├── .catkin_workspace ├── .gitignore ├── LICENSE ├── README.md └── src ├── CMakeLists.txt ├── allegro_hand ├── CMakeLists.txt ├── launch │ ├── allegro_hand.launch │ └── visualizer.launch ├── package.xml ├── scripts │ ├── logger.py │ └── poser.py ├── setup.py └── src │ └── allegro_hand │ ├── __init__.py │ ├── controller.py │ └── utils.py ├── allegro_hand_controllers ├── CMakeLists.txt ├── launch │ ├── allegro_hand.launch │ └── visualizer.launch ├── package.xml └── src │ ├── allegro_node.cpp │ ├── allegro_node.h │ ├── allegro_node_pd.cpp │ ├── allegro_node_pd.h │ ├── kdl_controller.cpp │ └── kdl_controller.h ├── allegro_hand_description ├── CMakeLists.txt ├── allegro_hand_config.rviz ├── allegro_hand_config.vcg ├── allegro_hand_description_right.urdf ├── allegro_hand_description_right.xacro ├── allegro_hand_description_right_.urdf ├── meshes │ ├── allegro.tar.gz │ ├── allegro.zip │ ├── base_link.STL │ ├── base_link_left.STL │ ├── link_0.0.STL │ ├── link_1.0.STL │ ├── link_12.0_left.STL.bk │ ├── link_12.0_right.STL │ ├── link_12.0_right.STL.bk │ ├── link_13.0.STL │ ├── link_14.0.STL │ ├── link_15.0.STL │ ├── link_15.0_tip.STL │ ├── link_15.0_tip.STL.bk │ ├── link_2.0.STL │ ├── link_3.0.STL │ ├── link_3.0_tip.STL │ ├── link_3.0_tip.STL.bk │ ├── link_4.0.STL │ └── temp │ │ └── link_12.0_right.STL ├── package.xml ├── scripts │ └── detect_pcan.py ├── temp │ └── allegro_hand_description_right.xacro ├── urdf │ └── allegro_hand_description_right.urdf └── worlds │ └── allegro.world ├── allegro_hand_driver ├── CMakeLists.txt ├── include │ └── allegro_hand_driver │ │ ├── AllegroHandDef.h │ │ └── AllegroHandDrv.h ├── package.xml └── src │ ├── AllegroHandDrv.cpp │ └── candrv │ ├── candef.h │ ├── candrv.h │ └── pcan.cpp ├── allegro_hand_keyboard ├── CMakeLists.txt ├── package.xml └── src │ ├── allegro_hand_keyboard.cpp │ └── virtualkey_codes.h ├── allegro_hand_parameters ├── CMakeLists.txt ├── gains_pd.yaml ├── initial_position.yaml ├── package.xml ├── poses.yaml └── zero.yaml ├── ll4ma_kdl ├── CMakeLists.txt ├── LICENSE ├── include │ └── ll4ma_kdl │ │ ├── debug.h │ │ ├── manipulator_kdl │ │ ├── chainjnttojacdotsolver.hpp │ │ ├── robot_kdl.h │ │ └── robot_kdl_bck.h │ │ └── utils │ │ └── transforms.h ├── launch │ ├── allegro_ik.launch │ ├── kdl_test.launch │ └── lbr4_solver.launch ├── msg │ └── IK_command.msg ├── package.xml ├── scripts │ ├── handArmModel.py │ ├── handModel.py │ ├── kdl_allegro_model.py │ ├── kdl_lbr4_allegro_model.py │ ├── kdl_lbr4_model.py │ ├── manipulator_model.py │ ├── test_hand_model.py │ └── test_kdl.py └── src │ ├── benchmark_kdl.cpp │ ├── dart_dynamics_negation.cpp │ ├── dart_kdl_test.cpp │ ├── dart_test_node.cpp │ ├── kdl_test_node.cpp │ ├── manipulator_kdl │ ├── chainjnttojacdotsolver.cpp │ ├── robot_kdl.cpp │ └── robot_kdl_bck.cpp │ ├── old_src │ ├── allegro_ik_demo.cpp │ ├── allegro_trac_generic.cpp │ ├── allegro_trac_ik.cpp │ └── lbr4_trac_ik.cpp │ └── utils │ └── transforms.cpp └── ll4ma_robots_description ├── CMakeLists.txt ├── LICENSE ├── README.md ├── config ├── baxter.rviz ├── omni.rviz ├── panda.rviz ├── robot.rviz └── test_urdf.rviz ├── launch ├── baxter_fragment.launch ├── baxter_rviz.launch ├── lbr4_rviz.launch ├── load_virtual_allegro.launch ├── omni_rviz.launch ├── optoforce_rviz.launch ├── panda_rviz.launch └── test_urdf.launch ├── meshes ├── allegro │ ├── PALM_BACK_COVER_D.stl │ ├── base_link.stl │ ├── base_link_biotac.stl │ ├── base_link_cvx.stl │ ├── base_link_left.STL │ ├── collision │ │ ├── base_link_biotac.stl │ │ ├── link_0.0.stl │ │ ├── link_1.0.stl │ │ ├── link_12.0_right.stl │ │ ├── link_13.0.stl │ │ ├── link_14.0.stl │ │ ├── link_15.0.stl │ │ ├── link_2.0.stl │ │ ├── link_3.0.stl │ │ ├── link_3.0_tip.stl │ │ └── link_4.0.stl │ ├── convex_hull │ │ ├── base_link_biotac.stl │ │ ├── index_link_1.ply │ │ ├── index_link_2.ply │ │ ├── index_tip.ply │ │ ├── palm_link.ply │ │ ├── thumb_link_2.ply │ │ ├── thumb_link_3.ply │ │ ├── thumb_tip.ply │ │ └── vertices │ │ │ ├── index_link_1.ply │ │ │ ├── index_link_2.ply │ │ │ ├── index_tip.ply │ │ │ ├── palm_link.ply │ │ │ ├── thumb_link_2.ply │ │ │ ├── thumb_link_3.ply │ │ │ └── thumb_tip.ply │ ├── link_0.0.stl │ ├── link_1.0.stl │ ├── link_12.0_left.STL │ ├── link_12.0_right.stl │ ├── link_13.0.stl │ ├── link_14.0.stl │ ├── link_15.0.stl │ ├── link_15.0_tip.stl │ ├── link_2.0.stl │ ├── link_3.0.stl │ ├── link_3.0_tip.stl │ └── link_4.0.stl ├── baxter │ ├── arms │ │ ├── e0.dae │ │ ├── e0.stl │ │ ├── e1.dae │ │ ├── e1.stl │ │ ├── s0.dae │ │ ├── s0.stl │ │ ├── s1.dae │ │ ├── s1.stl │ │ ├── w0.dae │ │ ├── w0.stl │ │ ├── w1.dae │ │ ├── w1.stl │ │ ├── w2.dae │ │ └── w2.stl │ ├── body │ │ ├── base_link.dae │ │ ├── base_link.stl │ │ ├── base_link_collision.dae │ │ ├── base_link_collision.stl │ │ ├── pedestal.dae │ │ ├── pedestal.stl │ │ ├── pedestal_link_collision.dae │ │ └── pedestal_link_collision.stl │ ├── grippers │ │ ├── finger_tips │ │ │ ├── half_round_tip.dae │ │ │ ├── half_round_tip.stl │ │ │ ├── hard_tip.dae │ │ │ ├── hard_tip.stl │ │ │ ├── limiter_tip.dae │ │ │ ├── limiter_tip.stl │ │ │ ├── paddle_tip.dae │ │ │ ├── paddle_tip.stl │ │ │ ├── soft_tip.dae │ │ │ └── soft_tip.stl │ │ ├── fingers │ │ │ ├── extended_narrow.dae │ │ │ ├── extended_narrow.stl │ │ │ ├── extended_wide.dae │ │ │ ├── extended_wide.stl │ │ │ ├── standard_narrow.dae │ │ │ ├── standard_narrow.stl │ │ │ ├── standard_wide.dae │ │ │ └── standard_wide.stl │ │ ├── gripper_base.dae │ │ ├── gripper_base.stl │ │ ├── gripper_base_w_fingers.dae │ │ └── gripper_base_w_fingers.stl │ └── head │ │ ├── h0.dae │ │ ├── h0.stl │ │ ├── h1.dae │ │ └── h1.stl ├── biotac │ ├── base_collision.stl │ ├── base_visual.stl │ ├── biotac_contact.stl │ ├── biotac_hacked.stl │ ├── biotac_sensor.stl │ ├── biotac_sensor_full.stl │ ├── biotac_sensor_v3.stl │ ├── biotac_v1.stl │ ├── biotac_v2.stl │ ├── contact_collision.stl │ ├── contact_collision_small.stl │ ├── contact_visual.stl │ ├── nail_collision.stl │ └── nail_visual.stl ├── cameras │ ├── asus_xtion_pro_camera.dae │ └── asus_xtion_pro_camera_tex.png ├── end_effectors │ ├── push_stick.STL │ └── sysid_obj.stl ├── environment │ ├── bowl.stl │ └── table.stl ├── force_sensors │ ├── ati_sensor.stl │ ├── ati_sensor_collision.stl │ ├── ati_sensor_cylinder.stl │ └── optoforce_sensor.stl ├── iiwa │ ├── collision │ │ ├── link_0.obj │ │ ├── link_1.obj │ │ ├── link_2.obj │ │ ├── link_3.obj │ │ ├── link_4.obj │ │ ├── link_5.obj │ │ ├── link_6.obj │ │ └── link_7.obj │ └── visual │ │ ├── link_0.obj │ │ ├── link_1.obj │ │ ├── link_2.obj │ │ ├── link_3.obj │ │ ├── link_4.obj │ │ ├── link_5.obj │ │ ├── link_6.obj │ │ └── link_7.obj ├── lbr4 │ ├── base.stl │ ├── collision │ │ ├── base.stl │ │ ├── link0.stl │ │ ├── link1.stl │ │ ├── link2.stl │ │ ├── link3.stl │ │ ├── link4.stl │ │ ├── link5.stl │ │ ├── link6.stl │ │ └── link7.stl │ ├── convex_hull │ │ ├── link_0.ply │ │ ├── link_1.ply │ │ ├── link_2.ply │ │ ├── link_3.ply │ │ ├── link_4.ply │ │ ├── link_5.ply │ │ ├── link_6.ply │ │ ├── link_7.ply │ │ └── vertices │ │ │ ├── link_0.ply │ │ │ ├── link_1.ply │ │ │ ├── link_2.ply │ │ │ ├── link_3.ply │ │ │ ├── link_4.ply │ │ │ ├── link_5.ply │ │ │ ├── link_6.ply │ │ │ └── link_7.ply │ ├── hd │ │ ├── link0.dae │ │ ├── link1.dae │ │ ├── link2.dae │ │ ├── link3.dae │ │ ├── link4.dae │ │ ├── link5.dae │ │ ├── link6.dae │ │ └── link7.dae │ ├── link0.stl │ ├── link1.stl │ ├── link2.stl │ ├── link3.stl │ ├── link4.stl │ ├── link5.stl │ ├── link6.stl │ └── link7.stl ├── mounts │ ├── allegro_mount.stl │ ├── baxter_optoforce_mount.STL │ ├── baxter_push_stick_mount.STL │ ├── baxter_reflex_mount.stl │ ├── biotac_mount.stl │ ├── kuka_mount.stl │ ├── optoforce_push_stick_mount.STL │ └── reflex_mount.STL ├── panda │ ├── collision │ │ ├── finger.obj │ │ ├── finger.stl │ │ ├── hand.obj │ │ ├── hand.stl │ │ ├── link0.obj │ │ ├── link0.stl │ │ ├── link1.obj │ │ ├── link1.stl │ │ ├── link2.obj │ │ ├── link2.stl │ │ ├── link3.obj │ │ ├── link3.stl │ │ ├── link4.obj │ │ ├── link4.stl │ │ ├── link5.obj │ │ ├── link5.stl │ │ ├── link6.obj │ │ ├── link6.stl │ │ ├── link7.obj │ │ └── link7.stl │ └── visual │ │ ├── finger.dae │ │ ├── finger.obj │ │ ├── finger.obj.mtl │ │ ├── hand.dae │ │ ├── hand.obj │ │ ├── hand.obj.mtl │ │ ├── link0.dae │ │ ├── link0.obj │ │ ├── link0.obj.mtl │ │ ├── link1.dae │ │ ├── link1.obj │ │ ├── link1.obj.mtl │ │ ├── link2.dae │ │ ├── link2.obj │ │ ├── link2.obj.mtl │ │ ├── link3.dae │ │ ├── link3.obj │ │ ├── link3.obj.mtl │ │ ├── link4.dae │ │ ├── link4.obj │ │ ├── link4.obj.mtl │ │ ├── link5.dae │ │ ├── link5.obj │ │ ├── link5.obj.mtl │ │ ├── link6.dae │ │ ├── link6.obj │ │ ├── link6.obj.mtl │ │ ├── link7.dae │ │ ├── link7.obj │ │ └── link7.obj.mtl ├── phantom_omni │ ├── base.stl │ ├── lower_arm.stl │ ├── pen.stl │ ├── tip.stl │ ├── torso.stl │ ├── upper_arm.stl │ └── wrist.stl └── reflex │ ├── base_link.obj │ ├── base_link.stl │ ├── base_link_coll.obj │ ├── base_link_coll.stl │ ├── distal.obj │ ├── distal.stl │ ├── distal_coll.obj │ ├── distal_coll.stl │ ├── distal_pad.obj │ ├── distal_pad.stl │ ├── distal_pad_coll.obj │ ├── distal_pad_coll.stl │ ├── flex_block.obj │ ├── flex_block.stl │ ├── pad.obj │ ├── pad.stl │ ├── pad_coll.obj │ ├── pad_coll.stl │ ├── proximal.obj │ ├── proximal.stl │ ├── proximal_coll.obj │ ├── proximal_coll.stl │ ├── proximal_pad.obj │ ├── proximal_pad.stl │ ├── proximal_pad_coll.obj │ ├── proximal_pad_coll.stl │ ├── swivel_1.obj │ ├── swivel_1.stl │ ├── swivel_1_coll.obj │ ├── swivel_1_coll.stl │ ├── swivel_2.obj │ ├── swivel_2.stl │ ├── swivel_2_coll.obj │ └── swivel_2_coll.stl ├── package.xml ├── robots ├── allegro.robot.xacro ├── allegro_virtual.robot.xacro ├── baxter.robot.xacro ├── kuka-allegro-biotac.urdf ├── lbr4.robot.xacro ├── lbr4_allegro_right.urdf ├── optoforce.robot.xacro └── panda.robot.xacro ├── scripts └── mesh_converter.py └── urdf ├── allegro_right ├── allegro.gazebo.xacro ├── allegro.transmission.xacro ├── allegro.urdf.xacro ├── allegro_base.urdf.xacro ├── allegro_biotac.urdf.xacro ├── allegro_control.urdf.xacro ├── allegro_hand_description_right.urdf ├── allegro_kdl.urdf ├── allegro_kdl_b.urdf ├── allegro_kdl_c.urdf ├── biotac_tips.urdf.xacro ├── finger_tip.urdf ├── finger_tip.urdf.xacro └── foam_tips.urdf.xacro ├── baxter ├── baxter.gazebo.xacro ├── baxter.urdf.xacro ├── baxter_left_gripper.xacro └── baxter_right_gripper.xacro ├── biotac ├── b2.urdf.xacro ├── biotac.gazebo.xacro └── biotac.urdf.xacro ├── cameras ├── asus_xtion.gazebo.xacro └── asus_xtion.urdf.xacro ├── end_effectors ├── biotac_mount.urdf.xacro ├── cube.urdf.xacro ├── push_stick.urdf.xacro ├── rigid_obj.urdf.xacro ├── sphere.urdf.xacro └── urdf_fragment │ ├── left_push_stick_rig.urdf │ ├── left_push_stick_rig.urdf.xacro │ ├── right_push_stick_rig.urdf │ └── right_push_stick_rig.urdf.xacro ├── environment ├── basket.urdf.xacro ├── bowl.urdf.xacro ├── object_table.urdf.xacro ├── robot_table.urdf.xacro ├── static │ └── basket.urdf └── table.urdf.xacro ├── force_sensors ├── ati_sensor.urdf.xacro ├── optoforce_sensor.gazebo.xacro └── optoforce_sensor.urdf.xacro ├── lbr4 ├── deprecated │ └── lbr4_orocos.urdf.xacro ├── lbr4.gazebo.xacro ├── lbr4.materials.xacro ├── lbr4.transmission.xacro ├── lbr4.urdf.xacro ├── lbr4_base.urdf.xacro ├── lbr4_calibration.urdf └── lbr4_kdl.urdf ├── mounts ├── baxter_optoforce_mount.urdf.xacro ├── baxter_push_stick_mount.urdf.xacro ├── baxter_reflex_mount.urdf.xacro ├── lbr4_mount.urdf.xacro ├── lbr4_reflex_mount.urdf.xacro └── optoforce_push_stick_mount.urdf.xacro ├── panda ├── panda.urdf.xacro └── static │ └── panda_base_static.urdf ├── phantom_omni └── omni.urdf.xacro ├── reflex ├── reflex.gazebo.xacro ├── reflex.transmission.xacro └── reflex.urdf.xacro └── xacro_macros └── inertia_tensors.xacro /.catkin_workspace: -------------------------------------------------------------------------------- 1 | # This file currently only serves to mark the location of a catkin workspace for tool integration 2 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | # Compiled Object files 2 | *.slo 3 | *.lo 4 | *.o 5 | 6 | # Compiled Dynamic libraries 7 | #!