesh filename="package://franka_description/meshes/robots/fr3/visual/link6.dae"/>
|
| 269 |
+
</geometry>
|
| 270 |
+
</visual>
|
| 271 |
+
<collision name="left_fr3_link6_collision">
|
| 272 |
+
<geometry>
|
| 273 |
+
<mesh filename="package://franka_description/meshes/robots/fr3/collision/link6.stl"/>
|
| 274 |
+
</geometry>
|
| 275 |
+
</collision>
|
| 276 |
+
<inertial>
|
| 277 |
+
<origin rpy="0 0 0" xyz="0.0597131221 -0.0410294666 -0.0101692726"/>
|
| 278 |
+
<mass value="1.8170376524"/>
|
| 279 |
+
<inertia ixx="0.005412333594383447" ixy="0.006193456360285834" ixz="0.0014219289306117652" iyy="0.014058329545509979" iyz="-0.0013140753741120031" izz="0.016080817924212554"/>
|
| 280 |
+
</inertial>
|
| 281 |
+
</link>
|
| 282 |
+
<joint name="left_fr3_joint6" type="revolute">
|
| 283 |
+
<origin rpy="1.5640175022624607 -0.00040298383099135997 0.009772165286586854" xyz="0.0022443209480847185 -0.0003303277734018076 0.0005476291484121237"/>
|
| 284 |
+
<parent link="left_fr3_link5"/>
|
| 285 |
+
<child link="left_fr3_link6"/>
|
| 286 |
+
<axis xyz="0 0 1"/>
|
| 287 |
+
<limit effort="12.0" lower="0.4398" upper="4.6216" velocity="4.18"/>
|
| 288 |
+
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="0.4398" soft_upper_limit="4.6216"/>
|
| 289 |
+
<position_based_velocity_limits deceleration_limit="5.5" velocity_offset="0.4885"/>
|
| 290 |
+
<dynamics D="1" K="7000" damping="0.003" friction="0.2" gear_ratio="80.0" motor_inertia="3.211626e-05" mu_coulomb="0" mu_viscous="16"/>
|
| 291 |
+
</joint>
|
| 292 |
+
<!-- sub-link defining detailed meshes for collision with environment -->
|
| 293 |
+
<link name="left_fr3_link7">
|
| 294 |
+
<visual name="left_fr3_link7_visual">
|
| 295 |
+
<geometry>
|
| 296 |
+
<mesh filename="package://franka_description/meshes/robots/fr3/visual/link7.dae"/>
|
| 297 |
+
</geometry>
|
| 298 |
+
</visual>
|
| 299 |
+
<collision name="left_fr3_link7_collision">
|
| 300 |
+
<geometry>
|
| 301 |
+
<mesh filename="package://franka_description/meshes/robots/fr3/collision/link7.stl"/>
|
| 302 |
+
</geometry>
|
| 303 |
+
</collision>
|
| 304 |
+
<inertial>
|
| 305 |
+
<origin rpy="0 0 0" xyz="0.0045225817 0.0086261921 -0.0161633251"/>
|
| 306 |
+
<mass value="0.6271432862"/>
|
| 307 |
+
<inertia ixx="0.00021092389150104718" ixy="-2.433299114461931e-05" ixz="4.564480393778983e-05" iyy="0.00017718568002411474" iyz="8.744070223226438e-05" izz="5.993190599659971e-05"/>
|
| 308 |
+
</inertial>
|
| 309 |
+
</link>
|
| 310 |
+
<joint name="left_fr3_joint7" type="revolute">
|
| 311 |
+
<origin rpy="1.5707283243771857 -2.122448637091071e-06 0.00046955294851422065" xyz="0.09036712403402553 -1.4656698395746921e-06 0.0003591023409254306"/>
|
| 312 |
+
<parent link="left_fr3_link6"/>
|
| 313 |
+
<child link="left_fr3_link7"/>
|
| 314 |
+
<axis xyz="0 0 1"/>
|
| 315 |
+
<limit effort="12.0" lower="-3.0508" upper="3.0508" velocity="5.26"/>
|
| 316 |
+
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0508" soft_upper_limit="3.0508"/>
|
| 317 |
+
<position_based_velocity_limits deceleration_limit="17.0" velocity_offset="0.4592"/>
|
| 318 |
+
<dynamics D="1" K="7000" damping="0.003" friction="0.2" gear_ratio="80.0" motor_inertia="3.211626e-05" mu_coulomb="0" mu_viscous="16"/>
|
| 319 |
+
</joint>
|
| 320 |
+
<link name="left_fr3_link8"/>
|
| 321 |
+
<joint name="left_fr3_joint8" type="fixed">
|
| 322 |
+
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.107"/>
|
| 323 |
+
<parent link="left_fr3_link7"/>
|
| 324 |
+
<child link="left_fr3_link8"/>
|
| 325 |
+
</joint>
|
| 326 |
+
<ros2_control name="left_FrankaHardwareInterface" type="system">
|
| 327 |
+
<hardware>
|
| 328 |
+
<param name="version">0.1.0</param>
|
| 329 |
+
<param name="robot_type">fr3</param>
|
| 330 |
+
<param name="prefix">left_</param>
|
| 331 |
+
<plugin>franka_hardware/FrankaHardwareInterface</plugin>
|
| 332 |
+
<param name="robot_ip">192.168.8.10</param>
|
| 333 |
+
<param name="arm_prefix">left_</param>
|
| 334 |
+
</hardware>
|
| 335 |
+
<joint name="left_fr3_joint1">
|
| 336 |
+
<!--
|
| 337 |
+
deactivated for gazebo velocity and position interface due to a bug
|
| 338 |
+
https://github.com/ros-controls/gz_ros2_control/issues/343
|
| 339 |
+
|
| 340 |
+
Command Interfaces -->
|
| 341 |
+
<command_interface name="position"/>
|
| 342 |
+
<command_interface name="velocity"/>
|
| 343 |
+
<command_interface name="effort"/>
|
| 344 |
+
<!-- State Interfaces -->
|
| 345 |
+
<state_interface name="position">
|
| 346 |
+
<param name="initial_value">0.0</param>
|
| 347 |
+
</state_interface>
|
| 348 |
+
<state_interface name="velocity"/>
|
| 349 |
+
<param name="initial_value">0.0</param>
|
| 350 |
+
<state_interface name="effort"/>
|
| 351 |
+
</joint>
|
| 352 |
+
<joint name="left_fr3_joint2">
|
| 353 |
+
<!--
|
| 354 |
+
deactivated for gazebo velocity and position interface due to a bug
|
| 355 |
+
https://github.com/ros-controls/gz_ros2_control/issues/343
|
| 356 |
+
|
| 357 |
+
Command Interfaces -->
|
| 358 |
+
<command_interface name="position"/>
|
| 359 |
+
<command_interface name="velocity"/>
|
| 360 |
+
<command_interface name="effort"/>
|
| 361 |
+
<!-- State Interfaces -->
|
| 362 |
+
<state_interface name="position">
|
| 363 |
+
<param name="initial_value">-0.7853981633974483</param>
|
| 364 |
+
</state_interface>
|
| 365 |
+
<state_interface name="velocity"/>
|
| 366 |
+
<param name="initial_value">0.0</param>
|
| 367 |
+
<state_interface name="effort"/>
|
| 368 |
+
</joint>
|
| 369 |
+
<joint name="left_fr3_joint3">
|
| 370 |
+
<!--
|
| 371 |
+
deactivated for gazebo velocity and position interface due to a bug
|
| 372 |
+
https://github.com/ros-controls/gz_ros2_control/issues/343
|
| 373 |
+
|
| 374 |
+
Command Interfaces -->
|
| 375 |
+
<command_interface name="position"/>
|
| 376 |
+
<command_interface name="velocity"/>
|
| 377 |
+
<command_interface name="effort"/>
|
| 378 |
+
<!-- State Interfaces -->
|
| 379 |
+
<state_interface name="position">
|
| 380 |
+
<param name="initial_value">0.0</param>
|
| 381 |
