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- for reference launch files: table_dimensions reduced in z because of flipped z-axis #15 - changed models / kinematics for current setup
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,16 @@ | ||
| <?xml version="1.0"?> | ||
| <launch> | ||
| <rosparam param="/feasibility_check/sample_count">200</rosparam> | ||
| <!--<rosparam param="/feasibility_check/table_dimensions">[0.3, 0.3, 0.181]</rosparam>--> | ||
| <!-- TODO: table_dimensions reduced in z because of flipped z-axis https://github.com/SoMa-Project/tub_feasibility_check/issues/15 --> | ||
| <!-- TODO: table_dimensions reduced in x and y to give the feasibility checker a higher chance of not colliding with the table --> | ||
| <rosparam param="/feasibility_check/table_dimensions">[0.2, 0.2, 0.001]</rosparam> | ||
| <node name="feasibility_check" pkg="tub_feasibility_check" type="tub_feasibility_check" output="screen"> | ||
| <param name="ifco_scene_graph_file" value="$(find tub_feasibility_check)/model/rlsg/prob-rbohand2-ifco.convex.xml" /> | ||
| <param name="tabletop_scene_graph_file" value="$(find tub_feasibility_check)/model/rlsg/prob-pisaiit-tabletop.convex.xml" /> | ||
| <param name="kinematics_file" value="$(find tub_feasibility_check)/model/rlkin/prob-pisaiit.xml"/> | ||
| <param name="hide_window" type="bool" value="false" /> | ||
| </node> | ||
| </launch> | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,174 @@ | ||
| <?xml version="1.0" encoding="UTF-8"?> | ||
| <rlkin xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="rlkin.xsd"> | ||
| <kinematics> | ||
| <manufacturer>F and P</manufacturer> | ||
| <name>Prob2 + RBOHand2</name> | ||
| <world id="world"> | ||
| <rotation> | ||
| <x>0</x> | ||
| <y>0</y> | ||
| <z>0</z> | ||
| </rotation> | ||
| <translation> | ||
| <x>0</x> | ||
| <y>0</y> | ||
| <z>0</z> | ||
| </translation> | ||
| </world> | ||
| <transform id="base"> | ||
| <frame> | ||
| <a idref="world"/> | ||
| <b idref="link0"/> | ||
| </frame> | ||
| <rotation> | ||
| <x>0</x> | ||
| <y>0</y> | ||
| <z>0</z> | ||
| </rotation> | ||
| <translation> | ||
| <x>0</x> | ||
| <y>0</y> | ||
| <z>0</z> | ||
| </translation> | ||
| </transform> | ||
|
|
||
| <link id="link0"> | ||
| <ignore/> | ||
| <ignore idref="link1"/> | ||
| </link> | ||
|
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||
| <revolute id="joint0"> | ||
| <frame> | ||
| <a idref="link0"/> | ||
| <b idref="link1"/> | ||
| </frame> | ||
| <dh> | ||
| <d>0.3625</d> | ||
| <theta>0</theta> | ||
| <a>0</a> | ||
| <alpha>-90</alpha> | ||
| </dh> | ||
| <max>169</max> | ||
| <min>-169</min> | ||
| </revolute> | ||
|
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||
| <link id="link1"> | ||
| <ignore idref="link0"/> | ||
| <ignore idref="link2"/> | ||
| </link> | ||
|
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||
| <revolute id="joint1"> | ||
| <frame> | ||
| <a idref="link1"/> | ||
| <b idref="link2"/> | ||
| </frame> | ||
| <dh> | ||
| <d>0.0</d> | ||
| <theta>-90</theta> | ||
| <a>0.29</a> | ||
| <alpha>0</alpha> | ||
| </dh> | ||
| <max>109</max> | ||
| <min>-109</min> | ||
| </revolute> | ||
|
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||
| <link id="link2"> | ||
| <ignore idref="link1"/> | ||
| <ignore idref="link3"/> | ||
| </link> | ||
|
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||
| <revolute id="joint2"> | ||
| <frame> | ||
| <a idref="link2"/> | ||
| <b idref="link3"/> | ||
| </frame> | ||
| <dh> | ||
| <d>0.</d> | ||
| <theta>90</theta> | ||
| <a>0.0</a> | ||
| <alpha>90</alpha> | ||
| </dh> | ||
| <max>114</max> | ||
| <min>-114</min> | ||
| </revolute> | ||
|
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||
| <link id="link3"> | ||
| <ignore idref="link1"/> | ||
| <ignore idref="link2"/> | ||
| <ignore idref="link4"/> | ||
| </link> | ||
|
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||
| <revolute id="joint3"> | ||
| <frame> | ||
| <a idref="link3"/> | ||
| <b idref="link4"/> | ||
| </frame> | ||
| <dh> | ||
| <d>0.31</d> | ||
| <theta>180</theta> | ||
| <a>0</a> | ||
| <alpha>90</alpha> | ||
| </dh> | ||
| <max>169</max> | ||
| <min>-169</min> | ||
| </revolute> | ||
| <link id="link4"> | ||
| <ignore idref="link3"/> | ||
| <ignore idref="link5"/> | ||
| <ignore idref="link6"/> | ||
| </link> | ||
|
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||
| <revolute id="joint4"> | ||
| <frame> | ||
| <a idref="link4"/> | ||
| <b idref="link5"/> | ||
| </frame> | ||
| <dh> | ||
| <d>0.0</d> | ||
| <theta>0</theta> | ||
| <a>0</a> | ||
| <alpha>-90</alpha> | ||
| </dh> | ||
| <max>114</max> | ||
| <min>-114</min> | ||
| </revolute> | ||
| <link id="link5"> | ||
| <ignore idref="link4"/> | ||
| <ignore idref="link6"/> | ||
| </link> | ||
| <revolute id="joint5"> | ||
| <frame> | ||
| <a idref="link5"/> | ||
| <b idref="link6"/> | ||
| </frame> | ||
| <dh> | ||
| <d>0.129</d> | ||
| <theta>180</theta> | ||
| <a>0</a> | ||
| <alpha>0</alpha> | ||
| </dh> | ||
| <max>169</max> | ||
| <min>-169</min> | ||
| </revolute> | ||
| <link id="link6"> | ||
| <ignore idref="link5"/> | ||
| </link> | ||
| <transform id="tool"> | ||
| <frame> | ||
| <a idref="link6"/> | ||
| <b idref="tcp"/> | ||
| </frame> | ||
| <rotation> | ||
| <x>0</x> | ||
| <y>-90</y> | ||
| <z>180</z> | ||
| </rotation> | ||
| <translation> | ||
| <x>0.00</x> | ||
| <y>0</y> | ||
| <z>0.16</z> | ||
| </translation> | ||
| </transform> | ||
| <frame id="tcp"/> | ||
| </kinematics> | ||
| </rlkin> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,31 @@ | ||
| #VRML V2.0 utf8 | ||
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| Transform | ||
| { | ||
| translation 0.0 0 -0.0 | ||
| children | ||
| Transform | ||
| { | ||
| rotation 0 0 1 0 | ||
| translation -0.0 0 0 | ||
| children | ||
| [ | ||
| DEF bottom Shape | ||
| { | ||
| appearance Appearance | ||
| { | ||
| material Material | ||
| { | ||
| diffuseColor 0 1 0.50000000 | ||
| } | ||
| } | ||
| geometry Box | ||
| { | ||
| size 0.59500002 0.39500001 9.99999977e-3 | ||
| } | ||
| } | ||
|
|
||
| ] | ||
| } | ||
| } | ||
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