*.so #override exclusion in ~/.gitignore_global 8 | *.dylib 9 | 10 | # Compiled Static libraries 11 | *.lai 12 | *.la 13 | *.a 14 | 15 | # backups 16 | *~ 17 | 18 | # built stuff 19 | *build/ 20 | *bin/ 21 | *devel/ 22 | 23 | # Python 24 | *.pyc 25 | 26 | # closed-source 27 | #*underDevelopment/ 28 | #*old/ 29 | *closed-source/ 30 | \#*\# 31 | 32 | # documentation (maybe uncomment this later) 33 | *html/ 34 | *latex/ 35 | *.dox 36 | *.html 37 | 38 | # SVN 39 | *.svn/ 40 | 41 | # Vim intermediate files 42 | *.swp 43 | 44 | # Log files 45 | /src/allegro_hand/log/* 46 | 47 | src/.vscode/* -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | Copyright (c) 2016, SimLab 2 | All rights reserved. 3 | 4 | Redistribution and use in source and binary forms, with or without 5 | modification, are permitted provided that the following conditions are met: 6 | 7 | * Redistributions of source code must retain the above copyright notice, this 8 | list of conditions and the following disclaimer. 9 | 10 | * Redistributions in binary form must reproduce the above copyright notice, 11 | this list of conditions and the following disclaimer in the documentation 12 | and/or other materials provided with the distribution. 13 | 14 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 15 | AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 16 | IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 17 | DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE 18 | FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 19 | DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 20 | SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 21 | CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, 22 | OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 23 | OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 24 | -------------------------------------------------------------------------------- /src/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | /opt/ros/noetic/share/catkin/cmake/toplevel.cmake -------------------------------------------------------------------------------- /src/allegro_hand/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(allegro_hand) 3 | set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE) 4 | set(CMAKE_CXX_FLAGS "-std=c++0x ${CMAKE_CXX_FLAGS}") 5 | 6 | ## Find catkin macros and libraries 7 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) 8 | ## is used, also find other catkin packages 9 | set(ll4ma_kdl_DIR "/home/grail/catkin_ws/src/allegro_hand_ros_v4/src/ll4ma_kdl/") 10 | 11 | find_package(catkin REQUIRED COMPONENTS 12 | allegro_hand_driver 13 | libpcan 14 | roscpp 15 | sensor_msgs 16 | ll4ma_kdl 17 | # bhand 18 | # roslaunch # Disabled due to testing 19 | ) 20 | 21 | ################################### 22 | ## catkin specific configuration ## 23 | ################################### 24 | catkin_package( 25 | # INCLUDE_DIRS include 26 | # LIBRARIES allegro_hand_controllers 27 | CATKIN_DEPENDS allegro_hand_driver libpcan roscpp sensor_msgs # ll4ma_kdl bhand 28 | # DEPENDS 29 | ) 30 | 31 | ########### 32 | ## Build ## 33 | ########### 34 | message( ${catkin_INCLUDE_DIRS} ) 35 | include_directories( 36 | ${catkin_INCLUDE_DIRS} 37 | ) 38 | 39 | ## Declare executables 40 | 41 | 42 | # This is disabled until roslaunch tests can pass required arguments. 43 | # roslaunch_add_file_check(launch/allegro_hand.launch) 44 | 45 | ############# 46 | ## Install ## 47 | ############# 48 | 49 | install(TARGETS 50 | ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 51 | LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 52 | RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 53 | ) 54 | 55 | ## Install launch files 56 | install(DIRECTORY launch 57 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/ 58 | FILES_MATCHING PATTERN "*.launch" 59 | ) 60 | 61 | ## Setup for Python package 62 | catkin_python_setup() 63 | -------------------------------------------------------------------------------- /src/allegro_hand/launch/visualizer.launch: -------------------------------------------------------------------------------- 1 | 2 | 6 | 9 | 10 | 11 | 12 | 13 | -------------------------------------------------------------------------------- /src/allegro_hand/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | allegro_hand 4 | 2.0.1 5 | The allegro_hand package 6 | 7 | Sean Yi 8 | 9 | BSD 10 | 11 | 12 | catkin 13 | 14 | allegro_hand_driver 15 | 16 | libpcan 17 | roscpp 18 | sensor_msgs 19 | ll4ma_kdl 20 | allegro_hand_description 21 | allegro_hand_driver 22 | allegro_hand_parameters 23 | 24 | joint_state_publisher 25 | libpcan 26 | robot_state_publisher 27 | roscpp 28 | sensor_msgs 29 | xacro 30 | 31 | 32 | 33 | 34 | 35 | -------------------------------------------------------------------------------- /src/allegro_hand/scripts/logger.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/python3 2 | import os 3 | import rospy 4 | 5 | from allegro_hand.controller import AllegroController 6 | from allegro_hand.utils import * 7 | 8 | def logger(log_dir): 9 | # Checking if logging directory exists 10 | make_dir(log_dir) 11 | 12 | # Creating the log file 13 | log_file = os.path.join(log_dir, get_datetime()+'.csv') 14 | 15 | # Initializing controller 16 | allegro_controller = AllegroController() 17 | 18 | # Logging the Joint State at 300 Hz 19 | r = rospy.Rate(300) 20 | while not rospy.is_shutdown(): 21 | allegro_controller.log_current_pose(log_file) 22 | r.sleep() 23 | 24 | if __name__ == '__main__': 25 | logger() -------------------------------------------------------------------------------- /src/allegro_hand/scripts/poser.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/python3 2 | # Basic imports 3 | import rospy 4 | import numpy as np 5 | import yaml 6 | 7 | # Allegro hand controller imports 8 | from allegro_hand.controller import AllegroController 9 | from allegro_hand.utils import find_file 10 | 11 | def perform_poses(yaml_file): 12 | # Initializing the controller 13 | allegro_controller = AllegroController() 14 | 15 | # Loading the actions from YAML file 16 | actions = [] 17 | with open(yaml_file, 'r') as file: 18 | yaml_file = yaml.full_load(file) 19 | for key, array in yaml_file.items(): 20 | actions.append(array) 21 | 22 | actions = np.array(actions) 23 | 24 | # Performing all the actions 25 | for iterator in range(len(actions)): 26 | print('Hand is performing pose:', iterator + 1) 27 | allegro_controller.hand_pose(actions[iterator], True) 28 | 29 | print('Pausing so that the robot reaches the commanded hand pose...\n') 30 | rospy.sleep(5) 31 | 32 | print('Finished all the poses!') 33 | 34 | if __name__ == '__main__': 35 | # Finding the parameter package path 36 | yaml_file_path = find_file("allegro_hand_parameters", "poses.yaml") 37 | 38 | # Performing the poses 39 | perform_poses(yaml_file_path) -------------------------------------------------------------------------------- /src/allegro_hand/setup.py: -------------------------------------------------------------------------------- 1 | ## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD 2 | 3 | from distutils.core import setup 4 | from catkin_pkg.python_setup import generate_distutils_setup 5 | 6 | # fetch values from package.xml 7 | setup_args = generate_distutils_setup( 8 | packages=['allegro_hand'], 9 | package_dir={'': 'src'}, 10 | ) 11 | 12 | setup(**setup_args) 13 | -------------------------------------------------------------------------------- /src/allegro_hand/src/allegro_hand/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NYU-robot-learning/Allegro-Hand-Controller-DIME/7a03c3a85e1927796b26c0077e64ec601658be7d/src/allegro_hand/src/allegro_hand/__init__.py -------------------------------------------------------------------------------- /src/allegro_hand/src/allegro_hand/utils.py: -------------------------------------------------------------------------------- 1 | import os 2 | from datetime import datetime 3 | from rospkg import RosPack 4 | 5 | # Function to check and create a directory if not found 6 | def make_dir(folder): 7 | if not os.path.exists(folder): 8 | print('Making Directory: {}'.format(folder)) 9 | os.makedirs(folder) 10 | else: 11 | print('Directory Exists : {}'.format(folder)) 12 | 13 | # Function to get current date and time 14 | def get_datetime(): 15 | now = datetime.now() 16 | return now.strftime('%Y-%m-%d-%H-%M-%S-%f') 17 | 18 | def find_package_path(package_name): 19 | rospack = RosPack() 20 | return rospack.get_path(package_name) 21 | 22 | def find_file(package_name, file_name): 23 | package_path = find_package_path(package_name) 24 | return os.path.join(package_path, file_name) -------------------------------------------------------------------------------- /src/allegro_hand_controllers/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(allegro_hand_controllers) 3 | set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE) 4 | set(CMAKE_CXX_FLAGS "-std=c++0x ${CMAKE_CXX_FLAGS}") 5 | 6 | ## Find catkin macros and libraries 7 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) 8 | ## is used, also find other catkin packages 9 | find_package(catkin REQUIRED COMPONENTS 10 | allegro_hand_driver 11 | # bhand 12 | libpcan 13 | roscpp 14 | sensor_msgs 15 | ll4ma_kdl 16 | # roslaunch # Disabled due to testing 17 | ) 18 | find_package(cmake_modules REQUIRED) 19 | find_package(Eigen REQUIRED) 20 | 21 | ################################### 22 | ## catkin specific configuration ## 23 | ################################### 24 | catkin_package( 25 | # INCLUDE_DIRS include 26 | # LIBRARIES allegro_hand_controllers 27 | CATKIN_DEPENDS allegro_hand_driver libpcan roscpp sensor_msgs ll4ma_kdl # bhand 28 | DEPENDS Eigen 29 | ) 30 | #add_library(allegro_node src/kdl_controller.cpp) 31 | 32 | ########### 33 | ## Build ## 34 | ########### 35 | 36 | include_directories( 37 | ${catkin_INCLUDE_DIRS} 38 | ${Eigen_INCLUDE_DIRS} 39 | ) 40 | 41 | add_library(allegro_node src/allegro_node.cpp src/kdl_controller.cpp) 42 | 43 | ## Declare executables 44 | add_executable(allegro_node_pd src/allegro_node_pd.cpp) 45 | target_link_libraries(allegro_node_pd allegro_node ${catkin_LIBRARIES}) 46 | 47 | # This is disabled until roslaunch tests can pass required arguments. 