+
</state_interface>
|
| 382 |
+
<state_interface name="velocity"/>
|
| 383 |
+
<param name="initial_value">0.0</param>
|
| 384 |
+
<state_interface name="effort"/>
|
| 385 |
+
</joint>
|
| 386 |
+
<joint name="left_fr3_joint4">
|
| 387 |
+
<!--
|
| 388 |
+
deactivated for gazebo velocity and position interface due to a bug
|
| 389 |
+
https://github.com/ros-controls/gz_ros2_control/issues/343
|
| 390 |
+
|
| 391 |
+
Command Interfaces -->
|
| 392 |
+
<command_interface name="position"/>
|
| 393 |
+
<command_interface name="velocity"/>
|
| 394 |
+
<command_interface name="effort"/>
|
| 395 |
+
<!-- State Interfaces -->
|
| 396 |
+
<state_interface name="position">
|
| 397 |
+
<param name="initial_value">-2.356194490192345</param>
|
| 398 |
+
</state_interface>
|
| 399 |
+
<state_interface name="velocity"/>
|
| 400 |
+
<param name="initial_value">0.0</param>
|
| 401 |
+
<state_interface name="effort"/>
|
| 402 |
+
</joint>
|
| 403 |
+
<joint name="left_fr3_joint5">
|
| 404 |
+
<!--
|
| 405 |
+
deactivated for gazebo velocity and position interface due to a bug
|
| 406 |
+
https://github.com/ros-controls/gz_ros2_control/issues/343
|
| 407 |
+
|
| 408 |
+
Command Interfaces -->
|
| 409 |
+
<command_interface name="position"/>
|
| 410 |
+
<command_interface name="velocity"/>
|
| 411 |
+
<command_interface name="effort"/>
|
| 412 |
+
<!-- State Interfaces -->
|
| 413 |
+
<state_interface name="position">
|
| 414 |
+
<param name="initial_value">0.0</param>
|
| 415 |
+
</state_interface>
|
| 416 |
+
<state_interface name="velocity"/>
|
| 417 |
+
<param name="initial_value">0.0</param>
|
| 418 |
+
<state_interface name="effort"/>
|
| 419 |
+
</joint>
|
| 420 |
+
<joint name="left_fr3_joint6">
|
| 421 |
+
<!--
|
| 422 |
+
deactivated for gazebo velocity and position interface due to a bug
|
| 423 |
+
https://github.com/ros-controls/gz_ros2_control/issues/343
|
| 424 |
+
|
| 425 |
+
Command Interfaces -->
|
| 426 |
+
<command_interface name="position"/>
|
| 427 |
+
<command_interface name="velocity"/>
|
| 428 |
+
<command_interface name="effort"/>
|
| 429 |
+
<!-- State Interfaces -->
|
| 430 |
+
<state_interface name="position">
|
| 431 |
+
<param name="initial_value">1.5707963267948966</param>
|
| 432 |
+
</state_interface>
|
| 433 |
+
<state_interface name="velocity"/>
|
| 434 |
+
<param name="initial_value">0.0</param>
|
| 435 |
+
<state_interface name="effort"/>
|
| 436 |
+
</joint>
|
| 437 |
+
<joint name="left_fr3_joint7">
|
| 438 |
+
<!--
|
| 439 |
+
deactivated for gazebo velocity and position interface due to a bug
|
| 440 |
+
https://github.com/ros-controls/gz_ros2_control/issues/343
|
| 441 |
+
|
| 442 |
+
Command Interfaces -->
|
| 443 |
+
<command_interface name="position"/>
|
| 444 |
+
<command_interface name="velocity"/>
|
| 445 |
+
<command_interface name="effort"/>
|
| 446 |
+
<!-- State Interfaces -->
|
| 447 |
+
<state_interface name="position">
|
| 448 |
+
<param name="initial_value">0.7853981633974483</param>
|
| 449 |
+
</state_interface>
|
| 450 |
+
<state_interface name="velocity"/>
|
| 451 |
+
<param name="initial_value">0.0</param>
|
| 452 |
+
<state_interface name="effort"/>
|
| 453 |
+
</joint>
|
| 454 |
+
<gpio name="left_vx">
|
| 455 |
+
<command_interface name="cartesian_velocity"/>
|
| 456 |
+
<param name="index">0</param>
|
| 457 |
+
</gpio>
|
| 458 |
+
<gpio name="left_vy">
|
| 459 |
+
<command_interface name="cartesian_velocity"/>
|
| 460 |
+
<param name="index">1</param>
|
| 461 |
+
</gpio>
|
| 462 |
+
<gpio name="left_vz">
|
| 463 |
+
<command_interface name="cartesian_velocity"/>
|
| 464 |
+
<param name="index">2</param>
|
| 465 |
+
</gpio>
|
| 466 |
+
<gpio name="left_wx">
|
| 467 |
+
<command_interface name="cartesian_velocity"/>
|
| 468 |
+
<param name="index">3</param>
|
| 469 |
+
</gpio>
|
| 470 |
+
<gpio name="left_wy">
|
| 471 |
+
<command_interface name="cartesian_velocity"/>
|
| 472 |
+
<param name="index">4</param>
|
| 473 |
+
</gpio>
|
| 474 |
+
<gpio name="left_wz">
|
| 475 |
+
<command_interface name="cartesian_velocity"/>
|
| 476 |
+
<param name="index">5</param>
|
| 477 |
+
</gpio>
|
| 478 |
+
<gpio name="left_0">
|
| 479 |
+
<command_interface name="cartesian_pose_command"/>
|
| 480 |
+
<param name="index">0</param>
|
| 481 |
+
</gpio>
|
| 482 |
+
<gpio name="left_1">
|
| 483 |
+
<command_interface name="cartesian_pose_command"/>
|
| 484 |
+
<param name="index">1</param>
|
| 485 |
+
</gpio>
|
| 486 |
+
<gpio name="left_2">
|
| 487 |
+
<command_interface name="cartesian_pose_command"/>
|
| 488 |
+
<param name="index">2</param>
|
| 489 |
+
</gpio>
|
| 490 |
+
<gpio name="left_3">
|
| 491 |
+
<command_interface name="cartesian_pose_command"/>
|
| 492 |
+
<param name="index">3</param>
|
| 493 |
+
</gpio>
|
| 494 |
+
<gpio name="left_4">
|
| 495 |
+
<command_interface name="cartesian_pose_command"/>
|
| 496 |
+
<param name="index">4</param>
|
| 497 |
+
</gpio>
|
| 498 |
+
<gpio name="left_5">
|
| 499 |
+
<command_interface name="cartesian_pose_command"/>
|
| 500 |
+
<param name="index">5</param>
|
| 501 |
+
</gpio>
|
| 502 |
+
<gpio name="left_6">
|
| 503 |
+
<command_interface name="cartesian_pose_command"/>
|
| 504 |
+
<param name="index">6</param>
|
| 505 |
+
</gpio>
|
| 506 |
+
<gpio name="left_7">
|
| 507 |
+
<command_interface name="cartesian_pose_command"/>
|
| 508 |
+
<param name="index">7</param>
|
| 509 |
+
</gpio>
|
| 510 |
+
<gpio name="left_8">
|
| 511 |
+
<command_interface name="cartesian_pose_command"/>
|
| 512 |
+
<param name="index">8</param>
|
| 513 |
+
</gpio>
|
| 514 |
+
<gpio name="left_9">
|
| 515 |
+
<command_interface name="cartesian_pose_command"/>
|
| 516 |
+
<param name="index">9</param>
|
| 517 |
+
</gpio>
|
| 518 |
+
<gpio name="left_10">
|
| 519 |
+
<command_interface name="cartesian_pose_command"/>
|
| 520 |
+
<param name="index">10</param>
|
| 521 |
+
</gpio>
|
| 522 |
+
<gpio name="left_11">
|
| 523 |
+
<command_interface name="cartesian_pose_command"/>
|
| 524 |
+
<param name="index">11</param>
|
| 525 |
+
</gpio>
|
| 526 |
+
<gpio name="left_12">
|
| 527 |
+
<command_interface name="cartesian_pose_command"/>
|
| 528 |
+
<param name="index">12</param>
|
| 529 |
+
</gpio>
|
| 530 |
+
<gpio name="left_13">
|
| 531 |
+
<command_interface name="cartesian_pose_command"/>
|
| 532 |
+
<param name="index">13</param>
|
| 533 |
+
</gpio>
|
| 534 |
+
<gpio name="left_14">
|
| 535 |
+
<command_interface name="cartesian_pose_command"/>
|
| 536 |
+
<param name="index">14</param>
|
| 537 |
+
</gpio>
|
| 538 |
+
<gpio name="left_15">
|
| 539 |
+
<command_interface name="cartesian_pose_command"/>
|
| 540 |
+
<param name="index">15</param>
|
| 541 |
+
</gpio>
|
| 542 |
+
<gpio name="left_joint_3_position">
|
| 543 |
+
<command_interface name="elbow_command"/>
|
| 544 |
+
<param name="index">0</param>
|
| 545 |
+
</gpio>
|
| 546 |
+
<gpio name="left_joint_4_sign">
|
| 547 |
+
<command_interface name="elbow_command"/>
|
| 548 |
+
<param name="index">1</param>
|
| 549 |
+
</gpio>
|
| 550 |
+
</ros2_control>
|
| 551 |
+
</robot>
|
episode-000000/observation.urdf.right.meta.json
ADDED
|
@@ -0,0 +1,6 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"feature_key": "observation.urdf.right",
|
| 3 |
+
"timestamp_ns": 1778939064396580405,
|
| 4 |
+
"source_frame": "",
|
| 5 |
+
"target_frame": ""
|
| 6 |
+
}
|
episode-000000/observation.urdf.right.urdf
ADDED
|
@@ -0,0 +1,551 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
| 1 |
+
<?xml version="1.0" ?>
|
| 2 |
+
<!-- =================================================================================== -->
|
| 3 |
+
<!-- | This document was autogenerated by xacro from /home/robot/ros2_ws/install/franka_cell_description/share/franka_cell_description/robots/fr3/fr3_dual.urdf.xacro | -->
|
| 4 |
+
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
| 5 |
+
<!-- =================================================================================== -->
|
| 6 |
+
<!-- Like fr3.urdf.xacro but forwards xyz/rpy to franka_robot,
|
| 7 |
+
so each arm can be placed at its correct cell position for dual-arm setups. -->
|
| 8 |
+
<robot name="fr3">
|
| 9 |
+
<!-- safety_distance: Minimum safety distance in [m] by which the collision volumes are expanded and which is enforced during robot motions -->
|
| 10 |
+
<!-- robot_type: Namespace of the robot arm. Serves to differentiate between arms in case of multiple instances. -->
|
| 11 |
+
<!-- joint_limits: description of the joint limits that comes from a YAML file. Example definition: ${xacro.load_yaml('$(find franka_description)/robots/fr3/joint_limits.yaml')} -->
|
| 12 |
+
<!-- kinematics: description of the kinematics that comes from a YAML file. Example definition: ${xacro.load_yaml('$(find franka_description)/robots/fr3/kinematics.yaml')} -->
|
| 13 |
+
<!-- inertials: description of the inertials that comes from a YAML file. Example definition: ${xacro.load_yaml('$(find franka_description)/robots/fr3/inertials.yaml')} -->
|
| 14 |
+
<!-- dynamics: description of the dynamics that comes from a YAML file. Example definition: ${xacro.load_yaml('$(find franka_description)/robots/fr3/dynamics.yaml')} -->
|
| 15 |
+
<link name="base">
|
| 16 |
+
</link>
|
| 17 |
+
<joint name="right_fr3_base_joint" type="fixed">
|
| 18 |
+
<parent link="base"/>
|
| 19 |
+
<child link="right_fr3_link0"/>
|
| 20 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 21 |
+
</joint>
|
| 22 |
+
<!-- sub-link defining detailed meshes for collision with environment -->
|
| 23 |
+
<link name="right_fr3_link0">
|
| 24 |
+
<visual name="right_fr3_link0_visual">
|
| 25 |
+
<geometry>
|
| 26 |
+
<mesh filename="package://franka_description/meshes/robots/fr3/visual/link0.dae"/>
|
| 27 |
+
</geometry>
|
| 28 |
+
</visual>
|
| 29 |
+
<collision name="right_fr3_link0_collision">
|
| 30 |
+
<geometry>
|
| 31 |
+
<mesh filename="package://franka_description/meshes/robots/fr3/collision/link0.stl"/>
|
| 32 |
+
</geometry>
|
| 33 |
+
</collision>
|
| 34 |
+
<inertial>
|
| 35 |
+
<origin rpy="0 0 0" xyz="-0.0172 0.0004 0.0745"/>
|
| 36 |
+
<mass value="2.3966"/>
|
| 37 |
+
<inertia ixx="0.009" ixy="0.0" ixz="0.002" iyy="0.0115" iyz="0.0" izz="0.0085"/>
|
| 38 |
+
</inertial>
|
| 39 |
+
</link>
|
| 40 |
+
<link name="right_fr3_link0_accelerometer_top">
|
| 41 |
+
</link>
|
| 42 |
+
<joint name="right_fr3_link0_accelerometer_top_joint" type="fixed">
|
| 43 |
+
<origin rpy="3.1416 0.0 0.0" xyz="-0.017402 -0.007872 0.04715"/>
|
| 44 |
+
<parent link="right_fr3_link0"/>
|
| 45 |
+
<child link="right_fr3_link0_accelerometer_top"/>
|
| 46 |
+
</joint>
|
| 47 |
+
<link name="right_fr3_link0_accelerometer_bottom">
|
| 48 |
+
</link>
|
| 49 |
+
<joint name="right_fr3_link0_accelerometer_bottom_joint" type="fixed">
|
| 50 |
+
<origin rpy="0.0 0.0 -1.5708" xyz="-0.019739 0.0015506 0.05075"/>
|
| 51 |
+
<parent link="right_fr3_link0"/>
|
| 52 |
+
<child link="right_fr3_link0_accelerometer_bottom"/>
|
| 53 |
+
</joint>
|
| 54 |
+
<!-- sub-link defining detailed meshes for collision with environment -->
|
| 55 |
+
<link name="right_fr3_link1">
|
| 56 |
+
<visual name="right_fr3_link1_visual">
|
| 57 |
+
<geometry>
|
| 58 |
+
<mesh filename="package://franka_description/meshes/robots/fr3/visual/link1.dae"/>
|
| 59 |
+
</geometry>
|
| 60 |
+
</visual>
|
| 61 |
+
<collision name="right_fr3_link1_collision">
|
| 62 |
+
<geometry>
|
| 63 |
+
<mesh filename="package://franka_description/meshes/robots/fr3/collision/link1.stl"/>
|
| 64 |
+
</geometry>
|
| 65 |
+
</collision>
|
| 66 |
+
<inertial>
|
| 67 |
+
<origin rpy="0 0 0" xyz="0.0000004128 -0.0181251324 -0.0386035970"/>
|
| 68 |
+
<mass value="2.9274653454"/>
|
| 69 |
+
<inertia ixx="0.023927316485107913" ixy="1.3317903455714081e-05" ixz="-0.00011404774918616684" iyy="0.0224821613275756" iyz="-0.0019950320628240115" izz="0.006350098258530016"/>
|
| 70 |
+
</inertial>
|
| 71 |
+
</link>
|
| 72 |
+
<link name="right_fr3_link1_accelerometer_top">
|
| 73 |
+
</link>
|
| 74 |
+
<joint name="right_fr3_link1_accelerometer_top_joint" type="fixed">
|
| 75 |
+