48 | # roslaunch_add_file_check(launch/allegro_hand.launch) 49 | 50 | ############# 51 | ## Install ## 52 | ############# 53 | 54 | install(TARGETS 55 | allegro_node 56 | allegro_node_pd 57 | #kdl_controller 58 | ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 59 | LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 60 | RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 61 | ) 62 | 63 | ## Install launch files 64 | install(DIRECTORY launch 65 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/ 66 | FILES_MATCHING PATTERN "*.launch" 67 | ) -------------------------------------------------------------------------------- /src/allegro_hand_controllers/launch/visualizer.launch: -------------------------------------------------------------------------------- 1 | 2 | 6 | 9 | 10 | 11 | 12 | 13 | -------------------------------------------------------------------------------- /src/allegro_hand_controllers/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | allegro_hand_controllers 4 | 0.0.0 5 | The allegro_hand_controllers package 6 | 7 | felixd 8 | 9 | BSD 10 | 11 | 12 | catkin 13 | 14 | allegro_hand_driver 15 | 16 | libpcan 17 | roscpp 18 | sensor_msgs 19 | ll4ma_kdl 20 | allegro_hand_description 21 | allegro_hand_driver 22 | allegro_hand_parameters 23 | 24 | joint_state_publisher 25 | libpcan 26 | robot_state_publisher 27 | roscpp 28 | sensor_msgs 29 | xacro 30 | ll4ma_kdl 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | -------------------------------------------------------------------------------- /src/allegro_hand_controllers/src/allegro_node_pd.h: -------------------------------------------------------------------------------- 1 | #ifndef __ALLEGRO_NODE_PD_H__ 2 | #define __ALLEGRO_NODE_PD_H__ 3 | 4 | #include "allegro_node.h" 5 | 6 | #include "std_msgs/Float64MultiArray.h"ß 7 | 8 | #include "kdl_controller.h" 9 | 10 | 11 | // Joint-space PD control of the Allegro hand. 12 | // 13 | // Allows you to save a position and command it to the hand controller. 14 | // Controller gains are loaded from the ROS parameter server. 15 | class AllegroNodePD : public AllegroNode { 16 | 17 | public: 18 | AllegroNodePD(); 19 | 20 | ~AllegroNodePD(); 21 | 22 | // Main spin code: just waits for messages. 23 | void doIt(bool polling = false); 24 | 25 | // Uses the String received command to set the hand into its home 26 | // position, or saves the grasp in order to go into PD control mode. Also 27 | // can turn the hand off. 28 | void libCmdCallback(const std_msgs::String::ConstPtr &msg); 29 | 30 | void setJointCallback(const sensor_msgs::JointState &msg); 31 | 32 | void handGravityVectorCallback(const std_msgs::Float64MultiArray &desired); 33 | 34 | // Loads all gains and initial positions from the parameter server. 35 | void initController(const std::string &whichHand); 36 | 37 | // PD control happens here. 38 | void computeDesiredTorque(); 39 | 40 | allegroKDL* kdl_comp; 41 | 42 | // Handles defined grasp commands (std_msgs/String). 43 | ros::Subscriber lib_cmd_sub; 44 | 45 | // Subscribe to desired joint states, only so we can set control_hand_ to true 46 | // when we receive a desired command. 47 | ros::Subscriber joint_cmd_sub; 48 | 49 | // If this flag is true, the hand will be controlled (either in joint position 50 | // or joint torques). If false, desired torques will all be zero. 51 | bool control_hand_ = false; 52 | bool gravity_comp_ = false; 53 | }; 54 | 55 | #endif // __ALLEGRO_NODE_PD_H__ 56 | -------------------------------------------------------------------------------- /src/allegro_hand_controllers/src/kdl_controller.cpp: -------------------------------------------------------------------------------- 1 | #include "kdl_controller.h" 2 | #include "ros/ros.h" 3 | #include 4 | 5 | #define Joint 13 6 | 7 | allegroKDL::allegroKDL(std::vector g_vec, double control_rate) { 8 | // load urdf file 9 | _urdf_file = ros::package::getPath("ll4ma_robots_description"); 10 | _urdf_file.append("/urdf/allegro_right/allegro_kdl.urdf"); 11 | 12 | _ee_names = {"index_tip", "middle_tip", "ring_tip", "thumb_tip"}; 13 | _base_names = {"palm_link", "palm_link", "palm_link", "palm_link"}; 14 | 15 | _g_vec = g_vec; 16 | loop_rate = control_rate; 17 | 18 | // build kdl tree and chains: 19 | _allegro_kdl = new robotKDL(_urdf_file, _base_names, _ee_names, _g_vec); 20 | _allegro_kdl->getJointLimits(0, max_j_limits, min_j_limits); 21 | _allegro_kdl->getJointLimits(1, max_j_limits, min_j_limits); 22 | _allegro_kdl->getJointLimits(2, max_j_limits, min_j_limits); 23 | _allegro_kdl->getJointLimits(3, max_j_limits, min_j_limits); 24 | } 25 | 26 | void allegroKDL::load_gains(std::vector kp, std::vector kd, double max_tau, double max_delta_joint) { 27 | K_p = kp; 28 | K_d = kd; 29 | max_tau_des = max_tau; 30 | max_delta_q = max_delta_joint; 31 | } 32 | 33 | void allegroKDL::get_G(const int idx, const Eigen::VectorXd &q, Eigen::VectorXd &tau_g) { 34 | // send only joints of idx finger: 35 | _q_finger.resize(4); 36 | 37 | for (int i =0; i<4; i++) { 38 | _q_finger[i] = q[idx * 4 + i]; 39 | } 40 | 41 | _allegro_kdl->getGtau(idx, q, tau_g); 42 | } 43 | 44 | void allegroKDL::get_G(const Eigen::VectorXd &q, Eigen::VectorXd &tau_g) { 45 | tau_g.resize(16); 46 | 47 | // send only joints of idx finger: 48 | for (int j = 0; j < 4; j++) { 49 | _q_finger.resize(4); 50 | 51 | for(int i = 0; i < 4; i++) { 52 | _q_finger[i] = q[j * 4 + i]; 53 | } 54 | 55 | _allegro_kdl->getGtau(j, _q_finger, _tau_g_finger); 56 | 57 | for (int i =0;i<4;i++) { 58 | tau_g[j * 4 + i] = _tau_g_finger[i]; 59 | } 60 | } 61 | 62 | // ROS_INFO("Computed gravity torque: %f", tau_g[1]); 63 | 64 | // increasing thumb first joint: 65 | tau_g[12] = 1.01 * tau_g[12]; 66 | } 67 | 68 | void allegroKDL::get_G(const Eigen::VectorXd &q) { 69 | allegroKDL::get_G(q, _tau_g); 70 | } 71 | 72 | void allegroKDL::get_PD(const Eigen::VectorXd &q_des, const Eigen::VectorXd &q, const Eigen::VectorXd &q_dot, Eigen::VectorXd &tau_PD) { 73 | tau_PD.resize(16); 74 | 75 | for (int i = 0; i < 16; i++) { 76 | delta_q = q_des[i]-q[i]; 77 | 78 | if(delta_q > max_delta_q) { 79 | delta_q = max_delta_q; 80 | } else if(delta_q < -max_delta_q) { 81 | delta_q = -max_delta_q; 82 | } 83 | 84 | tau_PD[i] = (K_p[i] * (delta_q) - K_d[i] * q_dot[i]); 85 | 86 | // limit tau within threshold: 87 | if(std::abs(tau_PD[i]) > max_tau_des) { 88 | tau_PD[i] = std::copysign(max_tau_des, tau_PD[i]); 89 | } 90 | } 91 | } 92 | 93 | void allegroKDL::update_G(std::vector g_vec) { 94 | _g_vec = g_vec; 95 | _allegro_kdl->update_g_vec(_g_vec); 96 | } 97 | 98 | // Destructor 99 | allegroKDL::~allegroKDL() { 100 | delete _allegro_kdl; 101 | } 102 | -------------------------------------------------------------------------------- /src/allegro_hand_controllers/src/kdl_controller.h: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | #include 5 | // #include 6 | 7 | using namespace manipulator_kdl; 8 | 9 | class allegroKDL 10 | { 11 | public: 12 | allegroKDL(std::vector g_vec, double control_rate);// constructor- builds kdl chain 13 | ~allegroKDL(); 14 | 15 | void load_gains(std::vector kp, std::vector kd, double max_tau, double max_delta_joint); 16 | 17 | void get_G(const Eigen::VectorXd &q); 18 | void get_G(const Eigen::VectorXd &q, Eigen::VectorXd &tau_g); 19 | void get_G(const int idx, const Eigen::VectorXd &q, Eigen::VectorXd &tau_g); 20 | 21 | void get_PD(const Eigen::VectorXd &q_des, const Eigen::VectorXd &q, const Eigen::VectorXd &q_dot, Eigen::VectorXd &tau_PD); 22 | 23 | void update_G(std::vector g_vec); 24 | 25 | std::vector max_j_limits, min_j_limits; 26 | std::vector _g_vec; 27 | 28 | robotKDL* _allegro_kdl; 29 | 30 | private: 31 | std::string _urdf_file; 32 | 33 | std::vector _ee_names; 34 | std::vector _base_names; 35 | Eigen::VectorXd _q_finger; 36 | Eigen::VectorXd _tau_g_finger; 37 | Eigen::VectorXd _tau_g; 38 | Eigen::VectorXd _tau_PD; 39 | double delta_q; 40 | 41 | std::vector K_p; 42 | std::vector K_d; 43 | double max_delta_q; 44 | double max_tau_des; 45 | double loop_rate; 46 | }; -------------------------------------------------------------------------------- /src/allegro_hand_description/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(allegro_hand_description) 3 | 4 | find_package(catkin REQUIRED) 5 | 6 | # Declare a package. 7 | catkin_package( 8 | # INCLUDE_DIRS include 9 | # LIBRARIES handover_viz 10 | # CATKIN_DEPENDS other_catkin_pkg 11 | # DEPENDS python-scipy python-matplotlib 12 | ) 13 | 14 | ############# 15 | ## Install ## 16 | ############# 17 | 18 | ## Install all the xacro & mesh files 19 | install(DIRECTORY . 20 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/ 21 | FILES_MATCHING 22 | PATTERN "*.xacro" 23 | PATTERN "*.world" 24 | PATTERN "*.STL" 25 | ) 26 | 27 | catkin_install_python(PROGRAMS scripts/detect_pcan.py 28 | DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) 29 | -------------------------------------------------------------------------------- /src/allegro_hand_description/meshes/allegro.tar.gz: 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-------------------------------------------------------------------------------- 1 | #! /usr/bin/python 2 | 3 | # Automatically detects the /dev/pcanusbN file for controlling the CAN device. 4 | # 5 | # Searches for all possible matches and uses regexp to look for a file of the 6 | # form /dev/pcanusbN. If exactly one is found, prints it and returns it (so this 7 | # is usable within another script). Otherwise, returns the empty string. 8 | # 9 | # Author: Felix Duvallet 10 | 11 | import glob 12 | import re 13 | 14 | def pcan_search(): 15 | # Look for all possible file matches. 16 | filelist = glob.glob('/dev/pcanusb*') 17 | 18 | # Search for the correct format: pcanusbN 19 | device_re = re.compile('.*pcanusb[0-9]+') 20 | 21 | gen = (x for x in filelist if device_re.search(x)) 22 | valid_files = [x for x in gen] 23 | 24 | if len(valid_files) == 1: 25 | print(valid_files[0]) 26 | return valid_files[0] 27 | else: 28 | return '' 29 | 30 | if __name__ == '__main__': 31 | pcan_search() 32 | -------------------------------------------------------------------------------- /src/allegro_hand_description/worlds/allegro.world: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | model://ground_plane 6 | 7 | 8 | 9 | 10 | model://sun 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /src/allegro_hand_driver/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(allegro_hand_driver) 3 | 4 | ## Find catkin macros and libraries 5 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) 6 | ## is used, also find other catkin packages 7 | find_package(catkin REQUIRED COMPONENTS 8 | libpcan 9 | roscpp 10 | std_msgs 11 | ) 12 | 13 | ################################### 14 | ## catkin specific configuration ## 15 | ################################### 16 | 17 | catkin_package( 18 | INCLUDE_DIRS include 19 | LIBRARIES allegro_hand_driver 20 | CATKIN_DEPENDS 21 | libpcan 22 | roscpp 23 | std_msgs 24 | # DEPENDS system_lib 25 | ) 26 | 27 | ########### 28 | ## Build ## 29 | ########### 30 | 31 | include_directories( 32 | ${catkin_INCLUDE_DIRS} 33 | include 34 | ) 35 | 36 | add_library(allegro_hand_driver 37 | src/AllegroHandDrv.cpp 38 | src/candrv/pcan.cpp 39 | ) 40 | 41 | ############# 42 | ## Install ## 43 | ############# 44 | 45 | install(TARGETS allegro_hand_driver 46 | ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 47 | LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 48 | RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 49 | ) 50 | 51 | ## Mark cpp header files for installation 52 | install(DIRECTORY include/${PROJECT_NAME}/ 53 | DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} 54 | FILES_MATCHING PATTERN "*.h" 55 | ) 56 | -------------------------------------------------------------------------------- /src/allegro_hand_driver/include/allegro_hand_driver/AllegroHandDef.