<origin rpy="-1.5708 0.0 3.1416" xyz="0.017402 -0.093352 -0.00787"/>
|
| 76 |
+
<parent link="right_fr3_link1"/>
|
| 77 |
+
<child link="right_fr3_link1_accelerometer_top"/>
|
| 78 |
+
</joint>
|
| 79 |
+
<link name="right_fr3_link1_accelerometer_bottom">
|
| 80 |
+
</link>
|
| 81 |
+
<joint name="right_fr3_link1_accelerometer_bottom_joint" type="fixed">
|
| 82 |
+
<origin rpy="-1.5708 1.5708 0.0" xyz="0.01974 -0.08975 0.00155"/>
|
| 83 |
+
<parent link="right_fr3_link1"/>
|
| 84 |
+
<child link="right_fr3_link1_accelerometer_bottom"/>
|
| 85 |
+
</joint>
|
| 86 |
+
<joint name="right_fr3_joint1" type="revolute">
|
| 87 |
+
<origin rpy="8.792937226985833e-17 -5.0258531657707704e-17 1.6689658371858027e-16" xyz="3.654007377997656e-16 -1.7133617103772575e-16 0.333"/>
|
| 88 |
+
<parent link="right_fr3_link0"/>
|
| 89 |
+
<child link="right_fr3_link1"/>
|
| 90 |
+
<axis xyz="0 0 1"/>
|
| 91 |
+
<limit effort="87.0" lower="-2.9007" upper="2.9007" velocity="2.62"/>
|
| 92 |
+
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.9007" soft_upper_limit="2.9007"/>
|
| 93 |
+
<position_based_velocity_limits deceleration_limit="6.0" velocity_offset="0.652"/>
|
| 94 |
+
<dynamics D="1" K="7000" damping="0.003" friction="0.2" gear_ratio="120.0" motor_inertia="4.206399e-05" mu_coulomb="0" mu_viscous="16"/>
|
| 95 |
+
</joint>
|
| 96 |
+
<!-- sub-link defining detailed meshes for collision with environment -->
|
| 97 |
+
<link name="right_fr3_link2">
|
| 98 |
+
<visual name="right_fr3_link2_visual">
|
| 99 |
+
<geometry>
|
| 100 |
+
<mesh filename="package://franka_description/meshes/robots/fr3/visual/link2.dae"/>
|
| 101 |
+
</geometry>
|
| 102 |
+
</visual>
|
| 103 |
+
<collision name="right_fr3_link2_collision">
|
| 104 |
+
<geometry>
|
| 105 |
+
<mesh filename="package://franka_description/meshes/robots/fr3/collision/link2.stl"/>
|
| 106 |
+
</geometry>
|
| 107 |
+
</collision>
|
| 108 |
+
<inertial>
|
| 109 |
+
<origin rpy="0 0 0" xyz="0.0031828864 -0.0743221644 0.0088146084"/>
|
| 110 |
+
<mass value="2.9355370338"/>
|
| 111 |
+
<inertia ixx="0.041938946257609425" ixy="0.00020257331521090626" ixz="0.004077784227179924" iyy="0.02514514885014724" iyz="-0.0042252158006570156" izz="0.06170214472888839"/>
|
| 112 |
+
</inertial>
|
| 113 |
+
</link>
|
| 114 |
+
<link name="right_fr3_link2_accelerometer_top">
|
| 115 |
+
</link>
|
| 116 |
+
<joint name="right_fr3_link2_accelerometer_top_joint" type="fixed">
|
| 117 |
+
<origin rpy="1.5708 0.0 3.1416" xyz="0.017403 -0.11715 0.00787"/>
|
| 118 |
+
<parent link="right_fr3_link2"/>
|
| 119 |
+
<child link="right_fr3_link2_accelerometer_top"/>
|
| 120 |
+
</joint>
|
| 121 |
+
<link name="right_fr3_link2_accelerometer_bottom">
|
| 122 |
+
</link>
|
| 123 |
+
<joint name="right_fr3_link2_accelerometer_bottom_joint" type="fixed">
|
| 124 |
+
<origin rpy="1.5708 -1.5708 0.0" xyz="0.019737 -0.11875 -0.00155"/>
|
| 125 |
+
<parent link="right_fr3_link2"/>
|
| 126 |
+
<child link="right_fr3_link2_accelerometer_bottom"/>
|
| 127 |
+
</joint>
|
| 128 |
+
<joint name="right_fr3_joint2" type="revolute">
|
| 129 |
+
<origin rpy="-1.5688613738626782 0.004903619229829998 -5.019032443699426e-08" xyz="-0.0005590306459652154 0.00014701824827154623 -1.4561599963736278e-17"/>
|
| 130 |
+
<parent link="right_fr3_link1"/>
|
| 131 |
+
<child link="right_fr3_link2"/>
|
| 132 |
+
<axis xyz="0 0 1"/>
|
| 133 |
+
<limit effort="87.0" lower="-1.8361" upper="1.8361" velocity="2.62"/>
|
| 134 |
+
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.8361" soft_upper_limit="1.8361"/>
|
| 135 |
+
<position_based_velocity_limits deceleration_limit="2.585" velocity_offset="0.25"/>
|
| 136 |
+
<dynamics D="1" K="7000" damping="0.003" friction="0.2" gear_ratio="120.0" motor_inertia="4.206399e-05" mu_coulomb="0" mu_viscous="16"/>
|
| 137 |
+
</joint>
|
| 138 |
+
<!-- sub-link defining detailed meshes for collision with environment -->
|
| 139 |
+
<link name="right_fr3_link3">
|
| 140 |
+
<visual name="right_fr3_link3_visual">
|
| 141 |
+
<geometry>
|
| 142 |
+
<mesh filename="package://franka_description/meshes/robots/fr3/visual/link3.dae"/>
|
| 143 |
+
</geometry>
|
| 144 |
+
</visual>
|
| 145 |
+
<collision name="right_fr3_link3_collision">
|
| 146 |
+
<geometry>
|
| 147 |
+
<mesh filename="package://franka_description/meshes/robots/fr3/collision/link3.stl"/>
|
| 148 |
+
</geometry>
|
| 149 |
+
</collision>
|
| 150 |
+
<inertial>
|
| 151 |
+
<origin rpy="0 0 0" xyz="0.0407015686 -0.0048200565 -0.0289730823"/>
|
| 152 |
+
<mass value="2.2449013699"/>
|
| 153 |
+
<inertia ixx="0.02410142547240885" ixy="0.002404694559042109" ixz="-0.002856269270114313" iyy="0.01974053266708178" iyz="-0.002104212683891874" izz="0.019044494482244823"/>
|
| 154 |
+
</inertial>
|
| 155 |
+
</link>
|
| 156 |
+
<link name="right_fr3_link3_accelerometer_top">
|
| 157 |
+
</link>
|
| 158 |
+
<joint name="right_fr3_link3_accelerometer_top_joint" type="fixed">
|
| 159 |
+
<origin rpy="-1.5708 0.0 0.0" xyz="0.065099 0.077352 -0.00787"/>
|
| 160 |
+
<parent link="right_fr3_link3"/>
|
| 161 |
+
<child link="right_fr3_link3_accelerometer_top"/>
|
| 162 |
+
</joint>
|
| 163 |
+
<link name="right_fr3_link3_accelerometer_bottom">
|
| 164 |
+
</link>
|
| 165 |
+
<joint name="right_fr3_link3_accelerometer_bottom_joint" type="fixed">
|
| 166 |
+
<origin rpy="1.5708 1.5708 0.0" xyz="0.062769 0.073756 0.00155"/>
|
| 167 |
+
<parent link="right_fr3_link3"/>
|
| 168 |
+
<child link="right_fr3_link3_accelerometer_bottom"/>
|
| 169 |
+
</joint>
|
| 170 |
+
<joint name="right_fr3_joint3" type="revolute">
|
| 171 |
+
<origin rpy="1.5699840473331224 -0.0021696928760254444 0.004440352520033023" xyz="0.001462399100539132 -0.3161619968217923 0.00014697117049918243"/>
|
| 172 |
+
<parent link="right_fr3_link2"/>
|
| 173 |
+
<child link="right_fr3_link3"/>
|
| 174 |
+
<axis xyz="0 0 1"/>
|
| 175 |
+
<limit effort="87.0" lower="-2.9007" upper="2.9007" velocity="2.62"/>
|
| 176 |
+
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.9007" soft_upper_limit="2.9007"/>
|
| 177 |
+
<position_based_velocity_limits deceleration_limit="3.5" velocity_offset="0.2005"/>
|
| 178 |
+
<dynamics D="1" K="7000" damping="0.003" friction="0.2" gear_ratio="120.0" motor_inertia="3.211626e-05" mu_coulomb="0" mu_viscous="16"/>
|
| 179 |
+
</joint>
|
| 180 |
+
<!-- sub-link defining detailed meshes for collision with environment -->
|
| 181 |
+
<link name="right_fr3_link4">
|
| 182 |
+
<visual name="right_fr3_link4_visual">
|
| 183 |
+
<geometry>
|
| 184 |
+
<mesh filename="package://franka_description/meshes/robots/fr3/visual/link4.dae"/>
|
| 185 |
+
</geometry>
|
| 186 |
+
</visual>
|
| 187 |
+
<collision name="right_fr3_link4_collision">
|
| 188 |
+
<geometry>
|
| 189 |
+
<mesh filename="package://franka_description/meshes/robots/fr3/collision/link4.stl"/>
|
| 190 |
+
</geometry>
|
| 191 |
+
</collision>
|
| 192 |
+
<inertial>
|
| 193 |
+
<origin rpy="0 0 0" xyz="-0.0459100965 0.0630492960 -0.0085187868"/>
|
| 194 |
+
<mass value="2.6155955791"/>
|
| 195 |
+
<inertia ixx="0.03452998321913202" ixy="0.01322552265982813" ixz="0.01015142998484113" iyy="0.028881621933049058" iyz="-0.0009762833870704552" izz="0.04125471171146641"/>
|
| 196 |
+
</inertial>
|
| 197 |
+
</link>
|
| 198 |
+
<link name="right_fr3_link4_accelerometer_top">
|
| 199 |
+
</link>
|
| 200 |
+
<joint name="right_fr3_link4_accelerometer_top_joint" type="fixed">
|
| 201 |
+
<origin rpy="-1.5708 0.0 -3.1416" xyz="-0.0651 0.046252 -0.00787"/>
|
| 202 |
+
<parent link="right_fr3_link4"/>
|
| 203 |
+
<child link="right_fr3_link4_accelerometer_top"/>
|
| 204 |
+
</joint>
|
| 205 |
+
<link name="right_fr3_link4_accelerometer_bottom">
|
| 206 |
+
</link>
|
| 207 |
+
<joint name="right_fr3_link4_accelerometer_bottom_joint" type="fixed">
|
| 208 |
+
<origin rpy="-1.5708 1.5708 0.0" xyz="-0.062775 0.049753 0.00155"/>
|
| 209 |
+
<parent link="right_fr3_link4"/>
|
| 210 |
+
<child link="right_fr3_link4_accelerometer_bottom"/>
|
| 211 |
+
</joint>
|
| 212 |
+
<joint name="right_fr3_joint4" type="revolute">
|
| 213 |
+
<origin rpy="1.567758605194982 0.002509919935339932 0.0021810264059540807" xyz="0.08344671259419482 -9.188358130602949e-05 0.00016594002257502215"/>
|
| 214 |
+
<parent link="right_fr3_link3"/>
|
| 215 |
+
<child link="right_fr3_link4"/>
|
| 216 |
+
<axis xyz="0 0 1"/>
|
| 217 |
+
<limit effort="87.0" lower="-3.077" upper="-0.1169" velocity="2.62"/>
|
| 218 |
+
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.077" soft_upper_limit="-0.1169"/>
|
| 219 |
+
<position_based_velocity_limits deceleration_limit="4.0" velocity_offset="0.3542"/>
|
| 220 |
+
<dynamics D="1" K="7000" damping="0.003" friction="0.2" gear_ratio="120.0" motor_inertia="3.211626e-05" mu_coulomb="0" mu_viscous="16"/>
|
| 221 |
+
</joint>
|
| 222 |
+
<!-- sub-link defining detailed meshes for collision with environment -->
|
| 223 |
+
<link name="right_fr3_link5">
|
| 224 |
+
<visual name="right_fr3_link5_visual">
|
| 225 |
+
<geometry>
|
| 226 |
+
<mesh filename="package://franka_description/meshes/robots/fr3/visual/link5.dae"/>
|
| 227 |
+
</geometry>
|
| 228 |
+
</visual>
|
| 229 |
+
<collision name="right_fr3_link5_collision">
|
| 230 |
+
<geometry>
|
| 231 |
+
<mesh filename="package://franka_description/meshes/robots/fr3/collision/link5.stl"/>
|
| 232 |
+
</geometry>
|
| 233 |
+
</collision>
|
| 234 |
+
<inertial>
|
| 235 |
+
<origin rpy="0 0 0" xyz="-0.0016039605 0.0292536262 -0.0972965990"/>
|
| 236 |
+
<mass value="2.3271207594"/>
|
| 237 |
+
<inertia ixx="0.051610278463662895" ixy="-0.005715173387783472" ixz="-0.0035673167625872135" iyy="0.04787729713371481" iyz="0.010673985108535986" izz="0.016423625579357254"/>
|
| 238 |
+
</inertial>
|
| 239 |
+
</link>
|
| 240 |
+
<link name="right_fr3_link5_accelerometer_top">
|
| 241 |
+
</link>
|
| 242 |
+
<joint name="right_fr3_link5_accelerometer_top_joint" type="fixed">
|
| 243 |
+
<origin rpy="-1.5708 0.0 0.0" xyz="-0.017363 0.085872 -0.00795"/>
|
| 244 |
+
<parent link="right_fr3_link5"/>
|
| 245 |
+
<child link="right_fr3_link5_accelerometer_top"/>
|
| 246 |
+
</joint>
|
| 247 |
+
<link name="right_fr3_link5_accelerometer_bottom">
|
| 248 |
+
</link>
|
| 249 |
+
<joint name="right_fr3_link5_accelerometer_bottom_joint" type="fixed">
|
| 250 |
+
<origin rpy="1.5708 1.5708 0.0" xyz="-0.019742 0.082275 0.00146"/>
|
| 251 |
+
<parent link="right_fr3_link5"/>
|
| 252 |
+
<child link="right_fr3_link5_accelerometer_bottom"/>
|
| 253 |
+
</joint>
|
| 254 |
+
<joint name="right_fr3_joint5" type="revolute">
|
| 255 |
+
<origin rpy="-1.571015077847872 0.001315555777075713 -0.002123997824748135" xyz="-0.08148250384574081 0.3838481090280519 8.905033323877983e-05"/>
|
| 256 |
+
<parent link="right_fr3_link4"/>
|
| 257 |
+
<child link="right_fr3_link5"/>
|
| 258 |
+
<axis xyz="0 0 1"/>
|
| 259 |
+
<limit effort="12.0" lower="-2.8763" upper="2.8763" velocity="5.26"/>
|
| 260 |
+
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8763" soft_upper_limit="2.8763"/>
|
| 261 |
+
<position_based_velocity_limits deceleration_limit="17.0" velocity_offset="0.5738"/>
|
| 262 |
+
<dynamics D="1" K="7000" damping="0.003" friction="0.2" gear_ratio="80.0" motor_inertia="3.211626e-05" mu_coulomb="0" mu_viscous="16"/>
|
| 263 |
+
</joint>
|
| 264 |
+
<!-- sub-link defining detailed meshes for collision with environment -->
|
| 265 |
+
<link name="right_fr3_link6">
|
| 266 |
+
<visual name="right_fr3_link6_visual">
|
| 267 |
+
<geometry>
|
| 268 |
+
<mesh filename="package://franka_description/meshes/robots/fr3/visual/link6.dae"/>
|
| 269 |
+
</geometry>
|
| 270 |
+
</visual>
|
| 271 |
+
<collision name="right_fr3_link6_collision">
|
| 272 |
+
<geometry>
|
| 273 |
+
<mesh filename="package://franka_description/meshes/robots/fr3/collision/link6.stl"/>
|
| 274 |
+
</geometry>
|
| 275 |
+
</collision>
|
| 276 |
+
<inertial>
|
| 277 |
+
<origin rpy="0 0 0" xyz="0.0597131221 -0.0410294666 -0.0101692726"/>
|
| 278 |
+
<mass value="1.8170376524"/>
|
| 279 |
+