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Software License Agreement (BSD License) 3 | * 4 | * Copyright (c) 2016, Wonik Robotics. 5 | * All rights reserved. 6 | * 7 | * Redistribution and use in source and binary forms, with or without 8 | * modification, are permitted provided that the following conditions 9 | * are met: 10 | * 11 | * * Redistributions of source code must retain the above copyright 12 | * notice, this list of conditions and the following disclaimer. 13 | * * Redistributions in binary form must reproduce the above 14 | * copyright notice, this list of conditions and the following 15 | * disclaimer in the documentation and/or other materials provided 16 | * with the distribution. 17 | * * Neither the name of Wonik Robotics nor the names of its 18 | * contributors may be used to endorse or promote products derived 19 | * from this software without specific prior written permission. 20 | * 21 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 22 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 23 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 24 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 25 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 26 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 27 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 28 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 29 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 30 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 31 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 32 | * POSSIBILITY OF SUCH DAMAGE. 33 | */ 34 | 35 | /* 36 | * @file AllegroHandDef.h 37 | * @brief Allegro Hand constants 38 | * 39 | * Created on: Nov 15, 2012 40 | * Added to Project: Jan 17, 2013 41 | * Author: Sean Yi, K.C.Chang, Seungsu Kim, & Alex Alspach 42 | * Maintained by: Sean Yi(seanyi@wonikrobotics.com) 43 | */ 44 | #ifndef __ALLEGROHAND_DEF_H__ 45 | #define __ALLEGROHAND_DEF_H__ 46 | 47 | namespace allegro 48 | { 49 | 50 | enum eJointName 51 | { 52 | eJOINTNAME_INDEX_0, 53 | eJOINTNAME_INDEX_1, 54 | eJOINTNAME_INDEX_2, 55 | eJOINTNAME_INDEX_3, 56 | eJOINTNAME_MIDDLE_0, 57 | eJOINTNAME_MIDDLE_1, 58 | eJOINTNAME_MIDDLE_2, 59 | eJOINTNAME_MIDDLE_3, 60 | eJOINTNAME_PINKY_0, 61 | eJOINTNAME_PINKY_1, 62 | eJOINTNAME_PINKY_2, 63 | eJOINTNAME_PINKY_3, 64 | eJOINTNAME_THUMB_0, 65 | eJOINTNAME_THUMB_1, 66 | eJOINTNAME_THUMB_2, 67 | eJOINTNAME_THUMB_3, 68 | DOF_JOINTS 69 | }; 70 | 71 | } 72 | 73 | #endif // __ALLEGROHAND_DEF_H__ 74 | -------------------------------------------------------------------------------- /src/allegro_hand_driver/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | allegro_hand_driver 4 | 2.0.1 5 | 6 | ROS stack for SimLab's Allegro Hand. 7 | 8 | 9 | Sean Yi 10 | 11 | BSD 12 | http://ros.org/wiki/AllegroHandStack 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | catkin 22 | roscpp 23 | libpcan 24 | std_msgs 25 | roscpp 26 | libpcan 27 | std_msgs 28 | message_runtime 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | -------------------------------------------------------------------------------- /src/allegro_hand_keyboard/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | allegro_hand_keyboard 4 | 0.0.0 5 | The allegro_hand_keyboard package 6 | 7 | 8 | 9 | 10 | sean 11 | 12 | 13 | 14 | 15 | 16 | TODO 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | catkin 43 | roscpp 44 | rospy 45 | std_msgs 46 | roscpp 47 | rospy 48 | std_msgs 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | -------------------------------------------------------------------------------- /src/allegro_hand_keyboard/src/virtualkey_codes.h: -------------------------------------------------------------------------------- 1 | #ifndef VIRTUALKEY_CODES_H 2 | #define VIRTUALKEY_CODES_H 3 | 4 | // http://nehe.gamedev.net/article/msdn_virtualkey_codes/15009/ 5 | #define VK_SPACE 0x20 6 | #define VK_LSHIFT 0xA0 7 | 8 | #define KEYCODE_RIGHT 0x43 9 | #define KEYCODE_LEFT 0x44 10 | #define KEYCODE_UP 0x41 11 | #define KEYCODE_DOWN 0x42 12 | 13 | #define KEYCODE_0 0x30 14 | #define KEYCODE_1 0x31 15 | #define KEYCODE_2 0x32 16 | #define KEYCODE_3 0x33 17 | #define KEYCODE_4 0x34 18 | #define KEYCODE_5 0x35 19 | #define KEYCODE_6 0x36 20 | #define KEYCODE_7 0x37 21 | #define KEYCODE_8 0x38 22 | #define KEYCODE_9 0x39 23 | 24 | #define KEYCODE_NUMPAD0 0x60 25 | #define KEYCODE_NUMPAD1 0x61 26 | #define KEYCODE_NUMPAD2 0x62 27 | #define KEYCODE_NUMPAD3 0x63 28 | #define KEYCODE_NUMPAD4 0x64 29 | #define KEYCODE_NUMPAD5 0x65 30 | #define KEYCODE_NUMPAD6 0x66 31 | #define KEYCODE_NUMPAD7 0x67 32 | #define KEYCODE_NUMPAD8 0x68 33 | #define KEYCODE_NUMPAD9 0x69 34 | 35 | #define KEYCODE_A 0x41 36 | #define KEYCODE_B 0x42 37 | #define KEYCODE_C 0x43 38 | #define KEYCODE_D 0x44 39 | #define KEYCODE_E 0x45 40 | #define KEYCODE_F 0x46 41 | #define KEYCODE_G 0x47 42 | #define KEYCODE_H 0x48 43 | #define KEYCODE_I 0x49 44 | #define KEYCODE_J 0x4A 45 | #define KEYCODE_K 0x4B 46 | #define KEYCODE_L 0x4C 47 | #define KEYCODE_M 0x4D 48 | #define KEYCODE_N 0x4E 49 | #define KEYCODE_O 0x4F 50 | #define KEYCODE_P 0x50 51 | #define KEYCODE_Q 0x51 52 | #define KEYCODE_R 0x52 53 | #define KEYCODE_S 0x53 54 | #define KEYCODE_T 0x54 55 | #define KEYCODE_U 0x55 56 | #define KEYCODE_V 0x56 57 | #define KEYCODE_W 0x57 58 | #define KEYCODE_X 0x58 59 | #define KEYCODE_Y 0x59 60 | #define KEYCODE_Z 0x5A 61 | 62 | #define KEYCODE_a 0x61 63 | #define KEYCODE_b 0x62 64 | #define KEYCODE_c 0x63 65 | #define KEYCODE_d 0x64 66 | #define KEYCODE_e 0x65 67 | #define KEYCODE_f 0x66 68 | #define KEYCODE_g 0x67 69 | #define KEYCODE_h 0x68 70 | #define KEYCODE_i 0x69 71 | #define KEYCODE_j 0x6A 72 | #define KEYCODE_k 0x6B 73 | #define KEYCODE_l 0x6C 74 | #define KEYCODE_m 0x6D 75 | #define KEYCODE_n 0x6E 76 | #define KEYCODE_o 0x6F 77 | #define KEYCODE_p 0x70 78 | #define KEYCODE_q 0x71 79 | #define KEYCODE_r 0x72 80 | #define KEYCODE_s 0x73 81 | #define KEYCODE_t 0x74 82 | #define KEYCODE_u 0x75 83 | #define KEYCODE_v 0x76 84 | #define KEYCODE_w 0x77 85 | #define KEYCODE_x 0x78 86 | #define KEYCODE_y 0x79 87 | #define KEYCODE_z 0x7A 88 | 89 | #define KEYCODE_slash 0x2F 90 | #define KEYCORD_question 0x3F 91 | 92 | #endif // VIRTUALKEY_CODES_H 93 | -------------------------------------------------------------------------------- /src/allegro_hand_parameters/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(allegro_hand_parameters) 3 | 4 | find_package(catkin REQUIRED) 5 | 6 | # Declare a package. 7 | catkin_package() 8 | 9 | ############# 10 | ## Install ## 11 | ############# 12 | 13 | ## Install all the parameter files 14 | install(DIRECTORY . 15 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/ 16 | FILES_MATCHING PATTERN "*.yaml" 17 | ) 18 | -------------------------------------------------------------------------------- /src/allegro_hand_parameters/gains_pd.yaml: -------------------------------------------------------------------------------- 1 | # Gains for the Proportional-Derivative Joint Space Controller 2 | # included with the Allegro Hand ROS Package. 3 | # P and D gains for each of the 16 joints. 4 | 5 | gains_pd: 6 | # proportial 7 | p: 8 | # Index finger 9 | j00: 1.5 10 | j01: 2.0 11 | j02: 1.8 12 | j03: 1.3 13 | 14 | # Middle finger 15 | j10: 1.5 16 | j11: 2.0 17 | j12: 1.8 18 | j13: 1.3 19 | 20 | # Ring finger 21 | j20: 1.5 22 | j21: 2.0 23 | j22: 1.8 24 | j23: 1.3 25 | 26 | # Thumb finger 27 | j30: 2.2 28 | j31: 1.7 29 | j32: 1.9 30 | j33: 1.3 31 | 32 | #derivative 33 | d: 34 | # Index finger 35 | j00: 0.1 36 | j01: 0.11 37 | j02: 0.12 38 | j03: 0.13 39 | 40 | # Middle finger 41 | j10: 0.1 42 | j11: 0.11 43 | j12: 0.12 44 | j13: 0.13 45 | 46 | # Ring finger 47 | j20: 0.1 48 | j21: 0.11 49 | j22: 0.12 50 | j23: 0.13 51 | 52 | # Thumb finger 53 | j30: 0.15 54 | j31: 0.14 55 | j32: 0.12 56 | j33: 0.11 57 | 58 | 59 | -------------------------------------------------------------------------------- /src/allegro_hand_parameters/initial_position.yaml: -------------------------------------------------------------------------------- 1 | # Initial Position used in the PD and Velocity Saturation Joint Space Controllers 2 | 3 | # Home Position 4 | initial_position: 5 | j00: 0.0 6 | j01: -10.0 7 | j02: 45.0 8 | j03: 45.0 9 | j10: 0.0 10 | j11: -10.0 11 | j12: 45.0 12 | j13: 45.0 13 | j20: 5.0 14 | j21: -5.0 15 | j22: 50.0 16 | j23: 45.0 17 | j30: 60.0 18 | j31: 25.0 19 | j32: 15.0 20 | j33: 45.0 21 | -------------------------------------------------------------------------------- /src/allegro_hand_parameters/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | allegro_hand_parameters 4 | 0.0.0 5 | parameters: calibration zeros, controller parameters 6 | 7 | 8 | Sridhar Pandian Arunachalam 9 | 10 | catkin 11 | 12 | 13 | 14 | 15 | TODO 16 | 17 | 18 | 19 | 20 | 21 | 22 | -------------------------------------------------------------------------------- /src/allegro_hand_parameters/poses.yaml: -------------------------------------------------------------------------------- 1 | 1: 2 | - 0 3 | - 0 4 | - 0 5 | - 0 6 | - 0 7 | - 0 8 | - 0 9 | - 0 10 | - 0 11 | - 0 12 | - 0 13 | - 0 14 | - 0 15 | - 0 16 | - 0 17 | - 0 18 | 19 | 2: 20 | - 0 21 | - 1 22 | - 1 23 | - 1 24 | - 0 25 | - 1 26 | - 1 27 | - 1 28 | - 0 29 | - 1 30 | - 1 31 | - 1 32 | - 0 33 | - 1 34 | - 1 35 | - 1 36 | 37 | 3: 38 | - 0 39 | - 0 40 | - 0 41 | - 0 42 | - 0 43 | - 1.5 44 | - 1 45 | - 1.5 46 | - 0 47 | - 1.5 48 | - 1 49 | - 1.5 50 | - 0 51 | - 1 52 | - 1 53 | - 1 54 | 55 | 4: 56 | - 0 57 | - 1.5 58 | - 1 59 | - 1.5 60 | - 0 61 | - 1.5 62 | - 1 63 | - 1.5 64 | - 0 65 | - 0 66 | - 0 67 | - 0 68 | - 0 69 | - 1 70 | - 1 71 | - 1 72 | 73 | 5: 74 | - 0 75 | - 1.5 76 | - 1 77 | - 1.5 78 | - 0 79 | - 1.5 80 | - 1 81 | - 1.5 82 | - 0 83 | - 1.5 84 | - 1 85 | - 1.5 86 | - 0 87 | - 0 88 | - 0 89 | - 0 90 | 91 | 6: 92 | - 0 93 | - 1.5 94 | - 1 95 | - 1.5 96 | - 0 97 | - 0 98 | - 0 99 | - 0 100 | - 0 101 | - 0 102 | - 0 103 | - 0 104 | - 0 105 | - 1 106 | - 1 107 | - 1 108 | 109 | 110 | 7: 111 | - 0 112 | - 0 113 | - 0 114 | - 0 115 | - 0 116 | - 0 117 | - 0 118 | - 0 119 | - 0 120 | - 1.5 121 | - 1 122 | - 1.5 123 | - 0 124 | - 1 125 | - 1 126 | - 1 127 | 128 | 8: 129 | - 0.024849520708817848 130 | - 1.5555595999526242 131 | - 0.013213486027695386 132 | - 0.014946230291803204 133 | - 0.01305146279974576 134 | - 1.6910043565583956 135 | - 0.12569038730749724 136 | - 0.02435368272835607 137 | - 0.08425293202634006 138 | - 1.7370102660794522 139 | - 1.403620676285923 140 | - 1.4825990547182482 141 | - 0.4869205809881635 142 | - 2.5446636356428893 143 | - 1.1765864722109913 144 | - 0.9770347558096538 145 | 146 | 9: 147 | - 0.14294151426085402 148 | - 1.4101218610359334 149 | - 0.2954180484181886 150 | - 0.03331298606813065 151 | - 0.0003812298875915408 152 | - 1.7387880311956003 153 | - 0.49559118753687603 154 | - 0.050826583277743566 155 | - 0.06232196731113371 156 | - 1.7382675620040176 157 | - 1.3911992681283247 158 | - 1.4502717071435987 159 | - 0.3672149913060776 160 | - 1.808428339232544 161 | - 1.5700368160769513 162 | - 0.9793622128682757 163 | 164 | 10: 165 | - 0.161838299027289 166 | - 1.3724538537949893 167 | - 0.4262838484305018 168 | - 1.1748921126068348 169 | - 0.1447605010538326 170 | - 1.359220285383373 171 | - 0.5518246920814791 172 | - 0.8954477721511309 173 | - 0.012425954625739866 174 | - 1.3933632415435435 175 | - 0.398254916236496 176 | - 1.1218658795789422 177 | - 0.6192013510511333 178 | - 1.4580783676847457 179 | - 1.2661587779168795 180 | - 0.9681208728797197 -------------------------------------------------------------------------------- /src/allegro_hand_parameters/zero.yaml: -------------------------------------------------------------------------------- 1 | #SAH030C034R 2 | #The YAML file used by the Allegro Hand Node is named "zero.yaml" 3 | 4 | hand_info: 5 | control_period_s: 0.003 6 | DOF: 16 7 | which_hand: 'Right' 8 | robot_name: 'Allegro Hand' 9 | manufacturer: 'Wonikrobotics Co. Ltd.' 10 | origin: 'Seoul, South Korea' 11 | serial: 'SAH040A080R' 12 | version: 4.0 13 | input_voltage: 12 14 | -------------------------------------------------------------------------------- /src/ll4ma_kdl/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(ll4ma_kdl) 3 | set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14") 4 | 5 | ## Find catkin macros and libraries 6 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) 7 | ## is used, also find other catkin packages 8 | #set(fcl_DIR $ENV{HOME}/local/lib/cmake/fcl/) 9 | #find_package(octomap 1.9 EXACT REQUIRED) 10 | #find_package(fcl 0.6 EXACT REQUIRED) 11 | 12 | # Get Ubuntu codename to conditionally handle build for 16.04 13 | find_program(LSB_RELEASE_EXEC lsb_release) 14 | execute_process(COMMAND ${LSB_RELEASE_EXEC} -cs 15 | OUTPUT_VARIABLE UBUNTU_CODENAME 16 | OUTPUT_STRIP_TRAILING_WHITESPACE 17 | ) 18 | if(UBUNTU_CODENAME STREQUAL "xenial") 19 | add_definitions(-DXENIAL_BUILD) 20 | endif() 21 | 22 | find_package(DART 6.1 COMPONENTS utils utils-urdf) 23 | find_package(Eigen3 REQUIRED) 24 | find_package(catkin REQUIRED message_generation 25 | std_msgs 26 | COMPONENTS 27 | roscpp 28 | kdl_parser 29 | roslib 30 | eigen_conversions 31 | geometry_msgs 32 | tf_conversions 33 | ) 34 | 35 | add_message_files( 36 | DIRECTORY msg 37 | FILES 38 | IK_command.msg 39 | ) 40 | 41 | generate_messages( 42 | DEPENDENCIES 43 | std_msgs 44 | ) 45 | 46 | 47 | include_directories( 48 | ${catkin_INCLUDE_DIRS} 49 | ${CMAKE_CURRENT_SOURCE_DIR}/include 50 | ${CMAKE_CURRENT_SOURCE_DIR}/include/ll4ma_kdl 51 | ${CMAKE_CURRENT_SOURCE_DIR}/include/ll4ma_kdl/manipulator_kdl 52 | ${DART_INCLUDE_DIRS} 53 | ) 54 | add_definitions(${DART_DEFINITIONS}) 55 | 56 | 57 | ## Declare C++ libraries 58 | 59 | 60 | catkin_package( 61 | INCLUDE_DIRS include include/ll4ma_kdl 62 | LIBRARIES manipulator_kdl manipulator_kdl_bck transforms 63 | CATKIN_DEPENDS 64 | kdl_parser 65 | eigen_conversions 66 | message_runtime 67 | message_generation 68 | std_msgs 69 | geometry_msgs 70 | tf_conversions 71 | DEPENDS 72 | ) 73 | 74 | 75 | add_library(manipulator_kdl src/manipulator_kdl/robot_kdl.cpp) 76 | add_library(manipulator_kdl_bck src/manipulator_kdl/robot_kdl_bck.cpp) 77 | add_library(transforms src/utils/transforms.cpp) 78 | # If building 16.04, need to add jacdotsolver missing in that version of KDL 79 | if(UBUNTU_CODENAME STREQUAL "xenial") 80 | add_library(jacdotsolver src/manipulator_kdl/chainjnttojacdotsolver.cpp) 81 | target_link_libraries(manipulator_kdl jacdotsolver) 82 | endif() 83 | 84 | 85 | 86 | ## Declare executables: 87 | add_executable(kdl_test_node src/kdl_test_node.cpp) 88 | #add_executable(benchmark_kdl src/benchmark_kdl.cpp) 89 | 90 | ## Link libraries 91 | target_link_libraries(kdl_test_node manipulator_kdl ${catkin_LIBRARIES} ) 92 | #target_link_libraries(benchmark_kdl manipulator_kdl ${catkin_LIBRARIES}) 93 | 94 | #add_executable(dynamics_negation_node src/dart_dynamics_negation.cpp) 95 | #target_link_libraries(dynamics_negation_node manipulator_kdl ${DART_LIBRARIES} ${catkin_LIBRARIES}) 96 | #add_executable(dart_kdl_test src/dart_kdl_test.cpp) 97 | #target_link_libraries(dart_kdl_test manipulator_kdl ${DART_LIBRARIES} ${catkin_LIBRARIES}) 98 | #add_executable(dart_test src/dart_test_node.cpp) 99 | #target_link_libraries(dart_test ${DART_LIBRARIES}) 100 | -------------------------------------------------------------------------------- /src/ll4ma_kdl/LICENSE: -------------------------------------------------------------------------------- 1 | Copyright (C) 2019 University of Utah 2 | 3 | Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: 4 | 5 | 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. 6 | 7 | 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. 8 | 9 | 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. 10 | 11 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -------------------------------------------------------------------------------- /src/ll4ma_kdl/include/ll4ma_kdl/debug.h: -------------------------------------------------------------------------------- 1 | #ifdef DEBUG 2 | #undef DEBUG 3 | #endif 4 | 5 | #ifdef DEBUG_ALL 6 | #undef DEBUG_ALL 7 | #endif 8 | 9 | // uncomment below lines to enable debug information 10 | //#define DEBUG 1 11 | 12 | //#define DEBUG_ALL 1 // Prints out information inside every loop. Only for Lt. Commander Data. 13 | -------------------------------------------------------------------------------- /src/ll4ma_kdl/include/ll4ma_kdl/utils/transforms.h: -------------------------------------------------------------------------------- 1 | #include "debug.h" 2 | #include 3 | 4 | #include 5 | #include 6 | #include 7 | #include 8 | // ros 9 | #include 10 | #include 11 | #include 12 | 13 | namespace ll4ma_kdl 14 | { 15 | class transformClass 16 | { 17 | public: 18 | /// Converts quaterion to Euler RPY 19 | Eigen::VectorXd get_RPY_q(const double &x, const double &y,const double &z, const double &w) const; 20 | /// Converts Euler RPY to quaternion 21 | Eigen::VectorXd get_q_RPY(const double &R,const double &P, const double &Y) const; 22 | }; 23 | } 24 | -------------------------------------------------------------------------------- /src/ll4ma_kdl/launch/allegro_ik.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | -------------------------------------------------------------------------------- /src/ll4ma_kdl/launch/kdl_test.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /src/ll4ma_kdl/launch/lbr4_solver.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | -------------------------------------------------------------------------------- /src/ll4ma_kdl/msg/IK_command.msg: -------------------------------------------------------------------------------- 1 | # IK_command msg 2 | # Used to send data to IK solver for solving IK 3 | Header header 4 | string[] frame_names 5 | string robot_desc 6 | float64[] cart_pose 7 | 8 | -------------------------------------------------------------------------------- /src/ll4ma_kdl/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | ll4ma_kdl 4 | 0.0.0 5 | The ll4ma_kdl package 6 | 7 | 8 | 9 | 10 | bala 11 | 12 | 13 | 14 | 15 | 16 | TODO 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | tf_conversions 43 | catkin 44 | roscpp 45 | kdl_parser 46 | trac_ik_lib 47 | std_msgs 48 | message_runtime 49 | message_generation 50 | roslib 51 | eigen_conversions 52 | geometry_msgs 53 | 54 | tf_conversions 55 | geometry_msgs 56 | eigen_conversions 57 | roslib 58 | std_msgs 59 | 60 | message_runtime 61 | message_generation 62 | 63 | trac_ik_lib 64 | roscpp 65 | kdl_parser 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | -------------------------------------------------------------------------------- /src/ll4ma_kdl/scripts/test_hand_model.py: -------------------------------------------------------------------------------- 1 | import numpy as np 2 | from handModel import HandModel 3 | from scipy.spatial.transform import Rotation as R 4 | 5 | def test_hand_model_FK(): 6 | model = HandModel("allegro/robot_description") 7 | q = np.array([0.1, 0.1, 0.1, 0.1]).T 8 | # 2 denotes RING finger 9 | fk = model.FK(q, 2) # 4x4 matrix 10 | assert fk.shape == (4,4) 11 | position = np.squeeze(fk[0:3,3]).T 12 | assert abs(position[0,0] - 0.03917029) < 1e-4 13 | assert abs(position[1,0] - (-0.05071672)) < 1e-4 14 | assert abs(position[2,0] - 0.14898276) < 1e-4 15 | print("FK is correct") 16 | 17 | # fk for biotac origin must be different 18 | fk_origin = model.FK(q, 2,"ring_biotac_origin") 19 | position_origin = np.squeeze(fk_origin[0:3,3]).T 20 | assert abs(position_origin[0,0] - position[0,0]) > 1e-4 21 | assert abs(position_origin[1,0] - position[1,0]) > 1e-4 22 | assert abs(position_origin[2,0] - position[2,0]) > 1e-4 23 | print("chains to origins are constructed as well") 24 | 25 | # test jacobians 26 | q_1 = q 27 | q_2 = np.array([1e-2 + q_1[i] for i in range(4)]).T 28 | delta_q = q_2 - q_1 29 | fk_2 = model.FK(q_2, 2) 30 | fk_1 = model.FK(q_1,2) # 4x4 matrix 31 | position = np.squeeze(fk_2[0:3,3]).T - np.squeeze(fk_1[0:3,3]).T 32 | rotation = R.from_dcm(fk_2[:3,:3]).as_euler("xyz").T - R.from_dcm(fk_1[:3,:3]).as_euler("xyz").T 33 | rotation = np.expand_dims(rotation,1) 34 | delta_x = np.vstack((position,rotation)) 35 | 36 | j = model.Jacobian(q_2, 2) 37 | print("j dot delta_q: ", np.dot(j, delta_q)) 38 | print("delta_x: ", delta_x) 39 | 40 | def main(): 41 | test_hand_model_FK() 42 | 43 | if __name__ == "__main__": 44 | main() 45 | -------------------------------------------------------------------------------- /src/ll4ma_kdl/scripts/test_kdl.py: -------------------------------------------------------------------------------- 1 | # Use this file to test kdl functions 2 | 3 | import numpy as np 4 | from handArmModel import handArmModel 5 | 6 | from rospkg import RosPack 7 | rp=RosPack() 8 | rp.list() 9 | path_urdf=rp.get_path('urlg_robots_description')+'/robots/' 10 | 11 | def test_lbr4_allegro_model(): 12 | # import class: 13 | file_=path_urdf+'lbr4_allegro_right.urdf' 14 | 15 | print "Opening "+file_ 16 | lbr4_allegro=handArmModel(file_) 17 | j=np.zeros(7) 18 | print lbr4_allegro.FK_arm(j) 19 | 20 | j=np.zeros(7+4) 21 | print lbr4_allegro.FK_arm_ftip(j,3) 22 | 23 | test_lbr4_allegro_model() 24 | -------------------------------------------------------------------------------- /src/ll4ma_kdl/src/benchmark_kdl.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | * Copyright (C) 2017 Balakumar Sundaralingam, LL4MA lab 3 | * 4 | * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: 5 | * 6 | * 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. 7 | * 8 | * 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. 9 | * 10 | * 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. 11 | * 12 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 13 | */ 14 | // This file tests the different functions from our manipulator_kdl library, use this as a reference 15 | #include "manipulator_kdl/robot_kdl.h" 16 | 17 | #include 18 | #include 19 | 20 | int main(int argc, char** argv) 21 | { 22 | ros::init(argc,argv,"kdl_test_node"); 23 | ros::NodeHandle n; 24 | 25 | 26 | // urdf file location: 27 | string urdf_file = ros::package::getPath("ll4ma_robots_description"); 28 | urdf_file.append("/urdf/lbr4/lbr4_kdl.urdf"); 29 | vector ee_names={"lbr4_7_link"}; 30 | vector base_names={"base_link"}; 31 | vector g_vec={0.0,0.0,-9.8}; 32 | // initialize kdl class: 33 | manipulator_kdl::robotKDL lbr4_(urdf_file,base_names,ee_names,g_vec); 34 | cerr<<"Created KDL model"< j_pos={0.0,0.0,0.0,0.0,0.0,0.0,0.0}; 36 | vector ee_pose; 37 | ee_pose=lbr4_.getFK(0,j_pos); 38 | cerr< tau_g; 40 | tau_g=lbr4_.getGtau(0,j_pos); 41 | 42 | } 43 | -------------------------------------------------------------------------------- /src/ll4ma_kdl/src/kdl_test_node.