<inertia ixx="0.005412333594383447" ixy="0.006193456360285834" ixz="0.0014219289306117652" iyy="0.014058329545509979" iyz="-0.0013140753741120031" izz="0.016080817924212554"/>
|
| 280 |
+
</inertial>
|
| 281 |
+
</link>
|
| 282 |
+
<joint name="right_fr3_joint6" type="revolute">
|
| 283 |
+
<origin rpy="1.5692370248909928 -0.00011643704559377853 0.0013163504124680929" xyz="-0.0008510545887679394 0.00045377447056765634 -0.0001485358958440238"/>
|
| 284 |
+
<parent link="right_fr3_link5"/>
|
| 285 |
+
<child link="right_fr3_link6"/>
|
| 286 |
+
<axis xyz="0 0 1"/>
|
| 287 |
+
<limit effort="12.0" lower="0.4398" upper="4.6216" velocity="4.18"/>
|
| 288 |
+
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="0.4398" soft_upper_limit="4.6216"/>
|
| 289 |
+
<position_based_velocity_limits deceleration_limit="5.5" velocity_offset="0.4885"/>
|
| 290 |
+
<dynamics D="1" K="7000" damping="0.003" friction="0.2" gear_ratio="80.0" motor_inertia="3.211626e-05" mu_coulomb="0" mu_viscous="16"/>
|
| 291 |
+
</joint>
|
| 292 |
+
<!-- sub-link defining detailed meshes for collision with environment -->
|
| 293 |
+
<link name="right_fr3_link7">
|
| 294 |
+
<visual name="right_fr3_link7_visual">
|
| 295 |
+
<geometry>
|
| 296 |
+
<mesh filename="package://franka_description/meshes/robots/fr3/visual/link7.dae"/>
|
| 297 |
+
</geometry>
|
| 298 |
+
</visual>
|
| 299 |
+
<collision name="right_fr3_link7_collision">
|
| 300 |
+
<geometry>
|
| 301 |
+
<mesh filename="package://franka_description/meshes/robots/fr3/collision/link7.stl"/>
|
| 302 |
+
</geometry>
|
| 303 |
+
</collision>
|
| 304 |
+
<inertial>
|
| 305 |
+
<origin rpy="0 0 0" xyz="0.0045225817 0.0086261921 -0.0161633251"/>
|
| 306 |
+
<mass value="0.6271432862"/>
|
| 307 |
+
<inertia ixx="0.00021092389150104718" ixy="-2.433299114461931e-05" ixz="4.564480393778983e-05" iyy="0.00017718568002411474" iyz="8.744070223226438e-05" izz="5.993190599659971e-05"/>
|
| 308 |
+
</inertial>
|
| 309 |
+
</link>
|
| 310 |
+
<joint name="right_fr3_joint7" type="revolute">
|
| 311 |
+
<origin rpy="1.5708821678397065 8.483853435664729e-07 0.0001195626649388406" xyz="0.08873730754837328 -2.2682205953867713e-07 -0.00045457960030937153"/>
|
| 312 |
+
<parent link="right_fr3_link6"/>
|
| 313 |
+
<child link="right_fr3_link7"/>
|
| 314 |
+
<axis xyz="0 0 1"/>
|
| 315 |
+
<limit effort="12.0" lower="-3.0508" upper="3.0508" velocity="5.26"/>
|
| 316 |
+
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0508" soft_upper_limit="3.0508"/>
|
| 317 |
+
<position_based_velocity_limits deceleration_limit="17.0" velocity_offset="0.4592"/>
|
| 318 |
+
<dynamics D="1" K="7000" damping="0.003" friction="0.2" gear_ratio="80.0" motor_inertia="3.211626e-05" mu_coulomb="0" mu_viscous="16"/>
|
| 319 |
+
</joint>
|
| 320 |
+
<link name="right_fr3_link8"/>
|
| 321 |
+
<joint name="right_fr3_joint8" type="fixed">
|
| 322 |
+
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.107"/>
|
| 323 |
+
<parent link="right_fr3_link7"/>
|
| 324 |
+
<child link="right_fr3_link8"/>
|
| 325 |
+
</joint>
|
| 326 |
+
<ros2_control name="right_FrankaHardwareInterface" type="system">
|
| 327 |
+
<hardware>
|
| 328 |
+
<param name="version">0.1.0</param>
|
| 329 |
+
<param name="robot_type">fr3</param>
|
| 330 |
+
<param name="prefix">right_</param>
|
| 331 |
+
<plugin>franka_hardware/FrankaHardwareInterface</plugin>
|
| 332 |
+
<param name="robot_ip">192.168.8.20</param>
|
| 333 |
+
<param name="arm_prefix">right_</param>
|
| 334 |
+
</hardware>
|
| 335 |
+
<joint name="right_fr3_joint1">
|
| 336 |
+
<!--
|
| 337 |
+
deactivated for gazebo velocity and position interface due to a bug
|
| 338 |
+
https://github.com/ros-controls/gz_ros2_control/issues/343
|
| 339 |
+
|
| 340 |
+
Command Interfaces -->
|
| 341 |
+
<command_interface name="position"/>
|
| 342 |
+
<command_interface name="velocity"/>
|
| 343 |
+
<command_interface name="effort"/>
|
| 344 |
+
<!-- State Interfaces -->
|
| 345 |
+
<state_interface name="position">
|
| 346 |
+
<param name="initial_value">0.0</param>
|
| 347 |
+
</state_interface>
|
| 348 |
+
<state_interface name="velocity"/>
|
| 349 |
+
<param name="initial_value">0.0</param>
|
| 350 |
+
<state_interface name="effort"/>
|
| 351 |
+
</joint>
|
| 352 |
+
<joint name="right_fr3_joint2">
|
| 353 |
+
<!--
|
| 354 |
+
deactivated for gazebo velocity and position interface due to a bug
|
| 355 |
+
https://github.com/ros-controls/gz_ros2_control/issues/343
|
| 356 |
+
|
| 357 |
+
Command Interfaces -->
|
| 358 |
+
<command_interface name="position"/>
|
| 359 |
+
<command_interface name="velocity"/>
|
| 360 |
+
<command_interface name="effort"/>
|
| 361 |
+
<!-- State Interfaces -->
|
| 362 |
+
<state_interface name="position">
|
| 363 |
+
<param name="initial_value">-0.7853981633974483</param>
|
| 364 |
+
</state_interface>
|
| 365 |
+
<state_interface name="velocity"/>
|
| 366 |
+
<param name="initial_value">0.0</param>
|
| 367 |
+
<state_interface name="effort"/>
|
| 368 |
+
</joint>
|
| 369 |
+
<joint name="right_fr3_joint3">
|
| 370 |
+
<!--
|
| 371 |
+
deactivated for gazebo velocity and position interface due to a bug
|
| 372 |
+
https://github.com/ros-controls/gz_ros2_control/issues/343
|
| 373 |
+
|
| 374 |
+
Command Interfaces -->
|
| 375 |
+
<command_interface name="position"/>
|
| 376 |
+
<command_interface name="velocity"/>
|
| 377 |
+
<command_interface name="effort"/>
|
| 378 |
+
<!-- State Interfaces -->
|
| 379 |
+
<state_interface name="position">
|
| 380 |
+
<param name="initial_value">0.0</param>
|
| 381 |
+
</state_interface>
|
| 382 |
+
<state_interface name="velocity"/>
|
| 383 |
+
<param name="initial_value">0.0</param>
|
| 384 |
+
<state_interface name="effort"/>
|
| 385 |
+
</joint>
|
| 386 |
+
<joint name="right_fr3_joint4">
|
| 387 |
+
<!--
|
| 388 |
+
deactivated for gazebo velocity and position interface due to a bug
|
| 389 |
+
https://github.com/ros-controls/gz_ros2_control/issues/343
|
| 390 |
+
|
| 391 |
+
Command Interfaces -->
|
| 392 |
+
<command_interface name="position"/>
|
| 393 |
+
<command_interface name="velocity"/>
|
| 394 |
+