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | * Copyright (C) 2017 Balakumar Sundaralingam, LL4MA lab 3 | * 4 | * Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: 5 | * 6 | * 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. 7 | * 8 | * 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. 9 | * 10 | * 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. 11 | * 12 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 13 | */ 14 | // This file tests the different functions from our manipulator_kdl library, use this as a reference 15 | #include "manipulator_kdl/robot_kdl.h" 16 | 17 | #include 18 | #include 19 | 20 | using namespace std; 21 | int main(int argc, char** argv) 22 | { 23 | ros::init(argc,argv,"kdl_test_node"); 24 | ros::NodeHandle n; 25 | 26 | 27 | // urdf file location: 28 | //string urdf_file = ros::package::getPath("urlg_robots_description"); 29 | //urdf_file.append("/debug/lbr4_kdl.urdf"); 30 | vector ee_names={"lbr4_7_link"}; 31 | vector base_names={"base_link"}; 32 | vector g_vec={0.0,0.0,-9.8}; 33 | // initialize kdl class: 34 | // load robot from robot_description: 35 | manipulator_kdl::robotKDL lbr4_("robot_description",n,base_names,ee_names,g_vec); 36 | cerr<<"Created KDL model"< 4 | #include 5 | #include 6 | 7 | 8 | 9 | int main(int argc, char** argv ) 10 | { 11 | ros::init(argc,argv,"pose_pub_to_ik"); 12 | ros::NodeHandle n; 13 | ros::Rate loop_rate(100); 14 | ros::Publisher ik_pub=n.advertise("ik/command",1); 15 | while(ros::ok()) 16 | { 17 | urlg_robots_ik_solvers::IK_command ik_c; 18 | ik_c.frame_names.resize(2); 19 | ik_c.frame_names[0]="palm_link"; 20 | ik_c.robot_desc="ring_tip"; 21 | ik_c.cart_pose.resize(3); 22 | ik_c.cart_pose[0]=0.2; 23 | ik_c.cart_pose[1]=0.2; 24 | ik_c.cart_pose[2]=-0.1; 25 | ik_pub.publish(ik_c); 26 | ros::spinOnce(); 27 | loop_rate.sleep(); 28 | } 29 | return(0); 30 | } 31 | 32 | -------------------------------------------------------------------------------- /src/ll4ma_kdl/src/old_src/allegro_trac_generic.cpp: -------------------------------------------------------------------------------- 1 | // Builds a kdl tree from robot description for ik solving of the allegro hand(palm_link to fingers) and takes subscribers and solves the IK giving joint angles. 2 | // Author: bala@cs.utah.edu 3 | #include 4 | #include 5 | #include 6 | #include 7 | #include 8 | #include 9 | #include 10 | bool init_tree=false; 11 | bool get_data=false; 12 | using namespace std; 13 | ros::Publisher joint_pub; 14 | urlg_robots_ik_solvers::IK_command ik_c; 15 | //TRAC_IK::TRAC_IK ik_solver; 16 | void ikCallback(urlg_robots_ik_solvers::IK_command ik_temp) 17 | { 18 | ik_c=ik_temp; 19 | get_data=true; 20 | 21 | //std::cerr<("/allegro_hand_right/control/joint_cmd",1); 32 | ros::Publisher control_pub=n.advertise("/allegro_hand_right/control/control_type",1); 33 | // KDL::Tree full_tree; 34 | std::string robot_desc_string; 35 | n.param("robot_description",robot_desc_string,std::string()); 36 | /* if(!kdl_parser::treeFromString(robot_desc_string,full_tree)) 37 | { 38 | ROS_ERROR("Failed to construct kdl tree"); 39 | return false; 40 | } 41 | else 42 | { 43 | ROS_INFO("Built full tree"); 44 | } 45 | */ 46 | 47 | TRAC_IK::TRAC_IK* ik_sol; 48 | while(ros::ok()) 49 | { 50 | std_msgs::Char c_meth; 51 | c_meth.data='p'; 52 | control_pub.publish(c_meth); 53 | if(!init_tree && get_data) 54 | { 55 | vector frames=ik_c.frame_names; 56 | // TRAC_IK::TRAC_IK ik_solver(frames[0],frames[1],"/robot_description",0.005,1e-5,TRAC_IK::Speed); 57 | TRAC_IK::TRAC_IK ik_solver("palm_link","ring_link_3",robot_desc_string,0.005,1e-5,TRAC_IK::Speed); 58 | 59 | init_tree=true; 60 | ik_sol=&ik_solver; 61 | 62 | } 63 | if(init_tree && get_data) 64 | { 65 | KDL::JntArray joint_seed,return_joints; 66 | //TODO Make joint size generic 67 | joint_seed.resize(4); 68 | vector pose=ik_c.cart_pose; 69 | int rc = ik_sol->CartToJnt(joint_seed, KDL::Frame({pose[0],pose[1],pose[2]}),return_joints); 70 | urlg_msgs::JointCommands j_cmd; 71 | j_cmd.name={"joint8","joint9","joint10","joint11"}; 72 | j_cmd.position={return_joints(0),return_joints(1),return_joints(2),return_joints(3)}; 73 | joint_pub.publish(j_cmd); 74 | get_data=false; 75 | } 76 | 77 | ros::spinOnce(); 78 | loop_rate.sleep(); 79 | } 80 | return(0); 81 | } 82 | -------------------------------------------------------------------------------- /src/ll4ma_kdl/src/old_src/allegro_trac_ik.cpp: -------------------------------------------------------------------------------- 1 | // Builds a kdl tree from robot description for ik solving of the allegro hand(palm_link to fingers) 2 | // Author: bala@cs.utah.edu 3 | #include 4 | #include 5 | #include 6 | #include 7 | #include 8 | 9 | int main(int argc,char** argv) 10 | { 11 | ros::init(argc,argv,"allegro_ik"); 12 | ros::NodeHandle n; 13 | ros::Rate loop_rate(100); 14 | 15 | ros::Publisher joint_pub=n.advertise("lbr_allegro/allegro_hand_right/control/joint_cmd",1); 16 | ros::Publisher control_pub=n.advertise("lbr_allegro/allegro_hand_right/control/control_type",1); 17 | 18 | 19 | KDL::Tree full_tree; 20 | std::string robot_desc_string; 21 | n.param("robot_description",robot_desc_string,std::string()); 22 | 23 | TRAC_IK::TRAC_IK ik_solver("palm_link","ring_link_3",robot_desc_string,0.005,1e-5,TRAC_IK::Speed); 24 | KDL::JntArray joint_seed,return_joints; 25 | joint_seed.resize(4); 26 | int rc = ik_solver.CartToJnt(joint_seed, KDL::Frame({0.2,0.2,-0.1}),return_joints); 27 | std::cerr< 4 | #include 5 | #include 6 | #include 7 | #include 8 | 9 | int main(int argc,char** argv) 10 | { 11 | ros::init(argc,argv,"lbr4_kdl_parser"); 12 | ros::NodeHandle n; 13 | ros::Rate loop_rate(100); 14 | 15 | ros::Publisher joint_pub=n.advertise("lbr_allegro/lbr4/control/joint_cmd",1); 16 | ros::Publisher control_pub=n.advertise("lbr_allegro/lbr4/control/control_type",1); 17 | 18 | 19 | KDL::Tree full_tree; 20 | std::string robot_desc_string; 21 | n.param("robot_description",robot_desc_string,std::string()); 22 | 23 | TRAC_IK::TRAC_IK ik_solver("base_link","palm_link","/robot_description",0.005,1e-5,TRAC_IK::Speed); 24 | KDL::JntArray joint_seed,return_joints; 25 | joint_seed.resize(7); 26 | int rc = ik_solver.CartToJnt(joint_seed, KDL::Frame({0.2,0.2,-0.1}),return_joints); 27 | std::cerr<.robot.xacro` file in the `robots` folder that serves as the main interface to adding features and components to the manipulator. Xacro arguments appear at the top of each file and indicate the options available for the manipulator. We currently have the following configurations: 12 | 13 | ### Manipulators 14 | * KUKA LBR4+ 15 | * Baxter 16 | ### End-Effectors 17 | * Allegro 18 | * ReFlex 19 | * Push-stick 20 | ### Sensors 21 | * Optoforce 6-axis force/torque sensor -------------------------------------------------------------------------------- /src/ll4ma_robots_description/launch/baxter_fragment.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /src/ll4ma_robots_description/launch/baxter_rviz.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 22 | 23 | 35 | 36 | 37 | 38 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | -------------------------------------------------------------------------------- /src/ll4ma_robots_description/launch/lbr4_rviz.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 19 | 20 | 31 | 32 | 33 | 34 | 36 | 37 | 38 | 40 | 41 | ["/lbr4/joint_states","/allegro_hand_right/joint_states"] 42 | 43 | 44 | ["/lbr4/joint_states","/reflex/joint_states"] 45 | 46 | 47 | 48 | 49 | 50 | 51 | 53 | 54 | 55 | 56 | 57 | 58 | -------------------------------------------------------------------------------- /src/ll4ma_robots_description/launch/load_virtual_allegro.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 21 | 22 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 37 | 38 | ["$(arg virtual_ns)/joint_states"] 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 49 | 50 | 51 | -------------------------------------------------------------------------------- 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1.000000 1.000000 25 | Ks 1.000000 1.000000 1.000000 26 | Tr 1.000000 27 | illum 2 28 | Ns 0.000000 29 | 30 | -------------------------------------------------------------------------------- /src/ll4ma_robots_description/meshes/panda/visual/link0.obj.mtl: -------------------------------------------------------------------------------- 1 | # 2 | # Wavefront material file 3 | # Converted by Meshlab Group 4 | # 5 | 6 | newmtl material_0 7 | Ka 0.200000 0.200000 0.200000 8 | Kd 0.901961 0.921569 0.929412 9 | Ks 1.000000 1.000000 1.000000 10 | Tr 1.000000 11 | illum 2 12 | Ns 0.000000 13 | 14 | newmtl material_1 15 | Ka 0.200000 0.200000 0.200000 16 | Kd 0.247059 0.247059 0.247059 17 | Ks 1.000000 1.000000 1.000000 18 | Tr 1.000000 19 | illum 2 20 | Ns 0.000000 21 | 22 | newmtl material_2 23 | Ka 0.200000 0.200000 0.200000 24 | Kd 1.000000 1.000000 1.000000 25 | Ks 1.000000 1.000000 1.000000 26 | Tr 1.000000 27 | illum 2 28 | Ns 0.000000 29 | 30 | -------------------------------------------------------------------------------- /src/ll4ma_robots_description/meshes/panda/visual/link1.obj.mtl: -------------------------------------------------------------------------------- 1 | # 2 | # Wavefront material file 3 | # Converted by Meshlab Group 4 | # 5 | 6 | newmtl material_0 7 | Ka 0.200000 0.200000 0.200000 8 | Kd 1.000000 1.000000 1.000000 9 | Ks 1.000000 1.000000 1.000000 10 | Tr 1.000000 11 | illum 2 12 | Ns 0.000000 13 | 14 | -------------------------------------------------------------------------------- /src/ll4ma_robots_description/meshes/panda/visual/link2.obj.mtl: -------------------------------------------------------------------------------- 1 | # 2 | # Wavefront material file 3 | # Converted by Meshlab Group 4 | # 5 | 6 | newmtl material_0 7 | Ka 0.200000 0.200000 0.200000 8 | Kd 1.000000 1.000000 1.000000 9 | Ks 1.000000 1.000000 1.000000 10 | Tr 1.000000 11 | illum 2 12 | Ns 0.000000 13 | 14 | -------------------------------------------------------------------------------- /src/ll4ma_robots_description/meshes/panda/visual/link3.obj.mtl: -------------------------------------------------------------------------------- 1 | # 2 | # Wavefront material file 3 | # Converted by Meshlab Group 4 | # 5 | 6 | newmtl material_0 7 | Ka 0.200000 0.200000 0.200000 8 | Kd 1.000000 1.000000 1.000000 9 | Ks 1.000000 1.000000 1.000000 10 | Tr 1.000000 11 | illum 2 12 | Ns 0.000000 13 | 14 | newmtl material_1 15 | Ka 0.200000 0.200000 0.200000 16 | Kd 0.247059 0.247059 0.247059 17 | Ks 1.000000 1.000000 1.000000 18 | Tr 1.000000 19 | illum 2 20 | Ns 0.000000 21 | 22 | -------------------------------------------------------------------------------- /src/ll4ma_robots_description/meshes/panda/visual/link4.obj.mtl: -------------------------------------------------------------------------------- 1 | # 2 | # Wavefront material file 3 | # Converted by Meshlab Group 4 | # 5 | 6 | newmtl material_0 7 | Ka 0.200000 0.200000 0.200000 8 | Kd 1.000000 1.000000 1.000000 9 | Ks 1.000000 1.000000 1.000000 10 | Tr 1.000000 11 | illum 2 12 | Ns 0.000000 13 | 14 | newmtl material_1 15 | Ka 0.200000 0.200000 0.200000 16 | Kd 0.247059 0.247059 0.247059 17 | Ks 1.000000 1.000000 1.000000 18 | Tr 1.000000 19 | illum 2 20 | Ns 0.000000 21 | 22 | -------------------------------------------------------------------------------- /src/ll4ma_robots_description/meshes/panda/visual/link5.obj.mtl: -------------------------------------------------------------------------------- 1 | # 2 | # Wavefront material file 3 | # Converted by Meshlab Group 4 | # 5 | 6 | newmtl material_0 7 | Ka 0.200000 0.200000 0.200000 8 | Kd 0.247059 0.247059 0.247059 9 | Ks 1.000000 1.000000 1.000000 10 | Tr 1.000000 11 | illum 2 12 | Ns 0.000000 13 | 14 | newmtl material_1 15 | Ka 0.200000 0.200000 0.200000 16 | Kd 1.000000 1.000000 1.000000 17 | Ks 1.000000 1.000000 1.000000 18 | Tr 1.000000 19 | illum 2 20 | Ns 0.000000 21 | 22 | -------------------------------------------------------------------------------- /src/ll4ma_robots_description/meshes/panda/visual/link6.obj.mtl: -------------------------------------------------------------------------------- 1 | # 2 | # Wavefront material file 3 | # Converted by Meshlab Group 4 | # 5 | 6 | newmtl material_0 7 | Ka 0.200000 0.200000 0.200000 8 | Kd 0.901961 0.921569 0.929412 9 | Ks 1.000000 1.000000 1.000000 10 | Tr 1.000000 11 | illum 2 12 | Ns 0.000000 13 | 14 | newmtl material_1 15 | Ka 0.200000 0.200000 0.200000 16 | Kd 1.000000 1.000000 1.000000 17 | Ks 1.000000 1.000000 1.000000 18 | Tr 1.000000 19 | illum 2 20 | Ns 0.000000 21 | 22 | newmtl material_2 23 | Ka 0.200000 0.200000 0.200000 24 | Kd 0.247059 0.247059 0.247059 25 | Ks 1.000000 1.000000 1.000000 26 | Tr 1.000000 27 | illum 2 28 | Ns 0.000000 29 | 30 | newmtl material_3 31 | Ka 0.200000 0.200000 0.200000 32 | Kd 0.039216 0.537255 0.776471 33 | Ks 1.000000 1.000000 1.000000 34 | Tr 1.000000 35 | illum 2 36 | Ns 0.000000 37 | 38 | newmtl material_4 39 | Ka 0.200000 0.200000 0.200000 40 | Kd 0.000000 1.000000 0.000000 41 | Ks 1.000000 1.000000 1.000000 42 | Tr 1.000000 43 | illum 2 44 | Ns 0.000000 45 | 46 | newmtl material_5 47 | Ka 0.200000 0.200000 0.200000 48 | Kd 1.000000 0.000000 0.000000 49 | Ks 1.000000 1.000000 1.000000 50 | Tr 1.000000 51 | illum 2 52 | Ns 0.000000 53 | 54 | -------------------------------------------------------------------------------- /src/ll4ma_robots_description/meshes/panda/visual/link7.obj.mtl: -------------------------------------------------------------------------------- 1 | # 2 | # Wavefront material file 3 | # Converted by Meshlab Group 4 | # 5 | 6 | newmtl material_0 7 | Ka 0.200000 0.200000 0.200000 8 | Kd 1.000000 1.000000 1.000000 9 | Ks 1.000000 1.000000 1.000000 10 | Tr 1.000000 11 | illum 2 12 | Ns 0.000000 13 | 14 | newmtl material_1 15 | Ka 0.200000 0.200000 0.200000 16 | Kd 0.247059 0.247059 0.247059 17 | Ks 1.000000 1.000000 1.000000 18 | Tr 1.000000 19 | illum 2 20 | Ns 0.000000 21 | 22 | newmtl material_2 23 | Ka 0.200000 0.200000 0.200000 24 | Kd 0.894118 0.913725 0.929412 25 | Ks 1.000000 1.000000 1.000000 26 | Tr 1.000000 27 | illum 2 28 | Ns 0.000000 29 | 30 | -------------------------------------------------------------------------------- /src/ll4ma_robots_description/meshes/phantom_omni/base.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NYU-robot-learning/Allegro-Hand-Controller-DIME/7a03c3a85e1927796b26c0077e64ec601658be7d/src/ll4ma_robots_description/meshes/phantom_omni/base.stl -------------------------------------------------------------------------------- /src/ll4ma_robots_description/meshes/phantom_omni/lower_arm.stl: -------------------------------------------------------------------------------- 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https://raw.githubusercontent.com/NYU-robot-learning/Allegro-Hand-Controller-DIME/7a03c3a85e1927796b26c0077e64ec601658be7d/src/ll4ma_robots_description/meshes/reflex/base_link_coll.stl -------------------------------------------------------------------------------- /src/ll4ma_robots_description/meshes/reflex/distal.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NYU-robot-learning/Allegro-Hand-Controller-DIME/7a03c3a85e1927796b26c0077e64ec601658be7d/src/ll4ma_robots_description/meshes/reflex/distal.stl -------------------------------------------------------------------------------- /src/ll4ma_robots_description/meshes/reflex/distal_coll.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.12229377 0.00000002 0.00838142 3 | v 0.12194051 0.01400002 0.00594389 4 | v 0.11458570 0.00000002 0.01200000 5 | v 0.12261394 0.01400002 0.00712721 6 | v 0.12191267 0.01400002 0.00884989 7 | v 0.12001317 0.00000002 0.01046430 8 | v 0.08873001 0.01400002 0.00023908 9 | v 0.09016873 0.00000002 0.00000027 10 | v 0.09016873 0.01400002 0.00000027 11 | v 0.12246089 0.00000002 0.00646639 12 | v 0.08812369 0.01400002 0.01180543 13 | v 0.08700000 0.00000002 0.01000000 14 | v 0.08700000 0.00000002 0.00234471 15 | v 0.08700000 0.01400002 0.00234471 16 | v 0.08809343 0.00000002 0.01182384 17 | v 0.11666819 0.00000002 0.00150000 18 | v 0.11666819 0.01400002 0.00150000 19 | v 0.08740490 0.01400002 0.00101682 20 | v 0.11724428 0.00525002 0.00160044 21 | v 0.08956312 0.00000002 0.00003931 22 | v 0.08900000 0.00000002 0.01200000 23 | v 0.08900000 0.01400002 0.01200000 24 | v 0.11671469 0.00000002 0.01180828 25 | v 0.08862901 0.00000002 0.00027804 26 | v 0.08715963 0.00000002 0.01085817 27 | v 0.08726211 0.00000002 0.00117832 28 | v 0.11821767 0.01400002 0.01133325 29 | v 0.11556049 0.01400002 0.01199827 30 | v 0.12016364 0.01400002 0.01031163 31 | v 0.11808241 0.00000002 0.00208579 32 | v 0.11808241 0.01400002 0.00208579 33 | v 0.08700147 0.01400002 0.01071760 34 | f 22 21 3 35 | f 3 28 22 36 | f 16 17 19 37 | f 9 16 8 38 | f 17 16 9 39 | f 12 32 14 40 | f 12 14 13 41 | f 12 25 32 42 | f 11 15 22 43 | f 22 15 21 44 | f 13 14 26 45 | f 30 31 10 46 | f 31 2 10 47 | f 23 28 3 48 | f 27 28 23 49 | f 20 9 8 50 | f 29 6 5 51 | f 5 6 1 52 | f 29 27 6 53 | f 27 23 6 54 | f 15 11 32 55 | f 25 15 32 56 | f 7 20 24 57 | f 9 20 7 58 | f 10 2 4 59 | f 4 5 1 60 | f 4 1 10 61 | f 18 24 26 62 | f 7 24 18 63 | f 30 15 25 64 | f 25 12 30 65 | f 30 3 21 66 | f 30 21 15 67 | f 8 16 30 68 | f 30 16 19 69 | f 30 10 1 70 | f 24 20 30 71 | f 30 12 13 72 | f 30 6 23 73 | f 13 26 30 74 | f 30 23 3 75 | f 30 20 8 76 | f 30 1 6 77 | f 26 24 30 78 | f 18 26 14 79 | f 31 32 11 80 | f 19 17 31 81 | f 31 28 27 82 | f 17 9 31 83 | f 31 14 32 84 | f 31 22 28 85 | f 11 22 31 86 | f 31 4 2 87 | f 29 5 31 88 | f 31 5 4 89 | f 31 27 29 90 | f 9 7 31 91 | f 7 18 31 92 | f 31 18 14 93 | f 31 30 19 -------------------------------------------------------------------------------- /src/ll4ma_robots_description/meshes/reflex/distal_coll.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NYU-robot-learning/Allegro-Hand-Controller-DIME/7a03c3a85e1927796b26c0077e64ec601658be7d/src/ll4ma_robots_description/meshes/reflex/distal_coll.stl -------------------------------------------------------------------------------- /src/ll4ma_robots_description/meshes/reflex/distal_pad.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NYU-robot-learning/Allegro-Hand-Controller-DIME/7a03c3a85e1927796b26c0077e64ec601658be7d/src/ll4ma_robots_description/meshes/reflex/distal_pad.stl -------------------------------------------------------------------------------- /src/ll4ma_robots_description/meshes/reflex/distal_pad_coll.stl: 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-------------------------------------------------------------------------------- /src/ll4ma_robots_description/meshes/reflex/flex_block.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NYU-robot-learning/Allegro-Hand-Controller-DIME/7a03c3a85e1927796b26c0077e64ec601658be7d/src/ll4ma_robots_description/meshes/reflex/flex_block.stl -------------------------------------------------------------------------------- /src/ll4ma_robots_description/meshes/reflex/pad.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NYU-robot-learning/Allegro-Hand-Controller-DIME/7a03c3a85e1927796b26c0077e64ec601658be7d/src/ll4ma_robots_description/meshes/reflex/pad.stl -------------------------------------------------------------------------------- /src/ll4ma_robots_description/meshes/reflex/pad_coll.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NYU-robot-learning/Allegro-Hand-Controller-DIME/7a03c3a85e1927796b26c0077e64ec601658be7d/src/ll4ma_robots_description/meshes/reflex/pad_coll.stl -------------------------------------------------------------------------------- /src/ll4ma_robots_description/meshes/reflex/proximal.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NYU-robot-learning/Allegro-Hand-Controller-DIME/7a03c3a85e1927796b26c0077e64ec601658be7d/src/ll4ma_robots_description/meshes/reflex/proximal.stl -------------------------------------------------------------------------------- /src/ll4ma_robots_description/meshes/reflex/proximal_coll.obj: -------------------------------------------------------------------------------- 1 | # https://github.com/mikedh/trimesh 2 | v 0.00147214 0.01400002 0.00543737 3 | v 0.07099430 0.01400002 0.00084763 4 | v 0.00052264 0.01400002 0.01422910 5 | v 0.00597033 0.00000002 0.02081964 6 | v 0.00444713 0.01400002 0.01987597 7 | v 0.01220930 0.00000002 0.02193332 8 | v 0.01220930 0.01400002 0.02193332 9 | v 0.00833866 0.00000002 0.00030479 10 | v 0.00921941 0.01400002 0.00014507 11 | v 0.07056989 0.00000002 0.01136312 12 | v 0.07099999 0.00000002 0.01012399 13 | v 0.07099999 0.01400002 0.01012399 14 | v 0.00061794 0.00000002 0.01490479 15 | v 0.00937103 0.00000002 0.02191189 16 | v 0.00363670 0.01400002 0.00279927 17 | v 0.06783128 0.00000002 0.00000027 18 | v 0.06783128 0.01400002 0.00000027 19 | v 0.06946456 0.00000002 0.01206929 20 | v 0.07099296 0.00000002 0.00103364 21 | v 0.00195489 0.01400002 0.01731735 22 | v 0.00004009 0.00000002 0.01071263 23 | v 0.00309679 0.00000002 0.01869819 24 | v 0.01042355 0.01400002 0.02198489 25 | v 0.07009976 0.01400001 0.01195981 26 | v 0.00504776 0.00000002 0.00169436 27 | v 0.01100000 0.00000002 0.00000000 28 | v 0.01100000 0.01400002 0.00000000 29 | v 0.00649184 0.01400002 0.00093027 30 | v 0.00070626 0.00000002 0.00722627 31 | v 0.00240634 0.00000002 0.00409933 32 | v 0.00762619 0.01400002 0.02150430 33 | v -0.00005122 0.01400002 0.00980731 34 | f 17 16 27 35 | f 26 27 16 36 | f 23 6 7 37 | f 14 6 23 38 | f 28 8 25 39 | f 7 18 24 40 | f 6 18 7 41 | f 8 9 26 42 | f 26 9 27 43 | f 28 9 8 44 | f 12 11 2 45 | f 11 19 2 46 | f 15 30 1 47 | f 17 2 16 48 | f 16 2 19 49 | f 3 13 20 50 | f 31 14 23 51 | f 4 14 31 52 | f 22 4 5 53 | f 5 4 31 54 | f 29 21 32 55 | f 30 29 1 56 | f 1 29 32 57 | f 28 25 15 58 | f 25 30 15 59 | f 32 13 3 60 | f 32 21 13 61 | f 20 22 5 62 | f 13 22 20 63 | f 27 12 17 64 | f 9 28 12 65 | f 7 24 12 66 | f 7 12 23 67 | f 3 20 12 68 | f 1 32 12 69 | f 5 31 12 70 | f 9 12 27 71 | f 15 1 12 72 | f 31 23 12 73 | f 15 12 28 74 | f 12 2 17 75 | f 3 12 32 76 | f 20 5 12 77 | f 11 12 24 78 | f 22 13 10 79 | f 6 14 10 80 | f 8 26 10 81 | f 16 10 26 82 | f 18 6 10 83 | f 25 10 30 84 | f 25 8 10 85 | f 21 29 10 86 | f 16 19 10 87 | f 14 4 10 88 | f 11 24 10 89 | f 11 10 19 90 | f 4 22 10 91 | f 24 18 10 92 | f 29 30 10 93 | f 13 21 10 -------------------------------------------------------------------------------- /src/ll4ma_robots_description/meshes/reflex/proximal_coll.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NYU-robot-learning/Allegro-Hand-Controller-DIME/7a03c3a85e1927796b26c0077e64ec601658be7d/src/ll4ma_robots_description/meshes/reflex/proximal_coll.stl -------------------------------------------------------------------------------- /src/ll4ma_robots_description/meshes/reflex/proximal_pad.