<command_interface name="effort"/>
|
| 395 |
+
<!-- State Interfaces -->
|
| 396 |
+
<state_interface name="position">
|
| 397 |
+
<param name="initial_value">-2.356194490192345</param>
|
| 398 |
+
</state_interface>
|
| 399 |
+
<state_interface name="velocity"/>
|
| 400 |
+
<param name="initial_value">0.0</param>
|
| 401 |
+
<state_interface name="effort"/>
|
| 402 |
+
</joint>
|
| 403 |
+
<joint name="right_fr3_joint5">
|
| 404 |
+
<!--
|
| 405 |
+
deactivated for gazebo velocity and position interface due to a bug
|
| 406 |
+
https://github.com/ros-controls/gz_ros2_control/issues/343
|
| 407 |
+
|
| 408 |
+
Command Interfaces -->
|
| 409 |
+
<command_interface name="position"/>
|
| 410 |
+
<command_interface name="velocity"/>
|
| 411 |
+
<command_interface name="effort"/>
|
| 412 |
+
<!-- State Interfaces -->
|
| 413 |
+
<state_interface name="position">
|
| 414 |
+
<param name="initial_value">0.0</param>
|
| 415 |
+
</state_interface>
|
| 416 |
+
<state_interface name="velocity"/>
|
| 417 |
+
<param name="initial_value">0.0</param>
|
| 418 |
+
<state_interface name="effort"/>
|
| 419 |
+
</joint>
|
| 420 |
+
<joint name="right_fr3_joint6">
|
| 421 |
+
<!--
|
| 422 |
+
deactivated for gazebo velocity and position interface due to a bug
|
| 423 |
+
https://github.com/ros-controls/gz_ros2_control/issues/343
|
| 424 |
+
|
| 425 |
+
Command Interfaces -->
|
| 426 |
+
<command_interface name="position"/>
|
| 427 |
+
<command_interface name="velocity"/>
|
| 428 |
+
<command_interface name="effort"/>
|
| 429 |
+
<!-- State Interfaces -->
|
| 430 |
+
<state_interface name="position">
|
| 431 |
+
<param name="initial_value">1.5707963267948966</param>
|
| 432 |
+
</state_interface>
|
| 433 |
+
<state_interface name="velocity"/>
|
| 434 |
+
<param name="initial_value">0.0</param>
|
| 435 |
+
<state_interface name="effort"/>
|
| 436 |
+
</joint>
|
| 437 |
+
<joint name="right_fr3_joint7">
|
| 438 |
+
<!--
|
| 439 |
+
deactivated for gazebo velocity and position interface due to a bug
|
| 440 |
+
https://github.com/ros-controls/gz_ros2_control/issues/343
|
| 441 |
+
|
| 442 |
+
Command Interfaces -->
|
| 443 |
+
<command_interface name="position"/>
|
| 444 |
+
<command_interface name="velocity"/>
|
| 445 |
+
<command_interface name="effort"/>
|
| 446 |
+
<!-- State Interfaces -->
|
| 447 |
+
<state_interface name="position">
|
| 448 |
+
<param name="initial_value">0.7853981633974483</param>
|
| 449 |
+
</state_interface>
|
| 450 |
+
<state_interface name="velocity"/>
|
| 451 |
+
<param name="initial_value">0.0</param>
|
| 452 |
+
<state_interface name="effort"/>
|
| 453 |
+
</joint>
|
| 454 |
+
<gpio name="right_vx">
|
| 455 |
+
<command_interface name="cartesian_velocity"/>
|
| 456 |
+
<param name="index">0</param>
|
| 457 |
+
</gpio>
|
| 458 |
+
<gpio name="right_vy">
|
| 459 |
+
<command_interface name="cartesian_velocity"/>
|
| 460 |
+
<param name="index">1</param>
|
| 461 |
+
</gpio>
|
| 462 |
+
<gpio name="right_vz">
|
| 463 |
+
<command_interface name="cartesian_velocity"/>
|
| 464 |
+
<param name="index">2</param>
|
| 465 |
+
</gpio>
|
| 466 |
+
<gpio name="right_wx">
|
| 467 |
+
<command_interface name="cartesian_velocity"/>
|
| 468 |
+
<param name="index">3</param>
|
| 469 |
+
</gpio>
|
| 470 |
+
<gpio name="right_wy">
|
| 471 |
+
<command_interface name="cartesian_velocity"/>
|
| 472 |
+
<param name="index">4</param>
|
| 473 |
+
</gpio>
|
| 474 |
+
<gpio name="right_wz">
|
| 475 |
+
<command_interface name="cartesian_velocity"/>
|
| 476 |
+
<param name="index">5</param>
|
| 477 |
+
</gpio>
|
| 478 |
+
<gpio name="right_0">
|
| 479 |
+
<command_interface name="cartesian_pose_command"/>
|
| 480 |
+
<param name="index">0</param>
|
| 481 |
+
</gpio>
|
| 482 |
+
<gpio name="right_1">
|
| 483 |
+
<command_interface name="cartesian_pose_command"/>
|
| 484 |
+
<param name="index">1</param>
|
| 485 |
+
</gpio>
|
| 486 |
+
<gpio name="right_2">
|
| 487 |
+
<command_interface name="cartesian_pose_command"/>
|
| 488 |
+
<param name="index">2</param>
|
| 489 |
+
</gpio>
|
| 490 |
+
<gpio name="right_3">
|
| 491 |
+
<command_interface name="cartesian_pose_command"/>
|
| 492 |
+
<param name="index">3</param>
|
| 493 |
+
</gpio>
|
| 494 |
+
<gpio name="right_4">
|
| 495 |
+
<command_interface name="cartesian_pose_command"/>
|
| 496 |
+
<param name="index">4</param>
|
| 497 |
+
</gpio>
|
| 498 |
+
<gpio name="right_5">
|
| 499 |
+
<command_interface name="cartesian_pose_command"/>
|
| 500 |
+
<param name="index">5</param>
|
| 501 |
+
</gpio>
|
| 502 |
+
<gpio name="right_6">
|
| 503 |
+
<command_interface name="cartesian_pose_command"/>
|
| 504 |
+
<param name="index">6</param>
|
| 505 |
+
</gpio>
|
| 506 |
+
<gpio name="right_7">
|
| 507 |
+
<command_interface name="cartesian_pose_command"/>
|
| 508 |
+
<param name="index">7</param>
|
| 509 |
+
</gpio>
|
| 510 |
+
<gpio name="right_8">
|
| 511 |
+
<command_interface name="cartesian_pose_command"/>
|
| 512 |
+
<param name="index">8</param>
|
| 513 |
+
</gpio>
|
| 514 |
+
<gpio name="right_9">
|
| 515 |
+
<command_interface name="cartesian_pose_command"/>
|
| 516 |
+
<param name="index">9</param>
|
| 517 |
+
</gpio>
|
| 518 |
+
<gpio name="right_10">
|
| 519 |
+
<command_interface name="cartesian_pose_command"/>
|
| 520 |
+
<param name="index">10</param>
|
| 521 |
+
</gpio>
|
| 522 |
+
<gpio name="right_11">
|
| 523 |
+
<command_interface name="cartesian_pose_command"/>
|
| 524 |
+
<param name="index">11</param>
|
| 525 |
+
</gpio>
|
| 526 |
+
<gpio name="right_12">
|
| 527 |
+
<command_interface name="cartesian_pose_command"/>
|
| 528 |
+
<param name="index">12</param>
|
| 529 |
+
</gpio>
|
| 530 |
+
<gpio name="right_13">
|
| 531 |
+
<command_interface name="cartesian_pose_command"/>
|
| 532 |
+
<param name="index">13</param>
|
| 533 |
+
</gpio>
|
| 534 |
+
<gpio name="right_14">
|
| 535 |
+
<command_interface name="cartesian_pose_command"/>
|
| 536 |
+
<param name="index">14</param>
|
| 537 |
+
</gpio>
|
| 538 |
+
<gpio name="right_15">
|
| 539 |
+
<command_interface name="cartesian_pose_command"/>
|
| 540 |
+
<param name="index">15</param>
|
| 541 |
+
</gpio>
|
| 542 |
+
<gpio name="right_joint_3_position">
|
| 543 |
+
<command_interface name="elbow_command"/>
|
| 544 |
+
<param name="index">0</param>
|
| 545 |
+
</gpio>
|
| 546 |
+
<gpio name="right_joint_4_sign">
|
| 547 |
+
<command_interface name="elbow_command"/>
|
| 548 |
+
<param name="index">1</param>
|
| 549 |
+
</gpio>
|
| 550 |
+
</ros2_control>
|
| 551 |
+
</robot>
|
meta/episodes.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:03adbdd323b562be8c33739d61616cd664c890128e369cdee9212e8c5c0aeb97
|
| 3 |
+
size 6512
|
meta/info.json
ADDED
|
@@ -0,0 +1,145 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"version": "px_timestamped/0.3",
|
| 3 |
+
"robot_type": "fr3",
|
| 4 |
+
"fps": 30,
|
| 5 |
+
"total_episodes": 1,
|
| 6 |
+
"episodes_path": "meta/episodes.parquet",
|
| 7 |
+
"tasks_path": "meta/tasks.parquet",
|
| 8 |
+
"topics": {
|
| 9 |
+
"observation.tf_static": {
|
| 10 |
+
"shape": [
|
| 11 |
+
16,
|
| 12 |
+
7
|
| 13 |
+
],
|
| 14 |
+
"dtype": "float32",
|
| 15 |
+
"data_path_template": "episode-{ep:06d}/observation.tf_static.parquet",
|
| 16 |
+
"latched": true,
|
| 17 |
+
"frame_names": [
|
| 18 |
+
"base->right_fr3_link0",
|
| 19 |
+
"base->left_fr3_link0",
|
| 20 |
+
"right_fr3_link7->right_fr3_link8",
|
| 21 |
+
"left_fr3_link7->left_fr3_link8",
|
| 22 |
+
"right_fr3_link8->wiping_ee",
|
| 23 |
+
"left_fr3_link8->calib_tool_ee",
|
| 24 |
+
"right_fr3_link8->camera_link",
|
| 25 |
+
"camera_link->camera_depth_frame",
|
| 26 |
+
"camera_depth_frame->camera_depth_optical_frame",
|
| 27 |
+
"camera_link->camera_color_frame",
|
| 28 |
+
"camera_color_frame->camera_color_optical_frame",
|
| 29 |
+
"left_fr3_link8->zivid_optical_frame"
|
| 30 |
+
]
|
| 31 |
+
},
|
| 32 |
+
"observation.tf": {
|
| 33 |
+
"shape": [
|
| 34 |
+
14,
|
| 35 |
+
7
|
| 36 |
+
],
|
| 37 |
+
"dtype": "float32",
|
| 38 |
+
"data_path_template": "episode-{ep:06d}/observation.tf.parquet",
|
| 39 |
+
"latched": false,
|
| 40 |
+
"frame_names": [
|
| 41 |
+
"right_fr3_link0->right_fr3_link1",
|
| 42 |
+
"right_fr3_link1->right_fr3_link2",
|
| 43 |
+
"right_fr3_link2->right_fr3_link3",
|
| 44 |
+
"right_fr3_link3->right_fr3_link4",
|
| 45 |
+
"right_fr3_link4->right_fr3_link5",
|
| 46 |
+
"right_fr3_link5->right_fr3_link6",
|
| 47 |
+
"right_fr3_link6->right_fr3_link7",
|
| 48 |
+
"left_fr3_link0->left_fr3_link1",
|
| 49 |
+
"left_fr3_link1->left_fr3_link2",
|
| 50 |
+
"left_fr3_link2->left_fr3_link3",
|
| 51 |
+
"left_fr3_link3->left_fr3_link4",
|
| 52 |
+
"left_fr3_link4->left_fr3_link5",
|
| 53 |
+
"left_fr3_link5->left_fr3_link6",
|
| 54 |
+
"left_fr3_link6->left_fr3_link7"
|
| 55 |
+
]
|
| 56 |
+
},
|
| 57 |
+
"observation.bota_wrench": {
|
| 58 |
+
"shape": [
|
| 59 |
+
6
|
| 60 |
+
],
|
| 61 |
+
"dtype": "float32",
|
| 62 |
+
"data_path_template": "episode-{ep:06d}/observation.bota_wrench.parquet",
|
| 63 |
+
"latched": false
|
| 64 |
+
},
|
| 65 |
+
"observation.ee_pose_desired": {
|
| 66 |
+
"shape": [
|
| 67 |
+
7
|
| 68 |
+
],
|
| 69 |
+
"dtype": "float32",
|
| 70 |
+
"data_path_template": "episode-{ep:06d}/observation.ee_pose_desired.parquet",
|
| 71 |
+
"latched": false
|
| 72 |
+
},
|
| 73 |
+
"observation.joint_positions": {
|
| 74 |
+
"shape": [
|
| 75 |
+
7
|
| 76 |
+
],
|
| 77 |
+
"dtype": "float32",
|
| 78 |
+
"data_path_template": "episode-{ep:06d}/observation.joint_positions.parquet",
|
| 79 |
+
"latched": false
|
| 80 |
+
},
|
| 81 |
+
"observation.joint_velocities": {
|
| 82 |
+
"shape": [
|
| 83 |
+
7
|
| 84 |
+
],
|
| 85 |
+
"dtype": "float32",
|
| 86 |
+
"data_path_template": "episode-{ep:06d}/observation.joint_velocities.parquet",
|
| 87 |
+
"latched": false
|
| 88 |
+
},
|
| 89 |
+
"observation.joint_efforts": {
|
| 90 |
+
"shape": [
|
| 91 |
+
7
|
| 92 |
+
],
|
| 93 |
+
"dtype": "float32",
|
| 94 |
+
"data_path_template": "episode-{ep:06d}/observation.joint_efforts.parquet",
|
| 95 |
+
"latched": false
|
| 96 |
+
},
|
| 97 |
+
"observation.tf_kinematic.right": {
|
| 98 |
+
"shape": [
|
| 99 |
+
7,
|
| 100 |
+
7
|
| 101 |
+
],
|
| 102 |
+
"dtype": "float32",
|
| 103 |
+
"data_path_template": "episode-{ep:06d}/observation.tf_kinematic.right.parquet",
|
| 104 |
+
"latched": false,
|
| 105 |
+
"frame_names": [
|
| 106 |
+
"right_fr3_link0->right_fr3_link1",
|
| 107 |
+
"right_fr3_link1->right_fr3_link2",
|
| 108 |
+
"right_fr3_link2->right_fr3_link3",
|
| 109 |
+
"right_fr3_link3->right_fr3_link4",
|
| 110 |
+
"right_fr3_link4->right_fr3_link5",
|
| 111 |
+
"right_fr3_link5->right_fr3_link6",
|
| 112 |
+
"right_fr3_link6->right_fr3_link7"
|
| 113 |
+
]
|
| 114 |
+
},
|
| 115 |
+
"observation.tf_kinematic.left": {
|
| 116 |
+
"shape": [
|
| 117 |
+
7,
|
| 118 |
+
7
|
| 119 |
+
],
|
| 120 |
+
"dtype": "float32",
|
| 121 |
+
"data_path_template": "episode-{ep:06d}/observation.tf_kinematic.left.parquet",
|
| 122 |
+
"latched": false,
|
| 123 |
+
"frame_names": [
|
| 124 |
+
"left_fr3_link0->left_fr3_link1",
|
| 125 |
+
"left_fr3_link1->left_fr3_link2",
|
| 126 |
+
"left_fr3_link2->left_fr3_link3",
|
| 127 |
+
"left_fr3_link3->left_fr3_link4",
|
| 128 |
+
"left_fr3_link4->left_fr3_link5",
|
| 129 |
+
"left_fr3_link5->left_fr3_link6",
|
| 130 |
+
"left_fr3_link6->left_fr3_link7"
|
| 131 |
+
]
|
| 132 |
+
}
|
| 133 |
+
},
|
| 134 |
+
"videos": {
|
| 135 |
+
"observation.images.color": {
|
| 136 |
+
"shape": [
|
| 137 |
+
3,
|
| 138 |
+
480,
|
| 139 |
+
640
|
| 140 |
+
],
|
| 141 |
+
"dtype": "image",
|
| 142 |
+
"path_template": "episode-{ep:06d}/observation.images.color.mp4"
|
| 143 |
+
}
|
| 144 |
+
}
|
| 145 |
+
}
|
meta/stats.json
ADDED
|
@@ -0,0 +1,1558 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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meta/tasks.parquet
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:db394cfac58a412e5f588ed41639b0642b21c793785961b1106ae91a9ac4c6c3
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size 776
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