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NYU-robot-learning/Allegro-Hand-Controller-DIME/7a03c3a85e1927796b26c0077e64ec601658be7d/src/ll4ma_robots_description/meshes/reflex/proximal_pad.stl 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https://raw.githubusercontent.com/NYU-robot-learning/Allegro-Hand-Controller-DIME/7a03c3a85e1927796b26c0077e64ec601658be7d/src/ll4ma_robots_description/meshes/reflex/swivel_2_coll.stl -------------------------------------------------------------------------------- /src/ll4ma_robots_description/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | ll4ma_robots_description 4 | 0.0.0 5 | The ll4ma_robots_description package 6 | bala 7 | TODO 8 | 9 | catkin 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /src/ll4ma_robots_description/robots/allegro.robot.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | -------------------------------------------------------------------------------- /src/ll4ma_robots_description/robots/allegro_virtual.robot.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /src/ll4ma_robots_description/robots/panda.robot.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /src/ll4ma_robots_description/scripts/mesh_converter.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | import argparse 3 | import trimesh 4 | from tqdm import tqdm 5 | 6 | from ll4ma_util import file_util, ui_util 7 | 8 | 9 | if __name__ == '__main__': 10 | """ 11 | Simple mesh conversion script using Trimesh https://trimsh.org/index.html. 12 | 13 | Right now this assumes you want to convert all files in a directory with a 14 | particular extension to a different extension, saved to that same directory. 15 | Feel free to add more processing options as you desire. 16 | """ 17 | parser = argparse.ArgumentParser() 18 | parser.add_argument('-d', '--input_dir', type=str, required=True, 19 | help="Absolute path to directory containing input mesh files") 20 | parser.add_argument('-i', '--in_extension', type=str, required=True, 21 | choices=trimesh.available_formats(), 22 | help="File extension of files in input_dir to be processed") 23 | parser.add_argument('-o', '--out_extension', type=str, required=True, 24 | choices=trimesh.available_formats(), 25 | help="File extension to give generated output mesh files") 26 | parser.add_argument('--show', action='store_true', help="Visualize generated meshes if true") 27 | args = parser.parse_args() 28 | 29 | in_filenames = file_util.list_dir(args.input_dir, args.in_extension) 30 | 31 | print("\nConverting meshes...") 32 | for in_filename in tqdm(in_filenames): 33 | out_filename = file_util.change_extension(in_filename, args.out_extension) 34 | mesh = trimesh.load(in_filename) 35 | mesh.export(out_filename) 36 | if args.show: 37 | new_mesh = trimesh.load(out_filename) 38 | new_mesh.show() 39 | ui_util.print_happy("Mesh conversion complete.\n") 40 | -------------------------------------------------------------------------------- /src/ll4ma_robots_description/urdf/allegro_right/allegro.gazebo.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /src/ll4ma_robots_description/urdf/allegro_right/biotac_tips.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | -------------------------------------------------------------------------------- /src/ll4ma_robots_description/urdf/allegro_right/finger_tip.urdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | -------------------------------------------------------------------------------- /src/ll4ma_robots_description/urdf/allegro_right/finger_tip.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | -------------------------------------------------------------------------------- /src/ll4ma_robots_description/urdf/biotac/biotac.gazebo.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 14 | 15 | 16 | true 17 | true 18 | 19 | 20 | 21 | false 22 | Gazebo/Green 23 | 0.8 24 | 0.8 25 | 26 | 27 | 30 | 31 | 32 | 33 | 34 | ${parent}_biotac_sensor 35 | ${parent}_biotac_joint 36 | child 37 | force 38 | 100 39 | 0.000 40 | 41 | 42 | 43 | 44 | -------------------------------------------------------------------------------- /src/ll4ma_robots_description/urdf/cameras/asus_xtion.gazebo.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 30 7 | 8 | 1.01229 9 | 10 | 640 11 | 480 12 | R8G8B8 13 | 14 | 15 | 0.3 16 | 3.5 17 | 18 | 19 | 20 | 0 21 | 0 22 | 0 23 | 24 | 25 | 26 | -------------------------------------------------------------------------------- /src/ll4ma_robots_description/urdf/cameras/asus_xtion.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | i 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | -------------------------------------------------------------------------------- /src/ll4ma_robots_description/urdf/end_effectors/biotac_mount.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | -------------------------------------------------------------------------------- /src/ll4ma_robots_description/urdf/end_effectors/cube.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 0.01 27 | 0.01 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | Gazebo/Blue 44 | 45 | 46 | 47 | -------------------------------------------------------------------------------- /src/ll4ma_robots_description/urdf/end_effectors/push_stick.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | Gazebo/DarkGrey 68 | 69 | 70 | 71 | 72 | 73 | -------------------------------------------------------------------------------- /src/ll4ma_robots_description/urdf/end_effectors/rigid_obj.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 30 | 31 | 32 | 33 | 34 | 35 | 0.01 36 | 0.01 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | Gazebo/Blue 53 | 54 | 55 | 56 | -------------------------------------------------------------------------------- /src/ll4ma_robots_description/urdf/end_effectors/sphere.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | Gazebo/Yellow 36 | 37 | 38 | 39 | -------------------------------------------------------------------------------- /src/ll4ma_robots_description/urdf/end_effectors/urdf_fragment/left_push_stick_rig.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | -------------------------------------------------------------------------------- /src/ll4ma_robots_description/urdf/end_effectors/urdf_fragment/right_push_stick_rig.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | -------------------------------------------------------------------------------- /src/ll4ma_robots_description/urdf/environment/bowl.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 25 | 26 | 27 | 28 | 29 | 30 | 0.01 31 | 0.01 32 | 33 | 34 | 35 | 36 | 37 | -------------------------------------------------------------------------------- /src/ll4ma_robots_description/urdf/environment/robot_table.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | Gazebo/WoodPallet 31 | 32 | 33 | 34 | -------------------------------------------------------------------------------- /src/ll4ma_robots_description/urdf/environment/table.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | Gazebo/WoodPallet 30 | 31 | 32 | 33 | 34 | -------------------------------------------------------------------------------- /src/ll4ma_robots_description/urdf/force_sensors/ati_sensor.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | -------------------------------------------------------------------------------- /src/ll4ma_robots_description/urdf/force_sensors/optoforce_sensor.gazebo.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | true 7 | true 8 | 9 | 10 | 11 | true 12 | Gazebo/Grey 13 | 14 | 15 | 16 | 17 | ft_sensor 18 | optoforce_sensor_joint 19 | wrench 20 | 100 21 | 0.000 22 | 23 | 24 | 25 | 26 | 27 | 28 | -------------------------------------------------------------------------------- /src/ll4ma_robots_description/urdf/force_sensors/optoforce_sensor.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | -------------------------------------------------------------------------------- /src/ll4ma_robots_description/urdf/lbr4/lbr4.gazebo.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | true 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | Gazebo/Orange 24 | 25 | 26 | Gazebo/Orange 27 | 28 | 29 | Gazebo/Orange 30 | 31 | 32 | Gazebo/Orange 33 | 34 | 35 | Gazebo/Orange 36 | 37 | 38 | Gazebo/Orange 39 | 40 | 41 | Gazebo/Grey 42 | 43 | 44 | Gazebo/FlatBlack 45 | 46 | 47 | Gazebo/FlatBlack 48 | 49 | 50 | 51 | 52 | 53 | 54 | -------------------------------------------------------------------------------- /src/ll4ma_robots_description/urdf/lbr4/lbr4.materials.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | -------------------------------------------------------------------------------- /src/ll4ma_robots_description/urdf/lbr4/lbr4.transmission.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | transmission_interface/SimpleTransmission 7 | 8 | hardware_interface/EffortJointInterface 9 | 10 | 11 | hardware_interface/EffortJointInterface 12 | 1 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | -------------------------------------------------------------------------------- /src/ll4ma_robots_description/urdf/lbr4/lbr4_base.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | Gazebo/Grey 23 | 24 | 25 | 26 | 27 | -------------------------------------------------------------------------------- /src/ll4ma_robots_description/urdf/mounts/baxter_optoforce_mount.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | -------------------------------------------------------------------------------- /src/ll4ma_robots_description/urdf/mounts/baxter_push_stick_mount.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | -------------------------------------------------------------------------------- /src/ll4ma_robots_description/urdf/mounts/baxter_reflex_mount.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | -------------------------------------------------------------------------------- /src/ll4ma_robots_description/urdf/mounts/lbr4_mount.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | Gazebo/Grey 39 | 40 | 41 | 42 | 43 | 44 | 45 | -------------------------------------------------------------------------------- /src/ll4ma_robots_description/urdf/mounts/lbr4_reflex_mount.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | Gazebo/Grey 31 | 32 | 33 | 34 | -------------------------------------------------------------------------------- /src/ll4ma_robots_description/urdf/mounts/optoforce_push_stick_mount.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | Gazebo/Grey 42 | 43 | 44 | 45 | 46 | 47 | -------------------------------------------------------------------------------- /src/ll4ma_robots_description/urdf/reflex/reflex.transmission.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | transmission_interface/SimpleTransmission 7 | 8 | hardware_interface/EffortJointInterface 9 | 10 | 11 | hardware_interface/EffortJointInterface 12 | 1 13 | 14 | 15 | 16 | 17 | 18 | 19 | transmission_interface/SimpleTransmission 20 | 21 | hardware_interface/EffortJointInterface 22 | 23 | 24 | hardware_interface/EffortJointInterface 25 | 1 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | -------------------------------------------------------------------------------- /src/ll4ma_robots_description/urdf/xacro_macros/inertia_tensors.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 9 | 10 | 11 | 12 | 15 | 16 | 17 | 18 | 21 | 22 | 23 | 24 | 25 | 28 | 29 | 30 | 31 | --------------------------------------------------------------------------------